Ocean sensor long-term test device and method based on autonomous underwater vehicle

Abstract

The application belongs to the technical field of ocean engineering and ocean observation, and relates to a long-term test device and method of an ocean sensor based on an autonomous underwater vehicle. The method comprises the following steps: performing an ocean environment observation task, and storing a sequence of observation data in a second AUV in real time; continuously monitoring an electric quantity state and a storage space occupancy rate, and generating a corresponding energy supplement demand signal or a data transmission demand signal when the electric quantity state is lower than a preset electric quantity threshold or the storage space occupancy rate reaches a preset storage threshold; analyzing and judging the generated energy supplement demand signal or data transmission demand signal to determine an energy supplement mode or a data transmission mode; jointly optimizing an energy supplement path or a data transmission path and an observation path after the energy supplement or data transmission is completed to generate a path planning result of multi-device cooperative operation and a corresponding scheduling strategy; and controlling relevant devices to perform corresponding energy supplement operations or observation data transmission operations based on the path planning result and the scheduling strategy.

Description

Technical Field

[0001] This application belongs to the field of marine engineering and marine observation technology, and in particular relates to a long-term test device and method for marine sensors based on autonomous underwater vehicles. Background Technology

[0002] In the field of marine observation, mooring devices are a typical long-term observation platform, usually consisting of buoyancy devices, cables, heavy anchors, and various sensor devices. They are anchored to the seabed or ocean floor for continuous monitoring of marine environmental parameters. These mooring devices typically integrate multiple marine sensors, such as those for temperature, salinity, depth, chlorophyll, dissolved oxygen, nitrate, pH, irradiance, CDOM, and polycyclic aromatic hydrocarbons, enabling the acquisition of multi-dimensional environmental data. However, these sensors generally rely on batteries or battery packs with limited capacity for power. Once deployed, battery replacement and equipment maintenance often require dedicated vessels and manual intervention, resulting in high maintenance costs and long cycles, severely hindering long-term observation and demonstration applications.

[0003] To address the power supply issue, existing technologies have proposed surface power supply solutions based on solar or wave energy, which collect energy from surface buoys and supply power to underwater equipment via cables. However, in deep-water or deep-sea applications, the required length of the optical-electric composite cable increases significantly, not only raising costs and deployment difficulties but also reducing overall reliability and adaptability, making it difficult to meet the long-term, flexible, and multi-scenario sensor testing needs.

[0004] Therefore, how to achieve long-term, stable, and sustainable observation of marine sensors in different water depth ranges while reducing maintenance costs, and to obtain high-quality, comparable experimental data, has become a key technical problem that urgently needs to be solved for the long-term application of marine sensors. Summary of the Invention

[0005] To address the aforementioned technical issues, this application proposes a long-term experimental device and method for marine sensors based on autonomous underwater vehicles. By continuously monitoring the data acquisition process, the vehicle's power status and storage space status, and intelligently determining and coordinating the power replenishment and data transmission needs, the device achieves autonomous management and collaborative operation of power replenishment and data interaction among multiple underwater devices. This enables long-term marine environmental observation with longer cycles, higher reliability, and stronger continuity in complex marine environments.

[0006] To achieve the above objectives, the first aspect of this application provides a long-term experimental method for marine sensors based on an autonomous underwater vehicle (AUV). This experimental method is implemented in coordination using a mobile docking station, a mobile underwater robot, a marine buoy, and a second AUV, and includes the following steps:

[0007] Observation data acquisition steps: Based on the preset observation task parameters, control the second AUV to perform marine environmental observation tasks and store the observation data sequence in the second AUV in real time;

[0008] Status monitoring and demand generation steps: During the second AUV’s observation mission, its power status and storage space occupancy rate are continuously monitored. When the power status is lower than the preset power threshold or the storage space occupancy rate reaches the preset storage threshold, the corresponding power replenishment demand signal or data transmission demand signal is generated.

[0009] Power replenishment or transmission mode determination steps: Based on the relative position information between the second AUV and the mobile docking station and the mobile underwater robot, and combined with the priority or urgency of the current observation task, analyze and judge the generated power replenishment demand signal or data transmission demand signal to determine the power replenishment mode or data transmission mode.

[0010] Collaborative path and scheduling optimization steps: Based on the determined power replenishment method or data transmission method, the power replenishment path or data transmission path, as well as the observation path after the power replenishment or data transmission is completed, are jointly optimized to generate the path planning results and corresponding scheduling strategies for multi-device collaborative operation.

[0011] Power replenishment or data transmission execution steps: Based on the path planning results and scheduling strategy, control the relevant equipment to perform the corresponding power replenishment operation or observation data transmission operation.

[0012] In some embodiments, the power status monitoring method is as follows:

[0013] The remaining battery power information of the second AUV is continuously collected and updated in real time to form the current battery status data;

[0014] The current battery status is compared with preset multi-level battery thresholds to determine the preset battery range into which the current battery status falls, and the current warning level is determined accordingly.

[0015] Based on the determined warning level, the corresponding operation strategy is matched, and the working mode, observation task execution status and power consumption level of the second AUV are controlled and adjusted.

[0016] When the warning level reaches the set conditions, the relevant control process for energy replenishment is initiated, including energy replenishment path planning and / or sending energy replenishment request signals;

[0017] When the battery level enters the lowest safe range, it switches to a low-power standby state and maintains positioning and communication functions in a controlled manner.

[0018] In some embodiments, the method for monitoring storage space occupancy is as follows:

[0019] The storage space of the second AUV is logically divided into multiple storage partitions, including at least a core data storage area, a buffer data storage area, and a temporary data storage area, for storing different types of data respectively;

[0020] Monitor the storage capacity usage of each storage partition and obtain the current occupancy status parameters of each storage partition;

[0021] The occupancy status parameters are compared with preset partition storage thresholds to determine whether each storage partition has reached the warning state of storage capacity.

[0022] When at least one storage partition reaches the warning state, a corresponding data transfer or data offloading demand signal is generated.

[0023] In some embodiments, the method for obtaining the relative position information between the second AUV, the mobile docking station, and the mobile underwater robot is as follows:

[0024] The navigation-related information of the second AUV is acquired and fused to determine the spatial location information of the second AUV;

[0025] Obtain spatial location information of mobile docking stations and mobile underwater robots;

[0026] Based on the spatial location information of the second AUV and the mobile docking station and the mobile underwater robot, the relative distance and relative orientation between the second AUV and the mobile docking station and the mobile underwater robot are obtained, and the relative distance and relative orientation form the relative position information.

[0027] In some embodiments, the energy replenishment method includes:

[0028] The relay method at the docking station involves transmitting renewable energy to the mobile docking station. When the second AUV moves directly above the mobile docking station, it receives additional power through coil contact.

[0029] The mobile charging station method involves directly transmitting renewable energy to a mobile underwater robot, which then acts as a mobile underwater charging station and connects with a second AUV to transmit power.

[0030] In some embodiments, the data transmission method includes:

[0031] The buoy relay method involves transmitting the observation data sequence to a mobile underwater robot. When the mobile underwater robot surfaces near the ocean buoy, it transmits the observation data sequence back to the ocean buoy for data relay.

[0032] The data retrieval method for the docking station involves transmitting the observation data sequence to a mobile docking station. When the mobile docking station rises to the surface, it is retrieved for data collection and management.

