Water-land-air integrated unmanned surface vehicle and engineering detection method thereof

Abstract

The invention discloses a water-land-air integrated water surface unmanned ship and an engineering detection method thereof. The water-land-air integrated water surface unmanned ship comprises a main ship body part, an underwater robot retracting and releasing module, a parallel self-stabilizing platform and an unmanned aerial vehicle retracting and releasing box. The two main hull parts are distributed in a mirror symmetry mode. The underwater robot folding and unfolding module is mounted on the center line of the main hull parts and is used for connecting the two main hull parts; the underwater robot folding and unfolding module is located between the two symmetrical parallel self-stabilizing platforms; the two parallel-connection self-stabilization platforms are installed on the two sides of the main ship body parts correspondingly and connected with the two main ship body parts; the unmanned aerial vehicle collecting and releasing box is arranged on the top of the parallel connection self-stabilization platform and connected with an upper top plate of the parallel connection self-stabilization platform. The engineering structure detection efficiency and precision can be improved, and the method can be widely applied to the technical field of engineering detection.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering detection, and in particular to an unmanned surface boat integrated with water, land and air, and an engineering detection method thereof. Background Art

[0002] Although unmanned vessels, drones, and underwater robots have developed mature technologies in their respective fields, existing cross-media detection solutions still face many challenges. Existing single-scene mode detection is mostly planar detection with a limited detection range, which makes it difficult to meet the needs of special scenarios and complex three-dimensional environments. For example, in the collaborative operation mode of unmanned vessels and underwater robots, data transmission and multi-platform collaboration are inefficient, and their adaptability in complex waters is poor, and their multi-platform collaboration capabilities are insufficient. In addition, traditional data collection methods at the junction of land and water have problems such as low operating efficiency, inconsistent data accuracy, and discontinuous data in complex areas, resulting in poor synchronization and integration of surface and underwater data. When faced with complex terrain and multi-media environments, many multi-amphibious robots have low operating efficiency and difficulty in effectively covering complex areas due to their complex structure, difficulty in control, and poor underwater flexibility. Summary of the Invention

[0003] In view of this, the main purpose of the embodiments of the present invention is to provide an integrated water, land and air unmanned surface boat and its engineering detection method, in order to solve at least one of the existing technical problems. The present invention can improve the efficiency and accuracy of engineering structure detection.

[0004] To achieve the above-mentioned purpose, one aspect of an embodiment of the present invention provides an integrated water, land and air surface unmanned boat, comprising: a main hull portion, an underwater robot retracting and deploying module, a parallel self-stabilizing platform and a UAV retracting and deploying box;

[0005] The two main hull parts are distributed in mirror symmetry;

[0006] The underwater robot retracting and deploying module is installed on the center line of the main hull part, connecting the two main hull parts; the underwater robot retracting and deploying module is located between the two symmetrical parallel self-stabilizing platforms;

[0007] The two parallel self-stabilizing platforms are respectively installed on both sides of the main hull part and connect the two main hull parts;

[0008] The drone storage and release box is arranged on the top of the parallel self-stabilizing platform and is connected to the upper top plate of the parallel self-stabilizing platform.

[0009] In some embodiments, hull cameras are provided at both ends of the main hull portion; and a propeller is provided at the lower portion of the main hull portion.

[0010] In some embodiments, the underwater robot retraction module is used to release or store the underwater robot; an electric push rod and a supporting base plate are provided at the bottom of the underwater robot retraction module, and the electric push rod is driven by signal control to control the supporting base plate to open or close to release or store the underwater robot; a signal tower is provided on the upper part of the underwater robot retraction module; the signal tower is provided with several signal tower cameras.

[0011] In some embodiments, the underwater robot includes an overall shell, a vector thruster, a control cabin, a robot camera, a searchlight, a control system, a module mounting frame, a cable interface, a depth sensor, a main switch and a handle; the overall shell is provided with a plurality of vertical vector thruster installation spaces and a plurality of horizontal vector thruster fixing clamps; the vertical vector thruster installation spaces and the horizontal vector thruster fixing clamps are both used to install the vector thrusters; the middle part of the overall shell is provided with the control cabin; the interior of the control cabin is provided with the control system, wires, electronic component boards, battery packs, a plurality of the depth sensors and the main switch; one end of the cable interface is connected to the control system of the control cabin, and the other end of the cable interface is connected to the cable of the cable reel of the surface unmanned boat; the head of the overall shell is provided with the robot camera and the searchlight; the bottom of the overall shell is provided with the module mounting frame; and the handles are provided on both sides of the overall shell.

[0012] In some embodiments, the parallel self-stabilizing platform includes a lower base plate, a robotic arm, an upper top plate, a fixed direction support, a hydraulic cylinder, a motor driver and a robotic arm central axis; one end of the robotic arm is connected to the lower base plate, and the other end of the robotic arm is connected to the upper top plate through the fixed direction support; the robotic arm central axis is sleeved on the robotic arm, and the hydraulic cylinder and the motor driver are provided on one side of the robotic arm central axis.

[0013] In some embodiments, the drone storage box is provided with a storage cabin; the storage cabin is provided with an opening and closing top cover for storing the drone; the opening and closing top cover is hinged to the storage cabin; the storage cabin is provided with a lifting drive assembly; the lifting drive assembly is used to lift and lower the drone.

[0014] To achieve the above-mentioned purpose, another aspect of the present invention provides a method for detecting an integrated surface unmanned vehicle engineering project, comprising:

[0015] In response to the first data collection task, obtaining first environmental data through the drone;

[0016] In response to the second data collection task, acquiring second environmental data by the underwater robot;

[0017] Performing data storage and processing operations on the first environment data and the second environment data to obtain third environment data;

[0018] The third environmental data is transmitted to a remote control center to realize surface unmanned boat engineering inspection.

[0019] In some embodiments, in response to the first data collection task, obtaining the first environmental data by the drone includes the following steps:

[0020] In response to the first data collection task, adjusting the parallel self-stabilizing platform to adjust the UAV to a horizontal state;

[0021] Open the retractable top cover, control the lifting drive assembly to rise, and release the drone;

[0022] The first environmental data is acquired through the drone.

[0023] In some embodiments, in response to the second data acquisition task, acquiring the second environmental data by the underwater robot includes the following steps:

[0024] In response to the second data acquisition task, the electric push rod is driven by signal control to control the support base plate to open;

[0025] Controlling the release of the cable through the cable drum to release the underwater robot;

[0026] The second environmental data is acquired by the underwater robot.

[0027] In some embodiments, before performing data storage and processing operations on the first environment data and the second environment data to obtain the third environment data, the following steps are further included:

[0028] In response to the first recovery task, when the UAV lands on the storage cabin, the lifting drive assembly is controlled to descend and the opening and closing top cover is closed;

[0029] In response to the second recovery task, the cable is recovered through the cable reel, the underwater robot is recovered to the underwater robot retraction module, and the electric push rod is driven by signal control to control the support base plate to close.

[0030] The embodiments of the present invention include at least the following beneficial effects: the present invention provides an integrated water, land and air unmanned surface boat and an engineering inspection method thereof, comprising a main hull part, an underwater robot retraction and deployment module, a parallel self-stabilizing platform and a drone retraction and deployment box; the two main hull parts are distributed in a mirror-symmetrical manner; the underwater robot retraction and deployment module is installed on the center line of the main hull part and connects the two main hull parts; the underwater robot retraction and deployment module is located between the two symmetrical parallel self-stabilizing platforms; the two parallel self-stabilizing platforms are respectively installed on both sides of the main hull part and connect the two main hull parts; the drone retraction and deployment box is arranged on the top of the parallel self-stabilizing platform and is connected to the upper top plate of the parallel self-stabilizing platform, which can improve the efficiency and accuracy of engineering structure inspection. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. 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 creative work.

