Seabed-based data electromagnetic recovery method based on unmanned aerial vehicle

Abstract

The invention relates to the related field of ocean exploration, in particular to a seabed-based data electromagnetic recovery method based on an unmanned aerial vehicle, which realizes efficient monitoring and data processing of an ocean environment by using the unmanned aerial vehicle to flexibly cruise and receive electromagnetic signals of seabed equipment and combining data processing and analysis functions of a ground station. The device state can be monitored in real time, mass data can be rapidly processed and analyzed, and reliable data support is provided for the fields of marine scientific research, resource exploration, environment monitoring and the like. According to the method, the coverage rate and the flexibility of data acquisition are improved, the overall cost is reduced through automation and real-time processing, the accuracy, the efficiency and the application value of data are remarkably improved, and the method has a wide application prospect.

Description

Technical Field

[0001] The present invention relates to the field of ocean exploration, and in particular to a method for electromagnetic recovery of seabed-based data based on an unmanned aerial vehicle. Background Art

[0002] In the field of ocean exploration, seabed-based data acquisition is an important means of obtaining information about the ocean bottom. However, traditional seabed-based data acquisition equipment usually relies on submarine cables for data transmission, which not only increases the difficulty of deployment and maintenance, but also limits the mobility of the equipment. In addition, the data recovery process usually requires divers or underwater robots to complete, which is complicated and costly.

[0003] In recent years, the rapid development of drone technology has provided a new idea for solving this problem. Drones can cover a wide area of ​​sea in a short time and carry various sensors for data collection and recovery. However, there is currently a lack of an effective electromagnetic recovery method for seabed-based data based on drones, which makes data recovery more efficient and convenient. Summary of the invention

[0004] The purpose of the present invention is to provide a method for electromagnetic recovery of seabed-based data based on a drone to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above object, the present invention provides the following technical solution: a method for electromagnetic recovery of seabed-based data based on a drone, comprising the following steps:

[0006] Step S1, seabed data acquisition equipment deployment: placing the seabed data acquisition equipment at a designated seabed location, the seabed data acquisition equipment is equipped with a data storage module and an electromagnetic transmission module for collecting and storing ocean data, and transmitting the data by electromagnetic waves;

[0007] Step S2, UAV cruising: the UAV flies over the target sea area according to a pre-set cruising path, carrying an electromagnetic signal receiving device for receiving electromagnetic signals from the seabed data acquisition device;

[0008] Step S3, electromagnetic signal reception and processing: During the flight, the UAV receives the signal sent by the seabed data acquisition device through the electromagnetic signal receiving device, and the built-in processing unit of the UAV performs preliminary processing and storage on the received data;

[0009] Step S4, data transmission: after completing data reception, the UAV returns to the base station and transmits the data to the processing center of the ground station via wireless communication;

[0010] Step S5, data analysis and processing: The ground station further analyzes and processes the received seabed data and applies the results to related fields.

[0011] Preferably, the specific implementation steps of the deployment of the seabed data acquisition equipment in step S1 are as follows:

[0012] Step S11, equipment selection: According to the environmental characteristics of the sea area, including water depth, current speed, and seabed geology, select seabed data acquisition equipment. The acquisition equipment has waterproof and pressure-proof capabilities and can work normally under high-pressure environments. The acquisition equipment includes but is not limited to the following components:

[0013] Data storage module: used to store collected ocean data, usually a high-capacity pressure-resistant storage device;

[0014] Electromagnetic transmission module: used to transmit the stored data through electromagnetic waves, and uses low-power, anti-interference-capable transmitting devices;

[0015] Sensors: Equipped with ocean parameter sensors as needed, including temperature, salinity, pressure, and acoustic sensors;

[0016] Step S12, determining the deployment location: using ocean survey equipment, specifically using multi-beam sonar and side-scan sonar, to conduct detailed measurements of the target sea area, determine the geological structure and topographical features of the seabed, and select a location suitable for deploying the equipment by analyzing the seabed topographic map to ensure that the equipment can be stably placed and will not be affected by changes in the seabed;

[0017] Step S13, transportation and positioning of deployment equipment: Use a dedicated underwater robot or unmanned surface vessel to transport the seabed data acquisition equipment to the designated location. During the deployment process, use an ultra-short baseline or long baseline underwater positioning system to monitor the placement of the equipment in real time to ensure that the equipment is accurately placed at the predetermined seabed location;

[0018] Step S14, equipment placement: Select a suitable fixing method according to the geological characteristics of the seabed, which specifically includes the following methods: for a soft seabed, insert the seabed data acquisition equipment into the seabed to a preset depth to ensure its stability; for a hard seabed, use an anchoring device to fix the seabed data acquisition equipment, or use heavy objects to reinforce the equipment to prevent it from being moved by the impact of the sea current;

