A marine vortex monitoring method and device, electronic equipment and storage medium

Abstract

This application discloses a method, device, electronic equipment, and storage medium for monitoring ocean eddies, relating to the field of geographic data monitoring technology. The method includes: determining the location of an ocean eddy; controlling a mobile transport terminal to move to the center of the ocean eddy's location; the mobile transport terminal carrying multiple unmanned devices, each equipped with various sensors; controlling the mobile transport terminal to release each unmanned device; controlling each unmanned device to move to a designated location, so that the cluster of unmanned devices covers the area where the ocean eddy is located; controlling each unmanned device to collect corresponding monitoring data of the ocean eddy through its respective sensors; and receiving the monitoring data sent by each unmanned device. This application directly monitors ocean eddies at close range using unmanned devices, accurately monitoring the constantly changing information of ocean eddies and acquiring three-dimensional structural information of ocean eddies, enabling more comprehensive and accurate monitoring and improving accuracy.

Description

Technical Field

[0001] This application relates to the field of geographic data monitoring technology, and in particular to a method, device, electronic equipment and storage medium for monitoring marine eddies. Background Technology

[0002] Ocean eddies are cylindrical fluids rotating in the atmosphere or water currents. They are ubiquitous in the global oceans and play a crucial role in the transport and redistribution of matter and energy, as well as global climate change. Ocean eddies are everywhere. Besides their large scale and finite lifespan, they are characterized by high randomness and enormous energy. Physical oceanographers estimate that they contain over 90% of the total kinetic energy of the ocean, far exceeding that of ocean currents. Traditional eddy monitoring relies on satellite imaging technology to detect eddies from high altitudes (above 3 km) and extract their characteristics from real-time images. However, satellites can only acquire information about surface ocean currents. Ocean eddies are three-dimensional structures that constantly evolve due to air-sea interactions and topographical influences. Therefore, current technology provides insufficient accuracy in obtaining information about ocean eddies. Summary of the Invention

[0003] The main objective of this application is to provide a method, device, electronic device, and storage medium for monitoring ocean eddies, so as to obtain accurate ocean eddy information.

[0004] To achieve the above objectives, one aspect of this application proposes a method for monitoring ocean eddies, the method comprising the following steps:

[0005] Determine the location of the ocean eddy;

[0006] The mobile transport terminal is controlled 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 various types of sensors;

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

[0008] Control each of the unmanned devices to move to a designated location, so that the cluster formed by the unmanned devices covers the area where the ocean eddy is located;

[0009] The unmanned devices are controlled to collect corresponding monitoring data of the ocean eddy through the respective sensors.

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

[0011] In some embodiments, determining the location of an ocean eddy includes the following steps:

[0012] The distribution information of vortices in the flow field based on HYCOM prediction is identified using flow field geometry feature methods;

[0013] By combining SWOT altimeter satellite observations, the sea surface undulation variation information of the flow field was obtained through inversion.

[0014] Determine whether the flow field in the distribution information and the sea surface undulation change information is in a vortex;

[0015] If so, the region where the ocean vortex is located will be determined by 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 includes the following steps:

[0017] If the ocean vortex is an airflow vortex, then based on the ocean current information obtained from SWOT satellite inversion and high-frequency ground wave radar observations, the first radius and second radius of the vortex are obtained using the flow field geometric feature method. The maximum value of the first radius and the second radius is taken as the radius of the airflow vortex. Based on the radius of the airflow vortex and the latitude and longitude of the airflow vortex obtained from satellite data, the flight distance of the transport UAV from takeoff to the center position in the airspace is set, and the flight speed of the transport UAV is set. The flight time is obtained by dividing the flight distance by the flight speed. Based on the flight time, the transport UAV carrying multiple monitoring UAVs is controlled to fly to the center position in the airspace above the area where the airflow vortex is located. During the flight of the transport UAV, the center position of the ocean vortex is extracted from the SWOT satellite at set intervals and sent to the transport UAV so that the transport UAV can recalculate the flight time and adjust the flight route.

[0018] If the ocean vortex is a current vortex, the third and fourth radii of the vortex are obtained using the flow field geometric feature method based on the ocean current information obtained from SWOT satellite inversion and high-frequency ground wave radar observations. The maximum value of the third and fourth radii is taken as the radius of the current vortex. The travel distance from the start of the transport mother ship to the center of the sea surface is set according to the radius of the current vortex and the latitude and longitude of the current vortex obtained from satellite data. The travel speed of the transport mother ship is also set. The travel time is obtained by dividing the travel distance by the travel speed. Based on the travel time, the transport mother ship, carrying multiple unmanned surface vessels, is controlled to move to the center of the sea surface in the area where the current vortex is located. During the voyage of the transport mother ship, the center position of the current vortex is extracted from the SWOT satellite at set intervals and sent to the transport mother ship so that the transport mother ship can recalculate the travel time and adjust the travel route.

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

[0020] If the ocean vortex is an airflow vortex, then multiple concentric circles are determined based on the radius of the airflow vortex, and the number of monitoring drones on each of the concentric circles is determined to be in a geometric sequence; the number of monitoring drones to be released is determined according to the formula for calculating the number of monitoring drones required; the formula for calculating the number of monitoring drones required is as follows: Where 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; control the lifting hinge inside the transport drone to lower a row of boxes, wherein each box holds one monitoring drone; control each monitoring drone to fly out of its corresponding box in sequence and descend to a set height; retract the lifting hinge and return to the step of controlling the lifting hinge inside the transport drone to lower a row of boxes, until the number of monitoring drones released is equal to the number of releases;

[0021] If the ocean vortex is a water flow vortex, the transport mother ship is controlled to open its bottom hatch, allowing water to be injected into the bottom storage compartment, causing the unmanned surface vessel (USV) anchored in the storage compartment to float. Real-time water level values ​​inside and outside the storage compartment are obtained using a water level gauge installed inside the storage compartment and along the outer edge of the transport mother ship. When information is received from the transport mother ship that the water level inside the storage compartment is equal to the external sea level, an instruction is sent to the transport mother ship to dispatch the USV. This causes the transport mother ship to send an instruction to the USV floating on the water in the storage compartment to sail out and stop at a predetermined distance from the transport mother ship, thereby causing the USV to sail out of the storage compartment one by one.

