Marine searching and underwater monitoring system and method based on underwater small robot

Abstract

The invention relates to the technical field of ocean unmanned monitoring and searching, in particular to an ocean searching and underwater monitoring system based on an underwater small robot and a working method of the ocean searching and underwater monitoring system. The underwater robot is used as a core operation carrier, wireless communication, acoustic detection, a dual-module intrinsic safety type battery and an intelligent obstacle avoidance technology are integrated, and comprehensive upgrading of underwater searching and monitoring operation is realized: potential safety hazards of underwater operation of personnel are eliminated, cable dragging interference of a traditional cable control mode is avoided, and limitation of navigation duration and operation distance is broken through; and long-time low-noise monitoring is realized through a dual-module battery design, accurate target detection and autonomous obstacle avoidance are realized by combining acoustic information acquisition and an ultra-short baseline positioning system, and the navigation safety is improved. According to the invention, the intelligence, high efficiency and reliability of underwater unmanned monitoring and searching operation can be obviously improved, and the method has prominent practical value and popularization prospect.

Description

Technical Field

[0001] This invention relates to the field of marine unmanned monitoring and search technology, specifically to a marine search and underwater monitoring system based on a small underwater robot and its working method. Background Technology

[0002] Currently, commonly used methods for ocean search and underwater monitoring include: manual underwater search, beacon monitoring, deployment of wire-controlled robots for monitoring, and search platforms. However, traditional search and monitoring methods suffer from technical problems such as low autonomy, slow search speed, and limited working range due to cable restrictions, making them unsuitable for long-term underwater monitoring and rapid, effective searches. Specifically: 1) Manual searches cannot directly enter deeper parts of the ocean, and the marine environment is unknown, making it impossible to guarantee the safety of search personnel; 2) Beacon monitoring requires the pre-deployment of beacons and sensors in known sea areas, which is costly and cannot monitor areas beyond the deployment range; 3) Wired underwater robots cannot pass through underwater dynamic obstacles and have poor adaptability to marine underwater terrain, making them unable to meet the search needs of complex underwater environments. Especially in underwater scenarios with complex terrain such as coral reefs, underwater robots cannot quickly reach the task search area. In addition, although existing remotely operated underwater robots can overcome the above problems through manual control, they are still limited by factors such as cable length and entanglement. Moreover, the search speed of remotely operated underwater robots is slow, which is not conducive to the rapid search of underwater targets. Therefore, existing underwater search and monitoring systems cannot meet the specific application requirements of current technologies in areas such as long-term underwater monitoring and rapid and safe search for underwater targets. Summary of the Invention

[0003] The technical problem to be solved by this invention is to provide a marine search and underwater monitoring system and its working method based on a small underwater robot, which can break through the limitations of traditional solutions in terms of navigation time and operating distance, achieve accurate target detection and autonomous obstacle avoidance, and significantly improve the efficiency of underwater target identification and positioning.

[0004] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows: I. A Marine Search and Underwater Monitoring System Based on a Small Underwater Robot This invention provides an ocean search and underwater monitoring system based on a small underwater robot, mainly comprising: a user monitoring station 1 and an underwater search and monitoring navigation platform 2. The user monitoring station 1 integrates a PC 1-1 and a wireless modem 1-4, and externally mounted on the user monitoring station 1 are a handheld data terminal 1-2 and a navigation platform remote controller 1-3. The handheld data terminal 1-2 and the navigation platform remote controller 1-3 communicate wirelessly with the PC 1-1, and the PC 1-1 communicates wirelessly with the underwater search and monitoring navigation platform 2 through the wireless modem 1-4. The underwater search and monitoring navigation platform 2 includes an underwater small robotic hull 2-1, on which are installed an ultra-short baseline positioning system 2-5, a sonar device 2-7, an inertial navigation sensor 2-9, a base station communication system 2-10, and an underwater acoustic communication system 2-11. The ultra-short baseline positioning system 2-5, the sonar device 2-7, the inertial navigation sensor 2-9, the base station communication system 2-10, and the underwater acoustic communication system 2-11 are all electrically connected to the navigation platform's central control system 2-8.