[0019] Step S15, electromagnetic signal transmission frequency setting: according to the electromagnetic environment of the sea area, set an appropriate electromagnetic signal transmission frequency to avoid interference with other marine communication equipment, and adjust the transmission power of the electromagnetic signal to ensure that the signal can be received by the drone within the expected water depth and distance, avoiding excessive power leading to energy waste or signal interference;

[0020] Step S16, equipment startup and monitoring: Start the seabed data acquisition equipment through remote control or preset program, start collecting and storing ocean data, and regularly send signals through the electromagnetic wave transmission module; during the operation of the equipment, regularly receive and calibrate the seabed data acquisition equipment through drones or other detection equipment to ensure the long-term stable operation of the equipment.

[0021] Preferably, the specific steps of the drone cruising in step S2 are as follows:

[0022] Step S21, planning of the cruise path: conducting a detailed survey of the target sea area, including the location of the seabed data acquisition equipment, the environmental conditions of the sea area, specifically including wind speed, tidal changes, and obstacle distribution, and analyzing the survey data to plan the cruise path of the drone, wherein a path optimization algorithm is used to design the cruise route of the drone according to the equipment location and the expected signal reception range. The path planning should ensure that the drone can cover the signal range of all seabed equipment and the flight altitude is appropriate to optimize the signal reception effect;

[0023] Step S22, flight parameter setting: according to the effective working range of the signal receiving device and the transmission power of the seabed equipment, set the appropriate flight altitude; set the flight speed of the UAV so that it can fully receive and process the electromagnetic signals emitted by the seabed equipment during the cruise; according to the mission requirements and the endurance of the UAV, plan the time of a single cruise mission to ensure that the cruise of all predetermined areas is completed within the allowable range of the UAV power;

[0024] Step S23, execution of the cruise mission: before the UAV takes off, the cruise path, flight parameters, signal reception and data processing procedures are set through the ground control station; the UAV automatically cruises according to the preset path, and monitors the flight status and signal reception in real time; during the cruise process, the electromagnetic signal receiving device on the UAV will continuously receive signals from the seabed data acquisition device, and the received data will be preliminarily processed by the processing module on the UAV and stored in the storage device of the UAV;

[0025] Step 24, data transmission and cruise end: During the cruise, the UAV transmits part of the received data back to the ground station in real time through the wireless communication link for preliminary analysis and judgment; after completing the scheduled cruise path, the UAV automatically returns to the base station and downloads the stored data to the ground station via wired or wireless means for comprehensive data processing and analysis;

[0026] Step S25, subsequent maintenance and cruise optimization: After the cruise is completed, the flight data and signal reception effect of the UAV are evaluated to determine the completion of the cruise mission. Based on the evaluation results, the future cruise path and flight parameters are optimized and adjusted to improve the efficiency and accuracy of data recovery.

[0027] Preferably, in step S21, a path optimization algorithm is used to design the cruise route of the drone according to the equipment layout location and the expected signal reception range. Specifically, a genetic algorithm is used to design the cruise route. The steps are as follows:

[0028] Step 1. Encoding path: The flight path of the drone is represented as a chromosome. A chromosome is a sequence of waypoints. Each waypoint contains three parameters: longitude, latitude, and altitude. Each waypoint is: Chromosome = [Waypoint1, Waypoint2, ..., Waypoint n ];

[0029] Step 2: Initialize the population: Generate an initial population, i.e., multiple randomly generated path schemes. Each path scheme corresponds to a chromosome: Population = {Chromosome1, Chromosome2, ..., Chromosome m};

[0030] Step 3, fitness function: define the fitness function, which is used to evaluate the quality of each path. The fitness function considers the following factors: path length L: the total distance of the flight path, the goal is to minimize the path length; signal reception effect S: the signal reception strength of each waypoint in the path, the goal is to maximize signal reception; coverage C: the number of seabed devices covered by the path, the goal is to cover all devices 100%; the fitness function is defined as the weighted sum of the following forms:

[0031]

[0032] Among them, ω1, ω2, and ω3 are weight parameters of each indicator, which are adjusted according to actual needs;

[0033] Step 4, selection operation: According to the fitness function value, select some better chromosomes from the current population as "parents" to generate the next generation. The specific selection method uses roulette:

[0034]

[0035] Among them, P i is the probability that the i-th chromosome is selected;

[0036] Step 5, crossover operation: cross the selected "parent" chromosome to generate a new "offspring" chromosome. The crossover operation is performed by exchanging the waypoints in the chromosome;

[0037] Step 6, mutation operation: Randomly mutate some chromosomes to introduce new path solutions to prevent the algorithm from falling into local optimality;

[0038] Step 7, generate a new population: use the selected parent chromosomes and the offspring chromosomes generated by crossover and mutation to form a new population, retain the chromosomes with high fitness in the new population, and discard the chromosomes with low fitness. The population update formula is: New Population = {Chromosome′1, Chromosome′2, ..., Chromosome′ m};

[0039] Step 8, algorithm iteration and convergence: Repeat steps 3 to 7 until the preset convergence conditions are met; when the algorithm reaches the convergence conditions, select the chromosome with the highest fitness as the optimal cruise path, and conduct actual flight tests and verification on the path.

