Offshore unmanned equipment air-ground sea safety control system based on distributed networking

Abstract

This invention discloses a distributed network-based air-ground-sea safety management and control system for unmanned maritime equipment, relating to the field of civil maritime safety management and control technology. It comprises a mobile platform, a distributed edge intelligent detection network, an intelligent radio control system, a precise optoelectronic control system, a cluster control system, and a cross-domain collaborative hub. The mobile platform provides carrying and operational support; the distributed edge intelligent detection network achieves local target processing and transmits structured feature data through multi-domain mesh self-organizing networks and edge computing; the intelligent radio control system dynamically generates signal control strategies; the cluster control system relies on unmanned surface vessels (USVs) for collaborative order management; the precise optoelectronic control system performs precise equipment blocking; and the cross-domain collaborative hub achieves global security situation fusion, task planning, and dynamic resource scheduling. This invention significantly reduces detection response latency, improves the ability to identify concealed targets, and possesses adaptive, civil air-ground-sea cross-domain collaborative safety management and control capabilities.

Description

Technical Field

[0001] This invention relates to the field of civil maritime safety management and control technology, and in particular to a maritime unmanned equipment air-ground-sea safety management and control system based on distributed networking. Background Technology

[0002] The disruption and safety risks posed by miniaturized, intelligent, and clustered unmanned maritime devices to important civilian maritime security targets (such as ports, offshore wind power platforms, and civilian waterways) are becoming increasingly serious. The detection and identification of existing maritime unmanned equipment security management systems rely on centralized sensing architectures such as radar and photoelectric identification and tracking from shore-based civilian platforms. Interception and countermeasures are carried out using electronic signal suppression, photoelectric control equipment, and manual physical control methods. The overall structure is a chain-based centralized command structure of "detection-decision-expulsion", with each subsystem coordinated by the back-end central command system.

[0003] Existing systems have many technical shortcomings when dealing with unauthorized unmanned surface vessels (USVs) in civilian waters: centralized data processing leads to high detection and identification delays, and traditional equipment is prone to missing low-RCS concealed targets; traditional civilian deterrence equipment is costly and has limited adaptability, and fixed-mode signal suppression lacks adaptive capabilities, making it difficult to cope with large-scale intrusions of unauthorized USVs; information sharing among multi-domain perception and control platforms is not smooth, centralized architecture has low data processing efficiency and poor coordination; precision equipment lacks stability in harsh sea conditions, the overall system has poor environmental adaptability, and there is a risk of single-point failure.

[0004] The root cause of these problems lies in the insufficient centralization and intelligence of the system architecture, and the mismatch between the cost and efficiency of safety management methods for unmanned maritime equipment. Therefore, there is an urgent need for a distributed network-based air-ground-sea safety management system for unmanned maritime equipment to solve these problems. Summary of the Invention

[0005] In view of this, this application provides a distributed networking-based air-ground-sea safety management and control system for unmanned maritime equipment to address the shortcomings of existing technologies.

[0006] The first aspect of this application provides a distributed network-based air-ground-sea safety management and control system for unmanned maritime equipment, which consists of a mobile carrier platform, a cross-domain collaborative hub, and multiple subsystems, namely a distributed edge intelligent detection network, an intelligent radio control system, a cluster control system, and a precision photoelectric control system. The mobile carrier platform integrates a main control computer, communication equipment, and energy system, providing physical support and operational support for all subsystems and the cross-domain collaborative hub. All subsystems and the cross-domain collaborative hub are either communicatively connected to the mobile carrier platform or deployed on the mobile carrier platform.

[0007] In one possible implementation of the first aspect, the distributed edge intelligent detection network consists of multiple intelligent detection nodes deployed on mobile carrier platforms and surrounding air, sea, and coastal areas. The intelligent detection nodes are interconnected through a Mesh self-organizing network and all communicate with the cross-domain collaborative hub. Each intelligent detection node includes a sensor unit and an edge computing unit. The sensor unit transmits the collected raw data to the edge computing unit of the same node. The edge computing unit has a built-in target recognition algorithm. After completing local target detection, recognition, and tracking, it outputs the corresponding structured feature data and sends it to other intelligent detection nodes and the cross-domain collaborative hub.

