Intelligent energy consumption control method and system based on maneuvering subsurface buoy environment perception

Abstract

The invention provides an intelligent energy consumption control method and system based on maneuvering type subsurface buoy environment perception. The intelligent energy consumption control system comprises a sensor, a buoyancy adjusting module, a maneuvering module, a signal processing module, an underwater acoustic communication module, a Beidou communication module, a data recording module and an energy supply module. The sensor is connected with the signal processing module; the signal processing module is connected with the buoyancy adjusting module, the maneuvering module, the underwater acoustic communication module, the Beidou communication module and the data recording module; the signal processing module is used for controlling the buoyancy adjusting module, the maneuvering module, the underwater acoustic communication module, the Beidou communication module and the data recording module. The cruising ability is not improved by increasing the electric quantity of a battery, so that the size and the weight of the subsurface buoy platform are improved; and the current working mode of the subsurface buoy can be set according to the subsurface buoy environment perception, so that the subsurface buoy has better environmental adaptability.

Description

Technical Field

[0001] The present invention belongs to the technical field of sonar buoys, and specifically, relates to an intelligent energy consumption control method and system based on the environmental perception of a mobile buoy. More specifically, it is a new type of mobile buoy, which provides an intelligent energy consumption control method based on the environmental perception of multiple sensors of the mobile buoy, aiming to improve the endurance of the buoy and achieve the goal of long-term monitoring of the buoy. Background Art

[0002] The traditional buoys currently in use have problems such as being easily buried and becoming ineffective, having a short service life, and having poor real-time information transmission, which make them low cost-effective.

[0003] In addition to meeting the detection objectives, the new multifunctional buoy platform has the ability to maneuver, transmit information in real time, and actively avoid burial failure. The main functions of the new buoy include energy supply, mobile bottom escape function, detection alarm function, communication positioning function, recovery function, etc. The modules include buoyancy adjustment module, maneuver module, signal processing detection module, hydroacoustic communication module, Beidou module, data recording module, and energy supply module. However, due to the increase in functions, the power consumption of the buoy also increases, reducing the endurance of the buoy. In order to meet the requirements of concealment and survivability, the buoy should have sufficient endurance. In the face of the problem of improving endurance, the usual method is to increase the battery power and select low-power devices. The endurance of the buoy platform can be improved by increasing the battery power, but increasing the battery power will increase the volume and weight of the buoy platform, which will cause difficulties in the design of the buoy structure. The endurance is improved by selecting low-power devices, but at the same time, the platform performance will also decline.

[0004] Patent document CN117452843A discloses a marine buoy control management system and control method, which includes a main control module, a power supply module, a self-sinking and floating drive module, a satellite communication module and a depth sensor module. The main control module is used to realize power management, depth collection, self-sinking and floating drive module communication, and satellite communication module communication. The power supply module is used to power various functional modules of the buoy; the self-sinking and floating drive module is used to receive commands and drive the motor to realize the buoy diving and floating; the satellite communication module is used to receive main control module data and satellite positioning signals, and send data to the ground control station. The depth sensor module is used to collect the depth data of the buoy in the ocean and send it to the main control module. The present invention can control the buoy to work periodically, sink and float up and down, and send data to the receiving station in time through satellite communication. After the data is sent, it dives underwater and continues to perform data monitoring and hibernation, thereby realizing long-term real-time tracking and observation of a specific sea area.

[0005] This solution introduces the design of the circuit hardware and workflow of the buoy to achieve real-time observation of the buoy, but it is unable to use various sensors to perceive the environment, judge the sea depth, offshore distance and threat level, reduce the power consumption of the buoy, and achieve long-term real-time observation of the buoy. This problem needs to be solved urgently. Summary of the invention

[0006] In view of the defects in the prior art, the purpose of the present invention is to provide an intelligent energy consumption control method and system based on environmental perception of a mobile buoy.

[0007] According to an intelligent energy consumption control system based on environmental perception of a motorized submerged buoy provided by the present invention, the submerged buoy comprises: a sensor, a buoyancy adjustment module, a motor module, a signal processing module, an underwater acoustic communication module, a Beidou communication module, a data recording module and an energy supply module;

[0008] The sensor is connected to the signal processing module;

[0009] The signal processing module is connected to the buoyancy adjustment module, the motor module, the hydroacoustic communication module, the Beidou communication module and the data recording module; the signal processing module is used to control the buoyancy adjustment module, the motor module, the hydroacoustic communication module, the Beidou communication module and the data recording module.

[0010] Preferably, the sensors include: vector hydrophone, attitude sensor, pressure sensor, depth sensor, CTD sensor, Beidou communication, underwater acoustic communication hydrophone;

[0011] The vector hydrophone, attitude sensor, Beidou communication and hydroacoustic communication hydrophone are installed on the top of the buoy; the pressure sensor, depth sensor and CTD sensor are installed on the base of the buoy.

