An underwater IoT system based on a relay buoy

Abstract

This application provides a cabled underwater operation IoT system based on a relay float, comprising: an underwater component, a relay float, and a cloud server; the underwater component includes a control unit, a data acquisition unit, and a cabled operation unit. The control unit is communicatively connected to the data acquisition unit and the cabled operation unit, controlling the data acquisition unit to collect underwater environmental information and the status information of the cabled operation unit, and controlling the cabled operation unit to perform underwater operations; the relay float is connected to the underwater component via a power line, providing power to the underwater component, and communicating bidirectionally with the underwater component via a power line carrier signal loaded on the power line; the cloud server is connected to the relay float, the control terminal, and the user terminal respectively, for realizing bidirectional communication between the relay float and each control terminal and user terminal. The technical solution of this application avoids the problems of large latency and narrow bandwidth in underwater acoustic communication, and effectively shortens the length of wired cables, avoiding the drawbacks of long-distance cable communication.

Description

Technical Field

[0001] This application belongs to the field of marine operation equipment control technology, specifically, it provides an underwater operation Internet of Things system based on a relay buoy. Background Technology

[0002] As a new type of intelligent underwater work equipment, underwater robots can replace traditional divers or manned submersibles to carry out various underwater operations in complex and ever-changing marine environments. Based on the control method of the control terminal, existing underwater robots can be divided into two types: untethered underwater robots and tethered underwater robots. Tethered underwater robots are directly connected to a control terminal located on a ship or shore base via a cable. Compared to untethered underwater robots, which are mainly used in deep-sea operations, tethered underwater robots can be continuously powered, thus greatly improving safety and sustainability. They can be widely used in shallow-sea environments for exploration, rescue, and marine flora and fauna conservation, and data can be efficiently transmitted and shared by connecting underwater robots to an Internet of Things (IoT) system.

[0003] Currently, to enable underwater equipment to access the internet, data is typically transmitted to a host computer first, and then forwarded to a narrowband Internet of Things (NB-IoT) module, which transmits the data through an NB-IoT base station. For example, patent CN212588523U discloses an IoT underwater operation system. This system includes an underwater robot, a host computer communicating with the underwater robot, and an IoT system. The IoT system communicates with the host computer and can collect data collected by the host computer and transmit it to the internet or a server. Although this underwater IoT operation system can realize IoT functions, in practical applications, users must set up a ground station on shore to act as a shore-based base station to access the network. Due to cable length limitations, the underwater robot's range of movement is greatly restricted, making it impossible to carry out large-scale underwater operations. At the same time, because the underwater robot's status information needs to be accessed by the network and obtained by the control terminal before it can be analyzed, it is difficult to respond in real time to various abnormal situations that occur during the operation of the underwater robot. Summary of the Invention

[0004] To address the problems existing in the prior art, the purpose of this application is to provide an underwater operation Internet of Things system based on a relay buoy. This system can ensure the safety and stability of tethered underwater robots and other operating units in large-scale underwater operations, and can provide targeted real-time responses to various abnormal situations that occur during underwater operations.

[0005] The embodiments of this application can be implemented through the following technical solutions:

[0006] An underwater IoT system based on a relay buoy includes:

[0007] The underwater components include relay buoys on the water surface and cloud servers located on ship or shore.

[0008] The underwater component includes a control unit, a data acquisition unit, and a tethered operation unit. The control unit is communicatively connected to the data acquisition unit and the tethered operation unit, and is used to control the data acquisition unit to collect underwater environmental information and the status information of the tethered operation unit, as well as to control the tethered operation unit to perform underwater operations.

[0009] The relay float is connected to the underwater part via a watertight power line. The underwater part is powered by the power line, and bidirectional communication with the underwater part is achieved through a power carrier signal loaded on the power line.

[0010] The cloud server communicates with the relay float, the control terminal, and the user terminal to enable bidirectional communication between the relay float and each control terminal and user terminal.