[0005] Preferably, the stern thruster assembly 2-2 and the bow thruster 2-13 are respectively installed at the tail end and side of the underwater small robot hull 2-1, and both the stern thruster assembly 2-2 and the bow thruster 2-13 are electrically connected to the navigation platform central control system 2-8.

[0006] Preferably, a navigation platform power supply 2-3 and a cable plug 2-4 are installed at the rear of the underwater mini robot hull 2-1, and a mooring cable 2-14 is connected to the bow of the underwater mini robot hull 2-1.

[0007] Preferably, four sets of stern thruster assemblies 2-2 are symmetrically arranged, and their propulsion direction is controlled by the navigation platform central control system 2-8. All four sets of stern thruster assemblies 2-2 are installed on the tail end propulsion wings of the underwater miniature robot hull 2-1.

[0008] Preferably, the navigation platform central control system 2-8, ultra-short baseline positioning system 2-5, inertial navigation sensor 2-9, and base station communication system 2-10 are all installed inside the underwater miniature robot hull 2-1.

[0009] Preferably, a reinforcing longitudinal beam 2-12 is connected to the top of the underwater miniature robot hull 2-1, and the underwater acoustic communication system 2-11 is fixedly installed in the middle of the reinforcing longitudinal beam 2-12.

[0010] Preferably, the sonar device 2-7 is a side-scan sonar, which is installed on the front side of the underwater miniature robot hull 2-1.

[0011] Preferably, the bow thruster 2-13 is installed at the top front end of the underwater miniature robot hull 2-1 to control the hull's buoyancy and descent.

[0012] Preferably, a ballast tank 2-6 is provided in the middle of the hull 2-1 of the underwater miniature robot.

[0013] II. A method for ocean search and underwater monitoring based on a small underwater robot Based on the same inventive concept, the present invention also provides a method for ocean search and underwater monitoring based on a small underwater robot, which, based on the ocean search and underwater monitoring system described above, includes the following steps: S1, the operator carries the user monitoring terminal and the underwater search and monitoring navigation platform to the operation area and starts the underwater search and monitoring navigation platform; S2 sends navigation commands and acquires the position and navigation direction information of the navigation platform in real time through the ultra-short baseline positioning system and inertial navigation sensors, respectively, and collects underwater environmental information through the sonar device and transmits it to the handheld data terminal in real time. S3, the operator combines the location information, navigation direction information and the data displayed on the handheld data terminal of the navigation platform to operate the navigation platform to navigate in the water through the navigation platform remote controller; S4. After the navigation platform enters the operation area, it collects underwater acoustic imaging information and underwater acoustic communication information in the operation area in real time, and at the same time monitors the motion status parameters of the navigation platform in real time and transmits them back to the user monitoring station. S5, perform data processing and analysis on the underwater acoustic imaging information and underwater acoustic communication information to determine whether the underwater acoustic imaging information is abnormal. If so, immediately transmit the current position of the navigation platform back to the user monitoring station and issue an alarm reminder. At the same time, combine the underwater acoustic communication information to determine the specific location of the abnormal point and perform target search. If not, continue to execute steps S3 to S4 until the search task of the entire area is completed.

[0014] Compared with the prior art, the present invention has the following main advantages: 1. This invention uses an underwater robot as an underwater search and monitoring platform, enabling comprehensive and efficient underwater search operations while continuously collecting and transmitting multi-parameter information in real time. This fundamentally eliminates the safety risks associated with personnel participating in search and information collection in complex underwater environments. The underwater robot monitoring platform is interconnected with a monitoring station via a wireless communication system, achieving real-time data and command interaction and avoiding the dragging interference of cables on the navigation platform that is common in traditional cable data transmission methods. Furthermore, the platform is equipped with an acoustic information acquisition module, which can quickly and accurately detect the location of underwater targets, significantly improving the efficiency of underwater target identification and positioning.

