CN113120167A - Intelligent submerged buoy is put in long-range cloth that unmanned ship pull - Google Patents
Intelligent submerged buoy is put in long-range cloth that unmanned ship pull Download PDFInfo
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- CN113120167A CN113120167A CN202110607615.0A CN202110607615A CN113120167A CN 113120167 A CN113120167 A CN 113120167A CN 202110607615 A CN202110607615 A CN 202110607615A CN 113120167 A CN113120167 A CN 113120167A
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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
- B63B22/04—Fixations or other anchoring arrangements
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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
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
- B63B2035/008—Unmanned surface vessels, e.g. remotely controlled remotely controlled
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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
Abstract
The invention relates to the technical field of marine observation high-end equipment, in particular to a remotely-deployed intelligent submerged buoy towed by an unmanned ship, which comprises a main floating ball, a stainless steel bracket, a flow velocity profiler, an instrument chain, an acoustic releaser, an anchor chain, a satellite communication device, a controller and a ship-shaped counterweight, wherein the acoustic releaser is connected with the ship-shaped counterweight through the anchor chain; the unmanned ship uses a releasing device to pull the ship-shaped counterweight; the controller is connected with the satellite communication device, the release device and the water inlet device by using signal cables to realize electric signal connection; the controller receives a laying instruction sent by a remote laying person through the satellite communication device, and controls the release device to disconnect the traction of the unmanned boat to the boat-shaped balance weight and the water injection device to inject water into the boat-shaped balance weight according to the instruction so as to realize remote laying. The ship-shaped counter weight is used as a container to contain the submerged buoy in the transportation process, and the ship-shaped counter weight is used as an anchoring and fixing submerged buoy after being laid, so that the ship time cost is saved, the laying quality is improved, and the safety accidents of equipment and personnel caused by marine observation under the condition of life danger in high sea are avoided.
Description
Technical Field
The invention relates to the technical field of marine observation high-end equipment, in particular to a remotely-deployed intelligent submerged buoy towed by an unmanned ship, which is an observation node of a transparent marine science plan.
Background
The submerged buoy can realize long-term continuous measurement of ocean elements at the laying point of the submerged buoy, and is one of a few important devices capable of carrying out fixed-point continuous observation on the ocean elements. Core equipment of the submerged buoy: an Acoustic Doppler Current Profiler (ADCP) uses an acoustic transducer as a sensor, the transducer emits pulse acoustic signals, the acoustic pulses are reflected by sediment particles and plankton which are unevenly distributed in a water body, the transducer receives the signals, and the Doppler frequency shift is measured to measure and calculate the current. The ADCP has the characteristics of capability of directly measuring the flow velocity profile of a section, no disturbance of a flow field, short test duration and large speed measurement range. The method is widely used for flow field structure survey, flow velocity and flow test and the like of oceans and estuaries at present. Document CN202987464U discloses the basic structure of a 3500 m submerged buoy.
Document CN104875849B discloses a multi-scale synchronous observation subsurface buoy for marine dynamic environment, wherein a first thermohaline chain, a second thermohaline chain, a micro-scale fixed-point turbulimeter and a main floating body are arranged on the upper portion of a cable, the first thermohaline chain and the second thermohaline chain respectively comprise a temperature meter, a temperature depth meter and a thermohaline depth meter, the main floating body is located between the first thermohaline chain and the second thermohaline chain, an acoustic doppler flow velocity profiler is mounted on the main floating body, a reciprocating micro-scale turbulimeter is arranged in the middle of the cable, the reciprocating micro-scale turbulimeter is mounted with the thermohaline depth meter, a sea current meter, a shear probe and a quick temperature probe for observing turbulent flow, a deep sea current and thermohaline measurement unit is arranged on the lower portion of the cable, and the deep sea current and thermohaline measurement unit comprises the thermohaline depth meter and the sea current meter. Therefore, the number of parts of the submerged buoy is increased, the assembly of the submerged buoy is more and more time-consuming, and the occupied ship cost is higher and higher. Document CN109398711A discloses a method for launching a submerged buoy by using a remotely controllable release hook in a special sea area by using a helicopter, which overcomes the problem of iceberg influence in the process of launching the submerged buoy.
1. The physical oceanographic research object determines where the stormy waves go to observe, when the typhoon comes, the submerged buoy is arranged facing the typhoon to observe the typhoon, safety accidents of equipment or personnel can be caused, the physical oceanographic research object is very dangerous, the arrangement can not be completed sometimes, and a mother ship has to return to a port to avoid the stormy waves.
2. The assembly quality is influenced by the hot weather, the storm is large, the deck shakes violently, the submerged buoy is difficult to assemble, the assembly can not be completed even under high sea conditions, and the quality of the submerged buoy is influenced by the error of assembling the submerged buoy on a ship, so that the submerged buoy is lost.
3. Assembling a submerged buoy on a mother ship consumes very expensive ship time.
4. When the submerged buoy is placed, no matter the 'front buoy and rear anchor' or the 'front anchor and rear buoy', an instrument and a mooring cable drag on a rear deck, an anti-corrosion layer on the surface of the instrument can be abraded, the anti-corrosion performance of the instrument is reduced due to scratches on the surface, the strength of the mooring cable made of aramid fibers can be reduced in the dragging process, the tiny problems are difficult to find and cause the attention of a placer, and the tiny problems can cause the loss of the submerged buoy.
Cement boats, the boats and ships that use cement and steel wire or reinforcing bar as main material, including wire net cement boat and reinforced concrete boat. The steel wire mesh cement ship is a ship which is formed by binding steel bars and steel wire meshes into a skeleton and coating cement inside and outside. Reinforced concrete ships, i.e. ships using reinforced concrete as the hull structure material. The cement ship has the advantages of low manufacturing cost, easily obtained materials, simple construction equipment and construction process, low maintenance cost, capability of saving wood and steel, corrosion resistance and durability, and the main defects of great weight and poor impact resistance, and can only be used in a certain range. The steel wire mesh cement ship can be used as an agricultural ship, a fishing boat and a transport ship. The reinforced concrete boat can be an engineering boat and a wharf boat which have low requirement on dead weight and have fixed berths or less movement.
Therefore, it is necessary to develop a ship-shaped counterweight made of cement, and further research a submerged buoy which can be remotely deployed in a high sea state, so as to solve the technical problems.
Disclosure of Invention
The invention aims to provide a remote intelligent submerged buoy deployed by unmanned boat traction, and explore an ocean intelligent observation technology.
