Island / reef area seabed landform integrated surveying system integrating unmanned surface vehicle and underwater unmanned vehicle

Abstract

An island / reef area seabed (2) landform integrated surveying system integrating an unmanned surface vehicle (5) and an underwater unmanned vehicle (23), said system comprising the unmanned surface vehicle (5) and the underwater unmanned vehicle (23). The unmanned surface vehicle (5) is provided with a central control unit (18), an electric winch (4), a positioning receiving probe (9), and a single-beam sounding probe (11), wherein the electric winch (4), the positioning receiving probe (9), and the single-beam sounding probe (11) are each connected to the central control unit (18). The underwater unmanned vehicle (23) is provided with a water-depth sensor (26) and an underwater camera (24), and the water-depth sensor (26) is connected to the central control unit (18). The integrated surveying system has the advantage of integrated information collection. By integrating seabed (2) depth measurement, seabed (2) landform photography, and maritime positioning receiving equipment, the system achieves high-precision integrated collection of seabed (2) landform information in nearshore areas of islands and reefs and synchronous collection of three types of data, thereby greatly reducing the workload in respect of subsequent data matching and processing and improving working efficiency and the overall consistency of the data.

Description

An integrated underwater terrain detection system for islands and reefs, combining unmanned surface vessels and underwater drones. Technical fields:

[0001] This utility model relates to the field of seabed topography detection technology, and specifically refers to an integrated seabed topography detection system for islands and reefs that integrates unmanned surface vessels and underwater drones. Background technology:

[0002] Currently, the mainstream technologies for detecting seabed topography of islands and reefs include: artificial underwater photography, underwater drone photography, drone mapping, remote sensing inversion, seabed mapping, and integrated detection methods based on small survey boats.

[0003] Artificial underwater photography involves researchers using scuba diving to continuously photograph the seabed topography with underwater cameras. The advantage of this method is that it can capture close-up images of the topography and help researchers conduct on-site assessments of the seabed topography. However, one of the limitations of this method is that the maximum depth of artificial diving is usually no more than 40 meters and the duration of a single operation is no more than 1 hour, so it is not suitable for large-scale regional topographic surveys.

[0004] Underwater drone photography is a method of photographing seabed topography by manually controlling an underwater drone via communication cables. Its advantages include the ability to photograph depths exceeding 100 meters and the availability of underwater lighting systems, resulting in clearer images of the seabed. However, this method has limitations. Underwater drones typically lack precise positioning information, making it difficult to accurately project the acquired images onto a map. Therefore, it is not suitable for surveys in areas requiring high-precision positioning.

[0005] Unmanned aerial vehicle (UAV) mapping uses aerial drones equipped with laser depth sounding radar to conduct aerial surveys of the nearshore seabed topography of islands and reefs. However, the penetration depth of laser radar is usually only 30 meters, which is insufficient for depicting the topographical information of deep water. Moreover, due to the limitations of island and reef areas, some islands and reefs may not be able to accommodate UAVs, making UAV mapping often unusable in island and reef areas.

[0006] Remote sensing inversion is based on space-based multi-satellite remote sensing data and uses intelligent algorithms to invert seabed topographic information of island and reef areas. However, its inversion range is greatly related to water color transparency, and its maximum planar resolution is only 0.5 meters. Therefore, the applicability of remote sensing inversion is extremely limited by the environment of the island and reef and the quality of the data.

[0007] The seabed mapping method uses marine acoustic depth sounding equipment to map the seabed topography according to a planned survey line. However, this method only obtains water depth. Although it can reflect the topographic undulations of the seabed, it cannot accurately obtain the image morphology of the seabed landform and cannot meet the needs of comprehensive investigation of the seabed landform of island and reef areas.

[0008] The integrated exploration method based on surveying boats combines seabed surveying and seabed photography. While surveying water depth using a manned boat, it simultaneously captures seabed topographic images, thus ensuring that the topographic images have location coordinates. However, this method usually requires two or more operators, plus an additional person to operate the boat. The operation requires skilled coordination among the personnel, resulting in low overall survey efficiency.

