CN116588295A - Research method based on auv and underwater glider cluster collaborative operation mode - Google Patents

Research method based on auv and underwater glider cluster collaborative operation mode Download PDF

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Publication number
CN116588295A
CN116588295A CN202310556913.0A CN202310556913A CN116588295A CN 116588295 A CN116588295 A CN 116588295A CN 202310556913 A CN202310556913 A CN 202310556913A CN 116588295 A CN116588295 A CN 116588295A
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auv
underwater
sound
transmitted
underwater glider
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Inventor
李正光
张奕
杨磊
赵晟娅
齐海滨
方玉莹
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National Deep Sea Center
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National Deep Sea Center
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Priority to CN202310556913.0A priority Critical patent/CN116588295A/en
Publication of CN116588295A publication Critical patent/CN116588295A/en
Pending legal-status Critical Current

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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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/38—Arrangement of visual or electronic watch equipment, e.g. of periscopes, of radar
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/39—Arrangements of sonic watch equipment, e.g. low-frequency, sonar
    • G—PHYSICS
    • G10—MUSICAL INSTRUMENTS; ACOUSTICS
    • G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
    • G10L25/00—Speech or voice analysis techniques not restricted to a single one of groups G10L15/00 - G10L21/00
    • G10L25/27—Speech or voice analysis techniques not restricted to a single one of groups G10L15/00 - G10L21/00 characterised by the analysis technique
    • G—PHYSICS
    • G10—MUSICAL INSTRUMENTS; ACOUSTICS
    • G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
    • G10L25/00—Speech or voice analysis techniques not restricted to a single one of groups G10L15/00 - G10L21/00
    • G10L25/48—Speech or voice analysis techniques not restricted to a single one of groups G10L15/00 - G10L21/00 specially adapted for particular use
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Multimedia (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Signal Processing (AREA)
  • Audiology, Speech & Language Pathology (AREA)
  • Computational Linguistics (AREA)
  • Health & Medical Sciences (AREA)
  • Human Computer Interaction (AREA)
  • Acoustics & Sound (AREA)
  • Ocean & Marine Engineering (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

The invention provides a research method based on a auv and underwater glider cluster collaborative operation mode, and relates to the technical field of underwater vehicles. The research method based on auv and underwater glider cluster collaborative operation mode comprises an underwater glider and a mother ship, wherein the underwater glider is arranged at the top of the mother ship and comprises the following steps of: step 1: the positioning and throwing system is carried on the bottom of the underwater glider to be submerged under water for fixed-point throwing. According to the research method based on AUV and underwater glider cluster collaborative operation mode, the No. 2 AUV is kept at the same position, the sound and the video of marine organisms at the water surface height are monitored, the No. 3 AUV is thrown according to the principle, the AUV can be submerged farther by the fixed-point throwing mode until the throwing is finished, and the underwater organisms are searched deeper.

Description

Research method based on auv and underwater glider cluster collaborative operation mode
Technical Field
The invention relates to a auv and underwater glider operation research method, in particular to a auv and underwater glider cluster collaborative operation mode research method, and belongs to the technical field of underwater vehicles.
Background
The underwater glider is a novel underwater robot. The propulsion is obtained by utilizing the adjustment of the net buoyancy and the attitude angle, so that the energy consumption is extremely low, a small amount of energy is consumed only when the net buoyancy and the attitude angle are adjusted, and the propulsion device has the characteristics of high efficiency and large endurance (up to thousands of kilometers). Although the underwater glider has slower navigation speed, the underwater glider has the characteristics of low manufacturing cost and maintenance cost, reusability, mass throwing and the like, meets the requirements of long-time and large-scale ocean exploration, and is an underwater cableless robot.