The technical solution adopted by the invention is as follows: the remotely-laid intelligent submerged buoy towed by the unmanned ship comprises a satellite communication device, a main floating ball, an ADCP, a controller, a stainless steel support, a mooring cable, an instrument chain, an acoustic releaser, an anchor chain, a connecting ring, a ship-shaped balance weight, a draw bar, a draw ring, a releasing device and a water inlet device, wherein the ADCP and the stainless steel support which are beaten upwards and downwards penetrate through a reserved hole in the main floating ball and are fixed on the main floating ball by nuts, the satellite communication device is arranged at the upper part of the stainless steel support, the mooring cable is used at the lower part of the stainless steel support to be connected with the instrument chain, the lower end of the instrument chain is connected with the acoustic releaser, the connecting ring is arranged at the center of the bottom of the ship-shaped balance weight, and the acoustic releaser is connected with the connecting ring through the anchor chain; the ship-shaped balance weight is a flat-bottom ship shell prefabricated by reinforced concrete, and the assembled submerged buoy is placed in the ship-shaped balance weight in the transportation process; the bottom of the ship-shaped balance weight is provided with the water inlet device; configuring a releasable connection between the boat-shaped counterweight and the unmanned boat using the release device, the tow bar, and the tow ring; the controller is arranged in a reserved cavity of the main floating ball and is connected with the satellite communication device, the release device and the water inlet device by using the signal cable electric signal; the controller receives a remote laying instruction through the satellite communication device, sends out control signals to control the release device to release the ship-shaped balance weight and control the water inlet device to inject seawater into the ship-shaped balance weight, and thus the remote laying of the submerged buoy is completed.
The water inlet device comprises a sealing plate, a rubber sealing pad, a left electromagnetic releaser and a right electromagnetic releaser, the rubber sealing pad is arranged between the sealing plate and the bottom of the ship-shaped balance weight, the sealing plate is tightly pressed on the rubber sealing pad, and two ends of the sealing plate are clamped below the left electromagnetic releaser and the right electromagnetic releaser; the ship-shaped balance weight is provided with a lower diversion hole array, the sealing plate is provided with an upper diversion hole array, the lower diversion hole array and the upper diversion hole array are arranged in a staggered mode, and the controller is connected with the satellite communication device and power supply relays of electromagnets of the left electromagnetic releaser and the right electromagnetic releaser through signal cables in an electric signal mode; the controller receives a laying instruction sent by a remote laying person through the satellite communication device, generates and sends control signals to power supply relays of the electromagnets of the left electromagnetic releaser and the right electromagnetic releaser according to the laying instruction, and controls the sealing plate to be separated from the ship-shaped counterweight.
Electromagnetic release, including long bolt, wedge cushion, short bolt, electro-magnet, support, ferromagnetism dish, corrosion-resistant spring, connecting rod, dog the signal cable, long bolted connection the ship shape counter weight wedge cushion with the support is as an organic whole, short bolt will the electro-magnet is fixed on the support, the connecting rod with the dog welding is in the same place, the connecting rod passes corrosion-resistant spring with mounting hole on the support, threaded connection the ferromagnetism dish, the ferromagnetism dish is just right the electro-magnet, the controller uses the signal cable is connected the power relay of electro-magnet.
The water inlet device can also be a plurality of electromagnetic valve arrays which are opened at the same time and are arranged at the lower diversion hole; the controller is connected with the satellite communication device and the power supply relay of the electromagnetic valve array of the ship-shaped counterweight through the signal cable by using an electric signal, the controller receives a laying instruction sent by a remote laying person through the satellite communication device, the controller sends a control signal to the relay of the electromagnetic valve array to switch on a power supply according to the laying instruction, and the electromagnetic valve array opens seawater to be injected into the ship-shaped counterweight.
The release device comprises a big bolt, a disc, a triangular stop block, a small spring, a connecting rod, a big spring, a cylindrical pin, a sucker type electromagnet, a small bolt, a rack, a rubber mat and a triangular cushion block, wherein the big bolt connects the rack, the rubber mat and the triangular cushion block into a whole with the boat-shaped balance weight, or the big bolt connects the rack, the rubber mat and the triangular cushion block into a whole with the unmanned boat; the sucker type electromagnet is connected to the rack through the small bolt in a threaded manner; the triangular check block is welded at one end of the connecting rod, the small spring is sleeved on the connecting rod, the connecting rod penetrates through the rack and is in threaded connection with the disc, the disc is made of ferromagnetic materials, the large spring penetrates through a connecting hole of the rack and a connecting ring of the traction rod on the cylindrical pin sleeve, and the triangular check block blocks the cylindrical pin.
The sealing plate is provided with a clamp, the socket head cap screw penetrates through the fixing hole to fix the clamp on the sealing plate, the clamp is made of elastic plastic, and the mooring cable is clamped in the clamp. The heat-insulating sun-proof plate is arranged at the top of the boat-shaped balance weight, a sealing gasket is arranged between the boat-shaped balance weight and the heat-insulating sun-proof plate, a rubber rope is bound on the heat-insulating sun-proof plate and the boat-shaped balance weight, and the total breaking force of the rubber rope is smaller than the net buoyancy of the main floating ball. Fillers are arranged in the boat-shaped balance weight, and instruments are placed among the fillers. The rubber sealing gasket is embedded into the steel wire.
A method for remotely laying intelligent submerged buoy towed by unmanned ship comprises the following steps:
s1, when preparing for the sea in the laboratory, selecting the instrument to be mounted on the submerged buoy according to the observed sea elements, checking, maintaining and setting the selected observation instrument, designing the ship-shaped counterweight, the floating ball and the net buoyancy of the submerged buoy according to the estimated observation environment parameters, and prefabricating the ship-shaped counterweight of the reinforced concrete;
s2, paving the rubber sealing gasket at the bottom of the ship-shaped counterweight; clamping the sealing plate under the left electromagnetic releaser and the right electromagnetic releaser; laying the filler within the boat weight;
s3, after the instruments of the submerged buoy are assembled into the submerged buoy, the submerged buoy is installed in the filler in the ship-shaped balance weight, and the acoustic releaser is connected to the connecting ring of the ship-shaped balance weight through the anchor chain; the mooring cable is clamped in the clamp;
s4, arranging a heat insulation sun-proof plate at the top of the boat-shaped balance weight;
s5, using the rubber rope to tie the heat-insulation sun-proof board and the boat-shaped balance weight into a whole;
s6, constructing a releasable connection between the boat-shaped balance weight and the unmanned boat by using the release device, the draw bar and the draw ring, and connecting the power supply relay of the sucker type electromagnet of the release device by using the signal cable through the controller;
s7, a remote distributor uses an intelligent terminal to establish TCP/IP connection with an automatic pilot of the unmanned boat, longitude and latitude coordinates of a submerged buoy distribution point are set in the automatic pilot of the unmanned boat, the unmanned boat pulls the ship-shaped counterweight to reach a distribution sea area, or the remote distributor controls the unmanned boat on line to pull the ship-shaped counterweight to reach the distribution sea area, when the remote distributor judges that the submerged buoy is suitable for distribution according to returned actually measured distribution environment information, the remote distributor establishes TCP/IP connection with the controller through the satellite communication device, the remote distributor sends a distribution instruction, the controller receives the distribution instruction through the satellite communication device, sends a control signal according to the distribution instruction, transmits the control signal to a relay of the release device through the signal cable, and connects the power supply of the sucker type electromagnet, releasing the draw bar;
s8, according to the instruction of laying out the controller sends control signal switch-on water installations' S power relay, the sea water gets into in the ship shape counter weight, the ship shape counter weight sinks, the floater upwards jacks up under the buoyancy of oneself the sun-proof apron that insulates against heat draws off the rubber rope, sun-proof apron that insulates against heat with the separation of ship shape counter weight, along with the continuous sinking of ship shape counter weight, the mooring cable is followed the checkpost is constantly pulled out, and the submerged buoy progressively expandes, and the submerged buoy is in the effect of gravity of ship shape counter weight is constantly sunk, and the rest is got down at last and is sat on the hard deposit layer, accomplishes the laying out.
