Ocean observation mark management method and system based on unmanned equipment cluster

Abstract

The invention discloses a marine observation mark management method and system based on an unmanned equipment cluster. The method comprises the steps that a marine observation mark chain on a mother ship is hoisted through an unmanned aerial vehicle cluster and flies in the air; the sub-anchor blocks in the sub-anchor block group are placed in the middle area of any two adjacent unmanned ships on the water surface through the unmanned aerial vehicle cluster in the air; performing vertical positioning and correction on the sub anchor block group in water through the underwater vehicle cluster; when the sub anchor block group is pulled to a preset underwater position, the ocean observation equipment is used for carrying out ocean observation in water; after the ocean observation equipment completes ocean observation, the sub anchor block group is controlled to be separated from the ocean observation mark chain through the ocean observation mark chain; the unmanned aerial vehicle cluster, the unmanned ship cluster and the underwater vehicle cluster cooperatively recover the ocean observation mark chain not including the sub-anchor block group and the sub-anchor block group to the mother ship. The method can improve the laying efficiency and recovery efficiency of the marine observation mark, reduces the labor cost, and can be widely applied to the technical field of marine monitoring.

Description

Technical Field

[0001] The present application relates to the field of ocean monitoring technology, and in particular to an ocean observation beacon management method and system based on an unmanned equipment cluster. Background Art

[0002] In the related technology, the ocean observation beacon system is an instrument and equipment system for long-term fixed-point multi-parameter profile observation of the underwater environment of the ocean. The ocean observation beacon system is an important part of the three-dimensional monitoring system of the ocean environment. Various instruments and equipment are connected in series through the mooring system and anchored at a designated station. However, the current deployment and recovery of ocean observation beacons are mostly carried out by using a folding arm crane on a scientific research vessel, combined with manual operation on the scientific research vessel. The traditional deployment and recovery methods are inefficient and wasteful of human resources, and there are safety hazards.

[0003] In summary, the technical problems existing in the relevant technologies need to be improved. Summary of the invention

[0004] The embodiments of the present application aim to solve at least one of the technical problems in the related art to a certain extent. To this end, the main purpose of the embodiments of the present application is to propose a method and system for managing ocean observation marks based on unmanned equipment clusters, which can improve the deployment efficiency and recovery efficiency of ocean observation marks, reduce labor costs, improve the safety of operations, and at the same time improve the accuracy of ocean observations.

[0005] To achieve the above-mentioned purpose, one aspect of an embodiment of the present application proposes a method for managing ocean observation beacons based on an unmanned equipment cluster, wherein the unmanned equipment cluster includes a drone cluster, an unmanned boat cluster, and an underwater submersible cluster, and the unmanned equipment cluster is placed on a mother ship. The method comprises the following steps:

[0006] The ocean observation beacon chain on the mother ship is hoisted by the drone cluster according to the hoisting command sent by the land control station and flies in the air; the end of the ocean observation beacon chain is composed of a sub-anchor block group;

[0007] When the distance between the end of the sub-anchor block group and the water surface reaches a preset distance threshold, the unmanned boat cluster on the mother ship is controlled to be released on the water surface, so that the sub-anchor blocks in the sub-anchor block group are respectively lowered to the middle area between any two adjacent unmanned boats on the water surface by the drone cluster in the air according to the sub-anchor block sinking instruction sent by the land control station;

[0008] When the sub-anchor block group sinks into the water, the underwater submersible cluster on the mother ship is controlled to be released into the water, so that the sub-anchor block group in the water is vertically positioned and corrected by the underwater submersible cluster in the water according to the traction adjustment instruction sent by the land control station; wherein, when the sub-anchor block group is towed to a preset underwater position, the ocean observation equipment carried on the ocean observation beacon chain in the water is used to perform ocean observation in the water;

[0009] After the ocean observation equipment completes the ocean observation, the sub-anchor block group is controlled to detach from the ocean observation beacon chain according to the sub-anchor block detachment instruction sent by the land control station through the ocean observation beacon chain;

[0010] When the sub-anchor block group is separated from the ocean observation beacon chain, the drone cluster, the unmanned boat cluster and the underwater submersible cluster jointly recover the ocean observation beacon chain excluding the sub-anchor block group and the sub-anchor block group to the mother ship according to the equipment recovery instruction sent by the land control station.

[0011] In some embodiments, when the distance between the end of the sub-anchor block group and the water surface reaches a preset distance threshold, controlling the unmanned boat cluster on the mother ship to be released onto the water surface includes:

[0012] When the distance between the end of the sub-anchor block group and the water surface reaches the preset distance threshold, sending an unmanned boat release instruction to the mother ship through the land control station;

[0013] The mother ship controls the unmanned boat cluster to be released onto the water surface according to the unmanned boat release instruction.

[0014] In some embodiments, before the drone cluster in the air lowers the sub-anchor blocks in the sub-anchor block group to the middle area between any two adjacent unmanned boats on the water surface according to the sub-anchor block sinking instruction sent by the land control station, the method further includes:

[0015] Acquire global navigation satellite system information corresponding to the unmanned boat cluster; wherein the global navigation satellite system information corresponding to the unmanned boat cluster includes at least one of the following: longitude information of the unmanned boat and latitude information of the unmanned boat;

[0016] Transmitting the global navigation satellite system information corresponding to the unmanned boat cluster to the remote control system of the land control station, so that the remote control system of the land control station performs classification according to the latitude information to obtain a latitude classification result, and calculates the latitude average value according to the latitude classification result through the remote control system;

[0017] Classify the longitude information by the remote control system to obtain a longitude classification result, and calculate the longitude average value by the remote control system according to the longitude classification result;

[0018] Calculate the middle area between any two adjacent unmanned boats on the water surface according to the average latitude and the average longitude by the remote control system;

[0019] The intermediate area is sent to the drone cluster via the remote control system.

[0020] In some embodiments, when the sub-anchor block group sinks into the water, controlling the underwater submersible cluster on the mother ship to be released into the water includes:

[0021] When the sub-anchor block group sinks into the water, a submersible release instruction is sent to the mother ship through the land control station;

[0022] The mother ship controls the underwater submersibles to be released into the water according to the submersible release instruction.

[0023] In some embodiments, a micro-sonar detection and positioning device is installed on the sub-anchor block in the sub-anchor block group, and the micro-sonar detection and positioning device is used to obtain sonar information of the sub-anchor block, and the sub-anchor block group in the water is vertically positioned and corrected according to the traction adjustment instruction sent by the land control station by the underwater submersible cluster in the water, including:

[0024] Sending the sonar information acquired by each of the micro-sonar detection and positioning devices to the mother ship through the sub-anchor block group;

[0025] Sending each of the sonar information to the land control station through the mother ship data receiving system of the mother ship, so as to determine the position of each of the sonar information through the remote control system of the land control station;

[0026] If the remote control system determines that the position of the sub-anchor block in the sub-anchor block group is offset, the remote control system calculates the offset between each sub-anchor block in the sub-anchor block group according to the global navigation satellite system information corresponding to the sub-anchor block;

[0027] generating the traction adjustment instruction according to the offset through the remote control system, and sending the traction adjustment instruction to the mother ship through the remote control system;

[0028] Sending the traction adjustment instruction to the underwater submersible vehicle cluster in the water through the mother ship data receiving system of the mother ship;

[0029] The sub-anchor block group in the water is vertically positioned and corrected by the underwater submersible cluster according to the traction adjustment instruction, so that the sub-anchor block group is located at a preset underwater position.

[0030] In some embodiments, the equipment recovery instruction includes at least one of the following: a sub-anchor block inflation instruction, a sub-anchor block deflation instruction, a sub-anchor block pulling instruction, an observation beacon inflation instruction, an observation beacon pulling adjustment instruction, an observation beacon pulling instruction, and an observation beacon recovery instruction. When the sub-anchor block group is separated from the ocean observation beacon chain, the unmanned aerial vehicle cluster, the unmanned boat cluster, and the underwater submersible cluster cooperate to recover the ocean observation beacon chain excluding the sub-anchor block group and the sub-anchor block group to the mother ship according to the equipment recovery instruction sent by the land control station, including:

[0031] When the sub-anchor block group is separated from the ocean observation beacon chain, a sub-anchor block inflation instruction is sent to the sub-anchor block group through the land control station, and an observation beacon inflation instruction and an observation beacon traction adjustment instruction are sent to the ocean observation beacon chain through the land control station;

[0032] The sub-anchor block group starts the sub-anchor block inflation device according to the sub-anchor block inflation instruction to inflate the balloon carried by the sub-anchor block group, so that the sub-anchor block group floats to the water surface;

[0033] When the sub-anchor block group floats to the water surface, the sub-anchor block deflation instruction is sent to the underwater submersible cluster through the land control station;

[0034] The underwater submersible cluster performs a deflation operation on the inflatable balloons of the sub-anchor block cluster according to the sub-anchor block deflation instruction, so that the sub-anchor block cluster falls into the storage net bag carried by the underwater submersible cluster;

[0035] When the underwater submersible cluster reaches the water surface, the sub-anchor block pulling instruction is sent to the unmanned boat cluster through the land control station;

[0036] The unmanned boat cluster pulls the net bag rope of the storage net bag to the hook ring lowered by the drone cluster according to the sub-anchor block pulling instruction, and the drone cluster recovers the storage net bag and the sub-anchor block group in the storage net bag to the mother ship;

[0037] The ocean observation beacon chain excluding the sub-anchor block group is activated by the observation beacon inflation device to inflate the balloon carried by the ocean observation device according to the observation beacon inflation instruction, so that the ocean observation beacon chain excluding the sub-anchor block group floats to the water surface;

[0038] In the process of the ocean observation beacon chain excluding the sub-anchor block group buoying to the water surface, the underwater submersible cluster tows the ocean observation beacon chain excluding the sub-anchor block group buoying to the water surface according to the observation beacon towing adjustment instruction;

[0039] When the ocean observation beacon chain excluding the sub-anchor block group floats to the water surface, the observation beacon pulling instruction and the observation beacon recovery instruction are sent to the unmanned boat cluster through the land control station;

[0040] The unmanned boat cluster pulls the ocean observation beacon chain excluding the sub-anchor block group to a preset recovery position according to the observation beacon pulling instruction, and the drone cluster hoists the ocean observation beacon chain excluding the sub-anchor block group at the preset recovery position to the mother ship according to the observation beacon recovery instruction.

