An air-sea coordinated underwater terrain detection system and its deployment control method

Abstract

This invention discloses an air-sea collaborative underwater topographic survey system and its deployment control method, belonging to the field of underwater topographic survey technology. It adjusts the flight attitude of the target UAV in the hoisted state through a center-of-gravity adaptive hoisting module, compensating for the center-of-gravity shift of the target unmanned vessel, improving transport speed, and ensuring flight stability. A sonar water-entry protection module decelerates the target unmanned vessel, reducing mechanical impact upon entry into the water and preventing sonar damage. An air-sea collaborative scheduling module enables synchronous scheduling of the target UAV and the target unmanned vessel, ensuring accurate and automatic recovery of the target unmanned vessel, greatly improving the efficiency and automation level of underwater topographic mapping. A multi-dimensional sonar fusion sensing module performs synchronous multi-sonar scanning, avoiding blind spots at land-water boundaries and misalignment of dynamic and static data, forming an accurate point cloud map, and greatly improving the geometric precision and spatial continuity of the detection results.

Description

Technical Field

[0001] This invention belongs to the field of underwater topographic detection technology, specifically relating to an air-sea coordinated underwater topographic detection system and its deployment and control method. Background Technology

[0002] As underwater exploration technology advances towards automation and intelligence, using unmanned surface vessels (USVs) equipped with side-scan sonar for riverbed topographic mapping has become a mainstream approach. However, in practical operating environments, the safe and accurate deployment of USVs to the target waters (especially complex, dangerous, or inaccessible areas, such as rivers after flash floods, lakes below cliffs, or minefields) remains a significant technical challenge. Currently, USV deployment primarily relies on either artificial shore-based deployment or deployment aboard a mother ship. Artificial shore-based deployment is severely limited by terrain, making it impossible on steep slopes, silted tidal flats, or densely vegetated riverbanks; deployment aboard a mother ship is costly, and large mother ships cannot access shallow waters or narrow inland waterways. In recent years, academia and industry have begun exploring air-sea collaborative solutions, utilizing large-payload multi-rotor UAVs to hoist USVs and achieve rapid delivery over geographical obstacles.

[0003] Existing attempts typically employ simple physical slings to suspend unmanned surface vessels (USVs) below drones, releasing them upon reaching the target point. However, this approach suffers from serious drawbacks in practical applications: First, the aerodynamic drag and inertial fluctuations generated by the USV during hoisting are fed back to the drone through the slings, creating a complex double-pendulum coupling effect that leads to flight instability and increases the risk of crashes. Second, the lack of precise control over the USV's entry angle and speed into the water makes it highly susceptible to capsizing or generating significant impact forces during release, especially in turbulent or wavy conditions. This can cause the onboard high-precision side-scan sonar to deviate from its axis due to vibration, resulting in seal damage or even direct impact with the riverbed. Furthermore, the dynamic nature of the water environment makes it difficult for drones to accurately attach slings to floating USVs. The interface between bridge piers and the water surface is the most severely eroded and structurally complex area, where traditional side-scan sonar suffers severe multipath reflection interference in extremely shallow water, making it impossible to obtain effective data.

[0004] As mentioned above, how to provide an underwater topographic detection system and its deployment control method that can achieve stable lifting, safe protection and accurate measurement in a coordinated air-sea manner has become a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0005] The purpose of this invention is to provide an air-sea coordinated underwater topographic detection system and its deployment control method to solve the above-mentioned problems existing in the prior art.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: In a first aspect, the present invention provides an air-sea coordinated underwater topographic detection system, comprising: The system comprises an air-sea coordinated scheduling module, a center-of-gravity adaptive hoisting module, a sonar water entry protection module, and a multi-dimensional sonar fusion sensing module, among which: The air-sea collaborative scheduling module is used to establish a communication link between the target UAV and the target unmanned vessel, and to calculate the relative pose between the target UAV and the target unmanned vessel in real time, so as to generate a collaborative operation task flow based on the relative pose between the target UAV and the target unmanned vessel. The center of gravity adaptive suspension module is used to collect the tilt angle data of the target UAV in real time, so as to control the target UAV to perform corresponding rotor thrust output actions according to the tilt angle data of the target UAV, and complete the center adaptive adjustment of the target UAV. The sonar water entry protection module is used to detect the real-time altitude information of the target UAV, and control the target UAV to perform corresponding deceleration and hovering actions according to the real-time altitude information of the target UAV, so that the water entry speed of the target UAV is lower than the preset sonar water entry speed threshold. The multi-dimensional sonar fusion sensing module is used to drive the multi-dimensional sonar to perform synchronous sampling through a synchronous triggering mechanism to obtain underwater terrain point cloud data and acquire the real-time attitude data of the target unmanned vessel, so as to construct a point cloud map based on the underwater terrain point cloud data and the real-time attitude data of the target unmanned vessel, thereby realizing the detection and positioning of underwater terrain.

[0007] In one possible design, the air-sea coordinated scheduling module includes a UAV main control unit, a differential positioning unit, a downward-looking visual recognition unit, and a dynamic wave-following recovery unit, wherein: The UAV main control unit is used to generate a time synchronization signal to establish a synchronous communication link between the target UAV and the target unmanned vessel; and to send the time synchronization signal to the multi-dimensional sonar fusion sensing module to drive the multi-dimensional sonar to perform synchronous sampling. The differential positioning unit is used to acquire the positioning information of the target UAV and the target unmanned vessel in real time using RTK differential positioning, and to share the positioning information of the target UAV and the target unmanned vessel in real time, so as to calculate the relative position between the target UAV and the target unmanned vessel, and send the relative position between the target UAV and the target unmanned vessel to the UAV main control unit. The downward-looking visual recognition unit is used to acquire real-time images of the target unmanned vessel, calculate the relative pose between the target UAV and the target unmanned vessel based on the real-time images of the target UAV, obtain the relative pose between the target UAV and the target unmanned vessel, and send the relative pose between the target UAV and the target unmanned vessel to the UAV main control unit. The UAV main control unit is also used to coordinate the scheduling of the target UAV and the target unmanned vessel according to the relative position and the relative pose of the target UAV and the target unmanned vessel, so as to complete the docking and recovery between the target UAV and the target unmanned vessel. The dynamic wave-following recovery unit is used to acquire the drift speed of the target unmanned vessel, and control the horizontal speed of the target drone based on the drift speed of the target unmanned vessel, driving the target drone to move until the relative speed between the target drone and the target unmanned vessel approaches zero, so that the velocity vectors of the target drone and the target unmanned vessel are synchronized.