Compared with the prior art, the invention has the following beneficial effects:
1. during transportation, the ship-shaped balance weight is used as a container to contain the submerged buoy and is used as a balance weight to fix the submerged buoy after being laid. The unmanned boat pulls the remote placement submerged buoy to face the typhoon to realize remote control of placement of the submerged buoy to observe the typhoon under the condition of high sea condition when the typhoon comes, so that observation data under the extreme sea condition are obtained, the accurate understanding of the extreme sea condition by human is expanded, and the safety accidents of equipment and personnel caused by marine observation under the condition of life danger under the high sea condition are avoided.
2. The intelligent subsurface buoy is remotely distributed in the assembling process of the clean laboratory detecting instrument with controllable temperature and humidity, the assembling quality of the detecting instrument is more guaranteed compared with that of the subsurface buoy on the sea with hot weather, high wind and wave and violent deck shaking, the condition that the assembling quality of the subsurface buoy is influenced by the undetected error of the assembled subsurface buoy on the ship to cause the loss of the subsurface buoy is avoided, and the recovery rate of the subsurface buoy is improved.
3. The assembly of the submerged buoy on the mother ship consumes very expensive ship time and cost, and scientific research expenses can be saved by saving the ship time and cost.
4. The whole underwater buoy that puts in water of long-range cloth avoids instrument and mooring line to drag the line on the back deck, avoids instrument surface anticorrosive coating fish tail, avoids mooring line to drag the in-process intensity of going to decline, reduces the probability that the underwater buoy loses, improves the underwater buoy rate of recovery.
5. The water injection of the diversion holes and the side mooring ropes ensure the stable posture of the ship-shaped counterweight in the sinking process of the submerged buoy.
Drawings
FIG. 1 is a schematic diagram of a submerged buoy prior to remote deployment;
FIG. 2 is a schematic diagram of a remotely deployed submersible buoy;
FIG. 3 is a schematic view of a release mechanism;
FIG. 4 is a schematic view of an electromagnetic release;
FIG. 5 is a schematic view of a sealing plate;
FIG. 6 is a schematic view of the clip structure;
FIG. 7 is a schematic view of another installation of the release mechanism;
FIG. 8 is a schematic diagram of the submerged buoy of the water inlet device before the electromagnetic valve array is remotely deployed;
FIG. 9 is a schematic diagram of a submerged buoy after the water inlet device is remotely deployed with an electromagnetic valve array;
fig. 10 is a schematic diagram of a satellite communication device.
In the figure: the system comprises an insulating sun-proof cover plate 101, a rubber pad 102, a ship-shaped weight 103, a rubber rope 104, a left electromagnetic releaser 105, a satellite communication device 106, a sealing plate 107, an upper diversion hole 108, a controller 109, a main floating ball 110, a signal cable 111, an indication line 112, a release device 113, a traction rod 114, a traction ring 115, an unmanned boat 116, an external antenna II 117, an additional release device 118, a rubber sealing gasket 119, a lower diversion hole 120, an Acoustic Doppler Current Profiler (ADCP)121, a connection ring 122, a stainless steel bracket 123, an anchor chain 124, a thermohaline depth gauge (CTD)125, a small floating ball 126, an acoustic releaser 127, a temperature recorder 128, a barb 129, a single-point current meter 130, a mooring cable 131 and an instrument chain 132; right electromagnetic releaser 133, filler 134, seawater 135;
the device comprises a large bolt 301, a disc 302, a triangular stop block 303, a small spring 304, a connecting rod 305, a large spring 306, a cylindrical pin 307, a sucker type electromagnet 308, a small bolt 309, a frame 310, a rubber pad 311 and a triangular cushion block 312;
the sealing device comprises a sealing rubber gasket 400, a long bolt 401, a wedge-shaped cushion block 402, a short bolt 403, an electromagnet 404, a bracket 405, a ferromagnetic disc 406, a corrosion-resistant spring 407, a connecting rod 408 and a stop 409;
a clip 501, a hawse hole 502 and a positioning pin hole 503;
a fixing hole 601;
an electromagnetic valve 801;
the device comprises a disc-shaped floating body 1001, a sealed cabin 1002, bolts 1003, small split pins 1004, a connecting support 1005, large pins 1006, a satellite communication terminal 1007 and a first external antenna 1008.
Detailed Description
Example 1: as shown in fig. 1 and 2, the unmanned boat towed remotely deployed intelligent submerged buoy comprises a satellite communication device 106, a main floating ball 110, an ADCP121, a controller 109, a stainless steel bracket 123, an instrument chain 132, an acoustic releaser 127, an anchor chain 124, a connecting ring 122, a ship-shaped counterweight 103, a draw bar 114, a releaser 113 and a water inlet device, wherein the ADCP121 which is knocked upwards and downwards is arranged on the main floating ball 110, the controller 109 is arranged in a reserved cavity of the main floating ball 110, the stainless steel bracket 123 passes through a reserved hole on the main floating ball 110 and is fixed on the main floating ball 110 by using a nut, the satellite communication device 106 is arranged on the upper part of the stainless steel bracket 123, the lower part of the stainless steel bracket 123 is connected with the instrument chain 132 by using a mooring cable 131, the lower end of the instrument chain 132 is connected with the acoustic releaser 127, and the controller 109 is electrically connected with the satellite communication device 106, the instrument chain 132 by using a signal, The ADCP121, instruments in the instrument chain 132, the acoustic releaser 127, the release means 113 and the water intake means are partly shown in fig. 1 and partly in fig. 2 for the sake of drawing clarity. The signal cable 111 is connected with each instrument and relay by adopting an inductive coupler, so that the short circuit damage circuit caused by the disconnected connector is avoided.
The instrument chain 132 is formed by selecting a plurality of instruments according to observation requirements, such as a single-point current meter 130, a temperature recorder 128, a CTD125, a small floating ball 126 and a dissolved oxygen recorder, the single-point current meter, the temperature recorder, the CTD125, the small floating ball 126 and the dissolved oxygen recorder are connected together through a mooring cable 131, and a plurality of instruments, such as a beacon machine, a data recovery instrument and a hydroacoustic communicator, can be arranged on the upper portion of the stainless steel support 123 according to requirements.