[0041] In some embodiments, the unmanned boat cluster pulls the ocean observation beacon chain excluding the sub-anchor block group to a preset recovery position according to the observation beacon pulling instruction, and the drone cluster hoists the ocean observation beacon chain excluding the sub-anchor block group at the preset recovery position to the mother ship according to the observation beacon recovery instruction, including:

[0042] Acquiring ocean current data through the ocean current meters carried by the unmanned boat cluster; wherein the ocean current data includes ocean current direction and ocean current velocity;

[0043] Sending the ocean current data and the unmanned boat positioning information corresponding to the unmanned boat cluster to the mother ship through the unmanned boat cluster;

[0044] Sending the ocean current data and the positioning information of the unmanned boat to the land control station via the mother ship;

[0045] Calculating the actual moving speed of the unmanned boat cluster and the mother ship merging time by the remote control system of the land control station according to the ocean current data and the positioning information of the unmanned boats;

[0046] The unmanned boat cluster pulls the ocean observation beacon chain excluding the sub-anchor block group to a preset recovery position according to the observation beacon pulling instruction, the actual moving speed and the mother ship merging time;

[0047] The ocean observation beacon chain excluding the sub-anchor block group at the preset recovery position is hoisted to the mother ship by the drone cluster according to the observation beacon recovery instruction.

[0048] To achieve the above purpose, another aspect of the embodiment of the present application proposes an ocean observation beacon management system based on an unmanned equipment cluster, wherein the unmanned equipment cluster includes a drone cluster, an unmanned boat cluster, and an underwater submersible cluster, and the unmanned equipment cluster is placed on a mother ship. The system includes the following modules:

[0049] The ocean observation beacon chain hoisting module is used to hoist the ocean observation beacon chain on the mother ship and fly it in the air through the drone cluster according to the hoisting command sent by the land control station; the end of the ocean observation beacon chain is composed of a sub-anchor block group;

[0050] The sub-anchor block sinking module is used to control the unmanned boat cluster on the mother ship to be released on the water surface when the distance between the end of the sub-anchor block group and the water surface reaches a preset distance threshold, so that the sub-anchor blocks in the sub-anchor block group are respectively lowered to the middle area between any two adjacent unmanned boats on the water surface by the drone cluster in the air according to the sub-anchor block sinking instruction sent by the land control station;

[0051] The sub-anchor block group positioning correction module is used to control the underwater submersible cluster on the mother ship to be released into the water when the sub-anchor block group sinks into the water, so as to vertically position and correct the sub-anchor block group in the water according to the traction adjustment instruction sent by the land control station through the underwater submersible cluster in the water; wherein, when the sub-anchor block group is towed to a preset underwater position, the ocean observation equipment carried on the ocean observation beacon chain in the water is used to perform ocean observation in the water;

[0052] A sub-anchor block group separation module, used to control the sub-anchor block group to separate from the ocean observation beacon chain according to the sub-anchor block separation instruction sent by the land control station after the ocean observation equipment completes the ocean observation;

[0053] The marine observation equipment recovery module is used to collaboratively recover the marine observation beacon chain excluding the sub-anchor block group and the sub-anchor block group to the mother ship through the drone cluster, the unmanned boat cluster and the underwater submersible cluster according to the equipment recovery instruction sent by the land control station after the sub-anchor block group is separated from the marine observation beacon chain.

[0054] To achieve the above-mentioned purpose, another aspect of an embodiment of the present application provides an electronic device, the electronic device comprising a memory and a processor, the memory storing a computer program, and the processor implementing the above-mentioned method when executing the computer program.

[0055] To achieve the above objective, another aspect of an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method described above is implemented.

[0056] The embodiments of the present application include at least the following beneficial effects: the present application provides a method and system for managing ocean observation beacons based on unmanned equipment clusters, the solution uses a drone cluster to lift the ocean observation beacon chain on the mother ship and fly it in the air according to the lifting command sent by the land control station; the end of the ocean observation beacon chain is composed of a sub-anchor block group; when the distance between the end of the sub-anchor block group and the water surface reaches a preset distance threshold, the unmanned boat cluster on the mother ship is controlled to be released on the water surface, so that the sub-anchor blocks in the sub-anchor block group are respectively lowered to the middle area between any two adjacent unmanned boats on the water surface by the drone cluster in the air according to the sub-anchor block sinking command sent by the land control station; when the sub-anchor block group sinks into the water, the underwater submersible cluster on the mother ship is controlled to be released into the water , so that the sub-anchor block group in the water is vertically positioned and corrected according to the traction adjustment instruction sent by the land control station through the underwater submersible cluster in the water; wherein, when the sub-anchor block group is towed to the preset underwater position, the ocean observation equipment carried on the ocean observation chain in the water is used for ocean observation in the water; after the ocean observation equipment completes the ocean observation, the sub-anchor block group is controlled to detach from the ocean observation chain according to the sub-anchor block detachment instruction sent by the land control station through the ocean observation chain; when the sub-anchor block group detaches from the ocean observation chain, the ocean observation chain excluding the sub-anchor block group and the sub-anchor block group are collaboratively recovered to the mother ship according to the equipment recovery instruction sent by the land control station through the drone cluster, the unmanned boat cluster and the underwater submersible cluster. The embodiments of the present application achieve the deployment and recovery of ocean observation targets by utilizing the coordinated operation of drone clusters, unmanned boat clusters and underwater submersible clusters, which greatly improves the deployment and recovery efficiency of ocean observation targets, reduces manual participation, and significantly reduces labor costs. In addition, the coordinated operation of unmanned equipment clusters can largely avoid safety hazards and improve the safety of operations. In addition, the underwater submersible cluster vertically positions and corrects the sub-anchor block group in the water according to the traction adjustment instructions sent by the land control station, thereby ensuring the accurate position of the ocean observation equipment in the water and improving the accuracy of ocean observation. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Figure 1 It is a flow chart of a method for managing ocean observation beacons based on unmanned equipment clusters provided in an embodiment of the present application;

[0058] Figure 2 It is a diagrammatic representation of ocean observation provided by an embodiment of the present application;

[0059] Figure 3 is a schematic diagram of control communication between an unmanned equipment cluster and a land control station provided in an embodiment of the present application;

[0060] Figure 4 It is a schematic diagram of the deployment of the ocean observation beacon chain on the mother ship's clamping board provided in an embodiment of the present application;

[0061] Figure 5 This is a schematic diagram of a drone cluster array when vertically deployed at the same position provided by an embodiment of the present application;

[0062] Figure 6 It is a schematic diagram of the distance arrangement between vertically adjacent local drones provided in an embodiment of the present application;

[0063] Figure 7 It is a schematic diagram of the connection structure between the drone and the vertically connected rope provided in the embodiment of the present application;

[0064] Figure 8 This is a schematic diagram of an aerial array of a drone cluster lifting an ocean observation beacon chain provided in an embodiment of the present application;

[0065] Fig. 9 It is a schematic diagram of a rectangular deployment array of unmanned surface boats provided in an embodiment of the present application;

[0066] Fig.10 It is a schematic diagram of the structure of the anchor block provided in the embodiment of the present application;

[0067] Fig.11 is a side view of the position of the sub-anchor block balloon provided in an embodiment of the present application;

[0068] Fig.12 is a schematic diagram of the array layout of underwater vehicles provided in an embodiment of the present application;

[0069] Fig.13 This is a schematic diagram of the unmanned boat towing the ocean observation beacon chain provided by the embodiment of the present application when it floats to the water surface;

[0070] Fig.14 It is a structural diagram of an ocean observation beacon management system based on an unmanned equipment cluster provided in an embodiment of the present application;

[0071] Fig.15 It is a schematic diagram of the hardware structure of the electronic device provided in the embodiment of the present application. DETAILED DESCRIPTION

[0072] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application is further described in detail below in conjunction with the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the embodiments of the present application. They are only examples of systems and methods consistent with some aspects of the embodiments of the present application as detailed in the attached claims.

[0073] It is understood that the terms "first", "second", etc. used in this application can be used to describe various concepts in this article, but unless otherwise specified, these concepts are not limited by these terms. These terms are only used to distinguish one concept from another concept. For example, without departing from the scope of the embodiment of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the words "if" and "if" as used herein can be interpreted as "at the time of" or "when" or "in response to determination".

[0074] The terms "at least one", "multiple", "each", "any", etc. used in this application, at least one includes one, two or more, multiple includes two or more, each refers to each of the corresponding multiple, and any refers to any one of the multiple.

[0075] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0076] In the related technology, the ocean observation beacon system is an instrument and equipment system for long-term fixed-point multi-parameter profile observation of the underwater environment of the ocean. The ocean observation beacon system is an important part of the three-dimensional monitoring system of the ocean environment. Various instruments and equipment are connected in series through the mooring system and anchored at a designated station. However, the current deployment and recovery of ocean observation beacons are mostly carried out by using a folding arm crane on a scientific research vessel, combined with manual operation on the scientific research vessel. The traditional deployment and recovery methods are inefficient and wasteful of human resources, and there are safety hazards.

[0077] In view of this, an embodiment of the present application provides an ocean observation beacon management method and system based on an unmanned equipment cluster. The solution uses a drone cluster to lift the ocean observation beacon chain on the mother ship and fly it in the air according to the lifting command sent by the land control station; the end of the ocean observation beacon chain is composed of a sub-anchor block group; when the distance between the end of the sub-anchor block group and the water surface reaches a preset distance threshold, the unmanned boat cluster on the mother ship is controlled to be released on the water surface, so that the sub-anchor blocks in the sub-anchor block group are lowered to the middle area between any two adjacent unmanned boats on the water surface by the drone cluster in the air according to the sub-anchor block sinking command sent by the land control station; when the sub-anchor block group sinks into the water, the underwater submersible cluster on the mother ship is controlled to be released into the water, so as to The underwater submersible cluster in the water vertically positions and corrects the sub-anchor block group in the water according to the towing adjustment command sent by the land control station; wherein, when the sub-anchor block group is towed to the preset underwater position, the ocean observation equipment carried on the ocean observation beacon chain in the water is used for ocean observation in the water; after the ocean observation equipment completes the ocean observation, the sub-anchor block group is controlled to detach from the ocean observation beacon chain through the ocean observation beacon chain according to the sub-anchor block detachment command sent by the land control station; when the sub-anchor block group detaches from the ocean observation beacon chain, the ocean observation beacon chain excluding the sub-anchor block group and the sub-anchor block group are collaboratively recovered to the mother ship through the drone cluster, the unmanned boat cluster and the underwater submersible cluster according to the equipment recovery command sent by the land control station. The embodiments of the present application achieve the deployment and recovery of ocean observation targets by utilizing the coordinated operation of drone clusters, unmanned boat clusters and underwater submersible clusters, which greatly improves the deployment and recovery efficiency of ocean observation targets, reduces manual participation, and significantly reduces labor costs. In addition, the coordinated operation of unmanned equipment clusters can largely avoid safety hazards and improve the safety of operations. In addition, the underwater submersible cluster vertically positions and corrects the sub-anchor block group in the water according to the traction adjustment instructions sent by the land control station, thereby ensuring the accurate position of the ocean observation equipment in the water and improving the accuracy of ocean observation.

