Buried shellfish detection-harvesting-oxygenation integrated system based on cooperation of multiple unmanned ships

Abstract

The invention relates to the technical field of intelligent ocean equipment, in particular to a buried shellfish detection-harvesting-oxygenation integrated system based on cooperation of multiple unmanned ships. Comprising a detection mother ship module and a son ship system module. The sub-ship system module comprises 3-5 sub-ships; a parametric array sonar unit, a trawl unit, a cooperation unit and the like are organically combined by integrating a detection mother ship module and a son ship system module, the problems that a traditional unmanned ship is single in function and equipment is separated are solved, the integration of detection, harvesting and oxygenation functions is achieved, and the development efficiency of intertidal shellfish resources is improved; the tensioning subunits can automatically adjust the inclination angle of the trawl net based on three-dimensional topographic data, the water flow direction is optimized by combining flow guide fins of the trawl net units, the hanging height of the trawl net is flexibly adjusted through a multi-node hanging connecting mechanism, the problem that an existing trawl net device is insufficient in adaptability to shallow water topography is effectively solved, and stable operation under the complex intertidal zone topography is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent marine equipment, and in particular to an integrated system for detecting, collecting and oxygenating buried shellfish based on the collaboration of multiple unmanned vessels. Background Art

[0002] In the field of intelligent marine equipment, the efficient and ecological development of intertidal shellfish resources places higher demands on the integration and intelligence of related equipment. Traditional unmanned vessel systems generally suffer from single functions, with separate detection, harvesting, and aeration equipment, making it difficult to meet the requirements of integrated operations. Furthermore, existing trawl nets lack adaptability in shallow waters, and path planning accuracy is insufficient when multiple vessels collaborate, resulting in inefficient resource development and insufficient ecological protection.

[0003] For example, Chinese patent CN201710339113.8 discloses an unmanned vessel ocean automatic sounding and monitoring system. This system is designed only around sounding and monitoring functions, and does not involve key links such as harvesting and oxygenation. The equipment functions are scattered and multi-task integrated operations cannot be achieved. Another example is Chinese patent CN201710103730.8, which discloses an unmanned vessel group collaborative self-organizing operation system and method for fishery. Although this patent focuses on the collaboration of unmanned vessel groups, the trawl device fails to specifically solve the problem of shallow water terrain adaptability, and the accuracy of multi-vessel collaborative path planning is insufficient, making it difficult to ensure the efficiency and accuracy of operations.

[0004] The aforementioned comparative documents highlight the shortcomings of traditional technologies: first, single functions and fragmented equipment lead to complex operational processes and low efficiency; second, trawl nets are not adaptable to the shallow terrain of intertidal zones, and multi-vessel coordinated path planning lacks precision, making it difficult to balance development efficiency and ecological protection. In light of these factors, this application proposes an integrated system for detecting, harvesting, and aerating buried shellfish based on the collaboration of multiple unmanned vessels. Summary of the Invention

[0005] The purpose of the present invention is to provide an integrated system for detecting, collecting and oxygenating buried shellfish based on the collaboration of multiple unmanned vessels to solve the problems raised in the above-mentioned background technology.

[0006] To solve the above technical problems, the present invention provides an integrated system for detecting, harvesting and oxygenating buried shellfish based on the collaboration of multiple unmanned vessels, comprising: Detection mother ship module: integrated into the mother ship hull, including: The parametric array sonar unit, installed in the bottom shroud of the mother ship, integrates a 3D terrain modeling algorithm to transmit sound waves that penetrate the seabed sediments to obtain echo signals. The algorithm then processes the echo signals to generate a 3D terrain model that includes the distribution density and burial depth of shellfish, as well as a thermal map of the harvest area. The data storage unit is located in the mother ship's central control cabin and is used to cache detection data; The navigation unit is mounted on the top of the mother ship's mast and is used to provide high-precision positioning and navigation information; Sub-vessel system module: includes 3-5 sub-vessels, each of which integrates the following units to achieve collaborative operation: The connection unit consists of a carbon fiber cable and a tensioning sub-unit. The carbon fiber cable adopts a master-slave connection method. The two ends of the main cable are respectively fixed to the winch at the rear of the mother ship and the towing device at the bow of the daughter ship. The daughter ships are connected to the adjacent hull sides by transverse cables to form a fan-shaped towing surface. The tensioning sub-unit is installed on the daughter ship's bow connection bracket to automatically adjust the trawl inclination angle and stabilize the cable tension according to the three-dimensional terrain data. The trawl unit, suspended beneath the transverse cables between the daughter vessels, includes a trawl net, an impeller air pump, and guide vanes, used for harvesting shellfish and providing oxygen. The impeller air pumps are symmetrically arranged on either side of the trawl frame. After harvesting, the impellers stir the water and release microbubbles to achieve regional oxygenation. The guide vanes are installed within the trawl frame, tilted 10-15 degrees along the water flow direction, to optimize the water flow direction and improve oxygenation efficiency. The UWB communication unit and antenna assembly are installed on the top of the daughter ship superstructure to achieve high-precision positioning and data exchange between the daughter ship and the mother ship; The collaborative unit is integrated into the daughter ship control cabin and is equipped with a dynamic path planning sub-unit, which is used to integrate thermal maps, terrain data and heading information to achieve daughter ship operation coordination.