[0009] In summary, traditional seabed topographic surveying technologies suffer from problems such as mismatch between topographic and geomorphic information, limited detection range, lack of positioning information, short duration, low survey efficiency, and inadequacy in complex island and reef environments. In recent years, with the gradual maturation and affordability of unmanned surface vessels (USVs) and underwater drones in my country, these devices have demonstrated enormous potential in improving the convenience of seabed topographic mapping. Therefore, there is an urgent need to fully leverage the technological advantages of unmanned detection equipment to develop an integrated geomorphic surveying system with high survey efficiency, wide mapping area, integrated information, strong autonomy, and adaptability to island and reef environments.

[0010] Utility Model Content:

[0011] The purpose of this invention is to provide an integrated detection system for island and reef seabed topography that integrates unmanned surface vessels and underwater drones in order to solve the problems existing in the prior art.

[0012] In order to solve the problems existing in the prior art, the present invention adopts the following technical solution:

[0013] An integrated detection system for seabed topography of islands and reefs, comprising unmanned surface vessels and underwater drones;

[0014] The unmanned surface vessel is equipped with a central control unit, an electric reel, a positioning receiving probe for collecting the unmanned surface vessel's position information, and a single-beam echo sounder for measuring seabed topography and water depth information. The electric reel, the positioning receiving probe, and the single-beam echo sounder are all connected to the central control unit.

[0015] The underwater drone is equipped with a depth sensor for collecting seabed depth data and an underwater camera for obtaining seabed topographic and environmental data. The depth sensor is connected to the central control unit.

[0016] The central control unit receives data collected by the positioning receiving probe, the single-beam echo sounder, and the water depth sensor, and sends signals to the electric reel to control the electric reel to adjust the length of the cable.

[0017] As an improvement to the technical solution of the integrated island and reef seabed topography detection system that integrates unmanned surface vessels and underwater drones, the unmanned surface vessel is pre-set with a surveying route.

[0018] As an improvement to the technical solution of the integrated island and reef seabed topography detection system of this utility model, which integrates unmanned surface vessels and underwater drones, the unmanned surface vessel is also equipped with a lidar probe, an optical camera, navigation lights, a battery compartment, a communication antenna, and a card slot.

[0019] The lidar probe is mounted on the deck at the front of the unmanned vessel, the optical camera is mounted on a rotatable bracket in the middle of the unmanned vessel, the two navigation lights are respectively located at the front and stern of the unmanned vessel, and the battery compartment is embedded in the stern of the unmanned vessel.

[0020] The communication cable is installed on the top of the unmanned surface vessel and is connected to the central control unit. The slot is located at the stern of the unmanned surface vessel and is connected to the automatic cable reel to fix the automatic cable reel.

[0021] The battery compartment is equipped with a power source, which is electrically connected to the navigation light, the lidar probe, the optical camera, the single-beam depth sounder, and the central control unit.

[0022] As an improvement to the technical solution of the integrated island and reef seabed topography detection system of this utility model, which integrates unmanned surface vessels and underwater drones, the unmanned surface vessel is also equipped with an automatic rudder for adjusting the direction of the unmanned surface vessel and a water jet motor for providing power to the unmanned surface vessel; the automatic rudder and the water jet motor are both located at the stern of the unmanned surface vessel.

[0023] As an improvement to the technical solution of the integrated island and reef seabed topography detection system of this utility model, which integrates unmanned surface vessels and underwater drones, the underwater drone also includes a drone communication port for connecting the drone to a cable, transmitting data, and a lifting motor for controlling the underwater position of the underwater drone.

[0024] As an improvement to the technical solution of the integrated island and reef seabed topography detection system that integrates unmanned surface vessels and underwater drones, the electric reel includes a reel body, a handle and a self-locking device.

[0025] A cable is wound around the main body of the reel, and the cable is connected to the underwater drone; a handle is located on the top of the main body of the reel, and a self-locking device is located on the main body of the reel and is used to limit the length of the cable.

