CN110116787B - Floating type measurement system applied to water spectrum - Google Patents
Floating type measurement system applied to water spectrum Download PDFInfo
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- CN110116787B CN110116787B CN201910444089.3A CN201910444089A CN110116787B CN 110116787 B CN110116787 B CN 110116787B CN 201910444089 A CN201910444089 A CN 201910444089A CN 110116787 B CN110116787 B CN 110116787B
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Classifications
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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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- 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
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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
- B63B22/24—Buoys container type, i.e. having provision for the storage of material
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
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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
- B63B2022/006—Buoys specially adapted for measuring or watch purposes
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
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Abstract
The invention discloses a floating type measurement system applied to a water spectrum, which comprises a buoy body, wherein the bottom of the buoy body is provided with a weight-adjustable balancing weight, the top of the buoy body is provided with a vertical upward irradiance radiometer, the buoy body is transversely provided with a balance bar, the balance bar is arranged above a waterline of the buoy body, two ends of the balance bar are respectively provided with a two-axis self-stabilizing platform and a balance balancing weight, and the two-axis self-stabilizing platform is provided with a vertical downward irradiance radiometer; the buoy body comprises a watertight instrument cabin, a control part is arranged in the watertight instrument cabin and is respectively connected with the irradiance radiometer and the radiance radiometer and used for controlling the detection of each radiometer and receiving and temporarily storing the detection data of each radiometer. The method can be suitable for the water spectrum measurement requirements of different methods of different water types, reduce the maintenance cost of the traditional optical buoy, eliminate the influence of shadows on measurement, improve the accuracy of data acquisition, improve the accuracy of water measurement, and ensure that the equipment is easy to detach and assemble.
Description
Technical Field
The invention relates to the technical field of water color remote sensing, in particular to a floating type measurement system applied to a water spectrum.
Background
The remote sensing technology is an important technical means for detecting the environment nowadays, remote sensing images of the environment pollution area are obtained by means of the remote sensing technology, and macroscopic, rapid and dynamic updated environment conditions of the observation area can be obtained rapidly and effectively through computer processing. The remote sensing of water color is a counting process for detecting parameters (such as chlorophyll, suspended particles, dissolved organic matters and the like) related to water color by using an on-board sensor and an on-board sensor according to the spectral characteristics of absorption and scattering of a water body in a visible light wave band. The parameters of the remote sensing inversion by utilizing the water color can provide basic data for coastal engineering, estuary and bay management, port channel, pollution control, fishing ground maintenance and development, coastal erosion and siltation and the like: from the global application point of view, the evaluation of marine ecological environment and the role played by the sea in global carbon circulation can be improved, and important quantitative information is provided for global change research, so that water color remote sensing has become an indispensable branch in sea science and global change research.
From the optical perspective, the optical characteristics of the water body are mainly influenced by three substances, namely chlorophyll, suspended particles and colored soluble organic matter CDOM besides the influence of pure water. Chlorophyll in water is mainly present in phytoplankton and other microorganisms, and considering that phytoplankton is a main influencing factor of optical properties of water, the host of chlorophyll is also called phytoplankton. Suspended particulate matter refers to tiny solid particulate matter suspended in water, the diameter of which is generally below 2mm, and the suspended particulate matter comprises clay, silt, organic matters, microorganisms and the like, and is the main cause of turbidity of water. The content of the water is one of indexes for measuring the pollution degree of water quality. The yellow substance is a generic name of a large class of substances which take dissolved organic carbon as a main component and have very complex molecular structures, and mainly refers to indistinguishable dissolved components such as rich formic acid, humic acid and the like, and can be divided into two types of substances which are generated by in-situ explanation of marine organisms and generated by land sources according to the sources of the dissolved components.