[0012] According to the intelligent energy consumption control method based on the environment perception of a mobile submerged buoy provided by the present invention, the intelligent energy consumption control system based on the environment perception of the mobile submerged buoy is realized, comprising: allowing the hydroacoustic communication hydrophone and the Beidou communication to collect a first signal, and then analyzing the first signal through the signal processing module to obtain the offshore distance level; allowing the depth sensor and the CTD sensor to collect a second signal, and then analyzing the second signal through the signal processing module to obtain the sea depth level; allowing the pressure sensor and the attitude sensor to collect a third signal, and then analyzing the third signal through the signal processing module to obtain the burial result;

[0013] The vector hydrophone and the hydroacoustic communication hydrophone are used to collect hydroacoustic signals, and then the hydroacoustic signals are analyzed by the signal processing module to classify and obtain the threat level;

[0014] Based on the threat level, offshore distance level, sea depth level, and burial result, the buoy selects a working mode and performs the task.

[0015] Preferably, the first signal includes the surface positioning information of Beidou communication and the underwater positioning information of the hydrophone of hydroacoustic communication;

[0016] The second signal includes depth information of the depth sensor and the CTD sensor;

[0017] The third signal includes the pressure information of the buoy collected by the pressure sensor and the posture information of the buoy collected by the posture sensor.

[0018] Preferably, the danger level includes "low threat level" and "high threat level";

[0019] Determine whether the energy of the underwater acoustic signal is greater than a preset threshold or the change value of the underwater acoustic signal energy is greater than a preset threshold. If the result is yes, then the "threat level is high"; if the result is no, then the "threat level is low";

[0020] The offshore distance levels include "high offshore level" and "low offshore level";

[0021] The step of classifying the offshore distance level includes: instructing the signal processing module to determine, based on the first signal, whether the offshore distance is greater than 2 km, or whether the positioning distance of the Beidou communication satellite module is greater than 2 km from the shore. If the result is yes, then the "offshore level is high"; if the result is no, then the "offshore level is low";

[0022] The sea depth level includes "high sea depth level" and "low sea depth level";

[0023] The step of classifying the sea depth level includes: instructing the signal processing module to determine whether the sea depth is greater than or equal to 500 meters based on the second signal, and if the result is yes, then "the sea depth level is high", and if the result is no, then "the sea depth level is low";

[0024] The step of determining whether the latent marker is buried comprises: causing the signal processing module to analyze the third signal to determine whether the change in the pressure value of the latent marker exceeds a preset threshold and the posture information of the latent marker changes, and if the result is yes, determining that the latent marker is buried; if the result is no, determining that the latent marker is not buried;

[0025] The working modes include: bottom sitting working mode, platform moving working mode, low power detection working mode, full power detection working mode, tracking alarm working mode, receiving communication working mode, full power communication working mode, half power communication working mode, high power floating working mode, low power floating working mode, escape working mode, underwater acoustic ranging working mode and Beidou positioning and addressing working mode.

[0026] Preferably, when the bottom-sitting working mode is used, the submerged buoy uses the buoyancy adjustment module to return oil in standby mode, the motorized module works at low power, the hydroacoustic communication module works at full power, the energy supply module is supplied with high voltage, and other modules are in standby mode;

[0027] When the platform moves in working mode, the submerged buoy returns oil through the buoyancy adjustment module at high power, the motorized module works at high power, the hydroacoustic communication module works at full power, the energy supply module is supplied with high voltage, and other modules are on standby;

[0028] When using the low-power detection working mode, the buoy works with low power consumption through the signal processing module, the data recording module works normally, the energy supply module is powered at low voltage, and other modules are on standby or powered off;

[0029] When using the full-power detection working mode, the signal processing module works at high power consumption, the data recording module works normally, the energy supply module is powered at low voltage, and other modules are in standby or powered off;

[0030] When using the tracking alarm working mode, the signal processing module works with high power consumption, the data recording module works normally, the energy supply module is powered at low voltage, and other modules are on standby or powered off;

[0031] When using the receiving communication working mode, the signal processing module works with low power consumption, the data recording module works normally, the underwater acoustic communication module works with low power, the energy supply module is powered at low voltage, and other modules are on standby;

[0032] When using the full-power communication working mode, the underwater acoustic communication module works at full power, the signal processing module works at high power consumption, the energy supply module is powered by high voltage, and other modules are on standby;

[0033] When using the half-power communication working mode, the underwater acoustic communication module works at half power, the signal processing module works at high power consumption, the energy supply module is powered by high voltage, and other modules are on standby;