[0026] As an improvement to the technical solution of the integrated island and reef seabed topography detection system that integrates unmanned surface vessels (USVs) and underwater drones, the USV is wirelessly connected to a remote controller for controlling the USV and the underwater drones.

[0027] The beneficial effects of this utility model are:

[0028] This invention solves the problems of mismatch between terrain and geomorphological information, missing positioning, low efficiency, and poor adaptability in traditional detection technologies. Specifically, addressing the issues of traditional techniques such as seabed mapping methods only obtaining water depth, underwater drone photography lacking positioning capabilities, and integrated detection methods based on surveying boats requiring multiple operators and resulting in low efficiency, this invention utilizes an unmanned surface vessel (USV) equipped with a positioning receiver probe, a single-beam depth sounder, and a central control unit. An underwater drone, equipped with a depth sensor and an underwater camera, operates in conjunction with the central control unit. This enables the USV to collect location and water depth data, while the underwater drone simultaneously acquires water depth and terrain images. The data from both is integrated by the central control unit, ensuring accurate matching of terrain images with positioning and water depth information, resolving the pain points of disconnected terrain and geomorphological information and missing positioning. Furthermore, it eliminates the need for manual boat operation and multiple operators, significantly improving survey efficiency.

[0029] Secondly, addressing the limitations of manual underwater photography (limited detection range), unmanned aerial vehicle (UAV) mapping (shallow penetration), and remote sensing inversion (low resolution and environmental constraints), unmanned surface vessels (USVs) can autonomously navigate to expand the detection area, while underwater UAVs can penetrate deeper waters. By combining single-beam bathymetry with underwater photography for dual data acquisition, the detection range and depth limitations of traditional technologies are overcome, making them suitable for complex island and reef environments. Simultaneously, the central control unit can control an electric reel to adjust the communication cable length, ensuring stable operation of underwater UAVs in different water depths. This further enhances the system's adaptability to island and reef environments, ultimately achieving highly autonomous and integrated information-based seabed topography detection for islands and reefs, meeting comprehensive survey needs. Attached Figure Description

[0030] Figure 1 is a schematic diagram of the structure of this utility model.

[0031] Explanation of reference numerals in the attached diagram: 1-Sea surface; 2-Seabed; 3-LiDAR probe; 4-Optical camera; 5-Unmanned surface vessel; 6-Navigation light; 7-Battery compartment; 8-Communication antenna; 9-Positioning receiver probe; 10-Handle; 11-Single-beam depth sounder; 12-Power cable; 13-Handle; 14-Automatic cable reel; 15-Card slot; 16-Self-locking device; 17-Communication cable; 18-Central control unit; 19-Autopilot; 20-Water jet motor; 21-Cable; 22-UAV communication port; 23-Underwater UAV; 24-Underwater camera; 25-Lifting motor; 26-Depth sensor. Detailed implementation method:

[0032] To make the invention objective, technical solution and beneficial effects of this utility model clearer, the technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of this utility model. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments.

[0033] As shown in Figure 1, an integrated detection system for the seabed topography of islands and reefs is characterized by including an unmanned surface vessel 5 and an underwater drone 23.

[0034] The unmanned surface vessel 5 is equipped with a central control unit 18, an electric reel, a positioning receiving probe 9 for collecting the position information of the unmanned surface vessel 5, and a single-beam echo sounder 11 for measuring the topographic and water depth information (water depth of seabed 2). The electric reel, the positioning receiving probe 9, and the single-beam echo sounder 11 are all connected to the central control unit 18.

[0035] The underwater drone 23 is equipped with a depth sensor 26 for collecting water depth data of the seabed 2 and an underwater camera 24 for obtaining seabed topographic and environmental data. The depth sensor 26 is connected to the central control unit 18.

[0036] The central control unit 18 receives data collected by the positioning receiving probe 9, the single-beam depth sounder 11 and the water depth sensor 26, and sends a signal to the electric reel to control the electric reel to adjust the length of the communication cable 17.

[0037] Among them, the positioning receiver probe 9 is used to receive positioning signals from satellite systems such as GPS and Beidou, the single-beam depth sounder 11 is set at the bottom of the unmanned vessel 5 to measure the water depth information of the seabed 2, and the automatic limiter is used to store the communication cable 17 to realize the automatic retraction and extension function of the communication cable 17.