One of the bases of water color remote sensing is water body optical characteristic analysis and water body spectral characteristic measurement analysis. The reasons for this are two ways: firstly, the water body signal contribution in the total signal received by the water color sensor is small (generally less than 10%); secondly, the water color remote sensing inversion algorithm is sensitive to errors of the remote sensing reflectivity. The optical characteristics of water bodies mainly include Intrinsic Optical Properties (IOPs) and Apparent Optical Properties (AOPs). The inherent optical characteristics are only determined by the physical characteristics of the water body and are not changed along with the change of the incident light field, and mainly refer to the scattering and absorption of light by the water body, wherein the scattering and absorption are two basic processes of light propagation in seawater, and the light attenuation is caused by the scattering and absorption. The apparent optical characteristics refer to the distribution of a water body radiation field formed by solar and sky radiation entering water through the water body, and the water body optical parameters which change along with the change of the light field are shown as the optical characteristics of the radiation field, such as the radiation brightness distribution, irradiance attenuation, radiation ratio, polarization and the like.
For the two kinds of water bodies near shore and inland, the observation principle of the method above the water surface is generally adopted. The above-water surface measurement method adopts an instrument similar to terrestrial spectrum measurement, and under the condition of strict calibration, the total signal L entering the sensor is directly measured by using a portable transient spectrometer and a standard edition through reasonable observation geometric arrangement and measurement integration time setting μ Sky light signal L sky And a reflection signal L of a standard version ρ Thereby deriving the emissivity L of the water w Normalized emissivity L of water wn Remote sensing reflectivity R rs And irradiance ratio R (0 - ) And the like.
The basic principle of water remote sensing reflectivity measurement above the water surface can ignore the signal of atmospheric scattering for field observation. The composition of the spectral radiation signal above the water surface is:
L μ ＝L w +ρ f ·L sky +L wc +L g
wherein: l (L) μ Is the total signal entering the sensor and can be directly measured; l (L) w The light entering the water body is scattered by the water body and then enters the sensor to emit out of the water; ρ f ·L sky Is a signal of sky light entering the sensor after being reflected by the water surface, does not carry any water body information, and has the following formula f Is the reflectivity of the air-water interface and also becomes the Fresnel reflection coefficient, L sky The light is skylight and can be directly measured; l (L) wn Is a signal from a sea level white cap, L g Is the immediately reflected signal of the wave on the water surface to the direct sunlight, L wc And L g The method does not carry any water information and has uncertainty and randomness.
With the adoption of the standard observation geometry, the direct solar reflection L can be avoided or ignored g (flare) and white cap L wc At this time, the spectrum signal of the water body measured by the spectrometer can be expressed as:
L μ ＝L w ·+ρ f ·L sky
to make different time, place and atmosphere conditionsThe water spectrum obtained by the measurement is comparable, and the measurement result needs to be normalized. The so-called normalization is to move the sun directly above the measurement point, removing the atmospheric effects. Incident irradiance E on water surface d (0 + ) From measuring reflection L of standard plate ρ The method comprises the following steps:
E d (0 + )＝π·L ρ /ρ p
wherein: l (L) ρ A reflected signal that is a standard version; ρ p As the reflectivity of the standard plate, 10 percent to less than rho is generally adopted p And less than or equal to 30 percent of standard plates, 10 percent of standard plates are adopted by Carder et al so as to ensure that the standard plates work together in the same state when the standard plates of the water body are observed.
Remote sensing reflectivity R in addition to the emissivity of the ionized water and normalized emissivity of the ionized water rs The method is also increasingly applied to a water color remote sensing inversion model, and the acquisition of the remote sensing reflectivity has important application value. When the remote sensing reflectivity is measured, only the standard plate is required to be strictly calibrated as long as the measuring instrument is stable and has good linearity (or the signal amplitude is close when the standard plate and the water body are measured), and the spectrometer is not required to be strictly calibrated, so that the workload of calibrating the instrument is greatly reduced.
Definition of R by remote sensing reflectivity rs ＝L w /F d (0 + ) The remote sensing reflectivity can be calculated by combining the above formula:
wherein: l (L) μ 、L sky 、L ρ The measurement signals of the spectrometer facing the water body, the sky and the standard plate are respectively.
