CN113120167B - Remote distribution intelligent submerged buoy towed by unmanned ship - Google Patents
Remote distribution intelligent submerged buoy towed by unmanned ship Download PDFInfo
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- CN113120167B CN113120167B CN202110607615.0A CN202110607615A CN113120167B CN 113120167 B CN113120167 B CN 113120167B CN 202110607615 A CN202110607615 A CN 202110607615A CN 113120167 B CN113120167 B CN 113120167B
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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
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- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Testing Or Calibration Of Command Recording Devices (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention relates to the technical field of marine observation high-end equipment, in particular to a remote deployment intelligent submerged buoy towed by an unmanned ship, which comprises a main floating ball, a stainless steel bracket, a flow velocity profile instrument, 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 uses the signal cable electric signal to connect the satellite communication device, the releasing device and the water inlet device; the controller receives a deployment instruction sent by a remote deployment person through the satellite communication device, and controls the release device to disconnect the unmanned ship from pulling the ship-shaped counterweight and the water inlet device to inject water into the ship-shaped counterweight according to the instruction so as to realize remote deployment. The ship-shaped counterweight is used as a container to hold the submerged buoy in the transportation process, and is used as an anchor to fix the submerged buoy after being laid, so that the time and cost of the ship are saved, the laying quality is improved, and the occurrence of equipment and personnel safety accidents possibly caused by carrying out ocean observation under high sea conditions with life hazards is avoided.
Description
Technical Field
The invention relates to the technical field of ocean observation high-end equipment, in particular to a remote deployment intelligent submerged buoy towed by an unmanned ship, which is an observation node of a transparent ocean science plan.
Background
The submerged buoy can realize long-term continuous measurement of the ocean elements at the submerged buoy laying point, and is one of a few important devices capable of carrying out fixed-point continuous observation of the ocean elements. Core equipment of submerged buoy: an acoustic Doppler flow 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 unevenly distributed in a water body, the transducer receives signals, and the flow velocity is measured by measuring Doppler frequency shift. ADCP has the characteristics of capability of directly measuring the flow velocity profile of the section, no disturbance of the flow field, short test duration and large speed measurement range. The method is widely used for flow field structure investigation, flow velocity and flow test and the like of oceans and estuaries at present. Document CN202987464U discloses a basic structure of 3500 meters submerged buoy.
Document CN104875849B discloses a multi-scale synchronous observation submerged buoy of a marine power environment, a first temperature salt chain, a second temperature salt chain, a micro-scale fixed point turbulence meter and a main floating body are arranged on the upper portion of a cable, the first temperature salt chain and the second temperature salt chain comprise a thermometer, a temperature deep meter and a temperature salt deep meter, the main floating body is positioned between the first temperature salt chain and the second temperature salt chain, an acoustic doppler flow velocity profile meter is arranged on the main floating body, a reciprocating micro-scale turbulence profile meter is arranged in the middle of the cable, a temperature salt deep meter, a current meter, a shear probe and a rapid temperature probe for observing turbulence are arranged on the reciprocating micro-scale turbulence profile meter, and a deep sea current and temperature salt measuring unit is arranged on the lower portion of the cable, wherein the deep sea current and temperature salt measuring unit comprises a temperature salt deep meter and a current meter. Therefore, the components of the submerged buoy are more and more, the submerged buoy is more and more time-consuming to assemble, and the occupied ship time is more and more expensive. Document CN109398711a discloses a method for throwing submerged buoy by using a helicopter in a special sea area by using a remotely controllable release hook, which overcomes the problem of iceberg influence in throwing submerged buoy.
1. The physical marine study object determines where the storm is located for observation, when typhoons come, the typhoons are laid against the typhoons to observe the submerged buoy, so that safety accidents of equipment or personnel can be caused, the equipment or personnel are very dangerous, the layout can not be completed, and the mother ship has to go back to the port to avoid the storm.
2. The south sea weather is hot, stormy waves are large, the deck is swayed severely, the assembly of the submerged buoy is difficult, the assembly quality is affected, even the assembly can not be completed in the high sea condition, and the quality of the submerged buoy can be lost due to the error of the assembly of the submerged buoy on a ship.
3. Assembling the submerged buoy on the mother ship consumes very expensive time and expense of the ship.
4. When the submerged buoy is laid, whether the front buoy and the rear anchor or the front buoy and the rear buoy are adopted, the instrument and the mooring cable can drag on the rear deck, an instrument surface anti-corrosion layer can be worn, the corrosion resistance of the instrument is reduced by scratches on the surface, the strength of the mooring cable made of aramid fiber can be reduced in the dragging process, and the tiny problems are difficult to find and attach importance to a laid person, but the tiny problems can cause the submerged buoy to be lost.
