阅读说明：本技术 海洋调查系统 (Marine survey system ) 是由 刘青松 卿昊 徐行 于 2021-08-19 设计创作，主要内容包括：本发明提供的海洋调查系统,海上移动平台与无人机进行协同作业,能够给予无人机充分的安全保障,更加适用于较为复杂的海洋环境；当需要进行海洋调查时,海上移动平台中搭载的调查协同设备将待调查路线发送至控制协同设备,控制协同设备根据该待调查路线控制海上移动平台以及无人机进行移动,以便搭载在海上移动平台中的第一检测设备以及搭载在无人机上的第二检测设备对待调查路线所覆盖的海域进行协同调查；最终,第一检测设备和第二检测设备的调查结果均返回至调查协同设备,以便调查协同设备根据两者的调查结果进行相互印证和补充,进一步提升海洋调查时的协同作业能力。(According to the marine survey system, the marine mobile platform and the unmanned aerial vehicle carry out cooperative operation, so that the unmanned aerial vehicle can be fully ensured in safety, and the marine survey system is more suitable for a complex marine environment; when marine investigation is needed, the investigation cooperative equipment carried in the marine mobile platform sends the route to be investigated to the control cooperative equipment, and the control cooperative equipment controls the marine mobile platform and the unmanned aerial vehicle to move according to the route to be investigated, so that the first detection equipment carried in the marine mobile platform and the second detection equipment carried on the unmanned aerial vehicle carry out cooperative investigation on the sea area covered by the route to be investigated; finally, the investigation results of the first detection device and the second detection device are returned to the investigation cooperative device, so that the investigation cooperative device can carry out mutual evidence and supplement according to the investigation results of the first detection device and the second detection device, and the cooperative operation capability during marine investigation is further improved.)

1. A marine survey system, the system comprising:

the system comprises an offshore mobile platform provided with an unmanned aerial vehicle take-off and landing platform, and at least two unmanned aerial vehicles;

the offshore mobile platform is provided with survey cooperative equipment, control cooperative equipment and first detection equipment;

the unmanned aerial vehicle is provided with second detection equipment;

the investigation cooperative equipment sends the route to be investigated to the control cooperative equipment, so that the control cooperative equipment controls the offshore mobile platform and each unmanned aerial vehicle to carry out moving operation according to the route to be investigated;

the first detection device surveys the sea area covered by the route to be surveyed respectively during the moving operation of the offshore mobile platform and the second detection device during the moving operation of the unmanned aerial vehicle, and returns survey results to the survey cooperative device, so that the survey cooperative device can mutually verify and supplement the survey results.

2. The marine survey system of claim 1, further comprising:

the navigation positioning device comprises a mobile platform navigation positioning device carried on the offshore mobile platform and unmanned aerial vehicle navigation positioning devices carried on all unmanned aerial vehicles;

the mobile platform navigation positioning equipment acquires navigation position information of the offshore mobile platform in real time and sends the navigation position information of the offshore mobile platform to the cooperative investigation equipment through the control cooperative equipment;

the unmanned aerial vehicle navigation positioning equipment collects navigation position information of each unmanned aerial vehicle in real time and sends the navigation position information of each unmanned aerial vehicle to the investigation cooperative equipment through the control cooperative equipment.

3. The marine survey system of claim 1, wherein the survey coordination device comprises a magnetic survey coordination device, the control coordination device comprises a one-station multi-robot control device, the first detection device comprises a first magnetic survey device, and the second detection device comprises a second magnetic survey device;

the magnetic measurement cooperative equipment plans a first measurement line of the first magnetic measurement equipment and a second measurement line of the second magnetic measurement equipment according to input parameters, and sends the first measurement line and the second measurement line to the one-station multi-unmanned aerial vehicle control equipment;

The one-station multi-machine unmanned aerial vehicle control equipment controls the offshore mobile platform to sail according to the first survey line, so that the first detection equipment surveys the sea area covered by the first survey line during sailing of the offshore mobile platform, and returns a first survey result to the magnetic survey cooperative equipment;

the one-station multi-machine unmanned aerial vehicle control equipment controls the unmanned aerial vehicle to fly according to the second survey line, so that the second detection equipment surveys the sea area covered by the second survey line during the flight of the unmanned aerial vehicle, and returns a second survey result to the magnetic measurement cooperative equipment;

and the magnetic measurement cooperative equipment carries out mutual authentication and supplementation on the first investigation result according to the second investigation result.

4. The marine survey system of claim 3, wherein the one-station multi-drone control device collects task completion progress and status information of each drone, and performs dynamic task scheduling according to the task completion progress and status information of each drone.

5. The marine survey system of claim 3, wherein the input parameters comprise at least one of survey area coordinate polygons, inline strike angles, inline spacing, drone aeromagnetic length, flight altitude, maximum flight time.