[0022] In some embodiments, controlling each of the unmanned devices to move to a designated location, such that the cluster formed by the unmanned devices covers the area where the ocean eddy is located, includes the following steps:

[0023] If the ocean vortex is the airflow vortex, then control one of the monitoring drones to move to the airspace above the center of the airflow vortex, and control the other monitoring drones to move so that each monitoring drone forms a concentric circle with the center of the airflow vortex as the center; wherein, the outermost concentric circle is on the circle formed by the radius of the airflow vortex.

[0024] If the ocean vortex is the water flow vortex, then according to the number of each unmanned surface vessel when it leaves the storage compartment, with the due north of the transport mother ship set as 0 degrees, the unmanned surface vessels are deployed clockwise according to their numbers, such that the angle between every two unmanned surface vessels and the transport mother ship is 10°, and the maximum radius of the vortex obtained from SWOT inversion analysis is used as the boundary for deploying each unmanned surface vessel; wherein, the transport mother ship is located at the center of the water flow vortex.

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

[0026] If the ocean vortex is the airflow vortex, then control each of the monitoring drones to collect corresponding monitoring data on the airflow vortex through GNSS positioning sensors, temperature sensors, altitude sensors, wind speed sensors, humidity sensors and air pressure sensors;

[0027] If the ocean vortex is the water flow vortex, then each of the unmanned surface vessels is controlled to collect corresponding monitoring data on the water flow vortex through GNSS positioning sensors, current meters, temperature and salinity chains, wave meters, and water level gauges.

[0028] In some embodiments, the method further includes a step of retrieving each of the unmanned devices, the step of retrieving each of the unmanned devices comprising:

[0029] If the ocean vortex is the airflow vortex, then each of the monitoring drones is sequentially controlled to enter the corresponding container according to its latitude, longitude and altitude.

[0030] If the ocean vortex is the water flow vortex, then the transport mother ship is controlled to open the hatch and bottom water inlet valve of the storage compartment, allowing water from outside the ship to flow into the storage compartment, based on the real-time water level values ​​obtained by the water level gauges outside the ship and inside the storage compartment; when the two water level values ​​are equal, each of the unmanned surface vessels is controlled to enter the storage compartment in sequence.

[0031] To achieve the above objectives, another aspect of this application provides a marine eddy monitoring device, the device comprising:

[0032] Vortex positioning unit, used to determine the location of ocean vortices;

[0033] A transport control unit is used to 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 various types of sensors;

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

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

[0036] The data acquisition unit is used to control each of the unmanned devices to collect corresponding monitoring data of the ocean eddy 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 objectives, another aspect of this application provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the above-described method.

[0039] To achieve the above objectives, another aspect of the embodiments of this application proposes a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method.

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

[0041] This application can determine the location of an ocean eddy; control a mobile transport terminal to move to the center of the ocean eddy's location; wherein the mobile transport terminal carries multiple unmanned devices, each equipped with various types of sensors; control the mobile transport terminal to release each unmanned device; control each unmanned device to move to a designated location, so that the cluster of unmanned devices covers the area where the ocean eddy is located; control each unmanned device to collect corresponding monitoring data of the ocean eddy through its respective sensors; and receive the monitoring data sent by each unmanned device. This application, by directly monitoring ocean eddies at close range using unmanned devices, can accurately monitor the constantly changing information of ocean eddies and obtain three-dimensional structural information of ocean eddies, enabling more comprehensive and accurate monitoring of ocean eddies and improving accuracy. Attached Figure Description

[0042] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0043] Figure 1A schematic flowchart of a marine eddy monitoring method provided in this application embodiment;

[0044] Figure 2 This is a schematic diagram of the storage of the transport drone and the monitoring drone provided in the embodiments of this application;

[0045] Figure 3 This is a schematic diagram of the drone swarm deployment provided in an embodiment of this application;

[0046] Figure 4 This application provides a route map for observing the vortex profile of an unmanned surface vessel formation.

[0047] Figure 5 This is a schematic diagram of the structure of a marine vortex monitoring device provided in an embodiment of this application;

[0048] Figure 6 This is a schematic diagram of the hardware structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0049] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit it. In the following description, when referring to the accompanying 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 those of this application; they are merely examples of apparatuses and methods consistent with some aspects of the embodiments of this application as detailed in the appended claims.

[0050] It is understood that the terms “first,” “second,” etc., used in this application may be used herein to describe various concepts, but unless otherwise stated, these concepts are not limited by these terms. These terms are only used to distinguish one concept from another. For example, without departing from the scope of the embodiments of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the words “if,” “when,” or “in response to a determination” as used herein may be interpreted as “when…” or “when…” or “in response to a determination.”

[0051] As used in this application, the terms "at least one", "multiple", "each", "any", etc., "at least one" includes one, two or more, "multiple" includes two or more, "each" refers to each of the corresponding multiples, and "any" refers to any one of the multiples.

[0052] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0053] This application provides a method, apparatus, electronic device, and storage medium for monitoring marine eddies, relating to the field of geographic data monitoring technology. The marine eddy monitoring method, apparatus, electronic device, and storage medium provided in this application can be applied to a terminal, a server, or software running on a terminal or server. In some embodiments, the terminal can be a smartphone, tablet, laptop, desktop computer, smart speaker, smartwatch, or vehicle terminal, but is not limited thereto; the server can be configured as an independent physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms. The server can also be a node server in a blockchain network; the software can be an application implementing a marine eddy monitoring method, but is not limited to the above forms.

[0054] This application can be used in a wide variety of general-purpose or special-purpose computer system environments or configurations. Examples include: 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, and distributed computing environments including any of the above systems or devices. This 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. This application can also be practiced in distributed computing environments where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer storage media, including storage devices.

[0055] Reference Figure 1 This application provides a method for monitoring ocean eddies, which may include, but is not limited to, steps S100 to S150, as detailed below:

[0056] S100: Determine the location of the ocean eddy.

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

[0058] S101: Identify the distribution information of vortices in the flow field based on HYCOM prediction using flow field geometry feature methods;

[0059] S102: By combining SWOT altimeter satellite observations, the sea surface undulation change information of the flow field is obtained through inversion;

[0060] S103: Determine whether the flow field in the distribution information and the sea surface undulation change information is in a vortex;

[0061] S104: If so, the region where the ocean vortex is located will be determined by the flow field based on HYCOM prediction.

[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 multiple unmanned devices, and each of the unmanned devices is equipped with various types of sensors.