Cement boats, i.e. boats using cement and steel wires or steel bars as main materials, comprise steel wire mesh cement boats and reinforced concrete boats. The steel wire mesh cement ship is a ship formed by binding steel bars and steel wire meshes into a framework and coating cement inside and outside. Reinforced concrete vessels, i.e. vessels using reinforced concrete as the material of the hull structure. The cement ship has the advantages of low cost, easily obtained materials, simple construction equipment and construction process, low maintenance cost, wood and steel saving, corrosion resistance and durability, and the main defects of large self weight, poor impact resistance and use in a certain range. The steel wire mesh cement ship can be used as a farm ship, a fishing ship and a transport ship. The reinforced concrete ship can be used as engineering ship and pontoon with low dead weight requirement, fixed berth 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 at high sea conditions, so as to solve the technical problems.
Disclosure of Invention
The invention aims to provide a remote-deployment intelligent submerged buoy towed by an unmanned ship and explores an ocean intelligent observation technology.
The technical scheme adopted by the invention is as follows: the remote laying intelligent submerged buoy 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 counterweight, a traction rod, a traction ring, a releasing device and a water inlet device, wherein the main floating ball is respectively provided with the ADCP which is upwards and downwards beaten, the stainless steel support passes through a preformed hole on the main floating ball and is fixed on the main floating ball by using a nut, the upper part of the stainless steel support is provided with the satellite communication device, the lower part of the stainless steel support is connected with the instrument chain by using the mooring cable, the lower end of the instrument chain is connected with the acoustic releaser, the central position of the bottom of the ship-shaped counterweight is provided with the connecting ring, and the acoustic releaser is connected with the connecting ring by the anchor chain; the ship-shaped counterweight is a flat-bottom ship shell prefabricated by reinforced concrete, and the assembled submerged buoy is placed in the ship-shaped counterweight in the transportation process; the bottom of the ship-shaped counterweight is provided with the water inlet device; the shipweight and the unmanned boat are configured for releasable connection using the release device, the tow bar, and the tow ring; the controller is arranged in the 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 signals; the controller receives a remote Cheng Bufang instruction through the satellite communication device, sends out a control signal to control the release device to release the ship-shaped counterweight and controls the water inlet device to realize seawater injection into the ship-shaped counterweight, and completes remote deployment of the submerged buoy.
The water inlet device comprises a sealing plate, a rubber sealing gasket, a left electromagnetic releaser and a right electromagnetic releaser, wherein the rubber sealing gasket is arranged between the sealing plate and the bottom of the ship-shaped counterweight, the sealing plate is tightly pressed on the rubber sealing gasket, and two ends of the sealing plate are clamped below the left electromagnetic releaser and the right electromagnetic releaser; the ship-shaped counterweight 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 manner, and the controller uses the signal cable to electrically connect the satellite communication device and the power relays of the electromagnets of the left electromagnetic releaser and the right electromagnetic releaser; the controller receives a laying instruction sent by a remote laying person through the satellite communication device, and generates and sends a control signal to the power relays of the electromagnets of the left electromagnetic releaser and the right electromagnetic releaser according to the laying instruction to control the sealing plate to be separated from the ship-shaped counterweight.
The electromagnetic releaser comprises a long bolt, a wedge-shaped cushion block, a short bolt, an electromagnet, a support, a ferromagnetic disc, a corrosion-resistant spring, a connecting rod, a stop block and a signal cable, wherein the long bolt is connected with the ship-shaped counterweight, the wedge-shaped cushion block and the support are integrated, the electromagnet is fixed on the support through the short bolt, the connecting rod and the stop block are welded together, the connecting rod penetrates through the corrosion-resistant spring and a mounting hole on the support, the ferromagnetic disc is in threaded connection with the ferromagnetic disc, the ferromagnetic disc is opposite to the electromagnet, and the controller is connected with a power relay of the electromagnet through the signal cable.
The water inlet device can also be a plurality of electromagnetic valve arrays which are installed at the lower diversion holes and are opened at the same time; the controller is electrically connected with the satellite communication device and the power relay of the electromagnetic valve array of the ship-shaped counterweight by using the signal cable, receives a distribution instruction sent by a remote distributor through the satellite communication device, sends a control signal to the relay of the electromagnetic valve array to be powered on according to the distribution instruction, and the electromagnetic valve array opens seawater to be injected into the ship-shaped counterweight.