[0008] In one possible implementation of the first aspect, the sensor unit is one or more of the following: civilian radar equipment, optoelectronic equipment, radio monitoring equipment, and sonar equipment; the edge computing unit realizes local clutter suppression, target feature extraction, and real-time target tracking, and only transmits structured feature data to reduce data transmission volume and processing delay; all devices in the sensor unit comply with relevant standards for civilian maritime safety management and detection.

[0009] In one possible implementation of the first aspect, the intelligent radio control system includes a signal analysis module, a control strategy generation module, and a signal suppression module, which communicates with the intelligent detection nodes in the distributed edge intelligent detection network and receives scheduling instructions from the cross-domain collaborative hub. The signal analysis module analyzes and learns the intercepted communication signals of unauthorized maritime unmanned equipment and generates learning results; the control strategy generation module generates dynamic signal control strategies based on the learning results and real-time security situation data; the signal suppression module implements GNSS signal control within the scope of civilian compliance or suppresses unauthorized communication frequency bands based on the dynamic signal control strategies.

[0010] In one possible implementation of the first aspect, the cluster control system includes a launch and retrieval device and multiple civilian safety control unmanned surface vessels, wherein the launch and retrieval device is deployed on the mobile carrier platform and the civilian safety control unmanned surface vessels are stored in the launch and retrieval device; Each civilian safety management unmanned surface vessel communicates with each other through an autonomous network and receives target allocation instructions and control formation instructions issued by the cross-domain collaborative hub. All civilian safety management unmanned surface vessels adopt one or more of the following control methods: close-range warning, net capture, and civilian compliant small electronic control.

[0011] In one possible implementation of the first aspect, the precision optoelectronic control system is deployed on a mobile carrier platform and includes one or both of optical control units and microwave control units. The precision optoelectronic control system receives precise target indication information transmitted by a distributed edge intelligent detection network, and the cross-domain collaborative hub controls the timing of control activation and target selection of the corresponding equipment of the precision optoelectronic control system. This precision optoelectronic control system is only used to disable the navigation / communication sensors of illegal maritime unmanned equipment, thereby blocking the equipment's function without causing destructive damage to the ship.

[0012] In one possible implementation of the first aspect, the cross-domain collaborative hub is the system control center. It does not perform raw data processing, but receives the structured feature information of all intelligent detection nodes in the distributed edge intelligent detection network and the operating status information of the remaining subsystems. It completes the fusion of global security control situation, planning of control tasks and dynamic scheduling of resources. It allocates control tasks to the optimal execution unit of security control in the intelligent radio control system, the cluster control system and the precision optoelectronic control system.

[0013] In one possible implementation of the first aspect, the mobile carrier platform is a modular floating platform that can be towed and deployed, integrating a main control computer, communication equipment and energy system, and adapting to the deployment needs of civilian marine security scenarios such as ports and offshore wind power platforms.

[0014] In one possible implementation of the first aspect, the maritime unmanned equipment air-ground-sea safety management system is configured to perform the following management steps: In the distributed edge intelligent detection network, each intelligent detection node completes local data processing through the edge computing unit to achieve target detection, identification and tracking. The intelligent detection nodes exchange structured feature data and complete edge collaborative fusion through the Mesh self-organizing network. The cross-domain collaborative hub receives structured feature data from each intelligent detection node, completes central situational fusion and conducts target risk assessment, and generates optimal control decisions through dynamic planning using decision-making algorithms; Based on the optimal control decision, the intelligent radio control system, trunking control system and precision photoelectric control system are activated simultaneously or in stages to implement one or more control operations of signal suppression, physical control and precision photoelectric control. After all control operations are completed, the success of the control operations is determined. The success criteria are: the illegal unmanned maritime equipment leaves the safe control area / the equipment loses its function. If successful, the process ends; if it fails, the entire process data is stored in the database as a sample set. Based on the sample set, the target recognition model in the intelligent radio control system is trained, and the decision-making algorithm in the cross-domain collaborative hub is optimized.

[0015] In one possible implementation of the first aspect, the cross-domain collaborative hub dynamically adjusts the control strategy based on the real-time security situation. When the signal suppression operation of the intelligent radio control system fails, the precise photoelectric control system is immediately triggered to implement precise equipment blocking. At the same time, the civilian safety control unmanned surface vessel of the cluster control system is dispatched to the target area to form a control situation and complete physical control.