[0011] Furthermore, the relay float includes a monitoring module, a relay, a first power line carrier module, an inertial navigation module, and a router; the monitoring module monitors the operational status of the underwater section based on underwater environmental information sent by the control unit of the underwater section and the status information of the tethered operation unit; the relay controls the power supply to the underwater section according to the instructions of the monitoring module; the first power line carrier module is used to load the information sent by the monitoring module to the underwater section onto the power line, and to obtain the information sent by the underwater section to the monitoring module from the power line; the inertial navigation module is used to obtain the geographical location information of the relay float; the router connects the monitoring module and the underwater section into a local area network and communicates with the cloud server.

[0012] Furthermore, the underwater section also includes a second power line carrier module connected to the power line, used to load information sent by the control unit of the underwater section to the relay float onto the power line, and to obtain information sent by the relay float to the underwater section from the power line.

[0013] Preferably, the tethered operation unit is a tethered underwater robot; the status information of the tethered operation unit includes the depth information and attitude information of the underwater robot, and the temperature information, humidity information and air pressure information inside the watertight chamber of the underwater robot; the underwater environment information includes underwater image information and sonar scanning information.

[0014] Preferably, the acquisition unit and the control unit synchronously send the status information of the cabled operation unit and the underwater environment information to the monitoring module. The monitoring module monitors the operation status of the underwater part through the following steps:

[0015] S100: Monitor the operating status of the control unit. If the operating status of the control unit is abnormal, take over the control of the underwater part; otherwise, execute step S200.

[0016] S200: Based on the status information of the cabled operation unit and the underwater environment information synchronously sent by the control unit and the acquisition unit, anomaly detection is performed. Based on the anomaly detection results, the anomaly level of the underwater part is determined and corresponding anomaly response measures are taken.

[0017] Preferably, the abnormal operation status of the control unit specifically refers to the failure of the control unit to send underwater environment information or status information of the cabled operation unit to the monitoring module.

[0018] Further, step S200 includes the following steps:

[0019] S210, if the abnormal detection result of the attitude information or the humidity information is abnormal, then determine that the abnormality level is severe and control the relay to disconnect the power supply to the underwater part;

[0020] S220, if the abnormal detection result of the depth information is abnormal, then determine the abnormality level as moderate and disconnect the connection between the underwater part and the cloud server, and then return to the execution step S100; otherwise, execute step S230.

[0021] S230, if the abnormal detection result of the underwater image information or sonar scanning information is abnormal, then determine that the abnormality level is slight and disconnect the connection between the underwater part and the cloud server, and then return to execute step S100; otherwise, execute step S240.

[0022] S240, if the abnormal detection result of the temperature information or the air pressure information is abnormal, then determine that the abnormality level is slight and return to step 100; otherwise, execute step S240.

[0023] S240, determine the abnormality level as no abnormality and return to step S100.

[0024] Furthermore, the anomaly detection includes the following steps:

[0025] The first step is to determine whether there are any abnormalities in the status information of the cabled operation unit and the underwater environment information sent by the control unit. If there are no abnormalities, the abnormality detection is exited and the abnormality detection result is set to normal; otherwise, the second step is executed.

[0026] The second step is to determine whether there are any abnormalities in the status information of the cabled operation unit and the underwater environment information synchronously sent by the acquisition unit. If there are no abnormalities, the abnormality detection is exited and the abnormality detection result is set to normal; otherwise, the abnormality detection is exited and the abnormality detection result is set to abnormal.

[0027] Preferably, the attitude information of the underwater robot includes first attitude information collected by a first attitude sensor and second attitude information synchronously acquired by a second attitude sensor, wherein the first attitude sensor is located at the center of gravity of the underwater robot, and the second attitude sensor is located closer to the acquisition unit than the first attitude sensor.

