Unmanned ship system for coral reef monitoring

Abstract

The invention discloses an unmanned ship system for coral reef monitoring, and relates to the technical field of coral reef monitoring unmanned ships, the system comprises a ship body structure, a power system, a control system, a protection system, an observation device and a ground control station; the hull structure adopts a detachable modular design and is used for bearing the power system, the control system, the protection system and the observation equipment and executing a coral reef monitoring task; the power system is used for providing sailing power and electric energy for the unmanned ship; the control system is used for realizing autonomous navigation, path planning and obstacle avoidance of the unmanned ship; the protection system is used for monitoring the operation state of each system of the unmanned ship and realizing fault early warning and emergency disposal; the observation equipment is used for collecting coral reef monitoring data; and the ground control station is used for communicating with the unmanned ship to realize remote control and data interaction. The unmanned ship system is suitable for a coral reef monitoring scene, and the coral reef monitoring efficiency and precision can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of coral reef monitoring unmanned ship, in particular to an unmanned ship system for coral reef monitoring. BACKGROUND

[0002] The coral reef ecosystem is an important part of the marine ecological environment, and its investigation and detection are the basis for studying the stability, dynamic evolution and future development of coral reefs. It is of great significance for the planning, management, development, utilization and protection of coral reef resources, as well as the construction of coral reef engineering. However, coral reefs are located in the coupling part of land-ocean-atmosphere ecosystem, far from the mainland and affected by tides, and the traditional monitoring method has significant limitations.

[0003] Among the existing coral reef monitoring methods, air-based remote sensing is suitable for large-area population monitoring, but it lacks the ability to identify small-area community structure and distinguish species. Underwater manual investigation is time-consuming and inefficient, and it is difficult to achieve large-scale survey line repeated measurement. The underwater diver propulsion vehicle improves the efficiency to some extent, but still cannot meet the needs of large-area investigation and accurate route re-measurement. Underwater robots have high efficiency but poor flexibility, and cannot reach shallow water areas for operation. Although the conventional unmanned ship can carry multiple devices to conduct multi-element measurement, it lacks special design for coral reef monitoring, and it is difficult to adapt to the shallow water environment, multi-parameter synchronous collection and long-term dynamic observation requirements of coral reef monitoring. Therefore, there is an urgent need to develop an unmanned ship system specially used for coral reef monitoring to solve the defects of the existing technology and improve the efficiency and accuracy of coral reef monitoring. SUMMARY

[0004] The purpose of the present application is to provide an unmanned ship system for coral reef monitoring, which can improve the efficiency and accuracy of coral reef monitoring.

[0005] To achieve the above purpose, the present application provides the following solutions.

[0006] The present application provides an unmanned ship system for coral reef monitoring, which comprises a ship body structure, a power system, a control system, a protection system, an observation device and a ground control station.

[0007] The power system, the control system, the protection system and the observation device are all carried on the ship body structure, and the control system is connected with the power system, the protection system, the observation device and the ground control station respectively.

[0008] The ship body structure adopts a detachable modular design, and is used to carry the power system, the control system, the protection system and the observation device to perform coral reef monitoring tasks.

[0009] The power system is used for providing sailing power and electric energy for the unmanned ship.

[0010] The control system is used for realizing autonomous sailing, path planning and obstacle avoidance of the unmanned ship.

[0011] The protection system is used for monitoring the running state of each system of the unmanned ship, and realizing fault early warning and emergency disposal.

[0012] The observation device is used for collecting coral reef monitoring data.

[0013] The ground control station is used for communicating with the unmanned ship, realizing remote control and data interaction.

[0014] According to the specific embodiments provided in the application, the application has the following technical effects.

[0015] The application provides an unmanned ship system for coral reef monitoring, which is suitable for a coral reef monitoring scene, and the system comprises a ship body structure, a power system, a control system, a protection system, an observation device and a ground control station. The ship body structure adopts a detachable modular design, facilitating transportation, assembly and maintenance, and can stably bear the power system, the control system, the protection system and the observation device, providing a stable foundation for the cooperative operation of the systems and guaranteeing that the unmanned ship can smoothly reach the target area to perform a coral reef monitoring task. The power system can simultaneously provide the unmanned ship with sailing power and electric energy, ensuring that the unmanned ship has sailing capability to reach the coral reef monitoring area and can supply power to other systems (such as the control system and the observation device), guaranteeing that the systems continuously and stably operate in the monitoring process and support the complete execution of the monitoring task. The control system realizes autonomous sailing through the control function, reduces the dependence on manual driving and reduces the risk of personnel operation in a complex marine environment (such as a near-shore complex water area where the coral reef is located); the optimal monitoring path can be planned through the path planning function, improving the coverage efficiency of the coral reef monitoring area; the obstacle avoidance function can avoid obstacles (such as reefs and other ships) in the monitoring process, guaranteeing the safety of the unmanned ship itself and the continuity of the monitoring task. The protection system can monitor the operation state of each system in real time, find system abnormalities in a timely manner, and through fault early warning, inform potential problems in advance, facilitating timely troubleshooting; when a fault occurs, emergency disposal can be realized, avoiding the expansion of the fault to cause damage to the unmanned ship or interruption of the monitoring task, guaranteeing the sailing safety and task stability of the unmanned ship in the coral reef monitoring process. The observation device is specially used for collecting coral reef monitoring data, providing direct data support for subsequent analysis of the health status and distribution of the coral reef, and is the key to realizing the core goal of the coral reef monitoring of the unmanned ship, ensuring that the monitoring task can obtain the required effective data. The ground control station communicates with the unmanned ship to realize remote control, can control the unmanned ship in a safe area such as a shore base, does not need personnel to perform the monitoring task with the ship, and reduces the operation risk; meanwhile, data interaction can be realized, the precise monitoring data transmitted back by the unmanned ship can be received in real time, the monitoring situation can be understood in a timely manner, and instructions can be sent to the unmanned ship to adjust the monitoring task, improving the flexibility and controllability of the monitoring. The unmanned ship system is a special unmanned ship system developed for coral reef monitoring, can automatically monitor the coral reef, realizes efficient, precise and long-term dynamic monitoring of the coral reef, effectively improves the efficiency and precision of the coral reef monitoring, and solves the problems of low efficiency, poor adaptability and insufficient refinement of the existing coral reef monitoring means. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort.

[0017] Figure 1 An overall system block diagram of an unmanned ship system for coral reef monitoring is provided for an embodiment of the present application.

[0018] Figure 2 An overall schematic diagram of a ship body structure is provided for an embodiment of the present application.

[0019] Figure 3 A multi-angle schematic diagram of a ship body structure is provided for an embodiment of the present application. In the diagram, Figure 3 (a) is a left view, Figure 3 (b) is a front view, Figure 3 (c) is a right view, Figure 3 (d) is a top view.

[0020] Figure 4 A structural schematic diagram of an underwater rotating mechanism is provided for an embodiment of the present application.

[0021] Figure 5 A structural schematic diagram of a power supply system is provided for an embodiment of the present application.

[0022] Figure 6 A navigation control logical relationship diagram of a control system is provided for an embodiment of the present application.