[0008] In one possible design, the center-of-gravity adaptive suspension module includes a suspension mechanical actuator and a center-of-gravity adaptive sensing unit, wherein: The hoisting mechanical execution unit is used to receive the docking and recovery command issued by the air-sea coordinated scheduling module, so as to hoist the target UAV and the target unmanned vessel using electromagnetic locking and mechanical locking. The center of gravity adaptive sensing unit is used to acquire the real-time attitude information of the target unmanned vessel in real time, and send the real-time attitude information of the target unmanned vessel to the air-sea cooperative scheduling module, so as to use the air-sea cooperative scheduling module to adjust the rotor assist distribution of the target unmanned vessel to compensate for the torque deviation caused by asymmetric load and eliminate the double pendulum coupling of the target unmanned vessel during the hoisting process.

[0009] In one possible design, the suspended mechanical actuator includes an upper connecting plate and a lower connecting plate, wherein: The upper connecting plate is fixed to the bottom of the target drone's fuselage, serving as a socket for the electromagnetic locking mechanism and a bayonet for the mechanical locking mechanism. The lower connecting plate is fixed to the top of the target unmanned vessel and includes a guide cone, a mechanical bayonet, a magnetic block and an electromagnetic pin. The guide cone and the mechanical bayonet are used to rotate and engage with the upper connecting plate to achieve mechanical locking. The magnetic block and the electromagnetic pin are inserted into the upper connecting plate to complete the suspension connection between the target UAV and the target unmanned vessel. Accordingly, the center of gravity adaptive sensing unit includes an attitude sensing subunit and a center of gravity adjustment subunit, wherein: The attitude sensing subunit is installed on the bottom of the target UAV to monitor the roll and pitch angles of the target UAV in real time when it is suspended, so as to provide the real-time attitude information of the target UAV, and to send the real-time attitude information of the target UAV to the center of gravity adjustment subunit. The center of gravity adjustment subunit is used to adjust the rotor assist distribution of the target UAV based on the real-time attitude information of the target UAV, so as to adjust the center of gravity of the target UAV.

[0010] In one possible design, the sonar water ingress protection module includes a radar ranging unit, an unmanned surface vessel (USV) main control unit, and a flight control-coordinated deceleration unit, wherein: The radar ranging unit is used to collect the height difference between the bottom of the target unmanned vessel and the water surface in real time, and send the height difference between the bottom of the target unmanned vessel and the water surface to the unmanned vessel main control unit and the flight control cooperative deceleration unit. The unmanned vessel main control unit is used to determine the height difference between the bottom of the target unmanned vessel and the water surface according to a preset water entry height threshold, so as to control the target unmanned vessel to pre-start when the height difference between the bottom of the target unmanned vessel and the water surface is lower than the water entry height threshold. The flight control cooperative deceleration unit is used to control the target UAV to decelerate and descend according to the height difference between the bottom of the target UAV's hull and the water surface until the target UAV reaches a preset vertical speed of water entry, and to control the target UAV to contact the water surface at the vertical speed of water entry.

[0011] In one possible design, the unmanned surface vessel (USV) main control unit includes a USV propulsion motor and a USV electronic speed controller, wherein: The unmanned vessel propulsion motor is used to receive the height difference between the bottom of the target unmanned vessel's hull and the water surface, and to complete the pre-start of the target unmanned vessel according to the water entry height threshold and the height difference between the bottom of the target unmanned vessel's hull and the water surface. The unmanned vessel electronic speed controller is used to adjust the rotational speed of the unmanned vessel propulsion motor according to the preset vertical entry speed, so that the target unmanned vessel contacts the water surface at the preset vertical entry speed.

[0012] In one possible design, the multi-dimensional sonar fusion sensing module includes a sonar sensing unit, a radar odometry unit, and a dead reckoning unit, wherein: The sonar sensing unit is used to emit sound waves to detect the underwater environment within the detection area of ​​the target unmanned vessel using multiple sonars to perform terrain detection, and to receive the echo signals from each sonar. The unit then uses a digital beamforming algorithm to generate corresponding local point cloud data using the echo signals from each sonar, and integrates the local point cloud data corresponding to the echo signals from each sonar into underwater terrain point cloud data. The radar odometry unit is used to acquire the surrounding environmental geometric features and underwater terrain ranging information of the target unmanned vessel in real time, so as to form the underwater navigation information of the target unmanned vessel based on the surrounding environmental geometric features and the underwater terrain ranging information. The dead reckoning unit is used to collect the real-time heading angle and hull travel distance of the target unmanned vessel in real time, so as to integrate the underwater navigation information of the target unmanned vessel, the real-time heading angle of the target unmanned vessel, and the hull travel distance of the target unmanned vessel into the real-time attitude data of the target unmanned vessel, and construct a point cloud map based on the underwater terrain point cloud data and the real-time attitude data of the target unmanned vessel, so as to realize the detection and positioning of underwater terrain.

[0013] In one possible design, the sonar sensing unit includes a high-frequency sonar array subunit and a synchronization triggering subunit, wherein: The high-frequency sonar array subunit includes at least three sets of high-frequency sonars, and each set of high-frequency sonars is installed at a preset overlap angle on the bottom and side of the target unmanned vessel. The synchronization triggering subunit is used to send a synchronization triggering signal to each group of high-frequency sonars using a synchronization signal generator.