[0033] In some embodiments, the collaborative path and scheduling optimization steps specifically include: planning a recharging path and a corresponding data transmission path based on the relative position information between the second AUV and the mobile docking station and the mobile underwater robot, the power status of the second AUV, and the current observation task requirements; and planning subsequent observation paths after recharging is completed, taking into account the remaining power status of the second AUV and the distribution of the area to be observed, to generate path planning results and scheduling strategies for multi-device collaborative operation.

[0034] In some embodiments, the method for performing the energy replenishment operation is as follows:

[0035] During the process of the second AUV approaching the power replenishment target, the relative orientation and pose information of the power replenishment interface are acquired in real time, and docking positioning is completed.

[0036] Establish an energy transfer channel between the second AUV and a mobile docking station or a mobile underwater robot;

[0037] During the recharge process, the charging current, voltage and temperature parameters are monitored in real time, and the recharge power is dynamically adjusted according to the power status of the second AUV, while maintaining the relative position of the two stable.

[0038] When the preset energy replenishment completion conditions are met, the second AUV is controlled to detach from the energy replenishment target, and the energy replenishment operation ends.

[0039] In some embodiments, the method for performing observation data transmission operations is as follows:

[0040] Set a corresponding synchronization status identifier for each observation data record stored in the second AUV, and mark its initial status as unsynchronized;

[0041] When the second AUV establishes a data transmission link with a mobile underwater robot or a mobile docking station, it sends metadata index information to the corresponding receiving end to characterize the structural information and quantity of the data to be synchronized.

[0042] Based on the synchronization status identifier, unsynchronized observation data records are filtered out, and data transmission is performed in batches according to a preset priority order;

[0043] After confirming that the observation data transmission was successful, the synchronization status identifier of the corresponding observation data record will be updated to synchronized.

[0044] When data transmission is interrupted, after the data transmission link is re-established, transmission operations will continue only for unsynchronized observation data records.

[0045] In some embodiments, the long-term experimental method for marine sensors further includes:

[0046] Observation mission recovery steps: After the power replenishment operation or data transmission is completed, control the second AUV to return to the observation state and continue to perform the marine environmental observation mission.

[0047] A second aspect of this application provides a long-term testing device for marine sensors based on an autonomous underwater vehicle, used to implement the long-term testing method for marine sensors described in the second aspect of this application. The device includes an energy supply unit, an underwater docking unit, an energy replenishment unit, an observation execution unit, and an intelligent control unit, wherein:

[0048] The energy supply unit includes ocean buoys for continuously collecting renewable energy from the sea surface and converting it into electricity;

[0049] The underwater docking unit includes at least one mobile docking station for storing electrical energy from the energy relay unit and for caching and aggregating marine environmental observation data.

[0050] The energy replenishment unit includes at least one mobile underwater robot for providing energy replenishment support and / or data transmission channels between the underwater docking unit and the observation and execution unit;

[0051] The observation execution unit includes at least one second AUV, which serves as a marine sensor carrier to perform marine environmental observations and store observation data according to a preset observation task;

[0052] The intelligent control unit is communicatively connected to the energy supply unit, energy relay unit, underwater docking unit, energy replenishment unit, and observation execution unit. It is configured to: monitor the power status and storage space occupancy rate of the observation execution unit; generate energy replenishment demand signals or data transmission demand signals, and determine the energy replenishment or data transmission method according to the demand, while completing the path planning and scheduling control of multi-device collaboration.

[0053] Compared with the prior art, the advantages and positive effects of this application are as follows:

[0054] 1) By continuously monitoring the power status and storage space occupancy rate of the second AUV while it is performing observation tasks, and generating corresponding power replenishment demand signals or data transmission demand signals when preset conditions are met, the observation task execution process is linked with energy management and data management, thus avoiding the problem of observation interruption caused by insufficient energy or limited storage in traditional marine observation.

[0055] 2) By introducing the relative position information between the second AUV and the mobile docking station and the mobile underwater robot, and combining it with the priority or urgency of the current observation task, the power replenishment method or data transmission method is analyzed and determined, so that the power replenishment or data transmission decision can comprehensively consider the spatial location and task requirements, effectively reduce ineffective maneuvering and resource waste, and improve overall operational efficiency.

[0056] 3) By jointly optimizing the power replenishment path, data transmission path, and observation path after power replenishment or data transmission, and generating corresponding path planning results and scheduling strategies, the second AUV, mobile docking station, and mobile underwater robot can operate collaboratively according to a unified plan, reducing conflicts and repetitive actions between devices and improving the orderliness and stability of multi-device collaborative operation.

[0057] 4) By automatically triggering the power replenishment or data transmission process based on real-time status changes without human intervention, and continuing to perform observation tasks after completing the relevant operations, the second AUV can continuously carry out observation operations in complex marine environments, thereby effectively extending the single deployment cycle and improving the continuity of long-term marine sensor observations.

[0058] 5) By designing the observation data acquisition, status monitoring, demand generation, method determination, path planning and execution processes in a process-oriented manner, the logical connection between each step is clear and the execution is controllable, thereby reducing the risk of system failure caused by anomalies in a single link and improving the stability and reliability of the long-term observation process. Attached Figure Description

[0059] Figure 1 This is a schematic diagram of the structure of the marine buoy in the embodiments of this application;

[0060] Figure 2 This is a perspective view of a mobile shuttle station in an embodiment of this application;

[0061] Figure 3 This is a front view of the mobile shuttle station in the embodiments of this application;

[0062] Figure 4 This is a top view of the mobile docking station in an embodiment of this application;

[0063] Figure 5 This is a perspective view of the first AUV in the embodiments of this application;

[0064] Figure 6 This is a side view of the first AUV in an embodiment of this application;

[0065] Figure 7 This is a top view of the first AUV in the embodiments of this application;

[0066] Figure 8 This is a perspective view of a mobile underwater robot in an embodiment of this application;

[0067] Figure 9 This is a top view of the mobile underwater robot in the embodiments of this application;

[0068] Figure 10 This is a bottom view of the mobile underwater robot in the embodiments of this application;

[0069] Figure 11 This is a front view of the mobile underwater robot in the embodiments of this application;

[0070] Figure 12 This is a left view of a mobile underwater robot in an embodiment of this application.

[0071] Figure 13 This is a right view of a mobile underwater robot in an embodiment of this application;

[0072] Figure 14 This is a perspective view of the second AUV in the embodiments of this application;

[0073] Figure 15 This is a top view of the second AUV in the embodiments of this application;

[0074] Figure 16 This is a front view of the second AUV in the embodiments of this application;

[0075] Figure 17 This is a left view of the second AUV in the embodiments of this application;

[0076] Figure 18 This is a perspective view of the first AUV charging a mobile docking station in an embodiment of this application.

[0077] Figure 19 This is a front view of the first AUV charging a mobile docking station in an embodiment of this application.

[0078] Figure 20 This is a left view of the first AUV charging a mobile docking station in an embodiment of this application.

[0079] Figure 21 This is a top view of the first AUV charging a mobile docking station in an embodiment of this application.

[0080] Figure 22 This is a perspective view of the mobile docking station charging the second AUV in an embodiment of this application;

[0081] Figure 23 This is a front view of the mobile docking station charging the second AUV in an embodiment of this application;

[0082] Figure 24 This is a right view of the mobile docking station charging the second AUV in an embodiment of this application.