[0038] This invention solves the problems of mismatch between terrain and landform information, missing positioning, low efficiency, and poor adaptability in traditional detection technologies. Specifically, addressing the issues of traditional technologies such as seabed mapping (which only obtains water depth), underwater drone photography (which lacks positioning capabilities), and integrated detection methods based on surveying boats requiring multiple operators and resulting in low efficiency, this invention utilizes an unmanned surface vessel (USV) equipped with a positioning receiver probe (9), a single-beam depth sounder probe (11), and a central control unit (18). The underwater drone (UAV) is equipped with a depth sensor (26) and an underwater camera (24) and works in conjunction with the central control unit (18). This enables the USV to collect location and water depth data, while the underwater drone (UAV) simultaneously acquires water depth and landform images. The data from both is integrated by the central control unit (18), allowing for accurate matching of landform images with positioning and water depth information, solving the problems of disconnected terrain and landform information and missing positioning. Furthermore, it eliminates the need for manual boat operation and multiple operators, significantly improving survey efficiency.

[0039] Secondly, addressing the limitations of artificial underwater photography (limited detection range), UAV mapping (shallow penetration), and remote sensing inversion (low resolution and environmental constraints), the unmanned surface vessel (USV) 5 can autonomously navigate to expand the detection area, while the underwater UAV 23 can penetrate deeper waters. By combining single-beam echo sounding with underwater video recording for dual data acquisition, it breaks through the limitations of traditional technologies in terms of detection range and depth, adapting to the complex environment of islands and reefs. At the same time, the central control unit 18 can control the electric reel to adjust the length of the communication cable 17, ensuring stable operation of the underwater UAV 23 in different water depths, further enhancing the system's adaptability to the island and reef environment. Ultimately, it achieves highly autonomous and integrated information-based seabed topographic exploration of islands and reefs, meeting the needs of comprehensive surveys.

[0040] In some embodiments of this utility model, the unmanned surface vessel 5 is also equipped with a lidar probe 3, an optical camera 4, a navigation light 6, a battery compartment 7, a communication antenna 8, and a slot 15. The lidar probe 3 is mounted on the deck at the front of the unmanned surface vessel 5, the optical camera 4 is mounted on a rotatable bracket in the middle of the unmanned surface vessel 5, the two navigation lights 6 are respectively mounted at the front and rear of the unmanned surface vessel 5, and the battery compartment 7 is embedded in the rear of the unmanned surface vessel 5. The communication cable is mounted on the top of the unmanned surface vessel 5 and is connected to the central control unit 18. The slot 15 is located at the rear of the unmanned surface vessel 5 and is connected to an automatic cable reel 14 to fix the automatic cable reel 14. The battery compartment 7 is equipped with a power supply, which is electrically connected to the navigation light 6, the lidar probe 3, the optical camera 4, the single-beam depth sounder 11, and the central control unit 18.

[0041] In detail, the installation of various components on the unmanned surface vessel 5 in this utility model optimizes the process of detecting the seabed topography of islands and reefs, effectively making up for the shortcomings of traditional detection technologies in terms of adaptability to complex environments, operational efficiency and information integrity.

[0042] The lidar sensor 3, fixed at the front, can detect obstacles in real time, preventing the unmanned surface vessel 5 from being damaged by hitting reefs or colliding in complex waters around islands and reefs, thus solving the problem of high risks for traditional small boats navigating reef areas. The optical camera 4, with its rotatable bracket, can rotate 360° horizontally and 90° vertically, enabling it to collect images from different directions from all angles, breaking through the limitations of traditional photography and ensuring the integrity of the seabed topographic image information. The navigation lights 6, located at the bow and stern, serve as warning lights, improving the safety of the unmanned surface vessel 5 in low visibility or nighttime operations. The battery compartment 7, embedded in the waterproof hull and equipped with an independent power source, can prevent damage from seawater. While preventing damage to power supply equipment, it ensures continuous system operation, addressing the short operation time of traditional manual diving. The communication antenna 8 is vertically installed at the top center and connected to the central control unit 18, ensuring stable signal transmission between the central control unit 18 and various devices, thus guaranteeing the autonomous control capability of the unmanned surface vessel 5. The slot 15, which fixes the automatic cable reel 14, prevents the cable reel from shifting or falling off, ensuring stable operation of the electric cable reel when adjusting the length of the communication cable 17, and ensuring smooth operation of the underwater drone 23. The overall design makes the unmanned surface vessel 5 more adaptable to the complex exploration environment of islands and reefs, further improving the operational efficiency and reliability of the integrated exploration system.

