Harbor and navigation engineering safety detection system and method based on unmanned aerial vehicle carried by new energy unmanned ship

Abstract

The invention discloses a port and navigation engineering safety detection system and method based on an unmanned aerial vehicle carried by a new energy unmanned ship. The detection system comprises an unmanned aerial vehicle system, an unmanned ship system and a photovoltaic power generation system, and the unmanned aerial vehicle system is used for aerial photography, water aerial photogrammetry and unmanned aerial vehicle take-off and landing and charging; the unmanned ship system is used for carrying detection equipment; the photovoltaic power generation system is used for collecting solar energy to assist in driving the unmanned ship. The detection method comprises the following steps: detecting area environment exploration; determining a detection area and a detection task; determining a navigation route of the unmanned ship; erecting a ground station, wherein the unmanned ship is in communication connection with the ground station; corresponding detection equipment in a detection module is started according to the content of the detection task; collecting and processing data and transmitting the data to a ground control center; and the unmanned ship returns. According to the invention, the safety of the port and navigation engineering can be comprehensively detected, the rapidness and automation of the safety detection of the port and navigation engineering are realized, the detection cost is reduced, the detection quality is improved, and the detection risk is reduced.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of port and waterway engineering safety detection, and relates to a port and waterway engineering safety detection system and method based on a new energy unmanned ship carrying an unmanned aerial vehicle. BACKGROUND

[0002] Ports carry a large amount of cargo transportation and personnel flow, and the safety of port and waterway engineering structures is directly related to the safety of port operation. By conducting safety detection on port and waterway engineering, potential safety problems can be found and repaired in a timely manner, ensuring the stability and reliability of port and waterway engineering, reducing the risk of accidents, and ensuring the safety of port operation. Traditional port and waterway engineering safety detection mainly relies on manual inspection or manual driving of a ship carrying detection equipment.

[0003] Manual detection has many problems: 1. Appearance disease inspection is mainly concentrated in the limited range of land accessible by pedestrians, and there is almost no inspection of hidden areas. In addition, it is difficult to accurately record the location of the disease using manual video and photography.

[0004] 2. The traditional submarine detection method uses a manually driven ship carrying depth measuring equipment and submarine detection equipment for detection, but there are limitations that can only be used in deep water areas or far from the shore, and the quality of fishing boat drivers is uneven, which poses a great safety risk.

[0005] 3. Underwater structure detection relies on divers for visual inspection, exploration and photography, but the efficiency is low and there are great safety hazards. SUMMARY

[0006] To solve the above problems, the application provides a port and waterway engineering safety detection system based on a new energy unmanned ship carrying an unmanned aerial vehicle, which can more comprehensively detect the safety of port and waterway engineering, realize the rapidity and automation of port and waterway engineering safety detection, reduce the detection cost, improve the detection quality, reduce the detection risk, and solve the problems in the prior art.

[0007] Another object of the application is to provide a port and waterway engineering safety detection method based on a new energy unmanned ship carrying an unmanned aerial vehicle.

[0008] The technical solution adopted by the application is a port and waterway engineering safety detection system based on a new energy unmanned ship carrying an unmanned aerial vehicle, comprising: An unmanned aerial vehicle system for aerial photography and waterborne aerial photogrammetry, as well as unmanned aerial vehicle takeoff and landing and charging; An unmanned ship system for carrying detection equipment for safety detection; A photovoltaic power generation system for collecting solar energy to assist in driving the unmanned ship.

[0009] Further, the unmanned aerial vehicle system comprises: An unmanned aerial vehicle parking apron is detachably installed on the top of the unmanned ship; A surveying unmanned aerial vehicle is equipped with an image real-time transmission system and a LiDAR system, and is used for integrated surveying operation with the unmanned ship; An unmanned aerial vehicle magnetic attraction type charging device is used for charging the surveying unmanned aerial vehicle, and assists the surveying unmanned aerial vehicle to land when the surveying unmanned aerial vehicle lands, and plays a positioning role.

[0010] Further, the unmanned ship system comprises: A navigation module determines the position, speed and attitude of the unmanned ship, and the environmental information, position, shape and motion state of the obstacles around the unmanned ship, and provides support for path planning and autonomous obstacle avoidance of the unmanned ship through a satellite positioning device and a sensing device; A communication module realizes data exchange and instruction control between the unmanned ship and the outside world through radio transmission; A video monitoring module comprises an infrared camera, a 360° panoramic camera, a strong light and an image recognition module, and is used for automatically recognizing the appearance diseases of water structures in the photographed pictures, recording the position and orientation of the unmanned ship at the time of photographing, and recording the specific position information of the diseases; A power module is used for providing power and propulsion for the unmanned ship; A control module receives the information measured by the navigation module, and realizes the motion path control of the unmanned ship in the marine environment through a path planning algorithm; A detection module comprises a single-beam sounding instrument, a side-scan sonar, a shallow sub-bottom profiler, a three-dimensional imaging sonar and a towing device; The detection module and the video monitoring module are respectively connected in real time with the ground control center through the communication module to transmit signals, and transmit the collected data and detected pictures to the ground control center in real time.

