Marine radioactive substance tracing method and system based on multi-modal sensor

Abstract

The invention discloses a marine radioactive substance traceability method and system based on a multi-modal sensor, and relates to the technical field of power supply control, and the method comprises the following specific steps: configuring a new energy power generation device for multi-modal sensor detection equipment, setting a sleep threshold value and a working threshold value of the multi-modal sensor detection equipment, the multi-modal sensor detection equipment initializes power supply, carries out detection operation, carries out detection operation in a working threshold time region and sends detection data, and the multi-modal sensor detection equipment circularly works according to the process to predict the use condition of the electric quantity in the multi-modal sensor detection equipment. According to the marine radioactive substance traceability method based on the multi-mode sensor, the annular array solar panel is integrated in the drifting buoy, a new energy power supply system is formed by combining the storage battery, energy can be supplemented for equipment in real time, and the problem that operation cannot be carried out after electric quantity of a traditional lithium battery is used up is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of power supply control, in particular to a marine radioactive material tracing method and system based on a multi-modal sensor. BACKGROUND

[0002] The small drift buoy carries a high-sensitivity nuclear radiation sensor through drift mode, continuously collects and transmits marine radioactive environmental data, then determines the spatial position of the buoy using a satellite positioning system, and uses Beidou, Iridium, 4G and other communication methods to transmit the obtained data to the cloud platform in real time. Users can easily access, query and download these data, thereby realizing real-time monitoring of water body nuclear radiation and providing real-time and accurate water body nuclear radiation information for users.

[0003] Since the nuclear radiation sensor is carried by the drift buoy, a lithium battery is installed in the drift buoy to provide power for the nuclear radiation sensor to ensure that the nuclear radiation sensor is powered on. In addition, since the nuclear radiation sensor operates on the sea, it is inconvenient to replace the lithium battery directly. When the lithium battery runs out of power after the nuclear radiation sensor operates on the sea for a period of time, the nuclear radiation sensor cannot perform detection operations, thereby having certain defects. SUMMARY

[0004] The present application relates to the technical field of power supply control, in particular to a marine radioactive material tracing method and system based on a multi-modal sensor.

[0005] To achieve the above purpose, the present application provides the following technical scheme: a marine radioactive material tracing method based on a multi-modal sensor, comprising the following specific steps: Step 1: Provide a new energy power generation device for the multi-modal sensor detection equipment, and assemble a new energy power circuit to supplement the energy of the multi-modal sensor detection equipment; Step 2: Set the sleep threshold and working threshold of the multi-modal sensor detection equipment. When the multi-modal sensor detection equipment is in the sleep threshold time region, the multi-modal sensor detection equipment enters a low-power sleep state; Step 3: When the multi-modal sensor detection equipment sleep state ends, the multi-modal sensor detection equipment initializes power supply, performs detection operation, and sends detection data in the working threshold time region; Step 4: After the multi-modal sensor detection equipment completes the detection operation, the multi-modal sensor detection equipment enters a sleep state, and the above steps 2 and 3 are repeated to make the multi-modal sensor detection equipment operate in the above process cycle; Step five: analyze the internal power of the multi-modal sensor detection device according to the data transmitted in step three, and predict the internal power usage of the multi-modal sensor detection device.

[0006] Preferably, the multi-modal sensor detection device in step one comprises a drift buoy, a nuclear radiation sensor, a water sail and a composite cable, the drift buoy, the nuclear radiation sensor and the water sail are connected by the composite cable, the drift buoy is spherical, and the center of gravity of the drift buoy is below the center of the drift buoy, the drift buoy comprises a bearing shell, a top cover, a storage battery, a mounting bracket, a solar panel and a Beidou antenna, the top cover is fixedly installed on the top of the bearing shell, the storage battery is fixedly installed at the bottom of the inner cavity of the bearing shell, and the storage battery is below the center of the drift buoy, the mounting bracket is fixedly installed at the top of the inner cavity of the bearing shell, the solar panel is installed on the mounting bracket, and the Beidou antenna is fixedly installed on the top of the mounting bracket, the Beidou antenna is used for communication between satellites, and the top cover is transparently arranged to protect the internal structure of the float ball and see through sunlight, and a plurality of solar panels are arranged in an annular array, and the solar panels are arranged at an angle of 60° to 70° with the horizontal plane to maximize the layout of the solar panel area.

