CN112180380B - Ultrasonic underwater detection method for unmanned spacecraft driven by aerial rotor and propeller - Google Patents

Abstract

The invention discloses an ultrasonic underwater detection method for an unmanned airship driven by an air rotor and a propeller in a cooperative manner. The method comprises the following steps: receiving a control command to obtain a detection fixed point position; the flight reaches a detection fixed point; measuring and recording the gesture of the unmanned airship by using a gesture instrument, and counting the wave motion direction; controlling the unmanned airship to face to be perpendicular to the wave motion direction; controlling the unmanned airship to navigate around the detection fixed point; controlling an ultrasonic microarray to collect water area parameters; maintaining the attitude of the unmanned airship; if the unmanned airship needs to be scanned and detected, changing the rolling angle and the yaw angle of the unmanned airship and detecting; if the fixed-point water area detection is completed, receiving a control command and flying to the next detection fixed point, otherwise continuing to navigate and detect. The invention can improve the detection speed and the detection precision of the unmanned airship.

Description

Ultrasonic underwater detection method for unmanned spacecraft driven by aerial rotor and propeller

technical field

The invention mainly relates to the field of unmanned water area detection, in particular to an ultrasonic underwater detection method for an unmanned spaceship driven by an aerial rotor and a propeller.

Background technique

An unmanned ship is a fully automatic surface robot that can sail on the water surface according to preset tasks with the help of precise satellite positioning and self-sensing without remote control. The English name is unmanned surface vessel, and the English abbreviation is USV. Unmanned ships are mostly used for Surveying, hydrology and water quality monitoring. Replacing manpower with unmanned ships can greatly reduce manpower and improve efficiency. In the past detection missions, the detection personnel need to carry their own detection equipment and carry boats to the detection location for water detection. During the detection process, the boat may run aground. , water pollution, bad weather and other conditions threaten the safety of the detectors themselves. At the same time, in some environments where the space is narrow and the detection is difficult, it is difficult for the detectors to go to the detection site for detection. Detectors can remotely control unmanned ships to carry out detection tasks, and in some environments, let unmanned ships carry out detection tasks autonomously and intelligently.

The existing unmanned ships propel the unmanned ships to sail on the water surface through propellers. The speed of sailing in this way is generally relatively slow, which reduces the detection efficiency.

Existing unmanned ships are easily affected by waves when navigating on the water surface, causing the hull to sway. When ultrasonic microarrays are used for underwater detection, the shaking caused by the waves makes the underwater detection module transmit and receive signals. The attitude at each moment has a relatively large change, which affects the reception of the ultrasonic echo signal reflected by the underwater target, resulting in low detection accuracy.

When an unmanned ship uses an ultrasonic microarray for underwater detection, the ultrasonic microarray transmits ultrasonic signals with a specific frequency spectrum structure to the water area to be measured, and the ultrasonic microarray receives the ultrasonic echo signals reflected by the underwater target, and then calculates various parameters of the water area. parameter. Existing unmanned ships can only conduct fixed-point and directional water area detection, and can only obtain a wider range of water area parameters by moving their positions.

Contents of the invention

The purpose of the present invention is to overcome the defects that the unmanned ship is easily limited by the natural geographical environment or artificial engineering barriers, the underwater detection speed is slow, the detection accuracy is easily affected by waves during detection, and the detection method is single during underwater detection. An aerial rotor and propeller cooperatively drive an unmanned spacecraft ultrasonic underwater detection method, which can reach the detection water area conveniently and quickly, can control the unmanned spacecraft balance, can control the unmanned spacecraft to perform detection and scanning, can reduce draft, reduce navigation resistance, and accelerate sailing speed.

The technical solution adopted by the present invention to solve the above problems is as follows.