[0015] 2. This invention employs a dual-module intrinsically safe battery to provide sufficient and stable power support for the platform's continuous operation. On the one hand, it eliminates the constraints of cable length in traditional cable-controlled underwater robots, completely solving the hidden danger of cable entanglement and effectively overcoming the limitations of underwater robot's travel time and operating distance. On the other hand, the dual-module intrinsically safe battery design can significantly reduce the operating current, voltage, and power consumption of a single-module battery, enabling the underwater robot to perform stable monitoring operations for extended periods with low noise, ensuring the continuity and accuracy of data acquisition.

[0016] 3. This invention integrates an acoustic information acquisition system and an ultra-short baseline positioning system into the navigation platform to build an efficient target detection and intelligent obstacle avoidance system, which can comprehensively improve the platform's navigation safety and autonomous operation capabilities. At the same time, the acoustic information acquisition system can monitor the surrounding environment of the platform in real time and accurately perceive obstacles. Combined with the intelligent control of the motion control system, the underwater robot can automatically complete obstacle avoidance operations in the water, ensuring the stability and safety of the navigation and operation process. Attached Figure Description

[0017] Figure 1 This is an overall schematic diagram of the marine search and underwater monitoring system based on a small underwater robot in an embodiment of the present invention; Figure 2 This is a schematic diagram of the underwater search and monitoring navigation platform in an embodiment of the present invention; Figure 3 This is a flowchart of a marine search and underwater monitoring method based on a small underwater robot, as described in an embodiment of the present invention.

[0018] In the diagram: 1. User monitoring station; 2. Underwater search and monitoring navigation platform; 1-1. PC; 1-2. Handheld data terminal; 1-3. Navigation platform remote controller; 1-4. Wireless modem; 2-1. Underwater mini-robot hull; 2-2. Stern thruster assembly; 2-3. Platform power supply; 2-4. Cable plug; 2-5. Ultra-short baseline positioning system; 2-6. Ballast tank; 2-7. Sonar device; 2-8. Navigation platform central control system; 2-9. Inertial navigation sensor; 2-10. Base station communication system; 2-11. Underwater acoustic communication system; 2-12. Reinforcing longitudinal beam; 2-13. Bow thruster; 2-14. Mooring cable. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0020] It should be noted that, depending on the implementation needs, the various steps / components described in this application can be broken down into more steps / components, or two or more steps / components or parts of the operation of steps / components can be combined into new steps / components to achieve the purpose of this invention.

[0021] In this invention, unless otherwise expressly specified and limited, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise expressly and specifically limited.

[0022] Example 1: This example provides a marine search and underwater monitoring system based on a small underwater robot, such as... Figures 1-2 As shown, it mainly includes: user monitoring station 1 and underwater search and monitoring navigation platform 2; The user monitoring station 1 integrates a PC 1-1 and a wireless modem 1-4, and externally the user monitoring station 1 is equipped with a handheld data terminal 1-2 and a navigation platform remote controller 1-3. The handheld data terminal 1-2 and the navigation platform remote controller 1-3 communicate wirelessly with the PC 1-1, and the PC 1-1 communicates wirelessly with the underwater search and monitoring navigation platform 2 through the wireless modem 1-4. The underwater search and monitoring navigation platform 2 includes an underwater small robotic hull 2-1, on which are installed an ultra-short baseline positioning system 2-5, a sonar device 2-7, an inertial navigation sensor 2-9, a base station communication system 2-10, and an underwater acoustic communication system 2-11. The ultra-short baseline positioning system 2-5, the sonar device 2-7, the inertial navigation sensor 2-9, the base station communication system 2-10, and the underwater acoustic communication system 2-11 are all electrically connected to the navigation platform's central control system 2-8.

[0023] Furthermore, the stern thruster assembly 2-2 and the bow thruster 2-13 are respectively installed at the tail end and side of the underwater miniature robot hull 2-1, and both the stern thruster assembly 2-2 and the bow thruster 2-13 are electrically connected to the navigation platform central control system 2-8.

[0024] Furthermore, a navigation platform power supply 2-3 and a cable plug 2-4 are installed at the rear of the underwater mini robot hull 2-1, and a mooring cable 2-14 is connected to the bow of the underwater mini robot hull 2-1.