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

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

[0065] S112: If the ocean vortex is a water current vortex, the third and fourth radii of the vortex are obtained using the flow field geometric feature method based on the ocean current information obtained from SWOT satellite inversion and high-frequency ground wave radar observation. The maximum value of the third and fourth radii is taken as the radius of the water current vortex. The travel distance from the start of the transport mother ship to the center of the sea surface is set according to the radius of the water current vortex and the latitude and longitude of the water current vortex obtained through satellite data. The travel speed of the transport mother ship is also set. The travel time is obtained by dividing the travel distance by the travel speed. The transport mother ship is controlled to move with multiple unmanned surface vessels to the center of the sea surface in the area where the water current vortex is located according to the travel time. During the voyage of the transport mother ship, the center position of the water current vortex is extracted by SWOT satellite at set intervals and sent to the transport mother ship so that the transport mother ship can recalculate the travel time and adjust the travel route.

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

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

[0068] S121: If the ocean vortex is the airflow vortex, then multiple concentric circles are determined based on the radius of the airflow vortex, and the number of monitoring drones on each of the concentric circles is determined to be in a geometric sequence; the number of monitoring drones to be released is determined according to the formula for calculating the number of monitoring drones required; the formula for calculating the number of monitoring drones required is as follows: 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; control the lifting hinge inside the transport drone to lower a row of boxes, wherein each box holds one monitoring drone; control each monitoring drone to fly out of its corresponding box in sequence and descend to a set height; retract the lifting hinge and return to the step of controlling the lifting hinge inside the transport drone to lower a row of boxes, until the number of monitoring drones released is equal to the number of releases.

[0069] S122: If the ocean vortex is the water flow vortex, then control the transport mother ship to open the bottom hatch, and make the unmanned surface vessel (USV) parked in the bottom storage compartment float by filling it with water; obtain the real-time water level values ​​inside and outside the storage compartment by a water level gauge installed inside the storage compartment and along the outer edge of the transport mother ship; when the transport mother ship sends information that the water level inside the storage compartment is equal to the water level on the outside sea surface, send an instruction to the transport mother ship to dispatch the USV, so that the transport mother ship sends an instruction to the USV floating on the water surface inside the storage compartment to sail out and stop in the sea area at a set distance from the transport mother ship, thereby causing the USV to sail out of the storage compartment one by one.

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

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

[0072] S131: If the ocean vortex is the airflow vortex, then control one of the monitoring drones to move to the airspace above the center of the airflow vortex, and control the other monitoring drones to move so that each monitoring drone forms a concentric circle with the center of the airflow vortex as the center; wherein, the outermost concentric circle is on the circle formed by the radius of the airflow vortex.

[0073] S132: If the ocean vortex is the water flow vortex, then according to the number of each unmanned surface vessel when it leaves the storage compartment, with the due north of the transport mother ship set as 0 degrees, the unmanned surface vessels are deployed clockwise according to their numbers, such that the angle between every two unmanned surface vessels and the transport mother ship is 10°, and the maximum radius of the vortex obtained from the SWOT inversion analysis is used as the boundary for deploying each unmanned surface vessel; wherein, the transport mother ship is located at the center of the water flow vortex.

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

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

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

[0077] S142: If the ocean vortex is the water flow vortex, then control each of the unmanned surface vessels to collect corresponding monitoring data of the water flow vortex through GNSS positioning sensors, current meters, temperature and salinity chains, wave meters and water level gauges.

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

[0079] Furthermore, embodiments of this application may also include a step of S160 retrieving each of the unmanned devices, where S160 may include S161 or S162:

[0080] S161: If the ocean vortex is the airflow vortex, then each of the monitoring drones is sequentially controlled to enter the corresponding container according to the latitude, longitude and altitude of each monitoring drone.

[0081] S162: If the ocean vortex is the water flow vortex, then control the transport mother ship to open the hatch and bottom water inlet valve of the storage compartment, allowing water from outside the ship to flow into the storage compartment, based on the real-time water level values ​​obtained by the water level gauge outside the ship and the water level gauge inside the storage compartment; when the two water level values ​​are equal, control each of the unmanned vessels to enter the storage compartment in sequence.

[0082] The following section will provide a detailed introduction and explanation of the solutions in the embodiments of this application, using specific application examples.

[0083] 1. Airflow Vortex Monitoring Solution:

[0084] The formation of ocean eddies is mainly influenced by sea surface winds; therefore, observing meteorological elements in eddy ocean areas is crucial for understanding the evolution of ocean eddies. Whether cyclones or anticyclones, ocean eddies exhibit an approximately closed-loop circular flow of water in space.

[0085] Step 1: Determine the location of the vortex.

[0086] First, based on the flow field information predicted by HYCOM, the distribution of target ocean eddies is identified using the flow field geometry (VG) method. Then, combined with SWOT (Surface Water and Ocean Topography) altimetry satellite observations, the sea surface undulation changes in the identified eddy area are retrieved. By comparing the eddy information identified by HYCOM with the eddy information retrieved by SWOT, if both indicate the presence of eddies in the area, the flow field information from HYCOM is deemed valid, and the area is identified as an eddy observation region. If the eddy information from both methods is inconsistent, a high-frequency ground wave radar observation system is deployed using an unmanned surface vessel to observe the sea surface flow field in the target area. Then, based on the high-precision sea surface flow field information obtained by the high-frequency ground wave radar, the flow field geometry method is applied to identify eddies. If eddies are identified, the area is designated as the target observation area; otherwise, it is designated as a non-target observation area.

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

[0088] Meteorological observation employs a combination of satellite remote sensing and unmanned aerial vehicles (UAVs). First, SWOT analysis is used to extract multi-element information, including seabed topography and ocean currents, from the target sea area identified as having eddies. Then, at a remote control field, N (N>13) small UAVs (monitoring UAVs) are loaded into the storage compartment of the transport UAV in a honeycomb box configuration. Figure 2 As shown.

[0089] The cell boxes for storing small observation drones are arranged in a vertical column of 5, with each column forming a box group. The planar space is arranged in a regular 10*10 pattern. Therefore, each transport drone can transport 500 small observation drones. When the estimated total number of small drones needed is greater than 500, more transport drones are dispatched to transport the small drones to the designated location in the same way.