[0007] As a further improvement to this technical solution, the hydraulic tensioning mechanism of the tensioning subunit includes a hydraulic cylinder, a pressure sensor, an electro-hydraulic proportional valve, and an embedded controller. One end of the hydraulic cylinder is fixedly connected to the sub-vessel bow connection bracket, and the other end is connected to the end of the transverse cable via a dedicated connector. The pressure sensor is integrated into the connector and is used to monitor the transverse cable tension and provide feedback to the embedded controller. The embedded controller calculates the target tension value through a PID control algorithm based on the three-dimensional terrain data generated by the parametric array sonar unit, and drives the electro-hydraulic proportional valve to control the extension and retraction of the hydraulic cylinder based on the tension feedback data collected in real time by the pressure sensor, thereby dynamically adjusting the transverse cable tension so that the actual tension value tracks the target tension value. The hydraulic tensioning mechanism uses the collaboration of the hydraulic cylinder, sensor, etc., and PID control to dynamically adjust the cable tension, accurately tracking the target value.

[0008] As a further improvement of this technical solution, the embedded controller of the tensioning subunit adjusts the trawl inclination angle based on the model predictive control algorithm and establishes a tension-inclination dynamic model. ,in is the moment of inertia, which is used to characterize the inertial characteristics of the trawl rotation; is the trawl inclination angle; Trawl inclination Over time The rate of change of the inclination angle is the dynamic change speed of the inclination angle; Output torque for the hydraulic system, generated by controlling the extension and contraction of the hydraulic cylinder, used to change the stress state of the trawl; is the damping coefficient, which is used to reflect the damping characteristics of the system during motion; is the elastic coefficient, which is used to reflect the elastic characteristics of the system; the embedded controller calculates and outputs control instructions based on the model to adjust the output torque of the hydraulic system Tow net inclination This design adjusts the trawl inclination angle based on the model predictive control algorithm and uses the tension-inclination dynamic model to improve control accuracy.

[0009] As a further improvement of this technical solution, the impeller air pump of the trawl unit adopts a DO compensation algorithm during the oxygenation operation to establish a dissolved oxygen dynamic model: ; in, is the dissolved oxygen concentration, is the microbubble injection amount, The impeller aerator uses DO compensation and a predictive control algorithm to optimize the microbubble injection rate, thereby improving oxygenation efficiency.

[0010] As a further improvement of the present technical solution, the trawl is woven with high-strength nylon material, and the trawl and the transverse cables are detachably connected via a multi-node suspension connection mechanism; the multi-node suspension connection mechanism includes: Main connection nodes: Located at the top center and both ends of the trawl frame, they are fastened to the transverse cables with high-strength nylon ropes to prevent the trawl from detaching from the transverse cables. A 10-20cm gap is reserved between the top of the trawl frame and the transverse cables. Auxiliary connection nodes: 4-6 nodes are evenly distributed along the top edge of the trawl frame. Each node includes an adjustable suspension hook, consisting of a U-shaped metal hook and an adjustment screw. The metal hook is fixed to the trawl frame. The adjustment screw passes through a guide hole in the transverse cable and is fixed with a nut. Rotating the nut adjusts the height of the trawl hanging from the transverse cable. The multi-node suspension connection mechanism allows the trawl to be disassembled and the suspension height to be adjusted, balancing stability and flexibility.

[0011] As a further improvement to this technical solution, the UWB communication unit utilizes multi-antenna diversity technology, including at least three directional antenna arrays. A beamforming algorithm dynamically adjusts the antenna pattern to adapt to the ocean environment for signal transmission. This adaptability and beamforming algorithm ensure stable communication.

[0012] As a further improvement of this technical solution, the dynamic path planning module of the collaborative unit adopts an improved distributed auction algorithm to rasterize the heat map into specific specification units and define the value function ,in Indicates the value assessment value of the sub-ship to the target area, Represents the serial number index of the sub-ship, used to distinguish different unmanned sub-ships. Represents the number index of the target area unit. The heat map is rasterized to form several units. It is used to identify a specific target area unit. The density value is the density of shellfish distribution within the heat map unit. The dynamic path planning module updates the operation path based on the rolling window optimization strategy. The dynamic path planning module can optimize the operation path and coordination efficiency of the sub-vessel by improving the algorithm and rolling window.

[0013] As a further improvement to this technical solution, the integrated system for detecting, harvesting, and oxygenating buried shellfish based on the collaboration of multiple unmanned vessels also includes a power supply module. This module provides power to the mother vessel module and the daughter vessel system modules. This module comprises a solar power generation unit, a diesel generator set, and an energy storage unit installed on the mother vessel, as well as a solar power generation unit and energy storage unit installed on the daughter vessel. This power supply module utilizes a multi-unit combination (solar power, diesel generator set, and energy storage) to ensure continuous and stable power supply to the system.

[0014] As a further improvement to this technical solution, the energy management system of the power supply module integrates an adaptive power allocation algorithm, collects energy consumption data, environmental data and energy storage unit status of the mother ship and daughter ship in real time through sensors, and establishes a multi-objective optimization model: ; Where, is the energy consumption cost, is the pollutant emission cost of the diesel engine unit, The adaptive power allocation algorithm uses particle swarm optimization to dynamically adjust the power ratio between the mother ship's diesel generators and solar power generation units, while also controlling the charging and discharging strategies of the daughter ship's energy storage units. By combining the adaptive power allocation algorithm with multi-objective optimization, the power ratio can be dynamically adjusted to reduce costs and losses.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. By integrating the detection mother ship module and the daughter ship system module, the parametric array sonar unit, trawl unit, and collaborative unit are organically combined, solving the problem of single function and separate equipment of traditional unmanned vessels. The integrated functions of detection, harvesting, and oxygenation are achieved, simplifying the operation process and improving the efficiency of intertidal shellfish resource development. 2. The tensioning subunit automatically adjusts the trawl's inclination angle based on three-dimensional terrain data. Combined with the trawl unit's guide vanes to optimize water flow direction, and a multi-node suspension connection mechanism to flexibly adjust the trawl's hanging height, this effectively addresses the existing trawl's limited adaptability to shallow water terrain, ensuring stable operation in complex intertidal terrain. 3. The collaborative unit is equipped with a dynamic path planning sub-unit, which uses an improved distributed auction algorithm to integrate heat maps, terrain data and heading information, and updates the operation path based on a rolling window optimization strategy. This improves the accuracy of multi-vessel collaborative path planning, achieves precise coordination of sub-vessel operations, and takes into account both development efficiency and ecological protection needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a system framework diagram of the mother ship detection module in the present invention; Figure 2 This is a system framework diagram of the neutron ship system module of the present invention; Figure 3 Schematic diagram of the structure of the multi-node suspension connection mechanism of the present invention; Figure 4 This is a system framework diagram of the present invention. DETAILED DESCRIPTION