According to the invention of patent number CN114655400A, an AUV electromagnetic guiding recovery device and method for a wing body fusion underwater glider belong to the field of deployment and recovery of underwater vehicles; the device comprises an electromagnetic defense recovery device and a traction auxiliary recovery device, wherein a plurality of electromagnetic defense recovery devices are arranged in a wing body fusion underwater glide cabin body, an AUV is drawn into the recovery precision range of the electromagnetic defense recovery device through the traction auxiliary recovery device, and then the electromagnetic defense recovery device is used for carrying out recovery; the electromagnetic distribution and protection recovery device comprises a power supply, an electromagnetic distribution and protection recovery pipe and a front cover, and the power supply is used for controlling the on-off of the electromagnetic field environment of the electromagnetic distribution and protection recovery pipe; the traction auxiliary recovery device comprises a control end and a traction end; the control end controls the traction end to execute actions; after the traction end locks the AUV to be recovered, the control end controls the AUV to navigate to the vicinity of the wing body fusion underwater glider until the AUV reaches the recovery precision range of the electromagnetic defense recovery device. Therefore, the invention can realize high-efficiency and accurate AUV recovery.
The above comparison document has the following problems that when the underwater glider is launched for sailing, the underwater glider cannot be put in a fixed point when being put on an AUV, the submerging depth is smaller, the deep ocean can not be detected, the ocean organism can not be detected deeply, the ocean mystery can not be detected better, the videos and the sounds of the ocean organism can not be monitored in the ocean areas with different depths, and the optimal distance most suitable for transmitting the videos and the sounds can not be analyzed and researched.
Disclosure of Invention
(one) solving the technical problems
The invention aims to provide a research method based on a AUV and underwater glider cluster collaborative operation mode, which aims to solve the problems that in the prior art, when AUV is laid, the AUV cannot be put in a fixed point, the submergence depth is smaller, the ocean depth cannot be detected, the ocean organism is not deep enough, the ocean mystery cannot be better detected, the ocean organism can not be monitored in different-depth sea areas, and the optimal distance most suitable for transmitting the video and the sound cannot be analyzed and researched.
(II) technical scheme
In order to achieve the above purpose, the invention is realized by the following technical scheme: the research method based on auv and underwater glider cluster collaborative operation mode comprises an underwater glider and a mother ship, wherein the underwater glider is arranged at the top of the mother ship and comprises the following steps:
step 1: the method comprises the steps of carrying a positioning throwing system on the bottom of an underwater glider, carrying out submerged underwater to perform fixed-point throwing, controlling a No. 2 AUV to carry a plurality of AUVs to continue to be submerged through a control platform until throwing is finished, throwing a No. 3 AUV when the No. 2 AUV is submerged to the maximum value of a running path, keeping the No. 2 AUV at the same position, monitoring the sound and video of marine organisms at the water surface height, throwing the No. 3 AUV according to the principle, and enabling the submerged distance of the AUV to be longer by the fixed-point throwing mode until throwing is finished according to the method, so that exploration of underwater organisms is deeper;
step 2: after the positioning throwing system finishes the throwing in sequence, the video monitoring system and the sound monitoring system are used for respectively recording marine organisms living at different ocean depths and recording sounds emitted by the marine organisms, the underwater glider, the No. 1 AUV, the No. 2 AUV and the No. 3 AUV are used for recording the marine organisms living at different ocean depths and recording the sounds emitted by the marine organisms, the recorded sounds and images are reflected to the control platform, and then data recovery and second data analysis are carried out, so that living habits of the marine organisms at different water depths and the sounds emitted by the marine organisms can be explored, and contribution is made to human exploration of the marine organisms;
step 3: in the process of recording marine organisms living at different ocean depths and recording and collecting sounds emitted by the marine organisms, analyzing and researching the transmission signal strength of a video monitoring system and the transmission signal transmission of a sound monitoring system under different distances to obtain the best transmission distance, wherein the transmission time of the No. 1 AUV to the control platform is relative to the transmission time of the underwater glider, whether the transmission signal transmission is weakened, the transmission time of the No. 2 AUV304 to the control platform is relative to the transmission time of the No. 1 AUV303, whether the transmission signal transmission is continuously weakened, the transmission time of the No. 3 AUV305 to the control platform is relative to the transmission time of the No. 2 AUV, whether the transmission signal transmission is continuously weakened, and after all data transmission is finished, obtaining the best signal transmission distance through first data analysis so as to research the best sound and video transmission distance.
