CN107878681A - A kind of ocean wave buoy of remote control - Google Patents
A kind of ocean wave buoy of remote control Download PDFInfo
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- CN107878681A CN107878681A CN201711174652.7A CN201711174652A CN107878681A CN 107878681 A CN107878681 A CN 107878681A CN 201711174652 A CN201711174652 A CN 201711174652A CN 107878681 A CN107878681 A CN 107878681A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B22/00—Buoys
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C13/00—Surveying specially adapted to open water, e.g. sea, lake, river or canal
- G01C13/002—Measuring the movement of open water
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Life Sciences & Earth Sciences (AREA)
- Hydrology & Water Resources (AREA)
- Automation & Control Theory (AREA)
- Remote Sensing (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of ocean wave buoy of remote control, including wave buoy framework and wave buoy control system, wave buoy control system is made up of Wave Data detecting system, wave buoy systems stabilisation and wave buoy electric power system；Wave buoy control system is connected with wave buoy control system extension set, wave buoy control system extension set, which uses, buoy attitude algorithm processor, wave buoy control system extension set is connected with the tele-control system that two-way network communication is realized using big-dipper satellite and wave monitoring platform main frame, coordinate position residing for the ocean wave characteristic value exported after the processing of buoy attitude algorithm processor and the working condition and ocean wave buoy of ocean wave buoy is uploaded report and gives wave monitoring platform main frame by tele-control system, wave monitoring platform main frame sends remote control of the command signal to the realization of buoy attitude algorithm processor to ocean wave buoy by tele-control system.
Description
Technical field
The present invention relates to the control to ocean wave buoy and communication technical field, specifically a kind of remote control
Ocean wave buoy.
Background technology
At present, with expanding economy, while marine mankind's activity is more and more frequent, Marine Environmental Problems are also increasingly convex
It is aobvious.In addition to being influenceed by a variety of ocean disasters such as marine pollution, marine red tide, China's Coastal Areas also by typhoon,
The disaster that a variety of dynamic phenomenons such as wave, storm tide, sea ice are formed influences, and is the country of Oceanic disasters most serious in the world
One.And marine monitoring technology is being safeguarded maritime rights and interests, opened as National 863 one of three themes relevant with ocean in the works
Hair marine resources, early warning Oceanic disasters, protect the marine environment, strengthen national defense construction, seek new development space etc. to play
Highly important effect, and the important symbol of one national overall national strength of displaying.Greatly develop the forward position of ocean wave buoy
Technology, national marine wave monitoring technology Original Innovative Capability can be not only improved, while can also be other marine technologies
Solid technical foundation is established in sustainable development.
Ocean wave buoy is the Main Means of current ocean wave detection, is the important set of marine environment stereoscopic monitoring net
Into part, have the characteristics that anti-adverse environment is strong, capacity is big, time in place and long lifespan, anti-human strong for damage capability, especially can
During some such as storm tide, typhoon diastrous weather, the ocean wave data information of preciousness is obtained, it has also become country sea
The important carriers such as foreign monitoring, bay building, fishery fishing, sea-farming engineering, this is that other oceanographic observation means can not be replaced
Generation.
Conventional ocean wave buoy detection element of wave data are to fetch element of wave data information by manual site, and
Can only the live maintenance and maintenance for carrying out ocean wave buoy.For ocean wave buoyage software and detecting system problem,
Can only live carry out system maintenance and upgrade.Therefore conventional ocean wave buoy is concentrated and is primarily present following technological deficiency：
1st, manual site's bothersome laborious, cycle length of fetching ocean wave data information, and the bad weather such as typhoon, heavy rain is difficult
With operation；
2nd, ocean wave buoy breaks down, it is difficult to predicts, checks to be system software problem or hardware problem, it is difficult to enter
The remote access examination and maintenance of row wave buoy operation conditions, and the selection of element of wave data can not be carried out.
3rd, conventional ocean wave buoy uses mobile network communication or radio communication (CDMA, GPRS, 4G).Due to by
The limitation of communication distance, it is impossible to be used in far-reaching extra large data communication.
