CN113567989A - Marine environment monitoring system based on underwater robot - Google Patents
Marine environment monitoring system based on underwater robot Download PDFInfo
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- CN113567989A CN113567989A CN202110678507.2A CN202110678507A CN113567989A CN 113567989 A CN113567989 A CN 113567989A CN 202110678507 A CN202110678507 A CN 202110678507A CN 113567989 A CN113567989 A CN 113567989A
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- marine environment
- underwater robot
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- sound wave
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/86—Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
Abstract
The invention discloses a marine environment monitoring system based on an underwater robot, which comprises a monitoring center, the underwater robot and a micro-processing module; the monitoring center is used for receiving and storing data sent by the micro-processing module and sending a control signal to the micro-processing module; the micro-processing module is used for receiving the data acquired by the underwater robot, processing the acquired data, evaluating the marine environment condition according to the processed data and transmitting an evaluation result to the monitoring center; controlling the activity state of the underwater robot according to the received control instruction; the underwater robot comprises a robot body, wherein the robot body is provided with a first processing unit and an environment detection module; the environment detection module comprises one or more distance detection units and a sound wave detection unit. The invention can monitor through the underwater robot, and can avoid influencing animals in marine environment during underwater operation.
Description
Technical Field
The invention relates to the technical field of marine environments, in particular to a marine environment monitoring system based on an underwater robot.
Background
Marine environments include plants, animals and mammals in marine environments. Marine underwater operations may affect the marine environment, for example, affecting mammals in the marine environment. For example, in underwater operations, protected species, endangered species may be accidentally caught, injured and/or killed.
Therefore, the marine environment is monitored, the influence on animals in the marine environment during underwater operation is avoided, and the method has certain research value.
Disclosure of Invention
In view of the above technical problems, an object of the present invention is to provide a marine environment monitoring system based on an underwater robot, which solves the problem that animals in a marine environment are easily affected during underwater work.
The invention adopts the following technical scheme:
a marine environment monitoring system based on an underwater robot comprises a monitoring center, the underwater robot and a micro-processing module; wherein the content of the first and second substances,
the monitoring center is used for receiving and storing the data sent by the micro-processing module and sending a control signal to the micro-processing module;
the micro-processing module is used for receiving the data acquired by the underwater robot, processing the acquired data, evaluating the marine environment condition according to the processed data and transmitting an evaluation result to the monitoring center; receiving a control instruction of a monitoring center, and controlling the activity state of the underwater robot according to the received control instruction;
the underwater robot comprises a robot body, wherein the robot body is provided with a first processing unit and an environment detection module;
the environment detection module comprises one or more distance detection units and a sound wave detection unit; the sound wave detection unit is used for monitoring sound waves caused by objects in the marine environment and transmitting the sound waves to the processing unit; the distance detection unit is used for transmitting a signal to an object in the marine environment, receiving a reflected signal reflected by the object in the marine environment, generating a sensor signal based on the transmitted signal and the reflected signal, and transmitting the sensor signal to the first processing unit when the sound wave detection unit detects a sound wave caused by the object in the marine environment; the first processing unit is used for determining the distance between the object and the underwater robot according to the sensor signal.
Optionally, the acoustic wave detection unit includes:
the hydrophone array is used for receiving the sound wave signals in the water after the monitored sea area is selected and transmitting the sound wave signals to the receiving unit;
the receiving unit is used for receiving the sound wave signals sent by the hydrophone array, sequentially filtering, amplifying and carrying out A/D conversion on the sound wave signals and sending the sound wave signals to the second processing unit;
and the second processing unit is used for judging whether the sound wave signal is the sound wave caused by the object in the marine environment according to the sound wave signal sent by the receiving unit.
Optionally, the acoustic wave detection unit further includes a timing loop;
the timing loop is used for providing a time signal, equally dividing the sound wave signal data subjected to A/D conversion according to a set time length, carrying out average processing on each equal time length data to obtain average value data of a plurality of equal time length data, and sending the average value data to the second processing unit; and the second processing unit is used for judging whether the sound wave signal is the sound wave caused by the object in the marine environment according to the received mean value data.
Optionally, the second processing unit is further configured to determine that the sound wave signal is a sound wave caused by an object in the marine environment when the frequency of the sound wave signal sent by the receiving unit is within a preset frequency range.