[0083] Figure 25 This is a top view of the mobile docking station charging the second AUV in an embodiment of this application;

[0084] Figure 26 This is a perspective view of a mobile underwater robot charging a second AUV, as described in an embodiment of this application.

[0085] Figure 27 This is a front view of the mobile underwater robot charging the second AUV in an embodiment of this application.

[0086] Figure 28 This is a left view of the mobile underwater robot charging the second AUV in an embodiment of this application.

[0087] Figure 29 This is a top view of the mobile underwater robot charging the second AUV in an embodiment of this application.

[0088] Figure 30 This is a perspective view of the mobile underwater robot communicating with the second AUV in an embodiment of this application;

[0089] Figure 31 This is a top view of the mobile underwater robot communicating with the second AUV in an embodiment of this application;

[0090] Figure 32 This is a front view of the mobile underwater robot communicating with the second AUV in an embodiment of this application;

[0091] Figure 33 This is a flowchart of a long-term marine sensor testing method based on an autonomous underwater vehicle, as described in this application.

[0092] In the picture:

[0093] 2. Mobile docking station; 3. First AUV; 4. Mobile underwater robot; 5. Second AUV;

[0094] 1-1, Communication module; 1-2, Wind power generation module; 1-4, Solar power generation module; 1-5, Buoy assembly; 1-6, Wave power generation module; 1-7, Photovoltaic composite cable; 1-8, Magnetic induction coil module; 1-9, Buoy optical communication module; 1-10, Buoy ball; 1-11, Anchor block;

[0095] 2-1, Hub station frame; 2-2, Buoyancy material; 2-3, Front / Rear Vector Thruster I; 2-4, Upper / Lower Vector Thruster I; 2-5, Magnetic induction coil I for charging; 2-6, Magnetic induction coil I for discharging; 2-7, Optical identification image code; 2-8, Doppler velocimeter; 2-9, Ultra-short baseline; 2-10, First battery module; 2-11, First inertial navigation system;

[0096] 3-1, First AUV main body; 3-2, Magnetic induction coil II for charging; 3-3, Magnetic induction coil II for discharging; 3-4, First optical recognition module; 3-4-1, First blue light source; 3-4-2, Optical camera I; 3-4-3, First red light source; 3-5, First thruster;

[0097] 4-1 Robot frame; 4-2 Solar panel; 4-3 Front / rear vector thruster II; 4-4 Upper / lower vector thruster II; 4-5 Second battery module; 4-6 Second inertial navigation system; 4-7 Light source; 4-8 Optical camera II; 4-9 Magnetic induction coil III for charging; 4-10 Locking mechanism; 4-11 Magnetic induction coil III for discharging; 4-12 First optical communication module; 4-12-1 First laser emitter; 4-12-2 First optical receiver;

[0098] 5-1, Second AUV main body; 5-2, Second optical recognition module; 5-2-1, Second blue light source; 5-2-2, Optical camera III; 5-2-3, Second red light source; 5-3, Second optical communication module; 5-3-1, Second laser emitter; 5-3-2, Second optical receiver; 5-4, Second thruster; 5-5, Magnetic induction coil IV for charging; 5-6, Dissolved oxygen sensor; 5-7, CDOM sensor; 5-8, Chlorophyll sensor; 5-9, Irradiance sensor; 5-10, Polycyclic aromatic hydrocarbon sensor; 5-11, pH sensor; 5-12, Nitrate sensor. Detailed Implementation

[0099] The present application will now be described in detail through exemplary embodiments. However, it should be understood that, without further description, elements, structures, and features in one embodiment may be advantageously incorporated into other embodiments.

[0100] In a broad embodiment of the present invention, a long-term experimental method for marine sensors based on an autonomous underwater vehicle (AUV) is described. This experimental method is implemented in coordination with a mobile docking station 2, a mobile underwater robot 4, a marine buoy, and a second AUV 5, and includes the following steps:

[0101] Observation data acquisition steps: Based on the preset observation task parameters, control the second AUV5 to perform marine environmental observation tasks and store the observation data sequence in the second AUV5 in real time;

[0102] Status monitoring and demand generation steps: During the observation mission of the second AUV5, its power status and storage space occupancy rate are continuously monitored. When the power status is lower than the preset power threshold or the storage space occupancy rate reaches the preset storage threshold, the corresponding power replenishment demand signal or data transmission demand signal is generated.

[0103] Power replenishment or transmission mode determination steps: Based on the relative position information between the second AUV5, the mobile docking station 2, and the mobile underwater robot 4, and in combination with the priority or urgency of the current observation task, analyze and judge the generated power replenishment demand signal or data transmission demand signal to determine the power replenishment mode or data transmission mode.

[0104] Collaborative path and scheduling optimization steps: Based on the determined power replenishment method or data transmission method, the power replenishment path or data transmission path, as well as the observation path after the power replenishment or data transmission is completed, are jointly optimized to generate the path planning results and corresponding scheduling strategies for multi-device collaborative operation.

[0105] Power replenishment or data transmission execution steps: Based on the path planning results and scheduling strategy, control the relevant equipment to perform the corresponding power replenishment operation or observation data transmission operation.

[0106] In some embodiments, the power status monitoring method is as follows:

[0107] The remaining battery power information of the second AUV5 is continuously collected and updated in real time to form the current battery status data;

[0108] The current battery status is compared with preset multi-level battery thresholds to determine the preset battery range into which the current battery status falls, and the current warning level is determined accordingly.

[0109] Based on the determined warning level, the corresponding operation strategy is matched, and the working mode, observation task execution status and power consumption level of the second AUV5 are controlled and adjusted.

[0110] When the warning level reaches the set conditions, the relevant control process for energy replenishment is initiated, including energy replenishment path planning and / or sending energy replenishment request signals;

[0111] When the battery level enters the lowest safe range, it switches to a low-power standby state and maintains positioning and communication functions in a controlled manner.

[0112] In some embodiments, the method for monitoring storage space occupancy is as follows:

[0113] The storage space of the second AUV5 is logically divided into multiple storage partitions, including at least a core data storage area, a buffer data storage area, and a temporary data storage area, for storing different types of data respectively;

[0114] Monitor the storage capacity usage of each storage partition and obtain the current occupancy status parameters of each storage partition;

[0115] The occupancy status parameters are compared with preset partition storage thresholds to determine whether each storage partition has reached the warning state of storage capacity.

[0116] When at least one storage partition reaches the warning state, a corresponding data transfer or data offloading demand signal is generated.

[0117] In some embodiments, the method for obtaining the relative position information between the second AUV5, the mobile docking station 2, and the mobile underwater robot 4 is as follows:

[0118] The navigation-related information of the second AUV5 is obtained and fused to determine the spatial location information of the second AUV5;

[0119] Obtain spatial location information of the mobile docking station 2 and the mobile underwater robot 4;

[0120] Based on the spatial location information of the second AUV5 and the mobile docking station 2 and the mobile underwater robot 4, the relative distance and relative orientation between the second AUV5 and the mobile docking station 2 and the mobile underwater robot 4 are obtained, and the relative distance and relative orientation form the relative position information.

[0121] In some embodiments, the energy replenishment method includes:

[0122] The relay method of the connection station is to transmit renewable electrical energy to the mobile connection station 2. When the second AUV5 moves directly above the mobile connection station 2, it obtains electrical energy replenishment through coil contact.