[0014] In one possible design, the radar odometry unit includes a lidar odometry, a visual odometry, and a multi-odometry fusion subunit, wherein: The lidar odometer is used to emit lasers to scan the geometric features of the surrounding environment of the target unmanned vessel; The visual odometry is used to extract underwater environmental texture features of the surrounding environment of the target unmanned vessel through a downward-looking camera and / or a forward-looking camera. The multi-odometer fusion subunit is used to receive the surrounding environmental geometric features, underwater topographic ranging information, and underwater environmental texture features of the target unmanned vessel, and to perform spatiotemporal synchronization processing and Kalman filtering on the surrounding environmental geometric features, underwater topographic ranging information, and underwater environmental texture features of the target unmanned vessel to form underwater navigation information of the target unmanned vessel.

[0015] Secondly, the present invention provides a deployment control method for an air-sea coordinated underwater topographic detection system, comprising: The target UAV rigidly locks the target unmanned vessel through the center of gravity adaptive suspension module and performs center of gravity adaptive compensation after takeoff. When the target UAV flies to the airspace above the preset target water area, it uses the sonar water entry protection module to perform radar ranging to detect the height difference between the bottom of the target UAV's hull and the water surface in real time. Based on the preset water entry height threshold, it controls the target UAV to decelerate and controls the target UAV's thrusters to pre-start, thus completing the target UAV's water entry. After the target unmanned vessel enters the water, the center of gravity adaptive suspension module releases its rigid lock and controls the target unmanned vessel to autonomously perform underwater terrain exploration tasks through the multi-dimensional sonar fusion perception module, constructing a point cloud map to realize the detection and positioning of underwater terrain; After the target unmanned vessel completes its exploration, the target UAV uses the air-sea collaborative scheduling module to locate and dynamically recover the target unmanned vessel in real time, complete the collaborative operation task, and return to base.

[0016] Thirdly, the present invention provides an electronic device comprising a memory, a processor, and a transceiver connected in sequence and in communication, wherein the memory is used to store a computer program, the transceiver is used to send and receive messages, and the processor is used to read the computer program and execute the deployment control method of the air-sea coordinated underwater topographic detection system as described in the second aspect above.

[0017] Fourthly, the present invention provides a computer-readable storage medium storing instructions that, when executed on a computer, perform the deployment control method of the air-sea coordinated underwater topographic detection system described in the second aspect.

[0018] Fifthly, the present invention provides a computer program product containing instructions that, when the instructions are executed on a computer, cause the computer to perform the deployment control method of the air-sea coordinated underwater topography detection system as described in the first aspect or any possible design of the first aspect, as described in the second aspect.

[0019] Beneficial Effects: This invention provides an air-sea collaborative underwater terrain detection system and its deployment method, including: an air-sea collaborative scheduling module, a center-of-gravity adaptive hoisting module, a sonar water entry protection module, and a multi-dimensional sonar fusion sensing module. The air-sea collaborative scheduling module is used to establish a communication link between the target UAV and the target unmanned surface vessel (USV), and to calculate the relative pose between the target UAV and the USV in real time, so as to generate a collaborative operation task flow based on the relative pose between the target UAV and the USV. The center-of-gravity adaptive hoisting module is used to collect the tilt angle data of the target UAV in real time, so as to control the target UAV to perform operations based on the tilt angle data. The corresponding rotor thrust output action completes the center adaptive adjustment of the target UAV; the sonar water entry protection module is used to detect the real-time altitude information of the target UAV, and control the target UAV to perform corresponding deceleration and hovering actions based on the real-time altitude information of the target UAV, so that the water entry speed of the target UAV is lower than the preset sonar water entry speed threshold; the multi-dimensional sonar fusion perception module is used to drive the multi-dimensional sonar to perform synchronous sampling through a synchronous triggering mechanism to obtain underwater terrain point cloud data and acquire the real-time attitude data of the target UAV, so as to construct a point cloud map based on the underwater terrain point cloud data and the real-time attitude data of the target UAV, and realize the detection and positioning of underwater terrain. Through the center of gravity adaptive hoisting module, the flight attitude of the target UAV in the hoisting state is adjusted, compensating for the center of gravity offset of the target UAV, eliminating the double pendulum effect commonly seen during hoisting, improving the transfer speed, and ensuring flight stability. The sonar water entry protection module decelerates and hovers the target unmanned vessel, significantly reducing the mechanical impact load upon entry into the water, protecting the sonar, preventing hardware damage, and significantly extending the sonar's service life. The air-sea coordinated scheduling module enables synchronous scheduling of the target UAV and the target unmanned vessel, ensuring the accurate and automatic recovery of the target unmanned vessel, greatly improving the efficiency and automation level of underwater topographic mapping. The multi-dimensional sonar fusion sensing module performs synchronous multi-sonar scanning, avoiding blind spots at the land-water boundary and misalignment of dynamic and static data, forming an accurate point cloud map, and greatly improving the geometric precision and spatial continuity of the detection results. Attached Figure Description

[0020] Figure 1 A functional structure diagram of an air-sea coordinated underwater topographic detection system provided in an embodiment of the present invention; Figure 2 A flowchart illustrating the deployment control method for an air-sea coordinated underwater topographic detection system provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the present invention will be briefly introduced below in conjunction with the accompanying drawings and descriptions of the embodiments or the prior art. Obviously, the following description of the structure of the accompanying drawings is only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. It should be noted that the description of these embodiments is for the purpose of helping to understand the present invention, but does not constitute a limitation of the present invention.

[0022] It should be understood that although the terms first, second, etc., may be used herein to describe various units, these units should not be limited by these terms. These terms are only used to distinguish one unit from another. For example, a first unit may be referred to as a second unit, and similarly, a second unit may be referred to as a first unit, without departing from the scope of the exemplary embodiments of the invention.

[0023] It should be understood that the term "and / or" that may appear in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, B exists alone, and A and B exist simultaneously. The term " / and" that may appear in this document describes another relationship between related objects, indicating that two relationships can exist. For example, A / and B can mean: A exists alone, and A and B exist alone. In addition, the character " / " that may appear in this document generally indicates that the related objects before and after it are in an "or" relationship.