[0017] The following will provide a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0018] like Figure 1-Figure 4 As shown, this embodiment provides an integrated system for detecting, harvesting, and oxygenating buried shellfish based on the collaboration of multiple unmanned vessels, including: like Figure 1 As shown, the mother ship detection module 100 is integrated into the mother ship hull and includes: The parametric array sonar unit, installed in the bottom shroud of the mother ship, integrates a 3D terrain modeling algorithm to transmit sound waves that penetrate the seabed sediments to obtain echo signals. The algorithm then processes these signals to generate a 3D terrain model that includes shellfish distribution density and burial depth, as well as a thermal map of the harvest area (based on density inversion data from the sonar echo signals). In this embodiment, the three-dimensional terrain modeling algorithm of the parametric array sonar unit includes an adaptive filtering step, by setting the time-varying filter parameters , in order to suppress the interference of seabed reverberation, and realize target recognition by extracting the shellfish-specific echo characteristics of specific echo intensity and width, and generate a three-dimensional terrain model with an accuracy of ±10cm and a thermal map of the harvesting area with a resolution of 1m²; Among them, is a time-varying filter parameter whose value changes with time Changes are used to adjust the way the filter processes the signal to suppress the interference of seabed reverberation; is the initial filter coefficient, is the attenuation factor, The peak moment of the echo. Adaptive filtering suppresses seafloor reverberation interference and accurately extracts shellfish-specific echo characteristics with specific echo intensity and width. This generates a three-dimensional terrain model with an accuracy of ±10cm and a heat map of the harvest area with a resolution of 1m². This improves the accuracy and clarity of shellfish distribution detection and provides precise data support for subsequent harvesting operations.

[0019] As a further illustration of this embodiment, is the initial filtering coefficient, which determines the starting strength of the filtering process. The value range can be determined through experiments based on the actual ocean noise level. For example, in a general shallow sea environment, The possible values ​​are 0.8-1.2. It is the attenuation factor, which reflects the speed at which the filter coefficient decays over time. The larger its value is, the faster the filter coefficient decays. It can be adjusted according to the stability of the echo signal. For example, when the echo signal fluctuates greatly, It can be increased appropriately (such as 0.5-1.0). It is the echo peak moment, that is, the time point when the sonar echo signal intensity reaches its peak, which is determined by real-time monitoring and analysis of the echo signal.

[0020] The data storage unit is installed in the mother ship's central control cabin and is used to cache detection data. The data storage unit can ensure that key information is not lost during data processing and transmission, ensuring the continuity and stability of the entire detection-harvesting-oxygenation integrated system operation.

[0021] In this embodiment, the data storage unit is connected to the parametric array sonar unit and the navigation unit using a high-speed data bus (such as PCIe4.0) to ensure that the data transmission rate is not less than 3000MB / s.

[0022] As a further illustration of this embodiment, the data storage unit can utilize a large-capacity solid-state drive (SSD) with a capacity of at least 2TB, supporting RAID 1 data redundancy to ensure data protection in the event of a single storage chip failure. For example, a Samsung 870QVO 4TB SSD can achieve a sequential read speed of 560MB / s and a sequential write speed of 530MB / s, meeting the high-speed caching requirements for sonar detection data (approximately 500GB per hour).

[0023] The navigation unit, mounted on the top of the mother ship's mast, is used to provide high-precision positioning and navigation information. This design enables the mother ship to accurately navigate to the target area in complex marine environments, avoiding inefficient operations or waste of resources due to positioning deviations.

[0024] In this embodiment, the navigation unit uses a combined Beidou Navigation Satellite System (BDS) and Inertial Navigation System (INS) navigation system. The BDS receives signals in the B1 and B2 frequency bands, achieving centimeter-level positioning accuracy (in differential mode). The inertial navigation system uses a laser gyroscope with a bias stability of ≤0.01° / h and an accelerometer bias of ≤100μg.

[0025] like Figure 2 As shown, the daughter ship system module 200 includes 3-5 daughter ships, each of which integrates the following units to achieve collaborative operation: The connection unit consists of a carbon fiber cable and a tensioning sub-unit. The carbon fiber cable adopts a master-slave connection method. The two ends of the main cable are respectively fixed to the winch at the rear of the mother ship and the traction device at the bow of the daughter ship. The daughter ships are connected to the adjacent hull sides through transverse cables to form a fan-shaped towing surface. The carbon fiber cable has the advantages of light weight and high strength (tensile strength can reach more than 3000MPa). The master-slave connection and the transverse cable connection to the adjacent hull sides construct a stable fan-shaped towing surface, expand the operation coverage, and improve the overall operation efficiency. The tensioning sub-unit is installed on the daughter ship's bow connection bracket, which is used to automatically adjust the trawl inclination angle and stabilize the cable tension according to the three-dimensional terrain data. The tensioning sub-unit can dynamically adjust the trawl inclination angle and stabilize the cable tension according to the three-dimensional terrain data, which enhances the system's adaptability to complex seabed terrain and ensures that the trawl is always in an efficient operating state.