[0123] The mobile charging station method involves directly transmitting renewable energy to the mobile underwater robot 4. The mobile underwater robot 4 then connects with the second AUV 5 to transmit power, acting as an underwater mobile charging station.

[0124] In some embodiments, the data transmission method includes:

[0125] The buoy relay method involves transmitting the observation data sequence to the mobile underwater robot 4. When the mobile underwater robot 4 rises to the vicinity of the ocean buoy, it transmits the observation data sequence to the ocean buoy for data relay transmission.

[0126] The data retrieval method of the docking station involves transmitting the observation data sequence to the mobile docking station 2. When the mobile docking station 2 floats to the sea surface, it is retrieved for data collection and management.

[0127] In some embodiments, the collaborative path and scheduling optimization steps specifically include: planning a recharging path and a corresponding data transmission path based on the relative position information between the second AUV5 and the mobile docking station 2 and the mobile underwater robot 4, the power status of the second AUV5, and the current observation task requirements; and planning subsequent observation paths after recharging by combining the remaining power status of the second AUV5 and the distribution of the area to be observed, thereby generating path planning results and scheduling strategies for multi-device collaborative operation.

[0128] In some embodiments, the method for performing the energy replenishment operation is as follows:

[0129] During the process of the second AUV5 approaching the energy replenishment target, the relative orientation and pose information of the energy replenishment interface are acquired in real time, and docking positioning is completed.

[0130] Establish an energy transmission channel between the second AUV5 and the mobile docking station 2 or the mobile underwater robot 4;

[0131] During the charging process, the charging current, voltage and temperature parameters are monitored in real time, and the charging power is dynamically adjusted according to the power status of the second AUV5, while maintaining the relative position of the two stable.

[0132] When the preset energy replenishment completion conditions are met, the second AUV5 is controlled to detach from the energy replenishment target, and the energy replenishment operation ends.

[0133] In some embodiments, the method for performing observation data transmission operations is as follows:

[0134] Set a corresponding synchronization status identifier for each observation data record stored in the second AUV5, and mark its initial status as unsynchronized;

[0135] When the second AUV5 establishes a data transmission link with the mobile underwater robot 4 or the mobile docking station 2, it sends metadata index information to the corresponding receiving end to characterize the structural information and quantity of the data to be synchronized.

[0136] Based on the synchronization status identifier, unsynchronized observation data records are filtered out, and data transmission is performed in batches according to a preset priority order;

[0137] After confirming that the observation data transmission was successful, the synchronization status identifier of the corresponding observation data record will be updated to synchronized.

[0138] When data transmission is interrupted, after the data transmission link is re-established, transmission operations will continue only for unsynchronized observation data records.

[0139] In some embodiments, the long-term experimental method for marine sensors further includes:

[0140] Observation mission recovery steps: After the power replenishment operation or data transmission is completed, control the second AUV5 to return to the observation state and continue to perform the marine environmental observation mission.

[0141] The present invention also aims to provide a long-term testing device for marine sensors based on autonomous underwater vehicles, for implementing the aforementioned long-term testing method for marine sensors, comprising an energy supply unit, an underwater docking unit, an energy replenishment unit, an observation execution unit, and an intelligent control unit, wherein:

[0142] The energy supply unit includes ocean buoys for continuously collecting renewable energy from the sea surface and converting it into electricity;

[0143] The underwater docking unit includes at least one mobile docking station 2, which is used to store electrical energy from the energy relay unit and to cache and collect marine environmental observation data.

[0144] The energy supply unit includes at least one mobile underwater robot 4, which provides energy supply support and / or data transmission channels between the underwater docking unit and the observation and execution unit;

[0145] The observation execution unit includes at least one second AUV5, which serves as a marine sensor carrier to perform marine environmental observations and store observation data according to preset observation tasks;

[0146] The intelligent control unit is communicatively connected to the energy supply unit, energy relay unit, underwater docking unit, energy replenishment unit, and observation execution unit. It is configured to: monitor the power status and storage space occupancy rate of the observation execution unit; generate energy replenishment demand signals or data transmission demand signals, and determine the energy replenishment or data transmission method according to the demand, while completing the path planning and scheduling control of multi-device collaboration.

[0147] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0148] like Figures 1 to 32 As shown, this embodiment discloses a long-term experimental device for marine sensors based on an autonomous underwater vehicle, including an energy supply unit, an energy relay unit, an underwater docking unit, an energy replenishment unit, an observation and execution unit, and an intelligent control unit, wherein:

[0149] The energy supply unit includes a marine buoy for continuously collecting renewable energy on the sea surface and converting it into electrical energy. The marine buoy includes a buoy assembly 1-5 and a photovoltaic composite cable 1-7. The buoy assembly 1-5 is equipped with a communication module 1-1, a wind power generation module 1-2, a solar power generation module 1-4, and a wave power generation module 1-6. The photovoltaic composite cable 1-7 is connected to the lower end of the buoy assembly 1-5. An anchor block 1-11 is connected to the lower end of the photovoltaic composite cable 1-7. A magnetic induction coil module 1-8, a buoy optical communication module 1-9, and a buoy 1-10 are installed on the photovoltaic composite cable 1-7.

[0150] The energy relay unit includes at least one first AUV3 for performing mobile relay transmission of electrical energy and / or data;

[0151] The underwater docking unit includes at least one mobile docking station 2, which is used to store electrical energy from the energy relay unit and to cache and collect marine environmental observation data.

[0152] The energy supply unit includes at least one mobile underwater robot 4, which provides energy supply support and / or data transmission channels between the underwater docking unit and the observation and execution unit;

[0153] The observation execution unit includes at least one second AUV5, which serves as a marine sensor carrier to perform marine environmental observations and store observation data according to preset observation tasks;

[0154] The intelligent control unit is communicatively connected to the energy supply unit, energy relay unit, underwater docking unit, energy replenishment unit, and observation execution unit. It is configured to: monitor the power status and storage space occupancy rate of the observation execution unit; generate energy replenishment demand signals or data transmission demand signals, and determine the energy replenishment or data transmission method according to the demand, while completing the path planning and scheduling control of multi-device collaboration.

[0155] In this embodiment, multiple sets of underwater mobile docking station 2, first AUV 3, mobile underwater robot 4, and second AUV 5 are configured, and these multiple sets of equipment operate in a collaborative network mode. The intelligent control unit will rationally plan the charging route based on the battery status of mobile underwater robot 4 and second AUV 5 to ensure the continuous and stable operation of the experiment. In addition, mobile docking station 2, as the hub of the entire device, not only provides energy supply to second AUV 5, but also performs data storage (data backup). When the data storage reaches a certain amount, it can float to the surface for recovery.

[0156] like Figures 14 to 17As shown, the marine sensors in this invention include, but are not limited to, dissolved oxygen sensors 5-6, CDOM sensors 5-7, chlorophyll sensors 5-8, irradiance sensors 5-9, polycyclic aromatic hydrocarbon sensors 5-10, pH sensors 5-11, and nitrate sensors 5-12. The second AUV5, serving as the marine sensor carrier, is equipped with a temperature, salinity, and depth meter (TDM) to measure seawater temperature, salinity, and depth.