The content of the invention
The technical problems to be solved by the invention are to be directed to above-mentioned state of the art, and provide can by big-dipper satellite with
Wave monitoring platform main frame establishes communication, and realizes that remote access and operation carry out element of wave number by wave monitoring platform main frame
According to a kind of ocean wave buoy of remote control of storage, transmission, maintenance and maintenance.
To realize above-mentioned technical purpose, the technical scheme that the present invention takes is：
A kind of ocean wave buoy of remote control, including wave buoy framework and coordinate the wave buoy framework install
Wave buoy control system, wave buoy control system be sensed by ocean wave characteristic value Wave Data detection system
System, wave buoy systems stabilisation and profit for making ocean wave buoy holding steady-working state under the marine environment of complexity
Powered system for all wave buoys with needed for electric unit provides electric power in ocean wave buoy with wave energy and solar power generation
System composition；Wave buoy control system is connected with wave buoy control system extension set, and the wave buoy control system extension set uses
There is the buoy attitude algorithm processor of system program operation processing function, wave buoy control system extension set, which is connected with, utilizes north
Bucket satellite realizes the tele-control system of two-way network communication with wave monitoring platform main frame, and tele-control system will be through buoy appearance
State resolves the ocean wave characteristic value exported after processor processing and the working condition and ocean wave of ocean wave buoy are floated
The residing coordinate position of mark uploads report and gives wave monitoring platform main frame, and wave monitoring platform main frame is sent out by tele-control system
Command signal is sent to realize the remote control to ocean wave buoy to buoy attitude algorithm processor, to the remote of ocean wave buoy
Process control comprises at least carries out ocean to the maintenance and upgrade and instruction wave buoy control system of wave buoy control system
Wave characteristics detection, the storage and transmission of ocean wave factor data.Ocean wave characteristic value i.e. ocean wave key element
Data, it includes the data such as height, cycle and the frequency of wave.
To optimize above-mentioned technical proposal, the concrete measure taken also includes：
Above-mentioned Wave Data detecting system includes integrating the buoy attitude transducer of 9 axles；Buoy attitude transducer includes
For detecting the three-axis gyroscope of three directional angular velocity parameters, the 3-axis acceleration for detecting three directional acceleration parameters
Meter and the three axle magnetometer for detecting three axle magnetic induction intensity parameters；Three-axis gyroscope and three axis accelerometer turn through A/D
Block is changed the mold by the parameter feedback collected to buoy attitude algorithm processor, three axle magnetometer is directly by three axle magnetic induction of collection
Intensive parameter feeds back to buoy attitude algorithm processor；Above-mentioned wave buoy control system extension set is provided with and buoy posture solution
Calculate the connected data memory module of processor；Buoy attitude algorithm processor is by three-axis gyroscope, three axis accelerometer and three axles
The parameter of magnetometer feedback obtains ocean wave characteristic value, and buoy attitude algorithm processor after the processing of internal attitude algorithm
It can will obtain ocean wave characteristic value and be written in data memory module to preserve, and by the command signal of wave monitoring platform main frame
It is required that the ocean wave characteristic value of preservation is uploaded to wave monitoring platform main frame by tele-control system by setting time.
Above-mentioned wave buoy systems stabilisation includes being arranged on wave buoy framework lower section group together with wave buoy framework
Into ocean wave buoy hull floating body and be arranged on the floating body surrounding be used for fix ocean wave buoy fixation chain and by
The seakeeping that the control of buoy attitude algorithm processor intelligent program detects according to Wave Data detecting system, which performs, makes ocean wave
The executing agency of unrestrained buoy enhancing operating stably.
The Center of above-mentioned floating body has cast anchor passage and the buoy around the channel forming that casts anchor penetrated downwards
Stabilizing bin；Float stable storehouse by lower floor lower floor's float stable storehouse, the middle level float stable storehouse in middle level and the upper strata buoy on upper strata
Stabilizing bin forms；The inner upper of wave buoy framework is provided with control storehouse, the bottom in the control storehouse form connection cast anchor it is logical
The appearance anchor chamber in road.
Above-mentioned executing agency includes the electromagnetic valve by making the water inlet of float stable storehouse keep ocean wave float stable
With drive intelligent anchor folding and unfolding to keep the servomotor in anchor of ocean wave float stable and for by the water in float stable storehouse
The draining pump of discharge；Intelligent anchor draining pump and is watched in anchor positioned at holding in anchor chamber and be connected with servomotor in anchor by anchor chain
Motor is taken to be installed on the upper annular plate face of floating body and in wave buoy framework.