[0078] The marine observation mark management method based on unmanned equipment cluster provided in the embodiment of the present application relates to the field of marine monitoring technology. The marine observation mark management method based on unmanned equipment cluster provided in the embodiment of the present application can be applied to a terminal, can also be applied to a server, and can also be software running in a terminal or a server. In some embodiments, the terminal can be a smart phone, a tablet computer, a laptop computer, a desktop computer, a smart speaker, a smart watch, and a car terminal, etc., but is not limited to this; the server side can be configured as an independent physical server, or it can be configured as a server cluster or a distributed system composed of multiple physical servers, and can also be configured to provide cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN (Content Delivery Network, content distribution network) and big data and artificial intelligence platforms and other basic cloud computing services. The cloud server, the server can also be a node server in the blockchain network; the software can be an application that implements the marine observation mark management method based on unmanned equipment clusters, etc., but is not limited to the above forms.

[0079] The present application can be used in many general or special computer system environments or configurations. For example: personal computers, server computers, handheld devices or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronic devices, network PCs (Personal Computers, personal computers), minicomputers, mainframe computers, distributed computing environments including any of the above systems or devices, etc. The present application can be described in the general context of computer executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The present application can also be practiced in distributed computing environments, in which tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules can be located in local and remote computer storage media including storage devices.

[0080] See also Figure 1 , Figure 1 This is an optional flow chart of a method for managing ocean observation beacons based on unmanned equipment clusters provided in an embodiment of the present application. The unmanned equipment cluster includes a drone cluster, an unmanned boat cluster, and an underwater submersible cluster. The unmanned equipment cluster is placed on a mother ship. Figure 1 The method may include but is not limited to steps S101 to S105.

[0081] Step S101, the UAV cluster hoists the ocean observation beacon chain on the mother ship according to the hoisting instruction sent by the land control station and flies in the air; the end of the ocean observation beacon chain is composed of a sub-anchor block group;

[0082] In practical applications, the ocean observation beacon system is an instrument system for long-term fixed-point multi-parameter profile observation of the underwater environment of the ocean. It is an important part of the three-dimensional monitoring system of the ocean environment. Various instruments and equipment are connected in series through the mooring system and anchored at a designated station. Among them, the ocean observation beacon (ocean observation beacon system) usually includes a floating ball, a connecting rope, a connecting device, and a sub-anchor block, etc. Please refer to Figure 2 , Figure 2 is a schematic diagram of ocean observation provided by an embodiment of the present application, such as Figure 2 As shown, Figure 2 The yellow sphere in the figure represents the floating ball connected to the head end of the ocean observation chain, the black chain below the yellow sphere represents the rope connecting the various components, the black dots on the ocean observation chain represent the connected ocean observation equipment, which is used for long-term fixed-point multi-parameter profile observation of the underwater environment of the ocean, and the blue component at the end of the chain is the sub-anchor block.

[0083] It should be noted that in the embodiment of the present application, the ocean observation beacon chain is placed in the water as a whole as an ocean observation beacon system for ocean observation, that is, the head end of the ocean observation beacon chain is connected to a buoy ball, the middle of the ocean observation beacon chain is connected to an ocean observation device, and the end of the ocean observation beacon chain is connected to a sub-anchor block group. By placing the entire ocean observation beacon chain (the ocean observation beacon chain here includes a buoy ball, an ocean observation device and a sub-anchor block group) in the water, anchoring it at a specified position through a sub-anchor block, and performing ocean observation through the ocean observation device connected in the middle of the ocean observation beacon chain, when the ocean observation beacon chain is subsequently recovered, the sub-anchor block group connected to the end of the ocean observation beacon chain is separated from the entire ocean observation beacon chain, and the ocean observation beacon chain that does not include the sub-anchor block group and the sub-anchor block group separated from the entire ocean observation beacon chain are recovered separately.

[0084] In the embodiment of the present application, the ocean observation beacon management method based on unmanned equipment clusters mainly consists of four steps: (1) sorting of ocean observation beacon chains, (2) deployment of ocean observation beacon chains, (3) recovery of ocean observation beacon chains, and (3) storage of ocean observation beacon chains.

[0085] Before deploying the ocean observation beacon chain, the drone cluster, unmanned boat cluster and underwater submersible cluster are placed on the mother ship. In the embodiment of the present application, the deployment of the ocean observation beacon chain (i.e., ocean observation beacon, mainly ocean observation equipment) adopts the "sky-surface-underwater" unmanned equipment cluster mode, with drone cluster in the air, unmanned boat cluster on the surface, and unmanned submersible cluster underwater.

[0086] Among them, the unmanned equipment clusters mainly communicate and control through satellites, acoustic communicators (abbreviated as acoustic communicators) and land control stations. Figure 3 , Figure 3 Schematic diagram of control communication between an unmanned equipment cluster and a land control station provided in an embodiment of the present application, such as Figure 3 As shown, the aerial drone and the surface unmanned boat communicate with each other via satellite; the aerial drone and the surface unmanned boat communicate with the land control station via satellite; the surface unmanned boat and the underwater submersible transmit and communicate information through the sonar mounted thereon. Specifically, the information of the underwater submersible is transmitted from the depth to the surface step by step between the adjacent underwater submersibles until it reaches the submersible closest to the surface, and then the information is transmitted to the surface unmanned boat, which further transmits the information to the land remote control station via satellite. Conversely, the information transmission from the land control station to the underwater submersible is in the opposite direction, and the embodiments of the present application are not described in detail here. Among them, the communication of the mother ship is also realized through satellite communication.

[0087] See also Figure 4 , Figure 4 Schematic diagram of the deployment of the ocean observation beacon chain on the mother ship's clamping board provided in the embodiment of the present application, such as Figure 4 As shown, Figure 4 The yellow dots in the figure represent ocean observation equipment, and the black lines represent Kevlar ropes. In the specific implementation, according to the actual observation task requirements, on the mother ship's clamping board, the ocean hydrological equipment, meteorological equipment, acoustic equipment, geological equipment and other ocean observation equipment (such as CTD (Conductivity, Temperature, Depth, conductivity meter, temperature meter, depth meter), ADCP (Acoustic Doppler Current Profiler, acoustic releaser, TD (Temperature-Depth, temperature depth) meter, etc.) are fixed with Kevlar ropes, and the ropes reserved between every two ocean observation equipment are folded and stored, and the ropes are tied to the mother ship's clamping board. Figure 4 The ocean observation beacon chain is unfolded on the deck in a zigzag shape, making it easier to tie up and lift the drone cluster.

[0088] In the embodiments of this application, please refer to Figure 5 to Figure 6 , Figure 5 is a schematic diagram of a drone cluster array when vertically deployed at the same position provided by an embodiment of the present application, Figure 6 : is a schematic diagram of the distance arrangement between vertically adjacent local drones provided in an embodiment of the present application; wherein, Figure 5 and Figure 6 The orange dots in the middle represent drones. Figure 5 The black dots in the figure represent the omitted n drones, such as Figure 5 As shown, Figure 5 This is a schematic diagram of a drone cluster array arranged vertically at the same position. The drone cluster array is arranged in a straight line. There is no less than one drone at the same point in the vertical direction. According to the weight of the lifting equipment, when the weight of the object to be lifted exceeds 80% of the weight that a single drone can bear, a new drone is added, such as Figure 6 As shown, Figure 6 The distance and layout diagram between vertically adjacent local drones. The vertical distance between two vertically adjacent drones is not less than 10 meters. Similarly, the number density of drones in the vertical direction is increased so that the weight that the vertical drone group at the same position can carry is at least 20% of the total weight of the hoisted object. Vertically adjacent drones at the same position are connected by ropes so that the lifting force of each vertical drone can be aggregated together to form a three-dimensional aerial drone lifting system.

[0089] See also Figure 7 , Figure 7 Schematic diagram of the connection structure between the drone and the vertically connected rope provided in the embodiment of the present application; Figure 7 As shown, Figure 7 This is a schematic diagram of the rope connection between the upper and lower parts of the drone and their vertical connection. Figure 7 The orange dots in the figure represent drones ( Figure 7 001 in the figure), the black ring indicates the rope connector ( Figure 7 002 in the figure), the gray rectangle represents the acoustic releaser ( Figure 7 003 in the sequence number, such as Figure 7 As shown, specifically, each drone has a rope connector attached to the upper and lower parts ( Figure 7 Each rope connector is equipped with an acoustic release ( Figure 7 The acoustic releaser can receive information from the land control station through communication with the satellite. For example, it can receive the lifting command sent by the land control station to enable the UAV to lift the ocean observation beacon chain on the mother ship and fly in the air. After the UAV completes the lifting of the object, it can send a release command through the land control station, which is transmitted through the satellite so that the release command reaches the acoustic releaser of the designated UAV (cluster). After receiving the release command, the acoustic releaser of the corresponding UAV (cluster) automatically releases the rope, and the ropes between the vertically adjacent UAVs are automatically detached.

