Research method of auv and underwater glider cluster cooperative operation mode

Abstract

The application provides a research method for cooperative operation mode of AUV and underwater glider cluster, and relates to the technical field of underwater vehicles. The research method for cooperative operation mode of AUV and underwater glider cluster comprises an underwater glider and a mother ship, the underwater glider is arranged on the top of the mother ship, and comprises the following steps: step 1: a positioning and launching system is carried on the bottom of the underwater glider, and the underwater glider is dived to the underwater position for fixed-point launching. The research method for cooperative operation mode of AUV and underwater glider cluster, the No.2 AUV keeps unchanged at the position, the sound and image of the marine organisms at the water surface height are monitored, the No.3 AUV is launched according to the above principle, and the launching is ended according to the method. The fixed-point launching method can make the AUV dive farther, and the exploration of the underwater organisms is more in-depth.

Description

TECHNICAL FIELD

[0001] The application relates to an AUV and underwater glider operation research method, in particular to an AUV and underwater glider cluster cooperative operation mode research method, and belongs to the technical field of underwater vehicles. BACKGROUND

[0002] The underwater glider is a new type of underwater robot. Since the underwater glider utilizes net buoyancy and attitude angle adjustment to obtain propelling force, energy consumption is extremely small, only a small amount of energy is consumed when the net buoyancy and the attitude angle are adjusted, and the underwater glider has the characteristics of high efficiency and long endurance (up to thousands of kilometers). Although the underwater glider has a slow navigation speed, the underwater glider has the characteristics of low manufacturing cost and maintenance cost, reusability and large-scale deployment, and meets the needs of long-time and large-range ocean exploration. The AUV is an underwater cableless robot.

[0003] According to the application of an AUV electromagnetic guiding type recovery device and method for a blended wing body underwater glider disclosed in patent number CN 114655400 A, the application belongs to the field of underwater vehicle deployment and recovery. The application comprises an electromagnetic deployment and recovery device and a traction auxiliary recovery device. Multiple electromagnetic deployment and recovery devices are arranged in the cabin of the blended wing body underwater glider. The AUV is pulled to the recovery precision range of the electromagnetic deployment and recovery device through the traction auxiliary recovery device, and then the electromagnetic deployment and recovery device is used for recovery. The electromagnetic deployment and recovery device comprises a power supply, an electromagnetic deployment and recovery pipe and a front cover. The power supply controls the on-off of the electromagnetic field environment of the electromagnetic deployment and recovery pipe. The traction auxiliary recovery device comprises a control end and a traction end. The control end controls the traction end to perform actions. After the traction end locks the AUV to be recovered, the control end controls the traction end to navigate near the blended wing body underwater glider until the traction end reaches the recovery precision range of the electromagnetic deployment and recovery device. Therefore, the application can realize efficient and accurate AUV recovery.

[0004] The above comparative file has the following problems when the underwater glider is navigated underwater. When the AUV is deployed, it cannot be deployed at a fixed point, the diving depth is relatively small, the detection of the deep sea is not deep enough, the detection of marine organisms is not deep enough, the mysteries of the ocean cannot be better detected, the video and sound of marine organisms in different depth sea areas cannot be monitored, and the best distance for transmitting video and sound cannot be analyzed and researched. SUMMARY

[0005] (I) Technical problems solved

[0006] The present application aims at providing an AUV and underwater glider cluster cooperative operation mode research method to solve the problems in the prior art that the AUV cannot be positioned and launched, the diving depth is relatively small, the detection of the deep sea is not deep enough, the detection of marine organisms is not deep enough, the mystery of the sea cannot be better detected, the video and sound of marine organisms in different depth sea areas cannot be monitored, and the optimal distance for transmitting the video and sound cannot be analyzed and researched.