[0040] Preferably, the specific steps of receiving and processing the electromagnetic signal in step S3 are as follows:

[0041] Step S31, configuration and calibration of receiving equipment: installing electromagnetic signal receiving equipment on the UAV, and the equipment is firmly installed on the bottom of the UAV or other parts that are not interfered with; before the mission begins, calibrate the receiving equipment to ensure that the equipment can accurately receive and measure electromagnetic signals from the seabed data acquisition equipment at the flight altitude;

[0042] Step S32, signal receiving process: the UAV flies according to the preset cruising path, and the receiving device scans and captures the electromagnetic signals in the target frequency band in real time; the receiving device converts the captured electromagnetic signals into digital signals and transmits them to the built-in processing unit of the UAV;

[0043] Step S33, workflow of the signal processing unit: the signal processing unit built into the drone first performs preliminary processing on the received original signal, including filtering unnecessary background noise and interference signals; using preset filter parameters to retain only signal data within a specific frequency or frequency band transmitted by the target device; demodulating the noise-reduced signal to extract effective information from the signal; decoding the demodulated signal to obtain the actual data transmitted by the seabed data acquisition device;

[0044] Step S34, data storage and marking: the decoded data is classified by the processing unit and stored in the storage device of the drone; each received data is automatically marked with the receiving timestamp and the GPS location of the drone at that time;

[0045] Step S35, real-time data feedback: The UAV transmits the processed key data or real-time analysis results back to the ground control station through a wireless communication link; the data is compressed before being sent back to ensure that the key data can be transmitted smoothly under limited communication resources.

[0046] Preferably, the specific steps of data analysis and processing in step S5 are as follows:

[0047] Step S51, data reception and preliminary inspection: After the UAV completes the cruise mission, the ground station downloads all the received data and stores it in the local server or data processing center. The data download is carried out through wired connection or wireless transmission to ensure the integrity of the data;

[0048] Step S52, data preprocessing: converting the received raw data from the drone-specific format into a standard analysis format; removing noise, redundant information and erroneous data in the data; using multiple drones or multiple cruises to acquire data at the same time, and performing data synchronization processing to make data from different sources consistent in time and space;

[0049] Step S53, data analysis: integrating the signal data with other sensor data, including temperature, pressure, and flow rate data, for comprehensive analysis;

[0050] Step S54, data visualization: integrating the analysis results into the GIS system, generating a spatial visualization map, and creating a dynamic visualization chart;

[0051] Step S55, data interpretation and application: Based on the analysis results, the operating status of the seabed data acquisition equipment is evaluated to identify potential problems or faults; through data analysis, the impact of the seabed data acquisition equipment on the environment is studied, and the analysis results are applied to related fields. According to different application requirements, the analysis method and focus are adjusted to generate customized analysis reports or solutions;

[0052] Step S56, data archiving and subsequent processing: All data, analysis results, visualization charts and reports in the analysis process are systematically archived.

[0053] Compared with the prior art, the beneficial effects of the present invention are as follows: the UAV designed by the present invention can cruise flexibly in a complex and changeable marine environment, and the coverage and flexibility of data collection are improved by adjusting the flight path in real time. Compared with the traditional fixed collection method, the present invention can cover the target area more widely and obtain more effective data; the UAV of the present invention can not only receive and process the signals of the seabed equipment in real time, but also transmit key data back to the ground station in real time through a wireless link. This real-time monitoring capability enables the operator to quickly respond to potential problems or emergencies, optimize data collection strategies or adjust the operating status of the equipment; through in-depth analysis of seabed data, the results of the present invention can be widely used in marine scientific research, resource exploration, environmental monitoring, national defense and security and other fields. The diversified data analysis results provide rich information support for researchers and engineers in different fields, and promote interdisciplinary innovation and application; through the automated cruising and data processing system of the UAV, the present invention reduces the dependence on manual operation and large-scale collection equipment, thereby reducing the overall cost of data collection and processing.