[0024] Example: like Figure 1 As shown, the first aspect of this embodiment provides an air-sea collaborative underwater topography detection system, which may include, but is not limited to, the following modules: an air-sea collaborative scheduling module, a center-of-gravity adaptive hoisting module, a sonar water entry protection module, and a multi-dimensional sonar fusion sensing module, wherein: The air-sea collaborative scheduling module is used to establish a communication link between the target UAV and the target unmanned vessel, and to calculate the relative pose between the target UAV and the target unmanned vessel in real time, so as to generate a collaborative operation task flow based on the relative pose between the target UAV and the target unmanned vessel. The center of gravity adaptive suspension module is used to collect the tilt angle data of the target UAV in real time, so as to control the target UAV to perform corresponding rotor thrust output actions according to the tilt angle data of the target UAV, and complete the center adaptive adjustment of the target UAV. The sonar water entry protection module is used to detect the real-time altitude information of the target UAV, and control the target UAV to perform corresponding deceleration and hovering actions according to the real-time altitude information of the target UAV, so that the water entry speed of the target UAV is lower than the preset sonar water entry speed threshold. The multi-dimensional sonar fusion sensing module is used to drive the multi-dimensional sonar to perform synchronous sampling through a synchronous triggering mechanism to obtain underwater terrain point cloud data and acquire the real-time attitude data of the target unmanned vessel, so as to construct a point cloud map based on the underwater terrain point cloud data and the real-time attitude data of the target unmanned vessel, thereby realizing the detection and positioning of underwater terrain.

[0025] In one possible implementation, the air-sea coordinated scheduling module includes a UAV main control unit, a differential positioning unit, a downward-looking visual recognition unit, and a dynamic wave-following recovery unit, wherein: The UAV main control unit is used to generate a time synchronization signal to establish a synchronous communication link between the target UAV and the target unmanned vessel; and to send the time synchronization signal to the multi-dimensional sonar fusion sensing module to drive the multi-dimensional sonar to perform synchronous sampling. The differential positioning unit is used to acquire the positioning information of the target UAV and the target unmanned vessel in real time using RTK differential positioning, and to share the positioning information of the target UAV and the target unmanned vessel in real time, so as to calculate the relative position between the target UAV and the target unmanned vessel, and send the relative position between the target UAV and the target unmanned vessel to the UAV main control unit. The downward-looking visual recognition unit is used to acquire real-time images of the target unmanned vessel, calculate the relative pose between the target UAV and the target unmanned vessel based on the real-time images of the target UAV, obtain the relative pose between the target UAV and the target unmanned vessel, and send the relative pose between the target UAV and the target unmanned vessel to the UAV main control unit. The UAV main control unit is also used to coordinate the scheduling of the target UAV and the target unmanned vessel according to the relative position and the relative pose of the target UAV and the target unmanned vessel, so as to complete the docking and recovery between the target UAV and the target unmanned vessel. The dynamic wave-following recovery unit is used to acquire the drift speed of the target unmanned vessel, and control the horizontal speed of the target drone based on the drift speed of the target unmanned vessel, driving the target drone to move until the relative speed between the target drone and the target unmanned vessel approaches zero, so that the velocity vectors of the target drone and the target unmanned vessel are synchronized.

[0026] It should be noted that both the target UAV and the unmanned vessel are equipped with RTK (Real-Time Kinematic) modules, which exchange their latitude and longitude coordinates in real time through the UAV's main control unit, providing basic position data for precise guidance and coordinated control.

[0027] During the docking and recovery process, the docking process can be divided into three guidance stages. The first-level guidance (long-distance coarse guidance) is when the relative distance between the target UAV and the target unmanned vessel exceeds the preset visual recognition range (the maximum image acquisition range of the downward visual recognition unit) during the recovery stage. The UAV main control unit relies on the RTK coordinate difference of the differential positioning unit (the relative position between the target UAV and the target unmanned vessel) to perform the first-level guidance, so that the target UAV can quickly approach the visual recognition range.

[0028] The second-level guidance (close-range precision guidance) is performed when the distance between the target UAV and the target UAV is reduced to within the visual recognition range. The target UAV activates the visual sensor below to perform complementary fusion based on visual positioning, calculates the relative pose between the target UAV and the target UAV, so that the UAV main control unit provides a global coordinate reference with RTK coordinate difference and a local relative pose with the relative pose between the target UAV and the target UAV. The fusion of the two achieves millimeter-level docking accuracy. The third-level guidance (real-time relative static docking guidance) is to adjust the horizontal speed of the target UAV based on the drift speed of the target UAV obtained in real time by the differential positioning unit and combined with the dynamic wave displacement compensation algorithm when the pose difference (relative pose) between the target UAV and the target UAV approaches zero, so that the relative speed at the moment of docking approaches zero, and a smooth docking and recovery is completed.

[0029] In addition, during the docking and recovery process, the positioning signal of the differential positioning unit may fail in areas where satellite signals are blocked, such as bridges. In such cases, GNSS (Global Navigation Satellite System) signals can be used instead of RTK signals for positioning calculation to ensure that the detection mission is not interrupted.

[0030] In one possible implementation, the center-of-gravity adaptive suspension module includes a suspension mechanical actuator and a center-of-gravity adaptive sensing unit, wherein: The hoisting mechanical execution unit is used to receive the docking and recovery command issued by the air-sea coordinated scheduling module, so as to hoist the target UAV and the target unmanned vessel using electromagnetic locking and mechanical locking. The center of gravity adaptive sensing unit is used to acquire the real-time attitude information of the target unmanned vessel in real time, and send the real-time attitude information of the target unmanned vessel to the air-sea cooperative scheduling module, so as to use the air-sea cooperative scheduling module to adjust the rotor assist distribution of the target unmanned vessel to compensate for the torque deviation caused by asymmetric load and eliminate the double pendulum coupling of the target unmanned vessel during the hoisting process.