[0011] Further, the shallow sub-bottom profiler and the single-beam depth finder are carried on the bottom of the unmanned ship, the shallow sub-bottom profiler is used for detecting underwater topography, channel silt thickness and harbor geological stratification, and provides technical support for channel dredging and harbor construction; The side-scan sonar is fixed on the fish, and is connected to the fixing device at the tail of the unmanned ship through the towing device, and is used for detecting underwater obstacles of the unmanned ship, measuring the hollow of the wharf, and assisting harbor engineering construction.

[0012] Further, the photovoltaic power generation system comprises: A first solar panel is mounted on the hatch cover; A second solar panel is mounted around the unmanned aerial vehicle parking apron; The solar energy generated by the first and second solar panels is stored in the battery through waterproof wires, and when the power of the ship is low, the power stored in the battery is transmitted to the electrical equipment through the inverter.

[0013] A detection method of a harbor engineering safety detection system based on a new energy unmanned ship carrying an unmanned aerial vehicle, comprising the following steps: S1, detecting the environmental exploration of the detection area, the unmanned aerial vehicle takes off to scan the environment, and the electronic chart is compared with the aerial photography of the unmanned aerial vehicle to determine whether there is a new obstacle; S2, determining the detection area and the detection task; S3, detecting the route path planning to determine the navigation route of the unmanned ship; S4, ground station erection, communication connection between the unmanned ship and the ground station; S5, according to the content of the detection task, the corresponding detection equipment in the detection module is started; S6, the unmanned ship departs, data acquisition, processing and transmission to the ground control center; S7, task completion, the unmanned ship returns.

[0014] Further, in S5, the video monitoring module and the surveying unmanned aerial vehicle are started when detecting the water surface appearance disease of the harbor engineering building; the detection method comprises the following contents: The unmanned ship control system autonomously plans a cruising route, the route is set to be parallel to the building and maintain a certain safety distance, the unmanned ship cruises according to the planned route, the ship-borne camera scans the appearance of the building, and the image recognition algorithm is used to detect whether there is appearance disease; When the appearance disease is identified, a picture is taken, and the disease picture and position coordinates are transmitted to the ground control center, the ground control center remotely starts the ship-borne unmanned aerial vehicle, controls the unmanned aerial vehicle to reach the target area above or in front, further takes high-definition images through the on-board camera for re-inspection, if the light is dark, the ship-borne lighting device is started to provide light compensation for the camera; after the disease information is extracted, the unmanned aerial vehicle lands on the unmanned aerial vehicle parking apron for charging, and the unmanned ship continues to cruise according to the predetermined route.

[0015] Further, in S5, the three-dimensional imaging sonar and the side scan sonar are started when detecting the underwater structure of the harbor engineering building and assisting the harbor engineering construction; The detection method of the underwater structure of the port construction structure: the three-dimensional imaging sonar transmits a plurality of fixed frequency acoustic wave signals at one time to form an acoustic wave surface array, and obtains the three-dimensional point cloud of the underwater target through mechanical rotation, that is, a plurality of three-dimensional coordinate data points containing the contour of the target, so that the embankment siltation condition, the scouring change condition of the gravity type wharf bed and foundation and the damage condition of the underwater structure are detected; and the side scan sonar provides more wide area underwater topographic information; The implementation method of the port and waterway engineering construction assistance: a transducer linear array is installed on the left and right sides of the fish carried by the unmanned ship through the side scan sonar, a short acoustic pulse is emitted, and the acoustic wave spreads outward in the form of a spherical wave; when the acoustic wave encounters the seabed or underwater objects, scattering occurs, and the echo returns to the transducer of the side scan sonar along the original propagation path and is received by the transducer; the transducer converts the echo into a series of electrical pulses, and arranges the received data of each transmission cycle in a vertical manner, and the data is displayed on the display to form a two-dimensional seabed topography acoustic image; by observing the sonar image, the change of the underwater topography can be observed, and information such as whether there is an obstacle can be determined, so that the structure condition of the port and wharf is detected, including the damage of the wharf pile and pier, and the placement position of the revetment block and the installation assistance of the underwater mattress during the port and waterway construction are detected.