[0034] When using the high-power floating working mode, the buoyancy adjustment module is filled with oil at high power, the motorized module works at low power, the hydroacoustic communication module works at full power, the energy supply module is supplied with high voltage, and other modules are on standby;

[0035] When using the low-power floating working mode, the buoyancy adjustment module is filled with oil at low power, the hydroacoustic communication module works at full power, the energy supply module is supplied with high voltage, and other modules are on standby or powered off;

[0036] When using the Beidou positioning addressing working mode, the Beidou module works, the energy supply module is powered by low voltage, and other modules are on standby;

[0037] When using the underwater acoustic ranging working mode, the underwater acoustic communication module works at full power, the signal processing module works at low power consumption, the energy supply module is powered by high voltage, and other modules are on standby;

[0038] When using the escape mode, the buoy returns oil through the buoyancy adjustment module at high power, the motorized module works at high power, the hydroacoustic communication module works at full power, the energy supply module supplies high voltage, and other modules are on standby.

[0039] Preferably, the buoy receives instructions and selects a working mode based on the threat level, offshore distance level, sea depth level, and burial result; and executes the task according to the working mode and the instructions;

[0040] The instructions include: floating instructions, bottom sitting instructions and moving instructions.

[0041] Preferably, after the buoy receives the bottom-sitting instruction, the following steps are performed:

[0042] Step A1: The submerged buoy is adjusted in a bottom-sitting working mode to make the submerged buoy dive to the seabed;

[0043] Step A2: determining whether the angle of the buoy is greater than 10° by using a posture sensor, if yes, then re-execute step A1, if no, then execute step A3;

[0044] Step A3: Determine whether the threat level is "low danger level". If yes, use low power detection mode to record target data. If no, use full power detection mode to record target data.

[0045] Step A4: Based on the target data, identify the threat, start the tracking alarm working mode to issue an alarm message, and determine whether the offshore distance level is "high offshore level". If the result is yes, use the full-power communication working mode to send the content of the underwater acoustic communication; if the result is no, use the half-power communication working mode to send the content of the underwater acoustic communication.

[0046] Preferably, after receiving the floating instruction, the submerged buoy comprises:

[0047] Step B1: judging whether the buoy is buried, if yes, adopting the escape mode, and judging whether the sea depth level is "low sea depth level", if yes, adopting the low-power buoyancy mode to float to the sea surface; if no, adopting the high-power buoyancy mode to float to the sea surface; if no, judging whether the sea depth level is "low sea depth level", if yes, adopting the low-power buoyancy mode to float to the sea surface; if no, adopting the high-power buoyancy mode to float to the sea surface;

[0048] Step B2: The buoy is instructed to adopt Beidou positioning and addressing working mode to send location information.

[0049] Preferably, after receiving the moving instruction, the latent marker comprises:

[0050] Step C1: Floating up by adopting a low-power floating working mode, and moving by adopting a platform moving working mode;

[0051] Step C2: judging whether the buoy has reached the designated position according to the buoy posture information and the buoy distance information; if the result is no, the buoy continues to move; if the result is yes, the buoy adopts the bottom-sitting working mode to dive.

[0052] Compared with the prior art, the present invention has the following beneficial effects:

[0053] 1. The present invention provides an intelligent energy consumption control method based on environmental perception, so that the endurance can be improved without increasing the battery power, which results in an increase in the volume and weight of the buoy platform.

[0054] 2. The present invention does not select low-power devices to improve endurance, resulting in reduced platform performance, and can set the current working mode of the buoy according to the buoy environment perception, and has better environmental adaptability.

[0055] 3. The present invention uses the multi-sensors of the buoy to perceive the environment, optimize the work process, subdivide the working status, optimize the power consumption mode of each module, etc., and designs a targeted intelligent energy consumption control method. On the basis of ensuring the function of the mobile buoy, the endurance of the equipment is improved, and the load pressure and development cost of the equipment are reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0057] Figure 1 A schematic diagram of the workflow of the latent marker system provided by the present invention;

[0058] Figure 2 A schematic diagram of the control of the working mode of the sensor sensing the sea depth provided by the present invention;

[0059] Figure 3 A schematic diagram of the control of the Beidou communication or underwater acoustic communication sensing distance working mode provided by the present invention;

[0060] Figure 4 A control schematic diagram of the sensor sensing buried working mode provided by the present invention;

[0061] Figure 5 A schematic diagram of the control of the working mode of the vector hydrophone sensing threat level provided by the present invention;

[0062] Figure 6 A schematic diagram of the bottom sitting instruction workflow provided by the present invention;

[0063] Figure 7 A schematic diagram of the floating instruction workflow provided by the present invention;

[0064] Figure 8 A schematic diagram of the mobile instruction workflow provided by the present invention. DETAILED DESCRIPTION

[0065] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0066] The purpose of the present invention is to provide an intelligent energy consumption control method, which can reduce the power consumption of a new type of mobile buoy while ensuring its normal operation.

