Ocean vortex monitoring method and device, electronic equipment and storage medium

Abstract

The invention discloses an ocean vortex monitoring method and device, electronic equipment and a storage medium, and relates to the technical field of geographic data monitoring, and the method comprises the steps: determining an area where an ocean vortex is located; the mobile transportation terminal is controlled to move to the center position of the area where the ocean vortex is located; the mobile transportation terminal carries a plurality of unmanned devices, and each unmanned device is provided with a plurality of sensors. Controlling the mobile transportation terminal to release each unmanned device; each unmanned device is controlled to move to a specified position, so that each unmanned device cluster covers an area where the ocean vortex is located; each unmanned device is controlled to collect corresponding monitoring data of the ocean vortex through each sensor; and receiving monitoring data sent by each unmanned device. The ocean vortex is directly monitored in a short distance through the unmanned equipment, the continuously changing information of the ocean vortex can be accurately monitored, the three-dimensional structure information of the ocean vortex can be obtained, the ocean vortex can be monitored more comprehensively and accurately, and the accuracy is improved.

Description

Technical Field

[0001] The present application relates to the field of geographic data monitoring technology, and in particular to an ocean vortex monitoring method, device, electronic device and storage medium. Background Art

[0002] Ocean vortex refers to a cylindrical fluid rotating in the atmosphere or water current. Ocean vortexes are ubiquitous in the world's oceans and play an important role in the transportation and redistribution of material and energy and global climate change. Ocean vortexes are everywhere. In addition to their large size and limited lifespan, they are also characterized by strong randomness and huge energy. According to estimates by physical oceanographers, the kinetic energy contained in them accounts for more than 90% of the total kinetic energy of the ocean, which is much greater than ocean currents. Traditional vortex monitoring relies on satellite imaging technology to detect from high altitudes (above 3km), and through real-time imaging, the characteristics of ocean vortices are extracted from image information to achieve vortex monitoring. Satellites can only obtain ocean current information on the surface of the ocean. However, ocean vortices are three-dimensional structures and are constantly evolving with the influence of sea-air interactions, topography, etc. Therefore, the ocean vortex information obtained by current technology is not accurate enough. Summary of the invention

[0003] The main purpose of the embodiments of the present application is to provide an ocean vortex monitoring method, device, electronic device and storage medium to obtain accurate ocean vortex information.

[0004] To achieve the above object, an embodiment of the present application provides a method for monitoring ocean vortices, the method comprising the following steps:

[0005] Determine the location of ocean eddies;

[0006] Controlling the mobile transport terminal to move to the center of the area where the ocean vortex is located; wherein the mobile transport terminal carries a plurality of unmanned devices, each of which is equipped with a plurality of types of sensors;

[0007] Controlling the mobile transport terminal to release each of the unmanned devices;

[0008] Controlling each of the unmanned devices to move to a designated position so that the cluster formed by each of the unmanned devices covers the area where the ocean vortex is located;

[0009] Controlling each of the unmanned devices to collect corresponding monitoring data of the ocean vortex through each of the sensors;

[0010] Receive the monitoring data sent by each of the unmanned devices.

[0011] In some embodiments, determining the area where the ocean vortex is located comprises the following steps:

[0012] Identify the distribution information of vortices in the flow field predicted by HYCOM through the flow field geometric characteristics method;

[0013] Combined with SWOT altimetry satellite observations, the sea surface fluctuation information of the flow field is inverted;

[0014] Determining whether the flow fields in the distribution information and the sea surface fluctuation change information are both in vortexes;

[0015] If so, the area where the ocean vortex is located is determined based on the flow field predicted by HYCOM.

[0016] In some embodiments, controlling the mobile transport terminal to move to the center of the area where the ocean vortex is located comprises the following steps:

[0017] If the ocean vortex is an airflow vortex, based on the ocean current information obtained by SWOT satellite inversion and high-frequency ground wave radar observation, the flow field geometric characteristic method is used to obtain the first radius and the second radius of the vortex respectively; the maximum value of the first radius and the second radius is used as the radius of the airflow vortex, and the flight distance of the transport drone from takeoff to the center position of the sky is set according to the radius of the airflow vortex and the longitude and latitude of the airflow vortex obtained through satellite data, and the flight speed of the transport drone is set, and the flight time is obtained by dividing the flight distance by the flight speed; according to the flight time, the transport drone is controlled to carry multiple monitoring drones to fly to the center position of the sky above the area where the airflow vortex is located; wherein, during the flight of the transport drone, the center position of the ocean vortex is extracted by the SWOT satellite at set intervals and sent to the transport drone, so that the transport drone can recalculate the flight time and adjust the flight route;

[0018] If the ocean vortex is a water current vortex, based on the ocean current information obtained by SWOT satellite inversion and high-frequency ground wave radar observation, the flow field geometric characteristic method is used to obtain the third radius and the fourth radius of the vortex respectively; the maximum value of the third radius and the fourth radius is used as the radius of the water current vortex, and the sailing distance of the transport mother ship from the start of sailing to the center of the sea surface is set according to the radius of the water current vortex and the longitude and latitude of the water current vortex obtained through satellite data, and the sailing speed of the transport mother ship is set, and the sailing time is obtained by dividing the sailing distance by the sailing speed; according to the sailing time, the transport mother ship is controlled to carry multiple unmanned boats to the center of the sea surface in the area where the water current vortex is located; wherein, during the navigation of the transport mother ship, the center position of the water current vortex is extracted by the SWOT satellite at set intervals and sent to the transport mother ship, so that the transport mother ship can recalculate the sailing time and adjust the sailing route.

[0019] In some embodiments, controlling the mobile transport terminal to release each of the unmanned devices comprises the following steps:

[0020] If the ocean vortex is the airflow vortex, multiple concentric circles are determined according to the radius of the airflow vortex, and the number of monitoring drones on each of the concentric circles is determined to be a geometric progression; the number of monitoring drones to be released is determined according to the monitoring drone number demand calculation formula; the monitoring drone number demand calculation formula is: Wherein, K represents the number of monitoring drones released, M=R / A, M is an integer, M represents the number of concentric circles, and A represents the radius difference between two adjacent concentric circles; the lifting hinge inside the transport drone is controlled to lower a row of boxes, wherein each box stores one monitoring drone; each monitoring drone is controlled to fly out of the corresponding box in turn and descend to a set height; the lifting hinge is retracted and the step of controlling the lifting hinge inside the transport drone to lower a row of boxes is returned until the number of released monitoring drones is equal to the released number;

[0021] If the ocean vortex is the water current vortex, the transport mother ship is controlled to open the bottom hatch, and the unmanned boat parked in the storage bin is allowed to float up by filling the bottom storage bin with water; the real-time water level values ​​inside and outside the storage bin are obtained by means of water level gauges installed in the storage bin and on the outer edge of the transport mother ship; when the information that the water level in the storage bin is equal to the water level on the external sea surface is received from the transport mother ship, an instruction to dispatch the unmanned boat is sent to the transport mother ship, so that the transport mother ship sends an instruction to the unmanned boat floating on the water in the storage bin to drive out and stop in the sea area set a distance from the transport mother ship, thereby causing the unmanned boats to drive out of the storage bin one by one.