[0026] As a further illustration of this embodiment, the carbon fiber cable is anchored to the mothership's aft winch using high-strength bolts with a strength grade of no less than 12.9, ensuring connection reliability. The daughtership's bow towing device is equipped with a quick connector (such as the German JOST brand's automatic locking connector) to enable rapid cable assembly and disassembly, shortening operational preparation time. Furthermore, the transverse cables between the daughterships are connected to the ship's side using stainless steel shackles (such as D-type shackles with a safety load rating of 50kN or higher). The shackles are hot-dip galvanized for excellent corrosion resistance and facilitate adjustment of the transverse cable connection position based on operational needs.

[0027] In this embodiment, the hydraulic tensioning mechanism of the tensioning subunit includes a hydraulic cylinder, a pressure sensor, an electro-hydraulic proportional valve and an embedded controller; one end of the hydraulic cylinder is fixedly connected to the sub-vessel bow connection bracket, and the other end is connected to the end of the transverse cable through a dedicated connector; the pressure sensor is integrated in the connector and is used to monitor the transverse cable tension and feed back to the embedded controller; the embedded controller calculates the target tension value based on the three-dimensional terrain data generated by the parametric array sonar unit through a PID control algorithm, and drives the electro-hydraulic proportional valve to control the extension and retraction of the hydraulic cylinder according to the tension feedback data collected in real time by the pressure sensor, so as to dynamically adjust the transverse cable tension so that the actual tension value tracks the target tension value; the transverse cable tension is monitored in real time by the pressure sensor and fed back to the embedded controller, and the electro-hydraulic proportional valve is driven by the PID control algorithm to control the extension and retraction of the hydraulic cylinder, thereby achieving precise and dynamic control of the cable tension, ensuring the stability and reliability of the trawling operation, and avoiding trawling deformation or cable breakage caused by improper tension. At the same time, the embedded controller calculates the target tension value based on the three-dimensional terrain data generated by the parametric array sonar unit, so that the cable tension can be dynamically adjusted according to the seabed topography (such as increasing the tension in raised terrain to prevent trawl collisions), enhancing the system's adaptability to complex environments and improving harvesting accuracy.

[0028] To further illustrate this embodiment, the hydraulic cylinder used is a double-acting, single-piston-rod cylinder (e.g., model 4WE6D62 / OFEG24N9K4) with an 80mm bore, 500mm stroke, and a rated pressure of 31.5MPa, ensuring sufficient thrust and adjustment range. The electro-hydraulic proportional valve uses the Rexroth 4WRA series (e.g., 4WRA10E60-2X / G24N9K4 / V), offering a response time of ≤30ms and a control accuracy of ±1%, meeting the requirements for fast and precise tension adjustment.

[0029] As a further illustration of this embodiment, the embedded controller of the tensioning subunit runs a PID control algorithm, and its calculation formula is: ; Among them, control output, This is the signal (4–20mA) output to the electro-hydraulic proportional valve, which is used to adjust the extension and retraction of the hydraulic cylinder, thereby controlling the force applied to the trawl net. is the proportionality coefficient; is the tension error; tension error , is the target tension value calculated dynamically based on the seabed slope (e.g. 80kN in flat areas, 120kN in areas with a slope greater than 15°), It is the tension value collected by the pressure sensor in real time; Is the integral coefficient, which determines the integral of the control output and the tension error The gain of the proportional part is used to eliminate static errors and the influence of accumulated historical errors; is the differential coefficient, which determines the rate of change of the tension error in the control output The gain of the proportional part is used to predict the error change trend and suppress system overshoot; Tension error The time derivative, that is, the rate of change of tension error with time, reflects the speed of error change; The PID parameters are tuned by the following methods: Critical parameter determination: Through step response experiment (for experimental principles and operation procedures, please refer to authoritative textbooks such as "Principles of Automatic Control"), under the condition that the integral term and differential term are set to 0, gradually increase the proportional coefficient until the system exhibits constant amplitude oscillation, and measure the critical gain (The experiment was repeated 10 times and the average was taken); Parameter calculation: According to the Ziegler-Nichols method, we can calculate , ; Engineering correction: Considering the inertia delay of the hydraulic system, the integration time is magnified 100 times and finally determined , .

[0030] At the same time, in order to prevent the system from overshooting due to integral saturation, the anti-integral saturation strategy is adopted: hour( is the maximum design cable tension, such as 200kN), and the integral term accumulation is suspended. This strategy effectively improves the system's dynamic response performance, ensuring precise control of cable tension during trawling operations and avoiding tension adjustment errors caused by integral saturation, which can affect trawling stability.

[0031] In this embodiment, the embedded controller of the tensioning subunit adjusts the trawl inclination angle based on the model predictive control algorithm and establishes a tension-inclination dynamic model. ,in is the moment of inertia, which is used to characterize the inertial characteristics of the trawl rotation; is the trawl inclination angle; Trawl inclination Over time The rate of change of the inclination angle is the dynamic change speed of the inclination angle; Output torque for the hydraulic system, generated by controlling the extension and contraction of the hydraulic cylinder, used to change the stress state of the trawl; is the damping coefficient, which is used to reflect the damping characteristics of the system during motion; is the elastic coefficient, which is used to reflect the elastic characteristics of the system; the embedded controller calculates and outputs control instructions based on the model to adjust the output torque of the hydraulic system Tow net inclination This design utilizes a dynamic tension-tilt model, allowing the embedded controller to predict and optimize the trawl net's tilt angle in advance, fully accounting for the system's inertia, damping, and elasticity. This allows for more precise tilt control and improves the accuracy and efficiency of shellfish harvesting.