Above-mentioned electromagnetic valve includes lower floor's electromagnetic valve installed in lower floor's float stable storehouse, installed in middle level, buoy is steady
Determine the middle level electromagnetic valve in storehouse and the upper strata electromagnetic valve installed in upper strata float stable storehouse；When seakeeping is below 4 grades,
Buoy attitude algorithm processor control lower floor electromagnetic valve is opened the surrounding for making the water inlet of lower floor's float stable storehouse coordinate fixed chain and consolidated
Surely the stabilization of ocean wave buoy is kept；When seakeeping is at 5 grades to 7 grades, in the increase control of buoy attitude algorithm processor
Layer electromagnetic valve, which is opened, makes middle level float stable storehouse intake, and when seakeeping is more than 8 grades, buoy attitude algorithm processor is again
Increase control servomotor in anchor drives intelligent anchor to be moved down through the passage that casts anchor and beaten fixed to seabed and control upper strata electromagnetic valve
Opening makes upper strata float stable storehouse intake.
Above-mentioned wave buoy electric power system includes being arranged on and is used to change solar energy on wave buoy framework lateral surface
The mechanical energy for being used into the solar panel of electric energy and on floating body wash away in seawater be converted into the generator of electric energy with
And for by the power storage of conversion and to provide the battery of electric power with electric unit；Battery and solar panel and generating
Inverter is provided between machine.
Above-mentioned tele-control system is the remote communication module using remote control software, and the remote communication module connects
There is the antenna for improving ability to communicate, antenna is arranged on the top of wave buoy framework.
Above-mentioned Wave Data detecting system, wave buoy control system extension set, battery, inverter and telecommunication mould
Block is installed in the control storehouse of wave buoy framework.
The navigation light lighted by buoy attitude algorithm processor intelligent control, intelligence are installed on above-mentioned wave buoy framework
Tail pipe can be provided with anchor；The chip that buoy attitude algorithm processor uses for STM32F103VCT6, three axle magnetometer use
Chip is HMC5883L；The chip that gyroscope and accelerometer use is MPU6050.
Compared with prior art, ocean wave buoy of the invention, which uses to have, utilizes big-dipper satellite and wave monitoring platform master
Machine realizes the tele-control system of two-way network communication, realizes wave monitoring platform host remote instruction wave buoy control system
System carries out the detection of ocean wave characteristic value and the function of the storage of ocean wave factor data and extraction.And can be by remotely controlling
System, which reaches, carries out system maintenance and upgrading purpose to ocean wave buoy.Avoid manual site and collect the detection of ocean wave buoy
Element of wave information and site examining and repairing ocean wave buoy, reduce maintenance, maintenance cost, are sent out using wave energy and solar energy
Electricity, high-efficiency cleaning heat recovery.The efficiency of staff is also improved simultaneously, and add ocean wave buoy uses the longevity
Life.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the operation principle schematic diagram of the present invention；
Fig. 3 is the principle schematic of Wave Data detecting system of the present invention；
Fig. 4 is the flow chart of tele-control system of the present invention.
Embodiment
Embodiments of the invention are described in further detail below in conjunction with accompanying drawing.
Reference therein is：Navigation light D, antenna T, wave buoy framework 1, control storehouse 1a, hold anchor chamber 1b, floating body 2,
Cast anchor passage 2a, lower floor's float stable storehouse 21, middle level float stable storehouse 22, upper strata float stable storehouse 23, fixed chain 3, intelligent anchor
4th, tail pipe 41, servomotor in anchor 5, draining pump 6, lower floor's electromagnetic valve 71, middle level electromagnetic valve 72, upper strata electromagnetic valve 73,
Solar panel 8, generator 9.