The release device comprises a large bolt, a disc, a triangular stop block, a small spring, a connecting rod, a large spring, a cylindrical pin, a sucking disc type electromagnet, a small bolt, a frame, a rubber cushion and a triangular cushion block, wherein the large bolt is used for connecting the frame, the rubber cushion, the triangular cushion block and the ship-shaped counterweight into a whole, or the large bolt is used for connecting the frame, the rubber cushion, the triangular cushion block and the unmanned ship into a whole; the sucker type electromagnet is connected to the rack through the small bolt in a threaded manner; the connecting rod one end welding the triangle dog, the little spring housing is in on the connecting rod, the connecting rod passes the frame with disc threaded connection, the disc selects ferromagnetic material to make, the cylindric lock is sheathe in big spring penetrates the connecting hole of frame with among the connector ring of traction lever, the triangle dog keeps off the cylindric lock.
The sealing plate is provided with a clamp, the inner hexagon 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 top of the ship-shaped counterweight is provided with a heat-insulating sun-screening board, a sealing gasket is arranged between the ship-shaped counterweight and the heat-insulating sun-screening board, rubber ropes are bound on the heat-insulating sun-screening board and the ship-shaped counterweight, and the total breaking force of the rubber ropes is smaller than the net buoyancy of the main floating ball. And fillers are arranged in the ship-shaped counterweight, and instruments are placed between the fillers. The rubber gasket is embedded into the steel wire.
A remote deployment intelligent submerged buoy deployment method for unmanned ship traction comprises the following steps:
s1, selecting an instrument to be mounted on a submerged buoy according to observed ocean elements when a laboratory is in preparation for sea going, checking and maintaining the selected observation instrument, and designing a ship-shaped counterweight, a floating ball and net buoyancy of the submerged buoy according to estimated observation environment parameters to prefabricate the ship-shaped counterweight of 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; paving the filler in the ship-shaped counterweight;
S3, after each instrument of the submerged buoy is assembled into the submerged buoy, the submerged buoy is installed in the filler in the ship-shaped counterweight, and the acoustic releaser is connected with the connecting ring of the ship-shaped counterweight through the anchor chain; the mooring cable is clamped in the clamp;
s4, arranging a heat-insulating sun-screening plate at the top of the ship-shaped counterweight;
s5, binding the heat insulation sun-screening board and the ship-shaped counterweight into a whole by using the rubber rope;
s6, the ship-shaped counterweight and the unmanned ship are connected in a releasable mode through the release device, the traction rod and the traction ring, and the controller is connected with a power relay of the sucker type electromagnet of the release device through the signal cable;
s7, a remote distributor establishes TCP/IP connection with an autopilot of the unmanned ship by using an intelligent terminal, longitude and latitude coordinates of a submerged buoy distribution point are set in the autopilot of the unmanned ship, after the unmanned ship pulls the ship-shaped counterweight to a distribution sea area, or after the remote distributor online controls the unmanned ship to pull the ship-shaped counterweight to the distribution sea area, the remote distributor judges that the submerged buoy is suitable to be distributed according to the returned actual measured distribution environment information, the remote distributor establishes TCP/IP connection with the controller through the satellite communication device, the remote distributor sends out a distribution instruction, the controller receives the distribution instruction through the satellite communication device, sends out a control signal according to the distribution instruction and transmits the control signal to a relay of the release device through the signal cable, and turns on a power supply of the sucker type electromagnet to release the traction rod;
And S8, sending a control signal by the controller according to a laying instruction to switch on a power relay of the water inlet device, enabling seawater to enter the ship-shaped counterweight, enabling the ship-shaped counterweight to sink, enabling the main floating ball to jack up the heat insulation sun-proof cover plate upwards under the action of own buoyancy, pulling out the rubber rope, separating the heat insulation sun-proof cover plate from the ship-shaped counterweight, enabling the mooring cable to be pulled out from the clamp continuously along with continuous sinking of the ship-shaped counterweight, expanding the submerged buoy gradually, enabling the submerged buoy to be sunk continuously under the action of gravity of the ship-shaped counterweight, and finally standing to sit on the hard sediment layer to finish laying.
Compared with the prior art, the invention has the following beneficial effects:
1. the ship-shaped balance weight is used as a container to hold the submerged buoy in the transportation process, and is used as a balance weight to fix the submerged buoy after being distributed. The unmanned ship is used for dragging the remote laying submerged buoy, so that the remote control of laying submerged buoy to observe typhoons is realized against typhoons under the condition of high sea conditions when typhoons come, the observation data of the polar sea conditions are obtained, the accurate knowledge of the polar sea conditions of human beings is expanded, and the occurrence of safety accidents of equipment and personnel possibly caused by carrying out ocean observation under the condition of high sea conditions with life hazards is avoided.
2. The intelligent submerged buoy is remotely distributed in the assembly of the clean laboratory detection instrument with controllable temperature and humidity, so that the quality of the submerged buoy assembled by the detection instrument is ensured more than that of the submerged buoy assembled on the sea with severe shaking of a deck in hot weather and high wind and high wave, thereby avoiding the problem that the assembly quality of the submerged buoy is influenced by errors which are not easily perceived in the assembly of the submerged buoy on a ship, and improving the recovery rate of the submerged buoy.