[0067] In response to the problems of increased power consumption and limited control command issuing capabilities caused by the increased functions of the new mobile buoy platform, as well as the increasingly high requirements for the concealment and survivability of the buoy, an intelligent energy consumption control method based on the environmental perception of the mobile buoy is provided. It comprehensively processes multi-sensor information to analyze the buoy environment, optimizes the workflow, subdivides the working state and designs multiple power consumption modes of the module, and reasonably selects the high-voltage power supply mode and the low-voltage power supply mode to achieve the purpose of improving the endurance of the new buoy. The intelligent energy consumption control method is implemented by managing the workflow, working state and power consumption mode of the module through simple instructions.

[0068] Specifically, it is difficult to send commands to a mobile buoy when it works underwater for a long time, so it is necessary for the mobile buoy to autonomously control the power consumption of each module according to the changing environment and state of the buoy. The main capabilities of the new mobile buoy include positioning, maneuvering, detection and alarm, underwater acoustic communication, and recovery.

[0069] The Beidou communication module and the hydroacoustic communication module are used to analyze the distance from the buoy to the shore and divide the environmental information of the buoy; the hydroacoustic signal collected by the vector hydrophone is analyzed by the signal processing and detection module to divide the threat level of the current area of ​​the buoy; the attitude sensor, pressure sensor, depth sensor, CTD sensor, Beidou communication, hydroacoustic communication hydrophone are used to collect signals, and the signal processing and detection module conducts a comprehensive analysis of the signals to divide whether the buoy is currently buried and the sea depth. According to the current environmental information and threat level of the buoy, the current state of the buoy is set to design and optimize the working mode, and the power consumption mode of the module is designed to provide a complete cycle workflow.

[0070] The submerged buoy includes: a buoyancy adjustment module, a maneuvering module, a signal processing module, a hydroacoustic communication module, a Beidou module, namely a Beidou communication module, a data recording module and an energy supply module; based on vector hydrophone, attitude sensor, pressure sensor, depth sensor, CTD sensor, Beidou communication, hydroacoustic communication hydrophone, and environmental perception information, the buoyancy adjustment module, the maneuvering module, the signal processing module, the hydroacoustic communication module, the Beidou module, namely the Beidou communication module, the data recording module and the energy supply module are intelligently controlled.

[0071] Specifically, the sensor, buoyancy adjustment module, maneuvering module, hydroacoustic communication module, Beidou communication module, data recording module and energy supply module are connected to the signal processing module through the RS485 communication interface, and the signal processing module controls the sensor, buoyancy adjustment module, maneuvering module, hydroacoustic communication module, Beidou communication module, data recording module and energy supply module through the RS485 communication interface.

[0072] The intelligent energy consumption control method based on the environment perception of the mobile buoy provided by the present invention includes:

[0073] The signals collected by the hydroacoustic communication hydrophone and Beidou communication are analyzed by the signal processing module to classify the distance from the shore; the signals collected by the depth sensor and CTD sensor are analyzed by the signal processing module to classify the sea depth; the signals collected by the pressure sensor and attitude sensor are analyzed by the signal processing module to classify whether they are buried;

[0074] The vector hydrophone and the hydroacoustic communication hydrophone collect the hydroacoustic signals, and then analyze the hydroacoustic signals through the signal processing module to classify the threat level; based on the threat level, the offshore distance level, the sea depth level, and whether it is buried, the corresponding working mode is selected;

[0075] The danger level is specifically divided as follows: the underwater acoustic communication hydrophone and the vector hydrophone send the collected signals to the signal processing module. If the signal processing module analyzes that the underwater acoustic environment is stable and quiet, the threat level is low. If the signal processing module analyzes that the underwater acoustic environment is fluctuating and noisy, the threat level is high.

[0076] The offshore distance levels are divided as follows: if the underwater acoustic communication detection submersible is more than 2 km away from the shore, or the Beidou satellite module positioning is more than 2 km away from the shore, the offshore level is high, otherwise the offshore level is low.

[0077] The sea depth level is divided as follows: using the sea depth information detected by the depth sensor and the CTD sensor, a sea depth greater than or equal to 500 meters is a high sea depth level, and a sea depth less than 500 meters is a low sea depth level.

[0078] The burial result, i.e. whether it is buried, is specifically determined as follows: the pressure sensor and the attitude sensor transmit signals to the signal processing module, and the signal processing module analyzes the signals. When the buoy is in a stationary state, if the pressure sensor signal shows that the pressure on the buoy is significantly increased and the attitude sensor signal shows that the attitude of the buoy has changed, it is determined that the buoy is buried, otherwise the buoy is not buried.