The single-channel spectrometer measurement method based on the above-water method needs to follow a very strict observation set specification, requires professional field measurement experience in the actual operation process, and has higher requirement on the measurement capability of observers. And due to the difference of observation experience, inconsistent data acquired by different observers can appear. The specification requirements for single channel spectrometer field observations are relatively high.
The sky light shielding method is based on the method above the water surface and is an improved method of water body spectrum measurement in principle. The influence of sky light, flare and the like is eliminated through the light shield, and the water-leaving radiance L can be directly measured w And incident irradiance E on water surface d (0 + ) The remote sensing reflectivity can be calculated from the definition of the remote sensing reflectivity as:
the existing equipment based on the sky light shielding principle is provided with a floating type spectrum measurement system (GZSS_SBA), and the system can serve as a water color remote sensing on-site observation buoy and a tethered observation buoy, so that on-site observation of a water body spectrum can be simplified, and data can be obtained efficiently. But this system suffers from the following disadvantages: the floating body has larger self-shadow, and has larger influence on the measurement accuracy of data; the system has low modularization degree, and other sensors are difficult to mount; the equipment is heavy and inconvenient to carry.
Disclosure of Invention
The invention aims to solve the technical problems of the prior art, and provides a floating type measuring system applied to the water spectrum, which can be suitable for the water spectrum measuring requirements of different methods of different water types, reduce the maintenance cost of the traditional optical buoy, eliminate the influence of shadows on measurement, improve the accuracy of acquiring data, improve the accuracy of water measurement and ensure that equipment is easy to detach and assemble.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the floating type measuring system comprises a columnar buoy body, wherein a weight-adjustable balancing weight is arranged at the bottom of the buoy body and used for adjusting and determining a waterline of the buoy body, a vertical upward irradiance radiometer is arranged at the top of the buoy body and used for detecting upward irradiance above a water surface, a balance bar is transversely arranged on the buoy body and is arranged above the waterline of the buoy body, the balance bar is axially vertical to the buoy body, a two-axis self-stabilizing platform and the balancing weight are respectively arranged at two ends of the balance bar, and a vertical downward irradiance radiometer is arranged on the two-axis self-stabilizing platform;
the buoy body comprises a watertight instrument cabin, a control component required by spectrum detection is arranged in the watertight instrument cabin, and the control component is respectively connected with the irradiance radiometer and the radiance radiometer through watertight connectors and watertight cables arranged on the surface of the watertight instrument cabin and is used for controlling the detection of each radiometer and receiving and temporarily storing detection data of each radiometer.
According to the technical scheme, the buoy body further comprises a plurality of column-shaped floating body material blocks with the same outer diameter and a watertight battery compartment, the watertight instrument compartment, the column-shaped floating body material blocks with the same outer diameter and the watertight battery compartment are sequentially connected from top to bottom, the control part is connected with the watertight battery compartment, and the watertight battery compartment supplies power for each radiometer.
According to the technical scheme, the watertight battery compartment is arranged at a position adjacent to the balancing weight, and the position is lower than the positions of all the floating body material blocks and the watertight instrument compartment, and the watertight battery compartment also has larger weight, so that the lowest position of the buoy body can play a certain role in balancing weight, the whole gravity center can be pulled down, and the columnar buoy body always keeps a vertical upward state; meanwhile, the bottom of the watertight battery compartment is additionally provided with a mounting interface for adjusting the counter weights, and the number of the counter weights is adjusted according to the increase or decrease of the material blocks of different water areas and floating bodies.
According to the technical scheme, the middle part of the balance bar is inserted into the buoy body, two ends of the balance bar extend out of the buoy body, the balance bar is in sliding connection with the buoy body, sliding displacement can be generated between the balance bar and the buoy body, and the balance is achieved by sliding adjustment of the two ends of the balance bar.
According to the technical scheme, the probe end of the radiance radiometer is provided with the light shield, and the lower edge of the light shield is slightly lower than the waterline of the buoy body.
According to the technical scheme, the watertight battery compartment is arranged at the position adjacent to the balancing weight, the bottom of the watertight battery compartment is additionally provided with the installation interface capable of adjusting the balancing weight, and the number of the balancing weight is adjusted according to the increase or decrease of different water areas and floating body material blocks.