[0016] Further, in the S5, the single-beam sounding instrument and the surveying and mapping unmanned aerial vehicle are started when the port and waterway are surveyed and mapped on the water and underwater. The detection method: the single-beam sounding instrument is installed at the central part of the bottom of the unmanned ship, the underwater part carries out underwater point cloud data collection through the single-beam sounding instrument carried by the unmanned ship, the water surface part carries out three-dimensional point cloud data collection through the LiDAR system carried by the unmanned aerial vehicle through the aerial photogrammetry method, and finally the water surface and underwater data are fused through the unification of the coordinate system reference.

[0017] Further, in the S5, the shallow ground profiler is started when the port and waterway are surveyed and mapped on the water and underwater, the port and waterway seabed geological detection and the waterway silt detection are carried out. The port and waterway topography detection method on the water and underwater: the shallow ground profiler transmits acoustic signals to the seabed through a transmitter, the underwater acoustic receiver receives the corresponding acoustic signals, the acoustic wave analyzer processes the acoustic waves, and outputs and records the profile to reflect the seabed stratum characteristics and the sediment structure characteristics. The port and waterway topography detection method on the water and underwater: the shallow ground profiler transmits acoustic signals to the seabed through a transmitter, the underwater acoustic receiver receives the corresponding acoustic signals, the acoustic wave analyzer processes the acoustic waves, and outputs and records the profile to reflect the seabed stratum characteristics and the sediment structure characteristics. The waterway silt detection method: the shallow ground profiler measures the silt thickness and the silt coverage range.

[0018] The beneficial effects of the present application are: The application is based on new energy unmanned ship and unmanned aerial vehicle as a carrier, realizes the safety detection task of the port and channel area, can realize unmanned port inspection independently, and improves the detection data real, objective and reliable. The port and channel engineering safety is detected in all aspects, including but not limited to wharf, dam, harbor basin, channel, breakwater, submarine pipeline and other port and channel engineering facilities.

[0019] Traditional port and channel engineering safety detection needs a lot of manual operation, and the detection method and instrument required for a single detection are different, the detection content is more, the task is large, and the time and labor are consumed. The application integrates various detection functions into a system by using the portability and intelligence of the unmanned ship platform, realizes the integration and systematization of detection, when a certain function needs to be executed, only the corresponding detection instrument needs to be started, which greatly improves the detection efficiency and greatly reduces the workload of the port and channel inspection. In practical application, full coverage safety detection of the port and channel engineering field can be realized.

[0020] The application has wide application prospect. With the increasing demand for port and channel engineering safety detection, traditional manual detection method cannot meet the demand. The development of unmanned ship technology provides a new solution for port and channel safety detection. The detection system and method provided by the application can effectively improve the efficiency and accuracy of port and channel engineering safety detection, and bring great economic and social benefits to port operation, channel safety and marine environment protection. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the drawings needed to be used in the embodiment or prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0022] Figure 1 It is a framework diagram of the embodiment of the application.

[0023] Figure 2 It is a flowchart of the embodiment of the application.

[0024] Figure 3 It is a flowchart of the appearance disease detection of the port and channel engineering water part in the embodiment of the application.

[0025] Figure 4 It is a detection content block diagram of the unmanned ship system detection module in the embodiment of the application.

[0026] Figure 5 It is a side view of the unmanned ship carrying the unmanned aerial vehicle in the embodiment of the application.

[0027] Figure 6 is a side view of the unmanned ship carrying the unmanned aerial vehicle in the embodiment of the present application.

[0028] In the figure: 1. Infrared camera, 2. Strong light, 3. First solar panel, 4. Second solar panel, 5. Navigation module, 6. 360° panoramic camera, 7. Slide rail, 8. Surveying and mapping unmanned aerial vehicle, 9. Unmanned aerial vehicle parking apron, 10. Side scan sonar, 11. Electric thruster, 12. Single-beam depth sounder, 13. Shallow stratigraphic profiler. DETAILED DESCRIPTION

[0029] The technical solutions in the embodiments of the present application will be described clearly and completely below in combination with the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0030] Embodiment 1, The harbor engineering safety detection system based on the new energy unmanned ship carrying the unmanned aerial vehicle uses the unmanned ship as a platform, uses the advantages of the unmanned ship platform, uses various detection devices for omnidirectional detection in a specified area, obtains the safety situation of the harbor engineering, judges the safety and reliability of the hydraulic structure, and takes corresponding maintenance and repair measures as needed, thereby increasing the safety and reliability of the harbor engineering.