[0090] Based on ocean current information obtained from SWOT satellite inversion and high-frequency ground-wave radar observations, the radii R1 and R2 of the vortex are obtained using the flow field geometric feature method. To ensure the most comprehensive acquisition of vortex feature information, the larger of the two values ​​is taken as the radius of the vortex to be observed: R = Max(R1, R2). Combining the latitude and longitude of the vortex center with radius R obtained from satellite data, and taking the vortex center as the target point, the distance S and route of the transport UAV from the land airport to the airspace above the vortex center are set, and the flight speed of the UAV is set as v. The time required to reach the airspace above the vortex center is then T = S / v. Due to the influence of air-sea interaction, the vortex center is constantly moving and changing. Every 30 minutes, the SWOT satellite acquires and extracts the position information of the vortex center and sends it to the transport UAV via satellite communication. After receiving the new destination position, the transport UAV recalculates and updates the time required to reach the vortex center and adjusts its flight path.

[0091] When the transport drone reaches the center of the vortex, its altitude is controlled at 5000 meters above the sea surface, and it gradually descends. When the altitude drops to 500 meters above the vortex center, the transport drone hovers. At this point, based on the latest vortex radius R, the required number of small drones is estimated. The specific estimation method is as follows: The drones are deployed in a star-shaped formation in the air, with the number of drones on each concentric circle following a geometric progression. For example, one small drone is deployed at the vortex center, four at the closest concentric circle, eight at the second closest, and so on, using a geometric progression of 1-4-8-16-32-64-128 to determine the required number of small drones on each concentric circle. Deploying small observation drones on concentric circles from the inside out using this geometric progression helps to collect more detailed and comprehensive information about the vortex's changes as the radius increases and the sea area covered by the concentric circles expands. The radius difference between any two adjacent concentric circles is 3000 meters. Figure 3 As shown. Figure 3 Schematic diagram of the deployment of a small observation drone swarm ( Figure 3 The green rings in the middle represent drones, arranged in a 1:4:8:16 ratio array.

[0092] Excluding the vortex center, the number of concentric circles M = R / 3000, where M is an integer. Then, the total number of small drones required, K, is:

[0093]

[0094] Then, based on the estimated number of small drones, the bottom hatch is opened. At this point, the honeycomb-shaped drone storage boxes are lowered via internal lifting hinges. Once the entire row of boxes has moved outside the bottom hatch, the left side of each box opens, and the small drones start up and fly out of the box, hovering at a horizontal distance of 5 meters from the box. Then, the honeycomb boxes storing the small drones are retracted via the hinges. At this point, the five small drones removed from the first box move downwards 20 meters, and then the next row of boxes is lowered sequentially. This process continues until the total number of small drones (K) required to observe the vortex is equal to K, at which point the lowering of new boxes stops.

[0095] Step 3: Meteorological data collection and processing.

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

[0097] During data acquisition, SWOT and ground-wave radar data, along with the position information of all aerial observation UAVs, are simultaneously transmitted to the land control station. The control station's computer uses flow field geometry methods to calculate the real-time vortex center position and calculates the changes in the vortex center position, as well as the relative position of each UAV in the UAV swarm to the swarm center. When the vortex center's movement exceeds the previous swarm center position by more than 1 km, the control center sends a position adjustment command to all aerial UAVs via satellite communication and sends the latest vortex center position and the relative position of each UAV to the corresponding UAV in the swarm (see...). Figure 2 After receiving instructions, all drones in the air move synchronously, using the drone at the center of the cluster as a reference point. Based on the relative position commands sent by the control center, the drone at the center moves first, followed by the other drones in the cluster. Figure 3 The drones are moved relative to the center position so that the center of the drone swarm remains above the center of the vortex and can continue to conduct observations and data collection.

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

[0099] Once the ocean eddy has been determined to have disappeared, the meteorological observation equipment will be retrieved, following these steps:

[0100] ① After receiving the instruction that the ocean eddy has disappeared, the ground control station sends hovering and position feedback instructions to all small observation drones via satellite communication. After receiving the position feedback instructions, each small drone hovers at its original position and transmits its GNSS positioning information to the ground control station via satellite. After receiving the position information of the small drone swarm, the ground control station displays the spatial distribution map of the small drone swarm in the control system and counts the total number of drones based on the feedback information. If the number of drones reported is the same as the number of drones dispatched, the count is recorded as consistent. If the counts 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 location information, the ground control station calculates the distances of the four small UAVs in the first inner ring from the center of the observation cluster, denoted as (S1, S2, S3, S4), and sorts the distances between the four UAVs and the center in descending order. The maximum and minimum distances are Smax and Smin, respectively. A convergence command is sent to the four UAVs in the first inner ring of the observation cluster. After receiving the convergence command, the four UAVs in the first inner ring move towards the center at the same speed v, with the core UAV of the observation cluster as the center. The longest and shortest time required for the four UAVs to move to the center is Tc = Smax / v, and Td = Smin / v.

[0102] ③ When the ground control system sends movement commands to the four UAVs, it starts timing. After receiving the movement commands, the four UAVs begin flying towards the center. The time for the four UAVs to reach the center position should be between [Td, Tc]. When the time record equals (Td-5) minutes, to avoid collisions between the four UAVs and the UAV at the center position, the ground control system sends hovering commands to the four UAVs. After receiving the hovering commands via satellite communication, the four UAVs hover in their original positions and send their GNSS positioning and altitude information 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 UAV and the center position, and records them as (L1, L2, L3, L4). The four calculated distance values ​​are sorted in descending order, and the UAVs are numbered in ascending order of distance, as (W1, W2, W3, W4). According to the order of the numbers, the flight target points are set above the center point UAVs and parked at equal intervals of 10 meters. The four UAVs in the first inner ring hover at heights of 10 meters, 20 meters, 30 meters, and 40 meters away from the center position, respectively.

[0104] ⑤ The ground control station sends the calculated flight destination and movement instructions to the nearest UAV. After receiving the movement instructions via satellite communication, the UAV closest to the center point begins to move towards the designated point. Upon reaching the designated point, this UAV sends a feedback instruction to the ground control station that it is in position. After receiving the in-position instruction, the ground control station sends the calculated flight destination and movement instructions to the second closest UAV to the center position. The same method is used to move the third and fourth UAVs above the center position until the fourth UAV flies to the designated position and sends a message to the ground control system that the first inner ring cluster is vertically in position. After receiving the feedback information, the ground control system sends instructions to the second inner ring UAV cluster according to the above steps. See ②-⑤ for details.

