CN108563176A - A kind of buoy micro-system for marine exploration - Google Patents
A kind of buoy micro-system for marine exploration Download PDFInfo
- Publication number
- CN108563176A CN108563176A CN201810725298.0A CN201810725298A CN108563176A CN 108563176 A CN108563176 A CN 108563176A CN 201810725298 A CN201810725298 A CN 201810725298A CN 108563176 A CN108563176 A CN 108563176A
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- Prior art keywords
- buoy
- underwater
- data
- micro
- signal
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B22/00—Buoys
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B22/00—Buoys
- B63B22/18—Buoys having means to control attitude or position, e.g. reaction surfaces or tether
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B22/00—Buoys
- B63B2022/006—Buoys specially adapted for measuring or watch purposes
-
- 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
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25252—Microprocessor
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Combustion & Propulsion (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses a kind of buoy micro-system for marine exploration, the buoy micro-system includes buoy, underwater acquisition system, positioning system, data-storage system, wherein：The positioning system, data-storage system are mounted on buoy；The underwater information acquisition system is located at underwater for acquiring magnetic signal and underwater sound signal；The positioning system is for acquiring acceleration signal and GPS signal, the position of monitering buoy and posture information；The data-storage system is used to read the message polling of positioning system and underwater acquisition system and is stored in SD card.The buoy micro-system volume of the present invention is small to be easy to lay, and stable structure enters water security, and the monitoring and storage of underwater magnetic, underwater acoustic information, acceleration and GPS signal are completed while reducing buoy volume.
Description
Technical field
The invention belongs to information acquiring technology fields under ocean water, are related to a kind of oceanographic buoy, and in particular to one kind is integrated
The marine exploration buoy micro-system of underwater acquisition system, positioning system and data-storage system.
Background technology
For underwater information detection generally there are two types of method, one is on surveying vessel, move sensor device with ship
It is dynamic to be detected.But surveying vessel target is big, concealment is weak and influence of the hull self-noise to detection system limits this side
The application of method.Another kind is that detection system is mounted on buoy.Oceanographic buoy is put for the environmental data of Measuring Oceanic
The floating structure on sea level is set, it can be under severe sea condition, and left unguarded runs without interruption on sea level for a long time
On, automatically underwater environment can be observed comprehensively.But buoy volume is larger not to be suitable for aircraft and the side of laying such as sheds
Formula, and detection information only cannot preferably be determined extraterrestrial target by vector hydrophone only based on underwater sound signal
Position, therefore study and be capable of the buoy micro-system of comprehensive survey magnetic signal and underwater sound signal and be of great significance.
Invention content
The present invention provides that a kind of volume is small to be visited with Yu Haiyang for the application environment and detection demand of detection buoy
The buoy micro-system of survey listens sensor, mems accelerometer, GPS sensor to carry out underwater information by TMR Magnetic Sensors, water
Reliable acquisition, and unmanned plane in range is sent data to by wireless transmitting system, data is made to realize relay transmission.
The purpose of the present invention is what is be achieved through the following technical solutions：
A kind of buoy micro-system for marine exploration, including buoy, underwater acquisition system, positioning system, data-storage system,
Wherein：
The positioning system, data-storage system are mounted on buoy；
The underwater information acquisition system is located at underwater for acquiring magnetic signal and underwater sound signal；
The positioning system is for acquiring acceleration signal and GPS signal, the position of monitering buoy and posture information；
The data-storage system is used to read the message polling of positioning system and underwater acquisition system and is stored in SD card.
Compared with the prior art, the invention has the advantages that：
1, buoy of the invention uses ball float to install the mode of radome fairing additional to protect structure, reduces what the when of throwing into water was subject to
Sea washes power.
2, miniature magnetic anomaly, the system of underwater sound sensor of underwater acquisition system facing area marine exploration of the invention
Integrated technology and the detection accuracy for ensureing sensor-based system.
3, positioning system of the invention utilizes three axis accelerometer and GPS module monitering buoy position and posture information, base
It works in the low-power consumption mode of microprocessor, is interrupted by GPS and accelerometer timers trigger, wake up microprocessor into row information
Communication.