6. The marine survey system of claim 2 wherein the mobile platform navigational positioning device comprises a survey vessel RTK GPS navigational positioning device and the drone navigational positioning device comprises a drone RTK GPS navigational positioning device.

7. Marine survey system according to any of the claims 1-6, wherein the offshore mobile platform comprises a marine survey vessel.

8. The marine survey system of any one of claims 1-6 wherein the drones comprise vertical take-off and landing fixed wing drones.

9. Marine survey system according to any of the claims 3-5, wherein the first magnetic measuring device comprises a towed magnetometer.

10. Marine survey system according to claims 3-5, wherein the second magnetic detection device comprises a micro aeromagnetic detection device;

and the miniature aeromagnetic detection equipment stores a second investigation result.

Technical Field

The invention relates to the technical field of marine investigation, in particular to a marine investigation system.

Background

The ocean covers 70% of the earth's surface, is the place where the global circulation of matter, energy and organisms is most active, and is closely related to human development; meanwhile, the sea covers the relief of the landform structure of the sea bottom. Therefore, how to efficiently perform high-resolution marine exploration is a necessary trend and a leading-edge scientific problem in the development of the marine scientific research technology and method at present. For example, the earth crust of the ocean contains abundant magnetic minerals, and when the seabed structure and the mineral resource distribution are researched, the measurement of the abnormal distribution of the magnetic field above the ocean is an effective geophysical means.

The existing magnetic measurement in the open sea area basically takes an investigation ship as a working platform, and a towed ocean magnetometer is used for continuously measuring the total field value of the geomagnetic field. The method has the advantages of less output data, high cost, low efficiency and incapability of meeting the requirements of large-range small-scale marine magnetic measurement. In order to improve the working efficiency, automatic intelligent working platforms such as unmanned aerial vehicles are gradually introduced. However, compared with the land area environment, the sea area unmanned aerial vehicle operation environment is more complex, the survey ship is a mobile platform, and the requirement on the cooperative operation of the unmanned aerial vehicle and the survey ship is higher when the marine unmanned aerial vehicle aeromagnetic measurement is carried out.

Therefore, when the existing survey mode is applied to a complex marine environment, the cooperative work capacity of the existing survey mode is poor, so that the obtained survey data are less, and the survey precision is low, so that a marine survey system is needed to be provided, the cooperative work capacity of the unmanned aerial vehicle and the survey ship is improved, and the survey accuracy is further improved.

Disclosure of Invention

The invention aims to solve at least one of the technical defects, in particular to the technical defects that the acquired survey data are less and the survey precision is lower due to the poor cooperative operation capability of a marine survey mode in the prior art.

The invention provides a marine survey system, comprising:

the system comprises an offshore mobile platform provided with an unmanned aerial vehicle take-off and landing platform, and at least two unmanned aerial vehicles;

the offshore mobile platform is provided with survey cooperative equipment, control cooperative equipment and first detection equipment;

the unmanned aerial vehicle is provided with second detection equipment;

the investigation cooperative equipment sends the route to be investigated to the control cooperative equipment, so that the control cooperative equipment controls the offshore mobile platform and each unmanned aerial vehicle to carry out moving operation according to the route to be investigated;

the first detection device surveys the sea area covered by the route to be surveyed respectively during the moving operation of the offshore mobile platform and the second detection device during the moving operation of the unmanned aerial vehicle, and returns survey results to the survey cooperative device, so that the survey cooperative device can mutually verify and supplement the survey results.

Optionally, the marine survey system further includes:

the navigation positioning device comprises a mobile platform navigation positioning device carried on the offshore mobile platform and unmanned aerial vehicle navigation positioning devices carried on all unmanned aerial vehicles;

The mobile platform navigation positioning equipment acquires navigation position information of the offshore mobile platform in real time and sends the navigation position information of the offshore mobile platform to the cooperative investigation equipment through the control cooperative equipment;

the unmanned aerial vehicle navigation positioning equipment collects navigation position information of each unmanned aerial vehicle in real time and sends the navigation position information of each unmanned aerial vehicle to the investigation cooperative equipment through the control cooperative equipment.

Optionally, the investigation cooperative device includes a magnetic measurement cooperative device, the control cooperative device includes a one-station multi-robot control device, the first detection device includes a first magnetic measurement device, and the second detection device includes a second magnetic measurement device;

the magnetic measurement cooperative equipment plans a first measurement line of the first magnetic measurement equipment and a second measurement line of the second magnetic measurement equipment according to input parameters, and sends the first measurement line and the second measurement line to the one-station multi-unmanned aerial vehicle control equipment;

the one-station multi-machine unmanned aerial vehicle control equipment controls the offshore mobile platform to sail according to the first survey line, so that the first detection equipment surveys the sea area covered by the first survey line during sailing of the offshore mobile platform, and returns a first survey result to the magnetic survey cooperative equipment;

The one-station multi-machine unmanned aerial vehicle control equipment controls the unmanned aerial vehicle to fly according to the second survey line, so that the second detection equipment surveys the sea area covered by the second survey line during the flight of the unmanned aerial vehicle, and returns a second survey result to the magnetic measurement cooperative equipment;

and the magnetic measurement cooperative equipment carries out mutual authentication and supplementation on the first investigation result according to the second investigation result.