[0022] In some embodiments, controlling each of the unmanned devices to move to a designated position so that the cluster formed by each of the unmanned devices covers the area where the ocean vortex is located comprises the following steps:

[0023] If the ocean vortex is the airflow vortex, one of the monitoring drones is controlled to move to the sky above the center of the airflow vortex, and the remaining monitoring drones are controlled to move so that the monitoring drones form concentric circles with the center of the airflow vortex as the center; wherein the outermost concentric circles are on the circle formed by the radius of the airflow vortex;

[0024] If the ocean vortex is the water current vortex, then according to the number of each unmanned boat when it leaves the storage warehouse, the north of the transport mother ship is set as 0 degrees, and the unmanned boats are arranged in a clockwise direction according to the numbers of each unmanned boat, so that the angle between every two unmanned boats and the transport mother ship is 10°, and the maximum radius of the vortex obtained by SWOT inversion analysis is used as the boundary for arranging each unmanned boat; wherein, the transport mother ship is at the center of the water current vortex.

[0025] In some embodiments, controlling each of the unmanned devices to collect corresponding monitoring data of the ocean vortex through each of the sensors includes the following steps:

[0026] If the ocean vortex is the airflow vortex, each of the monitoring drones is controlled to collect corresponding monitoring data of the airflow vortex through a GNSS positioning sensor, an air temperature sensor, an altitude sensor, a wind speed sensor, a humidity sensor, and an air pressure sensor;

[0027] If the ocean vortex is the water current vortex, each of the unmanned boats is controlled to collect corresponding monitoring data of the water current vortex through a GNSS positioning sensor, a current meter, a temperature and salt chain, a wave meter and a water level meter.

[0028] In some embodiments, the method further comprises the step of recovering each of the unmanned devices, wherein the step of recovering each of the unmanned devices comprises:

[0029] If the ocean vortex is the airflow vortex, each of the monitoring drones is controlled to enter the corresponding box in sequence according to the latitude, longitude and altitude of each of the monitoring drones;

[0030] If the ocean vortex is the water current vortex, the transport mother ship is controlled to open the hatch and bottom water inlet valve of the storage bin to allow the water outside the hull to flow into the storage bin, based on the real-time water level value obtained by the water level gauge outside the hull and the water level gauge inside the storage bin; when the two water level values ​​are equal, each of the unmanned boats is controlled to enter the storage bin in turn.

[0031] To achieve the above-mentioned purpose, another aspect of the embodiment of the present application provides an ocean vortex monitoring device, the device comprising:

[0032] A vortex locating unit, used to determine the area where the ocean vortex is located;

[0033] A transport control unit, used for controlling the mobile transport terminal to move to the center of the area where the ocean vortex is located; wherein the mobile transport terminal carries a plurality of unmanned equipment, each of which is equipped with a plurality of types of sensors;

[0034] An unmanned equipment release unit, used to control the mobile transport terminal to release each of the unmanned equipment;

[0035] An unmanned equipment control unit, used for controlling each of the unmanned equipment to move to a designated position, so that the cluster formed by each of the unmanned equipment covers the area where the ocean vortex is located;

[0036] A data collection unit, used for controlling each of the unmanned devices to collect corresponding monitoring data of the ocean vortex through each of the sensors;

[0037] A data receiving unit is used to receive the monitoring data sent by each of the unmanned devices.

[0038] To achieve the above objective, 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 method when executing the computer program.

[0039] 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 the computer program implements the above method when executed by a processor.

[0040] The embodiments of the present application include at least the following beneficial effects:

[0041] The present application can determine the area where the ocean vortex is located; control the mobile transport terminal to move to the center of the area where the ocean vortex is located; wherein the mobile transport terminal carries multiple unmanned devices, and each unmanned device is equipped with multiple types of sensors; control the mobile transport terminal to release each unmanned device; control each unmanned device to move to a specified position so that the cluster formed by each unmanned device covers the area where the ocean vortex is located; control each unmanned device to collect corresponding monitoring data of the ocean vortex through each sensor; receive the monitoring data sent by each unmanned device. The present application directly monitors the ocean vortex at close range through unmanned devices, can accurately monitor the constantly changing information of the ocean vortex, and can also obtain the three-dimensional structure information of the ocean vortex, can monitor the ocean vortex more comprehensively and accurately, and improves the accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0043] Figure 1A schematic diagram of a process flow of an ocean vortex monitoring method provided in an embodiment of the present application;

[0044] Figure 2 A schematic diagram of storage of transport drones and monitoring drones provided in an embodiment of the present application;

[0045] Figure 3 A schematic diagram of the layout of a drone cluster provided in an embodiment of the present application;

[0046] Figure 4 A vortex profile observation route map for an unmanned boat formation provided in an embodiment of the present application;

[0047] Figure 5 A schematic diagram of the structure of an ocean vortex monitoring device provided in an embodiment of the present application;

[0048] Figure 6 A schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0049] 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 devices and methods consistent with some aspects of the embodiments of the present application as detailed in the attached claims.

[0050] 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".

[0051] 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.

[0052] 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.

[0053] The embodiments of the present application provide a method, device, electronic device and storage medium for monitoring ocean vortices, and relate to the field of geographic data monitoring technology. The method, device, electronic device and storage medium for monitoring ocean vortices provided in the embodiments 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 are not limited to this; the server side can be configured as an independent physical server, or a server cluster or 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, and cloud servers for basic cloud computing services such as big data and artificial intelligence platforms. The server can also be a node server in a blockchain network; the software can be an application that implements a method for monitoring ocean vortices, etc., but is not limited to the above forms.

[0054] The present application can be used in many general or special computer system environments or configurations. For example: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronics, network PCs, 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.

[0055] Reference Figure 1 The present application embodiment provides an ocean vortex monitoring method, which may include but is not limited to S100 to S150, as follows:

[0056] S100: Determine the area where the ocean vortex is located.

[0057] Further, S100 may include the following steps:

[0058] S101: Identify the distribution information of vortices in the flow field predicted by HYCOM by using the flow field geometric feature method;

[0059] S102: combining SWOT altimetry satellite observations, inverting to obtain sea surface fluctuation information of the flow field;

[0060] S103: Determine whether the flow fields in the distribution information and the sea surface fluctuation change information are both in vortexes;

[0061] S104: If yes, the area where the ocean vortex is located is determined based on the flow field predicted by HYCOM.