[0032] Figure 1 1 is a schematic diagram of the overall unmanned surface vehicle integrated with water, land and air provided by an embodiment of the present invention;

[0033] Figure 2 This is a schematic diagram of the bottom structure of an integrated water, land, and air unmanned surface boat provided by an embodiment of the present invention;

[0034] Figure 3 Schematic diagram of the operation of the AUV retractable module carried by the USV provided by an embodiment of the present invention;

[0035] Figure 4 is a schematic diagram of a self-stabilizing platform provided by an embodiment of the present invention;

[0036] Figure 5 Schematic diagram of a self-stabilizing platform parallel mechanism provided by an embodiment of the present invention;

[0037] Figure 6 is a supplementary schematic diagram of a self-stabilizing platform provided by an embodiment of the present invention;

[0038] Figure 7 is a schematic diagram of an underwater robot provided by an embodiment of the present invention;

[0039] Figure 8 1 is a bottom schematic diagram of an underwater robot provided by an embodiment of the present invention;

[0040] Figure 9 is a side view of an underwater robot provided by an embodiment of the present invention;

[0041] Figure 10 is a top view of the underwater robot provided by an embodiment of the present invention;

[0042] Figure 11 is a bottom view of the underwater robot provided by an embodiment of the present invention;

[0043] Figure 12 This is a flow chart of a method for detecting an integrated surface unmanned boat project on land, water, and air provided by an embodiment of the present invention;

[0044] Figure 13 This is a simple schematic diagram of the USV hardware system provided by an embodiment of the present invention;

[0045] Figure 14 This is a flowchart of the collaborative control and data flow between a USV and a UAV / AUV provided by an embodiment of the present invention;

[0046] Figure 15 This is a block diagram of the USV operation provided by an embodiment of the present invention;

[0047] Figure 16 This is a block diagram of the UAV operation provided by an embodiment of the present invention;

[0048] Figure 17 Schematic diagram of the AUV operation advantages provided by an embodiment of the present invention;

[0049] Figure 18 This is a flowchart of the collaborative work of USV, UAV and AUV provided by an embodiment of the present invention;

[0050] Figure 19 It is a schematic diagram of the hardware structure of the electronic device provided by an embodiment of the present invention.

[0051] Reference numerals:

[0052] Main hull part 1, hull camera 101, propeller 102;

[0053] Underwater robot retractable module 2, electric push rod 201, supporting base 202, underwater robot 203, overall housing 204, vector thruster 205, control cabin 206, robot camera 207, searchlight 208, control system 209, module mounting frame 2010, cable interface 2011, depth sensor 2012, main switch 2013, handle 2014, vector thruster mounting space 2015, vector thruster fixing clamp 2016;

[0054] Parallel self-stabilizing platform 3, lower base plate 301, robotic arm 302, upper top plate 303, fixed direction support 304, hydraulic cylinder 305, motor driver 306, robotic arm central axis 307;

[0055] UAV storage box 4, storage cabin 401, UAV lifting drive assembly 402, opening and closing top cover 403;

[0056] Signal tower camera 501. DETAILED DESCRIPTION

[0057] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely for the purpose of explaining the present invention and are not intended to limit the present invention. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the embodiments of the present invention. They are merely examples of devices and methods consistent with some aspects of the embodiments of the present invention as detailed in the appended claims.

[0058] It should be noted that although the functional modules are divided in the system schematic and the logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the system or the order in the flowchart. The terms "first / S100" and "second / S200" in the specification and claims and the above-mentioned figures may be used herein to describe various concepts, but unless otherwise specified, these concepts are not limited by these terms. These terms are only used to distinguish one concept from another. For example, without departing from the scope of the embodiments of the present invention, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the words "if" and "if" as used herein may be interpreted as "at the time of" or "when" or "in response to a determination".

[0059] The terms "at least one", "plurality", "each", "any", etc. used in the present invention include at least one, two or more, multiple, two or more, each refers to each of the corresponding multiple, and any refers to any one of the multiple.

[0060] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which the present invention pertains. The terms used herein are for the purpose of describing embodiments of the present invention only and are not intended to limit the present invention.

[0061] Before describing the embodiments of the present invention in detail, some nouns and terms involved in the embodiments of the present invention are first described. The nouns and terms involved in the embodiments of the present invention are subject to the following explanations.

[0062] Unmanned Surface Vehicles (USV) are unmanned surface vessels that can navigate autonomously on the water and perform various tasks.

[0063] Unmanned Aerial Vehicle (UAV) is an unmanned aircraft that is controlled by a radio remote control device and a self-contained program control device. It can also be operated completely or intermittently autonomously by an onboard computer.

[0064] An autonomous underwater vehicle (AUV) is an unmanned robot capable of autonomously performing tasks underwater. Compared to traditional manned submersibles or remotely operated underwater vehicles (ROVs), AUVs have the ability to make autonomous decisions, execute tasks, and explore independently.

[0065] With the continuous expansion of engineering construction and the increasing complexity of environments, the demand for cross-media engineering inspection has grown significantly. In complex scenarios such as bridges, ports, and dams, long-term health monitoring of critical underwater structures such as piers and pile foundations is crucial for ensuring project safety and extending their service life. However, the limitations of traditional single-media inspection technologies in multi-media scenarios are becoming increasingly apparent. Underwater inspection technologies lack deep integration with land-based or aerial inspection methods, resulting in low collaborative capabilities and difficulty meeting the comprehensive inspection needs in complex environments. Although recent progress has been made in cross-media collaborative operations of unmanned equipment both domestically and internationally, for example, collaborative operations between unmanned vessels and underwater robots (UUVs) address some of the communication and positioning challenges faced by underwater robots by utilizing UUVs as surface platforms and signal relays, these technologies are generally limited to single-media collaborative scenarios, either surface or underwater, and lack the comprehensive monitoring capabilities for engineering structures in complex, multi-media environments. Furthermore, while some studies have proposed novel amphibious biomimetic robot designs that mimic biological locomotion to enable flexible transitions between land and water, these technologies still face numerous challenges in practical application. For example, cross-platform collaboration capabilities are limited, multi-platform collaboration efficiency is low, and there are lags in data transmission and integration; the detection range is limited, and the existing system finds it difficult to achieve all-round monitoring of water, land, and air; the engineering adaptability is insufficient, and the flexibility and efficiency in complex terrain and multi-media environments are poor.

[0066] While sea, land, and airborne detection technologies have made progress in improving monitoring accuracy and coverage, they still face difficulties in cross-media collaboration across water, land, and air. This makes it difficult to meet the demands of real-time, comprehensive, multi-media monitoring, and effectively achieve heterogeneous data fusion and the construction of three-dimensional terrain infrastructure. Cross-media detection involves data of varying types, sources, and structures, with varying formats, quality, and semantics. This results in a complex fusion process and high computational costs. Furthermore, it is difficult to ensure the consistency and interpretability of the fused data, impacting the reliability of the final results.