4, multitask program of the data-storage system based on Freertos operating systems of the invention, by carry SD card into
The storage of row multiple sensor signals ensures that system being capable of non-volatile recording underwater information.
5, buoy micro-system volume of the invention is small is easy to lay, and stable structure enters water security, is reducing buoy float
The monitoring and storage of underwater magnetic, underwater acoustic information, acceleration and GPS signal are completed while product.
Description of the drawings
Fig. 1 is overall structure block diagram of the present invention for the buoy micro-system of marine exploration；
Fig. 2 is the structural schematic diagram of buoy, a- buoy entirety expanded views, micro- buoy posture under b- floating states；
Fig. 3 is the software flow pattern of positioning system；
Fig. 4 is the processing block diagram of underwater information acquisition system；
Fig. 5 is the software block diagram of data-storage system.
Specific implementation mode
Technical scheme of the present invention is further described below in conjunction with the accompanying drawings, however, it is not limited to this, every to this
Inventive technique scheme is modified or replaced equivalently, and without departing from the spirit of the technical scheme of the invention and range, should all be covered
In protection scope of the present invention.
The present invention provides a kind of buoy micro-systems for marine exploration, as shown in Figure 1, the buoy micro-system includes
Buoy 1, underwater information acquisition system 2, positioning system 3,4 four part of data-storage system, wherein：
The whole expansion of the buoy 1 is as shown in Figure 2 a, working condition（Floating state）As shown in Figure 2 b.Buoy 1 is by upper
The ball float for the inner hollow that shell 1-1 and lower housing 1-2 are constituted, monolithic case use ABS material, ball float to use
The mode spliced up and down, inner hollow is convenient for placement core board.Buoy 1 is internally provided with support frame 1-3, support frame 1-
3 points are three layers, and each component is installed based on support frame, wherein：Solar panel 1-4 and antenna 1-6 are placed in support frame 1-3
Top layer；Data-storage system is integrated in wireless transmitting system 1-5, and wireless transmitting system 1-5 is located at solar panel 1-4
Below and support frame 1-3 middle layers are placed in, close with its antenna 1-6, positioning system 3 is placed under wireless transmitting system 1-5
Face；Electric power management circuit 1-7 is located at below positioning system 3 and is placed in support frame 1-3 lowest levels, the lithium battery 1- with lower section
8 is close；Wave energy collector 1-9, lithium battery 1-8 are located at ball float lower part, and lithium battery 1-8 is located at electric power management circuit 1-
Below 7.Each part centre is located on axis.The lower part of lower housing 1-2 is provided with radome fairing 1-11, the lower part of lower housing 1-2 and
Probe 1-10 is provided between radome fairing 1-11, underwater information acquisition system 2 is located in probe 1-10, and probe 1-10 is deep when work
Enter and is acquired under water.The designing quality distribution of radome fairing 1-11 and probe 1-10 ensures air-drop procedure quality distribution equilibrium, weight
Heart position ensures to drop the attitude stabilization of dropping process.And micro- buoy is amenable to huge impact acceleration when entering water, will not
There is cataclastic deformation.Radome fairing 1-11 uses water-soluble substance with ball float junction, convenient for separation；Radome fairing 1-11 thickness passes through
Simulation calculation determination is crossed, stress deformation does not influence probe function when ensureing into water.
The underwater information acquisition system 2 listens sensor including Magnetic Sensor and water, wherein：The Magnetic Sensor is for adopting
Collect magnetic signal, water listens sensor for acquiring underwater sound signal.Due to the signal for the small-signal that underwater information acquisition system 2 acquires
Amplitude is small, needs just to can be easily detected after subsequent processing, therefore devise signal processing circuit shown in Fig. 4, when
For amplified signal, second is that in order to which signal can be stored by data-storage system 4.Underwater acquisition system 2 mainly acquires three axis
Magnetic Sensor and three axis water listen the signal on sensor totally 6 tunnels, and signal is amplified shaping filter and analog-to-digital conversion, by data
There are data-storage system processing is waited in buffering area for amount.