3. The assembly of the submerged buoy on the mother ship consumes very expensive time and expense, and scientific research expenses can be saved by saving the time and expense.
4. The whole submerged buoy is remotely distributed into water to avoid dragging an instrument and a mooring cable on a rear deck, avoid scratching an anti-corrosion layer on the surface of the instrument, avoid strength reduction of the mooring cable in the dragging process, reduce the loss probability of the submerged buoy and improve the recovery rate of the submerged buoy.
5. The water injection of the diversion holes and the side mooring cables ensure the stability of the ship-shaped counterweight posture in the sinking process of the submerged buoy.
Drawings
FIG. 1 is a schematic illustration of a potential marking intent prior to remote deployment;
FIG. 2 is a schematic illustration of a remotely deployed latent icon;
FIG. 3 is a schematic view of a release mechanism;
FIG. 4 is a schematic illustration of an electromagnetic release configuration;
FIG. 5 is a schematic view of a seal plate;
FIG. 6 is a schematic view of a clip structure;
FIG. 7 is a schematic view of another embodiment of a release mechanism;
FIG. 8 is a schematic illustration of the water inlet device prior to remote deployment of the solenoid valve array;
FIG. 9 is a schematic illustration of the water inlet device after remote deployment of the solenoid valve array;
fig. 10 is a schematic diagram of a satellite communication device.
In the figure: the solar energy heat insulation solar protection cover plate 101, the rubber pad 102, the ship-shaped counterweight 103, the rubber rope 104, the left electromagnetic releaser 105, the satellite communication device 106, the sealing plate 107, the upper diversion hole 108, the controller 109, the main floating ball 110, the signal cable 111, the indication line 112, the releasing device 113, the traction rod 114, the traction ring 115, the unmanned ship 116, the external antenna II 117, the additional releasing device 118, the rubber sealing pad 119, the lower diversion hole 120, the acoustic Doppler flow profiler (ADCP) 121, the connecting ring 122, the stainless steel bracket 123, the anchor chain 124, the thermal salt depth gauge (CTD) 125, the small floating ball 126, the acoustic releaser 127, the temperature recorder 128, the barb 129, the single-point ocean current gauge 130, the mooring cable 131 and the instrument chain 132; a right electromagnetic releaser 133, a filler 134, sea water 135;
The sealing 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 locating pin hole 503;
a fixing hole 601;
a solenoid valve 801;
disc-shaped floating body 1001, sealed cabin 1002, bolt 1003, small cotter pin 1004, connecting bracket 1005, large pin 1006, satellite communication terminal 1007, and external antenna one 1008.
Detailed Description
Example 1: as shown in fig. 1 and 2, the remote-deployment intelligent submerged buoy towed by the unmanned ship 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 traction rod 114, a release device 113 and a water inlet device, wherein the main floating ball 110 is respectively provided with the ADCP121 which is upwards and downwards beaten, 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 upper part of the stainless steel bracket 123 is provided with the satellite communication device 106, the lower part of the stainless steel bracket 123 is connected with the instrument chain 132 by using the mooring cable 131, the lower end of the instrument chain 132 is connected with the acoustic releaser 127, the controller 109 is electrically connected with the satellite communication device 106 by using the signal cable 111, the acoustic releaser 127, the instrument cable 127 is fixed on the main floating ball 110, and the other part of the acoustic releaser 113 is drawn in the figure is shown in the figure 2. The signal cable 111 is connected with each instrument and the relay by adopting an inductive coupler, so that the short circuit damage circuit caused by the disconnection of the connector is avoided.
The instrument chain 132 is formed by selecting a plurality of instruments according to observation requirements, such as a single-point ocean current meter 130, a temperature recorder 128, a CTD125, a small floating ball 126 and a dissolved oxygen recorder, the mooring cable 131 is used for connecting the instruments together, and a plurality of instruments such as a beacon machine, a data recovery instrument and an underwater sound communication machine can be arranged on the upper portion of the stainless steel bracket 123 according to the requirements.
The ship-shaped counterweight 103 is a flat-bottom ship shell prefabricated by reinforced concrete, and the ship-shaped counterweight is internally used for accommodating an assembled submerged buoy in the submerged buoy transportation process; the ship-shaped counterweight 103 has smaller resistance when being towed by the unmanned ship 116, the flat bottom is convenient for stably sitting on the seabed fixed submerged buoy, and the barb 129 is arranged on the flat bottom, so that horizontal sliding is avoided. The connecting ring 122 is arranged at the bottom center 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 an encrypted control command of a deck unit of the acoustic releaser, a lock catch is opened, the anchor chain 124 is separated from the acoustic releaser 127, a submerged buoy is separated from the ship-shaped counterweight 103, and the submerged buoy floats to the sea surface under the net buoyancy action of a main floating ball.