[0043] Preferably, the present invention also includes a carrying handle 10. The two carrying handles 10 are symmetrically welded to both sides of the unmanned surface vessel 5 for easy storage and retrieval without relying on large equipment, thereby improving the ease of operation and avoiding the problem of complicated disassembly and assembly of traditional bracket fixing methods.

[0044] The power supply in the battery compartment 7 is electrically connected to the navigation light 6, the lidar probe 3, the optical camera 4, the single-beam depth sounder 11, and the central control unit 18 via the power supply and communication cable 17, providing stable power for the operation of each component. At the same time, the central control unit 18 interacts with the lidar probe 3, the optical camera 4, and the communication antenna 8 via the communication cable 17. This includes obstacle distance data detected by the lidar probe 3 and image information collected by the optical camera 4, all of which are transmitted to the central control unit 18 in real time via the communication cable 17. The central control unit 18 receives remote control signals via the communication antenna 8 and transmits real-time water depth and route information back to the control terminal. In addition, the communication cable 17 also connects the central control unit 18 to the automatic cable reel 14 on the slot 15, providing a signal transmission channel for the central control unit 18 to control the automatic cable reel 14 to reel in and out the communication cable 17.

[0045] In some embodiments of this utility model, the unmanned surface vessel 5 is also provided with an autopilot 19 for adjusting the direction of the unmanned surface vessel 5 and a water jet motor 20 for providing power to the unmanned surface vessel 5; both the autopilot 19 and the water jet motor 20 are located at the stern of the unmanned surface vessel 5.

[0046] In some embodiments of this utility model, the underwater drone 23 further includes a drone communication port 22 for connecting the drone to the communication cable 17, transmitting data, and a lifting motor 25 for controlling the underwater position of the underwater drone 23.

[0047] In some embodiments of this utility model, the electric cable reel includes a cable reel body, a handle 13, and a self-locking device 16; a communication cable 17 is wound around the cable reel body, and the communication cable 17 is connected to the underwater drone 23; the handle 13 is located on the top of the cable reel body, and the self-locking device 16 is located on the cable reel body and is used to limit the length of the communication cable 17, automatically lock the communication cable 21, keep the cable 21 in a taut state, and prevent the cable 21 from loosening or sinking.

[0048] In some embodiments of this utility model, the unmanned surface vessel 5 is wirelessly connected to a remote controller for controlling the unmanned surface vessel 5 and the underwater drone 23, allowing operators to remotely control the two to work together in a safe area without the need for personnel to accompany the vessel or dive to operate. This avoids the safety threats to personnel from the complex waters of islands and reefs, and allows for flexible adjustment of the detection path and equipment status, further improving the operational convenience and safety of the detection system.

[0049] In some embodiments of this utility model, the unmanned surface vessel 5 is pre-set with a surveying route, which enables the unmanned surface vessel 5 to autonomously complete the seabed topography of islands and reefs 2 according to the planned path without the need for real-time manual control of the route. This not only avoids the low efficiency problem caused by the reliance on manual operation of traditional manned boats, but also ensures the standardization and integrity of the detection path, ensuring full coverage detection of the target area, and further improving the autonomy and operational efficiency of the integrated detection system.