The positioning system 3 includes mems accelerometer, GPS sensor, microprocessor, wherein：Accelerometer is for adopting
Collect acceleration signal, GPS sensor for acquiring GPS signal, the position of monitering buoy and posture information, acceleration signal and
GPS signal is uploaded to microprocessor by serial ports, is communicated with data-storage system by microprocessor.Software flow as shown in figure 3,
Low-power microprocessor initializes after the power is turned on, reads accelerometer and judges whether to work normally, subsequently enters low-power consumption mode.When
When GPS data causes to interrupt, the validity of location information is judged, enter resolve packet later and upload.Acceleration information is logical
The interruption of accelerometer timers trigger is crossed, data acquisition is carried out.Location information is uploaded to microprocessor by serial ports, by micro-
Reason device is communicated with storage system.
The data-storage system 4 is for reading and being stored in the message polling of positioning system 3 and underwater acquisition system 2
In SD card.As shown in figure 5, reading the location data of microprocessor by UART, SPI goes here and there the software block diagram of data-storage system 4
Mouth reads underwater information（Magnetic Sensor, hydrophone）, ADC_task is as spi host computer polls and receives the water that converts and waits for information
Number and magnetic signal, when the full then set flag bit 1 in data buffer zone.Uart_task receives the position of the upload of positioning system 3 and adds
Flag bit 2 is set after velocity information to notify storage_task to be stored.Storage_task carry FATFS files system
System, realizes the preservation of various information.Storage file type is TXT formats, and every group of data have suffix to show its data source.This
The data-storage system 4 of invention is based on ESP32 processors and carries out multitasking programming, and esp32 is external high-precision as spi host drivens
Degree ADC realizes magnetic and water listens multi-channel data acquisition, receives the data packet of positioning system upload, while carry by serial ports
FATFS file system realizes the reliable memory of Various types of data.
The workflow of buoy micro-system of the present invention is as follows：
Enter radome fairing after water, ball float separation, the probe equipped with mass block enters water, and solar panel is opened with energy harvester
Beginning work starts after lithium battery reaches fixed voltage to underwater information acquisition system power supply, each sensor to lithium battery power supply
Work, and carry out data storage.
Claims (6)
1. a kind of buoy micro-system for marine exploration, it is characterised in that the buoy micro-system includes buoy, underwater acquisition
System, positioning system, data-storage system, wherein：
The positioning system, data-storage system are mounted on buoy；
The underwater information acquisition system is for acquiring magnetic signal and underwater sound signal；
The positioning system is for acquiring acceleration signal and GPS signal, the position of monitering buoy and posture information；
The data-storage system is used to read the message polling of positioning system and underwater acquisition system and is stored in SD card.
2. the buoy micro-system according to claim 1 for marine exploration, it is characterised in that the underwater information acquisition
System includes that Magnetic Sensor and water listen sensor, wherein：The Magnetic Sensor listens sensor for adopting for acquiring magnetic signal, water
Collect underwater sound signal.
3. the buoy micro-system according to claim 1 for marine exploration, it is characterised in that the positioning system includes
Accelerometer, GPS sensor, microprocessor, wherein：Accelerometer is for acquiring acceleration signal, and GPS sensor is for acquiring
GPS signal, acceleration signal and GPS signal are uploaded to microprocessor by serial ports, are led to by microprocessor and data-storage system
Letter.
4. the buoy micro-system according to claim 1 for marine exploration, it is characterised in that the data-storage system
By UART read microprocessor location data, SPI serial ports read underwater information, ADC_task as spi host computer polls simultaneously
It receives the water converted and listens signal and magnetic signal, when the full then set flag bit 1 in data buffer zone, uart_task receives fixed
Setting flag bit is to notify storage_task to be stored behind the position of position system upload and acceleration information.
5. the buoy micro-system according to claim 4 for marine exploration, it is characterised in that the storage_task
Carry FATFS file system.