[0032] It's understandable that in addition to hydraulic tensioning mechanisms, electric tensioning mechanisms can also be used as an alternative. Electric tensioning mechanisms use a servo motor (such as the Siemens SINAMICS 120 series) to drive a ball screw (10mm lead, C7 accuracy). The rotation of the screw drives the cable drum to retract and release the cable, achieving tension adjustment. This design is suitable for operating environments sensitive to noise and oil contamination.

[0033] The trawl unit, suspended under the transverse cables between the sub-ships, includes a trawl, an impeller air pump and guide vanes, and is used for harvesting shellfish and oxygenation operations; the impeller air pumps are symmetrically arranged on both sides of the trawl frame. After harvesting, the impellers stir the water flow and release microbubbles to achieve regional oxygenation; the guide vanes are installed in the trawl frame, inclined 10°-15° along the direction of the water flow, and are used to optimize the water flow direction to improve the oxygenation efficiency; the trawl unit has both shellfish harvesting and regional oxygenation functions. The impeller air pump and guide vanes work together to achieve "harvesting-oxygenation" integration, improving the efficiency of marine ranching operations by more than 30%.

[0034] In this embodiment, the impeller air pump of the trawl unit adopts a DO compensation algorithm during the oxygenation operation to establish a dissolved oxygen dynamic model: ; in, is the dissolved oxygen concentration, is the microbubble injection amount, The DO compensation algorithm, combined with predictive control, dynamically adjusts the microbubble injection rate in real time to avoid over-aeration or under-oxygenation, reducing energy consumption compared to fixed-flow mode.

[0035] In this embodiment, the trawl is woven with high-strength nylon material, and the trawl and the transverse cables are detachably connected through a multi-node suspension connection mechanism; Figure 3 As shown, the multi-node suspension connection mechanism includes: Main connection nodes: Located at the top center and both ends of the trawl frame, they are fastened to the transverse cables with high-strength nylon ropes to prevent the trawl from detaching from the transverse cables. A 10-20cm gap is reserved between the top of the trawl frame and the transverse cables. Auxiliary connection nodes: 4-6 nodes are evenly distributed along the top edge of the trawl frame. Each node includes an adjustable suspension hook, consisting of a U-shaped metal hook and an adjustment screw. The metal hook is fixed to the trawl frame. The adjustment screw passes through a guide hole in the transverse cable and is fixed with a nut. The nut can be rotated to adjust the height of the trawl hanging from the transverse cable. The multi-node suspension connection mechanism (main connection node + auxiliary connection node) allows for quick assembly and disassembly of the trawl, with a 10-20 cm gap reserved to prevent cable wear. The adjustment screw allows dynamic adjustment of the suspension height (accuracy ± 2 cm) to adapt to different water depths and terrain.

[0036] As a further illustration of this embodiment, in this embodiment, the impeller aerator of the trawl unit runs a DO compensation algorithm, which achieves precise oxygenation based on a dissolved oxygen dynamic model with fully disclosed parameters and a predictive control algorithm. The differential equation for the dissolved oxygen dynamic model is: ; Wherein, C is the current dissolved oxygen concentration (unit: mg / L), which is obtained through real-time monitoring; The saturated dissolved oxygen concentration can be accurately obtained by looking up the table based on the water temperature and salinity of the operating sea area; The microbubble injection flow rate (unit: L / min) is controlled and regulated by the impeller air pump; is the gas-liquid mass transfer coefficient, which is determined experimentally and reflects the efficiency of oxygen transfer between gas and liquid; is the water oxygen consumption coefficient, which represents the rate at which the water consumes oxygen itself; The volume of the oxygenation area responsible for a single set of equipment is determined based on the coverage of the trawling operation; The predictive control algorithm uses the DO concentration in the next 10 minutes as the prediction time domain, and the objective function is ;in: is the target dissolved oxygen concentration, set according to the optimal environment for shellfish growth; for The predicted dissolved oxygen concentration at any moment (unit: mg / L) is calculated using the dissolved oxygen dynamic model; for The change in microbubble injection flow rate at each moment (unit: L / min) reflects the adjustment range of the control amount. The algorithm solves the optimal The control instructions are updated every 20 seconds to ensure that the dissolved oxygen concentration is stable near the target value, achieving efficient and accurate oxygenation.

[0037] As a further illustration of this embodiment, the guide fins in this embodiment may adopt biomimetic-designed spiral guide plates (such as a curved surface structure that imitates the curvature of a fish fin) to replace traditional flat fins to improve oxygenation efficiency.

[0038] The UWB communication unit and antenna assembly are installed on the top of the daughter ship superstructure to achieve high-precision positioning and data exchange between the daughter ship and the mother ship; In this embodiment, the UWB communication unit utilizes multi-antenna diversity technology, including at least three directional antenna arrays. A beamforming algorithm dynamically adjusts the antenna pattern to adapt to ocean signal transmission environments. This design utilizes at least three directional antenna arrays, utilizing spatial diversity reception to mitigate signal fading caused by multipath effects (such as wave reflections and island obstruction) in ocean environments, improving communication link reliability and boosting signal reception success rates compared to a single antenna.

[0039] As a further illustration of this embodiment, each directional antenna array is connected to the UWB communication module via a low-loss RF coaxial cable (such as RG-402, attenuation ≤0.1dB / m), and N-type RF connectors (impedance 50Ω) are used at both ends of the cable to ensure the integrity of high-frequency signal transmission and reduce signal reflection and loss.