[0028] Preferably, the underwater section further includes a switching unit; the monitoring module outputs a corresponding selection signal to the switching unit according to whether to take over control of the underwater section; the switching unit synchronously receives a first control signal output by the control unit and a second control signal output by the monitoring module, and controls the cabled operation unit based on the selection signal using the first control signal or the second control signal.

[0029] The embodiments of this application provide an underwater IoT system based on a relay float. The relay float acts as a "bridge" for data transmission between the underwater component and the cloud server. The power line enables bidirectional data transmission while supplying power to the underwater component, effectively avoiding the problems of high latency, low reliability, narrow bandwidth, and difficulty in transmitting real-time video and images in underwater acoustic communication. The relay float and the cloud server achieve wireless network access through a 4G / 5G module, effectively shortening the length of wired cables and avoiding the drawbacks of long-distance cable communication. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the architecture of an underwater operation Internet of Things system based on a relay buoy, according to an embodiment of this application.

[0031] Figure 2 A schematic diagram of the architecture of a relay buoy according to some preferred embodiments;

[0032] Figure 3 This is a schematic diagram of the underwater portion according to some preferred embodiments;

[0033] Figure 4 This is a schematic diagram of the underwater portion according to some preferred embodiments;

[0034] Figure 5 This is a circuit schematic diagram of a switching module according to some preferred embodiments. Detailed Implementation

[0035] The present application will now be further described based on preferred embodiments and with reference to the accompanying drawings.

[0036] The terminology used in this specification is for illustrative purposes and is not intended to limit the scope of this application. It should also be noted that, unless otherwise expressly specified and limited, the terms "set," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection, a direct connection, or an indirect connection via an intermediate medium; or they can refer to the internal communication between two elements. Those skilled in the art will understand the specific meaning of these terms in this application. Furthermore, the description of this application uses terms such as "first" and "second" to distinguish different units, but these are not limited by the manufacturing order and should not be construed as indicating or implying relative importance. Their names may differ in the detailed description and claims of this application.

[0037] Figure 1 This is a schematic diagram of the architecture of an underwater operation Internet of Things system based on a relay buoy, according to some embodiments of this application. Figure 1 As shown, the system consists of an underwater section, a relay buoy, and a cloud server. The relay buoy is located on the water surface, and the cloud server is located on a ship or shore base.

[0038] Specifically, the underwater component includes a control unit, a data acquisition unit, and a tethered operation unit. The control unit is communicatively connected to the data acquisition unit and the tethered operation unit, and is used to control the data acquisition unit to collect underwater environmental information and the status information of the tethered operation unit, as well as to control the tethered operation unit to perform underwater operations. The relay float is watertightly connected to the underwater component via a power line, which supplies power to the underwater component and enables bidirectional communication with the underwater component via a power line carrier signal loaded on the power line. The cloud server is communicatively connected to the relay float, the server at the control end, and the computer at the user end, respectively, to enable bidirectional communication between the relay float and each control end and user end.

[0039] Figure 2 The diagram shows a schematic representation of the relay float architecture in some preferred embodiments, such as... Figure 2 As shown, the relay float includes a monitoring module, a relay, a first power line carrier module, an inertial navigation module, and a router.

[0040] The monitoring module monitors the underwater operation status based on underwater environmental information sent by the control unit of the underwater section and the status information of the tethered operation unit. One end of the relay is connected to the power supply terminal set on the ship / shore base or relay float, and the other end supplies power to the underwater section through the power line. Its control terminal is connected to the monitoring module and controls the power supply to the underwater section according to the instructions of the monitoring module. The first power line carrier module is used to load the information sent by the monitoring module to the underwater section into the power line in the form of PLC signals, and to obtain the information sent by the underwater section to the monitoring module in the form of PLC signals from the power line. The inertial navigation module is used to obtain the geographical location information of the relay float. The router can use an existing NB-IoT base station to build a local area network with the monitoring module and the underwater section, and communicate with the cloud server via 4G / 5G wireless communication. In addition, the relay float also has a built-in battery and other power supply modules.