Optionally, the one-station multi-robot unmanned aerial vehicle control device collects task completion progress and state information of each unmanned aerial vehicle, and performs dynamic task scheduling according to the task completion progress and state information of each unmanned aerial vehicle.

Optionally, the input parameter includes at least one of a survey area coordinate polygon, a main survey line strike angle, a main survey line interval, an unmanned aerial vehicle aeromagnetic survey line length, a flight height, and a maximum flight time.

Optionally, the mobile platform navigation positioning device comprises a survey vessel RTK GPS navigation positioning device, and the unmanned aerial vehicle navigation positioning device comprises an unmanned aerial vehicle RTK GPS navigation positioning device.

Optionally, the offshore mobile platform comprises a marine survey vessel.

Optionally, the drone comprises a vertical take-off and landing fixed wing drone.

Optionally, the first magnetic measurement device comprises a towed magnetometer.

Optionally, the second magnetic detection device comprises a micro aeromagnetic detection device;

and the miniature aeromagnetic detection equipment stores a second investigation result.

According to the technical scheme, the embodiment of the invention has the following advantages:

according to the ocean investigation system provided by the invention, the unmanned aerial vehicle take-off and landing platform is arranged on the offshore mobile platform, the unmanned aerial vehicle take-off and landing platform can be provided with a plurality of unmanned aerial vehicles, the offshore mobile platform and the unmanned aerial vehicle carry out cooperative operation, so that the unmanned aerial vehicle can be fully ensured in safety, and the offshore investigation system is more suitable for a complex ocean environment; when marine investigation is needed, the investigation cooperative equipment carried in the marine mobile platform sends the route to be investigated to the control cooperative equipment, and the control cooperative equipment controls the marine mobile platform and the unmanned aerial vehicle to move according to the route to be investigated, so that the first detection equipment carried in the marine mobile platform and the second detection equipment carried on the unmanned aerial vehicle carry out cooperative investigation on the sea area covered by the route to be investigated; finally, the investigation results of the first detection device and the second detection device are returned to the investigation cooperative device, so that the investigation cooperative device can carry out mutual evidence and supplement according to the investigation results of the first detection device and the second detection device, and the cooperative operation capability during marine investigation is further improved; in addition, the survey result fully covers the sea area of the survey area, the effect of covering the ocean with the surface line in the ocean survey can be realized, the survey range of the ocean survey can be expanded, the output of the ocean survey data can be improved, and the accuracy of the ocean survey can be further improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.

Fig. 1 is a schematic structural diagram of a marine survey system according to an embodiment of the present invention;

fig. 2 is a schematic structural view of a cooperative magnetic survey of a marine survey vessel and a vertical take-off and landing fixed wing drone, according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The ocean covers 70% of the earth's surface, is the place where the global circulation of matter, energy and organisms is most active, and is closely related to human development; meanwhile, the sea covers the relief of the landform structure of the sea bottom. Therefore, how to efficiently perform high-resolution marine exploration is a necessary trend and a leading-edge scientific problem in the development of the marine scientific research technology and method at present. For example, the earth crust of the ocean contains abundant magnetic minerals, and when the seabed structure and the mineral resource distribution are researched, the measurement of the abnormal distribution of the magnetic field above the ocean is an effective geophysical means.

The existing magnetic measurement in the open sea area basically takes an investigation ship as a working platform, and a towed ocean magnetometer is used for continuously measuring the total field value of the geomagnetic field. The method has the advantages of less output data, high cost, low efficiency and incapability of meeting the requirements of large-range small-scale marine magnetic measurement. In order to improve the working efficiency, automatic intelligent working platforms such as unmanned aerial vehicles are gradually introduced. However, compared with the land area environment, the sea area unmanned aerial vehicle operation environment is more complex, the survey ship is a mobile platform, and the requirement on the cooperative operation of the unmanned aerial vehicle and the survey ship is higher when the marine unmanned aerial vehicle aeromagnetic measurement is carried out.

Therefore, when the existing survey mode is applied to a complex marine environment, the collaborative operation capability of the existing survey mode is poor, so that the obtained survey data are less, and the survey precision is low, so that a marine survey system is necessary to be provided to improve the collaborative operation capability of the unmanned aerial vehicle and the survey ship, and further improve the survey accuracy, and the method specifically refers to the following technical scheme:

in one embodiment, as shown in fig. 1, fig. 1 is a schematic structural diagram of a marine survey system provided by an embodiment of the invention; the invention provides a marine survey system, which can comprise:

The offshore mobile platform 30 is equipped with a take-off and landing platform for the unmanned aerial vehicles, and at least two unmanned aerial vehicles 50.