According to the technical scheme, the top of the buoy body is provided with the satellite antenna, the control part is connected with the satellite communication module, and the satellite communication module is connected with the satellite antenna through the watertight joint and the watertight cable; for powering said satellite antenna and transmitting said probe data outwardly through said satellite antenna.
According to the technical scheme, the satellite antenna is fixedly connected with the irradiance radiometer through the annular locking arm.
According to the technical scheme, the watertight instrument cabin is arranged at a position above the waterline of the buoy body; therefore, the watertight instrument cabin can be located above the water surface, damage risk caused by sealing failure of the watertight instrument cabin is reduced, and meanwhile watertight cables connecting the watertight instrument cabin and the radiometers can be loaded on the balance bar, so that water inflow risk is reduced, and the length of the cables is saved.
According to the technical scheme, an attitude sensor module, a power management module, a storage module and a satellite communication module are also arranged in the watertight instrument cabin; the control part is respectively connected with the attitude sensor module, the power management module, the storage module and the satellite communication module in the watertight instrument cabin, and the power management module is connected with the watertight battery cabin through watertight cables and watertight connectors to supply power to the control part; the control part is respectively connected with the irradiance radiometer and the radiance radiometer through watertight cables and watertight connectors, supplies power for the radiometers and receives data of the radiometers and the attitude sensor module; the storage module is used for temporarily storing data from each radiometer and the attitude sensor module, the attitude sensor module is used for collecting the attitude data of the buoy body in real time, and the satellite communication module is used for transmitting the data outwards through the satellite antenna.
According to the technical scheme, the solid buoyancy material based on thermosetting resin is filled in the floating body material block, the outer part of the floating body material block is encapsulated by the hard plastic shell, and the upper end and the lower end of the shell are respectively provided with a butt joint structure which is convenient to disassemble and assemble.
According to the technical scheme, the adjacent floating body material blocks are connected and fixed through the butt joint structure fixed by the screws.
According to the technical scheme, two groups of thrusters with opposite directions are symmetrically arranged on the buoy body along the circumferential direction, and the thrusters are connected with the control part.
According to the technical scheme, a group of opposite-direction thrusters are symmetrically arranged at the position, close to the balancing weight, of the outer surface of the buoy body along the circumferential direction of the buoy body, the group of opposite-direction thrusters are connected with a main control module in the watertight instrument cabin through watertight cables and watertight connectors, tangential thrust in opposite directions is provided for the buoy body simultaneously when the main control module is needed (for example, when the buoy body is influenced by shadow), so that the buoy body rotates, the radiance radiometer is always at the optimal observation position, and the main control module is a control component.
According to the technical scheme, the irradiance radiometer and the radiance radiometer are both provided with the probe electric cleaning device, so that the probe can be automatically cleaned before each measurement, and the long-term effectiveness of data is ensured; the buoy body is also provided with a waterline adjusting auxiliary ring, the waterline adjusting auxiliary ring is circumferentially sleeved on the outer surface of the buoy body, the waterline adjusting auxiliary ring can axially move along the outer surface of the buoy body and is used for carrying out auxiliary fine adjustment on the waterline of the buoy on the basis of adjusting the balancing weight, so that more and finer observation requirements are met.
According to the technical scheme, the auxiliary waterline adjusting ring is a floating body material ring with a certain thickness, and the outer diameter of the auxiliary waterline adjusting ring is at least 5cm larger than that of the floating body.