[0007] (II) Technical solutions

[0008] To achieve the above object, the present application is implemented by the following technical solutions: an AUV and underwater glider cluster cooperative operation mode research method, comprising an underwater glider and a mother ship, the underwater glider being arranged on the top of the mother ship, and comprising the following steps:

[0009] Step 1: a positioning and launching system is carried on the bottom of the underwater glider, and is dived underwater to perform positioning and launching, and the method is continued until the launching is completed, a plurality of AUVs are carried by the No. 2 AUV to continue diving under the control of a control platform, the No. 3 AUV is launched when the No. 2 AUV is dived to the maximum value of the running path, the No. 2 AUV remains unchanged at this position, and the sound and video of the marine organisms at this water level are monitored, the No. 3 AUV is launched according to the above principle, and the method is continued until the launching is completed, and the positioning and launching method can make the AUV dive farther, and the exploration of underwater organisms is more in-depth;

[0010] Step 2: after the positioning and launching system is sequentially positioned and launched, the video monitoring system and the sound monitoring system are used to record the marine organisms living in different marine depths and monitor the sound emitted by the marine organisms, the underwater glider, the No. 1 AUV, the No. 2 AUV and the No. 3 AUV are used to record the marine organisms living in different marine depths and the sound emitted by the marine organisms, the recorded sound and image are reflected to the control platform, and the second data analysis is performed after data recovery, so that the living habits of the marine organisms in different water depths and the sound emitted by the marine organisms can be explored, and contribution can be made to the exploration of marine organisms by human beings;

[0011] Step 3: In the process of recording and collecting the sound emitted by the marine organisms living in different ocean depths, the video monitoring system at different distances transmits signals and the sound monitoring system transmits signals to analyze the strength of the transmission, and the best transmission distance is obtained. The time of the first AUV 303 transmitting to the control platform relative to the transmission time of the underwater glider, whether the sound transmission signal transmission is weakened, the time of the second AUV 304 transmitting to the control platform relative to the transmission time of the first AUV 303, whether the sound transmission signal transmission continues to weaken, the time of the third AUV 305 transmitting to the control platform relative to the transmission time of the second AUV, whether the sound transmission signal transmission continues to weaken, and after all data transmission is completed, the best signal transmission distance is obtained through the first data analysis, so as to study the best sound and video transmission distance.

[0012] Preferably, the positioning and launching system is controlled by the control platform to control the underwater glider to launch the AUV, and then the underwater glider carries multiple AUVs to dive to the maximum value of the running path to launch the first AUV, and then the first AUV carries multiple AUVs to continue to dive, and when the first AUV dives to the maximum value of the running path, the second AUV is launched, and then the second AUV carries multiple AUVs to continue to dive, and when the second AUV dives to the maximum value of the running path, the third AUV is launched, and this method is used until the launching is completed. The positioning and launching system is used for video monitoring and sound monitoring of marine organisms at different depths of the sea surface, the underwater glider carries multiple AUVs to dive to the maximum value of the running path to launch the first AUV, and then the underwater glider remains at this position, and the sound and video of the marine organisms at this water level are monitored. After the first AUV is launched, the control platform controls the first AUV to carry multiple AUVs to continue to dive.

[0013] Preferably, the video monitoring system includes a video transmission signal, which is in communication connection with the control platform. The underwater glider, the first AUV, the second AUV, and the third AUV launched at the fixed point are used to record marine organisms living in different ocean depths. The recorded data is transmitted to the control platform through the video transmission signal, and then data recovery and second data analysis are performed. The video transmission signal is used for video transmission. When the second AUV is launched when the first AUV dives to the maximum value of the running path, the first AUV remains at this position, and the sound and video of the marine organisms at this water level are monitored. After the second AUV is launched, the control platform controls the second AUV to carry multiple AUVs to continue to dive. When the third AUV is launched when the second AUV dives to the maximum value of the running path, the second AUV remains at this position, and the sound and video of the marine organisms at this water level are monitored.

[0014] Preferably, the sound monitoring system comprises a sound transmission signal, which is in communication with the control platform, and the underwater glider, the first AUV, the second AUV and the third AUV for recording the sound emitted by marine organisms, and the recorded sound data is transmitted to the control platform through the sound transmission signal for data recovery and second data analysis, and the sound transmission signal is set for sound transmission.

