CN117022649B - System using unmanned aerial vehicle throwing awakening device - Google Patents
System using unmanned aerial vehicle throwing awakening device Download PDFInfo
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- CN117022649B CN117022649B CN202311292609.6A CN202311292609A CN117022649B CN 117022649 B CN117022649 B CN 117022649B CN 202311292609 A CN202311292609 A CN 202311292609A CN 117022649 B CN117022649 B CN 117022649B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/02—Dropping, ejecting, or releasing articles
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U20/00—Constructional aspects of UAVs
- B64U20/10—Constructional aspects of UAVs for stealth, e.g. reduction of cross-section detectable by radars
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/60—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons
- B64U2101/69—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons the UAVs provided with means for airdropping goods, e.g. deploying a parachute during descent
Abstract
The invention discloses a system for throwing a wake-up device by using an unmanned aerial vehicle, and relates to the technical field of control systems. Wherein, this system includes: the water stealth unmanned aerial vehicle is used for throwing a wake-up device in a preset sea area, wherein physical connection and communication connection are established between the water stealth unmanned aerial vehicle and the wake-up device; the wake-up device is used for transmitting a preset sonar signal, wherein the preset sonar signal is used for detecting and waking up the first task device; the first task device comprises a boat side passive sonar, and the boat side passive sonar is used for receiving a preset sonar signal emitted by the awakening device when the first task device is anchored at a first preset depth and awakening the first task device in response to the received preset sonar signal so that the first task device floats to a second preset depth. The technical problem of lower wake-up efficiency of the underwater task device is solved.
Description
Technical Field
The invention relates to the technical field of control systems, in particular to a system for throwing a wake-up device by using an unmanned aerial vehicle.
Background
In recent years, with the development of ocean resources, underwater task devices (such as underwater salvage devices, underwater manipulator systems and underwater submarines) have received widespread attention from various countries, and have been studied more and more intensively. The underwater task device is widely applied to the fields of business, science and the like, including geophysical field investigation, high-resolution high-speed submarine mapping imaging, marine geological investigation, marine environment monitoring, survey sampling of submarine organisms and mineral resources, marine engineering maintenance, small-sized sediment salvage and the like. At present, for an underwater task device with the functions of submarine resource investigation, engineering investigation, deep sea anchoring, dynamic positioning, task execution and the like, a more perfect system for controlling the awakening process of the underwater task device is not available, so that the underwater task device cannot be automatically awakened, and the awakening efficiency of the underwater task device is lower.
Disclosure of Invention
The invention aims to provide a system for throwing a wake-up device by using an unmanned aerial vehicle so as to solve the technical problems.
The invention provides a system for throwing a wake-up device by using an unmanned aerial vehicle, which comprises the following components: the water stealth unmanned aerial vehicle is used for throwing a wake-up device in a preset sea area, wherein physical connection and communication connection are established between the water stealth unmanned aerial vehicle and the wake-up device; the wake-up device is used for transmitting a preset sonar signal, wherein the preset sonar signal is used for detecting and waking up the first task device; the first task device comprises a boat side passive sonar, the boat side passive sonar is used for receiving the preset sonar signal emitted by the awakening device when the first task device is anchored at a first preset depth, and awakening the first task device in response to the received preset sonar signal so that the first task device floats to a second preset depth, wherein the second preset depth exceeds the preset depth.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. based on the system for throwing the awakening device by using the unmanned aerial vehicle, which is provided by the invention, the stealth unmanned aerial vehicle can throw the awakening device in a preset sea area, so that the awakening device awakens the first task device anchored at the first preset depth through the preset sonar signal, thereby realizing automatic awakening of the first task device, improving the awakening efficiency of the first task device, and simultaneously preparing for executing tasks for the first task device.
Drawings
The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiments of the invention. In the drawings:
FIG. 1 is a block diagram of an alternative system for using a drone tossing wake-up device according to an embodiment of the present application;
FIG. 2 is a schematic diagram of an alternative scenario for waking up a first task device according to an embodiment of the present application;
FIG. 3 is a schematic diagram showing an optional first task device floating up after being awakened according to an embodiment of the present application;
fig. 4 is a flowchart of an alternative method for notifying a target member carrying platform to retrieve a stealth drone in accordance with an embodiment of the present application.