[0016] Its beneficial effects are as follows: This invention discloses a distributed network-based air-ground-sea safety management and control system for unmanned maritime equipment, relating to the field of civil maritime safety management and control technology. It comprises a mobile carrier platform, a distributed edge intelligent detection network, an intelligent radio control system, a cluster control system, a precise photoelectric control system, and a cross-domain collaborative hub. The mobile carrier platform provides physical support and operational capabilities. The distributed edge intelligent detection network achieves local target processing and transmits structured feature data through multi-domain mesh self-organizing networks and edge computing. The intelligent radio control system can dynamically generate signal suppression strategies. The cluster control system relies on civil safety management unmanned surface vessels to achieve collaborative physical control. The precise photoelectric control system completes precise equipment blocking. The cross-domain collaborative hub achieves global security situation fusion, task planning, and dynamic resource scheduling. This invention significantly reduces detection response latency, improves the ability to identify concealed targets, and can respond at low cost to small and large incursions of unmanned maritime equipment into civil waters. It possesses adaptive, civil air-ground-sea cross-domain collaborative safety management and control capabilities, exhibits excellent system environmental adaptability, and can form a three-dimensional civil air-ground-sea maritime unmanned equipment safety management and control system, meeting the security needs of civil scenarios such as ports and wind power platforms. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0018] Figure 1 This is a framework diagram of a distributed networking-based air-ground-sea safety management and control system for unmanned maritime equipment provided in an embodiment of this application; Figure 2 This is a schematic diagram of the execution process of a distributed network-based air-ground-sea safety management and control system for unmanned maritime equipment, provided in an embodiment of this application. Detailed Implementation

[0019] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0020] In this application, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element.

[0021] Example While existing technologies for managing civilian maritime unmanned equipment have achieved some success, the following significant bottlenecks remain in addressing the nuisance and large-scale intrusion of unmanned equipment operating illegally in civilian waters: 1. High detection and identification latency, difficulty in detecting concealed targets: The centralized data processing architecture results in high latency from sensor data acquisition to the central fusion and identification, making it difficult to deal with small, unauthorized unmanned devices that operate at high speeds. Furthermore, the small radar cross-section (RCS) of these small unmanned devices significantly reduces the effectiveness of traditional single-use civilian detection equipment in complex sea conditions and cluttered environments, leading to numerous missed detections. 2. Insufficient ability to deal with multi-target intrusion: When faced with a large number of low-cost, large-scale intrusions by unauthorized unmanned devices, traditional civilian deterrence equipment has limited adaptability. Existing signal suppression is mostly based on fixed frequency bands or preset modes, lacking adaptive learning capabilities, and is easily evaded by unmanned devices with frequency hopping and protocol change capabilities. 3. Weak collaborative security capabilities and low data efficiency: In the existing system, information sharing between multiple domain perception and deterrence platforms such as air, sea, and shore is not smooth, resulting in "information silos" and making it difficult to achieve efficient collaboration; the centralized architecture has low data processing efficiency and cannot meet the real-time requirements of civilian security. 4. Environmental adaptability needs to be improved: Under harsh sea conditions such as strong winds and waves and high salt spray, the stability and reliability of some precision civilian detection equipment and control systems will be affected, resulting in a decline in overall performance.

[0022] The root cause of these problems lies in the insufficient centralization and intelligence of the existing system architecture. The challenges in solving these difficulties are: how to design a decentralized distributed architecture with edge intelligent processing capabilities to reduce latency; how to introduce artificial intelligence algorithms to achieve adaptive learning of detection, identification, and signal control strategies; and how to establish a cross-domain, efficient collaborative network for civil aviation, land, and sea.

[0023] Therefore, this application provides a distributed networking-based air-ground-sea safety management and control system for unmanned maritime equipment, deployed on modular floating platforms in civilian ports, such as... Figure 1 As shown, this system is designed to counter the harassment and intrusion of unauthorized maritime unmanned equipment in port restricted areas. The core security management requirements for port scenarios are: accurate detection, rapid response and expulsion, and the ability to handle the risks of single or multiple unauthorized unmanned equipment. The configuration and operation process of this system are optimized to meet these requirements.