[0007] Preferably, in the new energy power circuit in step one, there is one external power supply total switch to control the power supply of the entire external device, and there are four separate control power supply circuits for the external device, which are the positioning module power supply control circuit, the Beidou short message module power supply control circuit, the nuclear radiation sensor power supply control circuit and the nuclear radiation sensor communication power supply control circuit. Under the condition that the total power supply switch is opened, the low-power processor separately controls the power supply of the four external devices. The communication circuit has three paths. The first path is that the low-power processor communicates with the positioning module through serial port 2 to obtain latitude and longitude data. The second path is that the low-power processor communicates with the Beidou short message module through serial port 3 to send the collected nuclear radiation data and positioning data to the remote server. The third path is that the low-power processor communicates with the nuclear radiation sensor through serial port 1 to obtain the measurement data of the nuclear radiation sensor. The solar panel charges the storage battery through the solar charging circuit, and the storage battery provides energy for the low-power processor through the voltage sampling circuit. The low-power processor provides power for the nuclear radiation sensor and the Beidou antenna through the peripheral circuit power supply total switch. The nuclear radiation sensor is connected with the nuclear radiation sensor power supply control circuit to control the operation of the nuclear radiation sensor. The Beidou antenna controls the positioning module through the positioning module power supply control module to perform coordinate positioning operation. The Beidou antenna controls the Beidou short message module through the Beidou short message module control circuit to perform short message information. The Beidou antenna and the nuclear radiation sensor transmit information through the communication circuit.

[0008] Preferably, when the solar panel charges the battery through the solar charging circuit, the solar panel generates electricity which is converted by the solar charging circuit to charge the battery, the battery charges the low-power processor 3.3V stable voltage current, when the battery is 100%, stop the solar panel charging the battery, when the battery is lower than the preset value, the solar panel continues to charge the battery through the solar charging circuit, and records the battery power data information, and counts the solar panel charging power data.

[0009] Preferably, the sleep threshold of the multi-modal sensor detection device in step two is 30 minutes, and the working threshold of the multi-modal sensor detection device is 2 minutes. When the multi-modal sensor detection device is in a sleep state, the power supply of the nuclear radiation sensor is turned off, the power supply of the positioning module is turned off, the power supply of the nuclear radiation sensor communication module is turned off, the total power supply switch is turned off, the AD, serial ports 1, 2 and 3 are restored to the initial IO state and set to high-impedance input mode, the standby time is set to 30 minutes, and the low-power processor enters a low-power sleep mode.

[0010] Preferably, when the multi-modal sensor detection device initializes the power supply in step three, the clock of the low-power processor is initialized, the clock is set to 4MhZ, the control IO port is initialized to output mode, and the remaining IO ports are initialized to high-impedance input mode, the serial ports 1, 2 and 3 are initialized to working mode, the total source switch is turned on, the positioning module power supply switch is turned on, and the positioning module starts working.

[0011] Preferably, when the multi-modal sensor detection device position positioning is completed, the nuclear radiation sensor power supply switch is turned on, the nuclear radiation sensor starts working, the nuclear radiation sensor communication module power supply switch is turned on, the Beidou short message power supply switch is turned on, the 2-minute timer is turned on, and it is judged whether the serial communication between the positioning module and the nuclear radiation sensor is completed. When the serial communication between the positioning module and the nuclear radiation sensor is completed, the voltage of the battery is collected, the battery voltage, longitude and latitude, and nuclear radiation data are sent out through the short message module, and one detection operation is ended.

[0012] Preferably, when the serial communication between the positioning module and the nuclear radiation sensor is not completed, it is judged whether 2 minutes is reached. When 2 minutes is not reached, the step of judging whether the serial communication between the positioning module and the nuclear radiation sensor is completed is returned. When 2 minutes is reached, the voltage of the battery is collected, and invalid data is sent out through the short message module.