[0031] In one possible implementation, the suspension mechanical actuator includes an upper connecting plate and a lower connecting plate, wherein: The upper connecting plate is fixed to the bottom of the target drone's fuselage, serving as a socket for the electromagnetic locking mechanism and a bayonet for the mechanical locking mechanism. The lower connecting plate is fixed to the top of the target unmanned vessel and includes a guide cone, a mechanical bayonet, a magnetic block and an electromagnetic pin. The guide cone and the mechanical bayonet are used to rotate and engage with the upper connecting plate to achieve mechanical locking. The magnetic block and the electromagnetic pin are inserted into the upper connecting plate to complete the suspension connection between the target UAV and the target unmanned vessel. Accordingly, the center of gravity adaptive sensing unit includes an attitude sensing subunit and a center of gravity adjustment subunit, wherein: The attitude sensing subunit is installed on the bottom of the target UAV to monitor the roll and pitch angles of the target UAV in real time when it is suspended, so as to provide the real-time attitude information of the target UAV, and to send the real-time attitude information of the target UAV to the center of gravity adjustment subunit. The center of gravity adjustment subunit is used to adjust the rotor assist distribution of the target UAV based on the real-time attitude information of the target UAV, so as to adjust the center of gravity of the target UAV.

[0032] In specific applications, the connection between the upper connecting plate and the lower connecting plate is achieved through a three-in-one design of magnetic guidance, mechanical bayonet, and electromagnetic locking. The magnetic field between the upper and lower connecting plates enables automatic alignment, the mechanical rotation of the lower bayonet ensures a stable docking, and finally, the electromagnetic pin achieves rigid locking. This ensures that the UAV can quickly and blindly dock when hoisting the unmanned vessel, and can also resist physical detachment under the turbulence of wind and waves.

[0033] It should be noted that after the target UAV and the target unmanned vessel complete docking and recovery, the target UAV lifts the target unmanned vessel and puts it into flight. At this time, since the center of gravity of the target unmanned vessel is not at the geometric center, it will naturally tilt. The center of gravity adaptive sensing unit calculates the roll angle and pitch angle of the target unmanned vessel in real time and transmits the real-time attitude information of the target unmanned vessel to the air-sea cooperative scheduling module of the target UAV.

[0034] Upon receiving the real-time attitude information of the target unmanned surface vessel (USV), the underwater terrain detection system provided in this embodiment activates the center of gravity adjustment subunit to adjust the rotor assist distribution of the target USV, thereby shifting the center of gravity of the target USV. This adjustment is real-time and dynamic, adjusting hundreds of times per second based on the real-time attitude information of the target USV to ensure flight stability. For example, if the target USV sways during flight, causing the center of gravity of the hoisting system to shift to the right, the rotational speed of the left rotor of the target USV needs to be adjusted to be slightly higher than that of the right rotor to generate a reverse torque to maintain the aircraft's horizontal position. In one possible implementation, if this control method fails or malfunctions, the counterweight block (such as a screw-driven slider) inside the target USV can be directly controlled to move in the opposite direction of the USV's center of gravity until it returns to horizontal.

[0035] The adaptive center of gravity hoisting module provided in this embodiment can not only avoid the risk of crash caused by large swaying and tilting of the target UAV during flight through rigid locking, but also automatically sense and compensate for center of gravity deviation to achieve stability during hoisting flight, enabling the target UAV to fly at a faster speed and improve transfer efficiency.

[0036] In one possible implementation, the sonar water ingress protection module includes a radar ranging unit, an unmanned surface vessel (USV) main control unit, and a flight control-coordinated deceleration unit, wherein: The radar ranging unit is used to collect the height difference between the bottom of the target unmanned vessel and the water surface in real time, and send the height difference between the bottom of the target unmanned vessel and the water surface to the unmanned vessel main control unit and the flight control cooperative deceleration unit. The unmanned vessel main control unit is used to determine the height difference between the bottom of the target unmanned vessel and the water surface according to a preset water entry height threshold, so as to control the target unmanned vessel to pre-start when the height difference between the bottom of the target unmanned vessel and the water surface is lower than the water entry height threshold. The flight control cooperative deceleration unit is used to control the target UAV to decelerate and descend according to the height difference between the bottom of the target UAV's hull and the water surface until the target UAV reaches a preset vertical speed of water entry, and to control the target UAV to contact the water surface at the vertical speed of water entry.

[0037] In one possible implementation, the unmanned surface vessel (USV) main control unit includes a USV propulsion motor and a USV electronic speed controller, wherein: The unmanned vessel propulsion motor is used to receive the height difference between the bottom of the target unmanned vessel's hull and the water surface, and to complete the pre-start of the target unmanned vessel according to the water entry height threshold and the height difference between the bottom of the target unmanned vessel's hull and the water surface. The unmanned vessel electronic speed controller is used to adjust the rotational speed of the unmanned vessel propulsion motor according to the preset vertical entry speed, so that the target unmanned vessel contacts the water surface at the preset vertical entry speed.

[0038] It should be noted that in the underwater terrain detection system provided in this embodiment, when the unmanned vessel main control unit detects that the height difference between the bottom of the target unmanned vessel's hull and the water surface is less than a preset water entry height threshold, it triggers a pre-rotation program for the unmanned vessel's propeller motor to achieve hydrodynamic buffer protection for the target unmanned vessel's onboard side-scan sonar (i.e., multi-dimensional sonar fusion sensing module); the unmanned vessel's propeller is started in advance before entering the water, and the downward water flow generated by the propeller forms a reverse thrust to offset part of the falling kinetic energy, so as to ensure that the target unmanned vessel reaches the preset vertical speed of water entry before entering the water.

[0039] Specifically, when the target UAV carrying the target unmanned vessel descends into the water, the radar ranging unit continuously measures the height difference between the water surface and the bottom of the target unmanned vessel using high-frequency (e.g., 50Hz) laser. When the distance from the water surface reaches the water entry height threshold (e.g., 0.5 meters, which can be adjusted according to the vessel weight and wave height), a command is sent to the flight control coordinated deceleration unit to cause the target UAV to decelerate and hover, rapidly reducing the vertical descent speed from the normal 0.5-1 m / s to close to the preset vertical entry speed (generally preset to 0 m / s). Simultaneously, while the target UAV decelerates, a pre-start command is sent to the unmanned vessel's propeller motor. The unmanned vessel's propeller begins to rotate at a low to medium speed, and the propeller pushes the water downward, generating an upward reaction force. This upward reaction force, combined with the upward pull provided by the target UAV (flight control coordinated deceleration unit), together slows down the descent speed of the target unmanned vessel, significantly reducing the net descent acceleration at the moment of water entry.