Preferably, the positioning and launching system is used for controlling the underwater gliding airborne AUV to launch through a control platform, then launching the No. 1 AUV through a first fixed point of a travel path maximum value when the No. 1 AUV carries a plurality of AUVs to continue to dive to the travel path maximum value, then launching the No. 2 AUV when the No. 2 AUV carries a plurality of AUVs to continue to dive to the travel path maximum value, and then launching the No. 3 AUV when the No. 2 AUV carries a plurality of AUVs to dive to the travel path maximum value.
Preferably, the video monitoring system comprises video transmission signals, the video transmission signals are electrically connected with a control platform, an underwater glider, an AUV No. 1, an AUV No. 2 and an AUV No. 3 which are put in at fixed points are used for recording marine organisms living in different ocean depths, recorded data are transmitted to the control platform through the video transmission signals, then data recovery and second data analysis are carried out, the video transmission signals are used for transmitting video, the AUV No. 2 is put in when the AUV No. 1 is submerged to the maximum value of a driving path, the AUV No. 1 is kept unchanged at the position, the sound and the video of the marine organisms at the water surface height are monitored, after the AUV No. 2 is put in, the AUV No. 2 is controlled by the control platform to carry a plurality of AUVs again to continue to be submerged, the AUV No. 3 is put in when the AUV No. 2 is submerged to the maximum value of the driving path, the AUV No. 2 is kept unchanged at the position, and the sound and the video of the marine organisms at the water surface height are monitored.
Preferably, the sound monitoring system comprises a sound transmission signal, wherein the sound transmission signal is electrically connected with the control platform, the underwater glider, the No. 1 AUV, the No. 2 AUV and the No. 3 AUV which are put in at fixed points are used for recording sound emitted by marine organisms, recorded sound data is transmitted to the control platform through the sound transmission signal, then data recovery and second data analysis are carried out, and the sound transmission signal is set for transmitting the sound.
Preferably, after starting to work, marine organisms living at different ocean depths are recorded, sounds emitted by the marine organisms are recorded and transmitted to a control platform for second data analysis to obtain an optimal signal transmission distance, the video monitoring system firstly observes whether video transmission signals of the mother ship which is recovered by underwater glider transmission data are normal or not, and sequentially observes whether video signals of the mother ship which is recovered by No. 1 AUV transmission data are weakened or not relative to video signal transmission transmitted by the underwater glider, and the marine organisms at the high water surface are monitored by arranging the underwater glider.
Preferably, the transmission of the video signal of the No. 2 AUV transmission data recovered to the mother ship is continuously weakened relative to the transmission of the video signal of the No. 1 AUV transmission data, the transmission of the video signal of the No. 3 AUV transmission data recovered to the mother ship is continuously weakened relative to the transmission of the video signal of the No. 2 AUV transmission data, and then the optimal signal transmission distance is obtained through the first data analysis.
Preferably, the sound monitoring system transmits a signal to first observe whether the sound transmission signal of the underwater glider transmitted data received by the mother ship is normal, and then sequentially observe whether the sound signal of the mother ship received by the No. 1 AUV transmitted data is weakened relative to the sound transmission signal transmitted by the underwater glider.
Preferably, the sound signal transmitted by the AUV No. 2 is continuously attenuated relative to the sound signal transmitted by the AUV No. 1, the sound signal transmitted by the AUV No. 3 is continuously attenuated relative to the sound signal transmitted by the AUV No. 2, and the optimal signal transmission distance is obtained through the first data analysis.
Preferably, the flank is installed in the glider outside under water, the glider tail portion safety has the fin under water, is used for helping the glider under water to carry out steady operation through setting up fin and flank.