[0013] Preferably, the data transmitted in the fifth step includes positioning information, battery power information and solar panel power generation information, the latitude, sunshine duration, light intensity, temperature and wind speed information of the location where the multi-modal sensor detection device is located are obtained through the positioning information, the future solar panel power generation data is estimated according to the latitude, sunshine duration, light intensity, temperature and wind speed information of the location where the multi-modal sensor detection device is located and the solar panel power generation condition, the relationship between the estimated power generation and the device energy consumption is analyzed, and an evaluation and analysis period is set, when the estimated power generation is greater than the device energy consumption in a period, the multi-modal sensor detection device detection process is maintained, when the estimated power generation is less than the device energy consumption in a period, the multi-modal sensor detection device sleep period is increased, and the multi-modal sensor detection device detection operation frequency is reduced, so as to ensure the operation time length of the multi-modal sensor detection device.

[0014] Another purpose of the present application is to provide a multi-modal sensor based ocean radioactive material tracing system, comprising: A chip module for running control of the multi-modal sensor detection device by a low-power processor; A positioning module for positioning the geographical position of the multi-modal sensor detection device; A nuclear radiation sensor module for detecting nuclear radiation of the ocean; A Beidou short message module for sending multi-modal sensor detection device operation detection data; A power module for providing power supply for the multi-modal sensor detection device operation, and the power module uses solar energy for charging and supplementing energy.

[0015] Technical effects and advantages of the present application: (1) The present application uses a multi-modal sensor based ocean radioactive material tracing method, integrates a ring array solar panel in the drift buoy, combines a battery to form a new energy power supply system, can supplement energy for the device in real time, avoids the problem that the traditional lithium battery cannot work after the power is consumed, realizes automatic charging and discharging control of the battery through a solar charging circuit, guarantees the stability of energy supply, and significantly prolongs the continuous working time of the device at sea; (2) The present application uses a multi-modal sensor based ocean radioactive material tracing method, sets a low-power sleep mechanism, sets a sleep threshold and a working threshold, closes the power supply of peripherals such as the nuclear radiation sensor and the positioning module in the sleep state, only retains the core function of the low-power processor, quickly wakes up and completes the detection and data transmission in the working state, greatly reduces unnecessary energy consumption, and maximizes energy utilization efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1The flow chart of the method of the present application; Figure 2 The circuit diagram of the present application; Figure 3 The logic judgment flow chart of the present application; Figure 4 The front structure diagram of the drift buoy of the present application; Figure 5 The front structure diagram of the bearing shell of the present application.

[0017] In the figure: 1, drift buoy; 11, bearing shell; 12, top cover; 13, storage battery; 14, mounting bracket; 15, solar panel; 16, Beidou antenna; 2, nuclear radiation sensor; 3, water sail; 4, composite cable. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0019] The present application provides a kind of marine radioactive material tracing method based on multi-modal sensor as shown in Figures 1-5 The present application provides a kind of marine radioactive material tracing method based on multi-modal sensor as shown in Step one: the multi-modal sensor detection equipment is equipped with new energy power generation device, and new energy power circuit assembly is carried out, so that the new energy power generation device supplements the energy of the multi-modal sensor detection equipment operation, to improve the working time of the multi-modal sensor detection equipment; Step two: set the multi-modal sensor detection equipment dormancy threshold and working threshold, when the multi-modal sensor detection equipment is in the dormancy threshold time region, the multi-modal sensor detection equipment is in the low-power sleep state, in the sleep state, the power consumption of the multi-modal sensor detection equipment can be reduced, thereby improving the working time of the multi-modal sensor detection equipment; Step three: when the multi-modal sensor detection equipment sleep state ends, the multi-modal sensor detection equipment initializes power supply, the multi-modal sensor detection equipment carries out detection operation, and carries out detection operation in the working threshold time region, and sends detection data; Step four: after the multi-modal sensor detection equipment detection operation is completed, the multi-modal sensor detection equipment enters sleep state, repeats the above-mentioned step two and step three, so that the multi-modal sensor detection equipment is operated in the above-mentioned process; Step five: according to the data transmitted in step three, the internal power of the multi-modal sensor detection equipment is analyzed, and the internal power usage of the multi-modal sensor detection equipment is predicted.