[0062] S110: Control the mobile transport terminal to move to the center of the area where the ocean vortex is located; wherein the mobile transport terminal carries a plurality of unmanned equipment, and each of the unmanned equipment is equipped with a plurality of types of sensors.

[0063] Further, S110 may include the following steps S111 or S112:

[0064] S111: If the ocean vortex is an airflow vortex, based on the ocean current information obtained by SWOT satellite inversion and high-frequency ground wave radar observation, the flow field geometric characteristic method is used to respectively obtain the first radius and the second radius of the vortex; the maximum value of the first radius and the second radius is used as the radius of the airflow vortex, and the flight distance of the transport drone from takeoff to the center position of the sky is set according to the radius of the airflow vortex and the longitude and latitude of the airflow vortex obtained through satellite data, and the flight speed of the transport drone is set, and the flight time is obtained by dividing the flight distance by the flight speed; according to the flight time, the transport drone is controlled to carry multiple monitoring drones to fly to the center position of the sky above the area where the airflow vortex is located; wherein, during the flight of the transport drone, the center position of the ocean vortex is extracted by the SWOT satellite at set intervals and sent to the transport drone, so that the transport drone can recalculate the flight time and adjust the flight route.

[0065] S112: If the ocean vortex is a water current vortex, then based on the ocean current information obtained by SWOT satellite inversion and high-frequency ground wave radar observation, the flow field geometric characteristic method is used to respectively obtain the third radius and the fourth radius of the vortex; the maximum value of the third radius and the fourth radius is used as the radius of the water current vortex, and the sailing distance of the transport mother ship from the start of sailing to the center of the sea surface is set according to the radius of the water current vortex and the longitude and latitude of the water current vortex obtained through satellite data, and the sailing speed of the transport mother ship is set, and the sailing time is obtained by dividing the sailing distance by the sailing speed; according to the sailing time, the transport mother ship is controlled to carry multiple unmanned boats to the center of the sea surface in the area where the water current vortex is located; wherein, during the sailing of the transport mother ship, the center position of the water current vortex is extracted by the SWOT satellite at set intervals and sent to the transport mother ship, so that the transport mother ship can recalculate the sailing time and adjust the sailing route.

[0066] S120: Control the mobile transport terminal to release each of the unmanned devices.

[0067] Further, S120 may include the following steps S121 or S122:

[0068] S121: If the ocean vortex is the airflow vortex, a plurality of concentric circles are determined according to the radius of the airflow vortex, and the number of monitoring drones on each of the concentric circles is determined to be a geometric progression; the number of monitoring drones to be released is determined according to a calculation formula for the number of monitoring drones required; the calculation formula for the number of monitoring drones required is: Among them, K represents the number of released monitoring drones, M=R / A, M is an integer, M represents the number of concentric circles, and A represents the radius difference between two adjacent concentric circles; the lifting hinge inside the transport drone is controlled to lower a row of boxes, wherein each box stores one monitoring drone; each monitoring drone is controlled to fly out of the corresponding box in turn and descend to a set height; the lifting hinge is retracted and the step of controlling the lifting hinge inside the transport drone to lower a row of boxes is returned, until the number of released monitoring drones is equal to the released number.

[0069] S122: If the ocean vortex is the water current vortex, the transport mother ship is controlled to open the bottom hatch, and the unmanned boat parked in the storage bin is allowed to float up by filling the bottom storage bin with water; the real-time water level values ​​inside and outside the storage bin are obtained by means of water level gauges installed in the storage bin and on the outer edge of the transport mother ship; when the information that the water level in the storage bin is equal to the water level on the external sea surface is received from the transport mother ship, an instruction to dispatch the unmanned boat is sent to the transport mother ship, so that the transport mother ship sends an instruction to the unmanned boat floating on the water in the storage bin to drive out and stop in the sea area set a distance from the transport mother ship, thereby causing the unmanned boats to drive out of the storage bin one by one.

[0070] S130: Control each of the unmanned devices to move to a designated position so that the cluster formed by each of the unmanned devices covers the area where the ocean vortex is located.

[0071] Further, S130 may include the following steps S131 or S132:

[0072] S131: If the ocean vortex is the airflow vortex, one of the monitoring drones is controlled to move to the air above the center of the airflow vortex, and the remaining monitoring drones are controlled to move so that the monitoring drones form concentric circles with the center of the airflow vortex as the center; wherein the outermost concentric circles are on the circle formed by the radius of the airflow vortex;

[0073] S132: If the ocean vortex is the water current vortex, then according to the number of each unmanned boat when it leaves the storage warehouse, the north of the transport mother ship is set as 0 degrees, and the unmanned boats are arranged in a clockwise direction according to the numbers of each unmanned boat, so that the angle between every two unmanned boats and the transport mother ship is 10°, and the maximum radius of the vortex obtained by SWOT inversion analysis is used as the boundary for arranging each unmanned boat; wherein, the transport mother ship is at the center of the water current vortex.

[0074] S140: Control each of the unmanned devices to collect corresponding monitoring data on the ocean vortex through each of the sensors.

[0075] Further, S140 may include the following steps S141 or S142:

[0076] S141: If the ocean vortex is the airflow vortex, control each of the monitoring drones to collect corresponding monitoring data of the airflow vortex through a GNSS positioning sensor, an air temperature sensor, an altitude sensor, a wind speed sensor, a humidity sensor, and an air pressure sensor;

[0077] S142: If the ocean vortex is the water current vortex, each of the unmanned boats is controlled to collect corresponding monitoring data of the water current vortex through a GNSS positioning sensor, a current meter, a temperature and salt chain, a wave meter and a water level meter.

[0078] S150: Receive the monitoring data sent by each of the unmanned devices.

[0079] Furthermore, the embodiment of the present application may further include a step of recovering each of the unmanned devices in S160, and S160 may include S161 or S162:

[0080] S161: If the ocean vortex is the airflow vortex, each of the monitoring drones is controlled to enter the corresponding box in sequence according to the longitude, latitude and altitude of each of the monitoring drones.

[0081] S162: If the ocean vortex is the water current vortex, the transport mother ship is controlled to open the hatch and the bottom water inlet valve of the storage bin to allow the water outside the hull to flow into the storage bin, based on the real-time water level value obtained by the water level gauge outside the hull and the water level gauge inside the storage bin; when the two water level values ​​are equal, each of the unmanned boats is controlled to enter the storage bin in turn.

[0082] Next, the solution of the embodiment of the present application will be introduced and explained in detail with reference to specific application examples.

[0083] 1. Airflow vortex monitoring solution:

[0084] The formation of ocean vortices is mainly affected by the sea surface wind, so the observation of meteorological elements in the vortex sea area is an important part of exploring the evolution of ocean vortices. Regardless of whether it is a cyclonic or anticyclonic ocean vortex, the flow of its water body in space is approximately a closed loop.

[0085] Step 1: Determine the vortex position.