[0079] In other words, the danger level includes "low threat level" and "high threat level";

[0080] Determine whether the energy of the underwater acoustic signal is greater than a preset threshold or the change value of the underwater acoustic signal energy is greater than a preset threshold. If the result is yes, then the "threat level is high"; if the result is no, then the "threat level is low";

[0081] The step of classifying the threat level includes: instructing the signal processing module to determine whether the amplitude of the underwater acoustic signal is greater than or equal to a preset threshold based on the underwater acoustic signal, and if the result is yes, then the threat level is high, and if the result is no, then the threat level is low;

[0082] The offshore distance levels include "high offshore level" and "low offshore level";

[0083] The step of classifying the offshore distance level includes: instructing the signal processing module to determine, based on the first signal, whether the offshore distance is greater than 2 km, or whether the positioning distance of the Beidou communication satellite module is greater than 2 km from the shore. If the result is yes, then the "offshore level is high"; if the result is no, then the "offshore level is low";

[0084] The sea depth level includes "high sea depth level" and "low sea depth level";

[0085] The step of classifying the sea depth level includes: instructing the signal processing module to determine whether the sea depth is greater than or equal to 500 meters based on the second signal, and if the result is yes, then "the sea depth level is high", and if the result is no, then "the sea depth level is low";

[0086] The step of determining whether the latent marker is buried comprises: causing the signal processing module to analyze the third signal to determine whether the change in the pressure value of the latent marker exceeds a preset threshold and the posture information of the latent marker changes, and if the result is yes, determining that the latent marker is buried; if the result is no, determining that the latent marker is not buried;

[0087] Specifically, the power consumption mode of the module is provided according to the requirements of the working mode, as follows:

[0088] 1. When using the bottom-sitting working mode in the intelligent energy consumption control workflow: the buoy autonomously uses the buoyancy adjustment module to standby for oil return, the motorized module works at low power, the hydroacoustic communication module works at full power, the energy supply module is powered by high voltage, and other modules are on standby;

[0089] 2. When the platform mobile working mode is used in the intelligent energy consumption control workflow: the submerged buoy autonomously uses the buoyancy adjustment module to return oil at high power, the motorized module to work at high power, the hydroacoustic communication module to work at full power, the energy supply module to supply power at high voltage, and other modules to standby;

[0090] 3. When using low-power detection working mode in the intelligent energy consumption control workflow: the buoy autonomously uses the signal processing module to work at low power consumption, the data recording module works normally, the energy supply module is powered at low voltage, and other modules are on standby or powered off;

[0091] 4. When the full-power detection working mode is used in the intelligent energy consumption control workflow: the buoy autonomously uses the signal processing module to work at high power consumption, the data recording module works normally, the energy supply module is powered at low voltage, and other modules are on standby or powered off;

[0092] 5. When the tracking alarm working mode is used in the intelligent energy consumption control workflow: the buoy autonomously uses the signal processing module to work at high power consumption, the data recording module to work normally, the energy supply module to supply power at low voltage, and other modules to standby or power off;

[0093] 6. When using the receiving communication working mode in the intelligent energy consumption control workflow: the buoy autonomously uses the signal processing module to work at low power consumption, the data recording module to work normally, the underwater acoustic communication module to work at low power, the energy supply module to supply power at low voltage, and other modules to standby;

[0094] 7. When full-power communication is used in the intelligent energy consumption control workflow: the buoy autonomously uses the full-power operation of the underwater acoustic communication module, the high-power operation of the signal processing module, the high-voltage power supply of the energy supply module, and the other modules are on standby;

[0095] 8. When using the half-power communication working mode in the intelligent energy consumption control workflow: the buoy autonomously uses the half-power operation of the underwater acoustic communication module, the high-power operation of the signal processing module, the high-voltage power supply of the energy supply module, and the other modules are on standby;

[0096] 9. When using the high-power buoyancy working mode in the intelligent energy consumption control workflow: the buoy autonomously uses the buoyancy adjustment module to fill oil at high power, the motorized module to work at low power, the hydroacoustic communication module to work at full power, the energy supply module to supply high voltage, and other modules to standby;

[0097] 10. When using the low-power buoyancy mode in the intelligent energy consumption control workflow: the buoy autonomously uses the buoyancy adjustment module to fill oil at low power, the hydroacoustic communication module works at full power, the energy supply module is powered by high voltage, and other modules are on standby or powered off;

[0098] 11. When using the Beidou positioning and addressing working mode in the intelligent energy consumption control workflow: the buoy autonomously uses the Beidou module to work, the energy supply module is powered by low voltage, and other modules are on standby;