The offshore mobile platform 30 is mounted with a survey cooperative apparatus 10, a control cooperative apparatus 20, and a first detection apparatus 40.

The unmanned aerial vehicle 50 is mounted with a second detection device 60.

The survey cooperative device 10 sends the route to be surveyed to the control cooperative device 20, so that the control cooperative device 20 controls the offshore mobile platform 30 and each unmanned aerial vehicle 50 to perform moving operation according to the route to be surveyed.

During the moving operation of the offshore mobile platform 30 and during the moving operation of the unmanned aerial vehicle 50, the first detection device 40 surveys the sea area covered by the route to be surveyed, and returns the survey results to the survey coordination device 10, so that the survey coordination device 10 mutually verifies and supplements the survey results.

In this embodiment, the oceanographic survey system can be including being equipped with unmanned aerial vehicle take off and land platform's marine mobile platform 30 and two at least unmanned aerial vehicles 50, and unmanned aerial vehicle 50 can take off and land the operation through the unmanned aerial vehicle take off and land platform among the marine mobile platform 30, can also carry out fuel supply etc. through marine mobile platform 30, and then realize the ocean investigation.

It is understood that the offshore mobile platform 30 herein refers to a structure that can float on the surface of the sea and be in a mobile position, including, but not limited to, a marine survey vessel, an offshore drilling platform, and the like; the unmanned aerial vehicle take-off and landing platform refers to a take-off and landing device which meets the take-off and landing requirements of the unmanned aerial vehicle 50 and is arranged on the offshore mobile platform 30; the unmanned aerial vehicle 50 here can be the unmanned aerial vehicle 50 that possesses full-automatic marine moving platform 30 VTOL ability, use the fuel as power, like VTOL fixed wing unmanned aerial vehicle etc.

The marine survey herein refers to a survey of hydrology, meteorology, physics, chemistry, biology, distribution and change of the substrate, seabed structure, mineral resource distribution, etc. in a specific sea area. The investigation observation mode includes large-area investigation, section investigation, continuous observation and auxiliary observation. The method comprises aerial observation, satellite observation, ship observation, underwater observation, automatic observation of a fixed buoy, automatic observation of a floating station, aeromagnetic detection and the like.

In the present application, the survey cooperative apparatus 10, the control cooperative apparatus 20, and the first detection apparatus 40 are mounted on the offshore mobile platform 30, and the second detection apparatus 60 is mounted on the unmanned aerial vehicle 50. When marine survey needs to be performed, the survey coordination device 10 sends the route to be surveyed to the control coordination device 20, and after receiving the route to be surveyed, the control coordination device 20 controls the marine mobile platform 30 and each unmanned aerial vehicle 50 to perform moving operation according to the route to be surveyed.

During the moving operation of the offshore mobile platform 30, the first detection device 40 on the offshore mobile platform surveys the sea area covered by the route to be surveyed, and then returns the survey result to the survey cooperative device 10; during the moving operation of the unmanned aerial vehicle 50, the second detection device 60 thereon surveys the sea area covered by the route to be surveyed, and returns the survey result to the survey cooperative device 10.

After the investigation cooperative device 10 receives the investigation results sent by the first detection device 40 and the second detection device 60, the investigation results of the first detection device and the second detection device can be mutually verified and supplemented by a magnetic data processing method such as magnetic survey continuation, and a magnetic gradient gridding processing result of magnetic survey data with different heights can also be realized.

The survey coordination apparatus 10 herein refers to a survey coordination system mounted on the offshore mobile platform 30, and the survey coordination system may be a magnetic survey coordination system or a hydrological observation coordination system, which is not limited herein.

The control cooperative device 20 herein refers to a control system which is mounted in the offshore mobile platform 30, performs control operation on the offshore mobile platform 30 and the drone 50 according to a survey command of the survey cooperative device 10, and collects real-time movement data of the offshore mobile platform 30 and the drone 50 and returns the real-time movement data to the survey cooperative device 10, and the control system includes, but is not limited to, a one-station multi-machine vertical take-off and landing fixed-wing drone control system and the like.

The first detection device 40 refers to a device which is mounted on the offshore mobile platform 30 and is used for performing investigation and detection on the sea area covered by the main route in the route to be investigated, and the device includes, but is not limited to, a towed magnetometer, a water depth detector and the like; the second detection device 60 refers to a device mounted on the unmanned aerial vehicle 50 for performing survey detection on the sea area covered by the side route of the route to be surveyed, and the device includes, but is not limited to, a micro aeromagnetic detection device, a thermal infrared imager, and the like.