Preferably, the observation cabin is installed in the outer side of the underwater glider, the overhaul port is installed at the top of the underwater glider, and the underwater glider is used for overhauling the inner part of the underwater glider by arranging the overhaul port.
The invention provides a research method based on a auv and underwater glider cluster collaborative operation mode, which has the following beneficial effects:
1. according to the research method based on AUV and underwater glider cluster collaborative operation mode, the No. 1 AUV is kept at the same position, the sound and the video of marine organisms at the water surface height are monitored, after the No. 2 AUV is put in, the No. 2 AUV is controlled by a control platform to carry a plurality of AUVs to continue to submerge, when the No. 2 AUV submerges to the maximum value of a running path, the No. 3 AUV is put in, the No. 2 AUV is kept at the same position, the sound and the video of the marine organisms at the water surface height are monitored, the No. 3 AUV is put in according to the principle, and the method can enable the submerged distance of the AUV to be farther until the putting is finished according to the method, and the exploration of the underwater organisms is deeper through the fixed-point putting mode.
2. According to the research method based on AUV and underwater glider cluster collaborative operation mode, the underwater glider compares the time required for recording and transmitting sound emitted by marine organisms to a control platform with normal sound transmission time, whether the sound transmission signal is normal or not, the time of transmitting the No. 1 AUV to the control platform is relative to the transmission time of the underwater glider, whether the sound transmission signal is weakened or not, the time of transmitting the No. 2 AUV to the control platform is relative to the transmission time of the No. 1 AUV, whether the sound transmission signal is continuously weakened or not, the time of transmitting the No. 3 AUV to the control platform is relative to the transmission time of the No. 2 AUV, whether the sound transmission signal is continuously weakened or not, and after all data transmission is finished, the optimal signal transmission distance is obtained through first data analysis, so that the optimal sound transmission distance and the optimal video transmission distance are researched.
3. According to the research method based on AUV and underwater glider cluster collaborative operation modes, marine organisms living in different ocean depths are recorded through the underwater gliders, the No. 1 AUV, the No. 2 AUV and the No. 3 AUV, sounds emitted by the marine organisms are recorded, the recorded sounds and images are reflected to a control platform, and then data recovery and second data analysis are carried out, so that living habits of the marine organisms in different water depths and the sounds emitted by the marine organisms can be explored, and contribution is made to human exploration of the marine organisms.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a flow chart of a method of positioning a delivery system of the present invention;
fig. 3 is a flowchart of a method for transmitting signals in the video monitoring system according to the present invention.
In the figure: 1. a mother ship;
2. launching an AUV on an underwater glider; 201. a plurality of AUVs on board the underwater glider; 202. throwing an AUV No. 1 to a first fixed point of the maximum value of the running path; 203. carrying a plurality of AUVs by the AUV No. 1 to continuously submerge; 204. the No. 1 AUV is thrown in when the No. 1 AUV is submerged to the maximum value of the running path; 205. carrying a plurality of AUVs by the No. 2 AUV to continuously submerge; 206. the No. 2 AUV is thrown into the No. 3 AUV when the AUV is submerged to the maximum value of the running path; 207. according to the method, the delivery is finished;
3. a control platform; 301. transmitting a signal by sound; 302. an underwater glider; 303. AUV No. 1; 304. AUV No. 2; 305. AUV No. 3; 306. recording marine organisms living at different ocean depths; 307. recording sound emitted by marine organisms; 308. video transmission signals;
4. whether the video transmission signal is normal or not; 401. whether or not the video signal transmission is weakened; 402. whether the video signal transmission continues to be reduced; 403. whether the video signal transmission is continuously reduced;
5. whether the sound transmission signal is normal; 501. whether or not the transmission of the sound transmission signal is weakened; 502. whether the sound transmission signal transmission continues to be weakened; 503. whether or not the sound transmission signal transmission is continuously weakened;
6. recovering the data to the mother ship; 7. a first data analysis; 8. obtaining the optimal signal transmission distance; 9. starting; 10. recovering data; 11. second data analysis; 12. a tail wing; 13. a side wing; 14. an access opening; 15. an observation bin; 16. positioning the delivery system.