[0067] At the same time, the technical characteristics of unmanned vessels, drones, and underwater robots (AUVs) differ significantly. First, due to data heterogeneity, data acquired by different sensors has different accuracy, resolution, time intervals, and coordinate systems. These differences lead to low data fusion accuracy and are prone to introducing errors. Second, the difficulty of data registration also complicates the fusion process. Traditional registration methods are often inefficient, especially when dealing with large amounts of high-dimensional data, and cannot meet the needs of real-time processing. Furthermore, existing 3D modeling technologies often suffer from large scale differences and insufficient detail when processing the fusion of terrain and facilities, making it difficult to achieve efficient technical integration and real-time fusion processing of multi-source data between unmanned vessels, drones, and AUVs.

[0068] In view of this, if Figure 1 As shown, an embodiment of the present invention provides an integrated water, land and air unmanned surface boat, comprising a main hull portion 1, an underwater robot retracting and deploying module 2, a parallel self-stabilizing platform 3 and a drone retracting and deploying box 4; the two main hull portions 1 are distributed on the left and right sides in a mirror-symmetrical form; the underwater robot retracting and deploying module 2 is installed on the center line of the main hull portion 1 and connects the two main hull portions 1; the underwater robot retracting and deploying module 2 is located between the two symmetrical parallel self-stabilizing platforms 3; the two parallel self-stabilizing platforms 3 are respectively installed on both sides of the main hull portion 1 and connect the two main hull portions 1; the drone retracting and deploying box 4 is arranged on the top of the parallel self-stabilizing platform 3 and is connected to the upper top plate of the parallel self-stabilizing platform 3.

[0069] In some embodiments, both ends of the main hull portion are provided with hull cameras; the lower portion of the main hull portion is provided with a propeller. Figure 1 、 Figure 2 As shown, each main hull portion 1 has two corners at the top thereof provided with hull cameras 101, and correspondingly, each main hull portion 1 has two corners at the bottom thereof provided with propellers 102. Figure 2As shown, the propeller 102 is set at a 30° angle to the longitudinal axis. A vectored power layout is used to achieve static anchoring in turbulent conditions, ensuring that the surface unmanned vehicle remains stable during missions and maintains a stable navigation attitude in complex sea conditions. The surface unmanned vehicle's power system uses a four-corner propeller layout, with each propeller at a 30° angle to the longitudinal axis of the main hull. This gives the surface unmanned vehicle extremely high omnidirectional maneuverability, enabling it to maintain precise positioning in complex water currents, wind and waves, and external disturbances, ensuring system stability during mission execution.

[0070] In some embodiments, the underwater robot retraction module is used to release or store the underwater robot; an electric push rod and a supporting base plate are provided at the bottom of the underwater robot retraction module, and the electric push rod is driven by signal control to control the supporting base plate to open or close to release or store the underwater robot; a signal tower is provided on the upper part of the underwater robot retraction module; the signal tower is provided with several signal tower cameras.

[0071] For example, Figure 2 、 Figure 3 As shown, the underwater robot retracting module 2 can store or release the underwater robot 203; the bottom of the underwater robot retracting module is provided with an electric push rod 201 and a supporting bottom plate 202 to ensure the operation of the underwater robot 203, and the electric push rod 201 is driven by the signal control to link the supporting bottom plate 202 to open to both sides (such as Figure 3 The supporting bottom plate of the underwater robot retractable module shown in part (a) is open), so that the underwater robot 203 enters the underwater space and performs corresponding operations; in addition, the electric push rod 201 is driven by signal control to link the supporting bottom plate 202 from both sides to the middle (as shown in FIG. Figure 3 (b) shows the underwater robot retractable module supporting bottom plate closed state). Figure 1 As shown, the signal tower serves as a data integration and transmission platform, transmitting real-time information to the remote control center. It is set above the underwater robot retraction module 2, and four signal tower cameras 501 are set on the signal tower.

[0072] As an optional embodiment, multiple cameras are arranged at both ends of each main hull part and at the signal tower to form 360° panoramic monitoring. It should be noted that different types of camera systems are also provided in drones and underwater robots. When connected by signal towers, this camera system builds a multi-platform collaborative visual perception network.

[0073] In some embodiments, the underwater robot includes an overall shell, a vector thruster, a control cabin, a robot camera, a searchlight, a control system, a module mounting frame, a cable interface, a depth sensor, a main switch and a handle; the overall shell is provided with a plurality of vertical vector thruster installation spaces and a plurality of horizontal vector thruster fixing clips; the vertical vector thruster installation spaces and the horizontal vector thruster fixing clips are both used to install the vector thrusters; the middle part of the overall shell is provided with the control cabin; the interior of the control cabin is provided with the control system, wires, electronic component boards, battery packs, a plurality of depth sensors and the main switch; one end of the cable interface is connected to the control system of the control cabin, and the other end of the cable interface is connected to the cable of the cable reel of the surface unmanned boat; wherein, the bottom of the underwater robot retraction module is provided with the cable reel of the underwater unmanned boat, and the cable reel of the underwater unmanned boat is wound with cables; the head of the overall shell is provided with the robot camera and the searchlight; the bottom of the overall shell is provided with the module mounting frame; and the handles are provided on both sides of the overall shell.

[0074] For example, Figure 7 As shown, the underwater robot 203 includes an overall shell 204, a vector thruster 205, a control cabin 206, a robot camera 207, a searchlight 208, a control system 209, a module mounting frame 2010, a cable interface 2011, a depth sensor 2012, a main switch 2013 and a handle 2014. The overall shell 204 adopts a streamlined design. For the overall shell 204, its upper shell is a curved type with low sides and a high middle, and the lower shell is a straight type. The high middle and low sides are conducive to dispersing water pressure, reducing water resistance, and improving overall strength in structural design. In terms of layout, the high middle reserves a reasonable installation space for internal equipment, which is convenient for placing equipment and adjusting the center of gravity, improving stability and controllability, and the straightness of the lower shell facilitates the installation of external modules. Optionally, as Figure 10As shown, the overall housing 204 is equipped with four symmetrical vertical vector thruster mounting spaces and four symmetrical horizontal vector thruster mounting clips. Eight vector thrusters 205 are mounted on the overall housing 204, located in the four vertical vector thruster mounting spaces 2015 and on the four horizontal vector thruster mounting clips 2016, respectively, to enable the underwater robot's forward, backward, ascent, descent, and steering movements. The symmetrical design ensures that the thrust generated by the vector thrusters 205 is uniformly distributed on both sides or around the underwater robot 203, ensuring that the underwater robot 203 does not experience instability such as yaw or roll due to excessive or insufficient thrust on one side during navigation, thereby maintaining good straight-line navigation, ascent, and descent capabilities. Furthermore, the symmetrical design enables the vector thrusters 205 to achieve more flexible and precise steering operations through different speed and steering combinations, thereby improving the stability and maneuverability of the underwater robot 203 in complex underwater environments. An elongated cylindrical space is provided within the overall housing 204 to provide installation and operating space for the other components of the underwater robot 203.

[0075] refer to Figure 7 、 Figure 8 、 Figure 9 、 Figure 10 For example, the control cabin 206 is located in the middle of the overall outer shell 204 and is fixed by bolts. It has an overall elongated cylindrical shape and houses a control system 209, wires, electronic component boards, a battery pack, multiple depth sensors 2012, and a master switch 2013. The control system 209 includes a positioning system, a thruster control system, and a sensor control system. The underside of the control cabin 206 is exposed and is equipped with a depth sensor 2012 and a master switch 2013. The depth sensor 2012 is used to provide feedback on the underwater depth position of the underwater robot 203, and the master switch 2013 is used to control the operation of the underwater robot 203.