Optionally, the second processing unit is further configured to combine a plurality of sensor signals according to a kalman filter or a particle filter, and determine a position of the object in the marine environment according to the plurality of sensor signals.
Optionally, the distance detection unit employs a wireless distance measurement device, and the transmission signal sent by the wireless distance measurement device employs a quantum radio signal or a low-frequency magnetic radio signal.
Optionally, the distance detection unit adopts an acoustic ranging device.
Optionally, the acoustic ranging device includes an ultrasonic ranging sensor, a measurement circuit, a deviation gain circuit, an a/D conversion circuit, a power amplification circuit, a single-chip microcomputer control module, an L-shaped charge pump, a float switch, an air inlet valve, a GPS module, and a battery pack; the ultrasonic ranging sensor is connected with a measuring circuit, the measuring circuit is connected with a deviation gain circuit, the deviation gain circuit is connected with an A/D conversion circuit, the A/D conversion circuit is connected with a power amplification circuit, the power amplification circuit is connected with a single-chip microcomputer control module, the single-chip microcomputer control module is respectively connected with an inflating pump, an air inlet valve and a GPS module, and a relay circuit is arranged in a float switch and connected with the air inlet valve.
Optionally, the hydrophone array includes a plurality of hydrophone element arrays, and each hydrophone element array includes a plurality of hydrophones and two fiber deafness probes;
the optical fiber deafness probe comprises a Michelson interferometer, a support rigid body and a double-layer air cavity; the double-layer air cavity consists of an outer cylinder and an inner cylinder, and the outer cylinder is sleeved on the inner cylinder to form the double-layer air cavity; the reference arm of the Michelson interferometer is wound on the inner cylinder of the double-layer air cavity, the signal arm of the Michelson interferometer is wound on the outer cylinder of the double-layer air cavity, and the inner cylinder and the outer cylinder are fixedly supported by the support rigid body.
Optionally, the underwater robot further comprises a switching tool, and the switching tool is used for acquiring an underwater operation tool to be switched of the underwater robot;
the switching tool floats out or dives through the conveying belt; the switching tool is provided with a wireless receiver and a wireless transmitter, the switching tool sends a wireless signal to the processing unit through the wireless transmitter, and the switching tool receives the wireless signal sent by the processing unit through the wireless receiver;
the first processing unit is further used for determining the position of the change-over tool in the marine environment according to the wireless signal sent by the change-over tool.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, when the sound wave detection unit of the underwater robot detects the sound wave caused by the object in the marine environment, the distance detection unit is used for monitoring the distance to acquire the distance between the object and the underwater robot, the micro-processing module is used for evaluating the marine environment condition according to the data acquired by the underwater robot, and the activity state of the underwater robot is controlled according to the evaluation result, so that the monitoring of the marine environment can be realized, and the influence on animals in the marine environment during underwater operation is avoided.
Drawings
Fig. 1 is a schematic structural diagram of a marine environment monitoring system based on an underwater robot according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an environment detection module according to an embodiment of the present invention.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and specific embodiments, and it should be noted that, in the premise of no conflict, the following described embodiments or technical features may be arbitrarily combined to form a new embodiment:
the first embodiment is as follows:
referring to fig. 1, a marine environment monitoring system based on an underwater robot of the present invention is shown, including a monitoring center, an underwater robot, and a microprocessor module; wherein the content of the first and second substances,
the monitoring center 10 is used for receiving and storing the data sent by the micro-processing module and sending a control signal to the micro-processing module;
for example, when the distance between the object and the underwater robot is smaller than a preset distance value, the underwater robot is controlled to move towards a direction far away from the object in the marine environment.
The micro-processing module 20 is used for receiving the data acquired by the underwater robot, processing the acquired data, evaluating the marine environment condition according to the processed data, and transmitting an evaluation result to the monitoring center 10; receiving a control instruction of the monitoring center 10, and controlling the activity state of the underwater robot according to the received control instruction;
the underwater robot comprises a robot body, wherein the robot body is provided with a first processing unit 301 and an environment detection module 302;
the environment detection module 302 comprises one or more distance detection units 3012 and an acoustic wave detection unit 3011;
the acoustic wave detection unit 3011 is configured to monitor acoustic waves caused by an object in a marine environment and transmit the acoustic waves to the processing unit; the acoustic wave detection unit 3011 may indicate that an object in the marine environment is detected by detecting an acoustic wave caused by the object in the marine environment, for example, a frequency of a monitored acoustic wave signal is greater than 200Hz and less than 150 kHz. When the frequency of the monitored sound wave signal is not in the preset frequency range, the sound wave signal may be caused by an earthquake or the like.