[0025] Furthermore, four sets of stern thruster assemblies 2-2 are symmetrically arranged, and their propulsion direction is controlled by the navigation platform central control system 2-8. All four sets of stern thruster assemblies 2-2 are installed on the tail end propulsion wings of the underwater small robot hull 2-1.

[0026] Furthermore, the navigation platform central control system 2-8, ultra-short baseline positioning system 2-5, inertial navigation sensor 2-9, and base station communication system 2-10 are all installed inside the underwater miniature robot hull 2-1.

[0027] Furthermore, a reinforcing longitudinal beam 2-12 is connected to the top of the underwater miniature robot hull 2-1, and the underwater acoustic communication system 2-11 is fixedly installed in the middle of the reinforcing longitudinal beam 2-12.

[0028] Furthermore, the sonar device 2-7 is specifically a side-scan sonar, which is installed on the front side of the underwater miniature robot hull 2-1.

[0029] Furthermore, the bow thruster 2-13 is installed at the top front of the underwater miniature robot hull 2-1 to control the hull's buoyancy and descent.

[0030] Furthermore, a ballast tank 2-6 is provided in the middle of the underwater miniature robot hull 2-1.

[0031] Example 2: This example provides an ocean search and underwater monitoring system based on a small underwater robot. The user monitoring station includes a PC 1-1, a handheld data terminal 1-2, a wireless modem 1-4, and a navigation platform remote controller 1-3. The handheld data terminal 1-2 and the navigation platform remote controller 1-3 are wirelessly connected to the PC 1-1, and the PC 1-1 is wirelessly connected to the underwater search and monitoring navigation platform 2 through the wireless modem 1-4. The underwater search and monitoring navigation platform 2 includes an underwater small robot hull 2-1, a stern thruster assembly 2-2, a navigation platform power supply 2-3, a cable plug 2-4, an ultra-short baseline positioning system 2-5, a ballast tank 2-6, a sonar device 2-7, a navigation platform central control system 2-8, an inertial navigation sensor 2-9, a base station communication system 2-10, an underwater acoustic communication system 2-11, a reinforcing longitudinal beam 2-12, a bow thruster 2-13, and mooring cables 2-14; The system includes four stern thruster assemblies 2-2, which are mounted on the tail propulsion wings of the underwater robot. The navigation platform central control system 2-8 is deployed in the stern hull. An inertial navigation sensor 2-9 is installed in front of the navigation platform central control system 2-8. The navigation platform power supply 2-3 and cable plug 2-4 are installed on the right rear of the underwater small robot hull 2-1. The ultra-short baseline positioning system 2-5 is deployed in the middle of the hull 2-1. The base station communication system 2-10 is installed above the unmanned platform at the stern. The underwater acoustic communication system 2-11 is installed on the reinforcing longitudinal beam 2-12 above the hull. The ballast tank 2-6 is located in the front middle of the hull. The sonar device 2-7 is installed on the front side of the hull. The bow thruster 2-13 is installed at the top of the front of the hull to control the unmanned surface vessel's ascent and descent. The mooring cable 2-14 is deployed in front of the unmanned surface vessel.

[0032] Example 3, based on the same inventive concept, also provides a method for ocean search and underwater monitoring based on a small underwater robot, and based on the ocean search and underwater monitoring system described above, such as... Figure 3 As shown, it includes the following steps: Step S1: The operator carries the user monitoring terminal 1 and the underwater search and monitoring navigation platform 2 to the operation area and starts the underwater search and monitoring navigation platform 2; Step S2: Send navigation commands, activate inertial navigation control and underwater motion control. The operator combines the navigation platform position information and underwater environment information obtained by the ultra-short baseline positioning system 2-5 and sonar device 2-7, and uses the navigation platform remote controller 1-3 in conjunction with the inertial navigation sensor 2-9 to control the underwater motion of the navigation platform, so as to ensure that the underwater robot can navigate safely and autonomously in the water. Step S3: Activate the ultra-short baseline positioning system 2-5 and sonar device 2-7, and the underwater robot searches forward and sails to the work area; Step S4: Collect real-time information such as acoustic imaging information, underwater acoustic information parameters, and motion status parameters of the underwater search and monitoring navigation platform 2 around the work area, and transmit it back to the user monitoring station 1; Step S5: Data processing and analysis to obtain underwater acoustic imaging information, underwater acoustic information parameters, and three-dimensional position and attitude information of the underwater search and monitoring navigation platform 2; Step S6: First, determine whether the audio-visual information is abnormal. If it is abnormal, immediately send back the location and issue an alarm. Then, determine whether it is a dynamic abnormality. If there is a dynamic abnormality, the user monitoring station issues an alarm signal and searches for the target in conjunction with the underwater acoustic information. If there is no abnormality, continue with steps S4 and S5 until the entire task area is completed. Step S7: Determine whether the search of all areas has been completed. If so, control the underwater robot to return and shut down the system.