[0040] Furthermore, after the target unmanned vessel enters the water, the center-of-gravity adaptive suspension module releases the locking mechanism of the lifting section, allowing the hull to fall naturally into the water. However, even at extremely low entry speeds, a small amount of impact may still be transmitted to the sonar at the moment of entry. Therefore, in a possible implementation, the multi-dimensional sonar fusion sensing module is connected to the hull of the target unmanned vessel using a flexible suspension mechanism (such as rubber shock absorbers or spring dampers) to further absorb high-frequency vibrations, ensure stable entry of the sonar into the water, avoid sonar damage, and improve the geometric accuracy of the detection data.

[0041] In one possible implementation, the multi-dimensional sonar fusion sensing module includes a sonar sensing unit, a radar odometry unit, and a dead reckoning unit, wherein: The sonar sensing unit is used to emit sound waves to detect the underwater environment within the detection area of ​​the target unmanned vessel using multiple sonars to perform terrain detection, and to receive the echo signals from each sonar. The unit then uses a digital beamforming algorithm to generate corresponding local point cloud data using the echo signals from each sonar, and integrates the local point cloud data corresponding to the echo signals from each sonar into underwater terrain point cloud data. The radar odometry unit is used to acquire the surrounding environmental geometric features and underwater terrain ranging information of the target unmanned vessel in real time, so as to form the underwater navigation information of the target unmanned vessel based on the surrounding environmental geometric features and the underwater terrain ranging information. The dead reckoning unit is used to collect the real-time heading angle and hull travel distance of the target unmanned vessel in real time, so as to integrate the underwater navigation information of the target unmanned vessel, the real-time heading angle of the target unmanned vessel, and the hull travel distance of the target unmanned vessel into the real-time attitude data of the target unmanned vessel, and construct a point cloud map based on the underwater terrain point cloud data and the real-time attitude data of the target unmanned vessel, so as to realize the detection and positioning of underwater terrain.

[0042] In one possible implementation, the sonar sensing unit includes a high-frequency sonar array subunit and a synchronization triggering subunit, wherein: The high-frequency sonar array subunit includes at least three sets of high-frequency sonars, and each set of high-frequency sonars is installed at a preset overlap angle on the bottom and side of the target unmanned vessel. The synchronization triggering subunit is used to send a synchronization triggering signal to each group of high-frequency sonars using a synchronization signal generator.

[0043] It should be noted that, taking three sets of high-frequency sonar as an example, the angle (overlap angle) between adjacent high-frequency sonars is preset to 30°–60°, forming multi-angle coverage including forward-looking, side-looking, and downward-looking views. Each set of high-frequency sonars is responsible for the detection sector in different directions, eliminating blind spots from a single viewpoint through spatial redundancy. The synchronization signal generator (such as one based on FPGA or GPS-disciplined crystal oscillators) can achieve nanosecond-level synchronization accuracy, providing hardware-level synchronization trigger signals to all high-frequency sonars during detection, ensuring that each set of high-frequency sonars collects echo data at the same time, eliminating point cloud misalignment caused by the unmanned vessel's swaying.

[0044] In one possible implementation, the radar odometry unit includes a lidar odometry, a visual odometry, and a multi-odometry fusion subunit, wherein: The lidar odometer is used to emit lasers to scan the geometric features of the surrounding environment of the target unmanned vessel; The visual odometry is used to extract underwater environmental texture features of the surrounding environment of the target unmanned vessel through a downward-looking camera and / or a forward-looking camera. The multi-odometer fusion subunit is used to receive the surrounding environmental geometric features, underwater topographic ranging information, and underwater environmental texture features of the target unmanned vessel, and to perform spatiotemporal synchronization processing and Kalman filtering on the surrounding environmental geometric features, underwater topographic ranging information, and underwater environmental texture features of the target unmanned vessel to form underwater navigation information of the target unmanned vessel.

[0045] like Figure 2 As shown, the second aspect of this embodiment provides a deployment control method for an underwater terrain detection system with air-sea coordination as described in the first aspect of the embodiment, which may include, but is not limited to, the following steps S1-S4, specifically: S1. The target UAV rigidly locks the target unmanned vessel through the center of gravity adaptive suspension module, and performs center of gravity adaptive compensation after takeoff; S2. When the target UAV flies to the airspace above the preset target water area to be measured, the radar ranging is performed through the sonar water entry protection module to detect the height difference between the bottom of the target UAV's hull and the water surface in real time, and the target UAV is controlled to decelerate according to the preset water entry height threshold, and the target UAV's thruster is controlled to pre-start to complete the water entry of the target UAV. S3. After the target unmanned vessel enters the water, the center of gravity adaptive suspension module releases the rigid lock and controls the target unmanned vessel to autonomously perform underwater terrain exploration tasks through the multi-dimensional sonar fusion perception module, constructing a point cloud map to realize the detection and positioning of underwater terrain; S4. After the target unmanned vessel completes its detection, the target UAV uses the air-sea collaborative scheduling module to locate and dynamically recover the target unmanned vessel in real time, complete the collaborative operation task, and return to port.

[0046] like Figure 3 As shown, the third aspect of this embodiment provides an electronic device, including: a memory, a processor, and a transceiver that are sequentially and communicatively connected, wherein the memory is used to store a computer program, the transceiver is used to send and receive messages, and the processor is used to read the computer program and execute the deployment control method of the air-sea cooperative underwater topography detection system as described in the second aspect of the embodiment.

[0047] For specific examples, the memory may include, but is not limited to, random access memory (RAM), read-only memory (ROM), flash memory, first-in-first-out (FIFO) memory, and / or first-in-last-out (FILO) memory, etc.; specifically, the processor may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor may be implemented using at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), PLA (Programmable Logic Array). The processor may also include a main processor and a coprocessor. The main processor, also known as the CPU (Central Processing Unit), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state.