Further, the route to be surveyed herein refers to that the survey cooperative device 10 plans the main survey line of the first detection device 40 and the aeromagnetic survey line of the second detection device 60 according to the survey parameters input by the user, such as input parameters of a coordinate polygon of a survey area, a trend angle of the main survey line, an interval between the main survey lines, an interval between the aeromagnetic survey lines of the unmanned aerial vehicle, a length of the aeromagnetic survey lines of the unmanned aerial vehicle, a flight height, a maximum flight time, and the like, through the input parameters, by detecting a sea area covered by the route to be surveyed, a large amount of survey data can be sufficiently mined, so as to further improve the accuracy of the survey result.

In the above embodiment, the offshore mobile platform 30 is equipped with the unmanned aerial vehicle take-off and landing platform, the unmanned aerial vehicle take-off and landing platform can be equipped with a plurality of unmanned aerial vehicles 50, the offshore mobile platform 30 and the unmanned aerial vehicle 50 perform cooperative operation, so that the unmanned aerial vehicle 50 can be fully ensured in safety, and the offshore mobile platform is more suitable for a complex marine environment; when marine investigation is required, the investigation cooperative equipment 10 carried in the marine mobile platform 30 sends the route to be investigated to the control cooperative equipment 20, and the control cooperative equipment 20 controls the marine mobile platform 30 and the unmanned aerial vehicle 50 to move according to the route to be investigated, so that the first detection equipment 40 carried in the marine mobile platform 30 and the second detection equipment 60 carried on the unmanned aerial vehicle 50 carry out cooperative investigation on the sea area covered by the route to be investigated; finally, the investigation results of the first detection device 40 and the second detection device 60 are returned to the investigation cooperative device 10, so that the investigation cooperative device 10 performs mutual verification and supplementation according to the investigation results of the first detection device and the second detection device, and the cooperative work capacity during marine investigation is further improved; in addition, the survey result fully covers the sea area of the survey area, the effect of covering the ocean with the surface line in the ocean survey can be realized, the survey range of the ocean survey can be expanded, the output of the ocean survey data can be improved, and the accuracy of the ocean survey can be further improved.

The marine survey system of the present application is described in the foregoing embodiments, and the following will continue to expand the embodiments of the marine survey system of the present application.

In one embodiment, the marine survey system may further include:

a mobile platform navigation positioning device carried on the offshore mobile platform 30, and a unmanned aerial vehicle navigation positioning device carried on each unmanned aerial vehicle 50.

The mobile platform navigation positioning device collects the navigation position information of the offshore mobile platform 30 in real time, and sends the navigation position information of the offshore mobile platform 30 to the cooperative investigation device through the control cooperative device 20.

The unmanned aerial vehicle navigation positioning device collects the navigation position information of each unmanned aerial vehicle 50 in real time, and sends the navigation position information of each unmanned aerial vehicle 50 to the investigation cooperative equipment 10 through the control cooperative equipment 20.

In this embodiment, the offshore mobile platform 30 is further provided with a mobile platform navigation and positioning device, the mobile platform navigation and positioning device is capable of acquiring navigation position information of the offshore mobile platform 30 in real time, and sending the navigation position information to the control cooperative device 20, so that the control cooperative device 20 sends the navigation position information to the investigation cooperative device 10, after receiving the navigation position information, the investigation cooperative device 10 determines whether the current position, the movement distance, and the like of the offshore mobile platform 30 are yawing, and controls the offshore mobile platform 30 in real time according to the determination result.

It is understood that the navigation position information collected by the mobile platform navigation positioning device in real time herein includes, but is not limited to, the positioning position and the driving direction of the offshore mobile platform 30. For example, after the mobile platform navigation positioning device detects the current positioning position of the offshore mobile platform 30, the mobile platform navigation positioning device transmits the current positioning position of the offshore mobile platform 30 to the survey coordination device 10, the survey coordination device 10 determines whether the current position of the offshore mobile platform 30 is yawing according to the positioning position and the route to be surveyed of the offshore mobile platform 30, and if the current position of the offshore mobile platform 30 is yawing, the calibration information is calculated and sent to the control coordination device 20, so that the control coordination device 20 performs heading calibration on the offshore mobile platform 30 according to the calibration information.

In addition, the unmanned aerial vehicle 50 in this embodiment is further provided with an unmanned aerial vehicle navigation and positioning device, the unmanned aerial vehicle navigation and positioning device can acquire navigation position information of the unmanned aerial vehicle 50 in real time and send the navigation position information to the control cooperative device 20, so that the control cooperative device 20 sends the navigation position information to the survey cooperative device 10, and after receiving the navigation position information, the survey cooperative device 10 determines whether the position, height, flight direction, flight speed, and the like of the unmanned aerial vehicle 50 deviate from information set in a route to be surveyed, and controls the unmanned aerial vehicle 50 in real time according to the determination result.