[0157] like Figures 2 to 4 As shown, the mobile docking station 2 has a docking station frame 2-1 as its main structure and is equipped with buoyancy material 2-2 for buoyancy adjustment. Its power system includes a front / rear vector thruster I2-3 and an upper / lower vector thruster I2-4. The energy system consists of a charging magnetic induction coil I2-5, a discharging magnetic induction coil I2-6, and a first battery module 2-10. Navigation and positioning rely on a Doppler velocimeter 2-8, an ultra-short baseline 2-9, and a first inertial navigation system 2-11. An optical identification image code 2-7 is located at the top of the docking station frame 2-1 for identification and positioning by other equipment. In addition to its energy transfer function, the mobile docking station 2 can also store and back up data. After accumulating a certain amount of data, it can float to the surface for recovery.

[0158] like Figures 5 to 7 As shown, the first AUV3, serving as a repeater and a small mobile charging station, includes a first AUV body 3-1 and a first optical identification module 3-4. The first AUV body 3-1 is equipped with a charging magnetic induction coil II 3-2, a discharging magnetic induction coil II 3-3, and a built-in battery pack. The first optical identification module 3-4 includes a first blue light source 3-4-1, an optical camera I 3-4-2, and a first red light source 3-4-3, used to identify the optical identification image code 2-7 of the mobile docking station 2. Powered by a first thruster 3-5, the first AUV3 travels back and forth between the ocean buoy and the mobile docking station 2, obtaining renewable energy (solar, wind, and wave energy) from the ocean buoy via a photoelectric composite cable 1-7, and transmitting electrical energy to the mobile docking station 2 via magnetic induction coil contact.

[0159] like Figures 8 to 13As shown, the mobile underwater robot 4 serves as an underwater mobile charging station, with the robot frame 4-1 as the main body, equipped with solar panels 4-2, a second battery module 4-5, and magnetic induction coils Ⅲ 4-9 for charging and Ⅲ 4-11 for discharging. Its power system includes front / rear vector thrusters Ⅱ 4-3 and upper / lower vector thrusters Ⅱ 4-4, and navigation is achieved through a second inertial navigation system 4-6. The vision system consists of a light source 4-7 and an optical camera Ⅱ 4-8. Communication is achieved through a first optical communication module 4-12, which includes a first laser transmitter 4-12-1 and a first optical receiver 4-12-2, enabling wireless optical communication with ocean buoys and the second AUV 5. A locking mechanism 4-10 is used for mechanical docking with the second AUV 5.

[0160] like Figures 14 to 17 As shown, the second AUV5 is the actual carrier of the marine sensors, including the second AUV body 5-1. The second AUV body 5-1 is equipped with a second optical recognition module 5-2 (including a second blue light source 5-2-1, an optical camera Ⅲ 5-2-2, and a second red light source 5-2-3) and a second optical communication module 5-3 (including a second laser emitter 5-3-1 and a second optical receiver 5-3-2). The energy system includes a charging magnetic induction coil Ⅳ 5-5 and a built-in battery pack, powered by a second thruster 5-4. This AUV is equipped with seven marine sensors: a dissolved oxygen sensor 5-6, a CDOM sensor 5-7, a chlorophyll sensor 5-8, an irradiance sensor 5-9, a polycyclic aromatic hydrocarbon sensor 5-10, a pH sensor 5-11, a nitrate sensor 5-12, and a temperature, salinity, and depth meter (for measuring seawater temperature, salinity, and depth).

[0161] The aforementioned long-term marine sensor testing device has two power replenishment methods:

[0162] like Figures 18 to 25 As shown, the relay method of the docking station is as follows: the marine buoy serves as the main power generator and supplier, and the first AUV3, acting as a repeater, provides power. The first AUV3 also functions as a small mobile charging station, charging the mobile docking station 2. The mobile docking station 2 can supply power to the second AUV5, which serves as a sensor carrier, powering multiple sensors. The first AUV3, acting as a mobile charging station, continuously provides power to the mobile docking station 2. This method shortens the length of the optical fiber composite cable 1-7, and the second AUV5, serving as the marine sensor carrier, does not need to surface for power replenishment, thus saving energy consumption and allowing it to operate in the working sea area for extended periods.

[0163] Specifically, the marine buoy, serving as a surface communication and power supply unit, converts solar, wind, and wave energy into electrical energy. This electrical energy is then transferred to the battery pack of the first AUV3 via a fiber optic composite cable 1-7 and a charging magnetic induction coil II 3-2 for storage. When the first AUV3 descends to the vicinity of the mobile docking station 2 and completes docking and positioning, the discharge magnetic induction coil II 3-3 on the first AUV3 contacts the charging magnetic induction coil I2-5 on the mobile docking station 2, transferring the electrical energy from the first AUV3 to the first battery module 2-10 on the mobile docking station 2. When the second AUV5 moves directly above the mobile docking station 2, the discharge magnetic induction coil I2-6 on the mobile docking station 2 contacts the charging magnetic induction coil IV 5-5 of the second AUV5, transferring the electrical energy from the first battery module 2-10 to the battery pack of the second AUV5, thus providing power for the various marine sensors carried on the second AUV5.

[0164] The mobile shuttle station 2 is equipped with a large first battery module 2-10. The first AUV 3 transmits energy to the mobile shuttle station 2 through magnetic coupling induction and stores the electrical energy in the first battery module 2-10. The top of the frame of the mobile shuttle station 2 has an optical image recognition code 2-7. The first AUV 3 is equipped with a first optical recognition module 3-4, and the second AUV 5 is equipped with a second optical recognition module 5-2. The first optical recognition module 3-4 specifically includes a first blue light source 3-4-1, an optical camera I 3-4-2, and a first red light source 3-4-3. The second optical recognition module 5-2 specifically includes a second blue light source 5-2-1, an optical camera III 5-2-2, and a second red light source 5-2-3. When the small first AUV3 and second AUV5 approach the mobile docking station 2, after recognizing the optical identification image code 2-7 on the mobile docking station 2, the first thruster 3-5 and the second thruster 5-4 can be driven by the image recognition algorithm. The mobile docking station 2 is equipped with a Doppler velocimeter 2-8, an ultra-short baseline 2-9, and a first inertial navigation system 2-11, which can control the front / rear vector thruster I2-3 and the upper / lower vector thruster I2-4, thereby realizing the docking of the mobile docking station 2 with the first AUV3 and the second AUV5.

[0165] like Figures 26 to 29 As shown, in the mobile charging station method, the marine buoy also serves as the main power generator and supplier, replenishing the power of the mobile underwater robot 4. The mobile underwater robot 4 can then power the second AUV 5, which in turn powers multiple sensors. This method eliminates the need for docking with the mobile docking station 2, shortens the travel route, and provides greater maneuverability, making it suitable for the second AUV 5 to carry marine sensors for testing in medium and shallow waters.

[0166] Specifically, the mobile underwater robot 4 acts as an underwater mobile charging station. It can connect with the charging magnetic induction coil III 4-9 via the magnetic induction coil module 1-8 on the ocean buoy, thereby transferring electrical energy from the ocean buoy to the second battery module 4-5 on the mobile underwater robot 4. When the mobile underwater robot 4 docks with the second AUV 5, the discharging magnetic induction coil III 4-11 on the mobile underwater robot 4 can contact the charging magnetic induction coil IV 5-5 on the second AUV 5, thereby transferring electrical energy from the mobile underwater robot 4 to the second AUV 5. The second AUV 5 contains a battery pack that can transfer electrical energy to various marine sensors.