[0023] Figure 7 A data fusion logical diagram is provided for an embodiment of the present application.

[0024] Figure 8 A decision-level fusion identification principle diagram is provided for an embodiment of the present application.

[0025] Figure 9 A detection principle diagram of an unmanned ship system is provided for an embodiment of the present application.

[0026] Figure 10 An obstacle avoidance decision principle diagram of a wall collision decision unit is provided for an embodiment of the present application.

[0027] Figure 11 An obstacle avoidance schematic diagram of an unmanned ship system is provided for an embodiment of the present application.

[0028] Figure 12 A system block diagram of an execution unit is provided for an embodiment of the present application.

[0029] Figure 13 A system block diagram of a control module is provided for an embodiment of the present application.

[0030] Figure 14 A principle diagram of a tracking control algorithm based on closed-loop feedback is provided for an embodiment of the present application.

[0031] Figure 15 The speed tracking control principle diagram of the unmanned ship provided by an embodiment of the present application.

[0032] Figure 16 The expert PID control principle diagram provided by an embodiment of the present application.

[0033] Figure 17 The structure schematic diagram of the closed-loop system provided by an embodiment of the present application.

[0034] Figure 18 The CMAC model structure schematic diagram provided by an embodiment of the present application.

[0035] Figure 19 The CMAC model and PID compound control structure block diagram provided by an embodiment of the present application. DETAILED DESCRIPTION

[0036] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0037] The purpose of the present application is to provide an unmanned ship system for coral reef monitoring, which can be applied to scenes such as coral reef monitoring, coral reef health assessment and whitening early warning, marine protected area ecological monitoring, artificial coral reef repair effect evaluation, coastal zone environmental change research, and climate change impact on marine ecosystem evaluation, and can solve the problems of low efficiency, poor adaptability, and insufficient refinement of existing coral reef monitoring methods, and realize efficient, accurate, and long-term dynamic monitoring of coral reefs.

[0038] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0039] As shown in Figure 1 The present embodiment provides an unmanned ship system for coral reef monitoring, which comprises a ship body structure, a power system, a control system, a protection system, an observation device, a data processing and comprehensive analysis system, and a ground control station.

[0040] The power system, the control system, the protection system, and the observation device are all carried on the ship body structure, and the control system is connected with the power system, the protection system, the observation device, and the ground control station respectively. The data processing and comprehensive analysis system is carried on the ship body structure and connected with the control system and the observation device respectively.

[0041] The ship body structure adopts a detachable modular design, and is used for carrying the power system, the control system, the protection system and the observation equipment to perform a coral reef monitoring task.

[0042] The power system is used to provide the unmanned ship with sailing power and electric energy.

[0043] The control system is used to realize autonomous sailing, path planning and obstacle avoidance of the unmanned ship.

[0044] The protection system is used to monitor the running state of each system of the unmanned ship, and realize fault early warning and emergency disposal.

[0045] The observation equipment is used to collect coral reef monitoring data.

[0046] The ground control station is used to communicate with the unmanned ship, realize remote control and data interaction.

[0047] As an optional implementation, the ship body structure comprises a front frame, a middle frame, a power frame, a cross-float support, an underwater rotating mechanism, a hanging support, inflatable pontoons, an equipment plate, a battery box and an instrument box.

[0048] The front frame, the middle frame and the power frame are connected through a connecting pipe to form a frame whole; two inflatable pontoons are uniformly fixed to the bottom of the frame whole through hanging ears.

[0049] The cross-float support is fixed above the front frame, the underwater rotating mechanism is fixed to the front part of the front frame, the battery box is fixed above the power frame, and the instrument box is fixed above the middle frame; the battery box is used to accommodate batteries, and the instrument box is used to accommodate various equipment instruments.

[0050] The underwater rotating mechanism comprises a hand winch, a fixed pipe frame, a rotating support frame and an extension pipe, one end of the fixed pipe frame is connected with one end of the extension pipe through the rotating support frame, the other end of the fixed pipe frame is fixed with the hand winch and the fixed pulley, and the other end of the extension pipe is fixed to the equipment plate.

[0051] A steel wire rope is wound on the hand winch, the steel wire rope is connected with the other end of the extension pipe after passing through the fixed pulley, and the extension pipe and the fixed pipe frame are folded by 90 degrees through the rotating support frame to realize deployment and recovery of the observation equipment.

[0052] As an optional implementation, the observation devices are fixed on the equipment plate by customized clamps, and the equipment plate is provided with a plurality of hole positions for mounting the customized clamps, and the positions and sizes of the hole positions are determined according to the sizes of the observation devices.

[0053] As an optional implementation, the power system comprises a propeller and a power supply assembly.

[0054] The propeller is provided with at least two propellers, and the propellers are controlled by PWM signals and realize the steering of the unmanned ship through differential.

[0055] The power supply assembly comprises at least two groups of battery packs, one group of the battery packs is used for supplying power to the propeller, and the other group of the battery packs is used for supplying power to the control system and the load equipment, and an isolation voltage stabilizing power supply is arranged in front of a direct-current load, and an inverter is connected to supply power to an alternating-current load.

[0056] As an optional implementation, the control system comprises an environment sensing unit, a collision avoidance decision unit and an execution unit.

[0057] The environment sensing unit is used to acquire the state of the unmanned ship and the surrounding environment information by using a multi-sensor data fusion method.

[0058] The collision avoidance decision unit is used to formulate a navigation strategy by using a path planning algorithm and an obstacle avoidance algorithm.

[0059] The execution unit comprises a control module and an execution module, the control module is used to receive the decision instructions issued by the ground control station and convert the decision instructions into control signals, and the execution module is used to control the throttle, gear and steering of the unmanned ship according to the control signals.

[0060] As an optional implementation, the environment sensing unit comprises a navigation radar, a visual sensor and an AIS (Automatic Identification System) device.

[0061] The navigation radar is used to detect the static obstacles and dynamic target information around the unmanned ship, and acquire the three-dimensional space information of the target and the unmanned ship.

[0062] The visual sensor is used to collect photoelectric image information around the unmanned ship.

[0063] The AIS device is used to receive the AIS information broadcasted by other ships around.

[0064] The environment perception unit is further configured to realize decision-level fusion of the static obstacle information, the dynamic target information, the three-dimensional space information, the photoelectric image information and the AIS information through space-time registration and association decision.

[0065] As an optional implementation, the path planning algorithm is an A* algorithm, and the obstacle avoidance algorithm is an artificial potential field method.

[0066] As an optional implementation, the protection system comprises a state monitoring module, a fault log module and an emergency handling module.

[0067] The state monitoring module is configured to monitor the running state of each system of the unmanned ship in real time.

[0068] The fault log module is configured to record the running state of each system at a preset frequency, distinguish between warnings and faults and mark fault identification codes.

[0069] The emergency handling module is configured to perform power-off, position keeping or automatic return operations when the state monitoring module detects an anomaly.

[0070] As an optional implementation, the observation device comprises a multi-beam measurement system, a spectrometer, an underwater camera and a multi-parameter water quality instrument.