[0024] System hardware configuration: 1. Mobile Platform: A modular floating platform specifically designed for port deployment and capable of being towed is selected. The platform measures 10m × 8m × 3m and is constructed from high-strength fiberglass marine engineering materials. It is capable of withstanding Force 6 winds and waves and high salt spray. It is deployed in the nearshore area at the entrance of the port's restricted navigation zone and is secured by anchor chains. The platform integrates a main control computer, communication equipment (including a 5G wireless communication module and a fiber optic communication module), and an energy system, providing physical support, communication support, and power supply for the entire system. The platform has reserved interfaces for equipment deployment, and dedicated deployment locations for each subsystem are planned in areas with open views on the deck, side protection areas, and inside the control room.

[0025] 2. Distributed edge intelligent detection network: Three intelligent detection nodes are deployed in the modular floating platform and port shore area. All nodes are designed for civilian security. Each node is interconnected through a Mesh self-organizing network and communicates bidirectionally with the cross-domain collaborative hub. Node 1: Deployed on the north side of the floating platform deck, equipped with a civilian X-band small phased array radar + optoelectronic detection equipment. The radar has a detection range of 5km, and the optoelectronic equipment has high-definition video and infrared night vision functions, which can realize dual detection of target position and shape. The edge computing unit adopts an embedded chip and has a built-in target recognition algorithm optimized for port scenes. Node 2: Deployed on the south side of the floating platform deck, equipped with civilian broadband radio monitoring equipment, the monitoring frequency band covers the communication frequency band commonly used by unmanned surface vessels, and can realize the real-time capture of communication signals of illegal unmanned equipment. The edge computing unit has a built-in communication protocol parsing algorithm. Node 3: Deployed on a watchtower in the port area, equipped with civilian optoelectronic detection equipment and a small radar, serving as a shore area detection node. Together with the two nodes on the floating platform, it forms a triangular detection layout, improving the comprehensiveness and accuracy of target detection.

[0026] 3. Intelligent Radio Control System: Deployed in the control cabin of the modular floating platform, it consists of a signal analysis module, a control strategy generation module, and a signal suppression module. It adopts an integrated cabinet design and achieves real-time data exchange with the radio monitoring equipment of Node 2. It is connected to the cross-domain collaborative hub via wired communication. The signal suppression module is equipped with a civilian-compliant GNSS signal controller and frequency band blocker with a blocking distance of 1km. The blocking frequency band can be dynamically adjusted according to instructions, which complies with civilian radio management regulations.

[0027] 4. Cluster Management and Control System: Deployed on the side protection area of ​​the modular floating platform, the deployment and retrieval device is an automated guide rail design, with storage, charging and rapid deployment functions for 6 unmanned surface vessels, with a deployment time of ≤30s; the deployment and retrieval device stores 6 small civilian security and expulsion unmanned surface vessels, with autonomous navigation capabilities of Beidou civilian navigation and inertial navigation, equipped with a close-range expulsion device and a small interception net, which can realize two expulsion and control methods: close-range expulsion and net capture.

[0028] 5. Precision photoelectric control system: Deployed in the central open area of ​​the modular floating platform deck, equipped with an optical control unit, it can accurately illuminate the photoelectric sensors and navigation antennas of the unauthorized unmanned surface vessels, thereby blocking the equipment functions; the transmitter is equipped with a high-precision gimbal, which can achieve 360° rotation and pitch adjustment, and together with the target indication information of the distributed edge intelligent detection network, it can achieve precise aiming.

[0029] 6. Cross-domain collaborative hub: Deployed in the control cabin of the modular floating platform, it uses two high-performance civilian servers for dual-machine hot standby to ensure system reliability; the servers have built-in global civilian security situation fusion algorithm, target risk assessment algorithm and intelligent decision-making algorithm, all optimized for port scenarios; equipped with a visual operation terminal, it can display the security situation map and the operating status of each subsystem in real time, and supports manual intervention and command issuance.

[0030] System operation process, such as Figure 2 As shown: In this embodiment, the system countermeasures against a scenario where a single intelligent maritime unmanned device with frequency hopping capability illegally enters a port restricted area. The specific operation process is as follows: 1. Distributed Edge Detection and Identification: The system is on standby 24 hours a day, with three intelligent detection nodes continuously collecting perception data of the port's restricted navigation area and surrounding areas. When an unauthorized unmanned device enters the restricted navigation area within 1km from outside the port, the X-band radar of node 1 first detects a weak echo of the target. The edge computing unit immediately activates the target identification algorithm, combines it with the port's sea state model to suppress sea clutter, confirms it as a potential unmanned surface vessel (USV) target, and extracts structured feature data such as the target's position, speed, and heading. The radio monitoring equipment of node 2 simultaneously intercepts the USV's remote control and image transmission signals. The edge computing unit analyzes the signals and finds that it uses a 2.4GHz / 5.8GHz frequency hopping communication mode, extracts signal features, and generates learning results. The two nodes exchange target data through a civilian security mesh self-organizing network, complete edge collaborative fusion, initially determine it to be a high-risk unauthorized USV, and transmit all structured feature data to the cross-domain collaborative hub.