[0167] The aforementioned long-term marine sensor testing device has two data transmission methods:

[0168] like Figures 30 to 32 As shown, the first data transmission method is a buoy relay method: marine sensor data transmission is mainly through wireless optical communication. Wireless optical communication devices are installed on the marine buoy, the mobile underwater robot 4, and the second AUV 5. Data collected by the marine sensors is stored in the storage unit within the second AUV 5. When the second AUV 5 approaches the mobile underwater robot 4, the data is transmitted to the mobile underwater robot 4 through the second optical communication module 5-3 at the front end of the second AUV 5. When the mobile underwater robot 4 rises to the vicinity of the marine buoy, the first optical communication module 4-12 on the mobile underwater robot 4 transmits the data to the buoy optical communication module 1-9 on the marine buoy. Finally, the data is transmitted to the optical transceiver on the marine buoy via the optical-electric composite cable 1-7. The data collected by the marine sensors is then transmitted to the shore or laboratory for data processing via the communication module 1-1 on the marine buoy (including but not limited to Iridium and Beidou communication transceivers). This achieves sensor data transmission.

[0169] like Figures 26 to 29 As shown, the second data transmission method is the docking station data recovery method: after the second AUV5 docks with the mobile docking station 2, in addition to energy replenishment, it can also perform data storage (data backup). When the data storage reaches a certain amount, the mobile docking station 2 can float to the sea surface for recovery through the upper / lower vector thrusters I2-4.

[0170] like Figure 33 As shown, the purpose of this application is also to provide a long-term testing method for marine sensors based on autonomous underwater vehicles, applied to the aforementioned long-term testing device for marine sensors, comprising the following steps:

[0171] Observation data acquisition steps: Based on the preset observation task parameters, control the second AUV5 to perform marine environmental observation tasks and store the observation data sequence in the second AUV5 in real time;

[0172] Status monitoring and demand generation steps: During the observation mission of the second AUV5, its power status and storage space occupancy rate are continuously monitored. When the power status is lower than the preset power threshold or the storage space occupancy rate reaches the preset storage threshold, the corresponding power replenishment demand signal or data transmission demand signal is generated.

[0173] Power replenishment or transmission mode determination steps: Based on the relative position information between the second AUV5, the mobile docking station 2, and the mobile underwater robot 4, and in combination with the priority or urgency of the current observation task, the generated power replenishment demand signal or data transmission demand signal is analyzed and judged to determine the power replenishment mode or data transmission mode.

[0174] Collaborative path and scheduling optimization steps: Based on the determined power replenishment method or data transmission method, the power replenishment path or data transmission path, as well as the observation path after the power replenishment or data transmission is completed, are jointly optimized to generate the path planning results and corresponding scheduling strategies for multi-device collaborative operation.

[0175] Power replenishment or data transmission execution steps: Based on path planning results and scheduling strategies, control relevant equipment to perform corresponding power replenishment operations or observation data transmission operations;

[0176] Observation mission recovery steps: After the power replenishment operation or data transmission is completed, control the second AUV5 to return to the observation state and continue to perform the marine environmental observation mission.

[0177] The long-term testing method for marine sensors based on autonomous underwater vehicles described in this application achieves coordinated control of the observation task execution process with energy and data management by continuously monitoring the marine environmental observation data acquisition process and the power status and storage space occupancy status of the second AUV5. It adaptively determines the power replenishment or data transmission method based on relative position information and the priority or urgency of the observation task, and collaboratively optimizes the power replenishment path, data transmission path, and observation path after power replenishment or data transmission, ensuring the orderly execution of power replenishment and data transmission processes under multi-device collaborative conditions. Furthermore, by promptly resuming the observation task after power replenishment or data transmission, the second AUV5 can continuously conduct marine environmental observation operations in complex marine environments, thereby significantly improving the continuity, operational reliability, and autonomous operation capability of the marine sensor during long-term testing.

[0178] Specifically, the preset observation task parameters include the geographical coordinate boundaries of the observation area, the layered setting value of the observation depth, the spatial distribution density of observation points in each observation layer, the data sampling time interval, and the working mode switching conditions.

[0179] Specifically, the power status monitoring method is as follows:

[0180] The remaining battery power information of the second AUV5 is continuously collected and updated in real time to form the current battery status data;

[0181] The current battery status is compared with preset multi-level battery thresholds to determine the preset battery range into which the current battery status falls, and the current warning level is determined accordingly.

[0182] Based on the determined warning level, the corresponding operation strategy is matched, and the working mode, observation task execution status and power consumption level of the second AUV5 are controlled and adjusted.

[0183] When the warning level reaches the set conditions, the relevant control process for energy replenishment is initiated, including energy replenishment path planning and / or sending energy replenishment request signals;

[0184] When the battery level enters the minimum safe range, unnecessary operation is terminated, and the system switches to a low-power standby state. Positioning and communication functions are maintained in a controlled manner to ensure the feasibility of subsequent power replenishment operations.

[0185] The power status monitoring method described in this application continuously collects and updates the remaining power information of the second AUV5 in real time, and combines multi-level power thresholds to classify and determine the power status, thereby achieving hierarchical early warning and refined management of the second AUV5's operating status. By matching corresponding operating strategies according to different early warning levels, the operating mode, observation task execution status, and power consumption level of the second AUV5 are adaptively controlled and adjusted to reduce the impact of power fluctuations on the continuity of observation tasks. On this basis, when the power status reaches the set conditions, the relevant power replenishment control process is promptly initiated, and when the power enters the minimum safe range, it switches to a low-power standby state while maintaining necessary positioning and communication functions, thereby ensuring the feasibility of subsequent power replenishment operations and significantly improving the operational safety, energy utilization efficiency, and continuous working capability of the second AUV5 during long-term testing.

[0186] Specifically, the method for monitoring the storage space occupancy rate is as follows:

[0187] The storage space of the second AUV5 is logically divided into multiple storage partitions, including at least a core data storage area, a buffer data storage area, and a temporary data storage area, for storing different types of data respectively;

[0188] Monitor the storage capacity usage of each storage partition and obtain the current occupancy status parameters of each storage partition;

[0189] The occupancy status parameters are compared with preset partition storage thresholds to determine whether each storage partition has reached the warning state of storage capacity.

[0190] When at least one storage partition reaches the warning state, a corresponding data transfer or data offloading demand signal is generated.

[0191] The storage space occupancy monitoring method described in this application logically divides the storage space of the second AUV5, storing different types of data in the core data storage area, buffer data storage area, and temporary data storage area respectively, thereby achieving hierarchical management of the observation data storage structure. By continuously monitoring the capacity usage of each storage partition and comparing it with the preset partition storage threshold, real-time perception and early warning of the storage space occupancy status are achieved. On this basis, when at least one storage partition reaches the storage capacity warning state, a corresponding data transmission or data offloading demand signal is generated in a timely manner, thereby avoiding the loss of observation data or interruption of observation tasks due to insufficient storage space, significantly improving the data management reliability and observation task continuity of the second AUV5 during long-term experiments.

[0192] Specifically, the method for obtaining the relative position information between the second AUV5, the mobile docking station 2, and the mobile underwater robot 4 is as follows:

[0193] The navigation-related information of the second AUV5 is obtained and fused to determine the spatial location information of the second AUV5.