[0031] As shown in Figure 1 , 5 , 6, the system comprises an unmanned aerial vehicle system, an unmanned ship system and a photovoltaic power generation system; the unmanned ship system is used to carry detection equipment for safety detection, the unmanned aerial vehicle system is used for aerial photography and waterborne aerial photogrammetry, and the photovoltaic power generation system is used to collect solar energy to assist in driving the unmanned ship.

[0032] The unmanned aerial vehicle system comprises an unmanned aerial vehicle parking apron 9, a surveying and mapping unmanned aerial vehicle 8 and a magnetic charging device for the unmanned aerial vehicle; the surveying and mapping unmanned aerial vehicle 8 carries an image real-time transmission system and a LiDAR system, is a surveying and mapping series unmanned aerial vehicle, and is used for integrated surveying and mapping operation with the unmanned ship; the unmanned aerial vehicle parking apron 9 is carried on the top of the detection unmanned ship and can be quickly detached; the magnetic charging device for the unmanned aerial vehicle is used to charge the surveying and mapping unmanned aerial vehicle 8 and assist the surveying and mapping unmanned aerial vehicle 8 in landing when the surveying and mapping unmanned aerial vehicle 8 lands, thereby playing a positioning role.

[0033] The unmanned ship is built-in with a navigation module 5, a communication module, a video monitoring module, a power module, a control module and a detection module.

[0034] The navigation module 5 determines the position, speed, attitude and environmental information of the unmanned ship through satellite positioning devices and sensing devices, including GNSS, inertial measurement unit IMU, compass and depth gauge, visual sensor and radar; the navigation module 5 can be used to obtain the environmental information around the unmanned ship, the position, shape and motion state of the obstacle, to provide support for path planning and autonomous obstacle avoidance of the unmanned ship.

[0035] The communication module is a module for providing data exchange and instruction control with the outside world for the unmanned ship, supporting remote monitoring and management of the unmanned ship, adopting a radio communication system as the communication scheme, including a radio transmitter, a radio receiver and an antenna.

[0036] The video monitoring system has the functions of automatically rotating the pan-tilt to a fixed angle for shooting and timing shooting, including an infrared camera 1, a 360° panoramic camera 6 and a strong light lamp 2; the strong light lamp 2 is used to supplement light for the 360° panoramic camera 6. The video monitoring system has image recognition function, can automatically recognize water engineering structure appearance diseases (such as concrete cracks, exposed steel corrosion, etc.) in the shot picture and alarm, and record the position and orientation of the unmanned ship at the time of shooting, and can record the specific position information of the disease, providing support for manual re-inspection.

[0037] The power module is the core module of the unmanned ship system, which provides power and propulsion for the unmanned ship, including a motor, a propeller, a lithium battery pack and an electric thruster 11. The electric thruster 11 has the advantages of low noise, simple maintenance, energy saving and environmental protection.

[0038] The control module provides motion control and autonomous decision-making capability for the unmanned ship, and can realize autonomous path planning and automatic driving of the unmanned ship with the assistance of the navigation module 5. The information measured by the navigation module 5 and the path planning algorithm are fused to realize efficient, accurate and robust control of the target and the motion information of the unmanned ship in complex marine environment. The path planning algorithm of the unmanned ship includes global path planning and local path planning. The global path planning is suitable for static environment and unchanged obstacles, and the local path planning is suitable for dynamic obstacle avoidance, such as passing ships and underwater obstacles. The path planning algorithm includes but is not limited to simulated annealing algorithm, artificial potential field method, fuzzy logic algorithm, taboo search algorithm, or based on graph algorithm, or intelligent bionic algorithm such as ant colony algorithm, neural network algorithm and genetic algorithm.

[0039] The path planning of the control module can design a path planning algorithm considering factors such as channel safety, detection accuracy and time cost, which can reduce the path length and time as much as possible under the premise of ensuring the surveying and mapping accuracy, and adjust the path according to the data obtained by the unmanned ship in the actual surveying and mapping process considering the factors such as the speed and heading control of the unmanned ship, to ensure the accuracy of detection.

[0040] When the surveying function is executed, the control module can generate a full-coverage path planning algorithm to generate a path covering the entire surveying area according to the detection range of the unmanned ship and the size of the area, and to perform surveying without dead angles. When a point job needs to be performed, the control module generates a global path planning algorithm to generate a shortest and safest path from the current point to the target point.

[0041] The detection module includes a single-beam sounding instrument 12, a side-scan sonar 10, a shallow ground profiler 13, a three-dimensional imaging sonar, and a towing device. The shallow ground profiler 13 and the single-beam sounding instrument 12 are mounted on the bottom of the unmanned ship. The shallow ground profiler 13 detects underwater topography, channel silt thickness, and harbor geological stratification, providing technical support for channel dredging and harbor construction. The shallow ground profiler 13 has high measurement data accuracy and is advantageous in exploring silt coverage, making it suitable for large-area water dredging projects.