Fig. 1 to Fig. 4 is the structure and working principle schematic diagram of the present invention, as illustrated, a kind of remote control of the present invention
Ocean wave buoy, including wave buoy framework and coordinate the wave buoy framework install wave buoy control system,
Wave buoy control system is made up of Wave Data detecting system, wave buoy systems stabilisation and wave buoy electric power system.Ripple
Unrestrained data detection system is used to detect ocean wave feature value parameter, that is, ocean wave factor data.Ocean wave key element
The data such as height of the packet containing wave, cycle and frequency.Wave buoy systems stabilisation is used to make ocean wave buoy various
Keep steady-working state under complicated marine environment and stormy waves, and wave buoy electric power system then can by the wave energy of seawater and
The solar energy of sunshine irradiation is converted into electric energy to be all needed for electric unit provides electric power in ocean wave buoy.Wave floats
Mark electric power system and generated electricity using two kinds of generation modes of wave energy and solar energy and ensure the normal power supply of ocean wave buoy.Wave floats
Mark control system is connected with wave buoy control system extension set, be provided with wave buoy control system extension set use chip for
STM32F103VCT6 buoy attitude algorithm processor, buoy attitude algorithm processor are responsible for the system journey of ocean wave buoy
Sequence computing and processing work, it is the key control unit of ocean wave buoy, and the inside of buoy attitude algorithm processor is provided with
Intelligent control program, the running status of system can be detected and there is the function of positioning.Buoy attitude algorithm processor energy
The data come to the feedback of Wave Data detecting system detection are resolved to obtain ocean wave characteristic value.Buoy attitude algorithm
Processor is connected with tele-control system, and tele-control system is the remote communication module using remote control software, and this is long-range
Communication module is connected with the antenna T for improving ability to communicate, and antenna T is arranged on the top of wave buoy framework 1.Telecommunication
Module realizes that the bilateral network between wave buoy control system extension set and wave monitoring platform main frame leads to by Beidou satellite communication
Letter.The ocean that wave buoy control system extension set will be exported using tele-control system after the processing of buoy attitude algorithm processor
Coordinate position residing for the working condition and ocean wave buoy of wave characteristics and ocean wave buoy uploads report to ripple
Unrestrained monitoring platform main frame, the file transfer operation between wave monitoring platform main frame and wave buoy control system extension set is realized,
And make that staff can just observe the working condition of ocean wave buoy in real time on wave monitoring platform main frame and its is specific
Residing latitude and longitude coordinates.And wave monitoring platform main frame then can be by tele-control system to wave buoy control system extension set
Send command signal and give buoy attitude algorithm processor, then drive each system to perform so as to complete by buoy attitude algorithm processor
To the remote control of ocean wave buoy.Thus allow staff by the operation on wave monitoring platform main frame come
The maintenance and upgrade to wave buoy control system is completed, instruction wave buoy control system carries out ocean wave characteristic value inspection
Survey, set storage and transmission time of ocean wave factor data etc..
Storage and extraction of the present invention to ocean wave factor data, and progress system maintenance and upgrading can be in waves
The main hands- operation of monitoring platform is completed.Avoid manual site and collect ocean wave buoy detection element of wave information and scene inspection
Ocean wave buoy trouble is repaiied, reduces maintenance, maintenance cost, using wave energy and solar power generation, the high-efficiency cleaning energy follows
Ring utilizes.The efficiency of staff is also improved simultaneously, adds the service life of ocean wave buoy.
In embodiment, Wave Data detecting system of the invention includes integrating the buoy attitude transducer of 9 axles；Buoy posture
Sensor includes the three-axis gyroscope for three directional angular velocity parameters of detection, for three directional acceleration parameters of detection
Three axis accelerometer and the three axle magnetometer for detecting three axle magnetic induction intensity parameters；Three-axis gyroscope and three axis accelerometer
Through A/D modular converters by the parameter feedback collected to buoy attitude algorithm processor, three axle magnetometer is directly by collection
Three axle magnetic induction intensity parameter feedbacks are to buoy attitude algorithm processor；The chip that three axle magnetometer uses is HMC5883L；Top
The chip that spiral shell instrument and accelerometer use is MPU6050.Wave buoy control system extension set be provided with buoy attitude algorithm
Manage the connected data memory module of device；Buoy attitude algorithm processor is by three-axis gyroscope, three axis accelerometer and three axle magnetic force
The parameter for counting feedback obtains ocean wave characteristic value after the processing of internal attitude algorithm, and buoy attitude algorithm processor can incite somebody to action
Obtain ocean wave characteristic value and be written in data memory module to preserve, to prevent loss of data.Buoy attitude algorithm processor
The ocean wave characteristic value of preservation can be led to by setting time in one day by the command signal requirement of wave monitoring platform main frame
Cross tele-control system and be uploaded to wave monitoring platform main frame.The data memory module of the present invention is SD card, and SD card, which has, to be preserved
One week or the capacity of a month data content, buoy attitude algorithm processor can be according to the orders of time by before one week or one month
It is preceding on the file that is transmitted through remove automatically.