[0086] Firstly, based on the flow field information predicted by HYCOM, the distribution of the target ocean vortex is identified by the flow field geometric characteristics (VG) method. Then, combined with the SWOT (Surface Water and Ocean Topography) altimetry satellite observations, the sea surface fluctuation changes in the vortex identification sea area are inverted. By comparing the vortex information identified by HYCOM with the vortex information inverted by SWOT, if both show that there is a vortex in the area, the flow field information of HYCOM is judged to be valid, and the sea area is judged to be a vortex observation area. If the vortex information judged by the two is inconsistent, the high-frequency ground wave radar observation system is further deployed by unmanned boats to observe the sea surface flow field of the target sea area. Then, based on the high-precision sea surface flow field information obtained by the high-frequency ground wave radar, the flow field geometric characteristics method is used to identify the vortex. If it is identified that there is a vortex, the area is set as the target observation sea area, otherwise, it is a non-target observation sea area.

[0087] Step 2: Deployment of meteorological observation equipment.

[0088] Meteorological observations are conducted by combining satellite remote sensing with drones. First, SWOT satellites are used to extract multi-factor information about target sea areas that have been identified as having vortices, including seabed topography, ocean currents, etc. Then, at the remote control site, N (N>13) small drones (monitoring drones) are loaded into the storage bin of the transport drone in a honeycomb box shape, such as Figure 2 shown.

[0089] The honeycomb boxes for storing small observation drones are arranged in a vertical row of 5, with 1 row forming a box group. The plane space is arranged in a regular 10*10 pattern. Therefore, each transport drone can transport 500 small observation drones. When it is estimated that the total number of small drones required is greater than 500, more transport drones will be dispatched to transport the small drones to the designated location in the same way.

[0090] Based on the ocean current information obtained by SWOT satellite inversion and high-frequency ground wave radar observation, the flow field geometric characteristic method is used to obtain the vortex radius R1 and R2 respectively. In order to ensure that the characteristic information of the vortex is collected to the greatest extent, the larger value is taken as the radius of the vortex to be observed R = Max (R1, R2). Combined with the longitude and latitude of the vortex center with R as the radius obtained from satellite data, the vortex center is taken as the target point, the distance S and the route of the transport drone from the land airport to the vortex center are set, and the flight speed of the unmanned transport aircraft is set to v. The time required to reach the vortex center is T = S / v. Due to the influence of sea-air interaction, the vortex center is constantly moving and changing. Every 30 minutes, the SWOT satellite obtains and extracts the location information of the vortex center and sends it to the transport drone through satellite communication. After receiving the new destination location, the transport drone recalculates and updates the time required to reach the vortex center and adjusts the flight route.

[0091] When the transport drone reaches the sky above the center of the vortex, it will control its altitude at 5,000 meters above sea level and gradually descend. When the altitude drops to 500 meters above sea level, the transport drone will hover. At this time, the number of small drones needed is estimated based on the latest vortex radius R obtained. The specific estimation method is: through the M-shaped drone formation in the air, the number of drones deployed on each concentric circle is a geometric sequence, that is, there is 1 small drone in the center of the vortex, 4 drones are deployed on the closest concentric circle, 8 drones are deployed on the second closest concentric circle, and so on. The geometric sequence of 1-4-8-16-32-64-128 is used to determine the number of small drones needed on the concentric circles. From the inside of the vortex to the outside, small observation drones are deployed on the concentric circles in a geometric sequence. As the radius increases, the concentric circles cover an area that increases. The addition of small observation drones helps to collect more detailed and comprehensive information on the vortex change process. The radius difference between each two adjacent concentric circles is 3,000 meters. Figure 3 shown. Figure 3 Schematic diagram of the layout of a small observation drone cluster ( Figure 3 The green circles in the middle represent drones, which are deployed in a 1:4:8:16 ratio array).

[0092] Except for the vortex center, the number of concentric circles M = R / 3000, M is an integer, and the total number of small drones required is K, then:

[0093]

[0094] Then, according to the estimated number of small drones, the bottom hatch is opened. At this time, the honeycomb box type drone storage box is lowered through the lifting hinge inside the transport drone. When the entire row of boxes is moved outside the bottom hatch, the left side of each box is opened, and the small drone is started and flies out of the box, and hovers at a horizontal distance of 5 meters from the box. Then, through the hinge, the honeycomb box storing the small drone is retracted. At this time, the 5 small drones removed from the first box are moved downward 20 meters as a whole, and then another row of boxes is lowered in turn. By analogy, according to the total number of small drones K required to observe this vortex, when the total number of drones removed from the honeycomb box is equal to K, the new box can be stopped from being lowered.

[0095] Step 3: Collection and organization of meteorological elements.

[0096] Each small drone is equipped with GNSS positioning, temperature, altitude, wind speed, humidity, air pressure and other sensors. Each drone collects meteorological information at its location in real time, and sends the location and meteorological information to the receiving system on land via satellite communication at an interval of 1 minute. After receiving the information data, the receiving system saves and backs up the data in DAT format.

[0097] During the data collection process, the SWOT and ground wave radar monitoring data and the position information of all aerial observation drones are synchronously transmitted to the land control station. The computer of the control station uses the flow field geometric characteristic method to calculate the real-time vortex center position, and calculates the change of the vortex center position and the relative position of each drone in the aerial drone cluster to the center of the cluster. When the moving position of the vortex center exceeds the center position of the last drone cluster positioning by 1 km, the control center sends a command to adjust the position to all aerial drones through satellite communication, and sends the latest vortex center position and the relative position of each drone relative to the center position of the cluster to the corresponding drone in the cluster (see Figure 2 ), after receiving the command, all the drones in the air take the drone in the cluster center as the reference moving point, and all the drones fly and move synchronously. According to the relative position command sent by the control center, the drone in the cluster center moves first, and then the other drones in the cluster follow the same Figure 3 The relative position of the drone relative to the central position is moved so that the center of the drone cluster is still above the center of the vortex after the move, and continues to carry out observations and data collection.

[0098] Step 4: Recovery of meteorological observation equipment.

[0099] When it is determined that the ocean vortex has disappeared, the meteorological observation equipment is recovered. The steps are as follows:

[0100] ① After receiving the command that the ocean vortex has disappeared, the ground control station sends hovering and position feedback commands to all small observation drones through satellite communication. After receiving the position feedback command, all small drones return to their original hovering position and send their own GNSS positioning information to the ground control station via satellite. After receiving the position information of the small drone cluster, the ground control station displays the spatial distribution map of the small drone cluster in the control system and counts the total number of drones based on the feedback information. If the number of drones fed back is the same as the number of drones dispatched, the record is consistent. If the numbers are inconsistent, the number of missing drones is equal to the total number of drones dispatched minus the total number of drones that received feedback, and the number of missing drones is recorded.