An aerial rotor and propeller cooperatively drive an unmanned spacecraft ultrasonic underwater detection method, comprising the following steps:

S1. Receive the control command to obtain the detection fixed-point position;

S2. Arrive at the detection point by means of flight;

S3. After arriving at the detection point, control the rotor and propeller in the air to stand still for a period of time, and use the attitude meter to measure and record the attitude change rate of the unmanned spacecraft, and count the direction of wave motion;

S4. Control the direction of the unmanned spacecraft to be perpendicular to the direction of wave motion;

S5. Control the unmanned spacecraft to navigate around the detection point;

S6, controlling the ultrasonic microarray to collect water parameters;

S7. When controlling the ultrasonic microarray to collect water parameters, maintain the attitude of the unmanned spacecraft;

S8. If scanning detection is required, change the roll angle and yaw angle of the unmanned spacecraft and keep it, and return to step S6;

S9. Determine whether the detection of the water environment around the fixed point is completed. If not, return to step S5 and move to another location in the water area around the fixed point for detection; if yes, return to step S1 for water detection at the next detection point.

Further, the detection fixed-point position in the step S1 is from the detection fixed-point position specified by the remote user or from the next detection fixed-point position obtained by the unmanned spacecraft according to the path planning.

Further, the process of step S2 is:

The unmanned spacecraft controls the rotation of the air rotors above the unmanned spacecraft to provide thrust F _z to push the unmanned spacecraft away from the water surface. The height of the unmanned spacecraft from the water surface is obtained by the ultrasonic microarray distributed at the bottom of the ship. Brush motor throttle value and servo motor throttle value to control the orientation of each air rotor:

Where m _i is the throttle value of the ith brushless motor, s _i is the throttle value of the ith servo motor, is the brushless motor thrust control coefficient, /> is the zero bias control coefficient of the servo motor;

The unmanned spacecraft then controls the air rotor above the unmanned spacecraft to generate roll angular moment and the pitch angle torque τ _θ , changing the roll angle and pitch angle of the unmanned spacecraft, the thrust F _z produced by the rotation of the air rotor above the unmanned spacecraft produces a horizontal thrust due to the change of the roll angle and pitch angle, so that the unmanned spacecraft flies horizontally, where The current horizontal position of the unmanned spacecraft is obtained by the satellite locator. At this time, the throttle value of the brushless motor controlling the rotation speed of each air rotor and the throttle value of the servo motor controlling the orientation of each air rotor are:

Where m _i is the throttle value of the ith brushless motor, s _i is the throttle value of the ith servo motor, is the brushless motor thrust control coefficient, /> is the zero bias control coefficient of the servo motor, /> is the brushless motor roll angle torque control coefficient, /> is the brushless motor pitch angle torque control coefficient, /> is the servo motor roll angle torque control coefficient, /> is the pitch angle torque control coefficient of the servo motor.

Further, the process of step S3 is: use the attitude instrument to measure and record the yaw angle and pitch angle of the unmanned spacecraft, and delete the value of the yaw angle and pitch angle less than the threshold value to obtain n sets of data, which are obtained by the following statistics The angle α between the wave motion direction and the hull of the unmanned spacecraft:

in is the yaw angle of the i-th unmanned spacecraft, θ _i is the pitch angle of the i-th unmanned spacecraft, and n is the number of data.

Further, the process of step S4 is: controlling the aerial rotor above the unmanned spacecraft to generate yaw angle torque τ _ψ , so that the unmanned spacecraft rotates clockwise At this time, the orientation of the unmanned spacecraft is perpendicular to the direction of wave motion, where α is the angle between the direction of wave motion and the hull of the unmanned spacecraft. At this time, the throttle value of the brushless motor that controls the rotation speed of each air rotor and the servo that controls the orientation of each air rotor The motor throttle value is:

Where m _i is the throttle value of the i-th brushless motor, s _i is the throttle value of the i-th servo motor, p _si,0 is the zero-bias control coefficient of the servo motor, is the brushless motor yaw angle torque control coefficient, /> is the servo motor yaw angle torque control coefficient.