[0015] Preferably, after starting work, the marine organisms living in different depths of the sea are recorded, and the sound emitted by the marine organisms is recorded and transmitted to the control platform for second data analysis to obtain the optimal signal transmission distance, the video monitoring system transmits signals to first observe whether the video transmission signal of the underwater glider transmitting data to the mother ship is normal, and then observe whether the video signal transmitted by the first AUV to the mother ship is weakened relative to the video signal transmitted by the underwater glider, and the underwater glider is set to monitor the marine organisms on the surface of the water.

[0016] Preferably, the video signal transmitted by the second AUV to the mother ship is continuously weakened relative to the video signal transmitted by the first AUV, and the video signal transmitted by the third AUV to the mother ship is continuously weakened relative to the video signal transmitted by the second AUV, and the optimal signal transmission distance is obtained through first data analysis.

[0017] Preferably, the sound monitoring system transmits signals to first observe whether the sound transmission signal of the underwater glider transmitting data to the mother ship is normal, and then observe whether the sound signal transmitted by the first AUV to the mother ship is weakened relative to the sound transmission signal transmitted by the underwater glider.

[0018] Preferably, the sound signal transmitted by the second AUV to the mother ship is continuously weakened relative to the sound transmission signal transmitted by the first AUV, and the sound signal transmitted by the third AUV to the mother ship is continuously weakened relative to the sound transmission signal transmitted by the second AUV, and the optimal signal transmission distance is obtained through first data analysis.

[0019] Preferably, the underwater glider is provided with a wing on the outside, and a tail wing is installed at the tail of the underwater glider, and the tail wing and the wing are set to help the underwater glider run smoothly.

[0020] Preferably, the underwater glider is provided with an observation cabin on the outside, and a maintenance opening is installed at the top of the underwater glider, and the maintenance opening is set for maintenance of the inside of the underwater glider.

[0021] The application provides a research method for cooperative operation mode of AUV and underwater glider cluster, which has the following beneficial effects:

[0022] 1. The research method for cooperative operation mode of AUV and underwater glider cluster, the No.1 AUV keeps unchanged at the position, the sound and video of the marine life at the water level are monitored, after the No.2 AUV is launched, the No.2 AUV carries multiple AUVs to continue diving under the control of the control platform, when the No.2 AUV dives to the maximum value of the running path, the No.3 AUV is launched, at this time, the No.2 AUV keeps unchanged at the position, the sound and video of the marine life at the water level are monitored, the No.3 AUV is launched according to the above principle, and the method is used until the launching is completed, and the fixed-point launching method can make the AUV dive farther, and the exploration of the underwater life is more in-depth.

[0023] 2. The research method for cooperative operation mode of AUV and underwater glider cluster, the time required for the underwater glider to transmit the sound emitted by the marine life to the control platform is compared with the normal sound transmission time, the sound transmission signal is normal, the transmission time of the No.1 AUV to the control platform is compared with the transmission time of the underwater glider, the sound transmission signal transmission is weakened, the transmission time of the No.2 AUV to the control platform is compared with the transmission time of the No.1 AUV, the sound transmission signal transmission is continuously weakened, the transmission time of the No.3 AUV to the control platform is compared with the transmission time of the No.2 AUV, the sound transmission signal transmission is continuously weakened, after all the data transmission is completed, the best signal transmission distance is obtained through first data analysis, so that the best sound and video transmission distance is obtained.

[0024] 3. The research method for cooperative operation mode of AUV and underwater glider cluster, the underwater glider, the No.1 AUV, the No.2 AUV and the No.3 AUV are used to record the marine life living at different ocean depths and the sound emitted by the marine life, the recorded sound and image are reflected to the control platform, data recovery and second data analysis are carried out, and thus the living habits of the marine life at different water depths and the sound emitted by the marine life are explored, which contributes to the exploration of marine life by human beings. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 It is a schematic diagram of the overall structure of the application;

[0026] Figure 2 It is a flow chart of the positioning and launching system method of the application;

[0027] Figure 3 It is a flow chart of the video monitoring system transmission signal method of the application.