[0054] In summary, the present invention significantly improves the overall efficiency, accuracy and reliability of seabed data acquisition and processing, has broad application prospects and economic benefits, and provides strong technical support for research and application in related fields. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 It is a schematic diagram of the method flow of the present invention. DETAILED DESCRIPTION

[0056] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0057] See also Figure 1 The present invention provides a technical solution: a method for electromagnetic recovery of seabed-based data based on a drone, comprising the following steps:

[0058] Step S1, seabed data acquisition equipment deployment: placing the seabed data acquisition equipment at a designated seabed location, the seabed data acquisition equipment is equipped with a data storage module and an electromagnetic transmission module for collecting and storing ocean data, and transmitting the data by electromagnetic waves;

[0059] Step S2, UAV cruising: the UAV flies over the target sea area according to a pre-set cruising path, carrying an electromagnetic signal receiving device for receiving electromagnetic signals from the seabed data acquisition device;

[0060] Step S3, electromagnetic signal reception and processing: During the flight, the UAV receives the signal sent by the seabed data acquisition device through the electromagnetic signal receiving device, and the built-in processing unit of the UAV performs preliminary processing and storage on the received data;

[0061] Step S4, data transmission: after completing data reception, the UAV returns to the base station and transmits the data to the processing center of the ground station via wireless communication;

[0062] Step S5, data analysis and processing: The ground station further analyzes and processes the received seabed data and applies the results to related fields.

[0063] Furthermore, the specific implementation steps of the deployment of the seabed data acquisition equipment in step S1 are as follows:

[0064] Step S11, equipment selection: According to the environmental characteristics of the sea area, including water depth, current speed, and seabed geology, select seabed data acquisition equipment. The acquisition equipment has waterproof and pressure-proof capabilities and can work normally under high-pressure environments. The acquisition equipment includes but is not limited to the following components:

[0065] Data storage module: used to store collected ocean data, usually a high-capacity pressure-resistant storage device;

[0066] Electromagnetic transmission module: used to transmit the stored data through electromagnetic waves, and uses low-power, anti-interference-capable transmitting devices;

[0067] Sensors: Equipped with ocean parameter sensors as needed, including temperature, salinity, pressure, and acoustic sensors;

[0068] Step S12, determining the deployment location: using ocean survey equipment, specifically using multi-beam sonar and side-scan sonar, to conduct detailed measurements of the target sea area, determine the geological structure and topographical features of the seabed, and select a location suitable for deploying the equipment by analyzing the seabed topographic map to ensure that the equipment can be stably placed and will not be affected by changes in the seabed;

[0069] Step S13, transportation and positioning of deployment equipment: Use a dedicated underwater robot or unmanned surface vessel to transport the seabed data acquisition equipment to the designated location. During the deployment process, use an ultra-short baseline or long baseline underwater positioning system to monitor the placement of the equipment in real time to ensure that the equipment is accurately placed at the predetermined seabed location;

[0070] Step S14, equipment placement: Select a suitable fixing method according to the geological characteristics of the seabed, which specifically includes the following methods: for a soft seabed, insert the seabed data acquisition equipment into the seabed to a preset depth to ensure its stability; for a hard seabed, use an anchoring device to fix the seabed data acquisition equipment, or use heavy objects to reinforce the equipment to prevent it from being moved by the impact of the sea current;

[0071] Step S15, electromagnetic signal transmission frequency setting: according to the electromagnetic environment of the sea area, set an appropriate electromagnetic signal transmission frequency to avoid interference with other marine communication equipment, and adjust the transmission power of the electromagnetic signal to ensure that the signal can be received by the drone within the expected water depth and distance, avoiding excessive power leading to energy waste or signal interference;

[0072] Step S16, equipment startup and monitoring: Start the seabed data acquisition equipment through remote control or preset program, start collecting and storing ocean data, and regularly send signals through the electromagnetic wave transmission module; during the operation of the equipment, regularly receive and calibrate the seabed data acquisition equipment through drones or other detection equipment to ensure the long-term stable operation of the equipment.

[0073] Furthermore, the specific steps of the drone cruising in step S2 are as follows:

[0074] Step S21, planning of the cruise path: conducting a detailed survey of the target sea area, including the location of the seabed data acquisition equipment, the environmental conditions of the sea area, specifically including wind speed, tidal changes, and obstacle distribution, and analyzing the survey data to plan the cruise path of the drone, wherein a path optimization algorithm is used to design the cruise route of the drone according to the equipment location and the expected signal reception range. The path planning should ensure that the drone can cover the signal range of all seabed equipment and the flight altitude is appropriate to optimize the signal reception effect;

[0075] Step S22, flight parameter setting: according to the effective working range of the signal receiving device and the transmission power of the seabed equipment, set the appropriate flight altitude; set the flight speed of the UAV so that it can fully receive and process the electromagnetic signals emitted by the seabed equipment during the cruise; according to the mission requirements and the endurance of the UAV, plan the time of a single cruise mission to ensure that the cruise of all predetermined areas is completed within the allowable range of the UAV power;