The ship-shaped counterweight 103 is a flat-bottom ship shell prefabricated by reinforced concrete, and the assembled submerged buoy is accommodated in the ship-shaped counterweight in the transportation process of the submerged buoy; the boat-shaped counter weight 103 has small resistance when being pulled by the unmanned boat 116, the flat bottom is convenient for the boat-shaped counter weight to stably sit on the seabed for fixing the submerged buoy, and the barb 129 is arranged on the flat bottom to avoid horizontal sliding. The connecting ring 122 is arranged at the bottom center position of the ship-shaped counterweight 103, the acoustic releaser 127 is connected to the connecting ring 122 through the anchor chain 124, the acoustic releaser 127 receives encrypted control instructions of a deck unit of the acoustic releaser, the lock is opened, the anchor chain 124 is separated from the acoustic releaser 127, the submerged buoy is separated from the ship-shaped counterweight 103, and the submerged buoy floats to the sea surface under the net buoyancy of the main floating ball.
The indicator line 112 indicates the direction of advancement of the drones 116, and the releasable connection between the boat shaped weight 103 and the drones 116 is configured using the release device 113, the tow bar 114 and the tow ring 115. As shown in fig. 1, the release device 113 is disposed at the front of the boat-shaped weight 103 and is connected to the boat-shaped weight 103 by bolts, one end of the draw bar 114 is connected to the release device 113, the other end is connected to the draw ring 115, the draw ring 115 is rigidly connected to the unmanned boat, and the controller 109 is connected to the power supply relay of the suction cup type electromagnet 308 of the release device 113 by the signal cable 111. One end of the ship-shaped counterweight 103 is provided with the release device 113, and the other end of the ship-shaped counterweight 103 is provided with the additional release device 118, so that the weight and the shape of the ship-shaped counterweight 103 are symmetrical, and the stress of the ship-shaped counterweight 103 is symmetrical in the sinking process. The drones 116 used in this scheme are universal drones, requiring no modification to the drones.
As shown in fig. 7, the release device 113 is rigidly connected to the unmanned boat, the two ends of the boat-shaped counterweight 103 are symmetrically provided with the traction rings 115, one of the traction rings 115 is connected to the release device 113 by using the traction rod 114, the unmanned boat 116 used in this scheme is a special unmanned boat, and the release device 113 is added after the unmanned boat is modified.
The water inlet device is arranged at the bottom of the ship-shaped counterweight 103 and comprises the sealing plate 107, the rubber sealing gasket 119, the left electromagnetic releaser 105 and the right electromagnetic releaser 133, the rubber sealing gasket 119 is arranged between the sealing plate 107 and the bottom of the ship-shaped counterweight 103, the sealing plate 107 is tightly pressed on the rubber sealing gasket 119, and two ends of the sealing plate 107 are clamped below the left electromagnetic releaser 105 and the right electromagnetic releaser 133; the ship-shaped balance weight 103 is provided with the lower diversion holes 120 array, the sealing plate 107 is provided with the upper diversion holes 108 array, the lower diversion holes 120 array and the upper diversion holes 108 array are arranged in a staggered mode, the rubber sealing gasket 119 is embedded into a steel wire to strengthen the strength and the rigidity of the steel wire, and the phenomenon that the sealing effect is influenced due to the fact that the rubber sealing gasket overflows from the upper diversion holes 108 or the lower diversion holes 120 under the action of pressure is avoided. As shown in fig. 5, the positioning pin hole 503 of the sealing plate 107 is matched with a positioning pin fixed on the boat-shaped counterweight 103, which is not shown in the figure, to ensure that the lower diversion holes 120 and the upper diversion holes 108 are arranged in a staggered manner.
The controller 109 controls the power supply relay of the electromagnet 404 electrically connecting the satellite communication device 106 and the left electromagnetic releaser 105 and the right electromagnetic releaser 133 using the signal cable 111 to turn on or off the power supply to the left electromagnetic releaser 105 and the right electromagnetic releaser 133; the controller 109 receives a deployment instruction from a remote deployment person through the satellite communication device 106, and the controller 109 generates and sends a control signal to power relays of the electromagnets 404 of the left electromagnetic releaser 105 and the right electromagnetic releaser 133 to switch on the power supply according to the deployment instruction, thereby controlling the sealing plate 107 to be separated from the boat-shaped weight 103. After the sealing plate 107 and the rubber packing 119 are separated from the boat-shaped weight 103, seawater 135 flows into the boat-shaped weight 103 from the lower guide hole 120.
At least four strings are symmetrically arranged at the front, back, left and right between the sealing plate 107 and the bottom plate of the ship weight 103, and the left string 202 and the right string 205 are drawn in fig. 2, and the four strings tie and maintain the posture of the sealing plate 107 to avoid impacting the acoustic releaser 127.
The hawse link 203 is arranged on the anchor chain close to the acoustic releaser, i.e. a buckle of the anchor chain is enlarged to the hawse link 203, at least four side mooring lines are arranged between the hawse link 203 and the upper part of the ship weight 103, the left mooring line 201 and the right mooring line 204 are shown in fig. 2, the front mooring line and the rear mooring line are not shown in the figure, and the four side mooring lines keep the ship weight 103 in the posture during the sinking process, so that the ship weight 103 is prevented from being inclined at a large angle.
As shown in fig. 8 and 9, the water inlet device may also be a plurality of electromagnetic valve 801 arrays which are opened at the same time and installed at the lower diversion hole 120; the controller 109 electrically connects the satellite communication device 106 and the power supply relay of the electromagnetic valve 801 array by using the signal cable 111, the controller 109 receives a laying command sent by a remote laying person through the satellite communication device 106, the controller 109 sends a control signal to the relay of the electromagnetic valve 801 array according to the laying command to switch on the power supply, the electromagnetic valve 801 array opens seawater to be injected into the boat-shaped counterweight 103 until the power supply of the electromagnetic valve 801 is exhausted, and enough power supply is needed to keep the electromagnetic valve 801 in an open state before the submerged buoy touches the bottom; a plurality of electromagnetic valve 801 array schemes which are opened simultaneously are used for replacing a water inlet device consisting of the left string 202, the right string 205, the left electromagnetic releaser 105, the right electromagnetic releaser 133, the sealing plate 107 and the rubber sealing gasket 119.
The water inlet device may also be a water pump installed on the side of the ship-shaped counterweight 103, the water pump is not shown in the figure, the controller 109 uses the signal cable 111 to electrically connect the satellite communication device 106 and a power relay of the water pump, the controller 109 receives a deployment instruction sent by a remote deployment person through the satellite communication device 106, the controller 109 sends a control signal to the relay of the water pump to switch on the power supply according to the deployment instruction, and the water pump turns on seawater to be injected into the ship-shaped counterweight 103.