[0031] 2. Central Situation Fusion and Control Decision-Making: The cross-domain collaborative central system receives the target structured feature data from nodes 1 and 2, combines it with the shore detection data from node 3, completes central situation fusion, and generates a global civilian security situation map of the port restricted area, clearly displaying the real-time location, speed, heading, communication characteristics, and other information of the illegal unmanned equipment; through a risk assessment algorithm, based on the target's characteristics such as frequency hopping capability and intrusion into the core area of ​​the restricted area, it is judged as a "high-risk" target; based on the intelligent decision-making algorithm, combined with the standby status of each subsystem, the optimal control decision is generated; firstly, the intelligent radio control system implements dynamic frequency band suppression to attempt to interrupt its communication and navigation; if suppression fails, the precision photoelectric control system is immediately activated to implement equipment blocking, and two civilian security control unmanned surface vessels are dispatched to carry out close-range expulsion.

[0032] 3. Multi-subsystem collaborative control and execution: The cross-domain collaborative hub issues dispatch instructions to each subsystem, first activating the intelligent radio control system: the signal analysis module transmits the frequency-hopping communication characteristics of the unmanned surface vessel (USV) to the control strategy generation module, which generates a dynamic frequency band suppression strategy, controlling the signal suppression module to simultaneously suppress the 2.4GHz and 5.8GHz frequency bands; however, the violating USV possesses rapid frequency-hopping capabilities, and the signal control operation fails after 10 seconds, allowing the USV to continue sailing deeper into the restricted area; the cross-domain collaborative hub quickly identifies the blocking failure through the operational status data of the intelligent radio control system and immediately triggers the emergency control strategy: issuing an activation command to the precision optoelectronic control system. Upon receiving the command, the precision optoelectronic control system, based on the precise target indication information transmitted by node 1, aims at the optoelectronic sensors and navigation antennas of the unmanned surface vessel (USV) through a high-precision gimbal and activates the optical control unit to illuminate them. After 15 seconds, the USV's optoelectronic sensors and navigation antennas are damaged, losing environmental perception and precise navigation capabilities, and it begins to navigate erratically. Simultaneously, the cross-domain collaborative hub sends a command to the cluster control system, and the deployment device quickly deploys two civilian safety control USVs. The USVs navigate autonomously to the target area quickly, forming a flanking control formation and driving away the USVs at close range at a speed of 20 knots. Utilizing the water flow and deterrent force generated by the high-speed navigation, the violating USVs are forced to leave the port.

[0033] 4. Control Effectiveness Assessment and Data Recording: Two civilian safety control unmanned surface vessels continuously drove away the violating unmanned surface vessel at close range until it left the port's restricted navigation area by more than 3km. The detection data from nodes 1 and 3 showed that the target had moved away from the restricted navigation area and lost its precise navigation capability. The cross-domain collaborative center determined that the control operation was successful and ended the control process. At the same time, the system recorded all the data from this process in the database as a sample set, including the frequency hopping communication characteristics of the maritime unmanned equipment, the control formation strategy, and the subsystem operating status.

[0034] 5. Model and Algorithm Iterative Optimization: The cross-domain collaborative hub uses the current sample set as training data to iteratively train the target recognition model and communication protocol parsing algorithm in the intelligent radio control system, optimizing the identification and tracking capabilities of frequency hopping signals; at the same time, it optimizes the decision-making algorithm of the cross-domain collaborative hub, adjusts the triggering timing of the emergency expulsion strategy after signal control failure, advances the start command of the optical control unit illumination by 5 seconds, and improves the response speed of the subsequent expulsion process.