The distance detection unit 3012 is configured to, when the acoustic wave detection unit 3011 detects an acoustic wave caused by an object in the marine environment, transmit a signal to the object in the marine environment, receive a reflected signal reflected by the object in the marine environment, generate a sensor signal based on the transmitted signal and the reflected signal, and transmit the sensor signal to the first processing unit 301; the first processing unit 301 is configured to determine a distance between the object and the underwater robot 30 according to the sensor signal.
When the underwater robot 30 is located in a marine environment, the marine environment can be monitored at a close distance under the water surface by the acoustic wave detection unit 3011 and the distance detection unit 3012, that is, objects in the marine environment are monitored by the acoustic wave detection unit 3011, and when an acoustic wave caused by an object in the marine environment is detected, the position of the object in the marine environment is measured by the distance detection unit 3012.
In a specific application, the marine environment may be the environment of a marine ocean vessel or a marine stationary platform, the environment of a marine port or harbor, the environment around the sea or the environment of a marine sea state, or the like.
Wherein the sound waves caused by objects in the marine environment may be caused by marine mammals, such as large whales or dolphins, and the frequency of the sound waves caused by the marine mammals is generally greater than 200Hz and less than 150 kHz.
Therefore, when the frequency of the sound wave signal is detected to be more than 200Hz and less than 150kHz, the sound wave signal can be judged to be the sound wave caused by the object in the marine environment.
According to the invention, when the sound wave detection unit 3011 of the underwater robot 30 detects the sound wave caused by an object in the marine environment, the distance detection unit 3012 is used for monitoring the distance to acquire the distance between the object and the underwater robot 30, the micro-processing module 20 is used for evaluating the marine environment condition according to the data acquired by the underwater robot 30 and controlling the activity state of the underwater robot 30 according to the evaluation result, so that the monitoring of the marine environment can be realized, and the influence on animals in the marine environment during underwater operation can be avoided.
Specifically, the distance detecting unit 3012 may be a short-range (SR) distance measuring device, a medium-range (MR) distance measuring device, or a long-range (LR) distance measuring device.
Short range devices may cover ranges up to about 0 to 60 or 100 meters. A mid-range (MR) ranging device or a remote (LR) ranging device may cover a range of approximately 30m to 1.8 or 2.0 km.
In an embodiment, the distance detecting unit 3012 is a wireless distance measuring device, and the transmission signal sent by the wireless distance measuring device is a quantum radio signal or a low-frequency magnetic radio signal.
It should be noted that, when ordinary radio signals are applied to a marine environment, they are easily obstructed. The distance detection unit 3012 of the present application may employ quantum radio or low-frequency magnetic radio as the radio signal for distance measurement.
The quantum radio or the low-frequency magnetic radio can be utilized in underwater communication to realize ranging. Low frequency magnetic radios, which can penetrate building materials, water and soil at higher frequencies, are different from traditional electromagnetic communication signals, and ultra low frequency electromagnetic fields have been used in underwater communications.
In a specific implementation, one or more distance detection units 3012 may be configured, and the signal-to-noise ratio of object monitoring may be improved by performing combined monitoring through a plurality of distance detection units 3012.
Optionally, the acoustic wave detection unit 3011 includes:
the hydrophone array is used for receiving the sound wave signals in the water after the monitored sea area is selected and transmitting the sound wave signals to the receiving unit;
the receiving unit is used for receiving the sound wave signals sent by the hydrophone array, sequentially filtering, amplifying and carrying out A/D conversion on the sound wave signals and sending the sound wave signals to the second processing unit;
and the second processing unit is used for judging whether the sound wave signal is the sound wave caused by the object in the marine environment according to the sound wave signal sent by the receiving unit.
Further, the second processing unit is further configured to determine that the sound wave signal is a sound wave caused by an object in the marine environment when the frequency of the sound wave signal sent by the receiving unit is greater than 200Hz and less than 150 kHz.