[0028] In the picture: 1. Mother ship;

[0029] 2. Launch of an underwater glider-borne AUV; 201. Launch multiple underwater glider-borne AUVs; 202. Deploy AUV No. 1 at the first fixed point with the maximum travel path value; 203. AUV No. 1 then carries multiple AUVs to continue descending; 204. When AUV No. 1 descends to the maximum travel path value, deploy AUV No. 2; 205. AUV No. 2 then carries multiple AUVs to continue descending; 206. When AUV No. 2 descends to the maximum travel path value, deploy AUV No. 3; 207. Repeat this method until all deployments are completed;

[0030] 3. Control platform; 301. Sound transmission signal; 302. Underwater glider; 303. AUV No. 1; 304. AUV No. 2; 305. AUV No. 3; 306. Recording marine life living at different ocean depths; 307. Recording the sounds emitted by marine life; 308. Video transmission signal;

[0031] 4. Is the video transmission signal normal? 401. Is the video signal transmission weakening? 402. Is the video signal transmission continuing to weaken? 403. Is the video signal transmission continuously weakening?

[0032] 5. Is the sound transmission signal normal? 501. Is the sound transmission signal weakening? 502. Is the sound transmission signal continuing to weaken? 503. Is the sound transmission signal continuously weakening?

[0033] 6. Data retrieved to mother ship; 7. First data analysis; 8. Determine the optimal signal transmission distance; 9. Start; 10. Data retrieval; 11. Second data analysis; 12. Tail wing; 13. Side wing; 14. Inspection port; 15. Observation compartment; 16. Positioning and deployment system. Detailed Implementation

[0034] This invention provides a research method for a collaborative operation mode based on AUV and underwater glider clusters.

[0035] Please see Figure 1 , Figure 2 and Figure 3 The system includes an underwater glider 302 and a mother ship 1. The underwater glider 302 is mounted on top of the mother ship 1, and includes the following steps:

[0036] Step 1: Mount the positioning and delivery system 16 on the bottom of the underwater glider 302, dive underwater to perform a fixed-point delivery, and continue this process until the delivery is completed 207.

[0037] Step 2: After the positioning and dropping system 16 is sequentially completed, the video monitoring system and the sound monitoring system are used to record 306 the marine organisms living in different marine depths and record 307 the sounds emitted by the marine organisms for monitoring;

[0038] Step 3: During the recording and collection of the marine organisms living in different marine depths and the sounds emitted by the marine organisms, the strength of the video monitoring system transmission signal and the sound monitoring system transmission signal at different distances is analyzed and studied to obtain the best transmission distance.

[0039] The positioning and dropping system 16 is controlled by the control platform 3 to control the underwater glider to launch the AUV 2, and then the underwater glider carries multiple AUVs 201 to dive to the maximum value of the travel path to drop the first AUV 202, and then the first AUV carries multiple AUVs to continue diving 203, and when the first AUV dives to the maximum value of the travel path, the second AUV 204 is dropped, and then the second AUV carries multiple AUVs to continue diving 205, and when the second AUV dives to the maximum value of the travel path, the third AUV 206 is dropped, and this method is used until the dropping is completed 207. The positioning and dropping system 16 is used for video monitoring and sound monitoring of marine organisms at different depths of the sea surface. The video monitoring system includes a video transmission signal 308, and the video transmission signal 308 is in communication connection with the control platform 3. The underwater glider 302, the first AUV 303, the second AUV 304, and the third AUV 305 used for positioning and dropping are used to record 306 the marine organisms living in different marine depths. The recorded data is transmitted to the control platform 3 through the video transmission signal 308, and then data recovery 10 and second data analysis 11 are performed. The video transmission signal 308 is used for transmitting video.