[0076] Step S23, execution of the cruise mission: before the UAV takes off, the cruise path, flight parameters, signal reception and data processing procedures are set through the ground control station; the UAV automatically cruises according to the preset path, and monitors the flight status and signal reception in real time; during the cruise process, the electromagnetic signal receiving device on the UAV will continuously receive signals from the seabed data acquisition device, and the received data will be preliminarily processed by the processing module on the UAV and stored in the storage device of the UAV;

[0077] Step 24, data transmission and cruise end: During the cruise, the UAV transmits part of the received data back to the ground station in real time through the wireless communication link for preliminary analysis and judgment; after completing the scheduled cruise path, the UAV automatically returns to the base station and downloads the stored data to the ground station via wired or wireless means for comprehensive data processing and analysis;

[0078] Step S25, subsequent maintenance and cruise optimization: After the cruise is completed, the flight data and signal reception effect of the UAV are evaluated to determine the completion of the cruise mission. Based on the evaluation results, the future cruise path and flight parameters are optimized and adjusted to improve the efficiency and accuracy of data recovery.

[0079] Furthermore, in step S21, a path optimization algorithm is used to design the cruise route of the drone according to the equipment layout location and the expected signal reception range. Specifically, a genetic algorithm is used to design the cruise route. The steps are as follows:

[0080] Step 1. Encoding path: The flight path of the drone is represented as a chromosome. A chromosome is a sequence of waypoints. Each waypoint contains three parameters: longitude, latitude, and altitude. Each waypoint is: Chromosome = [Waypoint1, Waypoint2, ..., Waypoint n ];

[0081] Step 2: Initialize the population: Generate an initial population, i.e., multiple randomly generated path schemes. Each path scheme corresponds to a chromosome: Population = {Chromosome1, Chromosome2, ..., Chromosome m};

[0082] Step 3, fitness function: define the fitness function, which is used to evaluate the quality of each path. The fitness function considers the following factors: path length L: the total distance of the flight path, the goal is to minimize the path length; signal reception effect S: the signal reception strength of each waypoint in the path, the goal is to maximize signal reception; coverage C: the number of seabed devices covered by the path, the goal is to cover all devices 100%; the fitness function is defined as the weighted sum of the following forms:

[0083]

[0084] Among them, ω1, ω2, and ω3 are weight parameters of each indicator, which are adjusted according to actual needs;

[0085] Step 4, selection operation: According to the fitness function value, select some better chromosomes from the current population as "parents" to generate the next generation. The specific selection method uses roulette:

[0086]

[0087] Among them, P i is the probability that the i-th chromosome is selected;

[0088] Step 5, crossover operation: cross the selected "parent" chromosome to generate a new "offspring" chromosome. The crossover operation is performed by exchanging the waypoints in the chromosome;

[0089] Step 6, mutation operation: Randomly mutate some chromosomes to introduce new path solutions to prevent the algorithm from falling into local optimality;

[0090] Step 7, generate a new population: use the selected parent chromosomes and the offspring chromosomes generated by crossover and mutation to form a new population, retain the chromosomes with high fitness in the new population, and discard the chromosomes with low fitness. The population update formula is: New Population = {Chromosome′1, Chromosome′2, ..., Chromosome′ m};

[0091] Step 8, algorithm iteration and convergence: Repeat steps 3 to 7 until the preset convergence conditions are met; when the algorithm reaches the convergence conditions, select the chromosome with the highest fitness as the optimal cruise path, and conduct actual flight tests and verification on the path.

[0092] Furthermore, the specific steps of receiving and processing the electromagnetic signal in step S3 are as follows:

[0093] Step S31, configuration and calibration of receiving equipment: installing electromagnetic signal receiving equipment on the UAV, and the equipment is firmly installed on the bottom of the UAV or other parts that are not interfered with; before the mission begins, calibrate the receiving equipment to ensure that the equipment can accurately receive and measure electromagnetic signals from the seabed data acquisition equipment at the flight altitude;

[0094] Step S32, signal receiving process: the UAV flies according to the preset cruising path, and the receiving device scans and captures the electromagnetic signals in the target frequency band in real time; the receiving device converts the captured electromagnetic signals into digital signals and transmits them to the built-in processing unit of the UAV;

[0095] Step S33, workflow of the signal processing unit: the signal processing unit built into the drone first performs preliminary processing on the received original signal, including filtering unnecessary background noise and interference signals; using preset filter parameters to retain only signal data within a specific frequency or frequency band transmitted by the target device; demodulating the noise-reduced signal to extract effective information from the signal; decoding the demodulated signal to obtain the actual data transmitted by the seabed data acquisition device;

[0096] Step S34, data storage and marking: the decoded data is classified by the processing unit and stored in the storage device of the drone; each received data is automatically marked with the receiving timestamp and the GPS location of the drone at that time;

[0097] Step S35, real-time data feedback: The UAV transmits the processed key data or real-time analysis results back to the ground control station through a wireless communication link; the data is compressed before being sent back to ensure that the key data can be transmitted smoothly under limited communication resources.