[0020] Further, the multi-modal sensor detection device in step one includes a drift buoy 1, a nuclear radiation sensor 2, a water sail 3 and a composite cable 4, the drift buoy 1, the nuclear radiation sensor 2 and the water sail 3 are connected through the composite cable 4, the nuclear radiation sensor 2 can detect the radiation on the sea, and the drift buoy 1 also carries a sensor for detecting the sea surface temperature, the drift buoy 1 is spherical, and the center of gravity of the drift buoy 1 is below the center of the drift buoy 1, the drift buoy 1 includes a bearing shell 11, a top cover 12, a storage battery 13, a mounting bracket 14, a solar panel 15 and a Beidou antenna 16, the top cover 12 is fixedly installed on the top of the bearing shell 11, the storage battery 13 is fixedly installed at the bottom of the inner cavity of the bearing shell 11, and the storage battery 13 is below the center of the drift buoy 1, so that under the action of the sea wave, the drift buoy 1 can automatically turn over and return to normal after overturning, thereby ensuring the stability of the drift buoy 1, and the storage battery 13 is arranged by 2 rows of lithium batteries, and the number of lithium batteries in each row is 7, which belongs to the prior art and will not be described in detail here, the mounting bracket 14 is fixedly installed at the top of the inner cavity of the bearing shell 11, the solar panel 15 is installed on the mounting bracket 14, and the Beidou antenna 16 is fixedly installed on the top of the mounting bracket 14, the Beidou antenna 16 is used for communication between satellites, and the top cover 12 is transparently arranged to protect the internal structure of the float ball and see through sunlight, and a plurality of solar panels 15 are arranged in a ring array, and the solar panels 15 are arranged at an angle of 60° to 70° with the horizontal plane, and the angle between the solar panels 15 and the horizontal plane is preferably 64°, so that the area of the solar panels 15 is maximized, and the power generation efficiency of the solar panels 15 is improved.

[0021] Further, in the new energy power circuit in step one, there is a total switch for supplying power to the peripherals, and there are four separate control power supply circuits for the peripherals, which are the positioning module power supply control circuit, the Beidou short message module power supply control circuit, the nuclear radiation sensor 2 power supply control circuit and the nuclear radiation sensor 2 communication power supply control circuit. Under the condition that the total power supply switch is turned on, the low-power processor controls the power supply of the four peripherals separately. The communication circuit mainly has three paths. The first path is that the low-power processor communicates with the positioning module through serial port 2 to obtain latitude and longitude data. The second path is that the low-power processor communicates with the Beidou short message module through serial port 3 to send the collected nuclear radiation data and positioning data to the remote server. The third path is that the low-power processor communicates with the nuclear radiation sensor 2 through serial port 1. The connection states of serial port 2, serial port 3 and serial port 1 are as follows: Figure 2As shown, the nuclear radiation sensor 2 measures data, the solar panel 15 charges the battery 13 through the solar charging circuit, the battery 13 provides energy for the low-power processor through the voltage stabilizing circuit and the battery voltage acquisition circuit, the low-power processor provides power for the nuclear radiation sensor 2 and the Beidou antenna 16 through the peripheral circuit power supply switch, and the nuclear radiation sensor 2 is connected to the nuclear radiation sensor 2 power supply control circuit to control the nuclear radiation sensor 2 to work, the Beidou antenna 16 controls the positioning module to work through the positioning module power supply control module, the Beidou antenna 16 controls the short message module through the Beidou short message module control circuit, and the Beidou antenna 16 and the nuclear radiation sensor 2 transmit information through the communication circuit.