6. the buoy micro-system according to claim 1 for marine exploration, it is characterised in that the buoy is by upper casing
The ball float for the inner hollow that body and lower housing are constituted, wherein：
The buoy is internally provided with support frame, lithium battery and electric power management circuit, wherein：Support frame is divided into three layers,
The top layer of support frame is provided with solar panel and antenna, and middle layer is provided with wireless transmitting system, data storage system
System is integrated in wireless transmitting system, and positioning system is placed in below wireless transmitting system, and lowest level is provided with power management electricity
Road；Wave energy collector, lithium battery are located at the lower part of ball float, and lithium battery is located at below electric power management circuit；
The lower part of the lower housing is provided with radome fairing, and probe, underwater information are provided between the lower part and radome fairing of lower housing
Acquisition system is located in probe.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810725298.0A CN108563176A (en) | 2018-07-04 | 2018-07-04 | A kind of buoy micro-system for marine exploration |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810725298.0A CN108563176A (en) | 2018-07-04 | 2018-07-04 | A kind of buoy micro-system for marine exploration |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108563176A true CN108563176A (en) | 2018-09-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810725298.0A Pending CN108563176A (en) | 2018-07-04 | 2018-07-04 | A kind of buoy micro-system for marine exploration |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109204705A (en) * | 2018-11-01 | 2019-01-15 | 天津天元海科技开发有限公司 | buoy management method |
| CN109334978A (en) * | 2018-09-30 | 2019-02-15 | 李元芳 | Scounting aeroplane damage separation information transfer device in maritime affairs intelligence cruise |
| CN109374108A (en) * | 2018-10-30 | 2019-02-22 | 中国船舶重工集团公司第七〇九研究所 | A kind of underwater acoustic measurement device suitable for the open lake surface of big depth |
| CN110488333A (en) * | 2019-08-28 | 2019-11-22 | 中北大学 | A kind of submarine object-locating system and localization method |
| CN111060972A (en) * | 2018-10-17 | 2020-04-24 | 北京自动化控制设备研究所 | Heterogeneous platform-based target positioning method for magnetic detection system |
| CN111132064A (en) * | 2019-12-27 | 2020-05-08 | 华南理工大学 | Underwater sensor data acquisition method based on underwater vehicle |
| CN111637918A (en) * | 2020-05-07 | 2020-09-08 | 浙江大学 | Miniature low-power consumption drift buoy and ocean thing networking buoy system of constituteing by it |
| US20220380001A1 (en) * | 2021-05-28 | 2022-12-01 | Hyperkelp, Inc. | Hypersonic and underwater threat-sensing system |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109334978A (en) * | 2018-09-30 | 2019-02-15 | 李元芳 | Scounting aeroplane damage separation information transfer device in maritime affairs intelligence cruise |
| CN111060972A (en) * | 2018-10-17 | 2020-04-24 | 北京自动化控制设备研究所 | Heterogeneous platform-based target positioning method for magnetic detection system |
| CN109374108A (en) * | 2018-10-30 | 2019-02-22 | 中国船舶重工集团公司第七〇九研究所 | A kind of underwater acoustic measurement device suitable for the open lake surface of big depth |
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| CN110488333A (en) * | 2019-08-28 | 2019-11-22 | 中北大学 | A kind of submarine object-locating system and localization method |
| CN111132064A (en) * | 2019-12-27 | 2020-05-08 | 华南理工大学 | Underwater sensor data acquisition method based on underwater vehicle |
| CN111132064B (en) * | 2019-12-27 | 2021-11-23 | 华南理工大学 | Underwater sensor data acquisition method based on underwater vehicle |
| CN111637918A (en) * | 2020-05-07 | 2020-09-08 | 浙江大学 | Miniature low-power consumption drift buoy and ocean thing networking buoy system of constituteing by it |
| US20220380001A1 (en) * | 2021-05-28 | 2022-12-01 | Hyperkelp, Inc. | Hypersonic and underwater threat-sensing system |
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Application publication date: 20180921 |