The ship-shaped counterweight 103 is made of steel bars and concrete, the steel bars are preferably made of stainless steel, the concrete is preferably made of impermeable concrete for shipbuilding, and the materials and the process related to the scheme need to comply with the relevant technical specifications of marine instruments and marine engineering; the bottom of the ship-shaped balance weight 103 is symmetrically provided with a plurality of lower diversion holes 120; the top of the ship-shaped counterweight 103 is provided with a heat insulation sun-proof plate 101 for preventing the instrument from being exposed to the sun; waterproof layers are arranged on the inner surface and the outer surface of the ship-shaped counterweight 103, and epoxy resin waterproof paint is preferably selected as the waterproof layers; paving the filler 134 in the ship-shaped counterweight 103, wherein the filler 134 is formed by mixing coarse sand and wood chips; the rubber string 104 integrally binds the insulating sun visor 101 and the boat-shaped weight 103.
The controller 109 comprises a central processing unit, a memory, an external memory, an interface circuit and a power supply which are accommodated in a watertight housing, a PCB circuit board is connected with the central processing unit, the memory, the external memory and the interface circuit, the central processing unit, the memory, the external memory and the interface circuit are respectively connected with the power supply, the interface circuit of the controller 109 is electrically connected to the satellite communication device 106, the ADCP121, the instrument in the instrument chain 132 and the interface circuit of the acoustic releaser 127 by using the signal cable 111, and a data communication link is established between the controller 109 and the instrument to transmit data and control the instrument to start or stop working; the controller uses the signal cable 111 to connect with a power supply relay of the sucker type electromagnet 308 of the releasing device 113, and controls the on or off of the power supply; the controller 109 controls the power supply to be turned on or off by connecting the signal cable 111 to the power supply relay of the water inlet device. Protocol testing experiment the controller 109 hardware used a Cortex-a9 universal development board. The software of the controller 109 comprises a main program module, a communication module, a release module and a water inlet module, wherein the main program module calls the communication module to realize the data connection between the controller 109 and the satellite communication device 106 and inquire received information, and the communication module returns a received placement instruction to the main program module; the main program module calls the release module to send a release control signal to control the release device 113 to release the boat-shaped counterweight 103; the main program module calls the water inlet module to send a water inlet control signal to control the water inlet device to work, seawater is injected into the boat-shaped balance weight 103, the water inlet module inquires pressure data collected by the CTD to judge whether the boat-shaped balance weight 103 sinks into the seawater or not, and a water inlet completion result is returned to the main program module. The controller 109 receives a remote deployment instruction through the satellite communication device 106, and sends a control signal to control the release device 113 to release the boat-shaped counterweight 103 and control the water inlet device to inject seawater into the boat-shaped counterweight 103, so as to complete remote deployment of the submerged buoy.
As shown in fig. 10, the satellite communication device 106 includes a disc-shaped floating body 1001, a sealed cabin 1002, a bolt 1003, a small split pin 1004, a connecting bracket 1005, a large pin 1006, a satellite communication terminal 1007, a first external antenna 1008 and a second external antenna 117, the satellite communication terminal 1007 is disposed in the sealed cabin 1002, and the satellite communication terminal 1007 is connected to the controller 109, the first external antenna 1008 and the second external antenna 117 by using a signal cable 111. Before remote deployment, the satellite communication terminal 1007 is always started to work; after the remote deployment is finished, the controller 109 controls the satellite communication terminal 1007 to be powered off according to the pressure data collected by the CTD; after recovery and floating, the controller 109 controls the satellite communication terminal 1007 to start up according to the pressure data collected by the CTD. The first external antenna 1008 is arranged at the top of the sealed cabin 1002, the sealed cabin 1002 is an inverted circular truncated cone, the disc-shaped floating body 1001 is sleeved on the sealed cabin 1002, the connecting support 1005 is connected to the sealed cabin 1002 through a bolt 1003, the large pin 1006 penetrates through a connecting hole in the lower end of the connecting support 1005 and a connecting hole in the stainless steel support 123, the large pin 1006, the connecting support 1005 and the stainless steel support 123 form movable connection, and when the submerged buoy is recovered, the first external antenna 1008 of the satellite communication device is guaranteed to be reliably exposed out of the sea surface and vertically point to the sky to be reliably communicated with a mother ship. Small cotter pin 1004 passes through a small hole at the end of large pin 1006 to prevent large pin 1006 from sliding off.
Due to the fact that the heat insulation sun-shading board 101 is provided with the heat insulation aluminum foil, signals received by the first external antenna 1008 are weakened, and the second external antenna 117 is additionally arranged on the unmanned ship 116 or the heat insulation sun-shading board 101, and reliable receiving of satellite communication signals is guaranteed. The second external antenna 117 is connected with the satellite communication terminal 1007 by adopting an inductive coupler, and after the second external antenna 117 is separated from the satellite communication terminal 1007, the joint is soaked in seawater, so that the normal work of the satellite communication terminal 1007 cannot be influenced.
Example 2: as shown in fig. 1 and 3, the releasing device 113 comprises a large bolt 301, a disc 302, a triangular stopper 303, a small spring 304, a connecting rod 305, a large spring 306, a cylindrical pin 307, a sucker-type electromagnet 308, a small bolt 309, a frame 310, a rubber pad 311 and a triangular cushion block 312, wherein the large bolt 301 connects the frame 310, the rubber pad 311 and the triangular cushion block 312 with the boat-shaped weight 103 into a whole; the controller 109 uses the signal cable 111 to connect with a power supply relay of the sucker type electromagnet 308, and controls the sucker type electromagnet 308 to work or stop; the suction cup type electromagnet 308 is connected to the rack 310 by the small bolt 309 through threads; connecting rod 305 one end welding triangle dog 303, little spring 304 cover on the connecting rod 305, the connecting rod 305 passes frame 310 with disc 302 threaded connection, disc 302 chooses ferromagnetic material to make for use, exposes all to choose corrosion-resistant anti-adherent material for use in the part in the sea water in this application. The cylindrical pin 307 is sleeved with the large spring 306 and penetrates into a connecting hole of the frame 310 and a connecting ring at one end of the traction rod 114. The connecting ring of the traction rod 114 is sleeved on the cylindrical pin 307, and the cylindrical pin 307 transmits the pulling force of the traction rod 114 to the frame 310 and then to the boat-shaped counterweight 103. The coupling ring at the other end of the drawbar 114 is coupled to the drawbar ring 115. When the suction disc type electromagnet 308 is in a power-off state, the triangular stop block 303 blocks the cylindrical pin 307 under the action of the elastic force of the small spring 304, and the elastic force of the large spring 306 is balanced; when the sucker type electromagnet 308 is in a power-on state, the sucker type electromagnet 308 attracts the disc 302 to pull the connecting rod 305 to drive the triangular stop block 303 to move leftwards, the cylindrical pin 307 moves upwards under the elastic force of the large spring 306, the cylindrical pin 307 is separated from the connecting ring of the traction rod 114, and the traction rod 114 is separated from the boat-shaped counterweight 103. The release device 113 may also be a coupling device for a tractor and a trailer, or a coupling device for automatic docking of a train. The above is merely an example, and the structure of the release device 113 is not limited.