[0035] This embodiment provides a distributed networking-based air-ground-sea safety management and control system for unmanned maritime equipment, which makes at least the following technical contributions compared to existing technologies: Low detection response latency and high target recognition accuracy: This embodiment adopts a distributed edge intelligent detection network architecture, which offloads the computing load to the edge computing units of each intelligent detection node, realizes local processing of raw data, and transmits only structured feature data to the cross-domain collaborative hub, greatly reducing the amount of data transmission and processing links, reducing the detection and recognition latency from the second level to the millisecond level, meeting the real-time requirements of civilian maritime safety management; at the same time, the multi-domain and multi-node collaborative detection mode, combined with the target recognition algorithm optimized for civilian illegal maritime unmanned equipment, effectively improves the detection probability and tracking accuracy of low RCS concealed targets, and greatly reduces the problems of missed detection and false detection.

[0036] With strong adaptive countermeasure capabilities, it can cope with diverse threats: The intelligent radio control system in this embodiment can perform deep learning on the communication signals of unauthorized unmanned equipment and dynamically generate targeted signal control strategies, which can effectively counter intelligent unmanned equipment with frequency hopping and protocol change capabilities; at the same time, the cross-domain collaborative hub can dynamically adjust the expulsion strategy based on the real-time situation of civil security control, realize the coordinated cooperation of various subsystems, and cope with various types of unauthorized unmanned surface vessel threats such as single vessels, multiple vessels, and high-speed maneuvers, and has extremely strong adaptive countermeasure capabilities.

[0037] Multi-domain collaboration achieves high efficiency and a three-dimensional safety management system: This embodiment realizes seamless linkage and real-time data sharing of perception and control resources in the air, sea, and shore domains through Mesh self-organizing network and cross-domain collaboration hub. The cross-domain collaboration hub can complete the dynamic scheduling of global resources, enabling the functional subsystems to form a collaborative whole, and building a comprehensive and three-dimensional safety management system for civilian maritime unmanned equipment, which greatly improves the overall safety management efficiency.

[0038] Excellent environmental adaptability, suitable for complex civilian maritime scenarios: All equipment in this embodiment adopts a high-security design and has the ability to resist salt spray, wind and waves and complex ocean currents; at the same time, the multi-node collaborative compensation mechanism of the distributed architecture can effectively mitigate the impact of severe sea conditions on individual equipment. Even if some detection nodes or driving away equipment fail, the system can still maintain basic detection and control capabilities. Overall, it has excellent environmental adaptability and can be adapted to various complex civilian maritime scenarios such as ports, offshore wind power platforms, and civilian waterways.

[0039] Closed-loop iterative learning continuously improves system capabilities: This embodiment constructs a closed-loop iterative learning mechanism of "control-evaluation-recording-optimization". It uses the full data of each control process as training samples to continuously optimize the target recognition model and decision-making algorithm, so that the system's target recognition accuracy, control decision efficiency and adaptive countermeasure capability are continuously improved, realizing the autonomous evolution of system capabilities and being able to cope with the ever-escalating risks of illegal maritime unmanned equipment.

[0040] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computing software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0041] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the invention.

[0042] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A distributed networking-based air-ground-sea safety management and control system for unmanned maritime equipment, applicable to civilian maritime scenarios, characterized in that: It consists of a mobile carrier platform, a cross-domain collaborative hub, and multiple subsystems, namely a distributed edge intelligent detection network, an intelligent radio control system, a cluster control system, and a precision photoelectric control system. The mobile carrier platform integrates a main control computer, communication equipment, and energy system, providing physical support and operational support for all subsystems and the cross-domain collaborative hub. All subsystems and the cross-domain collaborative hub are either communicatively connected to the mobile carrier platform or deployed on the mobile carrier platform.

2. The maritime unmanned equipment air-ground-sea safety management and control system based on distributed networking as described in claim 1, characterized in that, The distributed edge intelligent detection network consists of multiple intelligent detection nodes deployed on the mobile carrier platform and surrounding air, sea and shore areas. Each intelligent detection node is interconnected through a Mesh self-organizing network and establishes communication with the cross-domain collaborative hub. Each intelligent detection node includes a sensor unit and an edge computing unit. The sensor unit transmits the collected raw data to the edge computing unit on the same node. After completing local target detection, recognition and tracking, the edge computing unit outputs the corresponding structured feature data and sends it to other intelligent detection nodes and the cross-domain collaborative hub.