[0033] This invention uses an underwater robot as its core operational platform, integrating wireless communication, acoustic detection, a dual-module intrinsically safe battery, and intelligent obstacle avoidance technology to achieve a comprehensive upgrade to underwater search and monitoring operations. It eliminates safety hazards for personnel operating underwater, avoids cable dragging interference from traditional cable-controlled methods, and overcomes limitations in navigation time and operating distance. Furthermore, the dual-module battery design enables long-term low-noise monitoring, and the combination of acoustic information acquisition and an ultra-short baseline positioning system achieves accurate target detection and autonomous obstacle avoidance, enhancing navigation safety. This invention significantly improves the intelligence, efficiency, and reliability of unmanned underwater monitoring and search operations, possessing outstanding practical value and promising prospects for widespread application.

[0034] Furthermore, all parts of this application that are not described in detail are the same as or implemented using existing technology.

[0035] In summary: 1. This invention uses an underwater robot as an underwater search and monitoring platform, enabling comprehensive and efficient underwater search operations while continuously collecting and transmitting multi-parameter information in real time. This fundamentally eliminates the safety risks associated with personnel participating in search and information collection in complex underwater environments. The underwater robot monitoring platform is interconnected with a monitoring station via a wireless communication system, achieving real-time data and command interaction and avoiding the dragging interference of cables on the navigation platform that is common in traditional cable data transmission methods. Furthermore, the platform is equipped with an acoustic information acquisition module, which can quickly and accurately detect the location of underwater targets, significantly improving the efficiency of underwater target identification and positioning.

[0036] 2. This invention employs a dual-module intrinsically safe battery to provide sufficient and stable power support for the platform's continuous operation. On the one hand, it eliminates the constraints of cable length in traditional cable-controlled underwater robots, completely solving the hidden danger of cable entanglement and effectively overcoming the limitations of underwater robot's travel time and operating distance. On the other hand, the dual-module intrinsically safe battery design can significantly reduce the operating current, voltage, and power consumption of a single-module battery, enabling the underwater robot to perform stable monitoring operations for extended periods with low noise, ensuring the continuity and accuracy of data acquisition.

[0037] 3. This invention integrates an acoustic information acquisition system and an ultra-short baseline positioning system into the navigation platform to build an efficient target detection and intelligent obstacle avoidance system, which can comprehensively improve the platform's navigation safety and autonomous operation capabilities. At the same time, the acoustic information acquisition system can monitor the surrounding environment of the platform in real time and accurately perceive obstacles. Combined with the intelligent control of the motion control system, the underwater robot can automatically complete obstacle avoidance operations in the water, ensuring the stability and safety of the navigation and operation process.

[0038] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0039] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0040] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A marine search and underwater monitoring system based on a small underwater robot, characterized in that: The system includes a user monitoring station (1) and an underwater search and monitoring navigation platform (2). The user monitoring station (1) is equipped with a PC (1-1) and a wireless modem (1-4). The user monitoring station (1) is externally equipped with a handheld data terminal (1-2) and a navigation platform remote controller (1-3). The handheld data terminal (1-2) and the navigation platform remote controller (1-3) are wirelessly connected to the PC (1-1). The PC (1-1) is wirelessly connected to the underwater search and monitoring navigation platform (2) via the wireless modem (1-4). The underwater search and monitoring navigation platform (2) includes an underwater small robot hull (2-1), and the underwater small robot hull (2-1) is equipped with an ultra-short baseline positioning system (2-5), a sonar device (2-7), an inertial navigation sensor (2-9), a base station communication system (2-10), and an underwater acoustic communication system (2-11). The ultra-short baseline positioning system (2-5), the sonar device (2-7), the inertial navigation sensor (2-9), the base station communication system (2-10), and the underwater acoustic communication system (2-11) are all electrically connected to the navigation platform central control system (2-8).