Further, the process of step S5 is: control the rotation of the propeller under the tail of the unmanned spacecraft, provide forward thrust Tf, push the unmanned spacecraft to sail forward, and control the air rotor above the unmanned spacecraft to generate yaw angle torque τ _ψ and thrust F _z , the generated yaw angle moment τ _ψ is used to control the navigation direction, and the generated thrust F _z is used to control the draft. The current draft of the unmanned spacecraft is obtained by the pressure gauge distributed at the bottom of the ship. Throttle values of brushless motors for air rotor rotation speed, servo motor throttle values for controlling the orientation of each air rotor and underwater brushless motor throttle values for propeller rotation:

mu = kT _f formula (10)

Where m _i is the throttle value of the ith brushless motor, s _i is the throttle value of the ith servo motor, is the brushless motor thrust control coefficient, /> is the zero bias control coefficient of the servo motor, /> is the brushless motor yaw angle torque control coefficient, /> is the yaw angle torque control coefficient of the servo motor, mu is the throttle value of the underwater brushless motor, and k is the forward thrust control coefficient.

Further, the process of step S6 is: the ultrasonic microarray sends detection signals, and calculates the parameters of the water area according to the received detection signals: calculates the water flow velocity based on the frequency offset between the ultrasonic received echo and the transmitted wave signal; based on the ultrasonic received echo Calculate the water depth with the time delay of the transmitted wave signal; based on the time delay, reflection coefficient, and direction of arrival parameters of the ultrasonic received echo and transmitted wave signal, combined with the water surface location of the unmanned spacecraft, the topography of the bottom of the water is inverted.

Further, the process of step S7 is: the unmanned spacecraft collects the attitude instrument at a high frequency to obtain the attitude of the unmanned spacecraft, and when a slight change in the attitude of the unmanned spacecraft is detected, the air rotor is immediately controlled to generate a roll angular moment Pitch angle moment τ _θ , yaw angle moment τ _ψ ; roll angle moment/> The pitch angle torque τ _θ and the yaw angle torque τ _ψ are used to correct the flip angle, pitch angle, and yaw angle of the unmanned spacecraft respectively. At this time, the throttle value of the brushless motor that controls the rotation speed of each air rotor and the control of the orientation of each air rotor The throttle value of the servo motor is:

Where m _i is the throttle value of the ith brushless motor, s _i is the throttle value of the ith servo motor, is the zero bias control coefficient of the servo motor, /> is the brushless motor roll angle torque control coefficient, /> is the brushless motor pitch angle torque control coefficient, is the brushless motor yaw angle torque control coefficient, /> is the servo motor roll angle torque control coefficient, /> is the pitch angle torque control coefficient of the servo motor, /> is the servo motor yaw angle torque control coefficient.

Further, the process of step S8 is: the unmanned spacecraft controls the air rotor to generate the roll angular moment Yaw angle torque τ _ψ , rotate the unmanned spacecraft to the specified roll angle and specified yaw angle, the ultrasonic microarray on the bottom of the unmanned spacecraft will change the detection direction with the rotation of the unmanned spacecraft, and at this time control the rotational speed of each rotor in the air Throttle value of the brushless motor and the servo motor throttle value controlling the orientation of each air rotor:

Where m _i is the throttle value of the ith brushless motor, s _i is the throttle value of the ith servo motor, is the zero bias control coefficient of the servo motor, /> is the brushless motor roll angle torque control coefficient, /> is the brushless motor pitch angle torque control coefficient, is the brushless motor yaw angle torque control coefficient, /> is the servo motor roll angle torque control coefficient, /> is the pitch angle torque control coefficient of the servo motor, /> is the servo motor yaw angle torque control coefficient.

Compared with the prior art, the present invention has the following advantages and effects:

(1) Balance the unmanned spacecraft by controlling the torque generated by the air rotor of the unmanned spacecraft, maintain the detection direction of the ultrasonic microarray, and improve the detection accuracy.