The indicator line 112 indicates the direction of travel of the unmanned boat 116, and the boat weight 103 and the unmanned boat 116 are configured for releasable connection 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 counterweight 103, and is connected to the boat-shaped counterweight 103 by a bolt, one end of the traction rod 114 is connected to the release device 113, the other end is connected to the traction ring 115, the traction ring 115 is rigidly connected to the unmanned boat, and the controller 109 is connected to the power relay of the suction cup type electromagnet 308 of the release device 113 by using the signal cable 111. The ship-shaped counterweight 103 is provided with the release device 113 at one end and an additional release device 118 at the other end, and the effect of the release device is that the weight and the appearance of the ship-shaped counterweight 103 are symmetrical, and the stress is symmetrical in the sinking process of the ship-shaped counterweight 103. The unmanned boat 116 used in this embodiment is a general unmanned boat, and no modification to the unmanned boat is required.
As shown in fig. 7, the release device 113 is rigidly connected to an unmanned ship, 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, and the unmanned ship 116 used in this scheme is a special unmanned ship, which is modified from the unmanned ship, and the release device 113 is added.
The bottom of the ship-shaped counterweight 103 is provided with the water inlet device, which 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 pressed on the rubber sealing gasket 119, and two ends of the sealing plate 107 are clamped under the left electromagnetic releaser 105 and the right electromagnetic releaser 133; the ship-shaped counterweight 103 is provided with the lower deflector hole 120 array, the sealing plate 107 is provided with the upper deflector hole 108 array, the lower deflector hole 120 array and the upper deflector hole 108 array are arranged in a staggered manner, and the rubber gasket 119 is embedded into the steel wire to strengthen the strength and the rigidity of the steel wire, so that the rubber gasket is prevented from overflowing from the upper deflector hole 108 or the lower deflector hole 120 under the action of pressure, and the sealing effect is prevented from being influenced. As shown in fig. 5, the positioning pin holes 503 on the sealing plate 107 are matched with positioning pins fixed on the boat-shaped counterweight 103, which are not shown in the drawing, so as to ensure that the lower diversion holes 120 and the upper diversion holes 108 are staggered.
The controller 109 uses the signal cable 111 to electrically connect the satellite communication device 106 and the power relays of the electromagnets 404 of the left electromagnetic releaser 105 and the right electromagnetic releaser 133, and controls the left electromagnetic releaser 105 and the right electromagnetic releaser 133 to turn on or off the power; the controller 109 receives a deployment command from a remote dispatcher via the satellite communication device 106, and generates and sends a control signal to the power relays of the electromagnets 404 of the left electromagnetic releaser 105 and the right electromagnetic releaser 133 according to the deployment command to switch on the power to control the sealing plate 107 to separate from the boat-shaped counterweight 103. After the sealing plate 107 and the rubber packing 119 are separated from the boat 103, seawater 135 flows into the boat 103 from the lower deflector hole 120.
Four strings are symmetrically arranged between the sealing plate 107 and the bottom plate of the boat-shaped counterweight 103, at least, the left string 202 and the right string 205 are drawn in fig. 2, and the four strings tie and keep the sealing plate 107 in a posture to avoid striking the acoustic releaser 127.
The anchor links 203 are arranged on the anchor chain near the acoustic release, i.e. one buckle of the anchor chain is enlarged to the anchor links 203, at least four side mooring lines are arranged between the anchor links 203 and the upper part of the boat-shaped counterweight 103, the left side mooring line 201 and the right side mooring line 204 are shown in fig. 2, the front side mooring line and the rear side mooring line are not shown in the drawing, and the four side mooring lines keep the boat-shaped counterweight 103 in a posture during sinking, so that the boat-shaped counterweight 103 is prevented from tilting at a large angle.
As shown in fig. 8 and 9, the water inlet device may also be a plurality of simultaneously opened electromagnetic valves 801 arranged at the lower diversion hole 120; the controller 109 uses the signal cable 111 to electrically connect the satellite communication device 106 and the power relay of the electromagnetic valve 801 array, 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 electromagnetic valve 801 array to switch on a power supply according to the deployment instruction, the electromagnetic valve 801 array opens sea water to be injected into the ship-shaped counterweight 103 until the power supply of the electromagnetic valve 801 is exhausted, and enough power is needed to keep the electromagnetic valve 801 in an open state before the submerged buoy touches the bottom; the 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 gasket 119 is replaced by using a plurality of simultaneously opened array schemes of the electromagnetic valves 801.