[0090] Step S101 shown in the embodiment of the present application corresponds to the deployment process of the water drone cluster, please refer to Figure 8 , Figure 8Schematic diagram of an aerial array of a drone cluster lifting an ocean observation beacon chain provided in an embodiment of the present application; Figure 8 As shown, Figure 8 Each orange dot in the figure represents a drone. The process of drone cluster lifting the ocean observation beacon chain is as follows: First, the drone cluster lifts the upper part of the ocean observation beacon chain (that is, the part containing the buoy), and then lifts the ocean observation beacon chain (including ocean observation equipment and sub-anchor block groups) placed on the mother ship's clamping board one by one. When the drone lifts the ocean observation beacon chain, each drone is connected to the ocean observation equipment (including thermometer, depth gauge, salinity meter, etc.) on the ocean observation beacon chain through the retractable rope. Specifically, 5 drones are connected to the mother ship deck each time, and the 5 drones are connected as one. The first group of drones carried part of the ocean observation chain and took off to a height of 20 meters. Then, 5 drones were arranged to connect to the subsequent equipment on the ocean observation chain. After the second group of drones was connected, they began to take off and rise vertically. At the same time, the first group of 5 drones moved up 10 meters vertically and flew away from the mother ship's deck. The second group of 5 drones continued to take off and rise vertically to a height of 20 meters with the equipment on the ocean observation chain. Five drones were formed into a group. When all the equipment on the ocean observation chain was lifted by the drone cluster, Figure 8 As shown in the figure, the drone cluster forms a "Z"-shaped array in the air, and the vertical spacing of each group of drones in the air is 10 meters, and they fly away from the mother ship as a whole. When the drone cluster flies to a position 1,000 meters away from the mother ship, the drone cluster hovers in the air and descends to a position 10 meters from the water surface as a whole. When the sub-anchor blocks at the end of the ocean observation chain are hoisted together and put at a height of 10 meters above the water surface, the surface unmanned boat cluster is released on the water surface, that is, the drone cluster hangs the entire ocean observation chain 10 meters above the water surface, in a straight line horizontally and in a "Z" shape vertically, and the drone carrying the end of the ocean observation chain is 1,000 meters away from the mother ship.

[0091] Step S102, when the distance between the end of the sub-anchor block group and the water surface reaches a preset distance threshold, the unmanned boat cluster on the mother ship is controlled to be released on the water surface, so that the sub-anchor blocks in the sub-anchor block group are respectively lowered to the middle area between any two adjacent unmanned boats on the water surface by the drone cluster in the air according to the sub-anchor block sinking instruction sent by the land control station;

[0092] In some embodiments, before step S102, it may also include: obtaining global navigation satellite system information corresponding to the unmanned boat cluster; wherein the global navigation satellite system information corresponding to the unmanned boat cluster includes at least one of the following: longitude information of the unmanned boat and latitude information of the unmanned boat; transmitting the global navigation satellite system information corresponding to the unmanned boat cluster to the remote control system of the land control station, so that the remote control system of the land control station classifies according to the latitude information to obtain the latitude classification result, and calculates the latitude average value according to the latitude classification result through the remote control system; classifies according to the longitude information through the remote control system to obtain the longitude classification result, and calculates the longitude average value according to the longitude classification result through the remote control system; calculates the middle area of ​​any two adjacent unmanned boats on the water surface according to the latitude average value and the longitude average value through the remote control system; and sends the middle area to the drone cluster through the remote control system.

[0093] In the specific implementation, the middle position information of the two surface unmanned boat formations is determined through the position information of the sub-anchor block and the GNSS (Global Navigation Satellite System) on the unmanned boat. The specific steps are: the first step is to obtain the GNSS information on each unmanned boat, and transmit the GNSS information of the unmanned boat formation to the remote control system of the land control station via satellite. The GNSS information includes time, latitude and longitude of the unmanned boat and vertical coordinates; the second step is to refer to Fig. 9 , Fig. 9 is a schematic diagram of a rectangular deployment array of unmanned surface boats provided in an embodiment of the present application, Fig. 9 Represents the rectangular deployment array of surface unmanned boats, such as Fig. 9 As shown, Fig. 9 Each orange dot in the figure represents an unmanned boat. Each surface unmanned boat is positioned according to GNSS navigation and is deployed in two rows. Specifically, the remote control system of the land control station is based on the unmanned boat cluster deployed on the water surface (see Fig. 9 ) latitude information is classified, and the unmanned boats with the same latitude are classified into one category, such as Fig. 9 As shown in FIG, the latitude is divided into two categories. According to the classified latitude information, the maximum and minimum values ​​in the latitude information are screened out, and the average value corresponding to the maximum and minimum values ​​in the latitude information is calculated. The average value corresponding to the latitude information can be marked as LonM. In the third step, the remote control system of the land control station controls the unmanned boat cluster deployed on the water surface (see FIG. Fig. 9 ) longitude information is classified, and the unmanned boats with the same longitude are classified into one category, such as Fig. 9As shown in FIG. 1 , the X-axis direction (horizontal direction) represents longitude, and the Y-axis direction (vertical direction) represents latitude. The longitude is divided into 4 categories. According to the classified longitude information, the maximum value and the minimum value in the longitude information are screened out, and the average value corresponding to the maximum value and the minimum value in the longitude information is calculated. The average value corresponding to the longitude information can be recorded as LatM. In the fourth step, the LonM obtained in the second step and the LatM obtained in the third step are used as the middle position (LonM, LatM) of the surface unmanned boat cluster.

[0094] In some embodiments, when the distance between the end of the sub-anchor block group and the water surface reaches a preset distance threshold, the step of controlling the unmanned boat cluster on the mother ship to be released onto the water surface may include: when the distance between the end of the sub-anchor block group and the water surface reaches a preset distance threshold, sending an unmanned boat release instruction to the mother ship through the land control station; and controlling the unmanned boat cluster to be released onto the water surface by the mother ship according to the unmanned boat release instruction.

[0095] Among them, the preset distance threshold is the distance between the end of the preset sub-anchor block group and the water surface, which can be set to 10 meters. It is a judgment threshold for whether the surface unmanned boat is released from the mother ship to the water surface. In the specific implementation, when the drone cluster flies to a position 1000 meters away from the mother ship, the drone cluster hovers in the air and descends as a whole to a position 10 meters from the water surface. The drone cluster with 5 drones as a group descends. When the sub-anchor block groups at the end of the ocean observation beacon chain are hoisted together and 10 meters above the water surface, the surface unmanned boat cluster is released on the water surface.

[0096] Step S102 illustrated in the embodiment of the present application corresponds to the deployment process of the surface unmanned boat cluster. By controlling the overall orientation of the drone cluster, the lifted sub-anchor block group is located in the middle area of ​​the two surface unmanned boat cluster formations. When the carried sub-anchor blocks reach the water surface, the two surface unmanned boat formations approach the ocean observation beacon chain lifted by the five drones, and real-time images are captured by cameras installed on the unmanned boats. The images are transmitted to the onshore operation room (land control station) via satellite. The mechanical arm on the surface unmanned boat is remotely operated through the operating lever in the operation room, and the remote operation room sends corresponding action instructions to the satellite, and the instruction information is transmitted to the corresponding surface unmanned boat through satellite communication. After receiving the instructions, the surface unmanned boat uses the centralized control system on the unmanned boat, and the mechanical arm on the unmanned boat performs corresponding operations according to the instructions, so that the rope lowered by the drone cluster is separated from the lifted sub-anchor block frame, so that the sub-anchor block group sinks by itself. Specifically, first, the first group of drone clusters (5 drones) sails away from the mother ship's deck, and the second group of drones (5 drones) moves forward in the same way to approach the two surface unmanned boat formations, and determines the middle position information of any two surface unmanned boat formations in the surface unmanned boat cluster through the position information of the sub-anchor block group and the GNSS on the unmanned boat; then, by controlling the overall orientation of the drone cluster, the lifted sub-anchor block group is located in the middle area of ​​the two surface unmanned boat cluster formations, and the lifted ocean observation beacon chain as a whole (including the floating ball, ocean observation equipment and sub-anchor block group) is lowered to the middle area of ​​the two surface unmanned boat cluster formations, wherein each sub-anchor block in the sub-anchor block group is lowered separately to the middle area of ​​any two adjacent unmanned boats on the water surface, which is conducive to the command operation of the mechanical arm on the surface unmanned boat; then, by remotely operating the mechanical arm on the surface unmanned boat, the rope lowered by the drone cluster is separated from the lifted sub-anchor block frame. The above steps of lowering the components on the ocean observation beacon chain into the water are performed sequentially until all the components on the ocean observation beacon chain fall into the water.

[0097] Step S103, when the sub-anchor block group sinks into the water, the underwater submersible cluster on the mother ship is controlled to be released into the water, so that the sub-anchor block group in the water is vertically positioned and corrected by the underwater submersible cluster in the water according to the towing adjustment instruction sent by the land control station; wherein, when the sub-anchor block group is towed to a preset underwater position, the ocean observation equipment carried by the ocean observation beacon chain in the water is used to perform ocean observation in the water;

[0098] In some embodiments, when the sub-anchor block group sinks into the water, the step of controlling the underwater submersible cluster on the mother ship to be released into the water may include: when the sub-anchor block group sinks into the water, sending a submersible release instruction to the mother ship through the land control station; and controlling the underwater submersible cluster to be released into the water by the mother ship according to the submersible release instruction.

[0099] It should be noted that when the sub-anchor block group sinks to a certain position in the water, the entire ocean observation chain will also sink into the water. The ocean observation equipment carried by the ocean observation chain sunk in the water is used to observe the ocean environment.

[0100] Optionally, a micro-sonar detection and positioning device is installed on the sub-anchor block in the sub-anchor block group, and the micro-sonar detection and positioning device is used to obtain sonar information of the sub-anchor block.

[0101] In some embodiments, the step of vertically positioning and correcting a group of sub-anchor blocks in the water by a cluster of underwater submersibles in the water according to a traction adjustment instruction sent by a land control station may include: sending sonar information obtained by each micro-sonar detection and positioning instrument to the mother ship through the sub-anchor block group; sending each sonar information to the land control station through the mother ship's mother ship data receiving system, so as to determine the position of each sonar information through the remote control system of the land control station; if the remote control system determines that the position of the sub-anchor block in the sub-anchor block group is offset, the offset between each sub-anchor block in the sub-anchor block group is calculated by the remote control system according to the global navigation satellite system information corresponding to the sub-anchor block; generating a traction adjustment instruction according to the offset through the remote control system, and sending the traction adjustment instruction to the mother ship through the remote control system; sending the traction adjustment instruction to the underwater submersible cluster in the water through the mother ship's mother ship data receiving system; vertically positioning and correcting the sub-anchor block group in the water by the underwater submersible cluster according to the traction adjustment instruction, so that the sub-anchor block group is located at a preset water position.