[0076] As a further optional embodiment, a depth sensor is arranged in the belly of the control cabin to obtain depth information, which is connected to the control system through a wire, and transmits the depth data to the all-wheel drive surface unmanned vessel through an integrated intelligent collaborative control and data flow mechanism (Smart Collaborative Data Management, hereinafter referred to as "SCDM" mechanism).

[0077] As a further optional embodiment, sensors such as accelerometers and gyroscopes are installed at the center of mass of the control cabin to accurately sense changes in the underwater robot's underwater state, measure the robot's acceleration and angular velocity in real time, and thereby infer changes in the robot's position, velocity, and attitude. A battery pack is placed at the bottom of the control cabin to lower the robot's center of gravity, reduce swaying, and improve its resistance to currents and stability in water. The main control board is located in the center of the front section of the control cabin, connecting to the front-end camera, central sensors, and vector thrusters.

[0078] As a further optional embodiment, the control system is arranged in the control cabin, the wires are arranged in the control cabin wire channel, the electronic components are arranged on the control cabin electronic component board, the control system has a built-in GPS module and a short baseline (USBL) positioning system to realize the positioning function of the underwater robot, and the main control board of the control system is arranged in the middle part of the front section of the control cabin. The vector thrusters, cameras, searchlights, and external functional modules are connected and controlled by wires to realize the multi-functional coordination of the underwater robot.

[0079] As an optional embodiment, the control system is connected to the cable drum of the all-wheel drive unmanned surface vehicle through a cable interface. Figure 10 As shown, a small portion of the control cabin 206's roof is exposed, housing two adjacent cable interfaces 2011. These interfaces utilize a snap-on design for easy and fast connection. The seal utilizes an O-ring, achieving an IP68 waterproof rating. The material used is a high-strength, corrosion-resistant titanium alloy. One end of the cable interface 2011 connects to the control system 209 in the control cabin 206, while the other end connects to the cable reel of the unmanned surface vehicle. It should be noted that during operation, the underwater robot 203 can connect to the unmanned surface vehicle via the cable and transmit data.

[0080] As a further optional embodiment, the underwater robot is fixed in a box based on a parallel mechanism before being started, and the cable interface is connected to the cable reel of the surface unmanned boat through a cable, and data is transmitted to the surface unmanned boat through the SCDM mechanism to share data in real time; the surface unmanned boat not only receives real-time data, but also can analyze the position, depth and sensor feedback information of the underwater robot through the dynamic compensation system, and issue corresponding instructions to adjust the underwater state of the underwater robot, such as motion state, sensor operation state, etc., to ensure that it accurately completes the task and dynamically schedules the operation task.

[0081] refer to Figure 7 、 Figure 9 、 Figure 10For example, the robot camera 207 and searchlight 208 are located at the head of the overall housing 204 and fixed to the control cabin 206. The searchlight 208 can provide illumination for the robot camera 207. Handles 2014 are provided on both sides of the overall housing 204 to facilitate the transport of the underwater robot 203. Optionally, the robot camera 207 is located at the front end of the central axis of the underwater robot 203 and fixed to the control cabin 206, enabling functions such as underwater photography and video recording, and QR code recognition. The searchlights 208 are located on both sides of the robot camera 207 and fixed to the control cabin 206 to provide illumination for clearer images from the robot camera 207.

[0082] refer to Figure 8 、 Figure 9 、 Figure 11 For example, the module mounting frame 2010 is located at the bottom of the overall shell 204 and is composed of an end fixing clamp and a module mounting rod. The module mounting rod is provided with mounting holes for fixing external modules, such as sonar, current meter, water quality collection equipment, etc., which are installed at the bottom of the underwater robot 203, thereby realizing multi-functional detection of the underwater robot 203.

[0083] In some embodiments, the parallel self-stabilizing platform includes a lower base plate, a robotic arm, an upper top plate, a fixed direction support, a hydraulic cylinder, a motor driver and a robotic arm central axis; one end of the robotic arm is connected to the lower base plate, and the other end of the robotic arm is connected to the upper top plate through the fixed direction support; the robotic arm central axis is sleeved on the robotic arm, and the hydraulic cylinder and the motor driver are provided on one side of the robotic arm central axis.

[0084] For example, Figure 5 As shown, the parallel self-stabilizing platform 3 includes a lower base plate 301, a robotic arm 302, an upper plate 303, a fixed-direction support 304, a hydraulic cylinder 305, a motor driver 306, and a robotic arm central axis 307. One end of the robotic arm 302 is connected to the lower base plate 301, and the other end is connected to the upper plate 303 via the fixed-direction support 304. The robotic arm central axis 307 is sleeved onto the robotic arm 302, and each side of the robotic arm central axis 307 is equipped with a hydraulic cylinder 305 and a motor driver 306. Optionally, the lower base plate 301 is connected to the main hull section via multiple M16 bolts and six four-hole angle brackets. Each four-hole angle bracket has four holes that are bolted to the lower base plate 301 and the main hull section, respectively. The following connection method is used: two holes on one side of each four-hole angle bracket are connected to the lower base plate 301 via M16 bolts, and two holes on the other side are connected to the main hull section via M16 bolts.

[0085] As an optional embodiment, refer to Figure 5The parallel self-stabilizing platform 3 has a lower base plate 301 as a fixed frame and an upper top plate 303 as a moving platform. The fixed frame and the moving platform are connected by six robotic arms 302. One end of each robotic arm 302 is connected to the lower base plate 301 via a fixed direction support 304, and the other end is connected to the upper top plate 303 via another fixed direction support 304. Each fixed direction support 304 is fixed to the lower base plate 301 and the upper top plate 303 by four screws. The robotic arms 302 and the fixed direction supports 304 are semi-articulated and fixed with two bolts each, forming a revolute pair. Each robotic arm has two degrees of freedom, including directional rotation and axial telescopic movement.

[0086] As an optional embodiment, Figure 6 As shown, the robotic arm 302 is hydraulically driven for axial extension and retraction, as well as directional rotation. A hydraulic cylinder 305 and a motor driver 306 are integrated on one side of the mechanical central axis 307 of the robotic arm 302. Power is provided by the surface unmanned vehicle (UAV). The hydraulic cylinder 305, controlled by a motor, controls the movement of the robotic arm 302 through a hydraulic pump. While operating on the surface, the UAV experiences oscillations due to current disturbances. The resulting imbalance is detected by a gyroscope, and the controller sends real-time instructions to the hydraulic cylinder 305 of each robotic arm to adjust the rotation angle and extension length of the central axis 307 to maintain horizontal balance of the upper plate 303. The electric drive unit controls the axial extension and retraction of the robotic arm 302, achieving vertical balance and maintaining a balanced UAV platform. The robotic arm 302 operates using a PID control algorithm. The control variables for each robotic arm 302 are calculated based on gyroscope feedback, enabling precise motion control.

[0087] In some embodiments, the drone storage box is provided with a storage cabin; the storage cabin is provided with an opening and closing top cover for storing the drone; the opening and closing top cover is hinged to the storage cabin; the storage cabin is provided with a lifting drive assembly; the lifting drive assembly is used to lift and lower the drone.

[0088] For example, Figure 4 、 Figure 6 As shown, the drone storage box 4 is fixed to the upper top plate 303 of the parallel self-stabilizing platform 3 and is used to store drones. The drone storage box 4 includes several storage compartments 401 and a lifting drive assembly 402. Each storage compartment 401 is equipped with a retractable top cover 403, which is hingedly connected to the storage compartment 401. Optionally, the drone storage box 4 includes two storage compartments 401, each of which is hingedly connected to two retractable top covers 403. The number of storage compartments 401 is determined by the scale of the mission and is not limited here.