[0071] The multi-beam measurement system is configured to monitor the spatial coverage, morphological features and distribution location information of the coral reef.

[0072] The spectrometer is configured to collect reflection spectrum information of the coral reef.

[0073] The underwater camera is configured to collect visual image information of the coral reef.

[0074] The multi-parameter water quality instrument is configured to collect water quality information in the growth environment of the coral reef.

[0075] As an optional implementation, the data processing and comprehensive analysis system is configured to perform unified time stamp and spatial coordinate processing on the coral reef monitoring data, construct a space-time database, support periodic repeated observation and establish a time series, and evaluate the ecological evolution trend of the environment around the coral reef.

[0076] The unmanned ship system for coral reef monitoring provided in the application is mainly used for monitoring coral reefs and mainly comprises a ship body structure, a power system, a protection system, a control system, observation equipment, a data processing and comprehensive analysis system, and a ground control station, and is designed to carry small multi-beam measuring systems, high-resolution spectrometers, underwater cameras, multi-parameter water quality meters and other equipment, comprehensively monitors the coral reef bottom, habitat, spectral conditions and the like, analyzes and judges the health status, detailed distribution, water quality conditions and the like of the coral reefs, establishes a long-term and fine monitoring system for the coral reef ecosystem, and helps marine ecological protection, climate change research and ecological restoration projects.

[0077] In order to make the technical solutions of the application clearer, the specific structure of the unmanned ship system of the technical solutions of the application is described in detail in the form of examples as follows.

[0078] The unmanned ship system for coral reef monitoring provided in the embodiment mainly comprises a ship body structure, a power system, a protection system, a control system, observation equipment, a data processing and comprehensive analysis system, and a ground control station. The overall structure of the unmanned ship is designed based on the modular design concept, and each module has the design advantages of detachability, portability, quick and convenient assembly and the like. The overall structure of the unmanned ship comprises six modules, namely, a front frame, a middle frame, a power frame, a cross-float support, an underwater rotating mechanism and a lifting support, and the like. In addition to the above modules, inflatable pontoons, a battery box, an instrument box and propellers are also provided. The ship body structure is shown in Figure 2 .

[0079] In the embodiment, the front frame, the middle frame and the power frame are connected and reinforced through a connecting pipe (such as a square pipe), the cross-float support is fixed to the top of the front frame, the underwater rotating mechanism is fixed to the front part of the front frame, the two inflatable pontoons are fixed to the bottom of the overall frame on both sides through hanging ears, the battery box is fixed to the top of the power frame, the instrument box is fixed to the top of the middle frame, and the two propellers are fixed to the tail of the power frame.

[0080] Figure 3 The ship body structure is shown in the following multi-angle schematic views, wherein, Figure 3 (a) in the left view, Figure 3 (b) in the front view, Figure 3 (c) in the right view, Figure 3(d) is a top view. The front frame is welded with 304 stainless steel square tubes (length 25 mm x width 25 mm x thickness 1 mm), and the outer dimensions are length 1500 mm and width 1070 mm. The middle frame is welded with 304 stainless steel square tubes (length 25 mm x width 25 mm x thickness 1 mm), and the outer dimensions are length 1500 mm and width 975 mm. The power frame is welded with 304 stainless steel square tubes (length 25 mm x width 25 mm x thickness 1 mm), and the outer dimensions are length 1500 mm and width 975 mm. In the tail part, square tube stacking welding is performed to improve the strength of the propeller connection part. Guardrails are welded on the left and right sides to prevent the battery box from accidentally falling. Square fixing plates are welded in the middle of the power frame to install various antennas.

[0081] In this embodiment, the cross-float support is welded with 304 stainless steel square tubes (length 25 mm x width 25 mm x thickness 1 mm), and the outer dimensions are length 1500 mm, width 940 mm, and height 687.5 mm. The cross-float support is a three-dimensional frame, and the square tubes on the left and right sides of the bottom are fixedly connected with the square tubes on the left and right sides of the front frame. An installation fixing plate is fixed above it for installing various antennas or supports.

[0082] As shown in Figure 4 The underwater rotating mechanism is composed of a hand winch, a fixed pulley set, a fixed pipe frame, a rotating support frame, and an extension pipe. The steel wire rope in the hand winch passes through the fixed pulley and is connected to the bottom of the extension pipe. The hand winch can be used to fold the extension pipe through the rotating support frame by 90 degrees to realize the deployment and retrieval function of underwater equipment.

[0083] In this embodiment, the underwater equipment plate is cut from 304 stainless steel plate (length 560 mm x width 300 mm x thickness 3 mm). The equipment plate is used to install small multi-beam measurement systems, multi-parameter water quality instruments, high-resolution spectrometers, underwater cameras, and other observation equipment. The hole positions are designed according to the size of each device.

[0084] In this embodiment, the ship structure adopts a catamaran structure, which refers to a whole structure formed by connecting two parallel inflatable pontoons through a connecting frame (such as a cross-float support). The size of a single inflatable pontoon is 4 m long and 35 cm in diameter. The pontoon is made of PVC material and adopts a double-chamber partition design, which has excellent impact resistance, wear resistance, and puncture resistance, and can be used in harsh sea conditions and complex environments. The middle connecting bottom plate is made of 304 stainless steel frame combined with aluminum alloy panel, which not only meets the installation of detection instruments but also supports manned navigation, and has good corrosion resistance.

[0085] In this embodiment, the power system adopts two 160-pound 24V propellers, and the maximum thrust of the propeller can reach 3000kg, and the unmanned ship can reach 7kn. The inside of the propeller is a brushless motor, which is controlled by a PWM signal. The unmanned ship turns by relying on the differential control of the two engines, and can realize 360-degree rotation in place.

[0086] In this embodiment, the power supply system adopts two sets of 24V, 300AH ternary lithium battery packs. The ternary lithium battery pack has large relative capacity, light weight, small size, good discharge, can accommodate more output power, and provides long endurance. Good low temperature performance, low temperature resistance, adapt to all-weather temperature, and built-in protection board, provide stable and reliable safety protection.

[0087] As shown in Figure 5 , a set of battery pack (power storage battery) is used to supply power to two propellers (left propeller and right propeller) and is directly connected with the propeller. Another set of battery pack (load battery) is used to supply power to the control system and load equipment. In order to avoid public negative pole interference, an isolation voltage stabilizing power supply is configured in front of the direct current load, and a 220V inverter is connected to supply power to the 220V load.

[0088] In this embodiment, the control system is the basis for the unmanned ship platform to pass through complex water areas and ensure safe and efficient execution of tasks under the premise of safe navigation. Not only the real-time processing of various sensor data is needed, but also the real-time monitoring of the current navigation attitude of the unmanned ship is needed to realize accurate control of the heading and speed of the unmanned ship.

[0089] In this embodiment, the navigation control logic relationship diagram of the control system is as shown in Figure 6 . The control system can be divided into an environment perception unit, a collision avoidance decision unit and an execution unit. Among them, the environment perception unit is used to obtain the current unmanned ship positioning, navigation direction and unmanned ship pitch state information; the decision unit is used to decide the next period execution instruction of the unmanned ship; the execution unit is used to execute the instruction issued by the decision module, and also feedback the current navigation state. The decision unit and the execution unit operate in a closed-loop feedback mode to accurately control the unmanned ship.