According to the technical scheme, the two-axis self-stabilizing platform is a plurality of instrument carrying platforms capable of realizing automatic adjustment in two directions of pitching and rolling; the preferred two-axis self-stabilizing platform in the present invention comprises: control cabin, pitch axis and roll axis; a gyroscope sensor and a motor control module are arranged in the control cabin, and a semi-annular first arm is arranged outside the control cabin; the pitching rotating shaft is arranged on the inner side surface of the first arm, and is fixedly connected with an annular second arm in the first arm; the transverse rolling rotating shaft is arranged on the inner side surface of the second arm, and is further fixedly connected with an annular third arm in the second arm; the pitching rotating shaft and the rolling rotating shaft are mutually perpendicular and are respectively connected with a rotating motor, so that the rolling rotating shaft can drive the third arm to do rolling rotation in the second arm, and the pitching rotating shaft can drive the second arm and the third arm to do pitching rotation together in the first arm; the gyroscope sensor is used for measuring angular velocity and induction action variables of the radiance radiometer, the motor control module is respectively connected with the rotating motor and the gyroscope sensor, and further the rotating motor is controlled by the motor control module to drive the two rotating shafts to repair, so that the radiance radiometer always maintains a preset observation direction.
According to the technical scheme, the irradiance radiometer and the radiance radiometer can be existing radiometers which can be used for observing the spectrum of the water body; in the present invention, any one of the hyperspectral irradiance radiometers described in patent document CN208171441U and any one of the hyperspectral irradiance radiometers described in patent document CN208171436U are preferable. The radiometer is provided with the probe electric cleaning device, so that the probe can be automatically cleaned before each measurement, and the long-term effectiveness of data is ensured.
The invention has the following beneficial effects:
the invention can be suitable for the water spectrum measurement requirements of different methods of different water types, reduce the maintenance cost of the traditional optical buoy, eliminate the influence of shadows on measurement, improve the accuracy of acquired data, combine the profile measurement and directly measure the radiance of the water by using the sky light shielding method, modularly assemble the target sensor around the buoy body, improve the accuracy of water measurement, and ensure that the equipment is easy to detach and assemble.
Drawings
FIG. 1 is a schematic diagram of a floating measurement system applied to a spectrum of a body of water in an embodiment of the present invention;
FIG. 2 is a partial schematic view of K of FIG. 1;
in the figure, the buoy comprises a 10-buoy body, a 11-columnar floating body material block, a 12-watertight instrument cabin, a 13-watertight battery cabin, a 14-balancing weight, a 15-irradiance radiometer, a 16-balancing bar, a 17-satellite antenna, an 18-annular locking arm, a 19-two-axis self-stabilizing platform, a 20-horizontal balancing weight, a 21-irradiance radiometer, a 22-light shield, a 23-watertight joint, a 25-propeller, a 26-control cabin, a 27-pitching rotating shaft, a 28-rolling rotating shaft, a 29-first holding arm, a 30-second holding arm, a 31-third holding arm, a 32-, and a 33-waterline adjusting auxiliary ring.
Detailed Description
The invention will now be described in detail with reference to the drawings and examples.
Referring to fig. 1-2, the floating measurement system applied to the spectrum of the water body in one embodiment provided by the invention comprises a columnar buoy body 10, wherein the main body part of the buoy body 10 is formed by connecting 3 sections of columnar buoy material blocks 11 with equal outer diameters with a watertight instrument compartment 12 and a watertight battery compartment 13; the bottom of the buoy body 10 is provided with a weight-adjustable balancing weight 14 for adjusting and determining the overall waterline of the buoy 10; the watertight battery compartment 13 is arranged above the balancing weight 14, and the position of the watertight battery compartment 13 is lower than the positions of all the floating body material blocks 11 and the watertight instrument compartment 12, and the watertight battery compartment 13 is internally provided with a rechargeable battery, so that the watertight battery compartment has larger weight, and the watertight battery compartment can play a certain role in balancing weight when arranged at the low position of the buoy body 10, and can pull down the whole gravity center, so that the columnar buoy body always keeps a vertical upward state; meanwhile, an installation interface capable of adjusting the counterweight is additionally arranged at the bottom of the watertight battery compartment 13, and the number of the counterweight is adjusted according to the increase or decrease of the material blocks of different water areas and floating bodies; the watertight instrument compartment 12 is arranged at a position above the waterline and is higher than all the floating body material blocks 11, so that the watertight instrument compartment 12 is positioned above the water surface, and the damage risk caused by sealing failure of the watertight instrument compartment 12 is reduced.