[0041] Figure 3 The diagram shows a schematic representation of the underwater portion in some preferred embodiments, such as... Figure 3 As shown, in addition to the control unit, acquisition unit and cabled operation unit mentioned above, the underwater part also includes a second power line carrier module and a power supply management module.

[0042] In some specific embodiments, the tethered operation unit is a tethered underwater robot. The aforementioned control unit, acquisition unit, second power line carrier module, and power management module are all placed inside its watertight compartment. Externally, it is equipped with propellers, flexible mechanical claws, and other devices for underwater operations. The acquisition unit collects information through various sensors and signal acquisition devices placed outside the tethered underwater robot or inside its watertight compartment.

[0043] The information collected by the acquisition unit includes underwater environment information and status information of the tethered operation unit. The underwater environment information includes underwater image information collected by binocular and monocular cameras, as well as sonar scanning information collected by scanning sonar. The status information of the tethered operation unit includes the depth and attitude information of the underwater robot obtained by depth and attitude sensors, as well as the temperature, humidity, and air pressure information inside the watertight chamber of the underwater robot obtained by temperature, humidity, and air pressure sensors.

[0044] In some specific embodiments, after the power line led from the relay float is introduced into the underwater part through a watertight connector, the power supply management module converts the voltage at the power supply end into the working voltage required by each part of the cabled operation unit, thereby realizing the power supply to the underwater part; at the same time, the second power line carrier module loads the information sent by the control unit to the relay float into the power line in the form of PLC signals, and obtains the information in the form of PLC signals sent by the relay float to the control unit of the underwater part from the power line.

[0045] In some specific embodiments, the various components of the relay float are housed in a shell made of lightweight, watertight material, and the power lines are connected to the underwater section via watertight connectors. When the underwater section is conducting extensive underwater operations, the relay float floats on the surface and moves with the underwater section under the traction of the power lines, while continuously maintaining bidirectional communication with the cloud server. By using the relay float as a "bridge" for data transmission between the underwater section and the cloud server, the power lines enable bidirectional data transmission while simultaneously supplying power to the underwater section. This effectively avoids the problems of high latency, low reliability, narrow bandwidth, and difficulty in transmitting real-time video and images associated with underwater acoustic communication. Furthermore, the relay float and the cloud server achieve wireless network access via a 4G / 5G module, effectively shortening the length of wired cables and avoiding the drawbacks of long-distance cable communication.

[0046] Due to the complexity and variability of the marine environment, underwater robots and other operating units may encounter various abnormal states during underwater operations. Different abnormal states have different degrees of impact on underwater operations. Although the control unit can take corresponding countermeasures when encountering some abnormal states, in some cases, such as when the control unit itself has malfunctioned, or when the attitude of the operating unit is seriously deviated due to ocean currents, the control unit alone cannot eliminate the above serious problems. Therefore, in some preferred embodiments of this application, the relay buoy, in addition to serving as a relay for communication between the underwater part and the cloud server on the ship / shore, also has a monitoring module that monitors the operating status of the underwater part in real time.

[0047] Figure 4 A schematic diagram of the underwater portion according to some preferred embodiments of this application is shown, such as... Figure 4 As shown, the acquisition unit and control unit synchronously send the status information of the cabled operation unit and the underwater environment information to the monitoring module. In the above embodiment, the monitoring module monitors the operation status of the underwater part through the following steps:

[0048] S100: Monitor the operating status of the control unit. If the operating status of the control unit is abnormal, take over the control of the underwater part; otherwise, execute step S200.

[0049] S200: Based on the status information of the cabled operation unit and the underwater environment information synchronously sent by the control unit and the acquisition unit, anomaly detection is performed. Based on the anomaly detection results, the anomaly level of the underwater part is determined and corresponding anomaly response measures are taken.