As shown in fig. 1 and 3, the big bolt 301 connects the frame 310, the rubber pad 311, the triangular pad 312 and the boat-shaped weight 103 into a whole; the tow ring 115 is arranged on an unmanned boat 116, the release device 113, the tow bar 114 and the tow ring 115 being configured as a releasable connection. As shown in fig. 7 and 3, the big bolt 301 connects the frame 310, the rubber pad 311, the triangular pad 312 and the unmanned boat 116 into a whole, the towing ring 115 is disposed on the boat-shaped counterweight 103, and the releasing device 113, the towing bar 114 and the towing ring 115 are configured into a releasable connection.
Example 3: as shown in fig. 4, the electromagnetic releaser (105, 133) includes a sealing rubber pad 400, a long bolt 401, a wedge-shaped block 402, a short bolt 403, an electromagnet 404, a bracket 405, a ferromagnetic disk 406, a corrosion-resistant spring 407, a connecting rod 408, a stopper 409 and the signal cable 111, wherein the long bolt 401 connects the boat-shaped weight 103, the wedge-shaped block 402 and the bracket 405 as a whole, and the sealing rubber pad 400 is arranged between the boat-shaped weight 103 and the wedge-shaped block 402. The short bolt 403 fixes the electromagnet 404 on the bracket 405, the connecting rod 408 is welded with the stopper 409, the connecting rod 408 penetrates through the corrosion-resistant spring 407 and a mounting hole on the bracket 405 and is in threaded connection with the ferromagnetic disc 406, the ferromagnetic disc 406 is opposite to the electromagnet 404, a power supply relay of the electromagnet 404 is connected with the controller 109 through the signal cable 111, and the controller 109 sends a control signal to the relay to control the power supply of the electromagnet 404 to be switched on or switched off. The electromagnet 404 is a sucker type electromagnet, when the electromagnet 404 is in a power-off state, the corrosion-resistant spring 407 extends to abut against the stop block 409, the stop block 409 blocks the sealing plate 107, the sealing plate 107 presses the rubber sealing gasket 119, the upper diversion hole 108 and the lower diversion hole 120 are sealed, and seawater cannot enter the boat-shaped counterweight 103; when the electromagnet 404 is powered on, the electromagnet 404 attracts the ferromagnetic disc 406 to pull the connecting rod 408 and the stopper 409, the stopper 409 compresses the corrosion-resistant spring 407, the stopper 409 leaves the sealing plate 107, the sealing plate 107 and the rubber sealing gasket 119 are separated from the boat-shaped counterweight 103, and seawater flows into the lower diversion hole 120 and the upper diversion hole 108 to enter the boat-shaped counterweight 103.
Example 4: the long mooring lines 131 may be twisted together and are not easily unwound once twisted together, which makes it difficult to lay the submerged buoy remotely; as shown in fig. 5 and 6, a clip 501 is provided on the sealing plate 107, a socket head cap screw passes through the fixing hole 601 to fix the clip 501 on the sealing plate 107, the clip 501 is made of elastic plastic, the mooring line 131 is clipped in the clip 501, and when a submerged buoy is deployed, the mooring line 131 is released from the clip 501 under the buoyancy of the main float 110, so that the problem that the mooring line 131 is too long and intertwined is solved.
Example 5: as shown in fig. 1, the rubber pad 102 is disposed between the boat-shaped weight 103 and the thermal insulation sun visor 101, the rubber string 104 is bound to the thermal insulation sun visor 101 and the boat-shaped weight 103, and the total pulling-out force of the rubber string 104 is smaller than the net buoyancy of the main floating ball 110. The rubber rope 104 prevents the thermal insulation sun visor 101 and the boat-shaped weight 103 from being separated before the submerged buoy is deployed, and prevents sea waves from entering the boat-shaped weight 103; after the water inlet device is opened in the process of laying the submerged buoy, seawater 135 enters the boat-shaped counterweight 103, the net buoyancy of the main floating ball 110 stretches and slips the rubber rope 104, and the heat insulation sun visor 101 is separated from the boat-shaped counterweight 103, so that the submerged buoy is unfolded. The heat insulation sun-proof plate 101 is made of glass fiber reinforced plastic, one side of the heat insulation sun-proof plate facing the sky is adhered with a layer of heat insulation aluminum foil, solar radiation is reflected, absorption of the solar radiation is reduced, and a layer of transparent resin varnish is sprayed on the surface of the aluminum foil or a layer of transparent protective film is coated on the surface of the aluminum foil, so that seawater corrosion of the heat insulation aluminum foil is prevented.
Example 6: a method for remotely laying intelligent submerged buoy towed by unmanned ship comprises the following steps:
s1, when preparing for a laboratory to come out from sea, selecting an instrument to be mounted on a submerged buoy according to observed marine elements, checking, maintaining and setting the selected observation instrument, designing a ship-shaped counterweight, buoyancy of a floating ball and net buoyancy of the submerged buoy according to estimated observation environment parameters, and prefabricating a reinforced concrete ship-shaped counterweight 103;
s2, firstly, paving the rubber sealing gasket 119 at the bottom of the ship-shaped counterweight 103, then clamping the sealing plate 107 under the left and right electromagnetic releasers (105, 133), connecting the left and right electromagnetic releasers (105, 133) by using the signal cable 111 through the controller 109, paving the filler 134 in the ship-shaped counterweight 103, supporting a submerged buoy instrument by using the filler 134, avoiding the instrument from shaking in the ship-shaped counterweight 103 under the disturbance of wind waves in the transportation process, mixing coarse sand and wood chips into the filler 134, and avoiding the pollution of foam plastics to the ocean by using the coarse sand and the wood chips; s3, carrying out subsurface buoy on each instrument: the satellite communication device 106, the main floating ball 110, the ADCP121, the controller 109, the stainless steel bracket 123, the instrument chain 132, the acoustic releaser 127 and the anchor chain 124 are connected and installed in the boat-shaped counterweight 103 as shown in fig. 1 and 2, and the acoustic releaser 127 is connected to the connecting ring 122 through the anchor chain 124; the mooring line 131 is clamped in the clamp 501;
s4, arranging a heat insulation sun-proof plate 101 at the top of the ship-shaped balance weight 103 to prevent the instrument from being exposed to the sun in the sea transportation process;
s5, binding the heat-insulation sun-proof plate 101 and the boat-shaped counter weight 103 together by using the rubber rope 104 to prevent the heat-insulation sun-proof plate 101 from being separated from the boat-shaped counter weight 103;
s6, connecting the traction ring 115 and the releasing device 113 by using the traction rod 114, wherein the releasing device 113 is connected to the boat-shaped counterweight 103 by using bolts, or the releasing device 113 is connected to the unmanned boat 116 by using bolts; the controller 109 connects the release device 113 using the signal cable 111;
s7, a remote distributor establishes TCP/IP connection with an automatic pilot of the unmanned boat 116 by using an intelligent terminal, sets longitude and latitude coordinates of a submerged buoy distribution point in the automatic pilot of the unmanned boat 116, when the unmanned boat 116 pulls the ship-shaped counterweight 103 to reach a distribution sea area, or the remote distributor controls the unmanned boat 116 to pull the ship-shaped counterweight 103 to reach the distribution sea area on line, when the remote distributor determines that the submerged buoy is suitable to be distributed according to returned actually measured distribution environment information, the remote distributor establishes TCP/IP connection with the controller 109 through the satellite communication device 106, the remote distributor sends a distribution instruction, the controller 109 receives the distribution instruction through the satellite communication device 106, sends a control signal according to the distribution instruction, transmits the control signal to a relay of the release device 113 through the signal cable 111, and switches on a power supply release traction rod, see example 2 for details;
s8 then the controller sends control signal switch-on intake device's power relay, the sea water gets into in the ship shape counter weight 103, ship shape counter weight 103 sinks, main floater 110 upwards jacks up under the buoyancy of oneself thermal-insulated sun-proof apron 101, draws and takes off rubber rope 104, thermal-insulated sun-proof apron 101 with ship shape counter weight 103 separates, along with ship shape counter weight 103 constantly sinks, mooring cable 131 follows checkpost 501 constantly pulls out, and the submerged buoy progressively expands, and the submerged buoy constantly sinks under ship shape counter weight 103's action of gravity, and the cloth is accomplished to the last static coming down, and it is shown as figure 2 behind the submerged buoy seat bottom.