[0089] In an embodiment of the present invention, a highly coordinated integrated water-land-air detection system is constructed by combining the long-term endurance of surface unmanned boats, the high-altitude flexibility of drones, and the close-range, precise detection capabilities of underwater robots. Optionally, in this highly coordinated integrated water-land-air detection system, an underwater robot retraction module is installed in the middle of the fully driven surface unmanned boat, and a drone retraction box is installed on each side. UAVs and underwater robots can be flexibly loaded according to mission requirements, and a signal tower is installed in the middle of the fully driven surface unmanned boat as a data integration and transmission platform to transmit real-time information to a remote control center. Through a cross-media collaborative operation mode and multi-platform real-time data linkage, the efficiency and accuracy of engineering inspections are improved, thereby achieving a comprehensive breakthrough and performance optimization in cross-media engineering inspections.

[0090] like Figure 12 As shown, an embodiment of the present invention further provides a method for detecting an engineering project of an integrated water, land, and air unmanned surface vessel, which is used to be performed by an integrated water, land, and air unmanned surface vessel. The method may include but is not limited to steps S100 to S400:

[0091] Step S100, in response to a first data collection task, obtaining first environmental data through a drone;

[0092] Step S200, in response to the second data collection task, obtaining second environmental data by the underwater robot;

[0093] Step S300, performing data storage and processing operations on the first environment data and the second environment data to obtain third environment data;

[0094] Step S400: transmitting the third environmental data to a remote control center to implement surface unmanned boat engineering inspection.

[0095] In steps S100 to S400 of some embodiments, Figure 18 As shown in the figure, when performing an engineering inspection, the surface unmanned vessel sends commands to the drone and underwater robot. Upon receiving the commands, the drone and underwater robot initiate the deployment process and begin data collection. The drone transmits the acquired data back to the surface unmanned vessel via a wireless communication module, while the underwater robot transmits the acquired data back to the surface unmanned vessel via a power carrier module. The surface unmanned vessel then retrieves the drone and underwater robot after the operation. The surface unmanned vessel stores and processes the received data and transmits it to the remote control center via the image and data transmission modules, thus completing the engineering inspection mission.

[0096] Through the three platforms of surface unmanned boats, drones and underwater robots, a multi-platform collaborative intelligent control and stabilization propulsion system is formed, which realizes engineering inspection through efficient collaborative operation (such as comprehensive inspection of the above-water and underwater parts of offshore wind power piles). Figure 14 As shown, the surface unmanned boat coordinates the takeoff and landing, operations, and data collection of drones and underwater robots. The surface unmanned boat receives data collected by drones and underwater robots and issues corresponding control commands. It also monitors sponge disturbances in real time and adjusts the thrusters to ensure platform stability and achieve real-time dynamic compensation. Through multi-platform collaboration and data sharing, the surface unmanned boat achieves seamless data sharing with drones and underwater machines, ensuring the coordinated operation of each platform. Data from all platforms is transmitted back to the remote control center via the surface unmanned boat for real-time analysis and decision-making. Using the surface unmanned boat as the core platform, the system integrates the operational capabilities of drones and underwater robots, optimizing the efficiency, accuracy, and environmental adaptability of surface and underwater inspections. It is suitable for operational needs in marine engineering, environmental monitoring, and related fields.

[0097] In some embodiments, step S100 may include but is not limited to steps S110 to S130:

[0098] Step S110, in response to the first data acquisition task, adjusting the parallel self-stabilizing platform to adjust the UAV to a horizontal state;

[0099] Step S120, opening the retractable top cover, controlling the lifting drive assembly to rise, and releasing the drone;

[0100] Step S130: Acquire the first environmental data through the drone.

[0101] In some embodiments, from step S110 to step S130, Figure 18 As shown, based on the first data collection task, the parallel self-stabilizing platform is adjusted to maintain the drone in a level position. The drone then performs a self-check to ensure the functioning of its sensors and takeoff control system. The surface unmanned boat then controls the opening and closing of the drone retractable container, raising the lift drive assembly and releasing the drone from the container. The drone then takes off and begins its monitoring and inspection mission, collecting first environmental data through its sensors.

[0102] In some embodiments, step S200 may include but is not limited to steps S210 to S240:

[0103] Step S210, in response to the second data collection task, driving the electric push rod to control the support base plate to open through signal control;

[0104] Step S220, releasing the underwater robot by controlling the release of the cable through the cable drum;

[0105] Step S230: Acquire the second environmental data through the underwater robot.

[0106] In steps S210 to S230 of some embodiments, as Figure 18 As shown, according to the second data collection task, a signal control drives an electric push rod to open the support base. Optionally, the support base is a double-leaf base, and when the electric push rod is activated, it pulls the double-leaf base apart. After the bottom of the underwater robot retraction module is opened, the underwater robot is ready to be placed into the water. The surface unmanned vehicle controls the cable reel to lower the cable, releasing the underwater robot. The underwater robot begins operation, and its sensors monitor the underwater environment in real time, collecting and processing underwater data to obtain the second environmental data.

[0107] In some optional embodiments, when not in operation, the drone is parked in the storage compartment with the retractable lid closed. The number of drones assigned to the mission is determined based on the size of the mission. When the drone receives a mission command, the retractable lid opens outward, and the drone's lift drive assembly lifts the drone to the top of the cabin, placing it in a standby state. After takeoff, the retractable lid closes to prevent foreign objects from entering. The drone transmits camera footage and sensor data in real time to the unmanned surface vehicle, which locally integrates and processes the data. The unmanned surface vehicle transmits the data to a remote control center via a communication system for real-time viewing and analysis by operators. During an emergency landing, the drone is guided by an assisted landing system to hover directly above the storage compartment. The lid opens and closes, and the drone slowly descends. Once the drone has landed stably, the lift drive assembly lifts the drone into the cabin, and the retractable lid closes, completing the emergency landing.

[0108] Before step S300, in some embodiments, the method further includes: in response to the first recovery task, when the drone lands in the storage cabin, controlling the lifting drive assembly to descend and closing the opening and closing cover; in response to the second recovery task, recovering the cable through the cable reel, recovering the underwater robot to the underwater robot retracting module, and controlling the electric push rod to control the support bottom plate to close through signal control. Figure 18 As shown, for example, after the drone operation is completed, the drone locates the drone retrieval box and lands on the bottom plate of the drone retrieval box. The bottom plate of the drone retrieval box is controlled to descend through the lifting drive component, and the opening and closing top cover is closed to complete the safe recovery of the drone. After the underwater robot operation is completed, the surface unmanned boat recovers the cable through the cable reel, and the underwater drone is pulled back and successfully recovered into the underwater robot retrieval box of the surface unmanned boat. The electric push rod extends to drive the supporting bottom plate back to its position to complete the storage.