[0042] The side-scan sonar 10 is fixed to the unmanned ship and connected to the fixing device at the tail of the unmanned ship through the towing device to detect underwater obstacles, wharf excavation, and harbor engineering construction assistance (revetment detection, wharf pile foundation and wall detection).

[0043] The detection instruments all use embedded chips STM32, which can be remotely controlled by an upper computer (such as Raspberry Pi), independently operated, and connected in real time with the ground control center through the communication module to transmit signals and collected data and detected images to the ground control center in real time.

[0044] The single-beam sounding instrument 12 is used for integrated surveying of ports and channels, the side-scan sonar 10 is used for underwater structure detection of harbor buildings and underwater obstacle detection, the shallow ground profiler 13 is used for underwater topography detection of ports and channels, harbor seabed geological exploration, and channel silt detection, and the three-dimensional imaging sonar is used for harbor engineering construction assistance.

[0045] The photovoltaic power generation system includes a first solar panel 3, a second solar panel 4, waterproof wires, a storage battery, and an inverter.

[0046] The photovoltaic power generation system is used for auxiliary driving of the unmanned ship. The first solar panel 3 is installed on the hatch cover, and the second solar panel 4 is installed around the unmanned aircraft parking apron 9. The solar energy generated by the first solar panel 3 and the second solar panel 4 is stored in the storage battery through the waterproof wires. When the power of the ship is low, the inverter transmits the electric energy stored in the storage battery to the electrical equipment. The solar panels are integrated into the hatch cover and the unmanned aircraft parking apron, saving space.

[0047] The slide rail 7 is connected with the upper shell of the unmanned ship through threads, the slide rail is internally provided with a groove, the four supporting feet of the unmanned plane apron are provided with convex slide blocks, the slide blocks are slidingly installed in the slide rail 7, when the installation is completed, the slide rail 7 is tightened at both ends to fix the slide blocks, the slide rail 7 plays a role of fixing the unmanned plane apron and can be quickly disassembled.

[0048] Example 2, A harbor engineering safety detection method based on a new energy unmanned ship carrying an unmanned plane, as shown in the figure, comprising the following steps: Figure 2 S1, detect the environmental exploration area, the unmanned plane takes off to scan the environment, and compare the electronic chart with the unmanned plane aerial photography to determine whether there is a new obstacle.

[0049] S2, determine the detection area and the nature of the detection task.

[0050] S3, detect the route path planning and determine the navigation route of the unmanned ship.

[0051] S4, ground station erection, communication connection between the unmanned ship and the ground station.

[0052] S5, according to the detection task content, start the corresponding detection equipment in the detection module.

[0053] The harbor engineering safety detection content, as shown in the figure, includes water surface appearance disease detection of harbor building, underwater structure detection of harbor building, integrated surveying and mapping of water surface and underwater of port and channel, water surface and underwater topography detection of port and channel, harbor seabed geological detection, channel silt detection and harbor engineering construction assistance. Figure 4

[0054] S6, the unmanned ship departs, data collection and processing and transmission to the ground control center.

[0055] S7, task completion, the unmanned ship returns.

[0056] The process of the unmanned ship combined with the unmanned plane to detect the water surface appearance disease of the harbor building is as follows: Figure 3 ​​As shown, when the unmanned ship conducts appearance inspection of harbor engineering structures (such as wharfs and breakwaters), first, the unmanned ship control system autonomously plans a cruising route, the route is set to be parallel to the structure and maintain a certain safety distance, the unmanned ship cruises according to the planned route, the ship-borne camera scans the appearance of the structure, and the YOLO image recognition algorithm is used to detect whether there is appearance disease, and a photo is taken when the appearance disease is identified, and the disease picture and position coordinates are transmitted to the ground control center, the ground control center remotely starts the ship-borne unmanned aerial vehicle, controls the unmanned aerial vehicle to reach the target area above or in front, and uses the on-board 4k camera to further shoot high-definition images for re-inspection, if the light is relatively dark, the ship-borne lighting device can be turned on to provide light for the camera. After the disease information is extracted, the unmanned aerial vehicle lands on the landing pad carried by the unmanned ship for charging, and the unmanned ship continues to cruise and inspect according to the predetermined route.