[0105] ⑥ Once the last drone in the outermost ring has positioned itself vertically, it sends a notification to the ground control station that all drones are in position, along with the position and altitude information of the topmost drone. Upon receiving this notification, the ground control station sends a dispatch command to the transport drone, along with the latitude, longitude, and altitude information of the topmost drone. Upon receiving the command, the transport drone takes off from its land-based parking area, setting its destination to the same latitude and longitude as the topmost drone and an altitude of 100 meters above it. Once the transport drone reaches the designated position and altitude, it sends a notification to the ground control station confirming its arrival.

[0106] ⑦ After receiving the arrival information of the transport drone, the ground control station sends the command to the transport drone to open the hatch and lower the cellular storage box. After receiving the command via satellite communication, the transport drone opens the hatch at the bottom of the transport drone, lowers the first cellular sub-box, and sends the latitude, longitude and altitude information of the first cellular sub-box (5 boxes) after it is lowered to the ground control station.

[0107] ⑧ After the first cell sub-box is lowered, the transport drone sends positioning information to the ground control station. The ground control station groups the small drones in the hovering vertical space into groups of five, with the top five drones in the vertical direction forming the first group, corresponding to the first cell sub-box. Based on the position information (including latitude, longitude, and altitude) of the first five cell sub-boxes, the ground control station sends the corresponding information to the five small drones in the first group from top to bottom. After receiving the target information instruction, the small drones ascend and fly to the corresponding cell sub-box. When the first group of five small drones arrives at the corresponding sub-box, they stop flying, land inside the box, and send a message to the ground control station that they have been recovered.

[0108] ⑨ After receiving information that the first group of 5 small UAVs have been parked, the ground control station sends a drop command to the second cell sub-box via satellite communication and repeats steps ⑦-⑧ until all small UAVs in the vertical direction are parked in the cell sub-box. When the last (bottom) small UAV in the vertical direction is parked in the cell sub-box, it sends a message to the ground control station that the small UAV swarm has been parked. Upon receiving the message, the ground control station sends instructions to the transport UAV to retract the cell sub-box, close the hatch, and return to the ground airport. After receiving the instructions, the transport UAV retracts all the cell sub-boxes, closes the drop hatch, sets the ground airport as its destination, and returns. This completes the observation of the aerial weather UAV swarm.

[0109] 2. Water vortex monitoring solution:

[0110] Step 1: Obtain the vortex position.

[0111] First, based on the flow field information predicted by HYCOM, the distribution of target ocean eddies is identified using the flow field geometric feature method. Then, combined with SWOT (Surface Water and Ocean Topography) altimetry satellite observations, the sea surface undulation changes in the eddy identification area are retrieved. By comparing the eddy information identified by HYCOM with the eddy information retrieved by SWOT, if both indicate the presence of eddies in the area, the flow field information from HYCOM is deemed valid, and the area is identified as an eddy observation region. If the eddy information from both is inconsistent, a high-frequency ground wave radar observation system is deployed using an unmanned surface vessel to observe the sea surface flow field in the target area. Then, based on the high-precision sea surface flow field information obtained by the high-frequency ground wave radar, the flow field geometric feature method is applied to identify eddies. If eddies are identified, the area is designated as the target observation area; otherwise, it is designated as a non-target observation area.

[0112] Step 2: Transportation of unmanned marine equipment.

[0113] After the target vortex location is determined, the vortex center's location information is transmitted to the ground control station via satellite communication. Upon receiving the location information, the ground control system transmits the vortex center's latitude and longitude information to the mother ship docked near the ground control station via satellite communication. The mother ship is a catamaran carrying N surface unmanned surface vessels and underwater vehicles (N>600). After receiving the vortex positioning information, the mother ship sets the vortex center as its destination, synchronously estimates the distance from the mother ship to the vortex center using the ground control system, and sends a command to the mother ship to start heading towards the vortex center. Upon receiving the command, the mother ship begins to sail towards the vortex center.

[0114] Based on ocean current information obtained from SWOT satellite inversion, the radii R1 and R2 of the vortex were obtained using the flow field geometric feature method. To ensure the most comprehensive acquisition of vortex feature information, the larger of the two values ​​was taken as the radius of the vortex to be observed, R = Max(R1, R2). The latitude and longitude of the vortex center with radius R obtained from satellite data were used as the target point. Due to the influence of air-sea interaction, the vortex center is constantly moving and changing. Every 30 minutes, the position information of the vortex center was acquired and extracted via SWOT satellite and transmitted to the transport ship via satellite communication. After receiving the new destination position, the transport ship recalculated and updated the time required to reach the vortex center and adjusted its navigation route.

[0115] Step 3: Transporting a fleet of unmanned marine equipment.

[0116] Once the mothership reaches the center of the vortex, it sends a arrival notification to the ground control center via satellite communication. Upon receiving this notification, the control system sends a command to deploy the unmanned surface vessel cluster. The mothership, upon receiving this command, remains stationary, opens its bottom hatch, and floods the bottom storage compartment, causing the unmanned surface vessels (USVs) to rise to the surface. Real-time water levels are monitored using gauges installed inside the storage compartment and along the outer edge of the mothership. When the water level inside the storage compartment equals the external sea level, the mothership sends a notification to the ground control center that the USVs are in position. Upon receiving this notification, the control center sends a command to the mothership via satellite communication to dispatch the USVs.

[0117] After receiving the instruction to dispatch unmanned surface vessels (USVs), the mother ship sends a satellite communication command to the USV swarm floating on the water in the storage compartment, instructing them to sail out and stop at a distance of 100 meters from the mother ship. Upon receiving the command, the USV swarm sails out of the storage compartment one by one, and is numbered W1, W2, W3...Wn (where n is the total number of USVs) according to the order in which they sail out. The USVs then arrive at the stopping position designated by the mother ship.

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

[0119] Step 4: Deploy a cluster of unmanned equipment.

[0120] After the unmanned surface vessel (USV) convoy departs from the mother ship and reaches its designated position, each USV sends its position and location information to the land control center via satellite communication. Upon receiving the position and location information, the ground control center issues an instruction to the mother ship to stop at the center of the vortex and begin observation. Upon receiving the instruction, the mother ship activates its onboard current meter, temperature and salinity meter, wave meter, and other observation equipment to conduct continuous observations at the fixed point in the vortex center. When the mother ship begins observation, it sends a message to the ground control center indicating that observation has begun. Upon receiving the message, the control center begins route planning for the USV convoy.