[0101] ② Based on the received UAV cluster position information, the ground control station calculates the distance between the 4 small UAVs in the first inner ring and the center of the observation cluster, which are recorded as (S1, S2, S3, S4) respectively, and sorts the distances between the 4 UAVs and the center position in descending order. The maximum and minimum distances are Smax and Smin, and a move-together command is sent to the 4 UAVs in the first inner ring of the observation cluster. After receiving the move-together command, the 4 UAVs in the first inner ring move toward the center at the same speed v, with the 1 small UAV at the core of the observation cluster as the center. The longest and shortest time required for the 4 UAVs to move to the center is Tc = Smax / v, Td = Smin / v.

[0102] ③ When the ground control system sends a movement command to the four drones, the timing starts. After receiving the movement command, the four drones start flying towards the center. The time when the four drones arrive at the center should be between [Td, Tc]. When the time record is equal to (Td-5) minutes, in order to avoid the four drones colliding with the drones at the center, the ground control system sends a hovering command to the four drones. After receiving the hovering command, the four drones hover at the original position through satellite communication, and send their own GNSS positioning and altitude information at this time to the ground control system.

[0103] ④ After receiving the positioning and altitude information of the four UAVs, the ground control system calculates the distance between each small UAV and the center position, which are recorded as (L1, L2, L3, L4), sorts the calculated four distance values ​​in descending order, and numbers the UAVs in order of distance from small to large, which are (W1, W2, W3, W4). In the order of the numbers, the flight target points are set as the center point UAVs and parked at equal intervals of 10 meters. The four UAVs in the first inner ring are hovering at heights of 10 meters, 20 meters, 30 meters, and 40 meters from the center position respectively.

[0104] ⑤ The ground control station sends the calculated flight destination and movement instructions to the nearest UAV. Through satellite communication, the UAV closest to the center point starts to move to the designated point after receiving the movement instruction. When it reaches the designated point, the UAV sends a feedback instruction of being in position to the ground control station. After receiving the instruction of being in position, the ground control station sends the calculated flight destination and movement instructions to the second UAV closest to the center position. The same method is used to move the third and fourth UAVs to the top of the center position. When the fourth UAV flies to the designated position, it sends the information that the vertical positioning of the first inner ring cluster is completed to the ground control system. After receiving the feedback information, the ground control system sends instructions to the second inner ring UAV cluster according to the above steps. Please refer to ②-⑤ for details.

[0105] ⑥ When the last drone cluster in the outermost ring is in position vertically, it sends feedback to the ground control station that all drones are in position and the position and altitude information of the top drone. After receiving the feedback information, the ground control station sends a dispatch instruction, the longitude and latitude of the top drone, and the altitude information to the transport drone. After receiving the instruction, the transport drone takes off from the land parking lot and sets the destination of the transport drone to the same longitude and latitude as the top drone in the vertical direction, and the altitude is 100 meters above the top vertical direction. When the transport drone reaches the specified position and altitude, it sends a feedback message of arrival to the ground control.

[0106] ⑦ After receiving the information that the transport drone has arrived, the ground control station sends instructions to the transport drone to open the hatch and lower the honeycomb storage box. After receiving the instructions, the transport drone opens the hatch at the bottom of the transport drone through satellite communication, lowers the first honeycomb sub-box, and sends the latitude, longitude and altitude information of the first honeycomb sub-box (5) after the lowering is completed to the ground control station.

[0107] ⑧ After the first honeycomb sub-box is lowered, the transport drone sends the positioning information to the ground control station. The ground control station groups the small drones in the hovering vertical space into groups of 5 according to the order from top to bottom. The top 5 in the vertical direction are the first group, corresponding to the first honeycomb sub-box. The ground control station sends the first group of 5 small drones from top to bottom according to the received position information (including longitude, latitude and altitude) of the first honeycomb sub-box (5). After receiving the target information command, the small drones rise and fly to the corresponding honeycomb sub-box according to the command. When the first group of 5 small drones arrive at the corresponding sub-box, they stop flying, stop in the box and send the recovered information to the ground control station.

[0108] ⑨ After receiving the information that the first group of 5 small drones have been parked, the ground control station sends a lowering command to the second honeycomb sub-box through satellite communication, and repeats the steps ⑦-⑧ until all small drones in the vertical direction are parked in the honeycomb sub-box. When the last (bottom) small drone in the vertical direction is parked in the honeycomb sub-box, a message is sent to the ground control that the small drone cluster has been parked. After receiving the message, the ground control station sends a command to the transport drone to fold up the sub-box, close the hatch, and return to the ground airport. After receiving the command, the transport drone folds up all the honeycomb sub-boxes, closes the lowering hatch, sets the ground airport as the destination, and returns. At this point, the observation of the aerial meteorological drone cluster is completed.

[0109] 2. Water vortex monitoring solution:

[0110] Step 1: Get the vortex position.

[0111] Firstly, based on the flow field information predicted by HYCOM, the distribution of the target ocean vortex is identified by the flow field geometric characteristics method. Then, combined with the SWOT (Surface Water and Ocean Topography) altimetry satellite observation, the sea surface fluctuation changes in the vortex identification sea area are inverted. By comparing the vortex information identified by HYCOM with the vortex information inverted by SWOT, if both show that there is a vortex in the area, the flow field information of HYCOM is judged to be valid, and the sea area is judged to be a vortex observation area. If the vortex information judged by the two is inconsistent, the high-frequency ground wave radar observation system is further deployed by unmanned boats to observe the sea surface flow field of the target sea area. Then, based on the high-precision sea surface flow field information obtained by the high-frequency ground wave radar, the flow field geometric characteristics method is used to identify the vortex. If it is identified that there is a vortex, the area is set as the target observation sea area, otherwise, it is a non-target observation sea area.

[0112] Step 2: Ocean unmanned equipment transportation.

[0113] After the target vortex position is determined, the position information of the vortex center is sent to the ground control station via satellite communication. After receiving the position information, the ground control system sends the longitude and latitude information of the vortex center to the mother ship docked near the ground control station via satellite communication. The mother ship is a catamaran carrying N surface unmanned boats and underwater submersibles (N>600). After receiving the vortex positioning information, the mother ship sets the vortex center as the destination, synchronizes with the ground control system to estimate the distance from the mother ship to the vortex center, and sends a command to the mother ship to start heading to the vortex center. After receiving the start command, the mother ship begins to sail towards the vortex center.

[0114] Based on the ocean current information inverted by the SWOT satellite, the flow field geometric characteristic method is used to obtain the radii R1 and R2 of the vortex respectively. In order to ensure that the characteristic information of the vortex is collected to the greatest extent, the larger value is taken as the radius of the vortex to be observed R = Max (R1, R2). Combined with the longitude and latitude of the vortex center with R as the radius obtained from satellite data, the vortex center is taken as the target point. Due to the influence of sea-air interaction, the vortex center is constantly moving and changing. Every 30 minutes, the location information of the vortex center is obtained and extracted through the SWOT satellite, and sent to the transport mother ship through satellite communication. After receiving the new destination location, the transport mother ship recalculates and updates the time required to reach the vortex center and adjusts the navigation route.