As shown in fig. 1, a vertical irradiance meter 15 is arranged at the top of the buoy body 10 and is used for detecting the upward irradiance above the water surface, and a satellite antenna 17 is also arranged, wherein the satellite antenna 17 and the irradiance meter 15 are fixed together through a connected annular locking arm 18; the buoy body 10 above the waterline is provided with a balance bar 16 which is vertical to the axial direction of the buoy body, the middle part of the balance bar 16 is inserted into the buoy body 10, two ends of the balance bar extend out of the buoy body 10, one end of the balance bar is provided with a two-axis self-stabilizing platform 19, the other end of the balance bar is provided with a horizontal balancing weight 20, sliding displacement can be generated between the balance bar 16 and the buoy body 10, and the two ends of the balance bar 16 are regulated to achieve balance through sliding of the balance bar 16; as shown in fig. 2, the two-axis self-stabilizing platform 19 is provided with a vertical downward radiance radiometer 21, the probe end of the radiance radiometer 21 is provided with a light shield 22, and the lower edge of the light shield 22 is slightly lower than the waterline of the buoy body;
as shown in fig. 1, the buoy body 10 is further provided with a water line adjusting auxiliary ring 33, the water line adjusting auxiliary ring 33 is a floating body material ring with a certain thickness, and is circumferentially sleeved on the outer surface of the buoy body 10 through a pair of quick-release locking mechanisms with wrenches, and the outer diameter of the floating body is 10cm larger than the outer diameter of the buoy body 10; when the quick-release locking mechanism is opened, the auxiliary waterline adjusting ring 33 can move axially along the outer surface of the buoy body 10, so as to assist in fine adjustment of the waterline of the buoy 10 based on adjustment of the balancing weight 14, thereby meeting more and finer observation requirements.
The watertight instrument cabin 12 is internally provided with a control component required by spectrum detection, and comprises a main control module, an attitude sensor module, a power management module, a storage module and a satellite communication module; the control component is electrically connected with the radiance radiometer 21, the irradiance radiometer 15 and the watertight battery compartment 13 through watertight connectors 23 and watertight cables arranged on the surface of the watertight instrument compartment 12, the main control module is used for controlling detection of each radiometer, the power management module is used for supplying power to each radiometer and the satellite antenna, the storage module is used for receiving and temporarily storing detection data of each radiometer, and the satellite communication module is used for transmitting the detection data outwards through the satellite antenna; the attitude sensor module is used for collecting the integral attitude data of the buoy in real time.
As shown in fig. 1, at a position where the outer surface of the buoy body 10 is close to the balancing weight 14, a set of thrusters 25 with opposite directions are symmetrically arranged along the circumferential direction of the buoy body, the thrusters 25 with opposite directions are connected with a main control module in the watertight instrument compartment 12 through watertight cables and watertight connectors 23, and tangential thrust with opposite directions is provided for the buoy body 10 when needed (for example, when the buoy body is influenced by self-shadow during observation), so that the buoy body 10 rotates, and the radiance radiometer 21 is always in an optimal observation position.
As shown in fig. 2, the two-axis self-stabilizing platform 19 is provided with a control cabin 26, a pitch axis 27 and a roll axis 28; a gyroscope sensor and a motor control module are arranged in the control cabin 26, and a semi-annular first arm 29 is arranged outside the control cabin 26; the pitching rotating shaft 27 is arranged on the inner side surface of the first holding arm 29, and is fixedly connected with an annular second holding arm 30 in the first holding arm 29; the roll shaft 28 is disposed on the inner side surface of the second arm 30, and is further fixedly connected with a third annular arm 31 in the second arm 30; the pitch rotating shaft 27 and the roll rotating shaft 28 are perpendicular to each other and are respectively provided with a rotating motor, so that the roll rotating shaft 28 can drive the third arm 31 to do roll rotation in the second arm 30, and the pitch rotating shaft 27 can drive the second arm 30 and the third arm 31 to do pitch rotation together in the first arm 29; the gyroscope sensor is used for measuring angular speed and induction action variables of the radiance radiometer, and further the motor control module is used for controlling the rotating motor to drive the two rotating shafts to carry out repairing action, so that the radiance radiometer 21 always keeps a preset observation direction.