Detailed Description
For the purpose of making apparent the objects, technical solutions and advantages of the present invention, the present invention will be further described in detail with reference to the following examples and the accompanying drawings, wherein the exemplary embodiments of the present invention and the descriptions thereof are for illustrating the present invention only and are not to be construed as limiting the present invention. It should be noted that the present invention is already in a practical development and use stage.
Optionally, as shown in fig. 1, the system for using the unmanned plane throwing wake-up device provided by the application includes:
the water stealth unmanned aerial vehicle 101 is configured to throw the wake-up device 102 in a preset sea area, wherein a physical connection and a communication connection are established between the water stealth unmanned aerial vehicle 101 and the wake-up device 102;
a wake-up device 102, configured to transmit a preset sonar signal, where the preset sonar signal is used to detect and wake up the first task device 103;
the first task device 103 comprises a boat-side passive sonar, and the boat-side passive sonar is configured to receive a preset sonar signal emitted by the wake-up device 102 when the first task device 103 is anchored at a first preset depth, and wake up the first task device 103 in response to the received preset sonar signal, so that the first task device 103 floats to a second preset depth, where the second preset depth exceeds the preset depth.
In some embodiments of the present application, the first task device 103 may include, but is not limited to, an underwater fishing device, an underwater robotic system, and an underwater vehicle, it being understood that different task devices may be used to perform the same or different tasks. The first task device 103 may be deployed in a certain manner in a sea area outside a certain port (e.g., within a thousand kilometers), where the above-mentioned thousand kilometers are only examples, and the present embodiment is not limited in any way. In a specific embodiment of the present application, the anchoring depth of the first task device 103 may be set according to ocean topography, ocean current distribution, and the like. Illustratively, the first task device 103 may be launched by a fishing vessel, a ship, or the like after being sent to a sea area, automatically submerged to a depth of 5000 meters from the sea surface, and anchored to the seabed by an anchor module, wherein the above 5000 meters are merely examples, and the present embodiment is not limited in any way.
In some embodiments of the present application, the stealth unmanned aerial vehicle 101 may include one or more unmanned aerial vehicles, the wake-up device 102 may include one or more devices, and the first task device 103 may include one or more devices. The frequency of the preset sonar signal may include, but is not limited to, 3 khz, 5 khz, etc. The predetermined depth may be, but is not limited to 600 meters, 8000 meters. The specific numerical value of the frequency of the preset sonar signal and the specific numerical value of the preset depth are not limited in any way. Illustratively, when the predetermined depth is 600 meters from the sea surface (also may be referred to as 600 meters below the sea surface), the second predetermined depth may be 800 meters from the sea surface (also may be referred to as 800 meters below the sea surface). The first preset depth may be different from the second preset depth, for example, the first preset depth may include, but is not limited to, 2000 meters, 5000 meters, and the second preset depth may include, but is not limited to, 20 meters, 50 meters. The specific values of the first preset depth and the second preset depth are not limited in this embodiment.
In some embodiments of the present application, wake-up device 102 may include, but is not limited to, micro-sonar submarines, sonar probes, and the like capable of emitting sonar.
In a specific implementation manner of the present application, as shown in fig. 2, the water stealth unmanned aerial vehicle 201 throws the wake-up device 202 in a preset sea area, wherein a physical connection (not shown in the figure) and a communication connection are established between the water stealth unmanned aerial vehicle 201 and the wake-up device 202. After being thrown to a preset sea area by the above-water stealth unmanned aerial vehicle 201, the wake-up device 202 can send out a preset sonar signal with the frequency of 3 kilohertz, and the boat side passive sonar included in the first task device 203 can wake up the first task device 203 anchored at the first preset depth. After being awakened, the first task device 203 may float up to a second predetermined depth.
As an alternative, the system further comprises:
the carrying platform is used for carrying the overwater stealth unmanned aerial vehicle to reach a preset sea area and transmitting the overwater stealth unmanned aerial vehicle through the transmitting cylinders, wherein the transmitting cylinders are arranged on two sides of the carrying platform in parallel.
In some embodiments of the present application, the carrier platform may include, but is not limited to, a communication submarine, a vessel, a fishing vessel, an air launch platform.