[0109] In some optional embodiments, during the preparation phase, an external functional module is selectively installed on the underwater robot's module mounting bracket based on the inspection requirements. After the surface unmanned vehicle reaches the designated location, the surface unmanned vehicle transmits a launch command to the underwater robot via a 2.4GHz module. The underwater robot uses the robot camera on its head to convert the light reflected from the QR code inside the underwater robot's retractable module into an image based on optical imaging principles. The underwater robot's control system interprets the black and white pattern using coding rules and, in conjunction with image processing methods such as filtering, binarization, and tilt correction, recognizes the QR code and performs position correction to ensure precise landing. Subsequently, after the support base is opened by an electric push rod, the underwater robot automatically lands at the designated location, completing the launch preparation. During the inspection phase, a vector propulsion system propels the underwater robot close to the surface of the component being inspected. The robot camera takes optical photos and videos of the component surface, and searchlights on both sides of the robot camera provide lighting support for the robot's video recording. Simultaneously, the depth sensor, built-in gyroscope, accelerometer, and external functional modules work together to achieve multi-functional, multi-information collaborative inspection capabilities for the underwater robot. Inspection data is transmitted to the surface unmanned vehicle in real time through an intelligent collaborative control and data streaming mechanism. The depth sensor provides real-time feedback on the underwater robot's underwater depth position, the gyroscope provides feedback on the underwater robot's underwater angular position, and the accelerometer provides feedback on the underwater robot's motion status. This data collectively provides the basis for the surface unmanned vehicle's dynamic compensation system, dynamically adjusting the underwater robot's motion to ensure the accuracy and stability of inspection operations. This data is then transmitted to the underwater vehicle via the SCDM mechanism. Functional modules on the underwater vehicle's bottom operate simultaneously. Installing a sonar allows for underwater topography measurement, acoustic imaging of underwater components, and distance measurement between the underwater robot and the components. Installing a flow meter allows for the detection of flow velocity at the underwater robot's current position, enabling multi-functional, multi-information collaborative inspection by the underwater robot. This data is then transmitted to the surface unmanned vehicle in real time via the SCDM mechanism.

[0110] In step S300 of some embodiments, after the underwater unmanned vehicle receives the return data from the drone and the underwater robot, it performs data storage and processing operations on the return data to obtain third environment data.

[0111] In step S400 of some embodiments, the underwater unmanned vehicle transmits the third environment data to the remote control center through the image transmission and data transmission modules to complete the engineering inspection task.

[0112] In the integrated land, water and air unmanned surface vehicle and its engineering inspection method in the embodiment of the present invention, three major platforms are combined: USV (unmanned surface vehicle), UAV (unmanned aerial vehicle) and AUV (underwater robot):

[0113] 1. Unmanned surface boats

[0114] As the core collaborative platform, the USV is designed to integrate advanced vector layout power systems, modular operation platforms and multifunctional data processing systems. The USV not only has intelligent autonomous navigation, task scheduling and safety assurance functions, but can also perform efficient and accurate collaborative operations in complex marine environments. Figure 13 The figure shows the key components of the USV control system and their interrelationships with the thrusters and sensors. Sensors such as the IMU and RTK electronic compass transmit information to the STM32 control unit, which controls the bidirectional electric speed regulators (ESRs) through the ESCs, which in turn control the thrusters. The video stream captured by the binocular cameras is processed by a Raspberry Pi and aggregated and transmitted via a 5.8GHz wireless image transmission module and a 2.4GHz wireless data transmission module. This data is received by a PC for visualization and remote control.

[0115] The USV is equipped with an advanced vector-based propulsion system and autonomous navigation capabilities. The vector drive system enables the USV to rapidly adjust its course, precisely complete its mission, maintain its designated cruising area, and ensure stable communication links with AUVs and UAVs. The USV's autonomous navigation system, combining GPS, INS, and environmental perception sensors, analyzes the environment in real time and dynamically plans its path, avoiding obstacles and conducting regular, precise inspections. Serving as a collaborative control center, the USV coordinates the operations of UAVs and AUVs, monitors their status through sensors and data transmission systems, intelligently allocates tasks, and optimizes collaborative operations.

[0116] The USV is equipped with an advanced communication system that receives and transmits data to the remote control center in real time. Redundant communication links are designed to ensure data link reliability. Intelligent data fusion and encryption mechanisms ensure the security and integrity of information.

[0117] The USV also features comprehensive protection and safety systems, including collision detection and avoidance, electronic safeguards, and fault recovery capabilities. Self-diagnosis and fault detection ensure mission continuity and safety, while emergency response capabilities safeguard the platform and mission in extreme situations.

[0118] In summary, USV ensures efficient operation in complex marine environments through its advanced power system, autonomous navigation, task scheduling and safety assurance, and improves the operational efficiency, reliability and safety of the entire system. Figure 15 shown.

[0119] 2. Drones

[0120] UAVs are responsible for environmental monitoring, target identification, and data collection above the ocean surface within a multi-platform collaborative operation system. Designed with a focus on compact size and high flexibility, they adapt to diverse marine environments and perform precise flight operations. UAVs utilize advanced formation flying technology and automated control systems, demonstrating enhanced adaptability and efficiency.

[0121] The UAV is equipped with high-resolution cameras, infrared sensors, and lidar, capturing real-time images, videos, and environmental parameters. This data is then transmitted back to the USV via wireless communication systems for processing. The control system ensures stable flight through precise flight path planning and real-time adjustments, mitigating the impact of changing ocean conditions.

[0122] UAVs can perform missions independently or collaborate with other UAVs through formation flying. Formation flying technology enables UAVs to efficiently cover a larger monitoring area and reduce duplication of effort. For example, during offshore wind turbine pile inspections, a UAV formation can perform omnidirectional scans and acquire comprehensive data. Each UAV utilizes a local collaborative control mechanism to ensure coordinated flight paths and improve mission execution efficiency.

[0123] The USV provides stable support for the UAV's takeoff, landing, and recovery. The self-stabilizing platform on the USV ensures it remains level despite sea surface fluctuations and current disturbances, preventing flight instability. QR code positioning technology enables the UAV to precisely land at the designated location on the USV platform, enhancing system operational accuracy and stability.

[0124] The UAV's flight control system is equipped with an intelligent obstacle avoidance function to detect and avoid obstacles in real time. By integrating sensors and computer vision technology, the UAV's autonomous flight capability in complex marine environments is guaranteed. The UAV can also dynamically adjust its flight altitude and path to cope with the uncertainty in the marine environment and improve operational efficiency and safety. The UAV operation block diagram is as follows Figure 16 shown.

[0125] In some optional embodiments, UAV formation strategies include collaborative flight and rapid coordination. Collaborative flight involves several UAVs entering a working formation, sharing neighborhood information between them, and dividing the UAV formation into different hierarchical structures. Rapid coordination uses a predictive mechanism to perceive and plan future paths in advance to cope with node loss and complex environments (such as narrow passages and dynamic obstacles).

[0126] Further, some optional embodiments involve a coordinated control method for a large-scale drone swarm. This method divides the drone swarm into multiple subgroups and employs a hierarchical control architecture, with each subgroup consisting of a leader and multiple followers. The leader is responsible for intra-group coordination and path following and collaboration of tasks between groups. Rapid coordination is achieved by assigning a virtual target path to each group leader and employing a virtual target update law. This method ensures rapid global coordination of the drone swarm using limited communication resources even in the event of node loss. Numerical integration methods are introduced to extend the iteration cycle, reduce the number of data packets, and alleviate the burden on channel resources, making it suitable for environments with poor communication conditions.

[0127] For drone swarms launched at different times and locations, a consensus algorithm that considers merging behavior is proposed. This combines a grouped, hierarchical control architecture with a local interaction mechanism to ensure rapid, consistent coordination of the merged drone swarm. When a node fails, the system uses a predictive mechanism to quickly assess mission requirements, reallocate tasks to other nodes, adjust the formation or path planning, and quickly restore the fleet's operations.

[0128] Neighborhood information exchange between drones is based on optimized D2D communication, combining spectrum clustering and a non-cooperative game model to dynamically adjust spectrum allocation and power control. A spectrum clustering algorithm is used to allocate spectrum resources between D2D and cellular users, improving spectrum utilization. Based on non-cooperative game theory, a utility function for D2D users is constructed, and spectrum allocation and power control strategies are dynamically adjusted to ensure global optimization. A distributed power control algorithm is proposed to dynamically adjust the transmit power of D2D users based on channel conditions and user demand.