[0057] The implementation mode of the unmanned ship carrying a single-beam depth sounder and the unmanned aerial vehicle for integrated surveying and mapping of the port and waterway is that the single-beam depth sounder is installed at the center of the bottom of the unmanned ship. The single-beam depth sounder measures the depth by vertically downward emitting short pulse sound waves from the transducer installed at the bottom of the ship, and the sound waves are reflected by the transducer after being transmitted to the bottom of the water. According to the propagation speed and time of the sound waves, the water depth can be obtained. The unmanned aerial vehicle and the unmanned ship cooperatively measure, the aerial photography method is used for the water part, and the LiDAR system carried by the unmanned aerial vehicle is used for three-dimensional point cloud data acquisition. When measuring the underwater part, the single-beam depth sounder carried by the unmanned ship is used for underwater point cloud data acquisition. Through the unification of the coordinate system reference, the seamless connection of the water and underwater data can be realized, the integrated modeling of the port and waterway engineering can be realized, and the accuracy and timeliness of the port and waterway surveying and mapping are greatly improved.

[0058] The implementation mode of the unmanned ship carrying a shallow stratigraphic profiler for water and underwater topography detection of the port and waterway is that the shallow stratigraphic profiler 13 is an instrument designed based on echo detection principle. The shallow stratigraphic profiler 13 transmits sound wave signals to the seabed through a transmitter, and the underwater sound wave receiver receives the corresponding sound wave signals. Due to the different depths and media of the seabed, different sound wave signals are reflected, and the sound wave is processed by using a sound wave filtering and amplifying device and with the help of a professional sound wave analyzer (such as a SE series parametric array shallow stratigraphic profiler system of Nanfang Ocean), and through corresponding identification algorithm or data processing measures, the recorded profile can be output, reflecting the characteristics of the seabed stratum and the structure of the sediment, including the thickness, density and speed of the stratum.

[0059] When conducting seabed geological exploration in the port area, in combination with the previous drilling work, the sub-bottom profiler 13 can accurately display the distribution of the bedrock in the survey area, the clay layer, the sand layer, and the silt layer. When conducting channel silt exploration, the sub-bottom profiler can not only accurately measure the silt thickness but also accurately determine the silt coverage area, providing the most basic raw data for the pre-estimation of the workload and the development of targeted construction plans for the river channel silt cleaning project, meeting the requirements of improving work efficiency and reducing construction costs.

[0060] The implementation mode of the unmanned ship carrying a side-scan sonar for port and navigation engineering construction assistance is that the side-scan sonar 10 works by installing a transducer linear array on the left and right sides of the unmanned ship. It first emits a short acoustic pulse, and the sound wave spreads outward in the form of a spherical wave. When the sound wave encounters the seabed or underwater objects, it will produce scattering, and the echo will return to the transducer of the side-scan sonar 10 along the original propagation path and be received by the transducer. The transducer converts the echo into a series of electrical pulses and arranges the received data of each transmission cycle vertically in a line-by-line manner. These data are displayed on the display to form a two-dimensional seabed topography acoustic image. By observing the sonar image, changes in the underwater topography can be observed, and information such as the presence of obstacles can be determined. In this way, the structural condition of the port terminal can be detected, including the damage to the terminal piles and piers, as well as the placement of revetment stones and the installation of underwater mattress during port construction.

[0061] The implementation mode of the unmanned ship carrying a three-dimensional imaging sonar for underwater structure detection of port construction is that through the processing and analysis of acoustic signals, the relative position of the target object is determined using electronic components. Compared with traditional single-point depth sounding sonars, the three-dimensional imaging sonar transmits multiple fixed-frequency acoustic signals at once, forming an acoustic wave surface array. Through mechanical rotation, a three-dimensional point cloud of underwater targets similar to optical holographic effects is obtained, which includes a number of three-dimensional coordinate data points of the target object's contour. This method can detect embankment siltation, changes in scouring of gravity wharf bed and foundation, and damage to underwater structures. The three-dimensional imaging sonar can be used to obtain detailed images of underwater structures, including the shape, size, and surface features of the structures. This technology can help engineers and inspectors quickly and accurately identify problems and defects in underwater structures. The side-scan sonar 10 can provide more extensive underwater topographic information, including the undulations, slopes, and topographic features of the underwater terrain. This information is crucial for assessing the stability and safety of underwater structures. By jointly using the three-dimensional imaging sonar and the side-scan sonar 10, comprehensive detection and evaluation of underwater structures can be achieved. This combined sonar technology can help engineers and inspectors better understand the condition of underwater structures, allowing them to take appropriate maintenance and repair measures to ensure the safety and reliability of underwater structures.

[0062] In traditional detection, appearance detection of water engineering building needs artificial patrol, and water and underwater structure detection needs divers to detect, different detection contents need different detection methods and detection platforms; all detection contents in the field of port and harbor engineering safety detection are integrated on the unmanned ship platform to realize the detection according to the embodiment of the present application.