The water inlet device may also be a water pump installed on a shipboard 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 according to the deployment instruction, and the water pump opens the 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 seepage-proof 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; a plurality of lower diversion holes 120 are symmetrically arranged at the bottom of the ship-shaped counterweight 103; the top of the ship-shaped counterweight 103 is provided with a heat insulation sun-screening plate 101 for preventing the burning sun from solarization instruments; the inner and outer surfaces of the ship-shaped counterweight 103 are provided with waterproof layers, and the waterproof layers are preferably epoxy resin waterproof coatings; paving the filler 134 in the ship-shaped counterweight 103, wherein the filler 134 is formed by mixing coarse sand and wood dust; the rubber string 104 is integrated with the thermal insulation 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 water sealing shell, wherein 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, an 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 the power relay of the sucker electromagnet 308 of the releasing device 113 to control the on or off of the power supply; the controller 109 uses the signal cable 111 to connect the power relay of the water inlet device, and controls the on or off of the power. In the scheme test experiment, the controller 109 adopts a Cortex-A9 universal development board. The controller 109 software includes a main program module, a communication module, a release module and a water inlet module, where the main program module invokes the communication module to establish data connection between the controller 109 and the satellite communication device 106, inquire about received information, and the communication module returns a received deployment 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 ship-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 ship-shaped counterweight 103, the water inlet module inquires pressure data collected by the CTD to judge whether the ship-shaped counterweight 103 is immersed in the seawater, 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 out a control signal to control the release device 113 to release the ship-shaped counterweight 103 and control the water inlet device to realize the injection of seawater into the ship-shaped counterweight 103, so as to complete the remote deployment of the submerged buoy.
As shown in fig. 10, the satellite communication device 106 includes a disc-shaped float 1001, a sealed cabin 1002, a bolt 1003, a small cotter pin 1004, a connection bracket 1005, a large cotter 1006, a satellite communication terminal 1007, an external antenna one 1008 and an external antenna two 117, the satellite communication terminal 1007 is provided in the sealed cabin 1002, and the satellite communication terminal 1007 is connected to the controller 109, the external antenna one 1008 and the external antenna two 117 using a signal cable 111. Before remote deployment, the satellite communication terminal 1007 is always started to work; after the remote deployment is completed, the controller 109 controls the satellite communication terminal 1007 to be turned 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 external antenna one 1008 is arranged at the top of the sealed cabin 1002, the sealed cabin 1002 is an inverted round table, the disc-shaped floating body 1001 is sleeved on the sealed cabin 1002, the connecting bracket 1005 is connected to the sealed cabin 1002 by using the bolts 1003, the large pin 1006 penetrates through the connecting hole at the lower end of the connecting bracket 1005 to be movably connected with the connecting hole on the stainless steel bracket 123, and the large pin 1006, the connecting bracket 1005 and the stainless steel bracket 123 form movable connection. Small cotter 1004 passes through small holes in the end of large pin 1006 to prevent large pin 1006 from slipping off.
Because the heat insulation sun-screening board 101 is provided with the heat insulation aluminum foil, the signal received by the first external antenna 1008 is weakened, and the second external antenna 117 is additionally arranged on the unmanned ship 116 or the heat insulation sun-screening board 101, so that the satellite communication signal is reliably received. The second external antenna 117 is connected with the satellite communication terminal 1007 by an inductive coupler, and the joint of the second external antenna 117 separated from the satellite communication terminal 1007 is immersed in the seawater, so that the normal operation of the satellite communication terminal 1007 is not affected.
Example 2: as shown in fig. 1 and 3, the releasing device 113 includes a large bolt 301, a disc 302, a triangular block 303, a small spring 304, a connecting rod 305, a large spring 306, a cylindrical pin 307, a sucker electromagnet 308, a small bolt 309, a frame 310, a rubber pad 311 and a triangular cushion 312, wherein the large bolt 301 connects the frame 310, the rubber pad 311 and the triangular cushion 312 and the boat-shaped counterweight 103 into a whole; the controller 109 uses the signal cable 111 to connect with a power relay of the sucker type electromagnet 308 to control the sucker type electromagnet 308 to work or stop; the sucker type electromagnet 308 is screwed on the frame 310 by using the small bolt 309; the triangle dog 303 is welded to connecting rod 305 one end, and little spring 304 cover is in connecting rod 305 is last, connecting rod 305 pass frame 310 with disc 302 threaded connection, the disc 302 is made with ferromagnetic material, and the part that exposes in the sea water in this application all chooses corrosion-resistant anti-adhesion's material. The cylindrical pin 307 is sleeved with the large spring 306 and penetrates into a connecting hole of the stand 310 and a connecting ring at one end of the traction rod 114. The connecting rod 114 is sleeved on the cylindrical pin 307, and the cylindrical pin 307 transmits the tensile force received by the traction rod 114 to the frame 310 and then to the ship-shaped counterweight 103. The connecting ring at the other end of the traction rod 114 is connected with the traction ring 115. In the power-off state of the sucker electromagnet 308, the triangular stop block 303 blocks the cylindrical pin 307 under the action of the elastic force of the small spring 304, so as to balance the elastic force of the large spring 306; the sucking disc type electromagnet 308 is in an electrified state, the sucking disc 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 action of 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 ship-shaped counterweight 103. The release device 113 can also be a connection device of a tractor and a trailer, and can also be a connection device for automatic docking of a train. The above is merely illustrative and not limiting of the configuration of the release means 113.