[0090] In this embodiment, the control system has the functions of path planning, intelligent control, power control and track tracking. Based on the perception unit, the unmanned ship collects static and dynamic obstacle information and chart information between the current position and the destination. The decision unit formulates the optimal path through intelligent control, automatic path planning function and track tracking control function, and finally the execution unit controls the power and steering device to control the unmanned ship to automatically drive to the destination.

[0091] In this embodiment, the environment perception unit is the basis for the unmanned ship to autonomously and safely navigate. The system uses various sensors and corresponding information processing devices to obtain the ship's own internal data and the surrounding environment information of the ship's navigation, so that the unmanned ship can realize safe, reliable and autonomous navigation.

[0092] In this embodiment, the environment perception unit mainly includes an environment perception module and an autonomous obstacle avoidance module. The environment perception module adopts a navigation radar, photoelectric image information and AIS ship data fusion method, including using the navigation radar to detect the sea target, obtaining the distance information and three-dimensional information of the surrounding target, etc.; using a visual sensor to detect the sea target (detecting photoelectric image data), obtaining rich feature information of the target such as color, texture, etc. In a decision-level fusion manner, the data of the navigation radar and the photoelectric image data and the AIS ship data are used to respectively establish a multi-sensor sea target detection model, and the space calibration of the multi-sensor is completed through the intrinsic parameter calibration of the photoelectric camera, the joint calibration of the radar and the photoelectric and AIS; at the same time, the nearest neighbor time synchronization method is used to realize that the radar, the photoelectric and the AIS match to the same target at the same time; after the time and space synchronization of the sensors are completed, a target detection frame coincidence model is established, and finally the target detection results of the navigation radar, the photoelectric image information and the AIS ship data are fused at the decision level.

[0093] In this embodiment, in the target detection task, whether it is a single-stage model such as YOLO (You Only Look Once, single target detection algorithm) and SSD (Single Shot MultiBox Detector, single multi-frame detector) or a two-stage model such as Faster R-CNN (Faster Region-based Convolutional Neural Network, fast region convolutional neural network), for the same object, the model may predict multiple overlapping detection frames with different confidence levels. If all these frames are directly output, the result will be very chaotic. Therefore, this embodiment needs a post-processing step to filter out the most accurate and unique frame and eliminate redundant detection results. This post-processing step is the frame coincidence model.

[0094] In this embodiment, the navigation radar is mainly responsible for providing the distance, direction, speed and other parameters of the target; the photoelectric image is responsible for providing the visual appearance, type, contour and behavior of the target; and the AIS ship data provides the identity, accurate latitude and longitude, speed and heading, size and other accurate data of the target. The specific fusion logic is as shown in Figure 7 The decision-level fusion recognition principle is as shown in Figure 8 The main contents include the following.

[0095] (1) Space-time registration. First, the data from different sensors are compared in the same time reference and spatial coordinate system. The polar coordinates of radar and the geographic coordinates of AIS are converted to the same coordinate system. At the same time, due to the different arrival times of the data from each sensor, all information needs to be calculated to the same time according to the motion model of the target.

[0096] (2) Correlation decision. Radar and AIS correlation: This is the most direct and reliable correlation. The spatial distance between the radar target and the AIS report target is calculated. If the distance is less than the correlation threshold, and the heading and speed are roughly consistent, it is considered that they are successfully correlated. This is equivalent to attaching an "identity card" (MMSI) to the radar target. Photoelectric and radar / AIS correlation: The position of the target in the photoelectric image (calculated through image pixels and camera parameters) is matched with the position of the radar or the already correlated AIS target. In addition to position, visual information can also be used for auxiliary correlation: for example, the AIS report target is an "oil tanker", and the outline identified by the photoelectric image is indeed the shape of an oil tanker, so the correlation confidence is greatly increased.

[0097] (3) Fusion decision and conflict resolution. According to the correlation results, the final decision output is made. Case 1: successful correlation (complementary fusion). Identity / type: adopt the ship type and identity provided by AIS, or use the recognition result of the photoelectric image for confirmation. Position and motion state: adopt weighted fusion. Usually more trust in the latitude and longitude of AIS (especially at high update rate) and true north heading, but the radial velocity measurement of radar is also very accurate. A fused track can be generated, whose position and speed are the weighted optimal estimates of AIS and radar data (such as using Kalman filtering). Target outline: use the accurate outline provided by the photoelectric image to enrich the target information, which is of great value for collision avoidance and situation assessment. Case 2: unsuccessful correlation (conflict resolution and independent target processing). There is a radar target, but no AIS signal: logical judgment is a "non-cooperative target". It may be a small fishing boat, yacht, wooden boat that does not have to install AIS, or a suspicious ship that intentionally turns off AIS. The decision is to mark it as a potential threat or a target that needs to be focused on. The system should issue a warning. At this time, if the photoelectric image can capture the target and identify the type (such as "fishing boat"), the situation awareness capability is greatly improved. There is an AIS signal, but no radar echo: logical judgment may be that the target is out of the radar detection range (but AIS can transmit farther through VHF signals), blocked by an island or large ship, or AIS deception (false report). The decision is to mark it as an "AIS-only target" and prompt the operator to pay attention to verification. Attempts can be made to use the photoelectric sensor to aim at the position reported by AIS for long-distance observation and confirmation. There is a photoelectric target, but no radar and AIS: logical judgment is usually a very small non-metallic target (such as a sailboat, a wooden boat, a buoy) or a target in the radar detection blind area. The decision is to mark it as a "pure visual target" and consider it as a near-distance collision danger.

[0098] In this embodiment, when the unmanned vessel arrives at a certain sea area, the environmental perception unit preliminarily determines the static marine environmental information within the area to be detected based on existing hydrological, island, and reef information. The location of reefs is automatically marked using image algorithms, and the type of land-water boundary line is labeled, such as reefs, beaches, and mudflats. Then, the information in the image is projected onto a planar coordinate system to initially establish a static marine perception map.

[0099] like Figure 9 As shown, the detection principle of the unmanned surface vessel (USV) system includes camera detection, lidar detection, AIS detection, and fusion detection. After acquiring various types of data, data fusion is performed to achieve temporal and spatial synchronization of multi-dimensional data. Target matching is then performed, and the final fusion detection result is output. After multi-sensor target fusion, field tests can be conducted in a certain sea area. The final image can be distinguished by different colors; for example, green targets represent targets obtained after data fusion, red circular targets represent targets detected solely by navigation radar without fusion, and red triangles represent target information reported by AIS without fusion.

[0100] like Figure 10 As shown, the obstacle avoidance decision unit receives fused environmental situational information from the environmental perception module, currently executing task data, and real-time status information of the unmanned vessel (task data is sent from the shore, and real-time status data is collected by sensors), performs obstacle avoidance decisions, and calculates the obstacle avoidance path, direction, and speed. The obstacle avoidance planning algorithm adopts the A* path planning algorithm and the artificial potential field method.