Detailed Description
The embodiment of the invention provides a research method based on a auv and underwater glider cluster collaborative operation mode.
Referring to fig. 1,2 and 3, the underwater glider 302 and the mother ship 1 are included, the underwater glider 302 is disposed on the top of the mother ship 1, and the method comprises the following steps:
step 1: the positioning and throwing system 16 is carried on the bottom of the underwater glider 302 to submerge to perform fixed-point throwing, and the throwing is finished 207 according to the method;
step 2: after the positioning and throwing system 16 finishes the orderly fixed-point throwing, respectively recording 306 marine organisms living at different ocean depths and 307 the sounds emitted by the marine organisms through a video monitoring system and a sound monitoring system;
step 3: in the process of recording 306 marine organisms living at different ocean depths and recording 307 the sounds emitted by the marine organisms, the transmission signal of the video monitoring system and the transmission signal transmission strength of the sound monitoring system under different distances are analyzed and researched to obtain the best transmission distance.
The positioning and launching system 16 is characterized in that the control platform 3 is used for controlling the underwater gliding airborne AUV to launch 2, then the underwater gliding airborne AUVs 201 are launched to a first fixed point of a travel path maximum value to launch No. 1 AUV202, then the No. 1 AUV carries a plurality of AUVs to continue to launch 203, when the No. 1 AUV is launched to the travel path maximum value, the No. 2 AUV carries the plurality of AUVs to continue to launch 205, when the No. 2 AUV is launched to the travel path maximum value, the No. 3 AUV206 is launched until the launching is finished 207 according to the method, the positioning and launching system 16 is arranged for carrying out visual monitoring and sound monitoring on sea surfaces with different depths, the video monitoring system comprises a video transmission signal 308, the video transmission signal 308 is electrically connected with the control platform 3, the underwater gliders 302, the No. 1 AUVs 303, the No. 2 AUVs 304 and the No. 3 AUVs 305 launched at the fixed point are used for recording 306 on marine organisms with different depths, the recorded data are transmitted to the control platform 3 through the video transmission signal 308, the data are then the data are transmitted through the second data transmission system 10, and the data recovery system is arranged for carrying out data recovery through the data transmission 11.
The flank 13 is installed in the glider 302 outside under water, and there is fin 12 in glider 302 afterbody safety under water, is used for helping glider 302 under water to carry out steady operation through setting up fin 12 and flank 13, and observation storehouse 15 is installed in glider 302 outside under water, and access hole 14 is installed at glider 302 top under water, is used for overhauling the inside of glider 302 under water through setting up access hole 14.
Specifically, first, the mother ship 1 is driven on the sea surface, then, the control platform 3 on the mother ship 1 is used for controlling the underwater glider-borne AUV to launch 2, a plurality of AUVs 201 on the underwater glider-borne are launched to a first fixed point of the maximum value of the driving path, the No. 1 AUV202 is launched, at this moment, the underwater glider 302 is kept unchanged at the position, the sound and the video of marine organisms at the water surface height are monitored, after the No. 1 AUV303 is launched, the No. 1 AUV is controlled by the control platform 3 to carry a plurality of AUVs to continue to launch 203, when the No. 1 AUV is launched to the maximum value of the driving path, the No. 2 AUV204 is launched, at this moment, the No. 1 AUV303 is kept unchanged at the position, the sound and the video of the marine organisms at the water surface height are monitored, after the No. 2 AUV304 is launched, a plurality of AUVs are continuously launched 205 through the control platform 3, at this moment, the No. 2 AUV is launched at this moment, the AUV is kept at the position of the AUV is kept unchanged, the position of the AUV is launched, the underwater organisms are further explored, the sound and video of the underwater organisms are launched to the fixed point of the sea level, the underwater life is monitored according to the principle of the method of the further, the method is further explored, and the method is further extended.