(2) Actively change the attitude of the unmanned spacecraft by controlling the torque generated by the air rotor of the unmanned spacecraft, and then change the detection direction of the ultrasonic microarray to realize the function of scanning detection;

(3) The yaw angle moment and upward thrust generated by the air rotor of the unmanned spacecraft can be combined with the propeller to realize the surface navigation task of controlling the draft;

(4) The rotation of the rotor in the air of the unmanned spacecraft generates thrust to control the flight of the unmanned spacecraft. The resistance suffered by the flight is less than that of the water surface navigation, and the movement speed is fast.

Description of drawings

Fig. 1 is a flow chart of an ultrasonic underwater detection method for unmanned spaceships cooperatively driven by aerial rotors and propellers disclosed by the present invention;

Fig. 2 is a top view of the two-rotor unmanned spacecraft in the implementation of the present invention;

Fig. 3 is the right view of the two-rotor unmanned spacecraft in the implementation of the present invention;

Fig. 4 is a sectional view of a two-rotor unmanned spacecraft in the implementation of the present invention.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

Example

This embodiment will take a two-rotor unmanned spacecraft as an example, and the hull structure of the two-rotor unmanned spacecraft is shown in FIG. 2 , FIG. 3 , and FIG. 4 . There are No. 1 servo motor 5, No. 2 servo motor 6, No. 1 brushless motor 3, No. 2 brushless motor 4, No. 1 air rotor 1, No. 2 air rotor 2, and distribution under the tail of the two-rotor unmanned spaceship. There is a brushless motor 7 and a propeller 8, an ultrasonic microarray 10 and a pressure sensor 11 at the bottom, an attitude indicator 12 and a satellite positioning receiver 13 on the inner wall, and a satellite positioning receiver antenna 9 at the top. The No. 1 servo motor 5, No. 2 servo motor 6, No. 1 brushless motor 3, No. 2 brushless motor 4, No. 1 air rotor 1, and No. 2 air rotor 2 distributed above the hull of the two-rotor unmanned spaceship. The No. 1 servo motor 5 and the No. 2 servo motor 6 are fixed on the bracket above the hull through brackets, the No. 1 servo motor 5 is fixed to the No. 1 brushless motor 3, and the No. 2 servo motor 6 is fixed to the No. 2 brushless motor 4. The No. 1 brushless motor 3 rotating shafts fix the No. 1 aerial rotor 1, and the No. 2 brushless motor 4 rotating shafts fix the No. 2 aerial rotor 2. No. 1 brushless motor 3 controls the first aerial rotor 1 to rotate forward, and No. 2 brushless motor 4 controls the second aerial rotor 2 to rotate backward. When the throttle value of No. 1 brushless motor 3, No. 2 brushless motor 4, and 1 brushless motor 7 below the tail of the hull of the two-rotor unmanned spaceship was 0, the motor was stationary, and when the throttle value was 1000, the motor reached maximum speed. When the throttle value of the servo motor is 500, the rotation axis angle of the servo motor is 90 degrees, that is, the rotation shafts of the No. 1 brushless motor 3 and No. 2 brushless motor 4 fixed on the shafts of the No. 1 servo motor 5 and No. 2 servo motor 6 are perpendicular to the bottom of the ship. When the servo motor throttle value is 0, the angle of the servo motor shaft is 0 degrees, that is, the No. 1 brushless motor 3 shaft fixed on the No. 1 servo motor 5 shaft is facing the stern, that is, the No. Brush motor 4 rotating shafts are towards the bow. When the throttle value of the servo motor is 1000, the angle of the servo motor shaft is 180 degrees, that is, the shaft of the No. 1 brushless motor 3 fixed on the shaft of No. 1 servo motor 5 is facing the bow, that is, the shaft of No. 2 servo motor 6 is fixed on the shaft of No. The 4 rotating shafts of the brushless motor are towards the stern.