[0050] In some specific embodiments, the above steps S100 to S200 are performed continuously in a cyclic manner. In step S100, the monitoring module monitors the operating status of the control unit of the underwater part. When it is found that the control unit fails to send underwater environment information or status information of the cabled operation unit to the monitoring module, it is determined that the operating status of the control unit is abnormal. At this time, the monitoring module takes over the control of the underwater part.

[0051] In some specific embodiments, step S200 includes the following steps:

[0052] S210, if the abnormal detection result of the attitude information or the humidity information is abnormal, then determine that the abnormality level is severe and control the relay to disconnect the power supply to the underwater part;

[0053] S220, if the abnormal detection result of the depth information is abnormal, then determine the abnormality level as moderate and disconnect the connection between the underwater part and the cloud server, and then return to the execution step S100; otherwise, execute step S230.

[0054] S230, if the abnormal detection result of the underwater image information or sonar scanning information is abnormal, then determine that the abnormality level is slight and disconnect the connection between the underwater part and the cloud server, and then return to execute step S100; otherwise, execute step S240.

[0055] S240, if the abnormal detection result of the temperature information or the air pressure information is abnormal, then determine that the abnormality level is slight and return to step 100; otherwise, execute step S240.

[0056] S240, determine the abnormality level as no abnormality and return to step S100.

[0057] Table 1 below lists the abnormal response measures taken for different abnormal detection results through steps S210 to S240.

[0058] Table 1. Anomaly Detection Results and Anomaly Response Measures

[0059] Anomaly detection results Severity Abnormal response measures Abnormal humidity in the watertight compartment serious Disconnect the power abnormal posture serious Disconnect the power Depth Anomaly moderate Disconnect from network Abnormal underwater environmental information slight Disconnect from network abnormal temperature in the watertight compartment slight none abnormal air pressure in the watertight compartment slight none

[0060] In steps S210 to S240 above, the monitoring module takes different measures based on the degree of impact of the abnormal state on the underwater operation: For abnormal humidity, it is judged that the underwater sealed cabin may have leaked due to impact, so the monitoring module controls the relay to cut off the power to prevent the circuit board inside the cabin from being damaged by short circuit due to water ingress. For continuous abnormal attitude, it is considered that the underwater robot has overturned abnormally and has not adjusted back in time. At this time, it is judged that the MCU of the underwater part is damaged. In order to prevent the underwater robot from being damaged by impact, the monitoring module controls the relay to disconnect the power. In both of the above situations, after the underwater part is powered off, the monitoring module obtains the approximate position of the underwater robot through the inertial navigation module and sends the corresponding information to the cloud server, and the ship-based / shore-based rescue is provided. If the temperature and air pressure are abnormal, it is often caused by the overheating of the circuit board inside the cabin. It can be observed without taking any action. If the sonar scan or camera is abnormal or the depth information is abnormal, it may be that the corresponding operation equipment is damaged. In order to avoid remote users from misoperating due to incorrect information, the underwater part is disconnected from the network.

[0061] In some specific embodiments, anomaly detection of various underwater environmental information and status information of tethered operation units includes the following steps:

[0062] The first step is to determine whether there are any abnormalities in the status information of the cabled operation unit and the underwater environment information sent by the control unit. If there are no abnormalities, the abnormality detection is exited and the abnormality detection result is set to normal; otherwise, the second step is executed.

[0063] The second step is to determine whether there are any abnormalities in the status information of the cabled operation unit and the underwater environment information synchronously sent by the acquisition unit. If there are no abnormalities, the abnormality detection is exited and the abnormality detection result is set to normal; otherwise, the abnormality detection is exited and the abnormality detection result is set to abnormal.

[0064] In the above-mentioned anomaly detection process, if the various underwater environmental information and the status information of the working unit obtained by the control unit in the first step are normal, then no further detection is required and the result is returned to normal. Otherwise, the corresponding information collected by the acquisition unit is directly obtained and verified. If both are abnormal, the anomaly detection result is determined to be abnormal; otherwise, the detection result is determined to be normal.