[0022] Further, when the solar panel 15 charges the battery 13 through the solar charging circuit, the solar panel 15 generates an electric quantity which is converted by the solar charging circuit to charge the battery 13, and the battery 13 charges the low-power processor 3.3V stable current. When the electric quantity of the battery 13 is 100%, the solar panel 15 stops charging the battery 13, so as to avoid the continuous charging of the battery 13 by the solar panel 15, which causes the damage of the battery 13 due to the excessive electric quantity. When the electric quantity of the battery 13 is lower than the preset value, which can be 90% of the electric quantity of the battery 13, that is, the power in the battery 13 is lower than 90%, the solar panel 15 can charge the battery 13. The solar panel 15 continues to charge the battery 13 through the solar charging circuit, records the electric quantity data information of the battery 13, and counts the charging electric quantity data of the battery 13 by the solar panel 15.

[0023] Specifically, the sleep threshold of the multi-modal sensor detection device in step two is 30 minutes, and the working threshold of the multi-modal sensor detection device is 2 minutes. When the multi-modal sensor detection device is in a sleep state, the power supply of the nuclear radiation sensor 2 is turned off, the power supply of the positioning module is turned off, the power supply of the nuclear radiation sensor 2 communication module is turned off, the total power supply switch is turned off, the AD, serial ports 1, 2 and 3 are restored to the initial IO state and set to high-impedance input mode, the standby time is set to 30 minutes, and the low-power processor enters a low-power sleep mode. In this mode, the whole machine has a current of about 2-3uA, so as to ensure that the battery of the system can work for not less than 6 months under the condition of full power even without the charging of the solar panel 15.

[0024] Further, in step three, when the multi-modal sensor detection device is initialized for power supply, the clock of the low-power processor is initialized, the clock is set to 4MhZ, the control IO port is initialized to output mode, the remaining IO ports are in high-impedance input mode, serial ports 1, 2 and 3 are initialized to work mode, AD is a key module inside or outside the processor, used to convert analog signals into digital signals for the processor to calculate and process, the IO port is the physical interface of the processor and external devices for interaction, responsible for data input and output, analog signals need to be connected to the processor through analog IO ports, and then converted by the AD module, the total source switch is turned on, the fixed mode module power supply switch is turned on, and the fixed mode module starts to work.

[0025] In particular, after the multi-modal sensor detection device completes the position positioning, the nuclear radiation sensor 2 power supply switch is turned on, the nuclear radiation sensor 2 starts to work, the nuclear radiation sensor 2 communication module power supply switch is turned on, the Beidou short message power supply switch is turned on, a 2-minute timer is turned on, and it is judged whether the serial port communication between the positioning module and the nuclear radiation sensor 2 is completed. When the serial port communication between the positioning module and the nuclear radiation sensor 2 is completed, the voltage of the storage battery 13 is collected, the voltage of the storage battery 13, the latitude and longitude, and the nuclear radiation data are sent out through the short message module, and one detection operation is ended. When the serial port communication between the positioning module and the nuclear radiation sensor 2 is not completed, it is judged whether 2 minutes have been reached. When 2 minutes have not been reached, the judgment step of whether the serial port communication between the positioning module and the nuclear radiation sensor 2 is completed, i.e., whether the detection operation of the positioning module and the nuclear radiation sensor 2 is completed, is returned. When 2 minutes have been reached, the voltage of the storage battery 13 is collected, and invalid data is sent out through the short message module. The multiple invalid data sent out can be analyzed to determine whether the positioning module and the nuclear radiation sensor 2 are damaged due to the invalid data sent out, i.e., invalid data is sent out twice in succession, to preliminarily determine that the positioning module and the nuclear radiation sensor 2 are damaged. The positioning module and the nuclear radiation sensor 2 are sent to specified positions to make them work alone. When the positioning module and the nuclear radiation sensor 2 perform detection operations, it is judged whether they work normally. When the detection functions of the positioning module and the nuclear radiation sensor 2 are normal, the damage judgment is cancelled. When the detection functions of the positioning module and the nuclear radiation sensor 2 cannot work normally, it is determined that the positioning module and the nuclear radiation sensor 2 are damaged.