[0102] Step S103 shown in the embodiment of the present application corresponds to the deployment process of the underwater submersible cluster. In the specific implementation, the underwater submersible is connected to the surface unmanned boat through a cable. The underwater submersible serves as a vertical positioning traction and corrector for the deployment of the ocean observation beacon. In the deployment process of the ocean observation beacon chain, an important link is the deployment of the sub-anchor block group. Please refer to Fig.10 , Fig.10 is a schematic diagram of the structure of the anchor block provided in the embodiment of the present application, such as Fig.10As shown, in order to facilitate accurate positioning and deployment of the sub-anchor block group in the water, multiple small-weight sub-anchor blocks are used to form an anchor block body (sub-anchor block group). In the specific implementation, according to the water depth conditions, the combined anchor block is composed of n anchor blocks weighing 50kg, and each sub-anchor block is connected to the contraction chain through a Kevlar rope. To ensure the accurate positioning of the anchor block system, a micro-sonar detection and positioning device is installed on each sub-anchor block, and the data of the sonar detection and positioning device is sent to the mother ship's mother ship data receiving system. The information is transmitted between adjacent sub-anchor blocks, underwater submersibles, and surface unmanned boats through a sonar communicator. Then, the mother ship's mother ship data receiving system sends the data of the sonar detection and positioning device to the land control station. The remote control system of the land control station compares the sonar information on different sub-anchor blocks to determine whether the position of the sub-anchor block is correct. If there is an offset, the offset between the sub-anchor blocks is calculated based on the GNSS positioning information on the sub-anchor blocks. Then, the remote control system of the land control station generates a traction adjustment instruction based on the offset, and sends the traction adjustment instruction to the mother ship. Finally, the mother ship sends the traction adjustment instruction to the underwater submersible, and the underwater submersible tows the sub-anchor block according to the traction adjustment instruction to adjust and correct the position of the sub-anchor block. When all the sub-anchor blocks fall to the preset position on the seabed according to the predetermined coordinates, the contraction chain between the two adjacent sub-anchor blocks is contracted to shorten the distance between the two sub-anchor blocks, and the n sub-anchor blocks are combined into one to form a complete anchor block component. Among them, when the sub-anchor block group (complete anchor block component) is towed to the preset underwater position, the ocean observation beacon chain is also in the water, and the ocean observation equipment carried on the ocean observation beacon chain in the water can perform ocean observation in the water.

[0103] Step S104, after the ocean observation equipment completes the ocean observation, the sub-anchor block group is controlled to detach from the ocean observation beacon chain according to the sub-anchor block detachment instruction sent by the land control station through the ocean observation beacon chain;

[0104] In step S104 shown in the embodiment of the present application, after the ocean observation equipment on the ocean observation beacon chain completes the observation, the sub-anchor block detachment instruction (release instruction signal) is first sent to the mother ship through the land control station, and then the sub-anchor block detachment instruction is sent to the ocean observation beacon chain through the mother ship. After the ocean observation beacon chain receives the sub-anchor block detachment instruction, the uppermost sub-anchor block of the anchor block component automatically detaches from the upper part of the ocean observation beacon chain (except the part of the sub-anchor block group), that is, the ocean observation beacon chain originally including the buoy ball, the ocean observation equipment and the sub-anchor block group becomes an ocean observation beacon chain that does not include the sub-anchor block group after the sub-anchor block group is removed.

[0105] Step S105, when the sub-anchor block group is separated from the ocean observation beacon chain, the drone cluster, the unmanned boat cluster and the underwater submersible cluster collaboratively recover the ocean observation beacon chain excluding the sub-anchor block group and the sub-anchor block group to the mother ship according to the equipment recovery instruction sent by the land control station.

[0106] Optionally, the equipment recovery instruction includes at least one of the following: a sub-anchor block inflation instruction, a sub-anchor block deflation instruction, a sub-anchor block pulling instruction, an observation marker inflation instruction, an observation marker traction adjustment instruction, an observation marker pulling instruction, and an observation marker recovery instruction.

[0107] In some embodiments, step S105 may include: when the sub-anchor block group is separated from the ocean observation beacon chain, sending a sub-anchor block inflation instruction to the sub-anchor block group through the land control station, and sending an observation beacon inflation instruction and an observation beacon traction adjustment instruction to the ocean observation beacon chain through the land control station; starting the sub-anchor block inflation device to inflate the balloon carried by the sub-anchor block group according to the sub-anchor block inflation instruction by the sub-anchor block group, so that the sub-anchor block group floats to the water surface; when the sub-anchor block group floats to the water surface, sending a sub-anchor block deflation instruction to the underwater submersible cluster through the land control station; deflating the inflatable balloon of the sub-anchor block group according to the sub-anchor block deflation instruction by the underwater submersible cluster, so that the sub-anchor block group falls into the storage net bag carried by the underwater submersible cluster; when the underwater submersible cluster reaches the water surface, sending a sub-anchor block pulling instruction to the unmanned boat cluster through the land control station; the unmanned boat cluster pulls the net bag rope of the storage net bag to the hook ring lowered by the drone cluster according to the sub-anchor block pulling instruction, and The drone cluster recovers the storage net bag and the sub-anchor block group in the storage net bag to the mother ship; the observation beacon inflation device is started according to the observation beacon inflation instruction through the ocean observation beacon chain that does not contain the sub-anchor block group to inflate the balloon carried by the ocean observation equipment, so that the ocean observation beacon chain that does not contain the sub-anchor block group floats to the water surface; in the process of the ocean observation beacon chain that does not contain the sub-anchor block group floating to the water surface, the ocean observation beacon chain that does not contain the sub-anchor block group is towed to the water surface by the underwater submersible cluster according to the observation beacon towing adjustment instruction; when the ocean observation beacon chain that does not contain the sub-anchor block group floats to the water surface, the observation beacon pulling instruction and the observation beacon recovery instruction are sent to the unmanned boat cluster through the land control station; the ocean observation beacon chain that does not contain the sub-anchor block group is towed to the preset recovery position by the unmanned boat cluster according to the observation beacon pulling instruction, and the ocean observation beacon chain that does not contain the sub-anchor block group at the preset recovery position is hoisted to the mother ship by the drone cluster according to the observation beacon recovery instruction.

[0108] In some specific embodiments, the steps of pulling the ocean observation beacon chain excluding the sub-anchor block group to a preset recovery position by an unmanned boat cluster according to the observation beacon pulling instruction, and hoisting the ocean observation beacon chain excluding the sub-anchor block group at the preset recovery position to the mother ship by an unmanned aerial vehicle cluster according to the observation beacon recovery instruction may include: obtaining ocean current data through an ocean current meter carried by the unmanned boat cluster; wherein the ocean current data includes ocean current direction and ocean current velocity; sending the ocean current data and the unmanned boat positioning information corresponding to the unmanned boat cluster to the mother ship by the unmanned boat cluster; sending the ocean current data and the unmanned boat positioning information to the land control station by the mother ship; calculating the actual moving speed of the unmanned boat cluster and the mother ship rendezvous time according to the ocean current data and the unmanned boat positioning information by the remote control system of the land control station; pulling the ocean observation beacon chain excluding the sub-anchor block group to the preset recovery position according to the observation beacon pulling instruction by the unmanned boat cluster according to the actual moving speed and the mother ship rendezvous time; hoisting the ocean observation beacon chain excluding the sub-anchor block group at the preset recovery position to the mother ship by the unmanned aerial vehicle cluster according to the observation beacon recovery instruction.

[0109] In the embodiment of the present application, the recovery process of the sub-anchor block group separated from the ocean observation beacon chain includes the following steps (steps 101 to 104):

[0110] Step 101, see Fig.11 , Fig.11 is a side view of the balloon position of the sub-anchor block provided in an embodiment of the present application, such as Fig.11 As shown, Fig.11 The red areas on both sides of the neutron anchor block represent balloons. In the specific implementation, each sub-anchor block has four inflatable balloons bound to its four sides. Through remote control on the land control station, when the remote control system on the land control station receives the message of the completion of the release command (the completion of the sub-anchor block detachment command) sent by the mother ship, the remote control system sends the command to start inflation to the mother ship and the surface unmanned boat formation through satellite communication. After receiving the inflation start signal, the mother ship and the surface unmanned boat formation use the sonotrode to synchronously send the inflation start command to the underwater sub-anchor block group. After receiving the inflation start command, the underwater sub-anchor block group starts the inflation device of the sub-anchor block to inflate the balloon. Specifically, the substances inside the four inflatable balloons undergo a chemical reaction and inflate the balloons, as shown in FIG. Fig.10 As shown, the sub-anchor blocks are automatically inflated in order from top to bottom, that is, after sub-anchor block 1 is inflated, sub-anchor block 2 begins to be inflated, followed by sub-anchor block 3, until sub-anchor block n is inflated. As the balloons on the sides of each anchor block expand, the sub-anchor blocks float up one by one.

[0111] Step 102, when all the sub-anchor blocks float to the surface, real-time positioning is performed through the GNSS positioning system embedded in the sub-anchor blocks, so as to recover the ocean observation beacon chain and the sub-anchor block group excluding the sub-anchor block group through the unmanned equipment cluster carried by the recovery mother ship. Among them, the recovery mother ship carries a surface unmanned boat cluster, an underwater submersible cluster and an aerial unmanned aerial vehicle cluster. The recovery mother ship travels to the anchor block component according to the positioning information of the GNSS positioning system on the sub-anchor block. When the recovery mother ship travels to the floating anchor block body, it slows down and stops, and first lowers the underwater submersible cluster and the surface unmanned boat cluster carried by the recovery mother ship into the water. Please refer to Fig.12 , Fig.12 is a schematic diagram of the array layout of the underwater submersible provided in the embodiment of the present application, such as Fig.12 As shown, Fig.12 (a) in the figure shows an array of underwater vehicles near the water surface. Fig.12 (b) in the figure shows an array of underwater submersibles at 20 meters underwater. The underwater submersibles are positioned in an octagonal array on the water surface. According to the average velocity value obtained by the velocity meters on the 8 underwater submersibles, the speed of the underwater submersibles is set based on the vector synthesis principle, so that the speed of the underwater submersibles and the velocity of the ocean current are offset, thereby avoiding the displacement of the underwater submersibles caused by the ocean current. When the 8 underwater submersibles are lowered, as shown in Fig.12 As shown, the octagonal array is closely connected and the storage net bag is hung on 8 underwater vehicles. Each underwater vehicle is connected with a Kevlar rope. The storage net bag is located inside the octagonal underwater vehicle array. When the underwater vehicle dives to a depth of 20 meters, the 8 underwater vehicles move evenly toward the periphery of the array to open the storage net bag. When the 8 underwater submersibles are restricted by the tension of the storage net bag and the power to move toward the periphery of the array cancels each other and can no longer move outward, the power drive of the 8 underwater submersibles is adjusted to move evenly upward until the 8 underwater submersibles reach the water surface. When they were 3 meters below the surface, the eight underwater submersibles moved closer to the inside of the octagonal array and opened the retractable spikes carried by the underwater submersibles toward the inside of the octagonal array. They used the retractable spikes carried by the underwater submersibles to pierce the inflatable balloons on the four sides of the sub-anchor blocks, and simultaneously increased the power of the underwater submersibles to move upward, so that the position of the anchor block components near the water surface remained unchanged. After the inflatable balloons on the four sides of all the sub-anchor blocks burst, the eight underwater submersibles moved further closer to the octagonal array and combined the Kevlar ropes bound to each underwater submersible into one strand. Then the eight gathered underwater submersibles clustered together carrying the anchor block components continued to rise to the surface of the water.