As shown in Figure 1, the control process of the air rotor and propeller cooperatively driving the ultrasonic underwater detection method of the unmanned spacecraft is as follows:

S1. Obtain the detection fixed point position (x _d , y _d ) by receiving the control command.

S2. Arrive at the detection fixed point (x _d , y _d ) by flying. The steps to control the flight of the unmanned spacecraft are: takeoff, level flight, and landing.

Take-off: the unmanned spacecraft controls the No. 1 air rotor 1 and the No. 2 air rotor 2 to generate thrust F _z to push the unmanned spacecraft away from the water surface. Level flight: control the air rotor 1 and the second air rotor 2 above the unmanned spacecraft to generate roll angular moment and the pitch angle torque τ _θ , changing the roll angle and pitch angle of the unmanned spacecraft, the thrust F _z produced by the rotation of the unmanned spacecraft air rotor 1 and the second air rotor 2 will produce horizontal thrust due to the change of the roll angle and pitch angle, so that the unmanned The human spaceship flies horizontally. Landing: reduce thrust F _z . The height of the unmanned spacecraft from the water surface is obtained by the ultrasonic microarray distributed on the bottom of the ship, and the current horizontal position of the unmanned spacecraft is obtained by the satellite locator.

S3. After reaching the detection fixed point (x _d , y _d ), control No. 1 air rotor 1, No. 2 air rotor 2 and propeller 8 to stand still for a period of time, and use the attitude instrument to measure and record the (yaw angle, pitch angle) of the unmanned spacecraft , and delete the smaller values of yaw angle and pitch angle to obtain n sets of data, and obtain the angle α between the direction of wave motion and the hull of the unmanned spacecraft by the following statistics:

in is the yaw angle of the i-th unmanned spacecraft, θ _i is the pitch angle of the i-th unmanned spacecraft, and n is the number of data.

S4. Control the No. 1 air rotor 1 and No. 2 air rotor 2 above the unmanned spacecraft to generate yaw angle torque τ _ψ , so that the unmanned spacecraft rotates clockwise At this time, the orientation of the unmanned spaceship is perpendicular to the wave motion direction.

S5. Control the unmanned spacecraft to navigate around the detection point. The steps of controlling the surface navigation of the unmanned spacecraft are: control the rotation of the propeller under the tail of the unmanned spacecraft, provide forward thrust Tf, push the unmanned spacecraft to sail forward, and control the No. 1 air rotor 1 and No. 2 air rotor 2 above the unmanned spacecraft. Generate yaw angle torque τ _ψ and thrust F _z , the generated yaw angle torque τ _ψ is used to control the sailing direction, and the generated thrust F _z is used to control the draft. The current draft of the unmanned spacecraft is determined by the pressure gauge distributed at the bottom of the ship get.

S6. Control the ultrasonic microarray to send the detection signal, and calculate the water area parameters according to the received detection signal: calculate the water flow velocity based on the frequency offset between the ultrasonic received echo and the transmitted wave signal; calculate the time delay based on the ultrasonic received echo and transmitted wave signal Water depth: based on parameters such as time delay, reflection coefficient, and direction of arrival of ultrasonic received echo and transmitted wave signal, combined with the geographical position of the water surface of the unmanned spacecraft, the topography of the bottom of the water is inverted.

S7. Maintain the attitude of the unmanned spacecraft when controlling the ultrasonic microarray to collect water parameters. The process of maintaining the attitude of the unmanned spacecraft is: the unmanned spacecraft collects the attitude instrument at a high frequency to obtain the attitude of the unmanned spacecraft, and when a slight change in the attitude of the unmanned spacecraft is detected, it immediately controls the No. roll angle moment Pitch angle moment τ _θ , yaw angle moment τ _ψ ; roll angle moment/> The pitch angle moment τ _θ and the yaw angle moment τ _ψ are used to correct the flip angle, pitch angle and yaw angle of the unmanned spacecraft respectively.