[0040] As a further illustration of this embodiment, the UWB communication unit adopts a beamforming algorithm based on minimum mean square error (MMSE), and its calculation formula is: ;in, is a weighted vector used to precisely adjust the antenna pattern and optimize the signal transmission direction; The noise covariance matrix is ​​dynamically updated through real-time monitoring of background noise such as ocean electromagnetic interference to accurately perceive the noise environment; The channel response vector is determined by the signal propagation path between the daughter ship and the mother ship, reflecting the actual signal propagation characteristics. This algorithm updates the antenna weighting coefficient every 50ms, quickly adapting to changes in the ocean environment, such as when the daughter ship is offset by waves or obscured by islands. It effectively enhances mainlobe gain and suppresses sidelobe interference, ensuring stable and reliable high-precision positioning and data exchange between the daughter ship and the mother ship.

[0041] The collaborative unit is integrated into the daughter ship control cabin and is equipped with a dynamic path planning sub-unit, which is used to integrate thermal maps, terrain data and heading information to achieve daughter ship operation coordination.

[0042] In this embodiment, the dynamic path planning module of the collaborative unit adopts an improved distributed auction algorithm to grid the heat map into specific size units (such as 5m×5m grid) to facilitate computer processing and task allocation; define the value function ,in Indicates the value assessment value of the sub-ship to the target area, Represents the serial number index of the sub-ship, used to distinguish different unmanned sub-ships. Represents the number index of the target area unit. The heat map is rasterized to form several units. It is used to identify a specific target area unit. The density value is the density of shellfish distribution within the heat map unit. is the distance from the sub-vessel to the target area; the dynamic path planning module updates the operation path based on a rolling window optimization strategy. The dynamic path planning sub-unit integrates heat maps (reflecting the density of shellfish), terrain data (for obstacle avoidance), and heading information (for navigation safety), improving the coordination efficiency of sub-vessel operations and avoiding duplicate operations and path conflicts.

[0043] As a further illustration of this embodiment, the value function Taking into account the density of shellfish distribution (Unit: pieces / m²) Distance from the daughter ship to the target area (Unit: m), weights determined by experimental optimization =0.7, =0.3, achieving a balance between operational benefits and costs, enabling sub-vessels to prioritize high-density, easily accessible areas, and improving the rationality of task allocation. This function lays the foundation for dynamic path planning. The collaborative unit's dynamic path planning module updates the operational path based on a rolling window optimization strategy, integrating the latest heat maps, terrain data, and heading information in real time to flexibly respond to dynamic changes in the ocean environment (such as sudden obstacles and ocean currents). This design not only ensures the scientific nature of task allocation through the value function, but also ensures the real-time nature of path planning through the rolling window strategy. This ensures that sub-vessel operational coordination remains efficient and stable in complex ocean scenarios, further improving the overall effectiveness of multi-unmanned vessel collaborative operations.

[0044] As a further illustration of this embodiment, the heat map in this embodiment is rasterized into 5m×5m cells, based on Geographic Information System (GIS) technology, with each cell associated with an attribute (shellfish density, terrain slope). = 20 / m², slope 10°, marked as a "high value but terrain caution" area by the algorithm.

[0045] To further illustrate this example, the rolling window size is set to 10 minutes, with the path updated every 2 minutes. For example, after the daughter vessel has been traveling along the original path for 2 minutes, it detects a reef ahead (new terrain data). The algorithm immediately replans the path within the remaining 8-minute window, avoiding the reef and minimizing the need to maintain the original high-value target area.

[0046] It should be added that the value function in this embodiment Medium Weight 、 The orthogonal experimental method is used to determine the total recovery volume and operation time. For example, in a certain sea area test, 0.6, 0.7, 0.8, 0.2, 0.3, 0.4, and 9 groups of experiments were conducted. The experimental results show that when =0.7, = 0.3, the total recovery volume reaches the highest and the operation time is the shortest, fully balancing the operation benefits and costs. Based on this, the final =0.7, =0.3, ensures that the value function can effectively guide the sub-ships to prioritize high-density and easily accessible target areas, thereby improving the rationality of task allocation and operational efficiency.

[0047] Furthermore, the integrated system for detecting, collecting and oxygenating buried shellfish based on the collaboration of multiple unmanned vessels in this embodiment also includes a power supply module, which is used to provide power to the detection mother ship module (100) and the daughter ship system module (200), including a solar power generation unit, a diesel generator set and an energy storage unit installed on the mother ship side, and a solar power generation unit and an energy storage unit installed on the daughter ship side. The mother ship side adopts a "solar power generation unit + diesel generator set + energy storage unit" combination, and the daughter ship side adopts a "solar power generation unit + energy storage unit" to achieve complementary main and standby energy sources. Solar power generation is green and environmentally friendly (reducing carbon emissions), the diesel generator set ensures continuous operation (such as on rainy days), and the energy storage unit smoothes power fluctuations. This design improves the overall power supply reliability.

[0048] In this embodiment, the energy management system of the power supply module integrates an adaptive power allocation algorithm, collects energy consumption data, environmental data and energy storage unit status of the mother ship and daughter ship in real time through sensors, and establishes a multi-objective optimization model: ; Where, is the energy consumption cost, is the pollutant emission cost of the diesel engine unit, The adaptive power allocation algorithm uses particle swarm optimization to dynamically adjust the power ratio between the mother ship's diesel generators and solar power generation units, while also controlling the charging and discharging strategies of the daughter ship's energy storage units. This multi-objective optimization model balances economic costs with environmental benefits. Dynamically adjusting the power ratio through particle swarm optimization reduces operating costs compared to traditional fixed-ratio approaches.