[0121] Based on the serial numbers of the unmanned surface vessels (USVs) when they leave the storage compartment, with the due north of the mother ship set as 0 degrees, USVs are deployed clockwise according to their serial numbers. The angle between every two USVs and the mother ship (vortex center) is 10°. The maximum vortex radius R obtained from SWOT inversion analysis is used as the boundary for deploying the USV formation. Therefore, with the mother ship (vortex center) as the origin of polar coordinates, the position of the i-th USV in polar coordinates is (10°*i, R). After the ground control center calculates the position information of each USV, it sends the command to the corresponding USV to move to the designated position via satellite communication. After receiving the command, the corresponding USV moves to its designated position one by one at a uniform speed. After each USV reaches the designated position, it stops in place and sends a message to the ground control center that it has arrived at its position via satellite communication.

[0122] After receiving confirmation that all unmanned surface vessels (USVs) were in position, the ground control center sent a command to the USVs to begin observation. Upon receiving the command via satellite communication, the USVs activated their onboard equipment, including current meters, temperature and salinity meters, and wave meters. Using the line connecting their current location to the vortex center (the location of the mother ship) as their observation route, they conducted continuous round-trip observations and data collection along this route, transmitting the observation data back to the ground control center in real time via satellite communication. (Refer to...) Figure 4 , Figure 4 Example diagram of vortex profile observation route for unmanned surface vessel formation. Figure 4 In the center, the orange part represents the mother ship, the outer green part represents the unmanned surface vessel (USV) formation, and the black dots represent the USVs positioned in the center.

[0123] During data acquisition by the unmanned surface vessel (USV) swarm, SWOT and ground-wave radar data, along with the position information of all aerial USVs, are simultaneously transmitted to the land control station. The control station's computer uses flow field geometry to calculate the real-time vortex center position and its changes, as well as the relative position of each USV in the swarm to the swarm center. When the vortex center's movement exceeds 1 km from the previous center position established by the mother ship, the control center sends a position adjustment command to all USVs via satellite communication and sends the latest vortex center position and the position of each USV relative to the mother ship to the corresponding USV in the swarm (see...). Figure 4 Once all unmanned surface vessels (USVs) receive the command, they move synchronously with the mother ship at the center of the swarm as the reference point. Based on the relative position commands sent by the control center, the mother ship at the center moves first, followed by the USVs in sequence. Figure 4 The unmanned surface vessel (USV) moves relative to the mother ship at the center, ensuring that the center of the USV cluster remains at the center of the vortex and continues to conduct observations and data collection.

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

[0125] Once the ocean eddy is determined to have disappeared, the oceanographic observation equipment will be retrieved simultaneously, following the specific steps:

[0126] ① After receiving the instruction that the ocean eddy has disappeared, the ground control station sends a command to all unmanned surface vessels (USVs) via satellite communication to stop in place and report their position, heading, and speed. Upon receiving the command, all USVs stop in place and transmit their position, speed, and heading information to the mother ship via satellite communication. After receiving the information about the USV formation, the control station classifies the USVs according to whether their heading is toward or away from the mother ship. Category A consists of USVs heading toward the mother ship, and Category B consists of USVs heading away from the mother ship.

[0127] ②The control station sends a command to the Class A unmanned surface vessel to stay in place, and sends a command to the Class B unmanned surface vessel to change course so that the course is toward the mother ship.

[0128] ③ After receiving instructions from the control station, the Class A mothership remains stationary, while the Class B unmanned surface vessels (USVs) turn around so that their bows face the mothership. Once the adjustment is complete, all USVs send a confirmation message to the control station.

[0129] ④ After receiving the information, the ground control station sends a satellite communication signal to all unmanned surface vessels (USVs) to approach the mother ship and stop at a radial distance of 50 meters from the mother ship. Upon receiving the instruction, the USVs proceed along their observed radial line to the mother ship and stop at a distance of 50 meters from the mother ship, and send a "ready in position" instruction to the control station.

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

[0131] ⑥ After receiving the message, the control station, according to the order of dispatching unmanned surface vessels (W1-W2-……Wi-……Wn), first sends an instruction to unmanned surface vessel W1 to return to the mother ship's storage compartment. After receiving the instruction, unmanned surface vessel W1 sails to the mother ship's storage compartment, stops inside the compartment, and sends a message to the ground control station that it has arrived inside the storage compartment. After receiving the message, the mother ship sends an instruction to unmanned surface vessel W2 to return to the mother ship's storage compartment. After receiving the instruction, unmanned surface vessel W2 sails to the mother ship's storage compartment, stops inside the compartment, and sends a message to the ground control station that it has arrived inside the storage compartment. In this order, the other unmanned surface vessels enter the storage compartment one by one.

[0132] ⑦ Once the last Wn unmanned surface vessel has stopped in its position inside the cabin, it sends a message to the ground control station that all unmanned surface vessels have returned to the mother ship's storage compartment. After receiving the message, the control station sends an instruction to the mother ship to close the hatch. 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] ⑧ After receiving the message that the hatch has been closed, the control station sends the positioning information and return command to the mother ship. After receiving the command, the mother ship returns to the designated docking point.

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

[0135] (1) A drone formation in the air, arranged in a cross-shaped encrypted array (in a geometric sequence of 4-8-16-32).

[0136] (2) The transport drone updates its route every 30 minutes through satellite communication and SWOT real-time remote sensing observation information to ensure 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 retrieved one by one in a circular ring of the same diameter, hovering at equal intervals in the vertical direction, and is recovered in a honeycomb box shape.

[0138] (4) During the transport of the small observation drone swarm, the transport drone monitors the changes in the vortex center position in real time via SWOT satellite and sends the position information to the transport drone via satellite communication every 30 minutes. After receiving the updated vortex center position, the transport drone recalculates the arrival time and adjusts its flight path to ensure that the transport drone arrives at the center of the real-time vortex.

[0139] (5) A marine vortex monitoring system integrating a land control system, an aerial UAV swarm, and a surface unmanned surface vessel swarm. The aerial UAV swarm and the surface unmanned surface vessel swarm are deployed along the vortex rotation circle.

[0140] (6) The unmanned surface vessel formation divides the observation route into equal angles under polar coordinates and conducts continuous navigation observation on the radial line profile at the distance from the vortex center. Each unmanned vessel takes the vortex center as the turning point.