[0065] In some preferred embodiments, the attitude information of the underwater robot includes first attitude information collected by a first attitude sensor and second attitude information synchronously acquired by a second attitude sensor, wherein the first attitude sensor is located at the center of gravity of the underwater robot, and the second attitude sensor is located closer to the acquisition unit than the first attitude sensor.

[0066] Existing underwater robots typically place attitude sensors (such as gyroscope sensors) at the robot's center of gravity. Attitude information acquired at this location accurately reflects the robot's overall posture and can be directly used for motion control. However, because the attitude sensor is connected to the circuit board by cables, and the electromagnetic environment is complex, it may be affected by interference from other devices (such as the magnetic field interference from a rotating motor, which affects the attitude sensor's operation; the magnitude of the magnetic field varies depending on the motor's speed, and its impact on the attitude sensor is dynamically changing), thus affecting the accuracy of the attitude information. Therefore, in the preferred embodiment described above, a second attitude sensor is placed closer to the control unit, such as on the PCB circuit board where the control unit is located. Although the attitude data from this location is not as precise, it can still detect the underwater robot's attitude information and is very stable. Based on this, using the second attitude sensor as a benchmark, when the attitude data acquired by the second attitude sensor exceeds the normal range, the attitude data of the first attitude sensor is used for consistency detection: if the error between the attitude data acquired by the first attitude sensor and the second attitude sensor remains within a certain range, the first attitude sensor is considered to be working normally; if the error between the attitude data acquired by the first attitude sensor and the second attitude sensor exceeds the threshold and continues to occur, the first attitude sensor is considered to be malfunctioning.

[0067] like Figure 4 As shown, in some preferred embodiments, the underwater section further includes a switching unit. Further, the monitoring module outputs a corresponding selection signal to the switching unit according to whether it takes over control of the underwater section. The switching unit synchronously receives a first control signal output by the control unit and a second control signal output by the monitoring module, and uses the first control signal or the second control signal to control the cabled operation unit based on the selection signal.

[0068] The aforementioned switching unit can be an existing module with output selection functionality, for example, Figure 5 The circuit schematic of a switching module constructed using a 2-to-1 multiplexer is shown, such as... Figure 5 As shown, the switching unit uses a 2-to-1 multi-channel selector SN74LVC157ARGYR. The control unit inputs four first control signals (numbered with the prefix TIM), and the monitoring module inputs four second control signals (numbered with the prefix RE_TIM) and one selection signal PWM_CS_OUT. The 2-to-1 multi-channel selector outputs either the first or second control signal through its output terminal (numbered with the prefix SELECT) to the tethered operation unit in a selectable manner to control the thruster or other underwater operation equipment.

[0069] The specific embodiments of this application have been described in detail above. For those skilled in the art, several improvements and modifications can be made to this application without departing from the principle of this application, and these improvements and modifications also fall within the protection scope of the claims of this application.