[0049] As a further illustration of this embodiment, the solar power generation unit in this embodiment is connected to the DC bus through an MPPT inverter (such as the SMASunnyBoy5000TL), the diesel generator set on the mother ship side is connected via a synchronous generator, and the energy storage unit uses a lithium iron phosphate battery and communicates with the bus through a bidirectional DC-DC converter.

[0050] It should be noted that, in this embodiment, the adaptive power allocation algorithm integrated into the energy management system of the power supply module achieves precise energy regulation through a clear and detailed multi-objective optimization model. The calculation formulas for each cost item in the multi-objective optimization model are as follows: Energy consumption costs ,in =8 yuan / L is the unit price of diesel, which is used to calculate the cost of diesel consumption; Indicates diesel consumption, reflecting the use of diesel; =1.5 yuan / kWh is the electricity price, which is used to calculate the cost of purchased electricity; The purchased electricity is the electricity obtained from the outside; Pollutant emission costs , represent Emissions of pollutants such as Emissions are 1.8kg / kWh), quantifying the amount of pollutants produced during power generation; is the unit governance cost (e.g. The unit treatment cost is 0.5 yuan / kg), which is used to calculate the cost of pollutant treatment; Equipment loss cost , =50 yuan / h is the hourly loss of the diesel generator set, reflecting the loss cost of the diesel generator set during operation; =20 yuan / h is the hourly loss of the solar panel, reflecting the loss during the operation of the solar panel; The equipment operation time, used to determine the time base for loss calculation; In addition, the energy management system of the power supply module in this embodiment realizes data collection through multiple types of sensors, as follows: Current sensor: Hall effect current sensors (such as LEMLA28-NP) are used and placed in the main power circuits of the mother ship and daughter ship (diesel generator set, solar unit, positive and negative poles of energy storage battery) to monitor the charge and discharge current to optimize power distribution; Voltage sensor: Use a high-precision voltage divider sensor (such as TIINA240) connected in parallel to each power node (generator set, energy storage battery, power equipment) to evaluate battery status and calculate energy consumption; Temperature sensor: NTC thermistors are used and are placed on the mother ship's diesel engine radiator, the back of the solar panel, the gaps between energy storage battery cells (one point every five cells), and key locations on the daughter ship's batteries to monitor equipment temperature and adjust the cooling or power supply mode.

[0051] Environmental sensors: including wind speed and direction sensors, light intensity and humidity sensors, integrated into the mother ship's mast, providing data for solar power generation prediction and equipment protection; All the above sensors communicate with the embedded controller via the CAN bus (sampling period 100ms-1s) and support real-time data driving of the adaptive power allocation algorithm.

[0052] Those skilled in the art will appreciate that the process of implementing all or part of the steps of the above embodiments may be accomplished by hardware, or by instructing related hardware through a program.

[0053] The above shows and describes the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely preferred examples of the present invention and are not intended to limit the present invention. Various changes and improvements may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and improvements fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. An integrated system for detecting, collecting and aerating buried shellfish based on the collaboration of multiple unmanned vessels, characterized by: include: Detection mother ship module (100): integrated into the mother ship hull, including: The parametric array sonar unit, installed in the bottom shroud of the mother ship, integrates a 3D terrain modeling algorithm to transmit sound waves that penetrate the seabed sediments to obtain echo signals. The algorithm then processes the echo signals to generate a 3D terrain model that includes the distribution density and burial depth of shellfish, as well as a thermal map of the harvest area. The data storage unit is located in the mother ship's central control cabin and is used to cache detection data; The navigation unit is mounted on the top of the mother ship's mast and is used to provide high-precision positioning and navigation information; Sub-ship system module (200): contains 3-5 sub-ships, each sub-ship hull integrates the following units to achieve collaborative operation: The connection unit consists of a carbon fiber cable and a tensioning sub-unit. The carbon fiber cable adopts a master-slave connection method. The two ends of the main cable are respectively fixed to the winch at the rear of the mother ship and the towing device at the bow of the daughter ship. The daughter ships are connected to the adjacent hull sides by transverse cables to form a fan-shaped towing surface. The tensioning sub-unit is installed on the daughter ship's bow connection bracket to automatically adjust the trawl inclination angle and stabilize the cable tension according to the three-dimensional terrain data. The trawl unit, suspended beneath the transverse cables between the daughter vessels, includes a trawl net, an impeller air pump, and guide vanes, used for harvesting shellfish and providing oxygen. The impeller air pumps are symmetrically arranged on either side of the trawl frame. After harvesting, the impellers stir the water and release microbubbles to achieve regional oxygenation. The guide vanes are installed within the trawl frame, tilted 10-15 degrees along the water flow direction, to optimize the water flow direction and improve oxygenation efficiency. The UWB communication unit and antenna assembly are installed on the top of the daughter ship superstructure to achieve high-precision positioning and data exchange between the daughter ship and the mother ship; The collaborative unit is integrated into the daughter ship control cabin and is equipped with a dynamic path planning sub-unit, which is used to integrate thermal maps, terrain data and heading information to achieve daughter ship operation coordination.

2. The integrated system for detecting, collecting and aerating buried shellfish based on the collaboration of multiple unmanned vessels according to claim 1 is characterized in that: The three-dimensional terrain modeling algorithm of the parametric array sonar unit includes an adaptive filtering step by setting the time-varying filter parameters. , in order to suppress the interference of seabed reverberation, and realize target recognition by extracting the shellfish-specific echo characteristics of specific echo intensity and width, and generate a three-dimensional terrain model with an accuracy of ±10cm and a thermal map of the harvesting area with a resolution of 1m²; is the initial filter coefficient, is the attenuation factor, is the peak moment of the echo.