[0112] Step 103. After the underwater submersible cluster reaches the water surface, the Kevlar rope connected to the net bag is operated by the mechanical arm on the surface unmanned boat cluster, so that each surface unmanned boat receives a corresponding net bag rope connected to an underwater submersible. According to the ocean current velocity and wind speed and based on the principle of vector synthesis, the power of the unmanned boat is set to a power drive opposite to the vector cooperation of the ocean current and wind speed, so that the power of the unmanned boat cluster offsets the resistance of the ocean current and wind, and keeps the anchor block components that have reached the water surface stable.

[0113] Step 104: After the eight unmanned surface boats have received the net ropes in an octagonal array, the aerial drone cluster also approaches the unmanned surface boat cluster in an octagonal array. At the same time, the eight unmanned surface boats move synchronously toward the periphery of the octagonal array, further tighten the net, lift the anchor block to the surface, and then the eight drones lower the collection ropes with hooks to the upper part of the corresponding unmanned surface boats. At the same time, the real-time video shooting equipment lowered by the eight drones is turned on and the images are transmitted back to the mother ship's operation room. The unmanned surface boats are equipped with mechanical arms. When the land control station receives the video, the drones will automatically receive the video. When the mother ship's operation room sends the real-time situation of the water surface, the remote control system of the land control station sends the command of operating the mechanical arm (including: rotation, extension, contraction, rise, fall, release, etc.) to the surface unmanned boat through satellite communication. Based on the distance sensor on the mechanical arm, the distance between the end of the mechanical arm hanging the net bag and the end of the drone receiving chain is automatically calculated, and the net bag ropes pulled by the 8 surface unmanned boats are hung on the hooks lowered by the corresponding drones through extension or contraction commands. Then the 8 surface unmanned boats gradually move into the octagonal array, and the drone cluster The 8 unmanned surface boats take off at the same rising speed; when the pulling force of the net rope on the 8 unmanned surface boats is zero, the 8 unmanned surface boats automatically loosen the net rope through the releaser, and the anchor block is now completely pulled by the aerial drone cluster. The drone cluster continues to increase power synchronously, so that the anchor block is exposed to the water surface and rises into the air. When the anchor block caught by the storage net rises to 10 meters in the air, the drone cluster adjusts the power drive and drives towards the recovery mother ship when the anchor block is at an altitude of 10 meters above the water surface. Through the GNSS positioning information of the drone and the mother ship, and combined with the drone The camera on the man-machine takes pictures. When the drone cluster flies above the mother ship's deck, the remote control system of the land control station sends the command to start the inflation system of the lower part of the sub-anchor block to the receiver on the sub-anchor block through satellite communication. After receiving the command to start the lowering inflation device, the anchor block receiver starts the group of inflatable balloons under the storage net bag. The inflatable balloons are automatically inflated, so that the inflatable balloons serve as a buffer layer for the anchor block to fall to the deck to avoid damaging the deck surface. Then, the anchor block is gradually descended at a low speed carrying the anchor block until it falls on the deck of the mother ship, completing the recovery of the anchor block.

[0114] In the embodiment of the present application, the recovery process of the ocean observation beacon chain that does not include the sub-anchor block group includes the following steps (steps 201 to 204):

[0115] In step 201, the ocean observation section connected to the anchor block 1 also carries an inflatable balloon. To increase the speed of the ocean observation chain floating to the surface, the balloon on the side of the anchor block 1 is inflated, and the balloon of the ocean observation chain here also begins to inflate. As the balloon expands, the bottom structure of the ocean observation chain gradually floats up. To ensure that the ocean observation chain does not get entangled during the ascent, the underwater submersible is used to tow the bottom section of the ocean observation chain horizontally along the direction of the ocean current, so that the bottom of the ocean observation chain is away from the upper end of the ocean observation chain during the ascent.

[0116] Step 202, see Fig.13 , Fig.13 Schematic diagram of the unmanned boat towing the ocean observation beacon chain provided in the embodiment of the present application when it floats to the water surface, such as Fig.13 As shown, when the upper part of the ocean observation beacon chain (except the other parts of the anchor block) floats to the surface as a whole, the front end and the rear end of the ocean observation beacon chain are connected to the corresponding unmanned boats respectively, and the direction and size of the ocean current are observed by the current meter carried by the unmanned boat, and the positioning information of the unmanned boat is sent to the mother ship. According to the relative position of the mother ship and the towing unmanned boat cluster, the moving direction and driving speed of the towing ocean observation beacon chain are set, and the actual moving speed of the unmanned boat is calculated through vector synthesis, and the time to merge with the mother ship is calculated. During the movement, the driving speed of the surface towing unmanned boat connected to the front end and the rear end of the ocean observation beacon chain is adjusted to keep the ocean observation beacon chain in a straight line on the water surface, and synchronously start the mother ship to move in the direction of the ocean observation beacon chain.

[0117] Step 203, if Fig.13 As shown, when one end of the ocean observation beacon chain towed by two unmanned surface boats (one at the front end and one at the rear end of the ocean observation beacon chain) is close to 300 meters from the mother ship, the power settings of the two unmanned surface boats are adjusted so that the ocean observation beacon chain remains straight and does not move. Then, according to the flow direction measured by the current meters on the mother ship and the unmanned surface boats, the mother ship is driven to the upstream direction of the entire ocean observation beacon chain. After that, the ocean observation beacon chain is towed by the two unmanned surface boats to be straight along the direction of the ocean current.

[0118] Step 204: dispatch a swarm of drones carrying recovery ropes. The drone swarm and the ocean observation chain are arranged in a straight line. According to the equipment arranged on the ocean observation chain, a drone is arranged above each equipment binding point. According to the wind speed and direction measured by the mother ship, when the drone swarm reaches a height of 50 meters above the water surface, it sets a power drive opposite to the wind speed so that all drones hover above the corresponding equipment node. Then each drone lowers the collection rope and dispatches a surface unmanned boat formation simultaneously. The surface unmanned boat formation stops when it reaches the corresponding equipment node on the ocean observation chain, and the position of the surface unmanned boat is kept stationary relative to the ocean observation chain through remote control from the land control station. Then, through the mechanical operating arm on the unmanned boat, the recovery rope lowered by the drone at the corresponding equipment node is bound to the equipment one by one through remote control from the land control station. When all the equipment is After binding with the corresponding drones, except for the surface unmanned boats at the end of the ocean observation chain, other surface unmanned boats leave the ocean observation chain and head towards the mother ship to enter the mother ship's storage compartment; then, the surface unmanned boats closest to the mother ship are powered up and gradually move toward the mother ship. At the same time, the drone cluster begins to rise slowly. When the equipment at both ends of the ocean observation chain is pulled up by the drones and leaves the water, the unmanned boats at both ends are separated from the ocean observation chain. The drone cluster lifts the ocean observation chain and continues to rise 100 meters in the air. Then the drone formation flies in a straight line toward the mother ship and approaches. When the first drone flies above the mother ship, it opens an air cushion above the mother ship. Subsequently, the drone cluster lowers the equipment nodes onto the inflatable cushion one by one, unties the recovery rope on the drone, and moves the drones that have completed the lowering of the equipment away from the recovery deck one by one, thereby completing the recovery of the ocean observation chain excluding the sub-anchor block group.

[0119] After completing the recovery of the ocean observation beacon chain excluding the sub-anchor block group and the recovery of the sub-anchor block group that has been separated from the ocean observation beacon chain, when all drones have completed the lowering of the equipment on the ocean observation beacon chain, the mother ship's splint staff disassembled the ocean observation equipment from the ocean observation rope and packed it for storage.

[0120] In steps S101 to S105 shown in the embodiment of the present application, the ocean observation beacon chain on the mother ship is hoisted and flown in the air by the drone cluster according to the lifting command sent by the land control station; the end of the ocean observation beacon chain is composed of a sub-anchor block group; when the distance between the end of the sub-anchor block group and the water surface reaches a preset distance threshold, the unmanned boat cluster on the mother ship is controlled to be released on the water surface, so that the sub-anchor blocks in the sub-anchor block group are respectively lowered to the middle area between any two adjacent unmanned boats on the water surface by the drone cluster in the air according to the sub-anchor block sinking command sent by the land control station; when the sub-anchor block group sinks into the water, the underwater submersible cluster on the mother ship is controlled to be released into the water, so that the underwater submersibles in the water can pass through the water. The cluster vertically positions and corrects the sub-anchor block group in the water according to the towing adjustment instructions sent by the land control station; when the sub-anchor block group is towed to the preset underwater position, the ocean observation equipment carried on the ocean observation beacon chain in the water is used for ocean observation in the water; after the ocean observation equipment completes the ocean observation, the sub-anchor block group is controlled to detach from the ocean observation beacon chain according to the sub-anchor block detachment instruction sent by the land control station; after the sub-anchor block group detaches from the ocean observation beacon chain, the ocean observation beacon chain excluding the sub-anchor block group and the sub-anchor block group are collaboratively recovered to the mother ship through the drone cluster, unmanned boat cluster and underwater submersible cluster according to the equipment recovery instruction sent by the land control station. The embodiments of the present application achieve the deployment and recovery of ocean observation targets by utilizing the coordinated operation of drone clusters, unmanned boat clusters and underwater submersible clusters, which greatly improves the deployment and recovery efficiency of ocean observation targets, reduces manual participation, and significantly reduces labor costs. In addition, the coordinated operation of unmanned equipment clusters can largely avoid safety hazards and improve the safety of operations. In addition, the underwater submersible cluster vertically positions and corrects the sub-anchor block group in the water according to the traction adjustment instructions sent by the land control station, thereby ensuring the accurate position of the ocean observation equipment in the water and improving the accuracy of ocean observation.

[0121] In summary, the embodiments of the present application have the following outstanding advantages:

[0122] (1) A collaborative intelligent system consisting of a mother ship, an aerial drone cluster, a surface unmanned boat cluster, and an underwater submersible cluster is used to organize, deploy, recover, and store ocean observation targets, thereby improving the deployment and recovery efficiency of ocean observation targets.