When the frequency of the sound wave signal transmitted by the receiving unit is greater than 200Hz and less than 150kHz, the sound wave signal can be determined to be the sound wave caused by the object in the marine environment. When an object in the marine environment is detected, a distance measurement is performed again.
Optionally, the acoustic wave detection unit 3011 further includes a timing loop;
the timing loop is used for providing a time signal, equally dividing the sound wave signal data subjected to A/D conversion according to a set time length, carrying out average processing on each equal time length data to obtain average value data of a plurality of equal time length data, and sending the average value data to the second processing unit; and the second processing unit is used for judging whether the sound wave signal is the sound wave caused by the object in the marine environment according to the received mean value data.
Specifically, the averaging process on the data of each equal time duration may be averaging the frequency values in the data of each equal time duration to obtain the average data of the data of each equal time duration, for example, a certain data of an equal time duration specifically includes a sound wave signal with a frequency of 200Hz, a sound wave signal with a frequency of 300Hz, and a sound wave signal with a frequency of 400Hz, and the sound wave signals of the three frequencies have equal durations, so that the average data of the equal time duration is a sound wave signal with a frequency of 300 Hz.
In the implementation process, whether the sound wave signal is the sound wave caused by the object in the marine environment or not is judged according to the received mean value data, so that the accuracy of judging whether the sound wave signal is the sound wave caused by the object in the marine environment or not can be improved.
Optionally, the first processing unit 301 may be configured to determine the velocity and acceleration of the object in the marine environment based on a plurality of sensors.
Optionally, the first processing unit 301 may be configured to derive point cloud information based on the plurality of sensor signals, determine the position of objects in the marine environment from the point cloud information, and may continuously determine the position of objects. The point cloud information refers to a data set of a plurality of sensor signals.
Alternatively, the first processing unit 301 is configured to combine the plurality of sensor signals using a state estimation filter, such as a kalman filter or a particle filter, to determine the position of the object in the marine environment.
Optionally, the first processing unit 301 may be configured to determine meteorological and marine parameters of the marine environment, such as ocean current velocity, ocean current direction, ocean wave height, ocean wave period, ocean wave spectrum, ocean wave frequency, ocean wave propagation direction, ocean velocity and/or wind direction, based on the plurality of sensor signals.
Optionally, the acoustic ranging device may be implemented by using a specific circuit device, for example, including an ultrasonic ranging sensor, a measurement circuit, a deviation gain circuit, an a/D conversion circuit, a power amplification circuit, a single-chip microcomputer control module, an L inflator pump, a float switch, an air inlet valve, a GPS module, and a battery pack; the ultrasonic ranging sensor is connected with a measuring circuit, the measuring circuit is connected with a deviation gain circuit, the deviation gain circuit is connected with an A/D conversion circuit, the A/D conversion circuit is connected with a power amplification circuit, the power amplification circuit is connected with a single-chip microcomputer control module, the single-chip microcomputer control module is respectively connected with an inflating pump, an air inlet valve and a GPS module, and a relay circuit is arranged in a float switch and connected with the air inlet valve.
The working principle of the acoustic ranging device is as follows: the ultrasonic distance measuring instrument is controlled by the single chip microcomputer to measure distance, measured ultrasonic signals are input into the single chip microcomputer to be analyzed, and collected information is sent to the monitoring center 10 through the GPS module to be gathered; because a plurality of devices can form a three-dimensional positioning mode at different depths in the deep sea, the positioning of an object can be realized; when the work is finished, the monitoring center 10 sends a floating signal to a GPS module in the device, the single chip microcomputer controls the inflator pump to inflate the inflatable buoy, meanwhile, the air inlet valve is opened, the water quantity in the water storage bin is discharged through the pressure of the deep sea, the buoyancy of the inflatable buoy is achieved, and the device is floated out of the sea surface to be recovered.
Optionally, the hydrophone array includes a plurality of hydrophone element arrays, and each hydrophone element array includes a plurality of hydrophones and two fiber deafness probes;
the optical fiber deafness probe comprises a Michelson interferometer, a support rigid body and a double-layer air cavity; the double-layer air cavity consists of an outer cylinder and an inner cylinder, and the outer cylinder is sleeved on the inner cylinder to form the double-layer air cavity; the reference arm of the Michelson interferometer is wound on the inner cylinder of the double-layer air cavity, the signal arm of the Michelson interferometer is wound on the outer cylinder of the double-layer air cavity, and the inner cylinder and the outer cylinder are fixedly supported by the support rigid body.