As an alternative, the stealth drone is programmed to throw a wake-up device based on the target throwing route;
the device for throwing and waking up in the preset sea area comprises:
determining a target throwing distance corresponding to the wake-up device according to the route length corresponding to the target throwing route and the preset throwing quantity;
and throwing the wake-up device in a preset sea area based on the target throwing distance.
In some embodiments of the present application, the target pitch is positively correlated with the length of the route corresponding to the target pitch route, and the preset number of pitches may be, but is not limited to, any number, such as 2, 10, etc. It is understood that, based on the embodiment provided by the application, the wake-up device can be evenly put on the target throwing route, so that a task device at a certain place in a preset sea area can be prevented from receiving a preset sonar signal sent by the wake-up device to a certain extent.
As an alternative scheme, the first task device comprises a co-wakeup unit, the co-wakeup unit is used for receiving a state transition signal sent by the second task device when the first task device is in a first state, and waking up the first task device according to the received state transition signal sent by the second task device, wherein the second task device and the first task device are in the same wireless local area network, and the state transition signal is used for indicating the second task device to transition from the first state to the second state;
wherein the first task device is in a first state when the first task device is anchored to the seabed; when the first task device is awakened, the first task device is in a second state;
the second task device is in the first state when the second task device is anchored to the seabed; when the second task device is awakened, the second task device is in a second state.
In some embodiments of the present application, when the first task device is in the second state, the cooperative wake-up module may mask a state transition signal sent by the second task device in the same wireless lan. The second task device may include one or more task devices.
Optionally, after the first task device is awakened, the anchor module included in the first task device may be disconnected from the seabed, so that the first task device can float up; and/or
When the first task device is awakened, the first task device is disconnected from the anchoring module, so that the first task device can float upwards.
In a specific implementation of the present application, as shown in fig. 3, the first task device 301 is anchored on the seabed in a predetermined sea area, and the anchor module may comprise an anchor device 302. When the first task device 301 wakes up, the first task device 301 may be disconnected from the anchor device 302 to float up to a second predetermined depth of the predetermined sea area. Optionally, the anchoring device 302 is coated with a basalt fiber composite material.
As an alternative, after the second task device is awakened, the second task device sends a state transition signal to other task devices in the wireless lan;
waking up the first task device according to the received state transition signal includes: if the number of the state transition signals received by the first task device in unit time is larger than the first preset number, waking up the first task device.
In some embodiments of the present application, a unit time may include, but is not limited to, 1 day, 1 hour, 30 minutes, etc. The first preset number may include, but is not limited to, 10, 2, etc.
As an alternative scheme, under the condition that the number of echo signals received by the wake-up device is larger than the second preset number, the wake-up device sends a recovery signal or a self-destruction signal to the stealth unmanned aerial vehicle on water through communication connection, wherein the echo signals are used for indicating the measured parameter information of the first task device, and the recovery signal is used for indicating that the wake-up device has completed a wake-up task;
the stealthy unmanned aerial vehicle on water is still used for retrieving wake-up unit through physical connection after receiving the recovery signal.
In some embodiments of the present application, after the wake-up device sends the preset sonar signal, the preset sonar signal may be propagated underwater, and after encountering an obstacle or a target (e.g., the first task device) during the propagation, the echo is reflected back. The wake-up device may receive an echo signal sent by the first task device, where the echo signal may be used to indicate the measured parameter information of the first task device. The parameter information of the first task device may include, but is not limited to, a distance, an azimuth, a speed, a heading, and other motion elements.
It will be appreciated that the wake-up unit may cause leakage of relevant data after it has been caught. Based on this, the wake-up device may be self-destructed or recycled after completing the wake-up task.
For example, in case the number of echo signals received by the wake-up means is greater than a second preset number (e.g. 5), the wake-up means may be considered to have completed the wake-up task. At this time, the wake-up device can be recovered by the water stealth unmanned aerial vehicle, and also can control the self-destruction circuit to perform self-destruction after sending a self-destruction signal to the water stealth unmanned aerial vehicle. If the wake-up device is recovered after the wake-up task is completed, the wake-up device can send a recovery signal to the water stealth unmanned aerial vehicle through communication connection between the wake-up device and the water stealth unmanned aerial vehicle, wherein the recovery signal carries identification information of the wake-up device.