[0048] In some embodiments, the processor may integrate a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the screen. For example, the processor may not be limited to microprocessors of the STM32F105 series, reduced instruction set computer (RISC) microprocessors, x86 architecture processors, or processors with integrated neural network processing units (NPUs). The transceiver may be, but is not limited to, a Wi-Fi transceiver, a Bluetooth transceiver, a General Packet Radio Service (GPRS) transceiver, a ZigBee (a low-power LAN protocol based on the IEEE 802.15.4 standard) transceiver, a 3G transceiver, a 4G transceiver, and / or a 5G transceiver. Furthermore, the electronic device may also include, but is not limited to, a power module, a display screen, and other necessary components.

[0049] The working process, working details and technical effects of the electronic device provided in this embodiment can be found in the second aspect of the embodiment, and will not be repeated here.

[0050] The fourth aspect of this embodiment provides a storage medium that stores instructions for an air-sea coordinated underwater topographic detection system as described in the first aspect of the embodiment. That is, the storage medium stores instructions, and when the instructions are run on a computer, the deployment control method of the air-sea coordinated underwater topographic detection system as described in the second aspect of the embodiment is executed.

[0051] The storage medium refers to a carrier for storing data, which may include, but is not limited to, floppy disks, optical disks, hard disks, flash memory, USB flash drives, and / or memory sticks. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices.

[0052] The working process, working details and technical effects of the storage medium provided in this embodiment can be found in the second aspect of the embodiment, and will not be repeated here.

[0053] The fifth aspect of this embodiment provides a computer program product containing instructions that, when executed on a computer, cause the computer to perform the deployment control method of an air-sea coordinated underwater topographic detection system as described in the second aspect of this embodiment. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices.

[0054] Finally, it should be noted that the above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An air-sea coordinated underwater topographic detection system, characterized in that, include: The system comprises an air-sea coordinated scheduling module, a center-of-gravity adaptive hoisting module, a sonar water entry protection module, and a multi-dimensional sonar fusion sensing module, among which: The air-sea collaborative scheduling module is used to establish a communication link between the target UAV and the target unmanned vessel, and to calculate the relative pose between the target UAV and the target unmanned vessel in real time, so as to generate a collaborative operation task flow based on the relative pose between the target UAV and the target unmanned vessel. The center of gravity adaptive suspension module is used to collect the tilt angle data of the target UAV in real time, so as to control the target UAV to perform corresponding rotor thrust output actions according to the tilt angle data of the target UAV, and complete the center adaptive adjustment of the target UAV. The sonar water entry protection module is used to detect the real-time altitude information of the target UAV, and control the target UAV to perform corresponding deceleration and hovering actions according to the real-time altitude information of the target UAV, so that the water entry speed of the target UAV is lower than the preset sonar water entry speed threshold. The multi-dimensional sonar fusion sensing module is used to drive the multi-dimensional sonar to perform synchronous sampling through a synchronous triggering mechanism to obtain underwater terrain point cloud data and acquire the real-time attitude data of the target unmanned vessel, so as to construct a point cloud map based on the underwater terrain point cloud data and the real-time attitude data of the target unmanned vessel, thereby realizing the detection and positioning of underwater terrain.

2. The air-sea coordinated underwater topographic detection system according to claim 1, characterized in that, The air-sea coordinated scheduling module includes a UAV main control unit, a differential positioning unit, a downward-looking visual recognition unit, and a dynamic wave-following recovery unit, wherein: The UAV main control unit is used to generate a time synchronization signal to establish a synchronous communication link between the target UAV and the target unmanned vessel; and to send the time synchronization signal to the multi-dimensional sonar fusion sensing module to drive the multi-dimensional sonar to perform synchronous sampling. The differential positioning unit is used to acquire the positioning information of the target UAV and the target unmanned vessel in real time using RTK differential positioning, and to share the positioning information of the target UAV and the target unmanned vessel in real time, so as to calculate the relative position between the target UAV and the target unmanned vessel, and send the relative position between the target UAV and the target unmanned vessel to the UAV main control unit. The downward-looking visual recognition unit is used to acquire real-time images of the target unmanned vessel, calculate the relative pose between the target UAV and the target unmanned vessel based on the real-time images of the target UAV, obtain the relative pose between the target UAV and the target unmanned vessel, and send the relative pose between the target UAV and the target unmanned vessel to the UAV main control unit. The UAV main control unit is also used to coordinate the scheduling of the target UAV and the target unmanned vessel according to the relative position and the relative pose of the target UAV and the target unmanned vessel, so as to complete the docking and recovery between the target UAV and the target unmanned vessel. The dynamic wave-following recovery unit is used to acquire the drift speed of the target unmanned vessel, and control the horizontal speed of the target drone based on the drift speed of the target unmanned vessel, driving the target drone to move until the relative speed between the target drone and the target unmanned vessel approaches zero, so that the velocity vectors of the target drone and the target unmanned vessel are synchronized.

3. The air-sea coordinated underwater topographic detection system according to claim 1, characterized in that, The center-of-gravity adaptive suspension module includes a suspension mechanical execution unit and a center-of-gravity adaptive sensing unit, wherein: The hoisting mechanical execution unit is used to receive the docking and recovery command issued by the air-sea coordinated scheduling module, so as to hoist the target UAV and the target unmanned vessel using electromagnetic locking and mechanical locking. The center of gravity adaptive sensing unit is used to acquire the real-time attitude information of the target unmanned vessel in real time, and send the real-time attitude information of the target unmanned vessel to the air-sea cooperative scheduling module, so as to use the air-sea cooperative scheduling module to adjust the rotor assist distribution of the target unmanned vessel to compensate for the torque deviation caused by asymmetric load and eliminate the double pendulum coupling of the target unmanned vessel during the hoisting process.

4. The air-sea coordinated underwater topographic detection system according to claim 3, characterized in that, The suspended mechanical actuator includes an upper connecting plate and a lower connecting plate, wherein: The upper connecting plate is fixed to the bottom of the target drone's fuselage, serving as a socket for the electromagnetic locking mechanism and a bayonet for the mechanical locking mechanism. The lower connecting plate is fixed to the top of the target unmanned vessel and includes a guide cone, a mechanical bayonet, a magnetic block and an electromagnetic pin. The guide cone and the mechanical bayonet are used to rotate and engage with the upper connecting plate to achieve mechanical locking. The magnetic block and the electromagnetic pin are inserted into the upper connecting plate to complete the suspension connection between the target UAV and the target unmanned vessel. Accordingly, the center of gravity adaptive sensing unit includes an attitude sensing subunit and a center of gravity adjustment subunit, wherein: The attitude sensing subunit is installed on the bottom of the target UAV to monitor the roll and pitch angles of the target UAV in real time when it is suspended, so as to provide the real-time attitude information of the target UAV, and to send the real-time attitude information of the target UAV to the center of gravity adjustment subunit. The center of gravity adjustment subunit is used to adjust the rotor assist distribution of the target UAV based on the real-time attitude information of the target UAV, so as to adjust the center of gravity of the target UAV.