Referring to fig. 1,2 and 3 again, the sound monitoring system includes a sound transmission signal 301, the sound transmission signal 301 is electrically connected with the control platform 3, the underwater glider 302, the AUV 1, the AUV2, the AUV304 and the AUV3 which are put in at fixed points are used for recording 307 the sound emitted by the marine organism, the recorded sound data is transmitted to the control platform 3 through the sound transmission signal 301, and then the data recovery 10 is performed for the second data analysis 11, and the sound transmission signal 301 is set for transmitting the sound.
Specifically, the underwater glider 302, the No. 1 AUV303, the No. 2 AUV304 and the No. 3 AUV305 are used for recording 306 marine organisms living at different ocean depths and recording 307 the sounds emitted by the marine organisms, the recorded sounds and images are reflected to the control platform 3, and then the data are recovered 10 for the second data analysis 11, so that living habits of the marine organisms at different water depths and the sounds emitted by the marine organisms can be explored, and the method contributes to human exploration of the marine organisms.
Referring again to fig. 1,2 and 3, after starting 9 the work, the marine life living at different ocean depths is recorded 306 and the sound generated by the marine life is recorded 307 and transmitted to the control platform 3 for the second data analysis 11 to obtain the optimal signal transmission distance 8, the video monitoring system transmits the signal to observe whether the video transmission signal of the underwater glider 302 for data recovery to the mother ship 6 is normal 4, and sequentially observes whether the video signal of the data recovery to the mother ship 6 transmitted by the AUV303 is weakened 401 relative to the video signal transmission transmitted by the underwater glider 302, the marine life at the high water level is monitored by arranging the underwater glider 302, whether the video signal transmitted by the No. 2 AUV304 and the video signal transmitted by the No. 1 AUV303 are continuously weakened, whether the video signal transmitted by the No. 402,3 AUV305 and the video signal transmitted by the No. 2 AUV304 are continuously weakened, 403, and then the optimal signal transmission distance 8 is obtained through the first data analysis 7, the sound monitoring system transmission signal firstly observes whether the sound transmission signal transmitted by the underwater glider 302 and the video signal transmitted by the No. 2 AUV303 and the video signal transmitted by the No. 1 AUV303 and the video signal transmitted by the No. 2 AUV304 are continuously weakened, whether the sound signal transmitted by the No. 1 AUV303 and the video signal transmitted by the No. 35 AUV305 and the video signal transmitted by the No. 2 AUV304 and the video signal transmitted by the video signal recovered by the mother ship 6 are continuously weakened, whether the sound signal transmitted by the No. 3 AUV305 and the video signal transmitted by the video signal recovered by the No. 2 AUV 302 and the video signal transmitted by the mother ship 6 are continuously weakened, or not, and the sound monitoring system transmission signal is continuously weakened, 503, the sound signal transmitted by the sound signal recovered by the No. 2 AUV 302 and the sound signal is continuously transmitted by the No. 2 and the No. 2 AUV 302 and the video signal is continuously weakened, the first data analysis 7 then yields the optimum signal transmission distance 8.