[0099] 12. When using the hydroacoustic ranging working mode in the intelligent energy consumption control workflow: the buoy autonomously uses the hydroacoustic communication module to work at full power, the signal processing module to work at low power consumption, the energy supply module to supply high voltage, and other modules to standby;

[0100] 13. When using the escape mode in the intelligent energy consumption control workflow: the buoy autonomously uses the buoyancy adjustment module to return oil at high power, the motor module to work at high power, the hydroacoustic communication module to work at full power, the energy supply module to supply high voltage, and other modules to standby;

[0101] Table 1 Working modes of each module in different working modes

[0102]

[0103] (2) The power consumption of each module in each power consumption mode is shown in the following table.

[0104] Table 2 Power consumption specifications of equipment in the standard body

[0105]

[0106] (3) Based on the process of environmental perception of latent markers

[0107] 1) Design the bottom-sitting instruction workflow based on the perception of the buoy environment

[0108] The buoy is suspended on the sea surface near the predetermined position, moves on the water surface to the designated coordinates, and performs the bottom-sitting working mode;

[0109] After receiving the bottom landing instruction, the hydroacoustic communication / Beidou communication system supplies high voltage power, uses the buoyancy adjustment module to open the solenoid valve to start backflow, uses the motorized module to assist in balanced diving at low power, selects the hydroacoustic communication power consumption mode according to the distance of the buoy from the surface node, and then uploads the platform sensor information to the onshore control console in real time, controlling the buoy to slowly and steadily sink to the bottom;

[0110] When the attitude sensor angle is greater than 10 degrees after touching the bottom, the bottom sitting working mode is resumed until the attitude sensor angle is less than 10 degrees. The solenoid valve and buoyancy adjustment unit are closed, the receiving communication working mode is turned on, and the low-power detection working mode is turned on. The low-power detection working state mainly monitors the environment through the vector hydrophone scalar channel to determine the threat level. According to the line spectrum information and continuous spectrum information in the environment, when it is judged to be a low threat level, the low-power detection working state is continued. In the vector hydrophone scalar channel monitoring mode, the signal processing module is in a low-power state. In the vector hydrophone scalar channel monitoring mode, the threat level is determined. When the threat level is high, the high-power detection working mode is automatically turned on. The vector hydrophone full channel continuously collects underwater signals, and autonomously completes azimuth estimation, target detection, and identification of threat targets. And the threat target data is recorded. After the full-power detection identifies the threat target, the tracking alarm working mode is started. Using underwater acoustic communication, the target parameters and alarm information from the moment the target is discovered are sent to the surface node through underwater acoustic communication after selecting the underwater acoustic communication power consumption mode according to the distance of the submerged buoy from the surface node.

[0111] Design the bottom sitting instruction workflow based on the buoy environment perception Figure 2 As shown;

[0112] 2) Design the surfacing instruction workflow based on the buoy environment perception

[0113] When the buoy receives the surfacing command sent by the surface node, it uses multiple sensors to obtain information about the buoy's depth and whether it is buried. If it is buried, it will autonomously choose a way to escape. If the sea depth is greater than or equal to 100 meters, it will use a high-power surfacing method. If the sea depth is less than 100m, it will use a low-power surfacing method and use the platform sensor information to float to the sea surface. On the sea surface, it will send position information through a positioning and addressing method. After the ship arrives at the location, it will obtain the original data on the sea surface by replacing the storage module or directly recovering the buoy. It can perform in-depth data mining and target database construction. After the buoy floats, the equipment can be charged or the battery module can be directly replaced. The main process of the surfacing command workflow is designed based on the buoy's environmental perception. Figure 3 shown.

[0114] 3) Design the mobile command workflow based on the buoy environment perception

[0115] The buoy receives the mobile work instruction, executes the low-power floating work mode and the platform mobile work mode, high-voltage power supply, high-power rapid oil filling of the buoyancy adjustment module, high-power full-speed movement of the motor module, and selects the underwater acoustic communication power consumption mode according to the distance between the buoy and the surface node, and then uploads the buoy's attitude information and distance information. After determining that the specified distance has been reached, the bottom sitting work mode is executed. The platform mobile work status process is as follows: Figure 3 As shown in the figure; the main process of designing the mobile instruction workflow based on the latent environment perception is as follows Figure 4 As shown;

[0116] The present invention also provides an intelligent energy consumption control system based on mobile buoy environment perception. The intelligent energy consumption control system based on mobile buoy environment perception can be realized by executing the process steps of the intelligent energy consumption control method based on mobile buoy environment perception, that is, those skilled in the art can understand the intelligent energy consumption control method based on mobile buoy environment perception as a preferred implementation of the intelligent energy consumption control system based on mobile buoy environment perception.