[0063] The detection instrument described in the present application has been applied in the field, but the detection method needs manual operation, it is difficult to realize automatic control and monitoring, and an external power supply is also needed, so that the long-time autonomous operation cannot be realized. In the embodiment of the present application, the unmanned ship can provide an independent power supply to meet the long-time and large-range navigation and detection requirements, and the instrument operation is remotely controlled by the upper computer of the unmanned ship, so that the unmanned operation is realized.

[0064] The above only describes the preferred embodiments of the present application, and is not used to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application is included in the protection scope of the present application.

Claims

1. A port and waterway engineering safety inspection system based on a new energy unmanned surface vessel carrying an unmanned aerial vehicle (UAV), characterized in that, include: The unmanned aerial vehicle (UAV) system is used for aerial photography and aerial photogrammetry of the water section, as well as UAV take-off, landing, and charging. An unmanned surface vessel system, wherein the unmanned surface vessel system is used to carry detection equipment for safety detection; A photovoltaic power generation system, which is used to collect solar energy to assist in driving an unmanned vessel.

2. The port and shipping engineering safety inspection system based on a new energy unmanned surface vessel equipped with an unmanned aerial vehicle (UAV) as described in claim 1, characterized in that, The unmanned aerial vehicle system includes: The drone landing pad (9) is detachably installed on the top of the unmanned vessel; A surveying drone (8) is equipped with a real-time image transmission system and a LiDAR system, which are used to perform integrated surveying operations with unmanned vessels; A magnetic charging device for unmanned aerial vehicles (UAVs) is used to charge the surveying UAV (8) and assist the surveying UAV (8) in landing, thus playing a positioning role.

3. The port and waterway engineering safety inspection system based on a new energy unmanned surface vessel equipped with an unmanned aerial vehicle as described in claim 1, characterized in that, The unmanned vessel system includes: The navigation module (5) determines the position, speed, attitude of the unmanned vessel and the environmental information around the unmanned vessel, as well as the position, shape, and motion state of obstacles through satellite positioning devices and sensing devices, providing support for the unmanned vessel's path planning and autonomous obstacle avoidance. The communication module enables the unmanned vessel to exchange data and control commands with the outside world via radio transmission; The video monitoring module includes an infrared camera (1), a 360° panoramic camera (6), a high-intensity light (2), and an image recognition module, which are used to automatically identify the defects in the appearance of hydraulic structures in the captured images, and at the same time record the location and orientation of the unmanned boat during the shooting, so as to record the specific location information of the defects. A power module, which provides power and propulsion for the unmanned vessel; The control module receives information measured by the navigation module (5) and uses a path planning algorithm to control the motion path of the unmanned vessel in the marine environment. The detection module includes a single-beam sonar (12), a side-scan sonar (10), a shallow seismic profiler (13), a three-dimensional imaging sonar, and a towed device; The detection module and video monitoring module are connected to the ground control center in real time through the communication module to transmit signals, and transmit the collected data and detected images to the ground control center in real time.

4. The port and waterway engineering safety inspection system based on a new energy unmanned surface vessel equipped with an unmanned aerial vehicle (UAV) as described in claim 3, characterized in that, The shallow stratum profiler (13) and the single beam depth sounder (12) are mounted on the bottom of the unmanned vessel. The shallow stratum profiler (13) is used to detect underwater landforms, channel silt thickness, and port basin geological stratification, providing technical support for channel dredging and port construction. The side-scan sonar (10) is fixed on the towed fish and connected to the fixed device at the stern of the unmanned vessel through a towing device. It is used to detect underwater obstacles on the unmanned vessel, measure the dredging of the dock, and assist in the construction of port and waterway projects.

5. The port and shipping engineering safety inspection system based on a new energy unmanned vessel carrying an unmanned aerial vehicle as described in claim 1, characterized in that, The photovoltaic power generation system includes: The first solar panel (3) is mounted on the hatch cover; The second solar panel (4) is installed around the drone landing pad (9); The solar energy generated by the first solar panel (3) and the second solar panel (4) is stored in the battery through waterproof wires. When the ship's power is low, the power stored in the battery is transmitted to the electrical equipment through the inverter.

6. The detection method of the port and waterway engineering safety detection system based on a new energy unmanned vessel carrying an unmanned aerial vehicle as described in claim 1, characterized in that, Includes the following steps: S1. Environmental exploration of the detection area: The drone takes off to scan the environment and compares the electronic nautical chart with the drone's aerial photography to determine if there are any new obstacles. S2. Determine the testing area and testing tasks; S3. Detect route planning and determine the navigation route of the unmanned vessel; S4. Ground station setup and communication connection between the unmanned vessel and the ground station; S5. Activate the corresponding detection equipment in the detection module according to the content of the detection task; S6. The unmanned vessel departs, collecting, processing, and transmitting data to the ground control center. S7. Mission accomplished, unmanned vessel returns to port.