The irradiance radiometer 15 and the radiance radiometer 21 can be existing radiometers which can be used for observing the spectrum of the water body; for example, a hyperspectral irradiance meter described in example 1 in patent document CN208171441U and a hyperspectral irradiance meter described in example 1 in patent document CN 208171436U. The radiometer is provided with the probe electric cleaning device, so that the probe can be automatically cleaned before each measurement, and the long-term effectiveness of data is ensured.
In the observation system of the invention, the floating body material blocks 11 are internally filled with solid buoyancy materials based on thermosetting resin, the outside of the floating body material blocks is encapsulated by a hard plastic shell, two ends of the shell are respectively provided with a butt joint structure which is convenient to disassemble and assemble, and the adjacent floating body material blocks are connected and fixed by fixing the butt joint structures by screws.
In the working process of the observation system, a proper number of floating body material blocks 11 are cascaded according to the requirement, then the water line is adjusted according to the length of the buoy body 10, on the basis of increasing or decreasing the balancing weights 14, the water line is finally determined by adjusting the position of the water line adjusting auxiliary ring 33 on the buoy body 10, so that the lower edge of the light shield 22 is slightly lower than the water line of the buoy body 10; after the observation system is put into water for stabilization, the main control module in the watertight instrument cabin 12 quasi-synchronously collects data of each radiance radiometer 21 and irradiance radiometer 15, the attitude sensor module in the watertight instrument cabin 12 synchronously collects attitude data of the buoy, the data are transmitted to the global satellite mobile communication system through the satellite antenna 17 arranged at the top of the buoy under the control of the satellite communication module, and then the global satellite mobile communication system sends the data to the shore-based data receiving management center server, and the receiving management center processes the data according to a set method. The data acquisition working time is from 8 a.m. to 4 a.m. and the acquisition period is usually half an hour.
In conclusion, the invention can be suitable for the water spectrum measurement requirements of different methods of different water types, reduce the maintenance cost of the traditional optical buoy, eliminate the influence of shadows on measurement, improve the accuracy of acquired data and measure K in combination with a profile method d (490) And the light-shielding method is utilized to directly measure the brightness of the water leaving radiation, the periphery of the buoy body can be assembled with the target sensor in a modularized manner, and the device is easy to disassemble and assemble.
The foregoing is merely illustrative of the present invention and is not intended to limit the scope of the invention, which is defined by the claims and their equivalents.
Claims (4)
1. The floating type measuring system for the water spectrum is characterized by comprising a columnar buoy body, wherein a weight-adjustable balancing weight is arranged at the bottom of the buoy body and used for adjusting and determining a waterline of the buoy body, a vertical upward irradiance radiometer is arranged at the top of the buoy body and used for detecting upward irradiance above the water surface, a balance bar is transversely arranged on the buoy body and is arranged above the waterline of the buoy body, two ends of the balance bar are respectively provided with a two-axis self-stabilizing platform and the balancing weight, and a vertical downward irradiance radiometer is arranged on the two-axis self-stabilizing platform;
the buoy body comprises a watertight instrument cabin, a control part is arranged in the watertight instrument cabin, and the control part is respectively connected with the irradiance radiometer and the radiance radiometer and is used for controlling the detection of each radiometer and receiving and temporarily storing the detection data of each radiometer;
the buoy body further comprises a plurality of cylindrical floating body material blocks with equal outer diameters and a watertight battery compartment, the watertight instrument compartment, the plurality of cylindrical floating body material blocks with equal outer diameters and the watertight battery compartment are sequentially connected from top to bottom, the control part is connected with the watertight battery compartment, and the watertight battery compartment supplies power for each radiometer;
the middle part of the balance bar is inserted into the buoy body, two ends of the balance bar extend out of the buoy body, the balance bar is in sliding connection with the buoy body, and the two ends of the balance bar are adjusted to achieve balance through sliding of the balance bar;