As an alternative, the carrying platform comprises a plurality of member carrying platforms, and the plurality of member carrying platforms send data by using the same message time slot;
the water stealth unmanned aerial vehicle comprises a Beidou navigation and data exchange unit, wherein the Beidou navigation and data exchange unit is used for determining the position information of the water stealth unmanned aerial vehicle;
as shown in fig. 4, the above-water stealth unmanned aerial vehicle is further configured to execute the following steps every preset period after the above-water stealth unmanned aerial vehicle receives a wake-up device or a self-destruction signal:
step S401, determining a plurality of candidate member carrying platforms from the member carrying platforms according to the position information of the stealth unmanned aerial vehicle on water and the position information of the member carrying platforms contained in the information transmission frame;
step S402, determining a target member carrying platform from the candidate member carrying platforms according to the channel error rate and the serious cell block error rate included in the response telemetry frame of the candidate member carrying platforms;
and step S403, notifying a target member carrying platform to recover the stealth unmanned aerial vehicle on water through a network protocol frame.
In some embodiments of the present application, the message time slots may be, but are not limited to, TDMA time slots, and the preset period may include, but is not limited to, 30 minutes, 2 hours, etc. The channel transmission modulation system can adopt an orthogonal frequency division multiplexing technology, and the information transmission frame can be an uplink frame. The plurality of candidate member carrying platforms which are close to the water stealth unmanned aerial vehicle can be determined according to the position information of the plurality of member carrying platforms contained in the information transmission frame. The channel error rate is an indicator for measuring the characteristics of the receiver, and the measurement of the channel error rate is required to be subjected to a series of channel decoding processes such as deinterleaving, rate matching, viterbi decoding and the like, and the serious cell block error rate is the ratio of the error cell blocks related to all the cell blocks in transmission, and may be equal to the ratio of the serious error cell blocks to all the transmission cell blocks. The overwater stealth unmanned aerial vehicle can determine the link quality of a plurality of links by comparing the position information of a plurality of member carrying platforms, the channel error rate contained in the response telemetry frame and the serious cell block error rate, thereby determining the target member carrying platform corresponding to the link with the best quality. Optionally, after receiving the downlink transmission information, the member carrying platform may transmit the downlink transmission information to the base station through an optical fiber or a 5G network.
As an alternative, the first task device further includes: the communication module comprises a floating rope antenna and is used for receiving a message sent by a preset object under the condition that a first task device floats to a second preset depth so as to jointly complete a cooperative task corresponding to the message by combining other task devices in the same wireless local area network, wherein the message comprises a task instruction, a target coordinate parameter and task programming, and the other task devices in the wireless local area network comprise a second task device;
in some embodiments of the present application, when the first task device floats to the second preset depth, the floating rope antenna may be paid out to receive the message sent by the preset object. The preset objects may include, but are not limited to, other task devices, command centers, user equipment, and the like. Optionally, the preset object may include a beidou short message communication module. The communication module can respond to the received message sent by the preset object and jointly complete the cooperative task corresponding to the message by combining other task devices in the same wireless local area network. The message may include, among other things, a task instruction, a target coordinate parameter, and a task program. After the task instruction can be programmed by a command center, the instruction program is transmitted to a first task device through a space-based satellite relay data link; the ship can also directly transmit the task instruction to the first task device after relay through the communication unmanned aerial vehicle. In some cases, the preset type civil ships and submarines can wake up the task devices in the preset sea area, and input task instructions to command the task devices.
It can be understood that when a plurality of task devices in the wireless lan are all awakened in a unit time, it can be considered that the preset sea area needs to execute a cooperative task, and if the first task device does not receive any signal due to the reason of passive sonar damage on the boat side, the cooperative awakening module included in the first task device can awaken the first task device according to the received state conversion signals sent by other task devices, so that the plurality of task devices in the wireless lan can jointly complete the cooperative task together with the first task device.
Based on the embodiment provided by the application, under the condition that the boat side passive sonar included in the first task device is damaged, if the task device is required to execute a cooperative task in a preset sea area, the first task device can still be awakened through the cooperative awakening module. That is, the fault tolerance of the system can be increased, and the wake-up efficiency of the system can be improved.
As an alternative, the message includes a target sea area instruction and a preset mode instruction;
after receiving the target sea area instruction by the communication module, the first task device and other task devices in the wireless local area network reach the target sea area according to the guidance module;
when the first task device and other task devices in the wireless local area network reach the target sea area, the first task device and other task devices in the preset wireless local area network float up to a third preset depth.