[0040] The underwater glider 302 is provided with a side wing 13 on the outside, and a tail wing 12 is installed at the tail of the underwater glider 302. The tail wing 12 and the side wing 13 are used to help the underwater glider 302 run smoothly. An observation bin 15 is installed on the outside of the underwater glider 302, and a maintenance opening 14 is installed on the top of the underwater glider 302. The maintenance opening 14 is used for maintenance of the inside of the underwater glider 302.

[0041] Specifically, first, the mother ship 1 sails on the sea surface, and then the underwater glider carrying AUVs is launched 2 by the control platform 3 on the mother ship 1, the underwater glider carrying multiple AUVs 201 is submerged to the maximum value of the running path, and the first AUV 202 is launched at the first fixed point 1. At this time, the underwater glider 302 remains unchanged at this position, and the sound and video of the marine life at this water surface height are monitored. After the launch of the first AUV 303 is completed, the control platform 3 can be used to control the launch of multiple AUVs carried by the first AUV 203. When the first AUV is submerged to the maximum value of the running path, the second AUV 204 is launched. At this time, the first AUV 303 remains unchanged at this position, and the sound and video of the marine life at this water surface height are monitored. After the launch of the second AUV 304 is completed, the control platform 3 can be used to control the launch of multiple AUVs carried by the second AUV 205. When the second AUV is submerged to the maximum value of the running path, the third AUV 206 is launched. At this time, the second AUV 304 remains unchanged at this position, and the sound and video of the marine life at this water surface height are monitored. The third AUV 305 is launched according to the above principle, and the method is used until the launch is completed 207. This fixed-point launching method can make the AUVs dive farther and explore the underwater life more deeply.

[0042] Please refer again to Figure 1 、 Figure 2 and Figure 3 , the sound monitoring system includes a sound transmission signal 301, which is in communication connection with the control platform 3. The underwater glider 302, the first AUV 303, the second AUV 304, and the third AUV 305 launched at the fixed point are used to record the sound emitted by the marine life 307. The recorded sound data is transmitted to the control platform 3 through the sound transmission signal 301, and then data recovery 10 and second data analysis 11 are performed. The sound transmission signal 301 is used to transmit the sound.

[0043] Specifically, the underwater glider 302, the first AUV 303, the second AUV 304, and the third AUV 305 are used to record the marine life living at different depths 306 and the sound emitted by the marine life 307. The recorded sound and image are reflected to the control platform 3, and then data recovery 10 and second data analysis 11 are performed. Thus, the living habits of marine life at different water depths and the sound emitted by marine life can be explored, which contributes to the exploration of marine life by humans.

[0044] Please refer again to Figure 1 、 Figure 2 and Figure 3After starting work, the marine life living in different ocean depths is recorded 306 and the sound emitted by the marine life is recorded 307, and the transmission of the video monitoring system signal first observes whether the video signal transmitted by the underwater glider 302 to the data recovery of the mother ship 6 is normal 4, and then observes whether the video signal transmitted by the No. 1 AUV 303 to the data recovery of the mother ship 6 is weakened 401 relative to the video signal transmitted by the underwater glider 302, and the underwater glider 302 is set to monitor the marine life at this height above the water surface, whether the video signal transmitted by the No. 2 AUV 304 to the data recovery of the mother ship 6 continues to weaken 402 relative to the video signal transmitted by the No. 1 AUV 303, and whether the video signal transmitted by the No. 3 AUV 305 to the data recovery of the mother ship 6 continues to weaken 403 relative to the video signal transmitted by the No. 2 AUV 304, and then the best signal transmission distance 8 is obtained through the first data analysis 7, and the sound monitoring system signal first observes whether the sound signal transmitted by the underwater glider 302 to the data recovery of the mother ship 6 is normal 5, and then observes whether the sound signal transmitted by the No. 1 AUV 303 to the data recovery of the mother ship 6 is weakened 501 relative to the sound signal transmitted by the underwater glider 302, and whether the sound signal transmitted by the No. 2 AUV 304 to the data recovery of the mother ship 6 continues to weaken 502 relative to the sound signal transmitted by the No. 1 AUV 303, and whether the sound signal transmitted by the No. 3 AUV 305 to the data recovery of the mother ship 6 continues to weaken 503 relative to the sound signal transmitted by the No. 2 AUV 304, and then the best signal transmission distance 8 is obtained through the first data analysis 7.