Specifically, images and sounds of different marine organisms are recorded by fixed-point delivery of the underwater glider 302, the No. 1 AUV303, the No. 2 AUV304 and the No. 3 AUV305, in the recording process, the visual transmission signals and the sound transmission signals are transmitted to the control platform 3, in the transmission process, the first data analysis 7 can be conducted on the strength of the visual transmission signals and the strength of the sound transmission signals so as to obtain the optimal signal transmission distance 8 through research, the time required by the underwater glider 302 to record 306 the marine organisms living at different ocean depths to the control platform 3 is compared with the normal video transmission time, whether the visual transmission signals are normal 4, the visual transmission time of the No. 1 AUV303 to the control platform 3 is relative to the transmission time of the underwater glider 302, whether the visual signal transmission is weakened 401, the visual transmission time of the No. 2 AUV304 to the control platform 3 is relative to the transmission time of the No. 1 AUV303, whether or not the video signal transmission continues to be attenuated by 402,3 the video time of the AUV305 transmitted to the control platform 3 relative to the transmission time of the AUV2, whether or not the video signal transmission continues to be attenuated 403, and the time required for the underwater glider 302 to transmit the sound 307 emitted from the marine life to the control platform 3 is compared with the normal sound transmission time, whether or not the sound transmission signal is normal 5, and the time of the AUV 1 transmitted to the control platform 3 relative to the transmission time of the underwater glider 302, whether or not the sound transmission signal transmission is attenuated by 501,2 the AUV304 transmitted to the control platform 3 relative to the transmission time of the AUV 1 303, whether or not the sound transmission signal transmission is continuously attenuated 502, the time of the AUV3 transmitted to the control platform 3 relative to the transmission time of the AUV2, whether or not the sound transmission signal transmission is continuously attenuated 503, after all data transmission has ended, an optimal signal transmission distance 8 is determined by means of the first data analysis 7, so that an optimal sound and video transmission distance is determined.
Working principle: the underwater glider 302 keeps the position unchanged, monitors the sound and the video of the marine life at the water surface height, after the No. 1 AUV303 is thrown, the No. 1 AUV can be controlled by the control platform 3 to carry a plurality of AUVs to continue to dive 203, when the No. 1 AUV is submerged to the maximum value of the running path, the No. 2 AUV204 is thrown, the No. 1 AUV303 keeps unchanged at the position, monitors the sound and the video of the marine life at the water surface height, after the No. 2 AUV304 is thrown, the No. 2 AUV can be controlled by the control platform 3 to carry a plurality of AUVs to continue to dive 205, when the No. 2 AUV is submerged to the maximum value of the running path, the No. 3 AUV206 is thrown, the No. 2 AUV304 is kept unchanged at the position, the sound and the video of the marine life at the water surface height are monitored, and the No. 3 AUV305 is thrown according to the principle until the method is finished 207.
The foregoing has shown and described the basic principles and main features of the present invention and the advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (10)

1. Based on auv and the cooperation mode research method of the underwater glider cluster, the method comprises the underwater glider (302) and a mother ship (1), wherein the underwater glider (302) is arranged at the top of the mother ship (1), and the method is characterized in that: the method comprises the following steps:
step 1: a positioning and throwing system (16) is carried on the bottom of an underwater glider (302) to submerge to the water for fixed point throwing, and the throwing is finished (207) according to the method;
step 2: after the positioning and throwing system (16) finishes the orderly fixed-point throwing, respectively recording (306) marine organisms living at different ocean depths and recording (307) sounds emitted by the marine organisms through a video monitoring system and a sound monitoring system;
step 3: in the process of recording (306) marine organisms living at different ocean depths and recording (307) sounds emitted by the marine organisms, the transmission signal of the video monitoring system and the transmission signal transmission strength of the sound monitoring system under different distances are analyzed and researched to obtain the best transmission distance.
2. The method for studying a collaborative operation mode based on auv and underwater gliders clusters according to claim 1, wherein: the positioning and throwing system (16) is characterized in that the control platform (3) is used for controlling the underwater gliding airborne AUV to launch (2), the No. 1 AUV (202) is thrown by the underwater gliding airborne multiple AUVs (201) to the first fixed point of the maximum value of the running path, the No. 1 AUV carries a plurality of AUVs to continue to dive (203), the No. 2 AUV (204) is thrown when the No. 1 AUV dives to the maximum value of the running path, the No. 2 AUV carries a plurality of AUVs to continue to dive (205), the No. 3 AUV (206) is thrown when the No. 2 AUV dives to the maximum value of the running path, and the method is adopted until the throwing is finished (207).