3. The integrated system for detecting, collecting and oxygenating buried shellfish based on the collaboration of multiple unmanned vessels according to claim 1 is characterized in that: The hydraulic tensioning mechanism of the tensioning subunit includes a hydraulic cylinder, a pressure sensor, an electro-hydraulic proportional valve and an embedded controller; one end of the hydraulic cylinder is fixedly connected to the sub-ship bow connection bracket, and the other end is connected to the end of the transverse cable through a dedicated connector; the pressure sensor is integrated at the connector to monitor the transverse cable tension and feed back to the embedded controller; the embedded controller calculates the target tension value through a PID control algorithm based on the three-dimensional terrain data generated by the parametric array sonar unit, and drives the electro-hydraulic proportional valve to control the extension and retraction of the hydraulic cylinder according to the tension feedback data collected in real time by the pressure sensor, so as to dynamically adjust the transverse cable tension so that the actual tension value tracks the target tension value.

4. The integrated system for detecting, collecting and oxygenating buried shellfish based on the collaboration of multiple unmanned vessels according to claim 3 is characterized by: The embedded controller of the tensioning subunit adjusts the trawl inclination angle based on the model predictive control algorithm and establishes a tension-inclination dynamic model. ,in is the moment of inertia, which is used to characterize the inertial characteristics of the trawl rotation; is the trawl inclination angle; Trawl inclination Over time The rate of change of the inclination angle is the dynamic change speed of the inclination angle; Output torque for the hydraulic system, generated by controlling the extension and contraction of the hydraulic cylinder, used to change the stress state of the trawl; is the damping coefficient, which is used to reflect the damping characteristics of the system during motion; is the elastic coefficient, which is used to reflect the elastic characteristics of the system; The embedded controller calculates and outputs control instructions based on the model to adjust the output torque of the hydraulic system Tow net inclination Make adjustments.

5. The integrated system for detecting, collecting and aerating buried shellfish based on the collaboration of multiple unmanned vessels according to claim 1 is characterized in that: The impeller air pump of the trawl unit adopts DO compensation algorithm during the oxygenation operation to establish a dissolved oxygen dynamic model: ； in, is the dissolved oxygen concentration, is the microbubble injection amount, is the model coefficient; and the microbubble injection amount is adjusted based on the predictive control algorithm.

6. The integrated system for detecting, collecting and oxygenating buried shellfish based on the collaboration of multiple unmanned vessels according to claim 1 is characterized in that: The trawl is woven with high-strength nylon material, and the trawl and the transverse cables are detachably connected via a multi-node suspension connection mechanism; the multi-node suspension connection mechanism includes: Main connection nodes: Located at the top center and both ends of the trawl frame, they are fastened to the transverse cables with high-strength nylon ropes to prevent the trawl from detaching from the transverse cables. A 10-20cm gap is reserved between the top of the trawl frame and the transverse cables. Auxiliary connection nodes: 4-6 nodes are evenly distributed along the top edge of the trawl frame. Each node includes an adjustable hanging hook, which consists of a U-shaped metal hook body and an adjusting screw. The metal hook body is fixed to the trawl frame, and the adjusting screw passes through the guide hole on the transverse cable and is fixed by a nut. The hanging height of the trawl on the transverse cable can be adjusted by rotating the nut.

7. The integrated system for detecting, collecting and oxygenating buried shellfish based on the collaboration of multiple unmanned vessels according to claim 1 is characterized in that: The UWB communication unit adopts multi-antenna diversity technology, including at least three groups of directional antenna arrays, and dynamically adjusts the antenna pattern through a beamforming algorithm to adapt to the ocean environment signal transmission.

8. The integrated system for detecting, collecting and oxygenating buried shellfish based on the collaboration of multiple unmanned vessels according to claim 1 is characterized in that: The dynamic path planning module of the collaborative unit adopts an improved distributed auction algorithm to rasterize the heat map into specific specification units and define the value function ,in Indicates the value assessment value of the sub-ship to the target area, Represents the serial number index of the sub-ship, used to distinguish different unmanned sub-ships. Represents the number index of the target area unit. The heat map is rasterized to form several units. It is used to identify a specific target area unit. The density value is the density of shellfish distribution within the heat map unit. is the distance from the daughter ship to the target area; The dynamic path planning module updates the operation path based on a rolling window optimization strategy.

9. The integrated system for detecting, collecting and oxygenating buried shellfish based on the collaboration of multiple unmanned vessels according to claim 1 is characterized in that: The system also includes a power supply module for providing power to the detection mother ship module (100) and the daughter ship system module (200), and includes a solar power generation unit, a diesel generator set and an energy storage unit installed on the mother ship side, and a solar power generation unit and an energy storage unit installed on the daughter ship side.

10. The integrated system for detecting, collecting and oxygenating buried shellfish based on the collaboration of multiple unmanned vessels according to claim 9 is characterized in that: The energy management system of the power supply module integrates an adaptive power allocation algorithm, collects energy consumption data, environmental data and energy storage unit status of the mother ship and daughter ship in real time through sensors, and establishes a multi-objective optimization model: ； Where, is the energy consumption cost, is the pollutant emission cost of the diesel engine unit, The adaptive power allocation algorithm dynamically adjusts the power ratio of the mother ship's diesel generator set and the solar power generation unit through particle swarm optimization, and controls the charging and discharging strategy of the daughter ship's energy storage unit.

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