[0045] Specifically, the underwater glider 302, the first AUV 303, the second AUV 304 and the third AUV 305 are used to record the images and sounds of different marine organisms, and during the recording process, the visual transmission signals and the sound transmission signals are transmitted to the control platform 3. During the transmission process, the first data analysis 7 is performed 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. The time required for the underwater glider 302 to record the marine organisms living in different depths of the sea 306 and transmit to the control platform 3 is compared with the normal video transmission time, and whether the video transmission signal is normal 4. The video transmission time of the first AUV 303 to the control platform 3 is compared with the transmission time of the underwater glider 302, and whether the video signal transmission is weakened 401. The video transmission time of the second AUV 304 to the control platform 3 is compared with the transmission time of the first AUV 303, and whether the video signal transmission is continuously weakened 402. The video transmission time of the third AUV 305 to the control platform 3 is compared with the transmission time of the second AUV 304, and whether the video signal transmission is continuously weakened 403. The time required for the underwater glider 302 to record the sounds emitted by the marine organisms 307 and transmit to the control platform 3 is compared with the normal sound transmission time, and whether the sound transmission signal is normal 5. The time of the first AUV 303 to the control platform 3 is compared with the transmission time of the underwater glider 302, and whether the sound transmission signal transmission is weakened 501. The time of the second AUV 304 to the control platform 3 is compared with the transmission time of the first AUV 303, and whether the sound transmission signal transmission is continuously weakened 502. The time of the third AUV 305 to the control platform 3 is compared with the transmission time of the second AUV 304, and whether the sound transmission signal transmission is continuously weakened 503. After all the data transmission is completed, the first data analysis 7 is performed to obtain the optimal signal transmission distance 8, so as to obtain the optimal sound and video transmission distance.

[0046] Working principle: the underwater glider 302 keeps in this position unchanged, and monitors the sound and image of the marine life at this water level. After the first AUV 303 is launched, the control platform 3 is used to control the first AUV to carry multiple AUVs to continue diving 203. When the first AUV dives to the maximum value of the travel path, the second AUV 204 is launched. At this time, the first AUV 303 keeps in this position unchanged, and monitors the sound and image of the marine life at this water level. After the second AUV 304 is launched, the control platform 3 is used to control the second AUV to carry multiple AUVs to continue diving 205. When the second AUV dives to the maximum value of the travel path, the third AUV 206 is launched. At this time, the second AUV 304 keeps in this position unchanged, and monitors the sound and image of the marine life at this water level. The third AUV 305 is launched according to the above principle, and the above method is used until the launching is completed 207.

[0047] The basic principle and main features of the present application and the advantages of the present application are shown and described above. It should be understood by those skilled in the art that the present application is not limited by the above examples, and the above examples and descriptions in the specification are only to illustrate the principle of the present application. Without departing from the spirit and scope of the present application, various changes and improvements can be made to the present application, and these changes and improvements all fall within the scope of the present application. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

1. A research method for a collaborative operation mode of AUV and underwater glider swarm, comprising an underwater glider (302) and a mother ship (1), wherein the underwater glider (302) is mounted on top of the mother ship (1), characterized in that: Includes the following steps: Step 1: Mount the positioning and delivery system (16) on the bottom of the underwater glider (302), dive underwater to deliver the system at a fixed point, and repeat this process until the delivery is completed (207). The positioning and deployment system (16) controls the underwater glider-borne AUV to descend into the water (2) through the control platform (3), and then deploys AUV No. 1 (202) by having multiple AUVs (201) descend to the first fixed point of the maximum travel path value. AUV No. 1 then carries multiple AUVs to continue descending (203). When AUV No. 1 descends to the maximum travel path value, AUV No. 2 is deployed (204). AUV No. 2 then carries multiple AUVs to continue descending (205). When AUV No. 2 descends to the maximum travel path value, AUV No. 3 is deployed (206). This process continues until the deployment is completed (207). Step 2: After the positioning and delivery system (16) has completed the positioning and delivery, the video monitoring system and the sound monitoring system are used to record (306) the marine organisms living at different ocean depths and record (307) the sounds emitted by the marine organisms. Step 3: During the recording and collection process of marine organisms living at different ocean depths (306) and the recording of sounds emitted by marine organisms (307), the strength of the transmission signals of the video monitoring system and the sound monitoring system at different distances is analyzed and studied to determine the optimal transmission distance.