As shown in fig. 1 and 3, the large bolts 301 connect the frame 310, the rubber pads 311, the triangular cushion blocks 312 and the boat-shaped weights 103 into a whole; the towing ring 115 is disposed on the unmanned boat 116, and the release device 113, the towing bar 114, and the towing ring 115 are configured for releasable connection. As shown in fig. 7 and 3, the large bolts 301 connect the frame 310, the rubber pad 311, the triangular pad 312 and the unmanned aerial vehicle 116 into a whole, the traction ring 115 is disposed on the boat-shaped counterweight 103, and the release device 113, the traction rod 114 and the traction ring 115 are configured as 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 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, a stopper 409 and the signal cable 111, the long bolt 401 connects the boat-shaped counterweight 103, the wedge-shaped cushion block 402 and the bracket 405 into a whole, and the sealing rubber pad 400 is provided between the boat-shaped counterweight 103 and the wedge-shaped cushion block 402. The electromagnet 404 is fixed on the bracket 405 by the short bolt 403, the connecting rod 408 and the stop block 409 are welded together, the connecting rod 408 passes through the anti-corrosion spring 407 and the 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, the power relay of the electromagnet 404 is connected with the controller 109 by using the signal cable 111, and the controller 109 sends a control signal to the relay to control the power on or off of the electromagnet 404. The electromagnet 404 is a sucking disc type electromagnet, in the power-off state of the electromagnet 404, the corrosion-resistant spring 407 stretches to prop against the stop block 409, the stop block 409 blocks the sealing plate 107, the sealing plate 107 presses the rubber sealing pad 119, the upper diversion hole 108 and the lower diversion hole 120 are sealed, and seawater cannot enter the ship-shaped counterweight 103; the electromagnet 404 is in an electrified state, the electromagnet 404 attracts the ferromagnetic disc 406, the connecting rod 408 and the stop block 409 are pulled, the stop block 409 compresses the corrosion-resistant spring 407, the stop block 409 is separated from the sealing plate 107, the sealing plate 107 and the rubber gasket 119 are separated from the ship-shaped counterweight 103, and seawater flows into the lower diversion hole 120 and the upper diversion hole 108 to enter the ship-shaped counterweight 103.
Example 4: long lengths of the mooring lines 131 may be intertwined, once intertwined, not easily untwisted, making it difficult to remotely deploy the submerged buoy; as shown in fig. 5 and 6, the sealing plate 107 is provided with a clip 501, the 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 cable 131 is clamped in the clip 501, and when the submerged buoy is laid, the mooring cable 131 is separated from the clip 501 under the buoyancy action of the main floating ball 110, so that the problem that the mooring cables 131 are mutually wound too long is solved.
Example 5: as shown in fig. 1, the rubber pad 102 is disposed between the boat-shaped counterweight 103 and the thermal insulation sun-screening board 101, the rubber rope 104 is bound on the thermal insulation sun-screening board 101 and the boat-shaped counterweight 103, and the total pulling-out force of the rubber rope 104 is smaller than the net buoyancy of the main floating ball 110. The rubber strings 104 prevent the thermal insulation sun visor 101 and the boat weight 103 from being separated before the submerged buoy is deployed, preventing sea waves from entering the boat weight 103; after the water inlet device is opened in the laying process of the submerged buoy, seawater 135 enters the ship-shaped counterweight 103, the net buoyancy of the main floating ball 110 stretches and slips the rubber rope 104, and the heat insulation sun screen 101 and the ship-shaped counterweight 103 are separated, so that the submerged buoy is unfolded. The heat insulation sun-screening board 101 is made of glass fiber reinforced plastic, a layer of heat insulation aluminum foil is adhered to one side facing the sky, solar radiation is reflected, solar radiation absorption is reduced, 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 is prevented from corroding the heat insulation aluminum foil.