By utilizing the characteristic that the optical phase noise of different hydrophone element arrays has certain correlation, the optical phase noise is acquired by adopting the optical fiber deafness probe insensitive to external acoustic signals, when sound pressure acts on the optical fiber deafness probe, the sound pressure is buffered by the air cavity and acts on the sensing optical fiber in the opposite direction, the influence of the sound pressure action on the change of the optical fiber can be reduced to be low enough, so that the influence of the sound pressure action on the change of the phase difference of the interference optical signals output by two arms of the interferometer is small enough, the optical phase noise can be acquired, the signals of the detecting working hydrophone are compensated, and more accurate acoustic signals are acquired.
As a specific embodiment, the underwater robot 30 further includes a switching tool, and the switching tool is used for acquiring an underwater operation tool to be switched of the underwater robot 30;
the switching tool floats out or dives through the conveying belt; the switching tool is provided with a wireless receiver and a wireless transmitter, the switching tool sends a wireless signal to the processing unit through the wireless transmitter, and the switching tool receives the wireless signal sent by the processing unit through the wireless receiver;
the first processing unit 301 is further configured to determine a position of the change-over tool in the marine environment according to the wireless signal sent by the change-over tool.
In the traditional underwater operation, an underwater operation tool is carried by an underwater operation robot for submerging, but a general underwater operation robot can only carry one operation tool in one submerging operation, and the underwater operation robot needs to frequently float upwards and return to replace the operation tool, so that the operation efficiency is restricted, and the time for executing the expected underwater operation is prolonged. Therefore, by configuring the change-over tool, the change-over tool is floated out of the water surface to obtain the underwater operation tool to be changed over, and the time for executing the expected underwater operation can be reduced.
The change-over tool can float out or submerge through a conveyor belt, and particularly, the change-over tool can also float out or submerge through wires or steel wire ropes, optical fibers, coils, pipes, electric-hydraulic umbilicals and the like. The deployed wireline may be autonomous or remotely controlled. The switching tool is provided with a wireless receiver and a wireless transmitter, the switching tool sends a wireless signal to the processing unit through the wireless transmitter, and the switching tool receives the wireless signal sent by the processing unit through the wireless receiver;
specifically, when the underwater robot 30 is in a marine environment, one or more wireless signals are transmitted from a wireless transmitter, the one or more wireless signals are sensed by a wireless receiver, the position of the swap tool in the marine environment is determined based on the one or more wireless signals, and the robot body is navigated to the position of the swap tool based on the one or more wireless signals.
When subsea operations are completed, or the subsea work tool needs to be replaced, the swap tool can be independently retracted to the surface and, through communication with the subsea robot 30, the location of the swap tool can be obtained in real time and determine how the swap tool reacts in various ocean current profiles. By configuring the change-over tool, the change-over tool floats out of the water surface to obtain the underwater operation tool to be changed over, and the time for executing expected underwater operation can be reduced.
Various other modifications and changes may be made by those skilled in the art based on the above-described technical solutions and concepts, and all such modifications and changes should fall within the scope of the claims of the present invention.
Claims (10)
1. A marine environment monitoring system based on an underwater robot is characterized by comprising a monitoring center, the underwater robot and a micro-processing module; wherein the content of the first and second substances,
the monitoring center is used for receiving and storing the data sent by the micro-processing module and sending a control signal to the micro-processing module;
the micro-processing module is used for receiving the data acquired by the underwater robot, processing the acquired data, evaluating the marine environment condition according to the processed data and transmitting an evaluation result to the monitoring center; receiving a control instruction of a monitoring center, and controlling the activity state of the underwater robot according to the received control instruction;
the underwater robot comprises a robot body, wherein the robot body is provided with a first processing unit and an environment detection module;
the environment detection module comprises one or more distance detection units and a sound wave detection unit; the sound wave detection unit is used for monitoring sound waves caused by objects in the marine environment and transmitting the sound waves to the processing unit; the distance detection unit is used for transmitting a signal to an object in the marine environment, receiving a reflected signal reflected by the object in the marine environment, generating a sensor signal based on the transmitted signal and the reflected signal, and transmitting the sensor signal to the first processing unit when the sound wave detection unit detects a sound wave caused by the object in the marine environment; the first processing unit is used for determining the distance between the object and the underwater robot according to the sensor signal.