[0194] Receive position and motion status information periodically sent by the mobile docking station 2 and the mobile underwater robot 4 to obtain the spatial position information of the mobile docking station 2 and the mobile underwater robot 4;

[0195] Based on the spatial position information of the second AUV5 and the spatial position information of the mobile docking station 2 and the mobile underwater robot 4, the relative distance and relative orientation between them are calculated to obtain the relative position information.

[0196] The relative position information acquisition method described in this application accurately determines the spatial position information of the second AUV5 by fusing and processing the navigation-related information of the second AUV5. Combined with the position and motion status information periodically sent by the mobile docking station 2 and the mobile underwater robot 4, the method achieves unified acquisition of the spatial position information of multiple underwater devices. On this basis, the method calculates the relative distance and relative orientation between the second AUV5 and the mobile docking station 2 and the mobile underwater robot 4 to form accurate relative position information. This provides reliable position constraints for the subsequent determination of the power replenishment method or data transmission method, as well as the optimization of the collaborative path and scheduling, thereby improving the docking accuracy and operational stability during the collaborative operation of multiple devices.

[0197] Specifically, the method for determining the urgency of the current observation mission is as follows:

[0198] Acquire status information related to the current observation task, the status information including at least environmental status information, task attribute information, and task execution status information;

[0199] Based on the aforementioned state information, evaluation parameters are constructed to characterize the urgency of the observation task;

[0200] According to the pre-set weighting rules, the evaluation parameters are comprehensively calculated to obtain the urgency evaluation value corresponding to the observation task;

[0201] The urgency evaluation value is compared with a preset urgency level threshold, and the urgency level of the observation task is determined based on the comparison result.

[0202] The method for determining the urgency of observation tasks described in this application acquires environmental state information, task attribute information, and task execution status information related to the current observation task. Based on this information, it constructs evaluation parameters to characterize the urgency of the observation task, thereby achieving a multi-dimensional quantitative description of the observation task status. By comprehensively calculating the evaluation parameters according to pre-set weighting rules and comparing the obtained urgency evaluation value with a preset urgency level threshold, the urgency level of the observation task is determined. On this basis, the determination process for power replenishment or data transmission methods can fully consider the actual urgency of the observation task, thereby achieving rationality in resource allocation and targeted decision-making under multi-device collaborative operation conditions, and improving the flexibility of task scheduling and overall operational efficiency during long-term marine sensor experiments.

[0203] Specifically, the energy replenishment methods include:

[0204] The relay method of the connection station involves transmitting renewable electrical energy to the mobile connection station 2 through the first AUV3. When the second AUV5 moves directly above the mobile connection station 2, it obtains electrical energy replenishment through coil contact.

[0205] The mobile charging station method involves directly transmitting renewable energy to the mobile underwater robot 4. The mobile underwater robot 4 then connects with the second AUV 5 to transmit power, acting as an underwater mobile charging station.

[0206] The above-mentioned energy replenishment method in this application sets up two energy replenishment paths: a relay method at a docking station and a mobile charging pile method. This allows the second AUV5 to flexibly obtain power replenishment according to the operating environment and docking conditions. Among them, the relay method at the docking station is suitable for providing stable and continuous energy support, while the mobile charging pile method has higher mobility and docking flexibility. This ensures the feasibility and reliability of the energy replenishment process in different operating scenarios and improves the continuous operation capability of the second AUV5 for long-term observation missions.

[0207] Specifically, the collaborative path and scheduling optimization steps include: planning the recharging path and the corresponding data transmission path based on the relative position information between the second AUV5, the mobile docking station 2, and the mobile underwater robot 4, the power status of the second AUV5, and the current observation task requirements; and planning the subsequent observation path after recharging, taking into account the remaining power status of the second AUV5 and the distribution of the area to be observed, thereby generating the path planning results and scheduling strategy for multi-device collaborative operation.

[0208] The collaborative path and scheduling optimization method described in this application comprehensively considers the relative position information of the second AUV5, the mobile docking station 2, and the mobile underwater robot 4, the power status of the second AUV5, and the current observation task requirements. It jointly plans the recharging path, the data transmission path, and the observation path after recharging, and generates corresponding scheduling strategies. This achieves the rationality of path arrangement and the orderliness of execution process under the condition of multi-device collaborative operation, and improves the overall efficiency and operational stability of recharging, data transmission, and observation task connection during long-term marine sensor testing.

[0209] Specifically, the method for performing the energy replenishment operation is as follows:

[0210] During the process of the second AUV5 approaching the energy replenishment target, the relative orientation and pose information of the energy replenishment interface are acquired in real time, and docking positioning is completed.

[0211] Establish an energy transmission channel between the second AUV5 and the mobile docking station 2 or the mobile underwater robot 4;

[0212] During the charging process, the charging current, voltage and temperature parameters are monitored in real time, and the charging power is dynamically adjusted according to the power status of the second AUV5, while maintaining the relative position of the two stable.

[0213] When the preset energy replenishment completion conditions are met, the second AUV5 is controlled to detach from the energy replenishment target, and the energy replenishment operation ends.

[0214] The above-mentioned energy replenishment operation method of this application obtains the relative orientation and pose information of the energy replenishment interface during the approach of the second AUV5 to the energy replenishment target to complete precise docking and establish a stable energy transmission channel; during the energy replenishment process, combined with real-time monitoring of charging current, voltage and temperature parameters, the energy replenishment power is dynamically adjusted according to the power status of the second AUV5 and the relative position is kept stable; after the preset energy replenishment completion conditions are met, the second AUV5 is controlled to detach from the energy replenishment target, thereby ensuring the safety, stability and controllability of the energy replenishment process and improving the reliability of energy replenishment during long-term marine sensor testing.

[0215] Specifically, the method for performing observation data transmission operations is as follows:

[0216] Set a corresponding synchronization status identifier for each observation data record stored in the second AUV5, and mark its initial status as unsynchronized;

[0217] When the second AUV5 establishes a data transmission link with the mobile underwater robot 4 or the mobile docking station 2, it sends metadata index information to the corresponding receiving end to characterize the structural information and quantity of the data to be synchronized.

[0218] Based on the synchronization status identifier, unsynchronized observation data records are filtered out, and data transmission is performed in batches according to a preset priority order;

[0219] After confirming that the observation data transmission was successful, the synchronization status identifier of the corresponding observation data record will be updated to synchronized.

[0220] When data transmission is interrupted, after the data transmission link is re-established, transmission operations will continue only for unsynchronized observation data records.

[0221] The observation data transmission method described in this application effectively manages the data synchronization status by setting a synchronization status identifier for the observation data record; after establishing the data transmission link, it sends metadata index information and transmits unsynchronized data in batches based on the synchronization status and preset priority; after confirming successful transmission, it updates the synchronization status; when transmission is interrupted, it only continues to transmit unsynchronized data, thereby avoiding repeated transmission, improving data transmission efficiency and reliability, and ensuring the integrity and continuity of observation data during long-term marine sensor experiments.

[0222] The above embodiments are used to explain this application, not to limit it. Any modifications and changes made to this application within the spirit and scope of the claims shall fall within the protection scope of this application.