Claims

1. A relay buoy-based underwater operation Internet of Things system, characterized in that, The application relates to a water environment monitoring system. The system comprises an underwater part, a relay float on the water surface and a cloud server on a ship base or a shore base. The underwater part comprises a control unit, an acquisition unit and a cable operation unit, the control unit is in communication connection with the information acquisition unit and the cable operation unit, is used for controlling the acquisition unit to collect underwater environment information and state information of the cable operation unit, and is used for controlling the cable operation unit to carry out underwater operation. The relay float and the underwater part are electrically connected in a watertight manner through a power line, the underwater part is powered through the power line, and the relay float and the underwater part carry out bidirectional communication through power carrier signals loaded on the power line. The cloud server is in communication connection with the relay float, a control terminal and a user terminal, and is used for realizing bidirectional communication between the relay float and the control terminal and the user terminal. The relay float comprises a monitoring module, a relay, a first power carrier module, an inertial navigation module and a router. The monitoring module monitors the operation state of the underwater part based on the underwater environment information and the state information of the cable operation unit sent by the control unit of the underwater part. The relay controls power supply to the underwater part according to the instruction of the monitoring module. The first power carrier module is used for loading the information sent by the monitoring module to the underwater part on the power line and acquiring the information sent by the underwater part to the monitoring module from the power line. The inertial navigation module is used for acquiring the geographic position information of the relay float. The router groups the monitoring module and the underwater part into a local area network and is in communication connection with the cloud server. The cable operation unit is a cable underwater robot. The state information of the cable operation unit comprises depth information and posture information of the underwater robot, temperature information, humidity information and air pressure information in a watertight cabin of the underwater robot. The underwater environment information comprises underwater image information and sonar scanning information. The acquisition unit and the control unit synchronously send the state information of the cable operation unit and the underwater environment information to the monitoring module, and the monitoring module monitors the operation state of the underwater part through the following steps: S100, monitoring the operation state of the control unit, if the operation state of the control unit is abnormal, the control of the underwater part is taken over, otherwise, step S200 is executed; S200, abnormality detection is carried out based on the state information of the cable operation unit and the underwater environment information synchronously sent by the control unit and the acquisition unit, the abnormality level of the underwater part is determined based on the abnormality detection result, and corresponding abnormality response measures are taken; The abnormality of the operation state of the control unit is that the control unit fails to send the underwater environment information or the state information of the cable operation unit to the monitoring module; Step S200 further comprises the following steps: S210, if the abnormality detection result of the posture information or the humidity information is abnormal, it is determined that the abnormality level is serious, and the relay is controlled to disconnect the power supply to the underwater part; S220, if the abnormality detection result of the depth information is abnormal, it is determined that the abnormality level is moderate, the connection between the underwater part and the cloud server is disconnected, and then step S100 is executed, otherwise, step S230 is executed; S230, if the anomaly detection result of the underwater image information or the sonar scanning information is abnormal, determining that the abnormality level is slight and disconnecting the underwater part from the cloud server, and then returning to step S100, otherwise executing step S240; S240, if the anomaly detection result of the temperature information or the air pressure information is abnormal, determining that the abnormality level is slight and returning to step 100, otherwise executing step S240; S240, determining that the abnormality level is normal and returning to step S100.

2. The relay buoy-based underwater operation Internet of Things system according to claim 1, wherein: The underwater part further comprises a second power carrier module connected to the power line, for loading information sent by the control unit of the underwater part to the relay buoy on the power line, and obtaining information sent by the relay buoy to the underwater part from the power line.

3. The relayed buoyancy-based underwater operation Internet of Things system according to claim 1, wherein, The anomaly detection comprises the following steps: First, determine whether the state information of the tethered operation unit and the underwater environment information sent by the control unit are abnormal, if not, exit the anomaly detection and set the anomaly detection result as normal, otherwise execute the second step; Second, determine whether the state information of the tethered operation unit and the underwater environment information synchronously sent by the acquisition unit are abnormal, if not, exit the anomaly detection and set the anomaly detection result as normal, otherwise exit the anomaly detection and set the anomaly detection result as abnormal.

4. The relay buoy-based underwater operation Internet of Things system according to claim 3, wherein: The attitude information of the underwater robot comprises first attitude information collected by a first attitude sensor and second attitude information synchronously obtained by a second attitude sensor, wherein the first attitude sensor is arranged at the center of gravity of the underwater robot, and the second attitude sensor is arranged at a position closer to the acquisition unit than the first attitude sensor.

5. The relay buoy-based underwater operation Internet of Things system according to claim 1, wherein: The underwater part further comprises a switching unit; The monitoring module outputs a corresponding selection signal to the switching unit according to whether it takes over the control of the underwater part; The switching unit synchronously receives a first control signal output by the control unit and a second control signal output by the monitoring module, and controls the tethered operation unit based on the selection signal using the first control signal or the second control signal.

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