[0098] Furthermore, the specific steps of data analysis and processing in step S5 are as follows:

[0099] Step S51, data reception and preliminary inspection: After the UAV completes the cruise mission, the ground station downloads all the received data and stores it in the local server or data processing center. The data download is carried out through wired connection or wireless transmission to ensure the integrity of the data;

[0100] Step S52, data preprocessing: converting the received raw data from the drone-specific format into a standard analysis format; removing noise, redundant information and erroneous data in the data; using multiple drones or multiple cruises to acquire data at the same time, and performing data synchronization processing to make data from different sources consistent in time and space;

[0101] Step S53, data analysis: integrating the signal data with other sensor data, including temperature, pressure, and flow rate data, for comprehensive analysis;

[0102] Step S54, data visualization: integrating the analysis results into the GIS system, generating a spatial visualization map, and creating a dynamic visualization chart;

[0103] Step S55, data interpretation and application: Based on the analysis results, the operating status of the seabed data acquisition equipment is evaluated to identify potential problems or faults; through data analysis, the impact of the seabed data acquisition equipment on the environment is studied, and the analysis results are applied to related fields. According to different application requirements, the analysis method and focus are adjusted to generate customized analysis reports or solutions;

[0104] Step S56, data archiving and subsequent processing: All data, analysis results, visualization charts and reports in the analysis process are systematically archived.

[0105] The unmanned aerial vehicle designed by the present invention can cruise flexibly in a complex and changeable marine environment, and the coverage and flexibility of data collection are improved by adjusting the flight path in real time. Compared with the traditional fixed collection method, the present invention can cover the target area more widely and obtain more effective data; the unmanned aerial vehicle of the present invention can not only receive and process the signals of the seabed equipment in real time, but also transmit key data back to the ground station in real time through a wireless link. This real-time monitoring capability enables the operator to quickly respond to potential problems or emergencies, optimize data collection strategies or adjust the operating status of the equipment; through in-depth analysis of seabed data, the results of the present invention can be widely used in marine scientific research, resource exploration, environmental monitoring, national defense and security and other fields. The diversified data analysis results provide rich information support for researchers and engineers in different fields, and promote interdisciplinary innovation and application; through the automated cruising and data processing system of the unmanned aerial vehicle, the present invention reduces the dependence on manual operation and large-scale collection equipment, thereby reducing the overall cost of data collection and processing.

[0106] In summary, the present invention significantly improves the overall efficiency, accuracy and reliability of seabed data acquisition and processing, has broad application prospects and economic benefits, and provides strong technical support for research and application in related fields.

[0107] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A method for electromagnetic recovery of seabed-based data based on drones, characterized in that: The following steps are involved: Step S1, seabed data acquisition equipment deployment: placing the seabed data acquisition equipment at a designated seabed location, the seabed data acquisition equipment is equipped with a data storage module and an electromagnetic transmission module for collecting and storing ocean data, and transmitting the data by electromagnetic waves; Step S2, UAV cruising: the UAV flies over the target sea area according to a pre-set cruising path, carrying an electromagnetic signal receiving device for receiving electromagnetic signals from the seabed data acquisition device; Step S3, electromagnetic signal reception and processing: During the flight, the UAV receives the signal sent by the seabed data acquisition device through the electromagnetic signal receiving device, and the built-in processing unit of the UAV performs preliminary processing and storage on the received data; Step S4, data transmission: After completing data reception, the UAV returns to the base station and transmits the data to the processing center of the ground station via wireless communication; Step S5, data analysis and processing: The ground station further analyzes and processes the received seabed data and applies the results to related fields.