[0115] Step 3: Transport marine unmanned equipment fleet.

[0116] When the mother ship reaches the center of the vortex, it sends a message of arrival to the ground control center via satellite communication. After receiving the arrival message of the mother ship, the control system sends an instruction to the mother ship to deploy a cluster of unmanned equipment. After receiving the instruction to deploy the equipment, the mother ship stops in place, opens the bottom hatch of the mother ship, and fills the bottom storage bin with water to make the unmanned boat parked in the bottom storage bin float up. The real-time water level values ​​inside and outside the storage bin are obtained by water level gauges installed in the storage bin and on the outer edge of the mother ship. When the water level in the storage bin is equal to the external sea level, the mother ship sends a message to the ground control center that the unmanned boat is in place. After receiving the in-place information, the control center sends an instruction to the mother ship to dispatch the surface unmanned boat via satellite communication.

[0117] After receiving the order to dispatch the unmanned boats, the mother ship sends an order to the cluster of unmanned boats floating on the water in the storage warehouse through satellite communication, telling them to sail out and stop in the sea 100 meters away from the mother ship. After receiving the order, the surface unmanned boat formation sails out of the storage warehouse one by one and is numbered W1, W2, W3...Wn (n is the total number of unmanned boats) according to the order in which the unmanned boats sail out. The unmanned boats arrive at the stopping position designated by the mother ship.

[0118] Each unmanned boat is equipped with a GNSS positioning system, current meter, temperature and salinity chain, wave meter, water level meter, etc.

[0119] Step 4: Deploy unmanned equipment clusters.

[0120] After the unmanned boat formation leaves the mother ship and arrives at the designated location, each unmanned boat sends information about its location and position to the land control center through satellite communication. After receiving the location and position information, the ground control center sends an order to the mother ship to stop at the center of the vortex and conduct observations. After receiving the order, the mother ship starts the current meter, temperature and salinity recorder, wave meter and other observation equipment on the ship to conduct continuous observations at a fixed point in the center of the vortex. When the mother ship starts the observation, it sends information that the observation has started to the ground control center. After receiving the information, the control center begins to plan the route for the surface unmanned boat formation.

[0121] According to the number of the unmanned boat when it leaves the storage warehouse, the north of the mother ship is set as 0 degrees, and the unmanned boats are deployed in a clockwise direction according to the number of the unmanned boats. The angle between every two unmanned boats and the mother ship (vortex center) is 10°. The maximum radius R of the vortex obtained by SWOT inversion analysis is the boundary of the unmanned boat formation. Therefore, taking the mother ship (vortex center) as the origin of the polar coordinates, the position of the i-th unmanned boat in the polar coordinates is (10°*i, R). After the ground control center calculates the position information of each unmanned boat, the command to sail to the designated position is sent to the corresponding unmanned boat through satellite communication. After receiving the command, the corresponding unmanned boats start to sail to their designated positions at a uniform speed one by one. After each unmanned boat arrives at the designated position, it stops in place and sends the information of being in place to the ground control center through satellite communication.

[0122] After receiving the information that all the surface unmanned boat formations are in place, the ground control center sends a command to the unmanned boat formation to start observation. After receiving the command through satellite communication, the unmanned boat starts the current meter, temperature and salinity recorder, wave meter and other equipment on the unmanned boat, and uses the line between the location and the vortex center (the location of the mother ship) as the observation route. Continuous observation and data collection are carried out back and forth on the corresponding route, and the observation data is transmitted back to the ground control center in real time through satellite communication. Figure 4 , Figure 4 This is an example diagram of the vortex profile observation route of the unmanned boat formation. Figure 4 In the figure, the orange center is the mother ship, the green outer circle is the unmanned boat formation, and the black dots are the unmanned boats deployed in the middle.

[0123] During the data collection process of the unmanned boat formation, the SWOT and ground wave radar monitoring data and the position information of all aerial observation unmanned boats are synchronously transmitted to the land control station. The computer of the control station uses the flow field geometric characteristic method to calculate the real-time vortex center position, and calculates the change of the vortex center position and the relative position of each unmanned boat in the unmanned boat cluster with the center of the cluster. When the moving position of the vortex center exceeds the center position of the mother ship last positioning by 1 km, the control center sends a command to adjust the position to all unmanned boats through satellite communication, and sends the latest vortex center position and the position of each unmanned boat relative to the mother ship to the corresponding unmanned boat in the cluster (see Figure 4 ), after receiving the command, all unmanned boats move synchronously with the mother ship at the center of the cluster as the reference moving point. According to the relative position command sent by the control center, the mother ship at the center of the cluster moves first, and then the cluster unmanned boats follow Figure 4 The relative position of the mother ship relative to the center position is moved so that the center of the unmanned boat cluster is still located at the center of the vortex after the move, and continues to carry out observations and data collection.

[0124] Step 5: Recovery of surface unmanned equipment.

[0125] When it is determined that the ocean vortex has disappeared, the ocean hydrological observation equipment is recovered simultaneously. The specific steps are as follows:

[0126] ① After receiving the command that the ocean vortex has disappeared, the ground control station sends a command to all unmanned boats via satellite communication to stop on the spot and feedback the position, heading, and speed. After receiving the command, all unmanned boats stop sailing on the spot and send their own position, speed, and heading information to the mother ship via satellite communication. After receiving the information about the surface unmanned boat formation, the control station classifies the unmanned boat formation according to whether it is heading toward or away from the mother ship. Class A is the unmanned boat heading toward the mother ship, and Class B is the unmanned boat heading away from the mother ship.

[0127] ② The control station sends a command to the Class A unmanned boat to stay where it is, and sends a command to the Class B unmanned boat to change course so that it heads towards the mother ship.

[0128] ③ After receiving the command from the control station, the A-type mother ship remains stationary, while the B-type unmanned boat turns around so that the head of the unmanned boat faces the mother ship. After the adjustment is completed, all unmanned boats send the adjustment completion information to the control station.

[0129] ④ After receiving the information, the ground control station sends a message to all unmanned boats through satellite communication, asking them to approach the mother ship and stop on a radial line 50 meters away from the mother ship. After receiving the command, the unmanned boats sail toward the mother ship along the radial line they observe, stay at a distance of 50 meters from the mother ship, and send an instruction to the control station that they are in position.

[0130] ⑤ After receiving the command, the control station sends a command to the mother ship to open the storage hatch. After receiving the command, the mother ship opens the hatch and bottom water inlet valve of the storage bin at the rear of the mother ship to allow the water outside the hull to flow into the storage bin. Based on the real-time water level values ​​obtained by the water level gauge outside the hull and the water level gauge inside the storage bin, when the two water level values ​​are equal, the mother ship sends a message to the ground control station that the storage bin is ready.