In conclusion, although the present invention has been described with reference to the preferred embodiments, it should be noted that, although various changes and modifications may be made by those skilled in the art, they should be included in the scope of the present invention unless they depart from the scope of the present invention.
Claims (10)
1. The unmanned boat-towed remote laying intelligent submerged buoy comprises a main floating ball (110), an ADCP (121), a stainless steel bracket (123), a mooring cable (131), an instrument chain (132), an acoustic releaser (127), an anchor chain (124), a connecting ring (122), a boat-shaped counterweight (103), a draw bar (114), a draw ring (115), a releasing device (113), a water inlet device, a satellite communication device (106) and a controller (109), wherein the ADCP (121) which is driven upwards and downwards is arranged on the main floating ball (110), the stainless steel bracket (123) penetrates through a reserved hole in the main floating ball (110) and is fixed on the main floating ball (110) by using a nut, the satellite communication device (106) is arranged at the upper part of the stainless steel bracket (123), the mooring cable (131) is used at the lower part of the stainless steel bracket (123) for connecting the instrument chain (132), and the acoustic releaser (127) is connected at the lower end of the instrument chain (132), the connecting ring (122) is arranged at the center of the bottom of the ship-shaped counterweight (103), and the acoustic releaser (127) is connected with the connecting ring (122) through the anchor chain (124); the method is characterized in that: the boat-shaped counter weight (103) is a flat-bottom hull prefabricated by reinforced concrete, and the assembled submerged buoy is placed in the boat-shaped counter weight in the transportation process; the bottom of the ship-shaped counterweight (103) is provided with the water inlet device; -the releasable connection between the boat-shaped weight (103) and the unmanned boat (116) is configured using the release device (113), the tow bar (114) and the tow ring (115); the controller (109) is arranged in a reserved cavity of the main floating ball (110), the controller (109) is connected with the satellite communication device (106), the releasing device (113) and the water inlet device through the signal cable (111) through electric signals, the controller (109) receives a remote laying command through the satellite communication device (106), sends out control signals to control the releasing device (113) to release the ship-shaped counterweight (103) and control the water inlet device to inject seawater into the ship-shaped counterweight (103), and remote laying of the submerged buoy is completed.
2. The unmanned boat towed remotely deployed intelligent submersible buoy of claim 1, wherein: the water inlet device comprises a sealing plate (107), a rubber sealing gasket (119), a left electromagnetic releaser (105) and a right electromagnetic releaser (133), wherein the rubber sealing gasket (119) is arranged between the sealing plate (107) and the bottom of the ship-shaped counterweight (103), the sealing plate (107) is pressed on the rubber sealing gasket (119), and two ends of the sealing plate (107) are clamped below the left electromagnetic releaser (105) and the right electromagnetic releaser (133); the ship-shaped counterweight (103) is provided with a lower diversion hole (120) array, the sealing plate (107) is provided with an upper diversion hole (108) array, the lower diversion hole (120) array and the upper diversion hole (108) array are arranged in a staggered mode, and the controller (109) is connected with the satellite communication device (106) and power supply relays of electromagnets (404) of the left electromagnetic releasers and the right electromagnetic releasers (105, 133) by using electric signals of the signal cable (111); the controller (109) receives a laying command sent by a remote laying person through the satellite communication device (106), and the controller (109) generates and sends a control signal to the power supply relay of the electromagnet (404) of the left electromagnetic releaser and the right electromagnetic releaser (105, 133) according to the laying command to control the sealing plate (107) to be separated from the ship-shaped counterweight (103).
3. The unmanned boat towed remotely deployed intelligent submersible buoy of claim 2, wherein: the electromagnetic releasers (105, 133) comprise long bolts (401), wedge-shaped cushion blocks (402), short bolts (403), electromagnets (404), brackets (405), ferromagnetic disks (406), corrosion-resistant springs (407), connecting rods (408), stoppers (409) and the signal cables (111), the long bolt (401) is connected with the boat-shaped balance weight (103), the wedge-shaped cushion block (402) and the bracket (405) into a whole, the short bolt (403) fixes the electromagnet (404) on the bracket (405), the connecting rod (408) and the stop block (409) are welded together, the connecting rod (408) passes through the corrosion-resistant spring (407) and a mounting hole on the bracket (405) and is in threaded connection with the ferromagnetic disc (406), the ferromagnetic disc (406) faces the electromagnet (404), and the controller (109) is connected with a power supply relay of the electromagnet (404) by using the signal cable (111).
4. The unmanned boat towed remotely deployed intelligent submersible buoy of claim 1, wherein: the water inlet device can also be a plurality of electromagnetic valve (801) arrays which are opened at the same time and are arranged at the lower diversion hole (120); the controller (109) is electrically connected with the satellite communication device (106) and the power supply relay of the electromagnetic valve (801) array of the ship-shaped counterweight (103) by using the signal cable (111), the controller (109) receives a laying command sent by a remote laying person through the satellite communication device (106), the controller (109) sends a control signal to the relay of the electromagnetic valve (801) array to switch on the power supply according to the laying command, and the electromagnetic valve (801) array opens seawater to be injected into the ship-shaped counterweight (103).