2. The research method for collaborative operation mode based on AUV and underwater glider clusters according to claim 1, characterized in that: The video monitoring system includes a video transmission signal (308), which is connected to the control platform (3). The underwater glider (302), AUV 1 (303), AUV 2 (304) and AUV 3 (305) deployed at fixed points are used to record (306) marine organisms living at different ocean depths. The recorded data is transmitted to the control platform (3) through the video transmission signal (308) and then the data is retrieved (10) and the second data analysis (11) is performed.

3. The research method for collaborative operation mode based on AUV and underwater glider clusters according to claim 2, characterized in that: The sound monitoring system includes a sound transmission signal (301), which is connected to the control platform (3). The underwater glider (302), AUV 1 (303), AUV 2 (304) and AUV 3 (305) deployed at fixed points are used to record (307) the sounds emitted by marine life. The recorded sound data is transmitted to the control platform (3) through the sound transmission signal (301) and then the data is retrieved (10) and the second data analysis (11) is performed.

4. The research method for collaborative operation mode based on AUV and underwater glider clusters according to claim 1, characterized in that: After the work begins, the marine life living at different ocean depths is recorded (306) and the sounds emitted by the marine life are recorded (307) and transmitted to the control platform (3) for a second data analysis (11) to obtain the optimal signal transmission distance (8). The video monitoring system first observes whether the video transmission signal of the underwater glider (302) transmitted data and retrieved to the mother ship (6) is normal (4), and then observes whether the video signal of the No. 1 AUV (303) transmitted data and retrieved to the mother ship (6) is weakened relative to the video signal transmitted by the underwater glider (302) (401).

5. The research method for collaborative operation mode based on AUV and underwater glider clusters according to claim 4, characterized in that: Whether the video signal transmitted by AUV 2 (304) to the mother ship (6) continues to weaken relative to the video signal transmitted by AUV 1 (303) (402), whether the video signal transmitted by AUV 3 (305) to the mother ship (6) continues to weaken relative to the video signal transmitted by AUV 2 (304) (403), and then the optimal signal transmission distance (8) is obtained through the first data analysis (7).

6. The research method for collaborative operation mode based on AUV and underwater glider clusters according to claim 1, characterized in that: The sound monitoring system first observes whether the sound transmission signal of the underwater glider (302) transmitting data and recovering it to the mother ship (6) is normal (5), and then observes whether the sound signal of the No. 1 AUV (303) transmitting data and recovering it to the mother ship (6) is weakened relative to the sound transmission signal transmitted by the underwater glider (302) (501).

7. The research method for collaborative operation mode based on AUV and underwater glider clusters according to claim 6, characterized in that: Whether the sound signal transmitted by AUV 2 (304) to the mother ship (6) continues to weaken relative to the sound transmission signal transmitted by AUV 1 (303) (502), whether the sound signal transmitted by AUV 3 (305) to the mother ship (6) continues to weaken relative to the sound transmission signal transmitted by AUV 2 (304) (503), and then the optimal signal transmission distance (8) is obtained through the first data analysis (7).

8. The research method for collaborative operation mode based on AUV and underwater glider clusters according to claim 1, characterized in that: The underwater glider (302) is equipped with a side wing (13) on its outside and a tail wing (12) on its tail.

9. The research method for collaborative operation mode based on AUV and underwater glider clusters according to claim 1, characterized in that: An observation cabin (15) is installed on the outside of the underwater glider (302), and an inspection port (14) is installed on the top of the underwater glider (302).

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