It can be understood that, because the unmanned aerial vehicle 50 who carries out collaborative work with marine mobile platform 30 has two at least, and in order to be more favorable to collaborative work, can all carry on unmanned aerial vehicle navigation positioning equipment on every unmanned aerial vehicle 50, the navigation position information that this unmanned aerial vehicle navigation positioning equipment gathered in real time includes but not limited to unmanned aerial vehicle 50's location position, flight direction, airspeed and height etc..

The embodiment of the marine survey system is expanded in the above embodiment, and the survey mode in the marine survey system will be further detailed below.

In one embodiment, the survey cooperative apparatus 10 may include a magnetic survey cooperative apparatus, the control cooperative apparatus 20 may include a one-station multi-robot control apparatus, the first detection apparatus 40 may include a first magnetic survey apparatus, and the second detection apparatus 60 may include a second magnetic survey apparatus.

And the magnetic measurement cooperative equipment plans a first measurement line of the first magnetic measurement equipment and a second measurement line of the second magnetic measurement equipment according to input parameters, and sends the first measurement line and the second measurement line to the one-station multi-unmanned aerial vehicle control equipment.

The one-station multi-robot control device controls the offshore mobile platform 30 to sail according to the first survey line, so that the first detection device 40 surveys the sea area covered by the first survey line during sailing of the offshore mobile platform 30, and returns a first survey result to the magnetic measurement cooperative device.

The one-station multi-unmanned aerial vehicle control device controls the unmanned aerial vehicle 50 to fly according to the second survey line, so that the second detection device 60 surveys the sea area covered by the second survey line during the flight of the unmanned aerial vehicle 50, and returns a second survey result to the magnetic measurement cooperative device.

And the magnetic measurement cooperative equipment carries out mutual authentication and supplementation on the first investigation result according to the second investigation result.

In this embodiment, when marine survey is performed, especially when marine aeromagnetic survey is performed, the marine survey method in the present application may be selected to perform the aeromagnetic survey. Specifically, when the marine survey method of the present application is used for magnetic survey, the survey cooperative device 10 may be a magnetic survey cooperative device, the control cooperative device 20 may be a one-station multi-machine unmanned aerial vehicle control device, the corresponding first detection device 40 may also be a first magnetic survey device, and the corresponding second detection device 60 may be a second magnetic survey device.

Further, when the magnetic measurement cooperation device is used for performing cooperative magnetic measurement, the magnetic measurement cooperation device can perform line measurement planning on the first magnetic measurement device and the second magnetic measurement device respectively according to the input parameters, so that a first measurement line of the first magnetic measurement device and a second measurement line of the second magnetic measurement device are obtained.

Subsequently, the magnetic measurement cooperative device sends the first measurement line and the second measurement line to the one-station multi-unmanned aerial vehicle control device, so that the one-station multi-unmanned aerial vehicle control device controls the marine mobile platform 30 to sail according to the first measurement line, the first magnetic measurement device carried on the marine mobile platform 30 carries out magnetic measurement investigation in the sea area covered by the first measurement line, and the one-station multi-unmanned aerial vehicle control device controls the unmanned aerial vehicle 50 to fly according to the second measurement line, so that the second magnetic measurement device carried on the unmanned aerial vehicle 50 carries out magnetic measurement investigation in the sea area covered by the second measurement line.

It should be noted that, in the present application, the first magnetic measurement device mounted on the offshore mobile platform 30 and the second magnetic measurement device mounted on the unmanned aerial vehicle 50 perform cooperative operations, and the two devices perform cooperative investigation to enable the magnetic measurement range to fully cover the sea area of the measurement area, so that relatively rich investigation data can be obtained; in addition, when the unmanned aerial vehicle 50 performs magnetic measurement, the offshore mobile platform 30 is used as a support and a supply, and ocean investigation can be realized, so that more investigation data can be acquired, and the accuracy of investigation results is further improved.

Therefore, it can be seen that the cooperative work between the offshore mobile platform 30 and the unmanned aerial vehicle 50 is a key for acquiring a large amount of survey data and accurately surveying results, and in this embodiment, before the magnetic survey is performed, certain parameter data is input into the magnetic survey cooperative apparatus, and the survey lines of the first magnetic survey apparatus and the second magnetic survey apparatus are planned by inputting parameters, the first magnetic survey apparatus and the second magnetic survey apparatus can perform the magnetic survey according to the planned survey lines, and return respective survey results to the magnetic survey cooperative apparatus, so that the magnetic survey cooperative apparatus performs mutual verification and supplementation on the first survey results of the first magnetic survey apparatus according to the second survey results of the second magnetic survey apparatus, and further improves the accuracy of the survey results.

In the above embodiment, the investigation mode in the marine investigation system is further refined, and the control mode of the one-station multi-unmanned aerial vehicle control device will be described below.

In one embodiment, the one-station multi-drone control device collects the task completion progress and status information of each drone 50, and performs dynamic task scheduling according to the task completion progress and status information of each drone 50.