The wave buoy systems stabilisation of the present invention includes floating body 2 and is arranged on the surrounding of floating body 2 for fixing ocean wave
The fixation chain 3 of unrestrained buoy and the wind detected by the control of buoy attitude algorithm processor intelligent program according to Wave Data detecting system
Unrestrained grade performs the executing agency for making ocean wave buoy enhancing operating stably.Wave buoy framework 1 is with floating as seen from Figure 1
Body is assembled integrally the ocean wave buoy hull for constituting ocean wave buoy about 2.
The Center of floating body 2 have penetrate downwards cast anchor passage 2a and around this cast anchor passage 2a shaping buoy it is steady
Determine storehouse；Float stable storehouse includes three layers of separate unit storehouse, i.e., by lower floor's float stable storehouse 21 of lower floor, the middle level in middle level
The upper strata float stable storehouse 23 on float stable storehouse 22 and upper strata forms；The inner upper of wave buoy framework 1 is provided with control storehouse
1a, the control storehouse 1a bottom form the appearance anchor chamber 1b for connecting the passage 2a that casts anchor.The passage 2a and appearance anchor chamber 1b that casts anchor has same
One axle center, control storehouse 1a are used for the control panel for installing each system of ocean wave buoy.
In embodiment, executing agency of the invention is included by making the water inlet of float stable storehouse keep ocean wave float stable
Electromagnetic valve and drive the intelligent folding and unfolding of anchor 4 to keep the servomotor in anchor 5 of ocean wave float stable and for by buoy
The draining pump 6 of water discharge in stabilizing bin；Intelligent anchor 4 is connected in appearance anchor chamber 1b and by anchor chain with servomotor in anchor 5
Connect, draining pump 6 and servomotor in anchor 5 are installed on the upper annular plate face of floating body 2 and in wave buoy framework 1.Intelligence
Tail pipe 41 can be provided with anchor 4.
In embodiment, during electromagnetic valve is including being arranged on lower floor's electromagnetic valve 71 in lower floor's float stable storehouse 21, being arranged on
The middle level electromagnetic valve 72 and the upper strata electromagnetic valve 73 installed in upper strata float stable storehouse 23 in layer float stable storehouse 22；Work as wave
When the seakeeping of data detection system detection is below 4 grades, buoy attitude algorithm processor will control lower floor's electromagnetic valve
71 openings make lower floor's float stable storehouse 21 intake, that is, pass through surrounding fixation and the lower floor's float stable storehouse 21 of floating body 2 of fixed chain 3
The method of water inlet keeps the stabilization of ocean wave buoy.When the seakeeping of Wave Data detecting system detection is at 5 grades to 7 grades
When, buoy attitude algorithm processor can enter increase control middle level electromagnetic valve 72 and open, and enter middle level float stable storehouse 22
Water, to ensure the stabilization of ocean wave buoy.And when the seakeeping of detection is more than 8 grades, buoy attitude algorithm processor
Then can further increase control servomotor in anchor 5 drives intelligent anchor 4 to be moved down through the passage 2a that casts anchor fixed to seabed and control
Upper strata electromagnetic valve 73 processed, which is opened, makes upper strata float stable storehouse 23 intake, to keep the stabilization of ocean wave buoy.When stormy waves subtracts
Hour, buoy attitude algorithm processor can drive draining pump 6 by the water under floating body 2, in neutralization upper strata according to the grade of stormy waves
Extract out, and drive servomotor in anchor 5 intelligent anchor 4 is increased, so as in the case of sea state difference, ensure ocean wave
The steady operation of unrestrained buoy.