the probe end of the radiance radiometer is provided with a light shield, and the lower edge of the light shield is lower than the waterline of the buoy body;
the floating body material block is internally filled with solid buoyancy materials based on thermosetting resin, the outside of the floating body material block is encapsulated by a hard plastic shell, and the upper end and the lower end of the shell are respectively provided with a butt joint structure which is convenient to disassemble and assemble;
two groups of thrusters with opposite directions are symmetrically arranged on the buoy body along the circumferential direction, and the thrusters are connected with the control part;
both the irradiance radiometer and the radiance radiometer are provided with a probe electric cleaning device; the buoy body is also provided with a waterline adjusting auxiliary ring, the waterline adjusting auxiliary ring is sleeved on the outer surface of the buoy body in the circumferential direction, and the waterline adjusting auxiliary ring can move along the axial direction of the outer surface of the buoy body;
the two-axis self-stabilizing platform is provided with a control cabin, a pitching rotating shaft and a rolling rotating shaft; a gyroscope sensor and a motor control module are arranged in the control cabin, and a semi-annular first arm is arranged outside the control cabin; the pitching rotating shaft is arranged on the inner side surface of the first arm, and is fixedly connected with an annular second arm in the first arm; the transverse rolling rotating shaft is arranged on the inner side surface of the second arm, and is further fixedly connected with an annular third arm in the second arm; the pitching rotating shaft and the rolling rotating shaft are mutually perpendicular and are respectively provided with a rotating motor, so that the rolling rotating shaft can drive the third arm to do rolling rotation in the second arm, and the pitching rotating shaft can drive the second arm and the third arm to do pitching rotation together in the first arm; the gyroscope sensor is used for measuring angular speed and induction action variables of the radiance radiometer, and further the motor control module is used for controlling the rotating motor to drive the two rotating shafts to carry out repairing action, so that the radiance radiometer always keeps a preset observation direction.
2. The floating type measurement system for water spectrum according to claim 1, wherein the top of the buoy body is provided with a satellite antenna, the control part is connected with a satellite communication module, and the satellite communication module is connected with the satellite antenna.
3. The floating measurement system for a spectrum of a body of water of claim 1 wherein the watertight instrument compartment is positioned above the waterline of the buoy body.
4. The floating measurement system for the spectrum of the water body according to claim 1, wherein the watertight instrument compartment is further provided with an attitude sensor module, a power management module, a storage module and a satellite communication module; the control component is respectively connected with the attitude sensor module, the power management module, the storage module and the satellite communication module, and the power management module supplies power to the control component; the control component is respectively connected with the irradiance radiometer and the radiance radiometer, supplies power for each radiometer and receives data of each radiometer and the attitude sensor module; the storage module is used for temporarily storing data from each radiometer and the attitude sensor module, the attitude sensor module is used for collecting the attitude data of the buoy body in real time, and the satellite communication module is used for transmitting the data outwards.
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| CN110470386A (en) * | 2019-09-05 | 2019-11-19 | 青岛海洋科学与技术国家实验室发展中心 | A kind of optics buoy applied to water spectral measurement |
| CN111624210B (en) * | 2020-07-07 | 2023-03-28 | 江苏华淼电子科技有限公司 | Marine wind turbine tower section of thick bamboo intertidal zone corrosion detection device |
| CN112540048A (en) * | 2020-11-17 | 2021-03-23 | 中国科学院西安光学精密机械研究所 | Natural water body water-leaving radiation polarization hyperspectral on-site in-situ observation device and method |
| CN113978621B (en) * | 2021-11-05 | 2023-02-10 | 西北工业大学 | Stability augmentation device for water surface buoy |
| CN114623805A (en) * | 2022-05-13 | 2022-06-14 | 中国海洋大学 | Free-fall type marine organism optical profile measuring system and method |
| CN117309783A (en) * | 2023-10-16 | 2023-12-29 | 中国科学院南海海洋研究所 | Seawater diffusion attenuation coefficient, true light layer depth and transparency measuring method |
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