3. The maritime unmanned equipment air-ground-sea safety management and control system based on distributed networking as described in claim 2, characterized in that, The sensor unit is one or more of radar equipment, optoelectronic equipment, radio monitoring equipment, and sonar equipment; the edge computing unit has a built-in target recognition algorithm to achieve local clutter suppression, target feature extraction and real-time tracking; all devices in the sensor unit meet the detection standards for unmanned maritime equipment.

4. The maritime unmanned equipment air-ground-sea safety management and control system based on distributed networking as described in claim 1, characterized in that, The intelligent radio control system includes a signal analysis module, a control strategy generation module, and a signal suppression module. It communicates with the intelligent detection nodes in the distributed edge intelligent detection network and receives scheduling instructions from the cross-domain collaborative hub. The signal analysis module analyzes and learns the intercepted communication signals of illegal maritime unmanned equipment and generates learning results; the control strategy generation module generates dynamic signal control strategies based on the learning results and real-time safety situation data. The signal suppression module implements GNSS signal control within the scope of civilian compliance or suppresses illegal communication frequency bands based on the dynamic signal control strategy.

5. A maritime unmanned equipment air-ground-sea safety management and control system based on distributed networking as described in claim 1, characterized in that, The cluster control system includes a launch and retrieval device and multiple civilian safety control unmanned surface vessels. The launch and retrieval device is deployed on the mobile carrier platform, and the civilian safety control unmanned surface vessels are stored inside the launch and retrieval device. Each civilian safety management unmanned surface vessel communicates with each other through an autonomous network and receives target allocation instructions and control formation instructions issued by the cross-domain collaborative hub. All civilian safety management unmanned surface vessels adopt one or more of the following control methods: close-range warning, net capture, and civilian compliant small electronic control.

6. A maritime unmanned equipment air-ground-sea safety management and control system based on distributed networking as described in claim 1, characterized in that, The precise optoelectronic control system is deployed on the mobile carrier platform and includes one or both of optical control units and microwave control units. The precise optoelectronic control system receives precise target indication information transmitted by the distributed edge intelligent detection network, and the cross-domain collaborative hub controls the control activation timing and control target selection of the corresponding devices of the precise optoelectronic control system.

7. A maritime unmanned equipment air-ground-sea safety management and control system based on distributed networking as described in claim 1, characterized in that, The cross-domain collaborative hub receives structured feature information of all intelligent detection nodes in the distributed edge intelligent detection network and the operating status information of the remaining subsystems, and completes global security situation fusion, control task planning and dynamic resource scheduling. The control tasks are assigned to the optimal execution unit for security control in the intelligent radio control system, the trunking control system, and the precision optoelectronic control system.

8. A maritime unmanned equipment air-ground-sea safety management and control system based on distributed networking as described in claim 1, characterized in that, The mobile carrier platform is a modular floating platform that can be towed and deployed.

9. A maritime unmanned equipment air-ground-sea safety management and control system based on distributed networking as described in claim 1, characterized in that, The maritime unmanned equipment air-ground-sea safety management and control system is configured to perform the following management and control steps: Each intelligent detection node in the distributed edge intelligent detection network completes local data processing through the edge computing unit to achieve target detection, identification and tracking. The intelligent detection nodes exchange structured feature data and complete edge collaborative fusion through the Mesh self-organizing network. The cross-domain collaborative hub receives structured feature data from each intelligent detection node, completes central situational fusion and conducts target threat assessment, and generates optimal control decisions through dynamic planning using decision algorithms; Based on the optimal control decision, the intelligent radio control system, trunking control system and precision photoelectric control system are activated simultaneously or in stages to implement one or more control operations of signal suppression, physical control and precision photoelectric control. After all control operations are completed, determine whether the control operations were successful. If so, the process ends; otherwise, the entire process data is stored in the database as a sample set. Based on the sample set, the target recognition model in the intelligent radio control system is trained, and the decision-making algorithm in the cross-domain collaborative hub is optimized.

10. A maritime unmanned equipment air-ground-sea safety management and control system based on distributed networking as described in claim 9, characterized in that, The cross-domain collaborative hub dynamically adjusts the control strategy based on real-time security situation data. When the signal suppression operation of the intelligent radio control system fails, the precise photoelectric control system is immediately triggered to implement precise equipment blocking. At the same time, the civilian safety control unmanned surface vessel of the cluster control system is dispatched to the target area to form a control situation and complete physical control.

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