In some embodiments of the present application, the guidance module may include a sonar chart, a Beidou position confirmation and correction unit, and an inertial guidance unit.
Alternatively, in this embodiment, the autonomous intelligent navigation mode may be started when the communication module receives the target sea area command. In the autonomous intelligent navigation mode, the first task device and other task devices in the wireless local area network can independently dive at a certain depth of a target sea area according to a sonar chart, a Beidou position confirmation correction unit, an inertial guidance unit and the like included in the first task device. When the first task device and other task devices in the preset wireless local area network reach the target sea area, the first task device and other task devices in the wireless local area network can float up to a third preset depth (for example, 10 meters deep) and pay out the floating rope antenna. The depth of 10 meters is an example, and the specific value of the third preset depth is not limited in this embodiment.
As an alternative scheme, after the first task device and other task devices in the preset wireless local area network float to a third preset depth, the first task device exchanges data with a preset object through a communication module and exchanges data with other task devices in the same wireless local area network;
the first task device and other task devices in the preset wireless local area network start a preset mode at a preset depth;
the first mission device and other mission devices in the preset wireless local area network jointly transmit the plurality of pre-programmed water craft so that the plurality of pre-programmed water craft fly above the target sea area according to a preset route to observe the condition of the target sea area.
In some embodiments of the present application, the preset mode may include, but is not limited to, an alert mode, a collaboration mode, and the like.
In some embodiments of the present application, the guidance module may include a track allocation unit that may be configured to obtain a status of a plurality of preprogrammed water craft, determine a fueling time for each of the plurality of preprogrammed water craft based on the status of the plurality of preprogrammed water craft, and control the target preprogrammed water craft to fly to a location of the target mission device to refuel if the current time is the fueling time of the target preprogrammed water craft, wherein the status includes a route, a location, a remaining fuel amount, and the plurality of preprogrammed water craft includes the target preprogrammed water craft.
Alternatively, the target task device may be the first task device, or may be another task device that is in the same wireless lan as the submarine.
In some embodiments of the present application, the target submersible device may be determined based on the location and amount of fuel remaining, the location of each mission device, and the amount of fuel remaining for the target preprogrammed water craft. Preferably, the mission device closest to the target mission device may be determined, wherein the distance refers to a distance between the target preprogrammed water craft and the respective mission device.
In the foregoing embodiments of the present application, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
It should be noted that, for simplicity of description, the foregoing embodiments are all illustrated as a series of acts, but it should be understood by those skilled in the art that the present application is not limited by the order of acts described, as some steps may be performed in other orders or concurrently in accordance with the application. Further, those skilled in the art will also appreciate that the embodiments described in the specification are all preferred embodiments, and that the acts and modules referred to are not necessarily required in the present application.
The foregoing detailed description of the invention has been presented for purposes of illustration and description, and it should be understood that the invention is not limited to the particular embodiments disclosed, but is intended to cover all modifications, equivalents, alternatives, and improvements within the spirit and principles of the invention.