S8. If scanning detection is required, the unmanned spacecraft controls No. 1 aerial rotor 1 and No. 2 aerial rotor 2 to generate roll angular moment The yaw angle torque τ _ψ , rotate the unmanned spacecraft to the specified roll angle and specified yaw angle; the ultrasonic microarray on the bottom of the unmanned spacecraft will change the detection direction with the rotation of the unmanned spacecraft. And return to step S6.

S9. Judging whether the detection of the water environment around the fixed point is completed, if not, return to step S5 and move to another location of the water area around the fixed point for detection. If yes, return to step S1 for water detection at the next detection point.

Among them, thrust F _z , roll angular moment The pitch angle moment τ _θ and the yaw angle moment τ _ψ are generated by controlling the rotation speed and orientation of No. 1 air rotor 1 and No. 2 air rotor 2 distributed above the unmanned spacecraft; making the unmanned spacecraft generate thrust F _z , roll angle Moment /> When pitch angle torque τ _θ and yaw angle torque τ _ψ , the corresponding brushless motor throttle value and servo motor throttle value are:

s ₁ ＝-τ _θ +τ _ψ +500 Formula (3-1)

s ₂ =τ _θ +τ _ψ +500 Formula (3-2)

Among them, _m1 is the throttle value of No. 1 brushless motor 3, _m2 is the throttle value of No. 2 brushless motor 4, _s1 is the throttle value of No. 1 servo motor 5, and _s2 is the throttle value of No. 2 servo motor 6 value.

Among them, the forward thrust F _f is generated by controlling the speed of the propeller distributed under the tail of the unmanned spacecraft; the propeller is fixed on an underwater brushless motor, and the throttle value of the underwater brushless motor determines the propeller speed; the unmanned spacecraft generates For forward thrust Tf, the corresponding brushless motor throttle value is:

mu = T _f formula (4)

Wherein mu is the throttle value of the underwater brushless motor 7 under the tail of the unmanned spacecraft.

In summary, the present invention balances the unmanned spacecraft by controlling the moment generated by the rotor in the air of the unmanned spacecraft, maintains the detection direction of the ultrasonic microarray, and improves the detection accuracy; the moment generated by the rotor in the air of the unmanned spacecraft can also be used to actively change the direction of the unmanned spacecraft attitude, and then change the detection direction of the ultrasonic microarray to realize the function of scanning detection; the yaw angle moment and upward thrust generated by the air rotor of the unmanned spacecraft can be combined with the propeller to realize the water surface navigation task of controlling the draft; the rotation of the air rotor of the unmanned spacecraft Thrust is generated to control the flight of the unmanned spacecraft, the flight resistance is less than that of water surface navigation, and the movement speed is fast.

The above-mentioned embodiment is a preferred embodiment of the present invention, but the embodiment of the present invention is not limited by the above-mentioned embodiment, and any other changes, modifications, substitutions, combinations, Simplifications should be equivalent replacement methods, and all are included in the protection scope of the present invention.

Claims (8)