2. The underwater robot-based marine environment monitoring system of claim 1, wherein the acoustic detection unit comprises:
the hydrophone array is used for receiving the sound wave signals in the water after the monitored sea area is selected and transmitting the sound wave signals to the receiving unit;
the receiving unit is used for receiving the sound wave signals sent by the hydrophone array, sequentially filtering, amplifying and carrying out A/D conversion on the sound wave signals and sending the sound wave signals to the second processing unit;
and the second processing unit is used for judging whether the sound wave signal is the sound wave caused by the object in the marine environment according to the sound wave signal sent by the receiving unit.
3. The underwater robot-based marine environment monitoring system of claim 1, wherein the acoustic detection unit further comprises a timing loop;
the timing loop is used for providing a time signal, equally dividing the sound wave signal data subjected to A/D conversion according to a set time length, carrying out average processing on each equal time length data to obtain average value data of a plurality of equal time length data, and sending the average value data to the second processing unit; and the second processing unit is used for judging whether the sound wave signal is the sound wave caused by the object in the marine environment according to the received mean value data.
4. The underwater robot-based marine environment monitoring system of claim 2, wherein the second processing unit is further configured to determine that the acoustic signal is an acoustic wave caused by an object in the marine environment when the frequency of the acoustic signal transmitted by the receiving unit is within a preset frequency range.
5. The underwater robot based marine environment monitoring system of claim 2, wherein the second processing unit is further configured to combine a plurality of sensor signals according to a kalman filter or a particle filter, from which a position of an object in the marine environment is determined.
6. The underwater robot-based marine environment monitoring system of claim 1, wherein the distance detection unit employs a wireless distance measurement device, and a transmission signal transmitted by the wireless distance measurement device employs a quantum radio signal or a low-frequency magnetic radio signal.
7. The underwater robot-based marine environment monitoring system of claim 1, wherein the distance detection unit employs an acoustic ranging device.
8. The underwater robot-based marine environment monitoring system of claim 7, wherein the acoustic ranging device comprises an ultrasonic ranging sensor, a measurement circuit, a deviation gain circuit, an A/D conversion circuit, a power amplification circuit, a singlechip control module, an L-shaped air pump, a float switch, an air inlet valve, a GPS module and a battery pack; the ultrasonic ranging sensor is connected with a measuring circuit, the measuring circuit is connected with a deviation gain circuit, the deviation gain circuit is connected with an A/D conversion circuit, the A/D conversion circuit is connected with a power amplification circuit, the power amplification circuit is connected with a single-chip microcomputer control module, the single-chip microcomputer control module is respectively connected with an inflating pump, an air inlet valve and a GPS module, and a relay circuit is arranged in a float switch and connected with the air inlet valve.
9. The underwater robot based marine environment monitoring system of claim 2, wherein the hydrophone array comprises a plurality of hydrophone element arrays, each of the hydrophone element arrays comprising a plurality of hydrophones and two fiber-optic deafness probes;
the optical fiber deafness probe comprises a Michelson interferometer, a support rigid body and a double-layer air cavity; the double-layer air cavity consists of an outer cylinder and an inner cylinder, and the outer cylinder is sleeved on the inner cylinder to form the double-layer air cavity; the reference arm of the Michelson interferometer is wound on the inner cylinder of the double-layer air cavity, the signal arm of the Michelson interferometer is wound on the outer cylinder of the double-layer air cavity, and the inner cylinder and the outer cylinder are fixedly supported by the support rigid body.
10. The underwater robot-based marine environment monitoring system of claim 1, further comprising a swap tool for acquiring underwater work tools that the underwater robot needs to swap;
the switching tool floats out or dives through the conveying belt; the switching tool is provided with a wireless receiver and a wireless transmitter, the switching tool sends a wireless signal to the processing unit through the wireless transmitter, and the switching tool receives the wireless signal sent by the processing unit through the wireless receiver;
the first processing unit is further used for determining the position of the change-over tool in the marine environment according to the wireless signal sent by the change-over tool.
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