[0026] Furthermore, the data transmitted in step five includes location information, battery power information of the storage battery 13, and power generation information of the solar panel 15. The location information is used to obtain the latitude, sunshine duration, light intensity, temperature, and wind speed of the multimodal sensor detection device. This information can be obtained through weather forecasts, online queries, or real-time data collection. Based on the latitude, sunshine duration, light intensity, temperature, and wind speed of the multimodal sensor detection device and the power generation of the solar panel 15, the future power generation data of the solar panel 15 is estimated. The relationship between the estimated power generation and the device's energy consumption is analyzed, and an evaluation and analysis cycle is set, such as one week or one month. When the estimated power generation is greater than the device's energy consumption within a cycle, the detection process of the multimodal sensor detection device is maintained. When the estimated power generation is less than the device's energy consumption within a cycle, the sleep cycle of the multimodal sensor detection device is increased, and the detection operation frequency of the multimodal sensor detection device is reduced to ensure the operating time of the multimodal sensor detection device. This allows for an increase in the operating time of the multimodal sensor detection device while ensuring normal power supply.

[0027] As one implementation method, in order to address the lack of multimodal complementarity and real-time adjustment capabilities in energy harvesting units, energy robustness is improved by integrating multiple renewable energy sources and dynamic adjustment mechanisms. The core of this approach is to combine solar energy, wave energy, and intelligent angle control to achieve proactive adaptation in energy harvesting.

[0028] Specifically, a piezoelectric wave energy harvester is integrated on the solar panel 15 and installed near the bottom sail 3 of the buoy. It converts wave kinetic energy into electrical energy and connects it in parallel with the battery 13 via a composite cable 4. A light intensity sensor and an inertial measurement unit (IMU) are installed on the top of the supporting shell 11 to monitor the light angle and buoy attitude in real time. The state space is based on light intensity, wave height, and battery power of the buoy 13, while the action space is based on the solar panel angle adjustment (achieving ±15° dynamic deflection through a micro servo motor) and energy distribution, thereby maximizing the overall power generation efficiency.

[0029] By running reinforcement learning (RL) algorithms on a low-power processor and receiving sensor data in real time, wave energy is prioritized for charging when sunlight is weak, and the angle of the solar panels is adjusted to compensate for the loss of sunlight when the buoy tilts. This works in conjunction with the new energy power circuit, and by adding a multi-channel switch to control the wave energy integrated circuit to avoid energy conflicts, the stability of energy supply can be improved and monitoring interruptions caused by weather can be reduced.

[0030] As one implementation method, since the control logic of a fixed threshold may become disconnected from the dynamic changes in energy status (because the battery charge, solar power generation efficiency, and equipment energy consumption (such as communication module power consumption) all change in real time with the environment, a fixed threshold cannot achieve optimal energy allocation), this implementation method uses fuzzy logic to replace the fixed threshold to achieve real-time optimization of the sleep-work cycle. Specifically, the input variables are the battery charge percentage, real-time power generation rate, and radiation risk level (calculated from historical data), and the output variables are the dynamic sleep threshold and working duration, thus constructing a fuzzy controller. Through the data stream of nuclear radiation sensor 2, the radiation change gradient is calculated as a risk weight. In the loop of steps two and three, the fuzzy controller evaluates the energy status at intervals (e.g., 5 minutes). If the charge is >80% and the radiation gradient is large, the sleep threshold is automatically shortened to 15 minutes; if the charge is <30%, it is extended to 45 minutes. This is seamlessly integrated with the low-power sleep mode, and dynamic adjustment is achieved by modifying the timer settings.

[0031] Another objective of this invention is to provide a marine radioactive material tracing system based on multimodal sensors, comprising a chip module, a positioning module, a nuclear radiation sensor module, a BeiDou short message module, and a power supply module. The chip module uses a low-power processor to control the operation of the multimodal sensor detection equipment and has data transmission and communication functions to facilitate data transmission. The positioning module is used to locate the geographical location of the multimodal sensor detection equipment. The nuclear radiation sensor module is used to detect nuclear radiation in the ocean. The BeiDou short message module is used to send the operational detection data of the multimodal sensor detection equipment. The power supply module provides power for the operation of the multimodal sensor detection equipment and utilizes solar energy for charging and energy replenishment.