In embodiment, wave buoy electric power system includes being arranged on the lateral surface of wave buoy framework 1 and is used for solar energy
It is converted into the solar panel 8 of electric energy and the mechanical energy for seawater to be washed away on floating body 2 is converted into the hair of electric energy
Motor 9 and for by the power storage of conversion and to provide the battery of electric power, battery and solar cell with electric unit
Inverter is provided between plate 8 and generator 9.
Wave Data detecting system, wave buoy control system extension set, battery, inverter and the telecommunication of the present invention
Module is installed in the control storehouse 1a of wave buoy framework 1.It is also equipped with wave buoy framework 1 by buoy attitude algorithm
The navigation light D that reason device intelligent control is lighted,
The wave buoy control system of the present invention uses fan-free built-in industrial control machine, and small volume is easily installed, aluminum hull knot
Structure fan hot property is good, the characteristics of preferable vibrationproof, protecting against shock.
System of the Beidou satellite communication as China's independent research, communication aspects have big power system capacity, equipment and communication
Expense is low, real-time communication is strong, high strength encrypting design, it is safe and reliable, stable the characteristics of.
The above is only the preferred embodiment of the present invention, protection scope of the present invention is not limited merely to above-described embodiment,
All technical schemes belonged under thinking of the present invention belong to protection scope of the present invention.
Claims (10)
1. a kind of ocean wave buoy of remote control, including wave buoy framework (1) and coordinate the wave buoy framework (1)
The wave buoy control system of installation, it is characterized in that：Described wave buoy control system is sensed by ocean wave feature
The Wave Data detecting system of value, the ripple for making ocean wave buoy holding steady-working state under the marine environment of complexity
Unrestrained float stable system and utilization wave energy and solar power generation are all electric unit offer electric power institutes in ocean wave buoy
The wave buoy electric power system composition needed；Described wave buoy control system is connected with wave buoy control system extension set, institute
The wave buoy control system extension set stated is using the buoy attitude algorithm processor for having had system program operation processing function, the ripple
Unrestrained buoy control system extension set is connected with realizes the long-range of two-way network communication using big-dipper satellite and wave monitoring platform main frame
Control system, described tele-control system by after the processing of buoy attitude algorithm processor the ocean wave characteristic value that exports with
And the coordinate position residing for the working condition and ocean wave buoy of ocean wave buoy uploads report and gives wave monitoring platform master
Machine, described wave monitoring platform main frame send command signal by tele-control system and realized to buoy attitude algorithm processor
To the remote control of ocean wave buoy, the remote control of ocean wave buoy is comprised at least to wave buoy control system
Maintenance and upgrade and instruction wave buoy control system carry out the detection of ocean wave characteristic value, ocean wave factor data is deposited
Storage and transmission.
2. a kind of ocean wave buoy of remote control according to claim 1, it is characterized in that：Described Wave Data inspection
Examining system includes the buoy attitude transducer for integrating 9 axles；Described buoy attitude transducer includes being used to detect three deflections
The three-axis gyroscope of speed parameter, the three axis accelerometer for detecting three directional acceleration parameters and for detecting three axle magnetic
The three axle magnetometer of induction parameter；Described three-axis gyroscope and three axis accelerometer will gather through A/D modular converters
The parameter feedback arrived to buoy attitude algorithm processor, described three axle magnetometer directly joins three axle magnetic induction intensity of collection
Number feeds back to buoy attitude algorithm processor；Described wave buoy control system extension set is provided with and the processing of buoy attitude algorithm
The connected data memory module of device；Described buoy attitude algorithm processor is by three-axis gyroscope, three axis accelerometer and three axles
The parameter of magnetometer feedback obtains ocean wave characteristic value, and buoy attitude algorithm processor after the processing of internal attitude algorithm
It can will obtain ocean wave characteristic value and be written in data memory module to preserve, and by the command signal of wave monitoring platform main frame
It is required that the ocean wave characteristic value of preservation is uploaded to wave monitoring platform main frame by tele-control system by setting time.
3. a kind of ocean wave buoy of remote control according to claim 2, it is characterized in that：Described wave buoy is steady
Determining system includes being arranged on wave buoy framework (1) lower section composition ocean wave buoy hull together with wave buoy framework (1)
Floating body (2) and be arranged on floating body (2) surrounding be used for fix the fixation chain (3) of ocean wave buoy and by buoy posture solution
Calculating the seakeeping that the control of processor intelligent program detects according to Wave Data detecting system and performing strengthens ocean wave buoy
The executing agency of operating stably.