7. The detection method of a port and waterway engineering safety detection system based on a new energy unmanned vessel carrying an unmanned aerial vehicle as described in claim 6, characterized in that, In S5, the video monitoring module and surveying drone (8) are activated during the inspection of surface defects of port buildings (8); the inspection method includes the following: The unmanned vessel control system autonomously plans the cruise route, which is set to be parallel to the building and maintain a certain safe distance. The unmanned vessel cruises according to the planned route, and the onboard camera scans the exterior of the building and detects any exterior defects through image recognition algorithms. When a visual defect is detected, a photo is taken and the defect image and location coordinates are transmitted to the ground control center. The ground control center remotely starts the shipborne drone and controls the drone to reach the target area or in front of it. The drone then takes high-definition images through the onboard camera for further inspection. If the light is dim, the shipborne lighting device is turned on to provide supplementary lighting for the camera. After the defect information is extracted, the drone lands on the drone landing pad (9) to charge. The unmanned ship continues to patrol and inspect along the predetermined route.

8. The detection method of the port and waterway engineering safety detection system based on a new energy unmanned vessel carrying an unmanned aerial vehicle as described in claim 6, characterized in that, In S5, three-dimensional imaging sonar and side-scan sonar are activated during the underwater structure inspection of port buildings and the construction assistance of port and waterway projects (10). The detection method of underwater structure of port construction buildings: Three-dimensional imaging sonar emits multiple fixed frequency sound wave signals at one time to form a sound wave array. By mechanical rotation, it acquires the three-dimensional point cloud of the underwater target, that is, a number of three-dimensional coordinate data points containing the outline of the target object, so as to detect the siltation of the embankment, the scouring changes of the gravity wharf foundation and the foundation, and the damage of the underwater structure; combined with side-scan sonar (10) to provide a wider range of underwater topographic information; The method for assisting in the construction of port and waterway projects: A transducer array is installed on the left and right sides of the fish-carrying vessel carried by the side-scan sonar (10) to emit a short acoustic pulse. The sound wave propagates outward in the manner of a spherical wave. When the sound wave hits an object on the seabed or in the water, it will scatter. The echo will return to the transducer of the side-scan sonar (10) along the original propagation path and be received by the transducer. The transducer converts the echo into a series of electrical pulses and arranges the received data of each transmission cycle longitudinally in a line-by-line manner. These data are displayed on the screen to form a two-dimensional acoustic map of the seabed topography. By observing the sonar image, changes in the underwater topography can be observed and information such as whether there are obstacles can be determined. This allows for the detection of the structural condition of the port terminal, including damage to the terminal piles and piers, as well as the detection of the placement of revetment masonry and the installation of underwater submerged rafts during port and waterway construction.

9. The detection method of a port and waterway engineering safety detection system based on a new energy unmanned vessel carrying an unmanned aerial vehicle as described in claim 6, characterized in that, In S5, when conducting integrated surveying of ports and waterways above and below water, a single-beam detector (12) and a surveying drone (8) are activated. Detection method: The single-beam depth sounder (12) is installed at the center of the bottom of the unmanned vessel. The underwater part is collected by the single-beam depth sounder (12) carried by the unmanned vessel. The above-water part is collected by aerial photogrammetry and three-dimensional point cloud data is collected by the LiDAR system carried by the unmanned vessel. Finally, the above-water and underwater data are fused by unifying the coordinate system reference.

10. The detection method of a port and waterway engineering safety detection system based on a new energy unmanned vessel carrying an unmanned aerial vehicle as described in claim 6, characterized in that, In S5, the shallow seismic profiler (13) is activated when conducting surface and underwater geomorphological surveys of ports and waterways, seabed geological surveys of port areas, and siltation surveys of waterways. Methods for detecting the topography of ports and waterways: The shallow strata profiler (13) sends a sound wave signal to the seabed through the transmitter. The underwater sound wave receiver will receive the corresponding sound wave signal. The sound wave is processed by the sound wave analyzer and outputs a recorded profile to reflect the characteristics of the seabed strata and sediment structure. Methods for seabed geological exploration in port areas: The distribution of bedrock, clay layer, sand layer and silt layer in the exploration area are detected and displayed by a shallow seismic profiler (13); Methods for detecting silt in waterways: The thickness of silt and the extent of silt coverage are measured using a shallow seismic profiler (13).

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