[0101] For local path planning, this embodiment employs the artificial potential field method. The artificial potential field includes an attractive field and a repulsive field. The target path point exerts an attractive force on the object, guiding it towards the target. Obstacles exert a repulsive force on the object, preventing collisions. The net force on the object at each point on the path is equal to the sum of all attractive and repulsive forces at that point. The gravitational potential can be expressed by the following formula.

[0102] (1).

[0103] in, Indicates the current position of the unmanned vessel. gravitational field potential, For the target path point Current position of the unmanned vessel distance, Indicates the target safety distance threshold. This is the gravitational gain coefficient. Gravity can be expressed by the following formula.

[0104] (2).

[0105] in, Indicates the current position of the unmanned vessel. Gravity.

[0106] Since obstacles beyond a certain safe distance do not need to be considered during obstacle avoidance, the repulsive potential in this embodiment adopts the following formula.

[0107] (3).

[0108] in, Indicates the current position of the unmanned vessel. Repulsive force, The repulsive gain coefficient is... Current position of obstacles and unmanned vessels distance, This represents the safe distance threshold from the obstacle. The derivative of the repulsive potential is the repulsive force: (4).

[0109] in, Indicates the current position of the unmanned vessel. The repulsive force.

[0110] When there are multiple obstacles near the unmanned vessel, the sum of the repulsive forces is given by the following formula.

[0111] (5).

[0112] in, This represents the sum of repulsive forces. Indicates the first An obstacle affects the current position of the unmanned vessel. The repulsive force, This represents the number of obstacles in the current environment that affect the unmanned vessel.

[0113] Since gravity only considers the next path point, the resultant force of gravity and repulsion is as follows.

[0114] (6).

[0115] in, This represents the resultant force, and the direction of the resultant force is the obstacle avoidance direction of the unmanned vessel at this time.

[0116] Obstacle avoidance diagram as follows Figure 11 As shown, the orange polygonal pattern represents the unmanned boat, the black ellipse represents the obstacle, the black arrow represents the repulsive force generated by the obstacle, the orange circle represents the target path point, the orange arrow represents the gravitational force generated by the target path point, the blue dashed line represents the original route, and the blue solid line represents the artificial potential energy field obstacle avoidance route.

[0117] However, when using the traditional artificial potential field method to plan the path, it is easy to fall into the local minimum point of the resultant force, that is, when the resultant force of the attractive force and the repulsive force is 0, the unmanned ship cannot get the obstacle avoidance direction. Generally speaking, the unmanned ship is not instantaneous when stopping, and will leave this position due to inertia. However, when the obstacle, path point and unmanned ship are in a straight line, the unmanned ship will make reciprocating navigation, or stop at the local minimum position, and cannot normally navigate. When the above-mentioned situation occurs, a lateral force is added manually to make the unmanned ship leave the local minimum position. According to the relevant provisions of the International Maritime Collision Regulations, the direction of the lateral force added in this embodiment is to the right, so that the unmanned ship leaves the local minimum position.

[0118] In this embodiment, when the unmanned ship moves in a certain range for a long time, it is judged that the artificial potential field method makes the unmanned ship avoid obstacles into the local optimal solution, and the path planning is re-performed by using the A* algorithm.

[0119] In this embodiment, the execution unit mainly includes two modules: a control module and an execution module. The control module includes speed control and heading control; the execution module includes throttle control, gear control and steering control. The specific system block diagram is shown in Figure 12 The control module is mainly responsible for converting the expected actions output by the upper decision mechanism, such as the expected speed, the expected path, the reverse, the turning and other basic actions into the control instructions of each execution mechanism, and transmitting the control instructions to each execution module through the CAN bus through the agreed data interface format; after receiving the instructions of the control module, the execution module accurately controls each bottom control object (steering, throttle, gear).

[0120] In this embodiment, the function of the execution module is to convert the expected actions from the upper decision system into the actions of each execution mechanism, and control each execution mechanism to complete the corresponding actions, so as to realize the accurate and smooth tracking of the heading and speed. It is the bottom layer of the whole unmanned ship control system, which is composed of a series of traditional control laws and logical reasoning algorithms, and includes speed control, steering wheel control, gear control, etc. According to the given expected speed, the control system will select the corresponding control law and control its acceleration under certain safety constraints, and establish the corresponding control rules of gear and throttle, to realize the smooth tracking of the speed of the unmanned ship. According to the given expected heading, the control system selects the corresponding control law and controls its acceleration under certain safety constraints, that is, by calculating the deviation between the expected heading and the actual heading of the unmanned ship, and determining the steering angle signal according to the current speed of the unmanned ship, so that the unmanned ship moves according to the specified heading. Through the transformation of the deviation between the expected heading and the actual heading of the unmanned ship, this process is repeated to realize the control of the heading of the unmanned ship. The execution module is responsible for controlling each execution mechanism according to the received control instructions, mainly including the steering mechanism, the throttle control and the gear mechanism.

[0121] In this embodiment, the control module is mainly responsible for converting the expected actions output by the upper decision mechanism, such as the expected speed, the expected path, the reverse, the turning, and other basic actions into control instructions executable by the execution module, and tracking the speed and the heading, as shown in FIG. 6. Figure 13 The control module mainly includes the speed tracking control and the heading tracking control, and adopts a tracking control algorithm based on closed-loop feedback, as shown in FIG. 7. Figure 14

[0122] This embodiment adopts a tracking control algorithm based on closed-loop feedback, and the motion control of the unmanned ship is divided into lateral control and longitudinal control. The lateral control is the control of the turning angle of the unmanned ship, so that the unmanned ship can travel along the expected path, that is, the turning control. The longitudinal control is the control of the position of the throttle and the gear, and the purpose is to let the unmanned ship travel at the expected speed. For the longitudinal control / speed and gear control, the speed and the gear control of the unmanned ship mainly study how to control the speed of the unmanned ship, that is, to control the unmanned ship to travel at the expected speed, and to control the longitudinal acceleration of the unmanned ship. Referring to the closed-loop design to control the speed, the speed of the unmanned ship is kept at a certain specific value, Figure 15 FIG. 8 shows a speed tracking control diagram of the unmanned ship.

[0123] In this embodiment, the speed controller is designed to control the speed of the unmanned ship by combining the expert control system with the traditional control algorithm, and the tuning rules of the speed control system are established, so as to solve the control precision problem caused by the highly nonlinear and complex interference conditions of the transmission system of the unmanned ship. This embodiment adopts a speed controller based on expert PID. Since the engine power and the brake friction of the unmanned ship present nonlinear characteristics, the control object of the unmanned ship is a nonlinear system with varying parameters. This embodiment simulates human thinking to solve the control problem of the speed control of the unmanned ship, which is a large inertia, time-varying and strongly nonlinear system. An expert controller based on rules is adopted, a knowledge base is established according to the speed control mechanism of the human driving of the unmanned ship, the given value, the speed deviation value and the process information of the speed deviation change of the speed of the unmanned ship are measured according to the experimental experience, and the control amount is derived from the rules in the knowledge base to realize the real-time control of the longitudinal speed of the unmanned ship during driving. The rule table of the knowledge base is a typical rule set based on human driving experience. The form of the rule is: if E is and EC is, then U is. A rule table can be used to clearly show it, and then it is explained. The rules in the knowledge base are shown in Table 1.