Claims

1. A long-term experimental method for marine sensors based on autonomous underwater vehicles, characterized in that, The experimental method is based on a mobile docking station, a mobile underwater robot, ocean buoys, and a second AUV, and includes the following steps: Observation data acquisition steps: Based on the preset observation task parameters, control the second AUV to perform marine environmental observation tasks and store the observation data sequence in the second AUV in real time; Status monitoring and demand generation steps: During the second AUV’s observation mission, its power status and storage space occupancy rate are continuously monitored. When the power status is lower than the preset power threshold or the storage space occupancy rate reaches the preset storage threshold, the corresponding power replenishment demand signal or data transmission demand signal is generated. Power replenishment or transmission mode determination steps: Based on the relative position information between the second AUV and the mobile docking station and the mobile underwater robot, and combined with the priority or urgency of the current observation task, analyze and judge the generated power replenishment demand signal or data transmission demand signal to determine the power replenishment mode or data transmission mode. Collaborative path and scheduling optimization steps: Based on the determined power replenishment method or data transmission method, the power replenishment path or data transmission path, as well as the observation path after the power replenishment or data transmission is completed, are jointly optimized to generate the path planning results and corresponding scheduling strategies for multi-device collaborative operation. Power replenishment or data transmission execution steps: Based on path planning results and scheduling strategies, control relevant equipment to perform corresponding power replenishment operations or observation data transmission operations; The energy replenishment methods include: The relay method at the docking station involves transmitting renewable energy to the mobile docking station. When the second AUV moves directly above the mobile docking station, it receives additional power through coil contact. The mobile charging station method involves directly transmitting renewable energy to a mobile underwater robot, which then acts as a mobile underwater charging station and connects with a second AUV to transmit power. The data transmission methods include: The buoy relay method involves transmitting the observation data sequence to a mobile underwater robot. When the mobile underwater robot surfaces near the ocean buoy, it transmits the observation data sequence back to the ocean buoy for data relay. The data retrieval method for the docking station involves transmitting the observation data sequence to a mobile docking station. When the mobile docking station rises to the surface, it is retrieved for data collection and management.

2. The long-term experimental method for marine sensors based on autonomous underwater vehicles according to claim 1, characterized in that, The method for monitoring battery status is as follows: The remaining battery power information of the second AUV is continuously collected and updated in real time to form the current battery status data; The current battery status is compared with preset multi-level battery thresholds to determine the preset battery range into which the current battery status falls, and the current warning level is determined accordingly. Based on the determined warning level, the corresponding operation strategy is matched, and the working mode, observation task execution status and power consumption level of the second AUV are controlled and adjusted. When the warning level reaches the set conditions, the relevant control process for energy replenishment is initiated, including energy replenishment path planning and / or sending energy replenishment request signals; When the battery level enters the lowest safe range, it switches to low-power standby mode and maintains positioning and communication functions in a controlled manner.

3. The long-term experimental method for marine sensors based on autonomous underwater vehicles according to claim 2, characterized in that, The method for monitoring the storage space occupancy rate is as follows: The storage space of the second AUV is logically divided into multiple storage partitions, including at least a core data storage area, a buffer data storage area, and a temporary data storage area, for storing different types of data respectively; Monitor the storage capacity usage of each storage partition and obtain the current occupancy status parameters of each storage partition; The occupancy status parameters are compared with preset partition storage thresholds to determine whether each storage partition has reached the warning state of storage capacity. When at least one storage partition reaches the warning state, a corresponding data transfer or data offloading demand signal is generated.

4. The long-term experimental method for marine sensors based on autonomous underwater vehicles according to claim 1, characterized in that, The method for obtaining the relative position information between the second AUV, the mobile docking station, and the mobile underwater robot is as follows: The navigation-related information of the second AUV is acquired and fused to determine the spatial location information of the second AUV; Obtain spatial location information of mobile docking stations and mobile underwater robots; Based on the spatial location information of the second AUV and the mobile docking station and the mobile underwater robot, the relative distance and relative orientation between the second AUV and the mobile docking station and the mobile underwater robot are obtained, and the relative distance and relative orientation form the relative position information.

5. The long-term experimental method for marine sensors based on autonomous underwater vehicles according to claim 4, characterized in that, The collaborative path and scheduling optimization steps specifically include: planning the recharging path and the corresponding data transmission path based on the relative position information between the second AUV and the mobile docking station and the mobile underwater robot, the power status of the second AUV, and the current observation task requirements; and planning the subsequent observation path after the recharging is completed, taking into account the remaining power status of the second AUV and the distribution of the area to be observed, to generate the path planning results and scheduling strategy for multi-device collaborative operation.

6. The long-term experimental method for marine sensors based on autonomous underwater vehicles according to claim 4, characterized in that, The method for performing the energy replenishment operation is as follows: During the process of the second AUV approaching the power replenishment target, the relative orientation and pose information of the power replenishment interface are acquired in real time, and docking positioning is completed. Establish an energy transfer channel between the second AUV and a mobile docking station or a mobile underwater robot; During the recharge process, the charging current, voltage and temperature parameters are monitored in real time, and the recharge power is dynamically adjusted according to the power status of the second AUV, while maintaining the relative position of the two stable. When the preset energy replenishment completion conditions are met, the second AUV is controlled to detach from the energy replenishment target, and the energy replenishment operation ends.

7. The long-term experimental method for marine sensors based on autonomous underwater vehicles according to claim 4, characterized in that, The method for performing observation data transmission operations is as follows: Set a corresponding synchronization status identifier for each observation data record stored in the second AUV, and mark its initial status as unsynchronized; When the second AUV establishes a data transmission link with a mobile underwater robot or a mobile docking station, it sends metadata index information to the corresponding receiving end to characterize the structural information and quantity of the data to be synchronized. Based on the synchronization status identifier, unsynchronized observation data records are filtered out, and data transmission is performed in batches according to a preset priority order; After confirming that the observation data transmission was successful, the synchronization status identifier of the corresponding observation data record will be updated to synchronized. When data transmission is interrupted, after the data transmission link is re-established, transmission operations will continue only for unsynchronized observation data records.

8. The long-term experimental method for marine sensors based on autonomous underwater vehicles according to claim 1, characterized in that, The long-term experimental method for the marine sensor also includes: Observation mission recovery steps: After the power replenishment operation or data transmission is completed, control the second AUV to return to the observation state and continue to perform the marine environmental observation mission.

9. A long-term testing device for marine sensors based on autonomous underwater vehicles, used to implement the long-term testing method for marine sensors as described in any one of claims 1-8, characterized in that, It includes an energy supply unit, an underwater docking unit, an energy replenishment unit, an observation and execution unit, and an intelligent control unit, among which: The energy supply unit includes ocean buoys for continuously collecting renewable energy from the sea surface and converting it into electricity; The underwater docking unit includes at least one mobile docking station for storing electrical energy from the energy relay unit and for caching and aggregating marine environmental observation data. The energy replenishment unit includes at least one mobile underwater robot for providing energy replenishment support and / or data transmission channels between the underwater docking unit and the observation and execution unit; The observation execution unit includes at least one second AUV, which serves as a marine sensor carrier to perform marine environmental observations and store observation data according to a preset observation task; The intelligent control unit is communicatively connected to the energy supply unit, energy relay unit, underwater docking unit, energy replenishment unit, and observation execution unit. It is configured to: monitor the power status and storage space occupancy rate of the observation execution unit; generate corresponding energy replenishment demand signals or data transmission demand signals, and determine the energy replenishment or data transmission method according to the demand, while completing the path planning and scheduling control of multi-device collaboration.

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