[0117] Those skilled in the art know that, in addition to realizing the system and its various devices, modules, and units provided by the present invention in a purely computer-readable program code, it is entirely possible to realize the same functions in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, the system and its various devices, modules, and units provided by the present invention can be considered as a hardware component, and the devices, modules, and units included therein for realizing various functions can also be regarded as structures within the hardware component; the devices, modules, and units for realizing various functions can also be regarded as both software modules for realizing the method and structures within the hardware component.

[0118] In the description of the present application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0119] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. An intelligent energy consumption control system based on mobile buoy environment perception, characterized in that: The submerged buoy includes: a sensor, a buoyancy adjustment module, a maneuvering module, a signal processing module, an underwater acoustic communication module, a Beidou communication module, a data recording module and an energy supply module; The sensor is connected to the signal processing module; The signal processing module is connected to the buoyancy adjustment module, the motor module, the hydroacoustic communication module, the Beidou communication module and the data recording module; the signal processing module is used to control the buoyancy adjustment module, the motor module, the hydroacoustic communication module, the Beidou communication module and the data recording module.

2. The intelligent energy consumption control system based on mobile buoy environment perception according to claim 1 is characterized in that: The sensors include: vector hydrophone, attitude sensor, pressure sensor, depth sensor, CTD sensor, Beidou communication, underwater acoustic communication hydrophone; The vector hydrophone, attitude sensor, Beidou communication and hydroacoustic communication hydrophone are installed on the top of the buoy; the pressure sensor, depth sensor and CTD sensor are installed on the base of the buoy.

3. An intelligent energy consumption control method based on mobile buoy environment perception, which is realized based on the intelligent energy consumption control system based on mobile buoy environment perception according to any one of claims 1 to 2, and is characterized in that: include: Instructing the hydroacoustic communication hydrophone and Beidou communication to collect the first signal, and then analyzing the first signal through the signal processing module to classify and obtain the offshore distance level; The depth sensor and the CTD sensor are used to collect a second signal, and then the second signal is analyzed by the signal processing module to obtain a sea depth level; the pressure sensor and the attitude sensor are used to collect a third signal, and then the third signal is analyzed by the signal processing module to obtain a burial result; The vector hydrophone and the hydroacoustic communication hydrophone are used to collect hydroacoustic signals, and then the hydroacoustic signals are analyzed by the signal processing module to classify and obtain the threat level; Based on the threat level, offshore distance level, sea depth level, and burial result, the buoy selects a working mode and performs the task.

4. The intelligent energy consumption control method based on mobile buoy environment perception according to claim 3 is characterized in that: The first signal includes surface positioning information of Beidou communication and underwater positioning information of hydrophone of hydroacoustic communication; The second signal includes depth information of the depth sensor and the CTD sensor; The third signal includes the pressure information of the buoy collected by the pressure sensor and the posture information of the buoy collected by the posture sensor.

5. The intelligent energy consumption control method based on mobile buoy environment perception according to claim 3 is characterized in that: The danger level includes "low threat level" and "high threat level"; Determine whether the energy of the underwater acoustic signal is greater than a preset threshold or the change value of the underwater acoustic signal energy is greater than a preset threshold. If the result is yes, then the "threat level is high"; if the result is no, then the "threat level is low"; The offshore distance levels include "high offshore level" and "low offshore level"; The step of classifying the offshore distance level includes: instructing the signal processing module to determine, based on the first signal, whether the offshore distance is greater than 2 km, or whether the positioning distance of the Beidou communication satellite module is greater than 2 km from the shore; if the result is yes, then "the offshore level is high"; if the result is no, then "the offshore level is low"; The sea depth level includes "high sea depth level" and "low sea depth level"; The step of classifying the sea depth level includes: instructing the signal processing module to determine whether the sea depth is greater than or equal to 500 meters based on the second signal, and if the result is yes, then "the sea depth level is high", and if the result is no, then "the sea depth level is low"; The step of determining whether the latent marker is buried comprises: causing the signal processing module to analyze the third signal to determine whether the change in the pressure value of the latent marker exceeds a preset threshold and the posture information of the latent marker changes, and if the result is yes, determining that the latent marker is buried; if the result is no, determining that the latent marker is not buried; The working modes include: bottom sitting working mode, platform moving working mode, low power detection working mode, full power detection working mode, tracking alarm working mode, receiving communication working mode, full power communication working mode, half power communication working mode, high power floating working mode, low power floating working mode, escape working mode, underwater acoustic ranging working mode and Beidou positioning and addressing working mode.