[0032] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method of marine radioactivity sourcing based on multi-modal sensors, characterized in that, Comprise the following specific steps: Step one: for multi-modal sensor detection equipment with new energy power generation device, and new energy power circuit assembly, make new energy power generation device for multi-modal sensor detection equipment operation supplement energy; Step two: set the multi-modal sensor detection equipment dormancy threshold and working threshold, when the multi-modal sensor detection equipment is in the dormancy threshold time area, the multi-modal sensor detection equipment is in the low power consumption sleep state; Step three: when the multi-modal sensor detection equipment sleep state ends, the multi-modal sensor detection equipment initializes power supply, the multi-modal sensor detection equipment detection operation, detection operation in the working threshold time area, and sends detection data; Step four: when the multi-modal sensor detection equipment detection operation is completed, the multi-modal sensor detection equipment goes to sleep, repeats the above step two and step three, so that the multi-modal sensor detection equipment above the process cycle operation; Step five: according to the data transmitted in step three, the internal power of multi-modal sensor detection equipment is analyzed, and the internal power of multi-modal sensor detection equipment is predicted.

2. The method of claim 1, wherein, The multi-modal sensor detection equipment in step one comprises a drift buoy (1), a nuclear radiation sensor (2), a water sail (3) and a composite cable (4), the drift buoy (1), the nuclear radiation sensor (2) and the water sail (3) are connected through the composite cable (4), the drift buoy (1) is spherical, and the center of gravity of the drift buoy (1) is below the center of the drift buoy (1), the drift buoy (1) comprises a bearing shell (11), a top cover (12), a battery (13), a mounting bracket (14), a solar panel (15) and a Beidou antenna (16), the top cover (12) is fixedly installed on the top of the bearing shell (11), the battery (13) is fixedly installed in the bottom of the inner cavity of the bearing shell (11), and the battery (13) is below the center of the drift buoy (1), the mounting bracket (14) is fixedly installed on the top of the inner cavity of the bearing shell (11), the solar panel (15) is installed on the mounting bracket (14), the Beidou antenna (16) is fixedly installed on the top of the mounting bracket (14), the Beidou antenna (16) is used for communication between satellites, and the top cover (12) is transparently arranged to protect the internal structure of the floating ball and the perspective sunlight, and a plurality of solar panels (15) are arranged in annular array, and the solar panels (15) are arranged at an angle of 60° to 70° with the horizontal plane, so that the area of the solar panels (15) is maximized.

3. The method of claim 2, wherein, The new energy power circuit in the step one has a peripheral power supply total switch, which controls the power supply of the entire peripheral device. There are also four separate control power supply circuits for the peripheral device, which are the positioning module power supply control circuit, the Beidou short message module power supply control circuit, the nuclear radiation sensor (2) power supply control circuit, and the nuclear radiation sensor (2) communication power supply control circuit. Under the condition that the total power switch is turned on, the low-power processor controls the power supply of the four peripheral devices separately. The communication circuit has three paths. The first path is that the low-power processor communicates with the positioning module through serial port 2 to obtain latitude and longitude data. The second path is that the low-power processor communicates with the Beidou short message module through serial port 3 to send the collected nuclear radiation data and positioning data to the remote server. The third path is that the low-power processor communicates with the nuclear radiation sensor (2) through serial port 1 to obtain the measurement data of the nuclear radiation sensor (2). The solar panel (15) charges the battery (13) through the solar charging circuit. The battery (13) provides energy for the low-power processor through the voltage stabilization circuit and battery voltage acquisition circuit. The low-power processor provides power for the nuclear radiation sensor (2) and the Beidou antenna (16) through the peripheral circuit power supply total switch. The nuclear radiation sensor (2) is connected to the nuclear radiation sensor (2) power supply control circuit to control the operation of the nuclear radiation sensor (2). The Beidou antenna (16) controls the positioning module through the positioning module power supply control module to perform coordinate positioning operation. The Beidou antenna (16) controls the Beidou short message module through the Beidou short message module control circuit to perform short message information. The Beidou antenna (16) and the nuclear radiation sensor (2) transmit information through the communication circuit.