[0123] (2) The anchor block component is composed of n sub-anchor blocks. When the n sub-anchor blocks are lowered to the seabed, the distance between two adjacent sub-anchor blocks is pulled closer through the contraction chain between the two adjacent sub-anchor blocks, so that the n sub-anchor blocks are integrated into one to increase stability. In addition, the anchor block component uses the inflatable balloons on the four sides of the sub-anchor blocks to make the sub-anchor blocks float to the surface one by one as the inflatable balloons expand, which is convenient for recovery and reduces the equipment and manpower required in the recovery process.

[0124] (3) During recovery, an octagonal array of underwater submersibles is deployed, and the average flow velocity in the octagonal array area is observed and calculated using the flow meter carried by the underwater submersibles. By setting a force with the same magnitude as the ocean current velocity but in the opposite direction, the underwater submersible array can be kept in a stable in-situ state, which facilitates the recovery of the sub-anchor block and the ocean observation beacon components.

[0125] (4) During the recovery of the anchor block, when the drone cluster carrying the anchor block flies above the clamp, the inflatable balloons tied to the net bag at the bottom of the anchor block are activated by remote control, so that the balloon cluster is inflated and serves as a buffer layer for the lowering of the anchor block, thereby avoiding damage to the anchor block components and reducing damage to the clamp surface during the landing of the anchor block. In addition, an inflatable cushion for the ocean observation beacon chain is laid on the deck of the mother ship as a buffer layer for the lowering of the ocean observation beacon chain, thereby avoiding damage to the ocean observation beacon chain and reducing damage to the clamp surface during the landing of the ocean observation beacon chain.

[0126] (5) During the buoyancy process of the ocean observation beacon chain, the bottom of the ocean observation beacon chain is pulled upward to a position away from the end of the ocean observation beacon on the water surface by the underwater submersible, so as to prevent the ocean observation beacon from getting entangled during the buoyancy process. In addition, when the ocean observation beacon chain floats to the water surface, the ocean observation beacon chain is pulled straight into a straight line on the water surface by an unmanned boat at the two ends of the ocean observation beacon chain, which can also prevent the ocean observation beacon from getting entangled on the water surface and facilitate recovery.

[0127] (6) Before the ocean observation beacon is deployed, the ocean observation beacon chain is hoisted by a drone cluster. The drone cluster is deployed in a straight line, and the number of drones is vertically encrypted according to the weight of the corresponding node equipment. This can ensure that the weight of the ocean observation beacon chain is evenly distributed on the drone cluster, reducing the load pressure of a single drone.

[0128] See also Fig.14 The embodiment of the present application also provides an ocean observation beacon management system 1400 based on an unmanned equipment cluster, which can implement the above-mentioned ocean observation beacon management method based on an unmanned equipment cluster. The unmanned equipment cluster includes a drone cluster, an unmanned boat cluster, and an underwater submersible cluster. The unmanned equipment cluster is placed on a mother ship. The system includes the following modules:

[0129] The ocean observation beacon chain hoisting module 1401 is used to hoist the ocean observation beacon chain on the mother ship and fly it in the air through the drone cluster according to the hoisting command sent by the land control station; the end of the ocean observation beacon chain is composed of a sub-anchor block group;

[0130] The sub-anchor block sinking module 1402 is used to control the unmanned boat cluster on the mother ship to be released on the water surface when the distance between the end of the sub-anchor block group and the water surface reaches a preset distance threshold, so as to lower the sub-anchor blocks in the sub-anchor block group to the middle area between any two adjacent unmanned boats on the water surface through the drone cluster in the air according to the sub-anchor block sinking instruction sent by the land control station;

[0131] The sub-anchor block group positioning correction module 1403 is used to control the underwater submersible cluster on the mother ship to be released into the water when the sub-anchor block group sinks into the water, so as to vertically position and correct the sub-anchor block group in the water through the underwater submersible cluster in the water according to the towing adjustment instruction sent by the land control station; wherein, when the sub-anchor block group is towed to a preset underwater position, the ocean observation equipment carried on the ocean observation beacon chain in the water is used to perform ocean observation in the water;

[0132] The sub-anchor block group separation module 1404 is used to control the sub-anchor block group to separate from the ocean observation beacon chain according to the sub-anchor block separation instruction sent by the land control station after the ocean observation equipment completes the ocean observation;

[0133] The ocean observation equipment recovery module 1405 is used to collaboratively recover the ocean observation chain excluding the sub-anchor block group and the sub-anchor block group to the mother ship through the drone cluster, the unmanned boat cluster and the underwater submersible cluster according to the equipment recovery instruction sent by the land control station after the sub-anchor block group is separated from the ocean observation chain.

[0134] It can be understood that the contents of the above method embodiments are all applicable to the present system embodiments, the functions specifically implemented by the present system embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0135] The embodiment of the present application also provides an electronic device, the electronic device includes a memory and a processor, the memory stores a computer program, and the processor implements the above-mentioned ocean observation beacon management method based on unmanned equipment cluster when executing the computer program. The electronic device can be any intelligent terminal including a tablet computer, a car computer, etc.

[0136] It can be understood that the contents of the above method embodiments are all applicable to the present device embodiments, the functions specifically implemented by the present device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0137] See also Fig.15 , Fig.15 The hardware structure of an electronic device of another embodiment is illustrated, and the electronic device includes:

[0138] The processor 1501 may be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC for short), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present application;

[0139] The memory 1502 can be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 1502 can store an operating system and other application programs. When the technical solution provided in the embodiment of this specification is implemented by software or firmware, the relevant program code is stored in the memory 1502, and the processor 1501 calls and executes the ocean observation beacon management method based on an unmanned device cluster in the embodiment of this application;

[0140] Input / output interface 1503, used to implement information input and output;

[0141] Communication interface 1504, used to realize communication interaction between the device and other devices, which can be realized through wired mode (such as USB, network cable, etc.) or wireless mode (such as mobile network, WIFI, Bluetooth, etc.);

[0142] A bus 1505 that transmits information between the various components of the device (e.g., the processor 1501, the memory 1502, the input / output interface 1503, and the communication interface 1504);

[0143] The processor 1501 , the memory 1502 , the input / output interface 1503 and the communication interface 1504 are connected to each other in communication within the device via the bus 1505 .

[0144] An embodiment of the present application also provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the above-mentioned ocean observation beacon management method based on unmanned equipment cluster.

[0145] It can be understood that the contents of the above method embodiments are all applicable to the present storage medium embodiments, the functions specifically implemented by the present storage medium embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0146] The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely disposed relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0147] The embodiments of the present application provide an ocean observation beacon management method based on unmanned equipment clusters and an ocean observation beacon management system based on unmanned equipment clusters, which use an unmanned aerial vehicle cluster to lift the ocean observation beacon chain on the mother ship and fly it in the air according to the lifting command sent by the land control station; the end of the ocean observation beacon chain is composed of a sub-anchor block group; when the distance between the end of the sub-anchor block group and the water surface reaches a preset distance threshold, the unmanned boat cluster on the mother ship is controlled to be released on the water surface, so that the sub-anchor blocks in the sub-anchor block group are respectively lowered to the middle area between any two adjacent unmanned boats on the water surface by the unmanned aerial vehicle cluster in the air according to the sub-anchor block sinking command sent by the land control station; when the sub-anchor block group sinks into the water, the underwater submersible cluster on the mother ship is controlled to be released into the water , so that the sub-anchor block group in the water is vertically positioned and corrected according to the traction adjustment instruction sent by the land control station through the underwater submersible cluster in the water; wherein, when the sub-anchor block group is towed to the preset underwater position, the ocean observation equipment carried on the ocean observation chain in the water is used for ocean observation in the water; after the ocean observation equipment completes the ocean observation, the sub-anchor block group is controlled to detach from the ocean observation chain according to the sub-anchor block detachment instruction sent by the land control station through the ocean observation chain; when the sub-anchor block group detaches from the ocean observation chain, the ocean observation chain excluding the sub-anchor block group and the sub-anchor block group are collaboratively recovered to the mother ship according to the equipment recovery instruction sent by the land control station through the drone cluster, the unmanned boat cluster and the underwater submersible cluster. The embodiments of the present application achieve the deployment and recovery of ocean observation targets by utilizing the coordinated operation of drone clusters, unmanned boat clusters and underwater submersible clusters, which greatly improves the deployment and recovery efficiency of ocean observation targets, reduces manual participation, and significantly reduces labor costs. In addition, the coordinated operation of unmanned equipment clusters can largely avoid safety hazards and improve the safety of operations. In addition, the underwater submersible cluster vertically positions and corrects the sub-anchor block group in the water according to the traction adjustment instructions sent by the land control station, thereby ensuring the accurate position of the ocean observation equipment in the water and improving the accuracy of ocean observation.

[0148] The embodiments described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application and do not constitute a limitation on the technical solutions provided in the embodiments of the present application. Those skilled in the art will appreciate that with the evolution of technology and the emergence of new application scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0149] Those skilled in the art will appreciate that the technical solutions shown in the figures do not constitute a limitation on the embodiments of the present application, and may include more or fewer steps than shown in the figures, or a combination of certain steps, or different steps.

[0150] The system embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separated, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present embodiment.

[0151] Those skilled in the art will appreciate that all or some of the steps in the methods disclosed above, and the functional modules / units in the systems and devices may be implemented as software, firmware, hardware, or a suitable combination thereof.

[0152] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0153] It should be understood that in the present application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0154] In the several embodiments provided in the present application, it should be understood that the disclosed systems and methods can be implemented in other ways. For example, the system embodiments described above are only schematic. For example, the division of the above units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of systems or units, which can be electrical, mechanical or other forms.

[0155] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0156] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0157] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including multiple instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, referred to as ROM), random access memory (Random Access Memory, referred to as RAM), disk or optical disk and other media that can store programs.

[0158] The preferred embodiments of the present invention are described above with reference to the accompanying drawings, but the scope of the rights of the present invention is not limited thereto. Any modification, equivalent substitution and improvement made by a person skilled in the art without departing from the scope and essence of the present invention should be within the scope of the rights of the present invention.