[0050] Compared with the prior art, this utility model also has the following beneficial effects:

[0051] 1. This utility model has the advantage of integrated information acquisition. By integrating seabed depth measurement, seabed topographic photography and marine positioning receiving equipment, it can achieve high-precision integrated detection of seabed topographic information in the nearshore area of ​​islands and reefs. The synchronous acquisition of the three elements will greatly reduce the workload of subsequent data matching and processing, and improve work efficiency and overall data consistency.

[0052] 2. This invention possesses a high degree of unmanned capability. Surveying technicians only need to plan the surveying route for the unmanned surface vessel 5, and the system can autonomously initiate surveying operations. Based on water depth measurement data, this invention can provide real-time feedback and control of the electric reel to adjust the length of the communication cable 17, thereby dynamically adjusting the distance between the underwater drone 23 and the seabed 2. This will greatly reduce reliance on operators and improve the automation level of survey operations.

[0053] 3. The geomorphological detection range of this utility model is shallower, giving full play to the advantage of the shallow draft of the unmanned depth sounding equipment, and breaking through the detection depth to the intertidal zone of islands and reefs. This enables accurate mapping of the intertidal topography of islands and reefs, making up for the blind spots of traditional manual mapping in shallow water areas, and greatly expanding the coverage of seabed geomorphological detection.

[0054] 4. This utility model has good portability and networking capabilities. Technicians can combine multiple sets of equipment as needed, divide the survey area into zones, and then use a networking mode to coordinate the joint operation of the unmanned surface vessel 5 in different areas, thereby achieving efficient and rapid detection of large areas of island and reef areas.

[0055] As a specific embodiment of this utility model, before use, the unmanned surface vessel 5 is first assembled and debugged by the operator. The operator installs the positioning receiver probe 9 and the communication antenna 8 by tightening the screws. Then, the power of the unmanned surface vessel 5 is turned on. If the laser radar probe 3, optical camera 4, single-beam depth sounder 11, and central control unit 18 are powered on normally, the navigation light 6 of the unmanned surface vessel 5 will flash normally; otherwise, the ring light will remain off.

[0056] The operator then connects to the unmanned surface vessel 5 via remote control and tests the functionality of the autopilot 19 and water jet motor 20 using the remote control joystick. Next, the operator checks whether the data collected by the positioning receiver 9, single-beam depth sounder 11, depth sensor 26, lidar parameters, and optical camera 4 can be transmitted back to the central control unit 18. After confirming that the data can be transmitted back to the central control unit 18, the operator releases a portion of the communication cable 17 from the automatic reel 14 to connect the underwater drone 23 to the communication cable 17 via the drone communication port 22. Once connected, the operator lifts the handle 13 at the top of the automatic reel 14 and inserts it into the slot 15 at the stern of the unmanned surface vessel 5, completing the assembly of this invention and preparing it for testing.

[0057] After assembly, the operator can first place the underwater drone 23 on the sea surface 1, then lift the unmanned surface vessel 5 using the handle 13 and place it stably on the sea surface 1 to complete the deployment of the sea surface 1. Simultaneously, the operator can set the mapping route of the unmanned surface vessel 5 using a remote control. Preferably, the mapping route is parallel to the coastline to avoid frequent adjustments of the water depth by the underwater drone 23.

[0058] When the surveying operation begins, the unmanned surface vessel 5 will automatically pull the underwater drone 23 along the surveying route towards the starting point. When it reaches the starting point, the central control unit 18 will issue a sinking command to the drone based on the real-time water depth data collected by the single-beam echo sounder 11, causing it to descend to a certain depth on the seabed 2 (this certain depth is a height of more than 222 meters above the seabed 2, to avoid the underwater drone 23 from colliding with the seabed 2).

[0059] Subsequently, the unmanned surface vessel 5 moves forward at a constant speed, simultaneously recording the water depth and location information of the seabed 2 through the single-beam echo sounder 11 and the positioning receiver 9. At the same time, the underwater drone 23 acquires seabed topographic environmental data (photographing the seabed 2 topography) through the underwater camera 24. Preferably, the underwater camera 24 is equipped with a supplementary light, which can improve the clarity of the topographic image during photography.