[0129] Once several drones enter operational mode, they are divided into a leader and three lower-level worker drones. The leader is responsible for overall task allocation and trajectory planning for the formation, transmitting task instructions to the lower-level worker drones via communication links. The leader and lower-level worker drones exchange information via D2D communication links, ensuring real-time delivery of task instructions. In the event of a node failure, the leader dynamically adjusts task allocation based on the current status and task priorities of the remaining lower-level worker drones, ensuring task continuity and formation stability.

[0130] Employing a strategy of global mapping and local replanning, the underlying working machine dynamically adjusts its trajectory based on the local environment, building on the global path planning. The hierarchical planning strategy employs an improved A* algorithm based on exploration degree for the outer layer planning, and a trajectory optimization method based on MINCO trajectory representation for the inner layer planning, generating smooth flight trajectories that meet the UAV's speed and acceleration constraints.

[0131] 3. Underwater Robots

[0132] AUV is responsible for tasks such as marine environment monitoring and underwater structure inspection in a multi-platform collaborative operation system. It is highly flexible and equipped with four horizontal and four vertical thrusters, which can accurately adjust the heading, depth and attitude. The AUV is equipped with high-resolution sonar, ultrasonic detectors, optical cameras and other sensors to collect underwater data in real time, perform structural detection and environmental analysis. The USV provides deployment and recovery services for the AUV through the retraction module, and the electric push rod and double-fan bottom plate design ensure stable support. The AUV is connected to the USV via a cable, transmitting data in real time, and the cable control system adjusts the tension to maintain stable operation. After the operation is completed, the AUV is recovered into the retraction box of the USV. The AUV's control system is equipped with a real-time dynamic compensation system to monitor and respond to factors such as water flow disturbances and temperature changes, and automatically adjust the thruster status to ensure the best working attitude. In a multi-platform system, the USV serves as the core platform, working in collaboration with UAV and AUV to form an efficient and stable operation network. Advantages of AUV operations such as Figure 17 shown.

[0133] In addition, the SCDM mechanism is the core innovation of the system, connecting the operation processes, data transmission and task scheduling of each platform, realizing real-time data sharing and dynamic scheduling, improving operation efficiency and accuracy, and ensuring stable execution in complex environments. The SCDM mechanism includes the following key components:

[0134] ①Data collection and transmission:

[0135] Each platform (USV, UAV, AUV) is equipped with a variety of sensors for real-time collection of environmental data and operational information. UAVs are equipped with high-definition cameras, infrared sensors, temperature and humidity sensors, and other equipment to collect data from areas above the water surface. AUVs use sonar, ultrasonic detectors, optical detectors, and other sensors to collect underwater environmental data. All collected data is transmitted in real time to the USV platform via the SCDM mechanism for preliminary processing. The USV's communication module transmits data to a remote control center via wireless signals or wired redundant links. The center analyzes the real-time data and makes decisions and adjusts tasks.

[0136] ②Task scheduling and optimization:

[0137] The USV, acting as a control center, monitors the operating status of the UAV and AUV in real time through a task scheduling system and dynamically adjusts operational tasks based on mission requirements, environmental changes, and the platform's current status. The USV transmits processed information back to the UAV and AUV via the SCDM mechanism, adjusting their flight paths or operating depths. For example, when the USV detects strong winds or complex weather conditions above the water, it automatically adjusts the UAV's flight altitude and heading to prevent the flight from deviating from the planned path. Similarly, if the USV detects obstacles or strong currents in the underwater environment, the system adjusts the AUV's depth and speed in real time to ensure safety and maintain efficient operations.

[0138] ③ Real-time data feedback and collaborative control:

[0139] The SCDM mechanism ensures high-level coordination between UAVs and AUVs during mission execution through the exchange of real-time data feedback and control commands. While the UAV is operating, the USV monitors its data transmission status in real time to ensure smooth data transmission and provides necessary flight adjustment commands. Similarly, when the AUV is performing underwater operations, the USV not only receives real-time data but also provides necessary command adjustments based on the AUV's position, depth, and sensor feedback to ensure precise mission completion. Through this collaborative control, the UAV and AUV operations do not interfere with each other, but instead achieve optimal coordination through task scheduling and resource sharing.

[0140] ④Multi-platform data sharing and analysis:

[0141] The SCDM mechanism also includes multi-platform data sharing and analysis capabilities. The USV, leveraging its powerful data processing capabilities, integrates and analyzes data from UAVs and AUVs, providing real-time decision-making support to the remote control center. For example, the USV can combine sea surface wind speed data collected by the UAV with underwater structural status data collected by the AUV in real time to analyze the overall operating status of the wind turbine pile both above and below the water surface, providing more comprehensive operational information. This data sharing and analysis capability effectively improves operational accuracy, enabling the USV, UAV, and AUV to form an efficient operational network that can rapidly respond to various changes in the complex marine environment.

[0142] Through the SCDM mechanism, an efficient and collaborative working mode is formed among USV, UAV and AUV.

[0143] An embodiment of the present invention further provides an electronic device comprising a processor and a memory, wherein the memory stores a computer program, and when the processor executes the computer program, it implements the aforementioned integrated water, land, and air surface unmanned vehicle engineering inspection method. The electronic device can be any intelligent terminal, including a tablet computer and an in-vehicle computer.

[0144] It can be understood that the contents of the above method embodiments are applicable to the present device embodiments, the functions specifically implemented by the present device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0145] refer to Figure 19 , Figure 19 The hardware structure of an electronic device according to another embodiment is shown. The electronic device includes:

[0146] The processor 501 may be implemented as a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is configured to execute relevant programs to implement the technical solutions provided by the embodiments of the present invention.

[0147] The memory 502 can be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 502 can store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 502 and is called by the processor 501 to execute the integrated water, land, and air surface unmanned vehicle engineering detection method of the embodiment of the present invention.

[0148] Input / output interface 503, used to implement information input and output;

[0149] Communication interface 504, used to implement communication interaction between this device and other devices, which can be achieved through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WiFi, Bluetooth, etc.);

[0150] Bus 505 , which transmits information between various components of the device (e.g., processor 501 , memory 502 , input / output interface 503 , and communication interface 504 );

[0151] The processor 501 , the memory 502 , the input / output interface 503 and the communication interface 504 are connected to each other in communication within the device via a bus 505 .

[0152] An embodiment of the present invention also provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the above-mentioned integrated water, land and air surface unmanned boat engineering detection method.

[0153] It can be understood that the contents of the above method embodiments are all applicable to the present storage medium embodiment, the functions specifically implemented by the present storage medium embodiment are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0154] An embodiment of the present invention further provides a computer program product or computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device can read the computer instructions from the computer-readable storage medium and execute the computer instructions, causing the computer device to perform the aforementioned integrated water, land, and air unmanned surface vehicle engineering inspection method.

[0155] In summary, the integrated water, land, and air unmanned surface vehicle and its engineering inspection method according to the embodiments of the present invention have the following advantages:

[0156] This embodiment of the present invention combines three platforms: USV (Unmanned Surface Vehicle), UAV (Unmanned Aerial Vehicle), and AUV (Underwater Vehicle), completing engineering inspection tasks through efficient collaborative operations. By using the USV as the core platform and integrating the operational capabilities of the UAV and AUV, the system improves the efficiency, accuracy, and environmental adaptability of both surface and underwater inspections.