1. an aerial rotor and propeller cooperatively drive unmanned spacecraft ultrasonic underwater detection method, it is characterized in that, comprises the following steps: S1. Receive the control command to obtain the detection fixed-point position; S2. Arrive at the detection point by means of flight, the process is: The unmanned spacecraft controls the rotation of the air rotors above the unmanned spacecraft to provide thrust F _z to push the unmanned spacecraft away from the water surface. The height of the unmanned spacecraft from the water surface is obtained by the ultrasonic microarray distributed at the bottom of the ship. Brush motor throttle value and servo motor throttle value to control the orientation of each air rotor: Where m _i is the throttle value of the ith brushless motor, s _i is the throttle value of the ith servo motor, is the brushless motor thrust control coefficient, /> is the zero bias control coefficient of the servo motor; The unmanned spacecraft then controls the air rotor above the unmanned spacecraft to generate roll angular moment and the pitch angle torque τ _θ , changing the roll angle and pitch angle of the unmanned spacecraft, the thrust F _z produced by the rotation of the air rotor above the unmanned spacecraft produces a horizontal thrust due to the change of the roll angle and pitch angle, so that the unmanned spacecraft flies horizontally, where The current horizontal position of the unmanned spacecraft is obtained by the satellite locator. At this time, the throttle value of the brushless motor controlling the rotation speed of each air rotor and the throttle value of the servo motor controlling the orientation of each air rotor are: Where m _i is the throttle value of the ith brushless motor, s _i is the throttle value of the ith servo motor, is the brushless motor thrust control coefficient, /> is the zero bias control coefficient of the servo motor, /> is the brushless motor roll angle torque control coefficient, /> is the brushless motor pitch angle torque control coefficient, /> is the servo motor roll angle torque control coefficient, /> is the pitch angle torque control coefficient of the servo motor; S3. After arriving at the detection point, control the rotor and propeller in the air to stand still for a period of time, and use the attitude meter to measure and record the attitude change rate of the unmanned spacecraft, and count the direction of wave motion; S4. Control the direction of the unmanned spacecraft to be perpendicular to the direction of wave motion; S5. Control the unmanned spacecraft to navigate around the detection point; S6, controlling the ultrasonic microarray to collect water parameters; S7. When controlling the ultrasonic microarray to collect water parameters, maintain the attitude of the unmanned spacecraft; S8. If scanning detection is required, change the roll angle and yaw angle of the unmanned spacecraft and keep it, and return to step S6; S9. Determine whether the detection of the water environment around the fixed point is completed. If not, return to step S5 and move to another location in the water area around the fixed point for detection; if yes, return to step S1 for water detection at the next detection point. 2. The aerial rotor and propeller cooperatively drive the ultrasonic underwater detection method of the unmanned spacecraft according to claim 1, wherein the detection fixed-point position of the step S1 is from the detection fixed-point position specified by the remote user or from the The position of the next detection fixed point obtained by the unmanned spacecraft according to the path planning. 3. The aerial rotor and propeller cooperatively drive the ultrasonic underwater detection method of the unmanned spacecraft according to claim 1, wherein the process of the step S3 is: use the attitude instrument to measure and record the yaw angle and the pitch of the unmanned spacecraft Angle, and delete the value of yaw angle and pitch angle less than the threshold value, get n sets of data, and get the angle α between the direction of wave motion and the hull of the unmanned spacecraft by the following statistics: in is the yaw angle of the i-th unmanned spacecraft, θ _i is the pitch angle of the i-th unmanned spacecraft, and n is the number of data. 4. The aerial rotor and propeller cooperatively drive the ultrasonic underwater detection method of the unmanned spacecraft according to claim 1, wherein the process of the step S4 is: controlling the aerial rotor above the unmanned spacecraft to generate the yaw angle moment τ _ψ , making the unmanned spacecraft rotate clockwise At this time, the orientation of the unmanned spacecraft is perpendicular to the direction of wave motion, where α is the angle between the direction of wave motion and the hull of the unmanned spacecraft. At this time, the throttle value of the brushless motor that controls the rotation speed of each air rotor and the servo that controls the orientation of each air rotor The motor throttle value is: Where m _i is the throttle value of the ith brushless motor, s _i is the throttle value of the ith servo motor, is the zero bias control coefficient of the servo motor, /> is the brushless motor yaw angle torque control coefficient, /> is the servo motor yaw angle torque control coefficient. 