4. a kind of ocean wave buoy of remote control according to claim 3, it is characterized in that：Described floating body (2)
Center has the passage that casts anchor (2a) penetrated downwards and the float stable storehouse for surrounding the passage that casts anchor (2a) shaping；Described
Float stable storehouse by lower floor lower floor's float stable storehouse (21), the middle level float stable storehouse (22) in middle level and the upper strata buoy on upper strata
Stabilizing bin (23) forms；The inner upper of described wave buoy framework (1) is provided with control storehouse (1a), the control storehouse (1a)
Bottom forms connection and cast anchor the appearance anchor chamber (1b) of passage (2a).
5. a kind of ocean wave buoy of remote control according to claim 4, it is characterized in that：Described executing agency's bag
Include by making the water inlet of float stable storehouse keep the electromagnetic valve of ocean wave float stable and driving intelligent anchor (4) folding and unfolding to keep sea
The stable servomotor in anchor (5) of foreign wave buoy and the draining pump (6) for the water in float stable storehouse to be discharged；It is described
Intelligent anchor (4) positioned at holding in anchor chamber (1b) and be connected by anchor chain with servomotor in anchor (5), described draining pump (6)
It is installed in servomotor in anchor (5) on the upper annular plate face of floating body (2) and in wave buoy framework (1).
6. a kind of ocean wave buoy of remote control according to claim 5, it is characterized in that：Described electromagnetic valve bag
Include lower floor's electromagnetic valve (71) installed in lower floor's float stable storehouse (21), the electricity of the middle level installed in middle level float stable storehouse (22)
Magnet valve door (72) and the upper strata electromagnetic valve (73) installed in upper strata float stable storehouse (23)；When seakeeping is below 4 grades,
Described buoy attitude algorithm processor control lower floor's electromagnetic valve (71), which is opened, coordinates lower floor's float stable storehouse (21) water inlet
The surrounding of fixed chain (3) fixes the stabilization for keeping ocean wave buoy；When seakeeping is at 5 grades to 7 grades, described buoy appearance
State, which resolves processor increase control middle level electromagnetic valve (72) and opened, makes middle level float stable storehouse (22) intake, when seakeeping exists
At more than 8 grades, described buoy attitude algorithm processor is further added by controlling servomotor in anchor (5) to drive intelligent anchor (4) to pass through
The passage (2a) that casts anchor, which moves down to open fixed to seabed and control upper strata electromagnetic valve (73), makes upper strata float stable storehouse (23) intake.
7. a kind of ocean wave buoy of remote control according to claim 6, it is characterized in that：Described wave buoy supplies
Electric system includes being arranged on the solar panel for being used to convert solar energy into electric energy on wave buoy framework (1) lateral surface
(8) mechanical energy for and on floating body (2) being used to wash away in seawater is converted into the generator (9) of electric energy and for that will change
Power storage and to provide the battery of electric power with electric unit, described battery and solar panel (8) and generator
(9) inverter is provided between.
8. a kind of ocean wave buoy of remote control according to claim 7, it is characterized in that：Described remote control system
Unite to be connected with the antenna for improving ability to communicate using the remote communication module of remote control software, the remote communication module
(T), described antenna (T) is arranged on the top of wave buoy framework (1).
9. a kind of ocean wave buoy of remote control according to claim 8, it is characterized in that：Described Wave Data inspection
Examining system, wave buoy control system extension set, battery, inverter and remote communication module are installed in wave buoy framework
(1) in control storehouse (1a).