6. The intelligent energy consumption control method based on mobile buoy environment perception according to claim 5 is characterized in that: When using the bottom-sitting working mode, the submerged buoy uses the buoyancy adjustment module to return oil in standby mode, the motorized module works at low power, the hydroacoustic communication module works at full power, the energy supply module is supplied with high voltage, and other modules are in standby mode; When the platform moves in working mode, the submerged buoy returns oil through the buoyancy adjustment module at high power, the motorized module works at high power, the hydroacoustic communication module works at full power, the energy supply module is supplied with high voltage, and other modules are on standby; When using the low-power detection working mode, the buoy works with low power consumption through the signal processing module, the data recording module works normally, the energy supply module is powered at low voltage, and other modules are on standby or powered off; When using the full-power detection working mode, the signal processing module works at high power consumption, the data recording module works normally, the energy supply module is powered at low voltage, and other modules are in standby or powered off; When using the tracking alarm working mode, the signal processing module works with high power consumption, the data recording module works normally, the energy supply module is powered at low voltage, and other modules are in standby or powered off; When using the receiving communication working mode, the signal processing module works with low power consumption, the data recording module works normally, the underwater acoustic communication module works with low power, the energy supply module is powered at low voltage, and other modules are on standby; When using the full-power communication working mode, the underwater acoustic communication module works at full power, the signal processing module works at high power consumption, the energy supply module is powered by high voltage, and other modules are on standby; When using the half-power communication working mode, the underwater acoustic communication module works at half power, the signal processing module works at high power consumption, the energy supply module is powered by high voltage, and other modules are on standby; When using the high-power floating working mode, the buoyancy adjustment module is filled with oil at high power, the motorized module works at low power, the hydroacoustic communication module works at full power, the energy supply module is supplied with high voltage, and other modules are on standby; When using the low-power floating working mode, the buoyancy adjustment module is filled with oil at low power, the hydroacoustic communication module works at full power, the energy supply module is supplied with high voltage, and other modules are on standby or powered off; When using the Beidou positioning addressing working mode, the Beidou module works, the energy supply module is powered by low voltage, and other modules are on standby; When using the underwater acoustic ranging working mode, the underwater acoustic communication module works at full power, the signal processing module works at low power consumption, the energy supply module is powered by high voltage, and other modules are on standby; When using the escape mode, the buoy returns oil through the buoyancy adjustment module at high power, the motorized module works at high power, the hydroacoustic communication module works at full power, the energy supply module supplies high voltage, and other modules are on standby.

7. The intelligent energy consumption control method based on mobile buoy environment perception according to claim 6 is characterized in that: The buoy receives the instruction and selects a working mode based on the threat level, the offshore distance level, the sea depth level, and the burial result; and executes the task according to the working mode and the instruction; The instructions include: floating instructions, bottom sitting instructions and moving instructions.

8. The intelligent energy consumption control method based on mobile buoy environment perception according to claim 7 is characterized in that: After the buoy receives the bottom seating instruction, the following steps are performed: Step A1: The submerged buoy is adjusted in a bottom-sitting working mode to make the submerged buoy dive to the seabed; Step A2: determining whether the angle of the buoy is greater than 10° by using a posture sensor, if yes, then re-execute step A1, if no, then execute step A3; Step A3: Determine whether the threat level is "low danger level". If yes, use low power detection mode to record target data; if no, use full power detection mode to record target data; Step A4: Based on the target data, identify the threat, start the tracking alarm working mode to issue an alarm message, and determine whether the offshore distance level is "high offshore level". If the result is yes, use the full-power communication working mode to send the content of the underwater acoustic communication; if the result is no, use the half-power communication working mode to send the content of the underwater acoustic communication.

9. The intelligent energy consumption control method based on mobile buoy environment perception according to claim 7 is characterized in that: After the buoy receives the buoyancy instruction, the following steps are performed: Step B1: judging whether the buoy is buried, if yes, adopting the escape mode, and judging whether the sea depth level is "low sea depth level", if yes, adopting the low-power buoyancy mode to float to the sea surface; if no, adopting the high-power buoyancy mode to float to the sea surface; if no, judging whether the sea depth level is "low sea depth level", if yes, adopting the low-power buoyancy mode to float to the sea surface; if no, adopting the high-power buoyancy mode to float to the sea surface; Step B2: The buoy is instructed to adopt Beidou positioning and addressing working mode to send location information.

10. The intelligent energy consumption control method based on mobile buoy environment perception according to claim 7 is characterized in that: After the latent marker receives the moving instruction, it includes: Step C1: Floating up by adopting a low-power floating working mode, and moving by adopting a platform moving working mode; Step C2: judging whether the buoy has reached the designated position according to the buoy posture information and the buoy distance information; if the result is no, the buoy continues to move; if the result is yes, the buoy adopts the bottom-sitting working mode to dive.

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