[0124] Table 1 Knowledge base rules

[0125] The conventional PID control algorithm can be expressed as follows. ​

[0126] (7).

[0127] in, and These are the controller integral time constant and derivative time constant, respectively; , , These are the proportional coefficient, integral coefficient, and derivative coefficient of the controller, respectively. This is the output of the controller, which is the throttle command ultimately sent to the thruster; This is the deviation value.

[0128] When incremental control is used, the mathematical recursive expression of its algorithm is as follows.

[0129] (8).

[0130] in, For the first The change in control quantity at the next sampling time For the first The control quantity at the next sampling, and , , , For the first Change in control deviation during the next sampling For the first The change in control deviation at -1 sampling time Indicates the first Control deviation value at the next sampling time Indicates the first Control deviation value at -1 sampling time Indicates the first -2 control deviation values ​​during sampling.

[0131] Conventional PID control typically tunes the controller parameters based on the dynamic and steady-state characteristics of the control process. However, when the controlled object changes over time and space, or is affected by disturbances, the PID controller struggles to achieve the expected optimal setpoint tracking and disturbance suppression, and may even oscillate. To address these shortcomings of conventional control, designing an expert PID controller incorporating expert control system concepts is an effective approach.

[0132] An expert control system is an automatic control system that, based on expert systems, utilizes the expert's existing knowledge and learns the control methods and processes of domain experts to perform rule-based reasoning. Combining expert control with a PID controller creates an expert PID controller.

[0133] For the design of the speed control expert control, the embodiment designs an expert controller to simulate the behavior of human beings to achieve the speed control of the unmanned ship. The design purpose of the controller is to control the throttle and gear of the unmanned ship to obtain fast and efficient driving behavior to maintain a constant speed or quickly track the change of the expected speed. For this purpose, two parameters used as the input of the controller are as follows.

[0134] Speed error: the difference between the current speed value of the unmanned ship and the set expected value.

[0135] Acceleration: the time derivative of the current speed of the unmanned ship.

[0136] Among them, the expected speed value is provided by the decision system, and the current speed and acceleration of the unmanned ship can be obtained through the sensor signal system. The controller will provide two output signals, one for the throttle and the other for the gear.

[0137] In the embodiment, the expert control method makes the speed control process of the unmanned ship more similar to the behavior mode of human drivers. The expert control establishes control rules and parameter tuning rules according to the experience of the characteristics of the speed control of actual drivers, which has strong pertinence, and therefore the control effect is much better than that of the conventional control. The expert control does not require the accuracy of the mathematical model of the control object. The expert PID control structure diagram is as shown in Figure 16 .

[0138] In the embodiment, for the lateral control / steering control, the lateral control of the unmanned ship mainly studies how to control the unmanned ship to travel accurately along the planned course of the upper decision system, while ensuring the safety of the travel of the unmanned ship. First, the dynamic and kinematic model of the unmanned ship is established, the dynamic and mechanical analysis of the unmanned ship is carried out, and the control model of the “preview-following” theory is designed according to the open-loop driving mode design of human drivers to design the open-loop controller of the steering of the unmanned ship, and then the compound control system based on the cerebellar model neural network (CMAC) and PID is designed on the basis of the traditional controller.

[0139] Figure 17 The structure of the closed-loop system is shown, wherein P represents the transfer function between the steering angle input of the unmanned ship and the system output y, and G represents the transfer function for the controller. The influence of external environmental factors such as wind and wave flow on the system dynamics is affected through the transfer function G. The signal n is the sensor noise affecting the system.

[0140] The embodiment hopes that the system can still maintain the expected performance under the condition that the model is not very accurate or other change factors exist. For a control system with time delay and time-varying parameters, the PID parameters can only be adaptively self-tuned or adjusted according to the changes of the object parameters to obtain the optimal control effect. Therefore, the embodiment considers designing a cerebellar model neural network and PID compound controller, so that the controller has a self-learning ability and can automatically compensate for the unanticipated changes of the controlled model and input signals.

[0141] In the embodiment, based on the design of the adaptive controller of the cerebellar model neural network and PID compound, the CMAC is a table type adaptive neural network, which can accurately describe the characteristics of a nonlinear function, and has a learning function, can change the table content according to the learning result, and can distinguishably store information. The cerebellar model neural network is a local approximation neural network, which has an associative memory function, the input and output of each neuron are a linear relationship, but as a whole, it is a table system expressing a nonlinear mapping. The structure is as shown in Figure 18 The input vector of the input layer, i.e. the "U input space", is mainly the key continuous parameters of the unmanned ship turning control, the weight value summation operation is performed through the AC (accumulator) module, and then the hash coding is performed through the AP (address pointer) module, and finally the final calculation result (i.e. the feedforward control amount) of the CMAC is output. After being combined with the output of the PID controller, the turning actuator (such as a turning motor) of the unmanned ship is driven together to realize accurate turning adjustment. The CMAC and PID compound control structure diagram is as shown in Figure 19 .

[0142] The CMAC-PID compound control algorithm is formed on the basis of the CMAC and PID compound control system, wherein the CMAC control link learns and trains the dynamic characteristics of the controlled object to obtain the relationship between the system control input and the state quantity. The CMAC and PID compound control system realizes system closed-loop control through the compound control of CMAC and PID. PID serves as a feedback link, which can ensure the accuracy and stability of the control and reduce the interference. CMAC serves as a feedforward link, which can approximate the inverse dynamic model of the lateral motion of the unmanned ship, reduce the steady-state error of the control, and reduce the system overshoot and response time. In the CMAC and PID compound control, the role of the PID control part is to enhance the robustness of the system, and the role of the CMAC control part is to enhance the adaptability of the system. When the PID control acts alone, the values of the PID parameters determine the control effect, and when the working conditions of the control system change, the system parameters need to be re-tuned. After the PID and CMAC compound control is adopted, the control effect is no longer limited to the values of the PID parameters, and when the object or the environment changes, the control performance of the system can be automatically adjusted within a certain range due to the role of CMAC.

[0143] The embodiment can improve the navigation stability and control accuracy of the unmanned ship system in complex sea conditions by adopting the expert PID and CMAC-PID compound control algorithm and combining the multi-sensor data fusion technology, and ensure the accurate route and controllable data acquisition position during the monitoring process, and improve the reliability of the monitoring data.

[0144] In the embodiment, the execution module is mainly used to drive the execution mechanism to act according to the control instruction, and mainly includes the following control contents.

[0145] 1) Throttle control.

[0146] The main purpose of the throttle control is to make the unmanned ship track the expected speed, that is, when the actual speed is lower or higher than the expected speed, the controller will provide appropriate acceleration; when the speed reaches the expected speed, the controller will provide stable power to maintain the current speed.

[0147] 2) Gear control.