Claims

1. A method for managing ocean observation beacons based on unmanned equipment clusters, characterized in that: The unmanned equipment cluster includes a drone cluster, an unmanned boat cluster and an underwater submersible cluster. The unmanned equipment cluster is placed on a mother ship. The method includes the following steps: The ocean observation beacon chain on the mother ship is hoisted by the drone cluster according to the hoisting command sent by the land control station and flies in the air; the end of the ocean observation beacon chain is composed of a sub-anchor block group; When the distance between the end of the sub-anchor block group and the water surface reaches a preset distance threshold, the unmanned boat cluster on the mother ship is controlled to be released on the water surface, so that the sub-anchor blocks in the sub-anchor block group are respectively lowered to the middle area between any two adjacent unmanned boats on the water surface by the drone cluster in the air according to the sub-anchor block sinking instruction sent by the land control station; When the sub-anchor block group sinks into the water, the underwater submersible cluster on the mother ship is controlled to be released into the water, so that the sub-anchor block group in the water is vertically positioned and corrected by the underwater submersible cluster in the water according to the traction adjustment instruction sent by the land control station; wherein, when the sub-anchor block group is towed to a preset underwater position, the ocean observation equipment carried on the ocean observation beacon chain in the water is used to perform ocean observation in the water; After the ocean observation equipment completes the ocean observation, the sub-anchor block group is controlled to detach from the ocean observation beacon chain according to the sub-anchor block detachment instruction sent by the land control station through the ocean observation beacon chain; When the sub-anchor block group is separated from the ocean observation beacon chain, the drone cluster, the unmanned boat cluster and the underwater submersible cluster jointly recover the ocean observation beacon chain excluding the sub-anchor block group and the sub-anchor block group to the mother ship according to the equipment recovery instruction sent by the land control station.

2. The method according to claim 1, characterized in that When the distance between the end of the sub-anchor block group and the water surface reaches a preset distance threshold, controlling the unmanned boat cluster on the mother ship to be released onto the water surface includes: When the distance between the end of the sub-anchor block group and the water surface reaches the preset distance threshold, sending an unmanned boat release instruction to the mother ship through the land control station; The mother ship controls the unmanned boat cluster to be released onto the water surface according to the unmanned boat release instruction.

3. The method according to claim 1, characterized in that Before the drone cluster in the air respectively lowers the sub-anchor blocks in the sub-anchor block group to the middle area between any two adjacent unmanned boats on the water surface according to the sub-anchor block sinking instruction sent by the land control station, the method further includes: Acquire global navigation satellite system information corresponding to the unmanned boat cluster; wherein the global navigation satellite system information corresponding to the unmanned boat cluster includes at least one of the following: longitude information of the unmanned boat and latitude information of the unmanned boat; Transmitting the global navigation satellite system information corresponding to the unmanned boat cluster to the remote control system of the land control station, so that the remote control system of the land control station performs classification according to the latitude information to obtain a latitude classification result, and calculates the latitude average value according to the latitude classification result through the remote control system; Classify the longitude information by the remote control system to obtain a longitude classification result, and calculate the longitude average value by the remote control system according to the longitude classification result; Calculate the middle area between any two adjacent unmanned boats on the water surface according to the average latitude and the average longitude by the remote control system; The intermediate area is sent to the drone cluster via the remote control system.

4. The method according to claim 1, characterized in that: When the sub-anchor block group sinks into the water, controlling the underwater submersible cluster on the mother ship to be released into the water comprises: When the sub-anchor block group sinks into the water, a submersible release instruction is sent to the mother ship through the land control station; The mother ship controls the underwater submersibles to be released into the water according to the submersible release instruction.

5. The method according to claim 1, characterized in that A micro sonar detection and positioning device is installed on the sub-anchor blocks in the sub-anchor block group, and the micro sonar detection and positioning device is used to obtain sonar information of the sub-anchor blocks. The sub-anchor block group in the water is vertically positioned and corrected according to the traction adjustment instruction sent by the land control station by the underwater submersible cluster in the water, including: Sending the sonar information acquired by each of the micro-sonar detection and positioning devices to the mother ship through the sub-anchor block group; Sending each of the sonar information to the land control station through the mother ship data receiving system of the mother ship, so as to determine the position of each of the sonar information through the remote control system of the land control station; If the remote control system determines that the position of the sub-anchor block in the sub-anchor block group is offset, the remote control system calculates the offset between each sub-anchor block in the sub-anchor block group according to the global navigation satellite system information corresponding to the sub-anchor block; generating the traction adjustment instruction according to the offset through the remote control system, and sending the traction adjustment instruction to the mother ship through the remote control system; Sending the traction adjustment instruction to the underwater submersible vehicle cluster in the water through the mother ship data receiving system of the mother ship; The sub-anchor block group in the water is vertically positioned and corrected by the underwater submersible cluster according to the traction adjustment instruction, so that the sub-anchor block group is located at a preset underwater position.

6. The method according to claim 1, characterized in that The equipment recovery instruction includes at least one of the following: a sub-anchor block inflation instruction, a sub-anchor block deflation instruction, a sub-anchor block pulling instruction, an observation beacon inflation instruction, an observation beacon pulling adjustment instruction, an observation beacon pulling instruction, and an observation beacon recovery instruction. When the sub-anchor block group is separated from the ocean observation beacon chain, the unmanned aerial vehicle cluster, the unmanned boat cluster, and the underwater submersible cluster cooperate to recover the ocean observation beacon chain excluding the sub-anchor block group and the sub-anchor block group to the mother ship according to the equipment recovery instruction sent by the land control station, including: When the sub-anchor block group is separated from the ocean observation beacon chain, a sub-anchor block inflation instruction is sent to the sub-anchor block group through the land control station, and an observation beacon inflation instruction and an observation beacon traction adjustment instruction are sent to the ocean observation beacon chain through the land control station; The sub-anchor block group starts the sub-anchor block inflation device according to the sub-anchor block inflation instruction to inflate the balloon carried by the sub-anchor block group, so that the sub-anchor block group floats to the water surface; When the sub-anchor block group floats to the water surface, the sub-anchor block deflation instruction is sent to the underwater submersible cluster through the land control station; The underwater submersible cluster performs a deflation operation on the inflatable balloons of the sub-anchor block cluster according to the sub-anchor block deflation instruction, so that the sub-anchor block cluster falls into the storage net bag carried by the underwater submersible cluster; When the underwater submersible cluster reaches the water surface, the sub-anchor block pulling instruction is sent to the unmanned boat cluster through the land control station; The unmanned boat cluster pulls the net bag rope of the storage net bag to the hook ring lowered by the drone cluster according to the sub-anchor block pulling instruction, and the drone cluster recovers the storage net bag and the sub-anchor block group in the storage net bag to the mother ship; The ocean observation beacon chain excluding the sub-anchor block group is activated by the observation beacon inflation device to inflate the balloon carried by the ocean observation device according to the observation beacon inflation instruction, so that the ocean observation beacon chain excluding the sub-anchor block group floats to the water surface; In the process of the ocean observation beacon chain excluding the sub-anchor block group buoying to the water surface, the underwater submersible cluster tows the ocean observation beacon chain excluding the sub-anchor block group buoying to the water surface according to the observation beacon towing adjustment instruction; When the ocean observation beacon chain excluding the sub-anchor block group floats to the water surface, the observation beacon pulling instruction and the observation beacon recovery instruction are sent to the unmanned boat cluster through the land control station; The unmanned boat cluster pulls the ocean observation beacon chain excluding the sub-anchor block group to a preset recovery position according to the observation beacon pulling instruction, and the drone cluster hoists the ocean observation beacon chain excluding the sub-anchor block group at the preset recovery position to the mother ship according to the observation beacon recovery instruction.

7. The method according to claim 6, characterized in that The method of pulling the ocean observation beacon chain excluding the sub-anchor block group to a preset recovery position by the unmanned boat cluster according to the observation beacon pulling instruction, and hoisting the ocean observation beacon chain excluding the sub-anchor block group at the preset recovery position to the mother ship by the drone cluster according to the observation beacon recovery instruction includes: Acquiring ocean current data through the ocean current meters carried by the unmanned boat cluster; wherein the ocean current data includes ocean current direction and ocean current velocity; Sending the ocean current data and the unmanned boat positioning information corresponding to the unmanned boat cluster to the mother ship through the unmanned boat cluster; Sending the ocean current data and the positioning information of the unmanned boat to the land control station via the mother ship; Calculating the actual moving speed of the unmanned boat cluster and the mother ship merging time by the remote control system of the land control station according to the ocean current data and the positioning information of the unmanned boats; The unmanned boat cluster pulls the ocean observation beacon chain excluding the sub-anchor block group to a preset recovery position according to the observation beacon pulling instruction, the actual moving speed and the mother ship merging time; The ocean observation beacon chain excluding the sub-anchor block group at the preset recovery position is hoisted to the mother ship by the drone cluster according to the observation beacon recovery instruction.

8. The marine observation beacon management system based on unmanned equipment cluster is characterized by: The unmanned equipment cluster includes a drone cluster, an unmanned boat cluster and an underwater submersible cluster. The unmanned equipment cluster is placed on a mother ship. The system includes the following modules: The ocean observation beacon chain hoisting module is used to hoist the ocean observation beacon chain on the mother ship and fly it in the air through the drone cluster according to the hoisting command sent by the land control station; the end of the ocean observation beacon chain is composed of a sub-anchor block group; The sub-anchor block sinking module is used to control the unmanned boat cluster on the mother ship to be released on the water surface when the distance between the end of the sub-anchor block group and the water surface reaches a preset distance threshold, so that the sub-anchor blocks in the sub-anchor block group are respectively lowered to the middle area between any two adjacent unmanned boats on the water surface by the drone cluster in the air according to the sub-anchor block sinking instruction sent by the land control station; The sub-anchor block group positioning correction module is used to control the underwater submersible cluster on the mother ship to be released into the water when the sub-anchor block group sinks into the water, so as to vertically position and correct the sub-anchor block group in the water according to the traction adjustment instruction sent by the land control station through the underwater submersible cluster in the water; wherein, when the sub-anchor block group is towed to a preset underwater position, the ocean observation equipment carried on the ocean observation beacon chain in the water is used to perform ocean observation in the water; A sub-anchor block group separation module, used to control the sub-anchor block group to separate from the ocean observation beacon chain according to the sub-anchor block separation instruction sent by the land control station after the ocean observation equipment completes the ocean observation; The marine observation equipment recovery module is used to collaboratively recover the marine observation beacon chain excluding the sub-anchor block group and the sub-anchor block group to the mother ship through the drone cluster, the unmanned boat cluster and the underwater submersible cluster according to the equipment recovery instruction sent by the land control station after the sub-anchor block group is separated from the marine observation beacon chain.

9. An electronic device, characterized in that: The electronic device comprises a memory and a processor, the memory stores a computer program, and the processor implements the method according to any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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