2. The method for electromagnetic recovery of seabed-based data based on drone according to claim 1, characterized in that: The specific implementation steps of the deployment of the seabed data acquisition equipment in step S1 are as follows: Step S11, equipment selection: According to the environmental characteristics of the sea area, including water depth, current speed, and seabed geology, select seabed data acquisition equipment. The acquisition equipment has waterproof and pressure-proof capabilities and can work normally under high-pressure environments. The acquisition equipment includes but is not limited to the following components: Data storage module: used to store collected ocean data, usually a high-capacity pressure-resistant storage device; Electromagnetic transmission module: used to transmit the stored data through electromagnetic waves, and uses low-power, anti-interference-capable transmitting devices; Sensors: Equipped with ocean parameter sensors as needed, including temperature, salinity, pressure, and acoustic sensors; Step S12, determining the deployment location: using ocean survey equipment, specifically using multi-beam sonar and side-scan sonar, to conduct detailed measurements of the target sea area, determine the geological structure and topographical features of the seabed, and select a location suitable for deploying the equipment by analyzing the seabed topographic map to ensure that the equipment can be stably placed and will not be affected by changes in the seabed; Step S13, transportation and positioning of deployment equipment: Use a dedicated underwater robot or unmanned surface vessel to transport the seabed data acquisition equipment to the designated location. During the deployment process, use an ultra-short baseline or long baseline underwater positioning system to monitor the placement of the equipment in real time to ensure that the equipment is accurately placed at the predetermined seabed location; Step S14, equipment placement: Select a suitable fixing method according to the geological characteristics of the seabed, specifically including the following methods: For a soft seabed, insert the seabed data acquisition equipment into the seabed to a preset depth to ensure its stability; For hard seabeds, use anchoring devices to fix the seabed data acquisition equipment, or use heavy objects to reinforce the equipment to prevent it from being moved by the impact of sea currents; Step S15, electromagnetic signal transmission frequency setting: according to the electromagnetic environment of the sea area, set an appropriate electromagnetic signal transmission frequency to avoid interference with other marine communication equipment, and adjust the transmission power of the electromagnetic signal to ensure that the signal can be received by the drone within the expected water depth and distance, avoiding excessive power leading to energy waste or signal interference; Step S16, equipment startup and monitoring: Start the seabed data acquisition equipment through remote control or preset program, start collecting and storing ocean data, and regularly send signals through the electromagnetic wave transmission module; during the operation of the equipment, regularly receive and calibrate the seabed data acquisition equipment through drones or other detection equipment to ensure the long-term stable operation of the equipment.

3. The method for electromagnetic recovery of seabed-based data based on drone according to claim 1, characterized in that: The specific steps of the drone cruising in step S2 are as follows: Step S21, planning of the cruise path: conducting a detailed survey of the target sea area, including the location of the seabed data acquisition equipment, the environmental conditions of the sea area, specifically including wind speed, tidal changes, and obstacle distribution, and analyzing the survey data to plan the cruise path of the drone, wherein a path optimization algorithm is used to design the cruise route of the drone according to the equipment location and the expected signal reception range. The path planning should ensure that the drone can cover the signal range of all seabed equipment and the flight altitude is appropriate to optimize the signal reception effect; Step S22, flight parameter setting: according to the effective working range of the signal receiving device and the transmission power of the seabed equipment, set the appropriate flight altitude; set the flight speed of the UAV so that it can fully receive and process the electromagnetic signals emitted by the seabed equipment during the cruise; according to the mission requirements and the endurance of the UAV, plan the time of a single cruise mission to ensure that the cruise of all predetermined areas is completed within the allowable range of the UAV power; Step S23, execution of the cruise mission: before the UAV takes off, the cruise path, flight parameters, signal reception and data processing procedures are set through the ground control station; the UAV automatically cruises according to the preset path, and monitors the flight status and signal reception in real time; during the cruise process, the electromagnetic signal receiving device on the UAV will continuously receive signals from the seabed data acquisition device, and the received data will be preliminarily processed by the processing module on the UAV and stored in the storage device of the UAV; Step 24, data transmission and cruise end: During the cruise, the UAV transmits part of the received data back to the ground station in real time through the wireless communication link for preliminary analysis and judgment; After completing the scheduled cruising path, the drone automatically returns to the base station and downloads the stored data to the ground station via wired or wireless means for comprehensive data processing and analysis; Step S25, subsequent maintenance and cruise optimization: After the cruise is completed, the flight data and signal reception effect of the UAV are evaluated to determine the completion of the cruise mission. Based on the evaluation results, the future cruise path and flight parameters are optimized and adjusted to improve the efficiency and accuracy of data recovery.