[0131] ⑥ After receiving the message, the control station first sends an instruction to the W1 unmanned boat to return to the storage warehouse of the mother ship according to the order of dispatching the unmanned boats (W1-W2-…Wi-…Wn). After receiving the instruction, the W1 unmanned boat sails to the storage warehouse of the mother ship, stops at the position inside the cabin, and sends the information that it has arrived in the storage warehouse to the ground control station. After receiving the message, the mother ship sends an instruction to the W2 unmanned boat to return to the storage warehouse of the mother ship. After receiving the instruction, the W2 unmanned boat sails to the storage warehouse of the mother ship, stops at the position inside the cabin, and sends the information that it has arrived in the storage warehouse to the ground control station. In this order, the other unmanned boats enter the storage warehouse one by one.

[0132] ⑦ When the last Wn unmanned boat stops at the position in the cabin, a message is sent to the ground control station that all unmanned boats have returned to the storage compartment of the mother ship. After receiving the message, the control station sends an instruction to close the hatch to the mother ship. After receiving the message, the mother ship closes the storage hatch and sends a message to the control station that the hatch has been closed.

[0133] ⑧After receiving the message that the hatch has been closed, the control station sends the positioning information and return instructions to the mother ship to return to the dock. After receiving the instructions, the mother ship returns to the designated docking point.

[0134] In summary, this embodiment includes the following technical features:

[0135] (1) A formation of drones passing through a cross-shaped encrypted array in the air (deployed in a geometric sequence of 4-8-16-32).

[0136] (2) The transport drone updates its route every 30 minutes through satellite communications and SWOT real-time remote sensing observation information, ensuring that the transport drone can adjust and optimize its route according to the movement of the vortex and reach the center of the actual vortex.

[0137] (3) The drone cluster is recovered one by one in a circle with the same diameter, hovering at equal intervals vertically and using a honeycomb box for recovery.

[0138] (4) During the transportation of the small observation drone cluster, the transport drone monitors the changes in the vortex center position in real time through the SWOT satellite and sends the location information to the transport drone through satellite communication every 30 minutes. After receiving the updated vortex center position, the transport drone recalculates the arrival time and adjusts the flight route to ensure that the transport drone is located at the center of the real-time vortex when it arrives.

[0139] (5) An ocean vortex monitoring system based on a land control system, an aerial drone cluster, and a surface unmanned boat cluster. The aerial drone cluster and the surface unmanned boat cluster are deployed along the vortex rotation circle.

[0140] (6) The surface unmanned boat formation divides the observation route into equal angles under polar coordinates, and conducts continuous cruise observation on the radial line section from the center of the vortex. Each unmanned boat uses the center of the vortex as the turning point.

[0141] (7) As the center of the vortex moves, the UAV and unmanned boat observation cluster moves synchronously with the center of the vortex as a whole and continues to carry out observations.

[0142] Reference Figure 5 The embodiment of the present application also provides an ocean vortex monitoring device, which can implement the above-mentioned ocean vortex monitoring method, and the device includes:

[0143] A vortex locating unit, used to determine the area where the ocean vortex is located;

[0144] A transport control unit, used for controlling the mobile transport terminal to move to the center of the area where the ocean vortex is located; wherein the mobile transport terminal carries a plurality of unmanned equipment, each of which is equipped with a plurality of types of sensors;

[0145] An unmanned equipment release unit, used to control the mobile transport terminal to release each of the unmanned equipment;

[0146] An unmanned equipment control unit, used for controlling each of the unmanned equipment to move to a designated position, so that the cluster formed by each of the unmanned equipment covers the area where the ocean vortex is located;

[0147] A data collection unit, used for controlling each of the unmanned devices to collect corresponding monitoring data of the ocean vortex through each of the sensors;

[0148] A data receiving unit is used to receive the monitoring data sent by each of the unmanned devices.

[0149] 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.

[0150] 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 vortex monitoring method when executing the computer program. The electronic device can be any smart terminal including a tablet computer, a car computer, etc.

[0151] 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.

[0152] See also Figure 6 , Figure 6 The hardware structure of an electronic device of another embodiment is illustrated, and the electronic device includes:

[0153] The processor 601 may be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), 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;

[0154] The memory 602 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 602 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 602, and the processor 601 is called to execute a method for monitoring ocean vortices in the embodiment of the present application;

[0155] Input / output interface 603, used to implement information input and output;

[0156] Communication interface 604, used to realize communication interaction between the device and other devices, which can be realized by wired mode (such as USB, network cable, etc.) or wireless mode (such as mobile network, WIFI, Bluetooth, etc.);

[0157] Bus 605 , which transmits information between various components of the device (e.g., processor 601 , memory 602 , input / output interface 603 , and communication interface 604 );

[0158] The processor 601 , the memory 602 , the input / output interface 603 and the communication interface 604 are connected to each other in communication within the device via a bus 605 .

[0159] 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, the above-mentioned ocean vortex monitoring method is implemented.

[0160] 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.

[0161] 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.

[0162] 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.

[0163] 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.

[0164] The device 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 solution of this embodiment.

[0165] 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.

[0166] 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.

[0167] 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.

[0168] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device 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 devices or units, which can be electrical, mechanical or other forms.

[0169] 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.

[0170] 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.

[0171] 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.

[0172] The preferred embodiments of the present application are described above with reference to the accompanying drawings, but the scope of the rights of the present application 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 application should be within the scope of the rights of the present application.

Claims

1. A method for monitoring ocean vortexes, characterized in that: The method comprises the following steps: Determine the location of ocean eddies; Controlling the mobile transport terminal to move to the center of the area where the ocean vortex is located; wherein the mobile transport terminal carries a plurality of unmanned devices, each of which is equipped with a plurality of types of sensors; Controlling the mobile transport terminal to release each of the unmanned devices; Controlling each of the unmanned devices to move to a designated position so that the cluster formed by each of the unmanned devices covers the area where the ocean vortex is located; Controlling each of the unmanned devices to collect corresponding monitoring data of the ocean vortex through each of the sensors; Receive the monitoring data sent by each of the unmanned devices.

2. A method for monitoring ocean vortexes according to claim 1, characterized in that: The method of determining the area where the ocean vortex is located comprises the following steps: Identify the distribution information of vortices in the flow field predicted by HYCOM through the flow field geometric characteristics method; Combined with SWOT altimetry satellite observations, the sea surface fluctuation information of the flow field is inverted; Determining whether the flow fields in the distribution information and the sea surface fluctuation change information are both in vortexes; If so, the area where the ocean vortex is located is determined based on the flow field predicted by HYCOM.