5. The air-sea coordinated underwater topographic detection system according to claim 1, characterized in that, The sonar water ingress protection module includes a radar ranging unit, an unmanned surface vessel main control unit, and a flight control-coordinated deceleration unit, wherein: The radar ranging unit is used to collect the height difference between the bottom of the target unmanned vessel and the water surface in real time, and send the height difference between the bottom of the target unmanned vessel and the water surface to the unmanned vessel main control unit and the flight control cooperative deceleration unit. The unmanned vessel main control unit is used to determine the height difference between the bottom of the target unmanned vessel and the water surface according to a preset water entry height threshold, so as to control the target unmanned vessel to pre-start when the height difference between the bottom of the target unmanned vessel and the water surface is lower than the water entry height threshold. The flight control cooperative deceleration unit is used to control the target UAV to decelerate and descend according to the height difference between the bottom of the target UAV's hull and the water surface until the target UAV reaches a preset vertical speed of water entry, and to control the target UAV to contact the water surface at the vertical speed of water entry.

6. The air-sea coordinated underwater topographic detection system according to claim 5, characterized in that, The unmanned surface vessel (USV) main control unit includes a USV propulsion motor and a USV electronic speed controller, wherein: The unmanned vessel propulsion motor is used to receive the height difference between the bottom of the target unmanned vessel's hull and the water surface, and to complete the pre-start of the target unmanned vessel according to the water entry height threshold and the height difference between the bottom of the target unmanned vessel's hull and the water surface. The unmanned vessel electronic speed controller is used to adjust the rotational speed of the unmanned vessel propulsion motor according to the preset vertical entry speed, so that the target unmanned vessel contacts the water surface at the preset vertical entry speed.

7. The air-sea coordinated underwater topographic detection system according to claim 1, characterized in that, The multi-dimensional sonar fusion sensing module includes a sonar sensing unit, a radar odometry unit, and a dead reckoning unit, wherein: The sonar sensing unit is used to emit sound waves to detect the underwater environment within the detection area of ​​the target unmanned vessel using multiple sonars to perform terrain detection, and to receive the echo signals from each sonar. The unit then uses a digital beamforming algorithm to generate corresponding local point cloud data using the echo signals from each sonar, and integrates the local point cloud data corresponding to the echo signals from each sonar into underwater terrain point cloud data. The radar odometry unit is used to acquire the surrounding environmental geometric features and underwater terrain ranging information of the target unmanned vessel in real time, so as to form the underwater navigation information of the target unmanned vessel based on the surrounding environmental geometric features and the underwater terrain ranging information. The dead reckoning unit is used to collect the real-time heading angle and hull travel distance of the target unmanned vessel in real time, so as to integrate the underwater navigation information of the target unmanned vessel, the real-time heading angle of the target unmanned vessel, and the hull travel distance of the target unmanned vessel into the real-time attitude data of the target unmanned vessel, and construct a point cloud map based on the underwater terrain point cloud data and the real-time attitude data of the target unmanned vessel, so as to realize the detection and positioning of underwater terrain.

8. The air-sea coordinated underwater topographic detection system according to claim 7, characterized in that, The sonar sensing unit includes a high-frequency sonar array subunit and a synchronization triggering subunit, wherein: The high-frequency sonar array subunit includes at least three sets of high-frequency sonars, and each set of high-frequency sonars is installed at a preset overlap angle on the bottom and side of the target unmanned vessel. The synchronization triggering subunit is used to send a synchronization triggering signal to each group of high-frequency sonars using a synchronization signal generator.

9. The air-sea coordinated underwater topographic detection system according to claim 7, characterized in that, The radar odometry unit includes a lidar odometry, a visual odometry, and a multi-odometry fusion subunit, wherein: The lidar odometer is used to emit lasers to scan the geometric features of the surrounding environment of the target unmanned vessel; The visual odometry is used to extract underwater environmental texture features of the surrounding environment of the target unmanned vessel through a downward-looking camera and / or a forward-looking camera. The multi-odometer fusion subunit is used to receive the surrounding environmental geometric features, underwater topographic ranging information, and underwater environmental texture features of the target unmanned vessel, and to perform spatiotemporal synchronization processing and Kalman filtering on the surrounding environmental geometric features, underwater topographic ranging information, and underwater environmental texture features of the target unmanned vessel to form underwater navigation information of the target unmanned vessel.

10. A deployment and control method for an air-sea coordinated underwater topographic detection system, characterized in that, For deployment control of the air-sea coordinated underwater topographic reconnaissance system as described in any one of claims 1 to 9, including: The target UAV rigidly locks the target unmanned vessel through the center of gravity adaptive suspension module and performs center of gravity adaptive compensation after takeoff. When the target UAV flies to the airspace above the preset target water area, it uses the sonar water entry protection module to perform radar ranging to detect the height difference between the bottom of the target UAV's hull and the water surface in real time. Based on the preset water entry height threshold, it controls the target UAV to decelerate and controls the target UAV's thrusters to pre-start, thus completing the target UAV's water entry. After the target unmanned vessel enters the water, the center of gravity adaptive suspension module releases its rigid lock and controls the target unmanned vessel to autonomously perform underwater terrain exploration tasks through the multi-dimensional sonar fusion perception module, constructing a point cloud map to realize the detection and positioning of underwater terrain; After the target unmanned vessel completes its exploration, the target UAV uses the air-sea collaborative scheduling module to locate and dynamically recover the target unmanned vessel in real time, complete the collaborative operation task, and return to base.

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