[0157] Through information sharing and collaborative control between UAVs, USVs, and AUVs, mission allocation and path planning can be efficiently completed, reducing mission execution time. Regarding environmental adaptability, the UAV formation can smoothly respond to environmental changes through rapid coordination and prediction mechanisms, ensuring mission continuity and formation stability. USVs are used for overwater search and accurate GPS positioning, while AUVs and surface USVs exchange information via a short baseline positioning system, ensuring efficient and safe mission execution.

[0158] In some optional embodiments, the function / operation mentioned in the block diagram may not occur in the order mentioned in the operation diagram. For example, depending on the function / operation involved, the two boxes shown in succession can actually be executed substantially simultaneously or the boxes can sometimes be executed in reverse order. In addition, the embodiment presented and described in the flow chart of the present invention is provided in an exemplary manner for the purpose of providing a more comprehensive understanding of the technology. The disclosed method is not limited to the operation and logic flow presented herein. Optional embodiments are contemplated in which the order of the various operations is changed and the sub-operations described as a part of a larger operation are performed independently.

[0159] Furthermore, although the present invention is described in the context of functional modules, it should be understood that, unless otherwise indicated, one or more of the functions and / or features described may be integrated into a single physical device and / or software module, or one or more functions and / or features may be implemented in separate physical devices or software modules. It will also be understood that a detailed discussion of the actual implementation of each module is not necessary for understanding the present invention. More specifically, given the properties, functions, and internal relationships of the various functional modules in the devices disclosed herein, the actual implementation of the module will be understood within the ordinary skill of an engineer. Therefore, a person skilled in the art using ordinary skill will be able to implement the present invention set forth in the claims without undue experimentation. It will also be understood that the specific concepts disclosed are merely illustrative and are not intended to limit the scope of the present invention, which is determined by the full scope of the appended claims and their equivalents.

[0160] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0161] The logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (e.g., a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device). For purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by, or in conjunction with, an instruction execution system, apparatus, or device.

[0162] More specific examples (a non-exhaustive list) of computer-readable media include the following: an electrical connection with one or more wires (electronic devices), a portable computer disk cartridge (magnetic devices), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disc read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, deciphering, or processing in another suitable manner as necessary, and then stored in a computer memory.

[0163] It should be understood that various parts of the present invention can be implemented using hardware, software, firmware, or a combination thereof. In the above-described embodiments, multiple steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0164] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0165] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the claims and their equivalents.

[0166] The above is a specific description of the preferred implementation of the present invention, but the present invention is not limited to the embodiments. Those skilled in the art can make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of the present invention.

Claims

1. An integrated water, land and air unmanned surface boat, characterized in that: It includes the main hull, underwater robot retraction and deployment module, parallel self-stabilizing platform and UAV retraction and deployment box; The two main hull parts are distributed in mirror symmetry; The underwater robot retracting and deploying module is installed on the center line of the main hull part, connecting the two main hull parts; the underwater robot retracting and deploying module is located between the two symmetrical parallel self-stabilizing platforms; The two parallel self-stabilizing platforms are respectively installed on both sides of the main hull part and connect the two main hull parts; The drone storage and release box is arranged on the top of the parallel self-stabilizing platform and is connected to the upper top plate of the parallel self-stabilizing platform.

2. The integrated water, land and air unmanned surface boat according to claim 1, characterized in that: Both ends of the main hull part are provided with hull cameras; the lower part of the main hull part is provided with a propeller.

3. The integrated water, land and air unmanned surface boat according to claim 1, characterized in that: The underwater robot retraction module is used to release or store the underwater robot; an electric push rod and a supporting base are provided at the bottom of the underwater robot retraction module, and the electric push rod is driven by signal control to control the supporting base to open or close to release or store the underwater robot; a signal tower is provided on the upper part of the underwater robot retraction module; the signal tower is provided with several signal tower cameras.

4. The integrated water, land and air unmanned surface boat according to claim 3, characterized in that: The underwater robot includes an overall shell, a vector thruster, a control cabin, a robot camera, a searchlight, a control system, a module mounting frame, a cable interface, a depth sensor, a main switch and a handle; the overall shell is provided with a plurality of vertical vector thruster installation spaces and a plurality of horizontal vector thruster fixing clamps; the vertical vector thruster installation spaces and the horizontal vector thruster fixing clamps are both used to install the vector thrusters; the middle part of the overall shell is provided with the control cabin; the interior of the control cabin is provided with the control system, wires, electronic component boards, battery packs, a plurality of depth sensors and the main switch; one end of the cable interface is connected to the control system of the control cabin, and the other end of the cable interface is connected to the cable of the cable reel of the surface unmanned boat; the head of the overall shell is provided with the robot camera and the searchlight; the bottom of the overall shell is provided with the module mounting frame; and the handles are provided on both sides of the overall shell.

5. The integrated water, land and air unmanned surface boat according to claim 1, characterized in that: The parallel self-stabilizing platform includes a lower base plate, a robotic arm, an upper top plate, a fixed direction support, a hydraulic cylinder, a motor driver and a robotic arm central axis; one end of the robotic arm is connected to the lower base plate, and the other end of the robotic arm is connected to the upper top plate through the fixed direction support; the robotic arm central axis is sleeved on the robotic arm, and the hydraulic cylinder and the motor driver are provided on one side of the robotic arm central axis.

6. The integrated water, land and air unmanned surface boat according to claim 1, characterized in that: The drone storage box is provided with a storage cabin; the storage cabin is provided with an opening and closing top cover for storing the drone; the opening and closing top cover is hinged to the storage cabin; the storage cabin is provided with a lifting drive assembly; the lifting drive assembly is used to lift the drone.

7. A method for detecting engineering projects of an integrated water, land and air unmanned surface vehicle, for use with the integrated water, land and air unmanned surface vehicle according to any one of claims 1 to 6, characterized in that: The following steps are involved: In response to the first data collection task, obtaining first environmental data through the drone; In response to the second data collection task, acquiring second environmental data by the underwater robot; Performing data storage and processing operations on the first environment data and the second environment data to obtain third environment data; The third environmental data is transmitted to a remote control center to realize surface unmanned boat engineering inspection.

8. The method for detecting an integrated water, land and air surface unmanned boat engineering project according to claim 7, characterized in that: The step of acquiring first environmental data by using a drone in response to the first data collection task includes the following steps: In response to the first data collection task, adjusting the parallel self-stabilizing platform to adjust the UAV to a horizontal state; Open the retractable top cover, control the lifting drive assembly to rise, and release the drone; The first environmental data is acquired through the drone.

9. The method for detecting an integrated water, land and air surface unmanned boat engineering project according to claim 7, characterized in that: The step of acquiring the second environmental data by the underwater robot in response to the second data acquisition task includes the following steps: In response to the second data acquisition task, the electric push rod is driven by signal control to control the support base plate to open; Controlling the release of the cable through the cable drum to release the underwater robot; The second environmental data is acquired by the underwater robot.

10. The method for detecting an integrated water, land and air surface unmanned boat engineering project according to claim 7, characterized in that: Before performing data storage and processing operations on the first environment data and the second environment data to obtain the third environment data, the following steps are also included: In response to the first recovery task, when the UAV lands on the storage cabin, the lifting drive assembly is controlled to descend and the opening and closing top cover is closed; In response to the second recovery task, the cable is recovered through the cable reel, the underwater robot is recovered to the underwater robot retraction module, and the electric push rod is driven by signal control to control the support base plate to close.

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