4. The method of claim 3, wherein the method is based on a multi-modal sensor. When the solar panel (15) charges the battery (13) through the solar charging circuit, the solar panel (15) generates electricity which is converted by the solar charging circuit to charge the battery (13). The battery (13) charges the low-power processor with 3.3V stable voltage current. When the battery (13) is fully charged, the solar panel (15) stops charging the battery (13). When the battery (13) is below the preset value, the solar panel (15) continues to charge the battery (13) through the solar charging circuit, records the battery (13) power data information, and counts the solar panel (15) charging power data.

5. The method of claim 4, wherein, The sleep threshold of the multi-modal sensor detection device in the step two is 30 minutes, and the working threshold of the multi-modal sensor detection device is 2 minutes. When the multi-modal sensor detection device is in sleep state, the power supply of the nuclear radiation sensor (2) is turned off, the power supply of the positioning module is turned off, the power supply of the nuclear radiation sensor communication module is turned off, the total power switch is turned off, the AD, serial ports 1, 2, and 3 are restored to the initial IO state and set to high-impedance input mode, the standby time is set to 30 minutes, and the low-power processor enters low-power sleep mode.

6. The method of claim 5, wherein the method is based on a multi-modal sensor. In the third step, when the multi-modal sensor detection device is initialized, the clock of the low-power processor is initialized, set to 4MhZ, the control IO port is initialized to output mode, the remaining IO ports are high-impedance input mode, the serial ports 1, 2 and 3 are initialized, the total source switch is turned on, the positioning module power supply switch is turned on, and the positioning module starts working.

7. The method of claim 6, wherein the method is based on a multi-modal sensor. When the multi-modal sensor detection device is positioned, the nuclear radiation sensor (2) power supply switch is turned on, the nuclear radiation sensor (2) starts working, the nuclear radiation sensor (2) communication module power supply switch is turned on, the Beidou short message power supply switch is turned on, a 2-minute timer is turned on, and it is judged whether the serial port communication between the positioning module and the nuclear radiation sensor (2) is completed. When the serial port communication between the positioning module and the nuclear radiation sensor (2) is completed, the voltage of the battery (13) is collected, and the battery (13) voltage, latitude and longitude, and nuclear radiation data are sent out through the short message module, and the detection work is completed.

8. The method of claim 7, wherein the method is based on a multi-modal sensor. When the serial port communication between the positioning module and the nuclear radiation sensor (2) is not completed, it is judged whether 2 minutes have been reached. When 2 minutes have not been reached, the serial port communication between the positioning module and the nuclear radiation sensor (2) is returned to the judgment step. When 2 minutes have been reached, the voltage of the battery (13) is collected, and the invalid data is sent out through the short message module.

9. The method of claim 8, wherein the method further comprises: In the fifth step, the transmitted data includes positioning information, battery (13) power information and solar panel (15) power generation information. The latitude, sunshine duration, light intensity, temperature and wind speed information of the location of the multi-modal sensor detection device are obtained through the positioning information. According to the latitude, sunshine duration, light intensity, temperature and wind speed information of the location of the multi-modal sensor detection device, the future solar panel (15) power generation data is estimated, and the relationship between the estimated power generation and the device power consumption is analyzed. An evaluation and analysis period is set. When the estimated power generation is greater than the device power consumption in a period, the multi-modal sensor detection device detection process is maintained. When the estimated power generation is less than the device power consumption in a period, the multi-modal sensor detection device sleep period is increased, and the multi-modal sensor detection device detection work frequency is reduced to ensure the multi-modal sensor detection device work duration.

10. A multi-modal sensor based marine radioactivity source tracing system implementing the multi-modal sensor based marine radioactivity source tracing method as claimed in any one of claims 1 to 9, wherein, It comprises: a chip module, which is controlled by a low-power processor to run the multi-modal sensor detection device; a positioning module, which is used to position the geographical position of the multi-modal sensor detection device; a nuclear radiation sensor module, which is used to detect the nuclear radiation of the sea; a Beidou short message module, which is used to send the multi-modal sensor detection device work detection data; a power module, which is used to provide power supply for the multi-modal sensor detection device work, and the power module uses solar energy to charge and supplement energy.

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