4. The method for electromagnetic recovery of seabed-based data based on a drone according to claim 3 is characterized in that: In step S21, a path optimization algorithm is used to design the cruise route of the drone according to the equipment layout location and the expected signal reception range. Specifically, a genetic algorithm is used to design the cruise route. The steps are as follows: Step 1. Encoding path: The flight path of the drone is represented as a chromosome. A chromosome is a sequence of waypoints. Each waypoint contains three parameters: longitude, latitude, and altitude. Each waypoint is: Chromosome = [Waypoint1, Waypoint2, ..., Waypoint n ]; Step 2: Initialize the population: Generate an initial population, i.e., multiple randomly generated path schemes. Each path scheme corresponds to a chromosome: Population = {Chromosome1, Chromosome2, ..., Chromosome m }; Step 3, fitness function: define the fitness function, which is used to evaluate the quality of each path. The fitness function considers the following factors: path length L: the total distance of the flight path, the goal is to minimize the path length; signal reception effect S: the signal reception strength of each waypoint in the path, the goal is to maximize signal reception; coverage C: the number of seabed devices covered by the path, the goal is to cover all devices 100%; the fitness function is defined as the weighted sum of the following forms: Among them, ω1, ω2, and ω3 are weight parameters of each indicator, which are adjusted according to actual needs; Step 4, selection operation: According to the fitness function value, select some better chromosomes from the current population as "parents" to generate the next generation. The specific selection method uses roulette: Among them, P i is the probability that the i-th chromosome is selected; Step 5, crossover operation: cross the selected "parent" chromosome to generate a new "offspring" chromosome. The crossover operation is performed by exchanging the waypoints in the chromosome; Step 6, mutation operation: Randomly mutate some chromosomes to introduce new path solutions to prevent the algorithm from falling into local optimality; Step 7, generate a new population: use the selected parent chromosomes and the offspring chromosomes generated by crossover and mutation to form a new population, retain the chromosomes with high fitness in the new population, and discard the chromosomes with low fitness. The population update formula is: New Population = {Chromosome′1, Chromosome′2, ..., Chromosome′ m }; Step 8, algorithm iteration and convergence: Repeat steps 3 to 7 until the preset convergence conditions are met; when the algorithm reaches the convergence conditions, select the chromosome with the highest fitness as the optimal cruise path, and conduct actual flight tests and verification on the path.

5. The method for electromagnetic recovery of seabed-based data based on drone according to claim 1, characterized in that: The specific steps of receiving and processing the electromagnetic signal in step S3 are as follows: Step S31, configuration and calibration of receiving equipment: installing electromagnetic signal receiving equipment on the UAV, and the equipment is firmly installed on the bottom of the UAV or other parts that are not interfered with; before the mission begins, calibrate the receiving equipment to ensure that the equipment can accurately receive and measure electromagnetic signals from the seabed data acquisition equipment at the flight altitude; Step S32, signal receiving process: the UAV flies according to the preset cruising path, and the receiving device scans and captures the electromagnetic signals in the target frequency band in real time; the receiving device converts the captured electromagnetic signals into digital signals and transmits them to the built-in processing unit of the UAV; Step S33, workflow of the signal processing unit: the signal processing unit built into the drone first performs preliminary processing on the received original signal, including filtering unnecessary background noise and interference signals; using preset filter parameters, only retaining signal data within a specific frequency or frequency band transmitted by the target device; Demodulate the noise-reduced signal to extract effective information from the signal; decode the demodulated signal to obtain the actual data transmitted by the seabed data acquisition equipment; Step S34, data storage and marking: the decoded data is classified by the processing unit and stored in the storage device of the drone; each received data is automatically marked with the receiving timestamp and the GPS location of the drone at that time; Step S35, real-time data transmission: the UAV transmits the processed key data or real-time analysis results back to the ground control station through a wireless communication link; The data is compressed before being transmitted back to ensure that key data can be transmitted smoothly with limited communication resources.

6. The method for electromagnetic recovery of seabed-based data based on drone according to claim 1, characterized in that: The specific steps of data analysis and processing in step S5 are as follows: Step S51, data reception and preliminary inspection: After the UAV completes the cruise mission, the ground station downloads all the received data and stores it in the local server or data processing center. The data download is carried out through wired connection or wireless transmission to ensure the integrity of the data; Step S52, data preprocessing: converting the received raw data from the drone-specific format into a standard analysis format; removing noise, redundant information and erroneous data in the data; using multiple drones or multiple cruises to acquire data at the same time, and performing data synchronization processing to make data from different sources consistent in time and space; Step S53, data analysis: integrating the signal data with other sensor data, including temperature, pressure, and flow rate data, for comprehensive analysis; Step S54, data visualization: integrating the analysis results into the GIS system, generating a spatial visualization map, and creating a dynamic visualization chart; Step S55, data interpretation and application: Based on the analysis results, the operating status of the seabed data acquisition equipment is evaluated to identify potential problems or faults; through data analysis, the impact of the seabed data acquisition equipment on the environment is studied, and the analysis results are applied to related fields. According to different application requirements, the analysis method and focus are adjusted to generate customized analysis reports or solutions; Step S56, data archiving and subsequent processing: All data, analysis results, visualization charts and reports in the analysis process are systematically archived.

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