5. The aerial rotor and propeller cooperatively driving the ultrasonic underwater detection method of unmanned spacecraft according to claim 1, wherein the process of step S5 is: controlling the rotation of the propeller under the tail of the unmanned spacecraft to provide forward thrust Tf, pushes the unmanned spacecraft to sail forward, controls the air rotor above the unmanned spacecraft to generate yaw angle torque τ _ψ and thrust F _z , the generated yaw angle torque τ _ψ is used to control the navigation direction, and the generated thrust F _z is used to To control the draft, the current draft of the unmanned spacecraft is obtained by the pressure gauge distributed at the bottom of the ship. At this time, the throttle value of the brushless motor controlling the rotation speed of each air rotor, the throttle value of the servo motor controlling the orientation of each air rotor and the rotation of the propeller The throttle value of the underwater brushless motor is: mu = kT _f formula (10) Where m _i is the throttle value of the ith brushless motor, s _i is the throttle value of the ith servo motor, is the brushless motor thrust control coefficient, /> is the zero bias control coefficient of the servo motor, /> is the brushless motor yaw angle torque control coefficient, /> is the yaw angle torque control coefficient of the servo motor, mu is the throttle value of the underwater brushless motor, and k is the forward thrust control coefficient. 6. The aerial rotor and propeller cooperatively driving the ultrasonic underwater detection method of the unmanned spacecraft according to claim 1, characterized in that, the process of the step S6 is: the ultrasonic microarray sends detection signals, and according to the received detection signals, Calculation of water parameters; calculation of water flow velocity based on the frequency offset of ultrasonic received echo and transmitted wave signals; calculation of water depth based on time delay of ultrasonic received echo and transmitted wave signals; time delay and reflection coefficient of ultrasonic received echo and transmitted wave signals , DOA parameters, combined with the water surface location of the unmanned spacecraft, to invert the topography of the bottom of the water. 7. The aerial rotor and propeller cooperatively driving the ultrasonic underwater detection method of the unmanned spacecraft according to claim 1, characterized in that, the process of the step S7 is: the unmanned spacecraft collects the attitude instrument at a high frequency to obtain the unmanned spacecraft Attitude, when a slight change in the attitude of the unmanned spacecraft is detected, the air rotor is immediately controlled to generate a roll angular moment Pitch angle moment τ _θ , yaw angle moment τ _ψ ; roll angle moment/> The pitch angle torque τ _θ and the yaw angle torque τ _ψ are used to correct the flip angle, pitch angle, and yaw angle of the unmanned spacecraft respectively. At this time, the throttle value of the brushless motor that controls the rotation speed of each air rotor and the control of the orientation of each air rotor The throttle value of the servo motor is: Where m _i is the throttle value of the ith brushless motor, s _i is the throttle value of the ith servo motor, is the zero bias control coefficient of the servo motor, /> is the brushless motor roll angle torque control coefficient, /> is the brushless motor pitch angle torque control coefficient, /> is the brushless motor yaw angle torque control coefficient, /> is the servo motor roll angle torque control coefficient, /> is the pitch angle torque control coefficient of the servo motor, /> is the servo motor yaw angle torque control coefficient. 8. The aerial rotor and propeller cooperatively driving the ultrasonic underwater detection method of the unmanned spacecraft according to claim 1, wherein the process of step S8 is: the unmanned spacecraft controls the aerial rotor to generate a rolling angular moment Yaw angle torque τ _ψ , rotate the unmanned spacecraft to the specified roll angle and specified yaw angle, the ultrasonic microarray on the bottom of the unmanned spacecraft will change the detection direction with the rotation of the unmanned spacecraft, and at this time control the rotational speed of each rotor in the air Throttle value of the brushless motor and the servo motor throttle value controlling the orientation of each air rotor: Where m _i is the throttle value of the ith brushless motor, s _i is the throttle value of the ith servo motor, is the zero bias control coefficient of the servo motor, /> is the brushless motor roll angle torque control coefficient, /> is the brushless motor pitch angle torque control coefficient, /> is the brushless motor yaw angle torque control coefficient, /> is the servo motor roll angle torque control coefficient, /> is the pitch angle torque control coefficient of the servo motor, /> is the servo motor yaw angle torque control coefficient.