10. a kind of ocean wave buoy of remote control according to claim 9, it is characterized in that：Described wave buoy
The navigation light (D) lighted by buoy attitude algorithm processor intelligent control is installed, on described intelligent anchor (4) on framework (1)
It is provided with tail pipe (41)；The chip that described buoy attitude algorithm processor uses is STM32F103VCT6, three described axle magnetic
The chip that power meter uses is HMC5883L；The chip that gyroscope and accelerometer use is MPU6050.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711174652.7A CN107878681A (en) | 2017-11-22 | 2017-11-22 | A kind of ocean wave buoy of remote control |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711174652.7A CN107878681A (en) | 2017-11-22 | 2017-11-22 | A kind of ocean wave buoy of remote control |
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| CN107878681A true CN107878681A (en) | 2018-04-06 |
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| CN201711174652.7A Pending CN107878681A (en) | 2017-11-22 | 2017-11-22 | A kind of ocean wave buoy of remote control |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108545163A (en) * | 2018-06-28 | 2018-09-18 | 南京信息工程大学 | A kind of underwater robot of imitative jellyfish movement |
| CN108639250A (en) * | 2018-05-24 | 2018-10-12 | 武汉理工大学 | A kind of self power generation oceanographic buoy |
| CN108657391A (en) * | 2018-06-22 | 2018-10-16 | 三峡大学 | Ship baseline type underwater floating platform |
| CN109927849A (en) * | 2019-04-11 | 2019-06-25 | 南京信息工程大学 | Ocean wave buoy and wave statistics method based on six-dimension acceleration sensor |
| CN110104125A (en) * | 2019-04-18 | 2019-08-09 | 杭州腾海科技有限公司 | A kind of ocean wave observation buoyage |
| CN110231022A (en) * | 2019-07-03 | 2019-09-13 | 刘松源 | A kind of wave detection device and its working method |
| CN111935294A (en) * | 2020-08-17 | 2020-11-13 | 上海海洋大学 | Bidirectional communication buoy control system and communication method applied to ocean buoy |
| CN113443107A (en) * | 2021-08-17 | 2021-09-28 | 湖南大学 | Underwater robot stabilizing device |
| CN114877873A (en) * | 2022-03-28 | 2022-08-09 | 宁波大学 | Ocean buoy monitoring system and method, electronic equipment and storage medium |
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| CN108639250A (en) * | 2018-05-24 | 2018-10-12 | 武汉理工大学 | A kind of self power generation oceanographic buoy |
| CN108657391A (en) * | 2018-06-22 | 2018-10-16 | 三峡大学 | Ship baseline type underwater floating platform |
| CN108657391B (en) * | 2018-06-22 | 2024-03-12 | 三峡大学 | Ship baseline type underwater floating platform |
| CN108545163A (en) * | 2018-06-28 | 2018-09-18 | 南京信息工程大学 | A kind of underwater robot of imitative jellyfish movement |
| CN109927849B (en) * | 2019-04-11 | 2023-05-26 | 南京信息工程大学 | Ocean wave buoy based on six-dimensional acceleration sensor and wave statistics method |
| CN109927849A (en) * | 2019-04-11 | 2019-06-25 | 南京信息工程大学 | Ocean wave buoy and wave statistics method based on six-dimension acceleration sensor |
| CN110104125A (en) * | 2019-04-18 | 2019-08-09 | 杭州腾海科技有限公司 | A kind of ocean wave observation buoyage |
| CN110104125B (en) * | 2019-04-18 | 2020-07-28 | 杭州腾海科技有限公司 | Buoy system is surveyd to ocean wave |
| CN110231022A (en) * | 2019-07-03 | 2019-09-13 | 刘松源 | A kind of wave detection device and its working method |
| CN111935294A (en) * | 2020-08-17 | 2020-11-13 | 上海海洋大学 | Bidirectional communication buoy control system and communication method applied to ocean buoy |
| CN113443107A (en) * | 2021-08-17 | 2021-09-28 | 湖南大学 | Underwater robot stabilizing device |
| CN113443107B (en) * | 2021-08-17 | 2022-09-06 | 湖南大学 | Underwater robot stabilizing device |
| WO2023131875A1 (en) * | 2022-01-04 | 2023-07-13 | Lynn Kuo Yuan | Subaqueous base structure of wind power generator capable of being used as net cage cultivation |
| CN114877873A (en) * | 2022-03-28 | 2022-08-09 | 宁波大学 | Ocean buoy monitoring system and method, electronic equipment and storage medium |
| CN117963079A (en) * | 2024-04-01 | 2024-05-03 | 山东新元数字科技有限公司 | Ocean skin layer salinity measuring buoy |
| CN117963079B (en) * | 2024-04-01 | 2024-05-28 | 山东新元数字科技有限公司 | Ocean skin layer salinity measuring buoy |
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