[0060] Moreover, during the navigation of the unmanned surface vessel 5, its central control unit 18 will adjust the depth of the underwater drone 23 on the seabed 2 and the length of the communication cable 17 in real time through the electronic reel based on the data collected by the single-beam echo sounder 11, so as to ensure that the underwater drone 23 always maintains a certain height to take pictures of the seabed 2 terrain.

[0061] After completing the mapping of a survey route, the unmanned surface vessel (USV) 5 will raise the underwater drone 23 to surface height, then turn around and restart the survey line to conduct a new topographical survey. Throughout the entire mapping process, operators can monitor the progress remotely via a remote controller without on-site intervention. Simultaneously, in case of emergencies, manual intervention can be initiated to ensure safety and the smooth progress of the mission. After completing all mapping tasks, USV 55 will tow the underwater drone 23 back to the shore or the research vessel. Researchers can then retrieve the detection system and copy and store the collected data.

[0062] Based on the embodiments of this utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this utility model.

Claims

1. An integrated detection system for seabed topography of islands and reefs, comprising unmanned surface vessels and underwater drones, characterized in that, This includes unmanned surface vessels and underwater drones; The unmanned surface vessel is equipped with a central control unit, an electric reel, a positioning receiving probe for collecting the unmanned surface vessel's position information, and a single-beam echo sounder for measuring seabed topography and water depth information. The electric reel, the positioning receiving probe, and the single-beam echo sounder are all connected to the central control unit. The underwater drone is equipped with a depth sensor for collecting seabed depth data and an underwater camera for obtaining seabed topographic and environmental data. The depth sensor is connected to the central control unit. The central control unit receives data collected by the positioning receiving probe, the single-beam echo sounder, and the water depth sensor, and sends signals to the electric reel to control the electric reel to adjust the length of the cable.

2. The integrated island and reef seabed topography detection system combining unmanned surface vessels and underwater drones as described in claim 1, characterized in that, The unmanned surface vessel is pre-loaded with a surveying route.

3. The integrated island and reef seabed topography detection system combining unmanned surface vessels and underwater drones as described in claim 1, characterized in that, The unmanned surface vessel is also equipped with a lidar sensor, an optical camera, navigation lights, a battery compartment, a communication antenna, and a card slot. The lidar probe is mounted on the deck at the front of the unmanned vessel, the optical camera is mounted on a rotatable bracket in the middle of the unmanned vessel, the two navigation lights are respectively located at the front and stern of the unmanned vessel, and the battery compartment is embedded in the stern of the unmanned vessel. The communication cable is installed on the top of the unmanned surface vessel and is connected to the central control unit. The slot is located at the stern of the unmanned surface vessel and is connected to the automatic cable reel to fix the automatic cable reel. The battery compartment is equipped with a power source, which is electrically connected to the navigation light, the lidar probe, the optical camera, the single-beam depth sounder, and the central control unit.

4. The integrated island and reef seabed topography detection system combining unmanned surface vessels and underwater drones as described in claim 1, characterized in that, The unmanned surface vessel is also equipped with an autopilot for adjusting the direction of the unmanned surface vessel and a water jet motor for providing power to the unmanned surface vessel; both the autopilot and the water jet motor are located at the stern of the unmanned surface vessel.

5. The integrated island and reef seabed topography detection system combining unmanned surface vessels and underwater drones as described in claim 1, characterized in that, The underwater drone also includes a drone communication port for connecting the drone to cables and transmitting data, and a lifting motor for controlling the underwater drone's position in the water.

6. The integrated island and reef seabed topography detection system combining unmanned surface vessels and underwater drones as described in claim 1, characterized in that, The electric cable reel includes a cable reel body, a handle, and a self-locking device; A cable is wound around the main body of the reel, and the cable is connected to the underwater drone; a handle is located on the top of the main body of the reel, and a self-locking device is located on the main body of the reel and is used to limit the length of the cable.

7. The integrated island and reef seabed topography detection system combining unmanned surface vessels and underwater drones as described in claim 1, characterized in that, The unmanned surface vessel is wirelessly connected to a remote control for controlling the unmanned surface vessel and the underwater drone.

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