2. The marine search and underwater monitoring system based on a small underwater robot according to claim 1, characterized in that, The stern of the underwater miniature robot hull (2-1) is equipped with a stern thruster assembly (2-2) and a bow thruster (2-13) respectively, and both the stern thruster assembly (2-2) and the bow thruster (2-13) are electrically connected to the navigation platform central control system (2-8).

3. The marine search and underwater monitoring system based on a small underwater robot according to claim 2, characterized in that, The underwater mini robot hull (2-1) is equipped with a navigation platform power supply (2-3) and a cable plug (2-4) at the rear, and a mooring cable (2-14) is connected to the bow of the underwater mini robot hull (2-1).

4. A marine search and underwater monitoring system based on a small underwater robot according to claim 2, characterized in that, The stern thruster assembly (2-2) is symmetrically arranged in four groups, and its propulsion direction is controlled by the navigation platform central control system (2-8). All four groups of stern thruster assemblies (2-2) are installed on the tail end propulsion wing of the underwater small robot hull (2-1).

5. A marine search and underwater monitoring system based on a small underwater robot according to claim 1, characterized in that, The navigation platform central control system (2-8), ultra-short baseline positioning system (2-5), inertial navigation sensor (2-9), and base station communication system (2-10) are all installed inside the underwater miniature robot hull (2-1).

6. The ocean search and underwater monitoring system based on a small underwater robot according to claim 1, characterized in that, The top of the underwater miniature robot hull (2-1) is connected to a reinforcing longitudinal beam (2-12), and the underwater acoustic communication system (2-11) is fixedly installed in the middle of the reinforcing longitudinal beam (2-12).

7. The ocean search and underwater monitoring system based on a small underwater robot according to claim 1, characterized in that, The sonar device (2-7) is specifically a side-scan sonar, which is installed on the front side of the hull (2-1) of the underwater miniature robot.

8. A marine search and underwater monitoring system based on a small underwater robot according to claim 4, characterized in that, The bow thruster (2-13) is installed at the top front of the underwater miniature robot hull (2-1) and is used to control the hull's buoyancy and descent.

9. A marine search and underwater monitoring system based on a small underwater robot according to claim 1, characterized in that, The underwater miniature robot hull (2-1) is equipped with a ballast tank (2-6) in the middle.

10. A method for ocean search and underwater monitoring based on a small underwater robot, based on the ocean search and underwater monitoring system as described in any one of claims 1 to 9, characterized in that, Includes the following steps: S1, the operator carries the user monitoring terminal and the underwater search and monitoring navigation platform to the operation area and starts the underwater search and monitoring navigation platform; S2 sends navigation commands and acquires the position and navigation direction information of the navigation platform in real time through the ultra-short baseline positioning system and inertial navigation sensors, respectively, and collects underwater environmental information through the sonar device and transmits it to the handheld data terminal in real time. S3, the operator combines the location information, navigation direction information and the data displayed on the handheld data terminal of the navigation platform to operate the navigation platform to navigate in the water through the navigation platform remote controller; S4. After the navigation platform enters the operation area, it collects underwater acoustic imaging information and underwater acoustic communication information in the operation area in real time, and at the same time monitors the motion status parameters of the navigation platform in real time and transmits them back to the user monitoring station. S5, perform data processing and analysis on the underwater acoustic imaging information and underwater acoustic communication information to determine whether the underwater acoustic imaging information is abnormal. If so, immediately transmit the current position of the navigation platform back to the user monitoring station and issue an alarm reminder. At the same time, combine the underwater acoustic communication information to determine the specific location of the abnormal point and perform target search. If not, continue to execute steps S3 to S4 until the search task of the entire area is completed.

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