[0141] (7) As the position of the vortex center moves, the UAV and unmanned surface vessel observation cluster moves synchronously with the position of the vortex center and continues to carry out observations.

[0142] Reference Figure 5 This application also provides a marine eddy monitoring device that can implement the above-described marine eddy monitoring method. The device includes:

[0143] Vortex positioning unit, used to determine the location of ocean vortices;

[0144] A transport control unit is used to 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 various types of sensors;

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

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

[0147] The data acquisition unit is used to control each of the unmanned devices to collect corresponding monitoring data of the ocean eddy 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 is understood that the content of the above method embodiments is applicable to the present device embodiments. The specific functions 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] This application also provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the aforementioned ocean eddy monitoring method. This electronic device can be any smart terminal, including tablet computers, vehicle-mounted computers, etc.

[0151] It is understood that the content of the above method embodiments is applicable to this device embodiment. The specific functions implemented by this device embodiment 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] Please see Figure 6 , Figure 6 The hardware structure of an electronic device according to another embodiment is illustrated. The electronic device includes:

[0153] The processor 601 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, 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 this application.

[0154] The memory 602 can be implemented as a read-only memory (ROM), static storage device, dynamic storage device, or random access memory (RAM). The memory 602 can store the operating system and other applications. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 602 and called and executed by the processor 601 to implement a marine vortex monitoring method according to an embodiment of this application.

[0155] The input / output interface 603 is used to implement information input and output;

[0156] The communication interface 604 is used to enable communication and interaction between this device and other devices. Communication can be achieved through wired means (such as USB, Ethernet cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0157] Bus 605 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, memory 602, input / output interface 603, and communication interface 604 are connected to each other within the device via bus 605.

[0159] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method for monitoring ocean eddies.

[0160] It is understood that the content of the above method embodiments is applicable to this storage medium embodiment. The specific functions implemented in this storage medium embodiment are the same as those in the above method embodiments, and the beneficial effects achieved are also the same as those achieved in the above method embodiments.

[0161] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory may optionally include memory remotely located relative to the processor, and these remote memories can be connected to the processor via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0162] The embodiments described in this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided by the embodiments of this application. As those skilled in the art will know, with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by the embodiments of this application are also applicable to similar technical problems.

[0163] Those skilled in the art will understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of this application, and may include more or fewer steps than shown, or combine certain steps, or different steps.

[0164] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0165] Those skilled in the art will understand that all or some of the steps in the methods disclosed above, as well as the functional modules / units in the systems and devices, can be implemented as software, firmware, hardware, or suitable combinations thereof.

[0166] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0167] It should be understood that in this application, "at least one (item)" means one or more, and "more than" means two or more. "And / or" is used to describe the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0168] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of the units described above is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0169] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0170] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0171] If the integrated unit is implemented as 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 this application, in essence, 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. This computer software product is stored in a storage medium and includes multiple instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing programs, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0172] The preferred embodiments of the present application have been described above with reference to the accompanying drawings, but this does not limit the scope of the claims of the present application. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and substance of the embodiments of the present application shall be within the scope of the claims of the present application.

Claims

1. A method for monitoring ocean eddies, characterized in that, The method includes the following steps: Determine the location of the ocean eddy; The mobile transport terminal is controlled 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 various types of sensors; Control the mobile transport terminal to release each of the unmanned devices; Control each of the unmanned devices to move to a designated location, so that the cluster formed by the unmanned devices covers the area where the ocean eddy is located; The unmanned devices are controlled to collect corresponding monitoring data of the ocean eddy through the respective sensors. Receive the monitoring data sent by each of the unmanned devices; The process of controlling the mobile transport terminal to release each of the unmanned devices includes the following steps: The mobile transportation terminal includes a transport drone, and the unmanned equipment includes a monitoring drone. If the ocean vortex is an airflow vortex, then multiple concentric circles are determined based on the radius of the airflow vortex, and the number of monitoring drones on each of the concentric circles is determined to be in a geometric sequence. The release quantity of the monitoring drones is determined according to the formula for calculating the number of monitoring drones required. The formula for calculating the number of monitoring drones required is as follows: ;in, The number of monitoring drones released is M = R / A, where M is an integer, M represents the number of concentric circles, and A represents the radius difference between two adjacent concentric circles. The process involves controlling the lifting hinge inside the transport drone to lower a row of boxes, each box containing one monitoring drone; controlling each monitoring drone to sequentially fly out of its corresponding box and descend to a set height; retracting the lifting hinge and returning to the step of controlling the lifting hinge inside the transport drone to lower a row of boxes, until the number of released monitoring drones equals the total number of drones released. The mobile transport terminal includes a mother ship, and the unmanned equipment includes unmanned surface vessels (USVs). If the ocean vortex is a water current vortex, the mother ship is controlled to open its bottom hatch, allowing water to be injected into the bottom storage compartment, causing the USVs anchored in the storage compartment to float. Real-time water level values ​​inside and outside the storage compartment are obtained by a water level gauge installed inside the storage compartment and along the outer edge of the mother ship. When the mother ship receives information that the water level inside the storage compartment is equal to the external sea level, the mother ship sends a command to the mother ship to dispatch the USVs. This causes the mother ship to send a command to the USVs floating on the water in the storage compartment to sail out and stop at a set distance from the mother ship, thereby causing the USVs to sail out of the storage compartment one by one.

2. The method for monitoring ocean eddies according to claim 1, characterized in that, Determining the location of an ocean eddy includes the following steps: The distribution information of vortices in the flow field based on HYCOM prediction is identified using flow field geometry feature methods; By combining SWOT altimeter satellite observations, the sea surface undulation variation information of the flow field was obtained through inversion. Determine whether the flow fields in the distribution information and the sea surface undulation change information are both in vortices; If so, the region where the ocean vortex is located will be determined by the flow field predicted by HYCOM.