[0148] The main purpose of the gear control is to make the unmanned ship change the direction of travel, that is, when the gear is in the forward gear, the unmanned ship moves in the forward direction; when the gear is in the reverse gear, the unmanned ship moves backward, and the reverse gear is often used for reversing. The gear is controlled by a relay.

[0149] 3) Steering control.

[0150] The main purpose of the steering control is to make the unmanned ship change the heading so that the actual heading approaches the expected heading. That is, when the lower mechanism sends a right turn instruction, the unmanned ship turns right; when the lower mechanism sends a left turn instruction, the unmanned ship moves left. The steering is controlled by a motor.

[0151] In the embodiment, the ground control station is an important module for realizing the control of the unmanned ship. The ground control station adopts a shore base station system, which is a self-developed portable ground control box with a built-in battery, a communication radio, a gear and direction control lever, an industrial display screen and a keyboard. The outdoor continuous use time is ≥10h. The communication radio adopts a 20W wideband image transmission radio, and the maximum transmission rate can reach 70Mbps, and the single communication distance is 100-300km (open view) and 1-30km (urban area).

[0152] In the embodiment, the wideband radio provides wideband networking between the ground station and the unmanned ship, and the control data, video data and observation data are transmitted by network protocol. The bottom module (RS232 / 485 / PWM signal) is also converted into a network interface by a conversion module and connected to the control system.

[0153] In this embodiment, the protection system has system state monitoring and safety protection functions, mainly realizes real-time monitoring and analysis of each system, device and navigation state of the unmanned ship, forms a monitoring report and early warning; when a major failure occurs, the security system automatically runs and executes the corresponding security strategy to ensure the safety of the unmanned ship navigation.

[0154] In this embodiment, the protection system has system state monitoring function, which monitors the real-time state of the unmanned ship through monitoring the navigation equipment dynamics, power equipment dynamics and electrical property dynamics of the unmanned ship. Among them, it includes monitoring the data transmission state and electrical properties of the unmanned ship navigation equipment (including navigation radar, AIS, inertial navigation and navigation lights, etc.), judging the data transmission link, whether the equipment is powered on or not, and in turn judging whether the unmanned ship can realize autonomous navigation; the power equipment dynamics monitoring mainly monitors the engine running state and the acquisition sensor for collecting the above engine execution degree signal, the control log of related power equipment, signal transmission data log, etc.; the unmanned ship control system monitoring mainly monitors the 12V voltage value, charge and discharge current value, 24V voltage value, charge and discharge current value, 220V voltage value, system power value, etc., to determine whether the unmanned ship can operate normally.

[0155] In this embodiment, the protection system also has a fault log recording function, which records the link transmission state and electrical property state of the system self-checking device in the form of monitoring once per second, and distinguishes between warning and serious failure in the fault log, and different levels of logs are distinguished by fault identification code, wherein the failure affecting navigation and the failure affecting power operation are serious failures, and other failures are warnings, and the fault type and fault content are shown in Table 2.

[0156] Table 2 Fault type and fault content

[0157] In addition to forming a log at the unmanned ship end, the unmanned ship control system will report to the shore base station system at a frequency of once per second, and the shore base station system will display warning and serious failure information.

[0158] During the navigation of the unmanned ship, various problems may occur, such as communication interruption, abnormal sensor data, uncontrolled actuator, etc. The protection system has functions of state monitoring, fault self-checking, fault reporting, emergency disposal, etc. The protection system detects the running state of each module in real time, when an abnormality occurs, according to the abnormality processing algorithm and the corresponding strategy configured, it executes the corresponding operation, such as power-off stop, position keeping, automatic return, etc., and at the same time transmits the alarm information to the shore base station system.

[0159] In this embodiment, when the master control unit discovers an anomaly, it performs corresponding actions according to a pre-configured strategy. For example, when it is discovered that the connection with the shore base station system is lost, if the connection is not restored within an expected time (5 minutes adjustable), the master control unit controls the power system to shut down and stop, or autonomously returns to a pre-set autonomous return point. In the automatic return mode, the path to the set point is automatically planned, and the unmanned ship enters the path tracking mode. The position keeping mode can be operated when a fault occurs, or the unmanned ship can be remotely controlled to enter this mode, and a soft control method is mainly used for keeping the ship stationary. With high-precision Beidou positioning as a reference, the data of the navigation module are collected, the heading and speed of the unmanned ship are corrected in real time, the heading is kept to the star attitude, and the unmanned ship can accurately return to the reference point after drifting away from the fixed point area. Through actual testing, the position keeping deviation of the ship type is less than or equal to 18 m in a first sea state.

[0160] In this embodiment, the instrument equipment of the unmanned ship mainly includes a small multi-beam measurement system, a high-resolution spectrometer, an underwater camera, a multi-parameter water quality instrument and the like, and the equipment is fixed on the installation back plate through a customized clamp. An instrument equipment installation plate is designed at the bottom of the unmanned ship for installing observation and monitoring equipment.

[0161] The present application proposes an unmanned ship system for coral reef monitoring, which adopts a comprehensive design concept of "modular catamaran structure + multi-sensor integration + intelligent control + remote monitoring", is tailor-made for "coral reef ecological monitoring in shallow complex environment", and has high stability, strong adaptability, long endurance and multi-source data fusion capability. The ship body structure is modular, lightweight and maintainable, the modular design is convenient for transportation, assembly and maintenance; the "catamaran + inflatable buoy" ensures stability and shallow water adaptability; the underwater equipment can be retracted to avoid damage caused by touching the reef. The power system is efficient, long-lasting and strong, electric drive is zero emission and low noise, and is environmentally friendly; the dual power supply isolation design improves the stability and safety of the system. The navigation and control system is intelligent, autonomous and high-precision, and the intelligent control algorithm improves the anti-interference ability; remote control + automatic task execution reduces the dependence on manpower. The protection and safety system realizes full-state monitoring, fault warning and emergency response, builds a "monitoring-warning-response" closed loop, and significantly improves the operation safety of the unmanned ship in complex sea conditions. The observation equipment system realizes multi-parameter, high-precision and collaborative operation, and realizes five-dimensional integrated monitoring of "terrain, bottom, optics, biology and environment", and the data complementarity is strong. The data processing and comprehensive analysis system unifies the time stamp and spatial coordinates of multi-source sensor data (acoustic, optical, water quality, image), and constructs a time and space database. Periodic repeated observation is supported, time series is established, and ecological evolution trend is evaluated.