3. The method for studying a collaborative operation mode based on auv and underwater gliders clusters according to claim 2, wherein: the video monitoring system comprises a video transmission signal (308), wherein the video transmission signal (308) is electrically connected with the control platform (3), and the underwater glider (302), the No. 1 AUV (303), the No. 2 AUV (304) and the No. 3 AUV (305) which are put in a fixed point are used for recording marine organisms living in different ocean depths (306), recorded data are transmitted to the control platform (3) through the video transmission signal (308), and then data recovery (10) and second data analysis (11) are carried out.
4. A method for studying a collaborative operation mode based on auv and underwater glider clusters according to claim 3, wherein: the sound monitoring system comprises a sound transmission signal (301), wherein the sound transmission signal (301) is electrically connected with the control platform (3), and the underwater glider (302), the No. 1 AUV (303), the No. 2 AUV (304) and the No. 3 AUV (305) which are put in at fixed points are used for recording sound (307) emitted by marine organisms, recorded sound data are transmitted to the control platform (3) through the sound transmission signal (301), and then data recovery (10) and second data analysis (11) are carried out.
5. The method for studying a collaborative operation mode based on auv and underwater gliders clusters according to claim 1, wherein: after starting (9) to work, recording (306) marine organisms living at different ocean depths and recording (307) sounds emitted by the marine organisms, transmitting the recorded marine organisms to a control platform (3) for second data analysis (11) to obtain an optimal signal transmission distance (8), wherein the video monitoring system transmission signal firstly observes whether a video transmission signal of the underwater glider (302) transmitted data received by the mother ship (6) is normal (4), and sequentially observes whether a video signal of the mother ship (6) transmitted by the AUV (303) transmitted data is weakened relative to a video signal transmitted by the underwater glider (302) (401).
6. The method for studying a collaborative operation mode based on auv and underwater gliders clusters according to claim 5, wherein: the method comprises the steps that whether video signals transmitted by an AUV (304) of No. 2 transmitted data to a mother ship (6) are continuously weakened (402) relative to video signal transmission transmitted by an AUV (303) of No. 1, whether video signals transmitted by an AUV (305) of No. 3 transmitted data to the mother ship (6) are continuously weakened (403) relative to video signal transmission transmitted by the AUV (304) of No. 2, and the optimal signal transmission distance (8) is obtained through first data analysis (7).
7. The method for studying a collaborative operation mode based on auv and underwater gliders clusters according to claim 1, wherein: the sound monitoring system transmits signals to observe whether the sound transmission signals transmitted by the underwater glider (302) are normal (5) when data are transmitted to the mother ship (6), and sequentially observes whether the sound transmission signals transmitted by the No. 1 AUV (303) when data are transmitted to the mother ship (6) are weakened (501) relative to the sound transmission signals transmitted by the underwater glider (302).
8. The method for studying a collaborative operation mode based on auv and underwater gliders clusters according to claim 7, wherein: the sound signal transmitted by the No. 2 AUV (304) to the mother ship (6) is continuously weakened (502) relative to the sound transmission signal transmitted by the No. 1 AUV (303), the sound signal transmitted by the No. 3 AUV (305) to the mother ship (6) is continuously weakened (503) relative to the sound transmission signal transmitted by the No. 2 AUV (304), and the optimal signal transmission distance (8) is obtained through the first data analysis (7).
9. The method for studying a collaborative operation mode based on auv and underwater gliders clusters according to claim 1, wherein: the lateral wing (13) is arranged on the outer side of the underwater glider (302), and the tail part of the underwater glider (302) is safely provided with the tail wing (12).
10. The method for studying a collaborative operation mode based on auv and underwater gliders clusters according to claim 1, wherein: an observation bin (15) is arranged on the outer side of the underwater glider (302), and an overhaul port (14) is arranged on the top of the underwater glider (302).
CN202310556913.0A 2023-05-17 2023-05-17 Research method based on auv and underwater glider cluster collaborative operation mode Pending CN116588295A (en)

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