5. The remotely deployed intelligent submersible buoy towed by an unmanned ship as claimed in claims 1 to 4, wherein: the release device (113) comprises a large bolt (301), a disc (302), a triangular stop block (303), a small spring (304), a connecting rod (305), a large spring (306), a cylindrical pin (307), a sucker type electromagnet (308), a small bolt (309), a rack (310), a rubber mat (311) and a triangular cushion block (312), wherein the frame (310), the rubber mat (311), the triangular cushion block (312) and the ship-shaped counterweight (103) are connected into a whole by the large bolt (301), or the frame (310), the rubber mat (311), the triangular cushion block (312) and the unmanned ship (116) are connected into a whole by the large bolt (301); the sucker type electromagnet (308) is connected to the rack (310) by using the small bolt (309) through threads; one end of the connecting rod (305) is welded with the triangular stop block (303), the small spring 304 is sleeved on the connecting rod (305), the connecting rod (305) penetrates through the rack (310) to be in threaded connection with the disc (302), the disc (302) is made of ferromagnetic materials, the cylindrical pin (307) is sleeved with the large spring (306) and penetrates into a connecting hole of the rack (310) and a connecting ring of the traction rod (114), and the triangular stop block (303) blocks the cylindrical pin (307).
6. A unmanned boat towed remotely deployed intelligent submersible as claimed in claims 1 to 3 and 5, wherein: the sealing plate (107) is provided with a clip (501), a socket head cap screw penetrates through the fixing hole (601) to fix the clip (501) on the sealing plate (107), the clip (501) is made of elastic plastic, and the mooring cable (131) is clamped in the clip (501).
7. The remotely deployed intelligent submersible buoy towed by an unmanned ship as claimed in claims 1 to 6, wherein: the heat-insulation sun-proof plate is characterized in that a heat-insulation sun-proof plate (101) is arranged at the top of the boat-shaped balance weight (103), a sealing gasket (102) is arranged between the boat-shaped balance weight (103) and the heat-insulation sun-proof plate (101), a rubber rope (104) is bound on the heat-insulation sun-proof plate (101) and the boat-shaped balance weight (103), and the total pull-off force of the rubber rope (104) is smaller than the net buoyancy force of the main floating ball (110).
8. The remotely deployed intelligent submersible buoy towed by an unmanned ship as claimed in claims 1 to 7, wherein: fillers (134) are arranged in the boat-shaped balance weight (103), and instruments are placed among the fillers (134).
9. A unmanned boat towed remotely deployed intelligent submersible as claimed in claims 1 to 3 and 5 to 8 wherein: the rubber sealing gasket (119) is embedded in the steel wire.
10. A method of deploying an unmanned boat towed remotely deployed intelligent submersible buoy according to any one of claims 1 to 9, comprising the steps of:
s1, when preparing for the sea in the laboratory, selecting the instrument to be carried by the submerged buoy according to the observed sea elements, checking, maintaining and setting the selected observation instrument, designing the ship-shaped counterweight, the floating ball and the net buoyancy of the submerged buoy according to the estimated observation environment parameters, and prefabricating the ship-shaped counterweight (103) of the reinforced concrete;
s2, paving the rubber sealing gasket (119) at the bottom of the ship-shaped counterweight (103); clamping the sealing plate (107) under the left electromagnetic releaser (105) and the right electromagnetic releaser (133); -laying said filler (134) inside said boat-shaped counterweight (103);
s3, after the instruments of the submerged buoy are assembled into the submerged buoy, the submerged buoy is installed in the filler (134) in the ship-shaped counterweight (103), and the acoustic releaser (127) is connected to the connecting ring (122) of the ship-shaped counterweight (103) through the anchor chain (124); the mooring cable (131) is clamped in the clamp (501);
s4, arranging a heat insulation sun-proof plate (101) at the top of the boat-shaped balance weight (103);
s5, using the rubber rope (104) to tie the heat-insulating sun visor (101) and the boat-shaped counterweight (103) into a whole;
s6, constructing a releasable connection between the boat-shaped weight (103) and the unmanned boat (116) by using the release device (113), the traction rod (114) and the traction ring (115), and connecting the power supply relay of the sucker type electromagnet (308) of the release device (113) by using the signal cable (111) through the controller (109);
s7, a remote distributor uses an intelligent terminal to establish TCP/IP connection with an automatic pilot of the unmanned boat (116), longitude and latitude coordinates of a submerged buoy distribution point are set in the automatic pilot of the unmanned boat (116), after the unmanned boat (116) pulls the ship-shaped counterweight (103) to reach a distribution sea area, or after the remote distributor controls the unmanned boat (116) to pull the ship-shaped counterweight (103) to reach the distribution sea area on line, the remote distributor judges that the submerged buoy is suitable for distribution according to returned actually measured distribution environment information, the remote distributor establishes TCP/IP connection with the controller (109) through the satellite communication device (106), sends a distribution instruction, the controller (109) receives the distribution instruction through the satellite communication device (106), and sends a control signal to a relay of the release device (113) through the cable (111) according to the distribution instruction, switching on the power supply of the sucker type electromagnet (308), and releasing the traction rod (114);
s8, according to the instruction of laying out controller (109) send control signal switch-on water installations' S power relay, the sea water gets into in ship shape counter weight (103), ship shape counter weight (103) sink, main floater 105 upwards jacks up under the buoyancy of oneself thermal-insulated sun-proof apron (101), pulls off rubber rope (104), thermal-insulated sun-proof apron (101) with separation of ship shape counter weight (103), along with the continuous sinking of ship shape counter weight (103), mooring cable (131) are followed checkpost (501) continuously pulls out, and the submerged buoy progressively expandes, and the submerged buoy is in the continuous sinking under the action of gravity of ship shape counter weight (103), and the final rest is sat on hard sediment layer (207), accomplishes the laying out.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110607615.0A CN113120167B (en) | 2021-06-01 | 2021-06-01 | Remote distribution intelligent submerged buoy towed by unmanned ship |
| PCT/CN2022/082408 WO2022252771A1 (en) | 2021-06-01 | 2022-03-23 | Remotely-deployed intelligent submersible buoy towed by unmanned boat |
| ZA2022/04533A ZA202204533B (en) | 2021-06-01 | 2022-04-22 | Remote placement intelligent mooring system towed by unmanned boat |
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| CN202110607615.0A CN113120167B (en) | 2021-06-01 | 2021-06-01 | Remote distribution intelligent submerged buoy towed by unmanned ship |
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| CN113120167B CN113120167B (en) | 2023-05-05 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114313120A (en) * | 2022-03-14 | 2022-04-12 | 自然资源部第二海洋研究所 | Device for collecting and releasing ocean floating type observation equipment by adopting unmanned ship |
| WO2022252771A1 (en) * | 2021-06-01 | 2022-12-08 | 广东海洋大学 | Remotely-deployed intelligent submersible buoy towed by unmanned boat |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117397632B (en) * | 2023-12-14 | 2024-02-13 | 烟台南隍城海珍品发展有限公司 | Ship body cargo transportation device |
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Also Published As
| Publication number | Publication date |
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| WO2022252771A1 (en) | 2022-12-08 |
| CN113120167B (en) | 2023-05-05 |
| ZA202204533B (en) | 2022-11-30 |
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