[0162] Currently, the traditional coral reef monitoring method generally uses an investigation ship / diver, which has the disadvantages of deep draft, inability to enter shallow reef areas, high cost, low efficiency, high risk, single or scattered monitoring parameters, difficulty in repeated fixed-point observation, easy disturbance of coral ecology (noise, ship anchor), long data acquisition period, etc. The unmanned ship system proposed in the application has the advantages of shallow draft (<0.5m), can enter shallow water coral areas, automatic operation, low cost, high safety, multi-parameter synchronous acquisition, strong data collaboration, accurate re-measurement of the same area, support for long-term dynamic analysis, ecological friendly design, real-time return, and quick response to environmental changes. The future development direction is: through the use of underwater unmanned vehicles (UUVs), small ROVs (remote operated vehicles) can be released to enter complex areas such as reef caves and cracks, and realize three-dimensional monitoring. Through the integration of eDNA (environmental DNA) sampling modules, water samples can be collected for environmental DNA analysis, and the accuracy of biological diversity monitoring can be improved. Through the use of "solar energy + lithium battery" hybrid power supply, the endurance can be extended to more than 24 hours, supporting continuous operation day and night. Through the AI edge computing module, image recognition and abnormal early warning can be realized on the ship, reducing the data return pressure. Through the Beidou short message communication, the basic state can be reported in areas without public networks, improving the communication reliability.

[0163] The technical features of the above embodiments can be combined in any manner. To make the description concise, not all possible combinations of the technical features in the above embodiments are described, but as long as the combinations of the technical features do not contradict, they should be considered within the scope of the present disclosure.

[0164] The principles and implementation modes of the present application are described by using specific examples in this paper, and the above examples are only used to help understand the method and its core idea; at the same time, for those skilled in the art, according to the idea of the present application, the specific implementation mode and application range will be changed. In conclusion, the content of the specification should not be understood as a limitation of the present application.

Claims

1. An unmanned boat system for coral reef monitoring, characterized in that, The unmanned ship system for coral reef monitoring comprises a ship body structure, a power system, a control system, a protection system, observation equipment and a ground control station; The power system, the control system, the protection system and the observation equipment are all carried on the ship body structure, and the control system is connected with the power system, the protection system, the observation equipment and the ground control station respectively; The ship body structure adopts a detachable modular design, is used for carrying the power system, the control system, the protection system and the observation equipment, and performs a coral reef monitoring task; The power system is used for providing sailing power and electric energy for the unmanned ship; The control system is used for realizing autonomous sailing, path planning and obstacle avoidance of the unmanned ship; The protection system is used for monitoring the running state of each system of the unmanned ship, and realizing fault early warning and emergency disposal; The observation equipment is used for collecting coral reef monitoring data; The ground control station is used for communicating with the unmanned ship, realizing remote control and data interaction.

2. The unmanned ship system for coral reef monitoring of claim 1, wherein, The ship body structure comprises a front frame, a middle frame, a power frame, a cross-float support, an underwater rotating mechanism, a hanging support, inflatable pontoons, an equipment plate, a battery box and an instrument box; The front frame, the middle frame and the power frame are connected through a connecting pipe to form a frame whole, and two inflatable pontoons are fixed to the bottom of the frame whole through ears; The cross-float support is fixed above the front frame, the underwater rotating mechanism is fixed to the front part of the front frame, the battery box is fixed above the power frame, and the instrument box is fixed above the middle frame; the battery box is used for accommodating batteries, and the instrument box is used for accommodating various equipment and instruments; The underwater rotating mechanism comprises a hand winch, a fixed pipe frame, a rotating support frame and an extension pipe, one end of the fixed pipe frame is connected with one end of the extension pipe through the rotating support frame, the other end of the fixed pipe frame is fixed with the hand winch and the fixed pulley, and the other end of the extension pipe is fixed to the equipment plate; A steel wire rope is wound on the hand winch, the steel wire rope is connected with the other end of the extension pipe after passing through the fixed pulley, and the extension pipe and the fixed pipe frame are folded by 90 degrees through the rotating support frame to realize deployment and recovery of the observation equipment.

3. The unmanned ship system for coral reef monitoring of claim 1, wherein, The observation equipment is fixed to the equipment plate through a customized clamp, a plurality of hole positions for installing the customized clamp are formed on the equipment plate, and the positions and sizes of the hole positions are determined according to the sizes of the observation equipment.

4. The unmanned ship system for coral reef monitoring of claim 1, wherein, The power system comprises a propeller and a power supply assembly; The propeller is provided with at least two, adopts PWM signal control, and realizes ship turning through differential; The power supply assembly comprises at least two groups of battery packs, one group of battery packs is used for supplying power to the propeller, another group of battery packs is used for supplying power to the control system and load equipment, and an isolation voltage stabilizing power supply is configured in front of a direct current load, and an inverter is connected to supply power to an alternating current load.

5. The unmanned ship system for coral reef monitoring of claim 1, wherein, The control system comprises an environment perception unit, a collision avoidance decision unit and an execution unit; The environment perception unit is configured to acquire the state of the unmanned ship and the surrounding environment information in a multi-sensor data fusion manner. The collision avoidance decision unit is configured to formulate a navigation strategy by using a path planning algorithm and an obstacle avoidance algorithm. The execution unit comprises a control module and an execution module. The control module is configured to receive a decision instruction issued by the ground control station and convert the decision instruction into a control signal. The execution module is configured to control the throttle, gear and steering of the unmanned ship according to the control signal.

6. The uncrewed ship system for coral reef monitoring of claim 5, wherein, The environment perception unit comprises a navigation radar, a vision sensor and an AIS device. The navigation radar is configured to detect static obstacles and dynamic target information around the unmanned ship and acquire three-dimensional spatial information of the target and the unmanned ship. The vision sensor is configured to collect photoelectric image information around the unmanned ship. The AIS device is configured to receive AIS information broadcast by other ships in the surrounding area. The environment perception unit is further configured to realize decision-level fusion of the static obstacle and dynamic target information, the three-dimensional spatial information, the photoelectric image information and the AIS information through space-time registration and association decision.

7. The unmanned ship system for coral reef monitoring of claim 5, wherein, The path planning algorithm is an A* algorithm, and the obstacle avoidance algorithm is an artificial potential field method.

8. The unmanned ship system for coral reef monitoring of claim 1, wherein, The protection system comprises a state monitoring module, a fault log module and an emergency disposal module. The state monitoring module is configured to monitor the running state of each system of the unmanned ship in real time. The fault log module is configured to record the running state of each system at a preset frequency, distinguish between warnings and faults and mark fault identification codes. The emergency disposal module is configured to perform power-off, position keeping or automatic return operations when the state monitoring module detects an anomaly.

9. The unmanned ship system for coral reef monitoring of claim 1, wherein, The observation device comprises a multi-beam measurement system, a spectrometer, an underwater camera and a multi-parameter water quality instrument. The multi-beam measurement system is configured to monitor the spatial coverage, morphological features and distribution position information of the coral reef. The spectrometer is configured to collect reflection spectrum information of the coral reef. The underwater camera is configured to collect visual image information of the coral reef. The multi-parameter water quality instrument is configured to collect water quality information in the growth environment of the coral reef.

10. The unmanned ship system for coral reef monitoring of claim 1, wherein, The unmanned ship system for coral reef monitoring further comprises a data processing and comprehensive analysis system. The data processing and comprehensive analysis system is connected with the control system and the observation device. The data processing and comprehensive analysis system is configured to perform unified time stamp and spatial coordinate processing on the coral reef monitoring data, construct a space-time database, support periodic repeated observation and establish a time series, and evaluate the ecological evolution trend of the environment around the coral reef.

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