3. The method for monitoring ocean eddies according to claim 1, characterized in that, The process of controlling the mobile transport terminal to move to the center of the area where the ocean vortex is located includes the following steps: If the ocean vortex is an airflow vortex, then based on the ocean current information obtained from SWOT satellite inversion and high-frequency ground wave radar observations, the first radius and second radius of the vortex are obtained using the flow field geometric feature method. The maximum value of the first radius and the second radius is taken as the radius of the airflow vortex. Based on the radius of the airflow vortex and the latitude and longitude of the airflow vortex obtained from satellite data, the flight distance of the transport UAV from takeoff to the center position in the airspace is set, and the flight speed of the transport UAV is set. The flight time is obtained by dividing the flight distance by the flight speed. Based on the flight time, the transport UAV carrying multiple monitoring UAVs is controlled to fly to the center position in the airspace above the area where the airflow vortex is located. During the flight of the transport UAV, the center position of the ocean vortex is extracted from the SWOT satellite at set intervals and sent to the transport UAV so that the transport UAV can recalculate the flight time and adjust the flight route. If the ocean vortex is a current vortex, the third and fourth radii of the vortex are obtained using the flow field geometric feature method based on the ocean current information obtained from SWOT satellite inversion and high-frequency ground wave radar observations. The maximum value of the third and fourth radii is taken as the radius of the current vortex. The travel distance from the start of the transport mother ship to the center of the sea surface is set according to the radius of the current vortex and the latitude and longitude of the current vortex obtained from satellite data. The travel speed of the transport mother ship is also set. The travel time is obtained by dividing the travel distance by the travel speed. Based on the travel time, the transport mother ship, carrying multiple unmanned surface vessels, is controlled to move to the center of the sea surface in the area where the current vortex is located. During the voyage of the transport mother ship, the center position of the current vortex is extracted from the SWOT satellite at set intervals and sent to the transport mother ship so that the transport mother ship can recalculate the travel time and adjust the travel route.

4. The method for monitoring ocean eddies according to claim 1, characterized in that, Controlling each of the unmanned devices to move to a designated location, so that the cluster of unmanned devices covers the area where the ocean eddy is located, includes the following steps: If the ocean vortex is the airflow vortex, then control one of the monitoring drones to move to the airspace above the center of the airflow vortex, and control the other monitoring drones to move so that each monitoring drone forms a concentric circle with the center of the airflow vortex as the center; wherein, the outermost concentric circle is on the circle formed by the radius of the airflow vortex. If the ocean vortex is the water flow vortex, then according to the number of each unmanned surface vessel when it leaves the storage compartment, with the due north of the transport mother ship set as 0 degrees, the unmanned surface vessels are deployed clockwise according to their numbers, such that the angle between every two unmanned surface vessels and the transport mother ship is 10°, and the maximum radius of the vortex obtained from SWOT inversion analysis is used as the boundary for deploying each unmanned surface vessel; wherein, the transport mother ship is located at the center of the water flow vortex.

5. A method for monitoring ocean eddies according to claim 3, characterized in that, The process of controlling each of the unmanned devices to collect corresponding monitoring data on the ocean eddy through each of the sensors includes the following steps: If the ocean vortex is the airflow vortex, then control each of the monitoring drones to collect corresponding monitoring data on the airflow vortex through GNSS positioning sensors, temperature sensors, altitude sensors, wind speed sensors, humidity sensors and air pressure sensors; If the ocean vortex is the water flow vortex, then each of the unmanned surface vessels is controlled to collect corresponding monitoring data on the water flow vortex through GNSS positioning sensors, current meters, temperature and salinity chains, wave meters, and water level gauges.

6. The method for monitoring ocean eddies according to claim 1, characterized in that, The method further includes a step of recovering each of the unmanned devices, the step of recovering each of the unmanned devices including: If the ocean vortex is the airflow vortex, then each of the monitoring drones is sequentially controlled to enter the corresponding container according to its latitude, longitude and altitude. If the ocean vortex is the water flow vortex, then the transport mother ship is controlled to open the hatch and bottom water inlet valve of the storage compartment, allowing water from outside the ship to flow into the storage compartment, based on the real-time water level values ​​obtained by the water level gauges outside the ship and inside the storage compartment; when the two water level values ​​are equal, each of the unmanned surface vessels is controlled to enter the storage compartment in sequence.

7. A marine eddy monitoring device, characterized in that, The device includes: Vortex positioning unit, used to determine the location of ocean vortices; A transport control unit is used to 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 various types of sensors; An unmanned equipment release unit is used to control the mobile transport terminal to release each of the unmanned devices; An unmanned equipment control unit is used to control each of the unmanned devices to move to a designated location, so that the cluster formed by the unmanned devices covers the area where the ocean eddy is located; The data acquisition unit is used to control each of the unmanned devices to collect corresponding monitoring data of the ocean eddy through each of the sensors. A data receiving unit is used to receive the monitoring data sent by each of the unmanned devices; The process of controlling the mobile transport terminal to release each of the unmanned devices includes the following steps: The mobile transportation terminal includes a transport drone, and the unmanned equipment includes a monitoring drone. If the ocean vortex is an airflow vortex, then multiple concentric circles are determined based on the radius of the airflow vortex, and the number of monitoring drones on each of the concentric circles is determined to be in a geometric sequence. The release quantity of the monitoring drones is determined according to the formula for calculating the number of monitoring drones required. The formula for calculating the number of monitoring drones required is as follows: ;in, The number of monitoring drones released is M = R / A, where M is an integer, M represents the number of concentric circles, and A represents the radius difference between two adjacent concentric circles. The process involves controlling the lifting hinge inside the transport drone to lower a row of boxes, each box containing one monitoring drone; controlling each monitoring drone to sequentially fly out of its corresponding box and descend to a set height; retracting the lifting hinge and returning to the step of controlling the lifting hinge inside the transport drone to lower a row of boxes, until the number of released monitoring drones equals the total number of drones released. The mobile transport terminal includes a mother ship, and the unmanned equipment includes unmanned surface vessels (USVs). If the ocean vortex is a water current vortex, the mother ship is controlled to open its bottom hatch, allowing water to be injected into the bottom storage compartment, causing the USVs anchored in the storage compartment to float. Real-time water level values ​​inside and outside the storage compartment are obtained by a water level gauge installed inside the storage compartment and along the outer edge of the mother ship. When the mother ship receives information that the water level inside the storage compartment is equal to the external sea level, the mother ship sends a command to the mother ship to dispatch the USVs. This causes the mother ship to send a command to the USVs floating on the water in the storage compartment to sail out and stop at a set distance from the mother ship, thereby causing the USVs to sail out of the storage compartment one by one.

8. An electronic device, characterized in that, The electronic device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the method as described in any one of claims 1 to 6.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1 to 6.

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