In this embodiment, the one-station multi-unmanned aerial vehicle control device can not only control the marine mobile platform 30 to sail according to the first survey line, and control the unmanned aerial vehicle 50 to fly according to the second survey line, but also can collect task completion progress and status information of each unmanned aerial vehicle 50, and perform dynamic task scheduling according to the task completion progress and status information of each unmanned aerial vehicle 50.

Specifically, after task completion progress and status information of each unmanned aerial vehicle 50 are gathered to a station multimachine unmanned aerial vehicle controlgear, if gather be flight distance and the battery power of each unmanned aerial vehicle 50, at this moment, a station multimachine unmanned aerial vehicle 50 controlgear can be according to the survey line length of the second survey line of distributing for unmanned aerial vehicle 50 in advance, monitor each unmanned aerial vehicle 50's flight progress, and judge whether current battery power can last this aerial survey and end, if can not, then in time recall corresponding unmanned aerial vehicle 50, in order to avoid taking place the accident.

It can be understood that, every unmanned aerial vehicle 50 is in the in-process of carrying out the aerial survey investigation, its flight condition can be along with the wind direction, the course, the condition that 50 battery power of unmanned aerial vehicle appear with the task progress nonconformity of other unmanned aerial vehicle 50, and a station multimachine unmanned aerial vehicle controlgear in this application, then can gather each unmanned aerial vehicle 50's task completion progress and status information in real time, then carry out task progress aassessment to every unmanned aerial vehicle 50, finally carry out dynamic task scheduling to many unmanned aerial vehicle 50 according to the assessment result, realize the cooperative decision based on task and unmanned aerial vehicle 50 ability, the task that covers the progress behind each other, can dynamic high-efficient reasonable completion task plan, reduce more power consumptive take-off and landing process number of times.

In the above embodiment, a control method of a one-station multi-machine unmanned aerial vehicle control device is described, and input parameters of the magnetic measurement cooperative device will be exemplified below.

In one embodiment, the input parameters include at least one of a survey area coordinate polygon, a inline strike angle, inline spacing, drone aeromagnetic line length, flight altitude, maximum flight time.

In this embodiment, when performing marine magnetic survey investigation, an operator may input corresponding parameter data in the magnetic survey cooperative device, so that the magnetic survey cooperative device performs survey line planning according to the input parameters. The input parameters can comprise a survey area coordinate polygon, a main survey line trend angle, a main survey line interval, an unmanned aerial vehicle aeromagnetic survey line length, a flying height, a maximum flying time and the like, and survey line planning can be respectively carried out on the first magnetic survey equipment and the second magnetic survey equipment by utilizing the input parameters.

The above embodiment exemplifies the input parameters of the magnetic measurement cooperative device, and the following will exemplify the mobile platform navigation positioning device.

In one embodiment, the mobile platform navigation positioning device may comprise a survey vessel RTK GPS navigation positioning device and the drone navigation positioning device may comprise a drone RTK GPS navigation positioning device.

In this embodiment, the mobile platform navigation positioning device may include an survey vessel RTK GPS navigation positioning device, and the survey vessel RTKGPS navigation positioning device performs navigation positioning for marine survey vessel navigation measurement. The RTK GPS can be configured by adopting double-GPS antennas, and the double-RTK GPS antennas can be arranged at the positions with wide space on the deck of the ship and good GPS signals and are parallel to the keel direction of the marine survey ship, so that the positioning position, the running direction, the sailing speed and the like of the marine survey ship can be determined in real time.

When the positioning position, the driving direction and the navigation speed of the marine survey ship are detected, the information can be transmitted to one-station multi-machine unmanned aerial vehicle control device and transmitted to the magnetic measurement cooperative device by the one-station multi-machine unmanned aerial vehicle control device. The driver of the marine survey ship can observe the positioning position, the running direction, the running speed and the like of the marine survey ship in real time at the display communication terminal of the cockpit through the magnetic survey cooperative equipment, command the marine survey ship to run according to a preset first survey line, communicate with the operator and the flyer of the one-station multi-robot unmanned aerial vehicle control equipment through the magnetic survey cooperative equipment, and execute the aeromagnetic taking off and landing of the unmanned aerial vehicle 50 and the running management of the survey ship.

Further, unmanned aerial vehicle navigation positioning equipment can include unmanned aerial vehicle RTK GPS navigation positioning equipment, and unmanned aerial vehicle RTK GPS navigation positioning equipment also can adopt two GPS antenna configuration, arrange in 50 wing both sides of unmanned aerial vehicle, the perpendicular to fuselage direction, thereby can survey 50 the position fixing of unmanned aerial vehicle in real time, flight direction, flight speed and height, this information passes through unmanned aerial vehicle flight control and conveys one station multimachine unmanned aerial vehicle controlgear, and finally convey to magnetism survey cooperative equipment, accomplish 50 operation of unmanned aerial vehicle navigation magnetism and marine survey ship magnetism survey cooperative system, unmanned aerial vehicle 50 takes off and land the function along with marine survey ship navigation automatic take-off and land, and real-time supervision and real-time control take off and land the process.