3. A method for monitoring ocean vortex according to claim 1, characterized in that: The controlling the mobile transport terminal to move to the center of the area where the ocean vortex is located comprises the following steps: If the ocean vortex is an airflow vortex, based on the ocean current information obtained by SWOT satellite inversion and high-frequency ground wave radar observation, the flow field geometric characteristic method is used to obtain the first radius and the second radius of the vortex respectively; the maximum value of the first radius and the second radius is used as the radius of the airflow vortex, and the flight distance of the transport drone from takeoff to the center position of the sky is set according to the radius of the airflow vortex and the longitude and latitude of the airflow vortex obtained through satellite data, and the flight speed of the transport drone is set, and the flight time is obtained by dividing the flight distance by the flight speed; according to the flight time, the transport drone is controlled to carry multiple monitoring drones to fly to the center position of the sky above the area where the airflow vortex is located; wherein, during the flight of the transport drone, the center position of the ocean vortex is extracted by the SWOT satellite at set intervals and sent to the transport drone, so that the transport drone can recalculate the flight time and adjust the flight route; If the ocean vortex is a water current vortex, based on the ocean current information obtained by SWOT satellite inversion and high-frequency ground wave radar observation, the flow field geometric characteristic method is used to obtain the third radius and the fourth radius of the vortex respectively; the maximum value of the third radius and the fourth radius is used as the radius of the water current vortex, and the sailing distance of the transport mother ship from the start of sailing to the center of the sea surface is set according to the radius of the water current vortex and the longitude and latitude of the water current vortex obtained through satellite data, and the sailing speed of the transport mother ship is set, and the sailing time is obtained by dividing the sailing distance by the sailing speed; according to the sailing time, the transport mother ship is controlled to carry multiple unmanned boats to the center of the sea surface in the area where the water current vortex is located; wherein, during the navigation of the transport mother ship, the center position of the water current vortex is extracted by the SWOT satellite at set intervals and sent to the transport mother ship, so that the transport mother ship can recalculate the sailing time and adjust the sailing route.

4. A method for monitoring ocean vortexes according to claim 3, characterized in that: The controlling the mobile transport terminal to release each of the unmanned equipment comprises the following steps: If the ocean vortex is the airflow vortex, multiple concentric circles are determined according to the radius of the airflow vortex, and the number of monitoring drones on each of the concentric circles is determined to be a geometric progression; the number of monitoring drones to be released is determined according to the monitoring drone number demand calculation formula; the monitoring drone number demand calculation formula is: Wherein, K represents the number of monitoring drones released, M=R / A, M is an integer, M represents the number of concentric circles, and A represents the radius difference between two adjacent concentric circles; the lifting hinge inside the transport drone is controlled to lower a row of boxes, wherein each box stores one monitoring drone; each monitoring drone is controlled to fly out of the corresponding box in turn and descend to a set height; the lifting hinge is retracted and the step of controlling the lifting hinge inside the transport drone to lower a row of boxes is returned until the number of released monitoring drones is equal to the released number; If the ocean vortex is the water current vortex, the transport mother ship is controlled to open the bottom hatch, and the unmanned boat parked in the storage bin is allowed to float up by filling the bottom storage bin with water; the real-time water level values ​​inside and outside the storage bin are obtained by means of water level gauges installed in the storage bin and on the outer edge of the transport mother ship; when the information that the water level in the storage bin is equal to the water level on the external sea surface is received from the transport mother ship, an instruction to dispatch the unmanned boat is sent to the transport mother ship, so that the transport mother ship sends an instruction to the unmanned boat floating on the water in the storage bin to drive out and stop in the sea area set a distance from the transport mother ship, thereby causing the unmanned boats to drive out of the storage bin one by one.

5. A method for monitoring ocean vortexes according to claim 4, characterized in that: The controlling each of the unmanned devices to move to a designated position so that the cluster formed by each of the unmanned devices covers the area where the ocean vortex is located comprises the following steps: If the ocean vortex is the airflow vortex, one of the monitoring drones is controlled to move to the sky above the center of the airflow vortex, and the remaining monitoring drones are controlled to move so that the monitoring drones form concentric circles with the center of the airflow vortex as the center; wherein the outermost concentric circles are on the circle formed by the radius of the airflow vortex; If the ocean vortex is the water current vortex, then according to the number of each unmanned boat when it leaves the storage warehouse, the north of the transport mother ship is set as 0 degrees, and the unmanned boats are arranged in a clockwise direction according to the numbers of each unmanned boat, so that the angle between every two unmanned boats and the transport mother ship is 10°, and the maximum radius of the vortex obtained by SWOT inversion analysis is used as the boundary for arranging each unmanned boat; wherein, the transport mother ship is at the center of the water current vortex.

6. A method for monitoring ocean vortexes according to claim 3, characterized in that: The controlling each of the unmanned devices to collect corresponding monitoring data of the ocean vortex through each of the sensors comprises the following steps: If the ocean vortex is the airflow vortex, each of the monitoring drones is controlled to collect corresponding monitoring data of the airflow vortex through a GNSS positioning sensor, an air temperature sensor, an altitude sensor, a wind speed sensor, a humidity sensor, and an air pressure sensor; If the ocean vortex is the water current vortex, each of the unmanned boats is controlled to collect corresponding monitoring data of the water current vortex through a GNSS positioning sensor, a current meter, a temperature and salt chain, a wave meter and a water level meter.

7. A method for monitoring ocean vortexes according to claim 4, characterized in that: The method further comprises the step of recovering each of the unmanned devices, wherein the step of recovering each of the unmanned devices comprises: If the ocean vortex is the airflow vortex, each of the monitoring drones is controlled to enter the corresponding box in sequence according to the latitude, longitude and altitude of each of the monitoring drones; If the ocean vortex is the water current vortex, the transport mother ship is controlled to open the hatch and bottom water inlet valve of the storage bin to allow the water outside the hull to flow into the storage bin, based on the real-time water level value obtained by the water level gauge outside the hull and the water level gauge inside the storage bin; when the two water level values ​​are equal, each of the unmanned boats is controlled to enter the storage bin in turn.

8. An ocean vortex monitoring device, characterized in that: The device comprises: A vortex locating unit, used to determine the area where the ocean vortex is located; A transport control unit, used for controlling the mobile transport terminal to move to the center of the area where the ocean vortex is located; wherein the mobile transport terminal carries a plurality of unmanned equipment, each of which is equipped with a plurality of types of sensors; An unmanned equipment release unit, used to control the mobile transport terminal to release each of the unmanned equipment; An unmanned equipment control unit, used for controlling each of the unmanned equipment to move to a designated position, so that the cluster formed by each of the unmanned equipment covers the area where the ocean vortex is located; A data collection unit, used for controlling each of the unmanned devices to collect corresponding monitoring data of the ocean vortex through each of the sensors; A data receiving unit is used to receive the monitoring data sent by each of the unmanned devices.

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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