Claims (6)
1. A system for using an unmanned aerial vehicle tossing wake-up device, comprising:
the water stealth unmanned aerial vehicle is used for throwing a wake-up device in a preset sea area, wherein physical connection and communication connection are established between the water stealth unmanned aerial vehicle and the wake-up device;
the wake-up device is used for transmitting a preset sonar signal, wherein the preset sonar signal is used for detecting and waking up the first task device;
the carrying platform is used for carrying the water stealth unmanned aerial vehicle to the preset sea area and transmitting the water stealth unmanned aerial vehicle through the transmitting cylinder, wherein the transmitting cylinders are arranged on two sides of the carrying platform in parallel;
the first task device comprises a boat-side passive sonar, the boat-side passive sonar is used for receiving the preset sonar signal transmitted by the awakening device when the first task device is anchored at a first preset depth, and awakening the first task device in response to the received preset sonar signal so that the first task device floats to a second preset depth, wherein the second preset depth exceeds the preset depth;
the method comprises the steps that under the condition that the number of echo signals received by the awakening device is larger than a second preset number, the awakening device sends recovery signals or self-destruction signals to the overwater stealth unmanned aerial vehicle through communication connection, wherein the echo signals are used for indicating measured parameter information of the first task device, and the recovery signals are used for indicating the awakening device to finish awakening tasks;
the water stealth unmanned aerial vehicle is further used for recycling the awakening device through the physical connection after receiving the recycling signal;
the wake-up device is also used for controlling the self-destruction circuit to perform self-destruction after sending the self-destruction signal to the water stealth unmanned aerial vehicle;
the carrying platform comprises a plurality of member carrying platforms, and the member carrying platforms send data by using the same message time slot;
the water stealth unmanned aerial vehicle comprises a Beidou navigation and data exchange unit, wherein the Beidou navigation and data exchange unit is used for determining position information of the water stealth unmanned aerial vehicle;
the above-mentioned stealthy unmanned aerial vehicle is still used for after the above-mentioned stealthy unmanned aerial vehicle of water received the wake-up device or received the self-destruction signal, every preset cycle carries out following steps:
the first step, determining a plurality of candidate member carrying platforms from the member carrying platforms according to the position information of the water stealth unmanned aerial vehicle and the position information of the member carrying platforms contained in the information transmission frame;
a second step of determining a target member carrying platform from the plurality of candidate member carrying platforms according to the channel error rate and the serious cell block error rate included in the response telemetry frame of the plurality of candidate member carrying platforms;
and thirdly, notifying the target member carrying platform to recover the water stealth unmanned aerial vehicle through a network protocol frame.
2. The system of claim 1, wherein the system further comprises a controller configured to control the controller,
the above-water stealth drone is programmed to throw the wake-up device based on a target throwing route;
the wake-up device for throwing in the preset sea area comprises:
determining a target throwing distance corresponding to the awakening device according to the route length corresponding to the target throwing route and the preset throwing quantity;
and throwing the wake-up device in the preset sea area based on the target throwing distance.
3. The system of claim 2, wherein the system further comprises a controller configured to control the controller,
the first task device comprises a collaborative wake-up unit, wherein the collaborative wake-up unit is used for receiving a state transition signal sent by a second task device when the first task device is in a first state, and waking up the first task device according to the received state transition signal sent by the second task device, wherein the second task device and the first task device are in the same wireless local area network, and the state transition signal is used for indicating the second task device to transition from the first state to the second state;
wherein the first task device is in the first state when the first task device is anchored on the seabed; when the first task device is awakened, the first task device is in the second state;
when the second task device is anchored on the seabed, the second task device is in the first state; when the second task device is awakened, the second task device is in the second state.
4. The system of claim 3, wherein the system further comprises a controller configured to control the controller,
when the second task device is awakened, the second task device sends the state transition signal to other task devices in the wireless local area network;
the waking up the first task device according to the received state transition signal includes: and if the number of the state transition signals received by the first task device in unit time is larger than a first preset number, waking up the first task device.
5. The system of claim 4, wherein the system further comprises a controller configured to control the controller,
the first task device further includes: the communication module comprises a floating rope antenna, and is used for receiving a message sent by a preset object under the condition that the first task device floats to the second preset depth so as to jointly complete a cooperative task corresponding to the message by combining other task devices in the same wireless local area network, wherein the message comprises a task instruction, a target coordinate parameter and task programming, and the other task devices in the wireless local area network comprise the second task device;
the message comprises a target sea area instruction and a preset mode instruction;
after the communication module receives the target sea area instruction, the first task device and other task devices in the wireless local area network reach the target sea area according to a guidance module, wherein the guidance module comprises a sonar chart, a Beidou position confirmation and correction unit and an inertial guidance unit;
when the first task device and other task devices in the wireless local area network reach the target sea area, the first task device and other task devices in a preset wireless local area network float to a third preset depth.
6. The system of claim 5, wherein the system further comprises a controller configured to control the controller,
after the first task device and other task devices in the preset wireless local area network float up to the third preset depth, the first task device exchanges data with the preset object through the communication module and exchanges data with other task devices in the same wireless local area network;
the first task device and other task devices in the preset wireless local area network start a preset mode at the preset depth;
and the first task device and other task devices in the preset wireless local area network jointly transmit a plurality of pre-programmed water aircrafts so that the plurality of pre-programmed water aircrafts fly above the target sea area according to a preset route to observe the condition of the target sea area.
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