In one embodiment, the offshore mobile platform 30 may comprise a marine survey vessel.

In this embodiment, when the marine survey vessel is used as the offshore mobile platform 30, the ocean survey can be performed with a surface line, which is beneficial to expanding the survey range of the marine survey, improving the output of marine survey data, and further improving the accuracy of the marine survey.

In one embodiment, the drone 50 may comprise a vertical take-off and landing fixed wing drone.

In this embodiment, when carrying out the marine survey, can use VTOL fixed wing unmanned aerial vehicle, VTOL fixed wing unmanned aerial vehicle can realize fixed point hover, functions such as moving platform take off and land, more flight tasks that are applicable to large tracts of land, long endurance to play better cooperative operation effect.

In one embodiment, the first magnetic measuring device may comprise a towed magnetometer.

In this embodiment, when marine survey is performed, the towed magnetometer can be carried on the offshore mobile platform 30, and the towed magnetometer can be lengthened in the measurement process, so that the influence of the hull induction magnetic field and the fixed magnetic field on the sensor can be eliminated, and the towed magnetometer is used for measurement, so that the measurement accuracy can be improved, the measurement method is simple, and the magnetic measurement data can be rapidly obtained.

In one embodiment, the second magnetic detection device may comprise a micro-aerial magnetic detection device having the second investigation result stored therein.

In this embodiment, can carry on miniature aeromagnetic detection equipment among the unmanned aerial vehicle 50, this miniature aeromagnetic detection equipment can pass through the transparent transmission of unmanned aerial vehicle communication system with the aeromagnetic data to a station multimachine unmanned aerial vehicle controlgear to transmit to magnetism survey cooperative equipment through a station multimachine unmanned aerial vehicle controlgear, handle the operation through magnetism survey cooperative equipment to the investigation result.

Furthermore, as the transmission channel adopted by the unmanned aerial vehicle communication system is in wireless transmission, the situation of data loss may occur, and therefore, the miniature aeromagnetic detection equipment has the capability of storing complete aeromagnetic data for downloading after flight and leading the aeromagnetic data into the magnetic measurement cooperative equipment.

In addition, the control instruction of the operator of the magnetic measurement cooperative equipment to the miniature aeromagnetic detection equipment can be transparently transmitted to the miniature aeromagnetic detection equipment through one-station multi-robot control equipment and an unmanned aerial vehicle communication system.

Further, as shown in fig. 2, fig. 2 is a schematic structural diagram of the marine survey vessel 31 and the vertical take-off and landing fixed wing drone 51 cooperating with magnetic survey according to the embodiment of the present invention; in a preferred embodiment of the present invention, the present invention may be carried out by using a method in which the marine survey vessel 31 and the vertical take-off and landing fixed-wing drone 51 work in cooperation with each other when conducting a magnetic survey of the ocean.

Wherein, survey cooperative equipment 11, a station multimachine unmanned aerial vehicle controlgear 21, towed magnetometer 41 and unmanned aerial vehicle take off and land the platform on the marine survey ship 31 is loaded, and vertical take off and land fixed wing unmanned aerial vehicle 51 has two at least, and all loads and have miniature aeromagnetic detection equipment 61. When the marine survey vessel 31 and the VTOL fixed-wing UAV 51 are used for cooperative work, an operator can input relevant parameters such as a survey area coordinate polygon, a main survey line trend angle, a main survey line interval, an UAV magnetic survey line length, a flight height, a maximum flight time and the like in the magnetic survey cooperative device 11, the magnetic survey cooperative device 11 plans the survey lines of the towed magnetometer 41 and the micro-aeromagnetic detection device 61 according to the input parameters and sends the planned survey lines to the one-station multi-UAV control device 21, the one-station multi-drone control device 21 carries out navigation control on the marine survey vessel 31 and the VTOL fixed-wing UAV 51 according to the planned survey lines so as to carry out magnetic survey on the towed magnetometer 41 on the marine survey vessel 31 and the micro-aeromagnetic detection device 61 on the VTOL fixed-wing UAV 51 in a sea area covered by the planned survey lines, finally, the investigation results of the towed magnetometer 41 and the micro aeromagnetic detection device 61 are returned to the magnetic measurement cooperative device 11 in a wireless or wired transmission mode, and the magnetic measurement cooperative device 11 performs mutual verification and supplement through magnetic data processing methods such as magnetic measurement continuation and the like, so that the magnetic gradient gridding processing results of magnetic measurement data with different heights can be realized.

Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, the embodiments may be combined as needed, and the same and similar parts may be referred to each other.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.