Example 6: a remote deployment intelligent submerged buoy deployment method for unmanned ship traction comprises the following steps:
s1, selecting an instrument to be mounted on a submerged buoy according to observed ocean elements when a laboratory is in preparation for going out of the sea, checking and maintaining the selected observation instrument, and designing a ship-shaped counterweight of the submerged buoy, the buoyancy of a floating ball and the net buoyancy according to estimated observation environment parameters, so as to prefabricate 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 electromagnetic releasers and the right electromagnetic releasers (105 and 133), connecting the left electromagnetic releasers and the right electromagnetic releasers (105 and 133) by the controller 109 through the signal cable 111, paving the filler 134 in the ship-shaped counterweight 103, and supporting an instrument of a submerged buoy by the filler 134, so as to prevent the instrument from shaking in the ship-shaped counterweight 103 under the disturbance of wind and waves in the transportation process, wherein the filler 134 is formed by mixing coarse sand and wood dust, and the coarse sand and the wood dust are selected so as to prevent the marine pollution caused by using foamed plastics; s3, each instrument of the submerged buoy: 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 as shown in fig. 1 and 2 and then installed in the boat-shaped counterweight 103, and the acoustic releaser 127 is connected to the connecting ring 122 through the anchor chain 124; the mooring cable 131 is clamped in the clamp 501;
S4, arranging a heat insulation sun-screening plate 101 at the top of the ship-shaped counterweight 103 to prevent the sun from burning and solarization instruments in the sea surface transportation process;
s5, binding the heat insulation sun visor 101 and the ship-shaped counterweight 103 together by using the rubber ropes 104, so as to prevent the heat insulation sun visor 101 from being separated from the ship-shaped counterweight 103;
s6, connecting the traction ring 115 and the release device 113 by using the traction rod 114, wherein the release device 113 is connected to the ship-shaped counterweight 103 by using a bolt, or the release device 113 is connected to the unmanned ship 116 by using a bolt; the controller 109 connects the release device 113 using the signal cable 111;
s7, a remote distributor establishes TCP/IP connection with an autopilot of the unmanned ship 116 by using an intelligent terminal, longitude and latitude coordinates of a submerged buoy distribution point are set in the autopilot of the unmanned ship 116, after the unmanned ship 116 pulls the ship-shaped counterweight 103 to reach a distribution sea area, or after the remote distributor online controls the unmanned ship 116 to pull the ship-shaped counterweight 103 to reach the distribution sea area, when judging that the submerged buoy is suitable to be distributed according to the returned actual measured distribution environment information, the remote distributor establishes TCP/IP connection with the controller 109 through the satellite communication device 106, the controller 109 receives the distribution instruction through the satellite communication device 106, and transmits a control signal to a relay of the release device 113 through the signal cable 111 according to the distribution instruction, and the power release traction rod of an electromagnet is connected, as shown in embodiment 2;
S8, a controller sends a control signal to switch on a power relay of the water inlet device, seawater enters the ship-shaped counterweight 103, the ship-shaped counterweight 103 sinks, the main floating ball 110 jacks up the heat insulation sun-proof cover plate 101 under the action of own buoyancy, the rubber rope 104 is pulled out, the heat insulation sun-proof cover plate 101 is separated from the ship-shaped counterweight 103, the mooring cable 131 continuously pulls out from the clamp 501 along with continuous sinking of the ship-shaped counterweight 103, the submerged buoy is gradually unfolded, the submerged buoy continuously sinks under the action of gravity of the ship-shaped counterweight 103, finally, the submerged buoy is placed still, and the submerged buoy is placed at the bottom as shown in fig. 2.
In summary, while the above-described preferred embodiments have been described, it should be noted that although various changes and modifications can be made by those skilled in the art, it is intended that such changes and modifications be included within the scope of the present invention unless they depart from the scope of the present invention.
Claims (8)
1. The utility model provides an unmanned ship towed remote deployment intelligence submerged buoy, includes main floater (110), acoustic Doppler flow velocity profile appearance ADCP (121), stainless steel support (123), mooring cable (131), instrument chain (132), acoustic releaser (127), anchor chain (124), go-between (122), boat form counter weight (103), traction lever (114), traction ring (115) and release (113), water inlet unit, satellite communication device (106) and controller (109), be provided with respectively on main floater (110) upwards and downwards beaten ADCP (121), stainless steel support (123) pass preformed hole on main floater (110), use the nut to fix on main floater (110), stainless steel support (123) upper portion is provided with satellite communication device (106), the lower part uses mooring cable (131) connect instrument chain (132), instrument chain (132) lower extreme is connected acoustic releaser (127), boat form counter weight (103) bottom central point is put and is provided with, acoustic releaser (122) are connected through anchor chain (124);
The method is characterized in that:
the ship-shaped counterweight (103) is a flat-bottom ship shell prefabricated by reinforced concrete, and the assembled submerged buoy is placed in the ship-shaped counterweight in the transportation process;
the bottom of the ship-shaped counterweight (103) is provided with the water inlet device; 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 tightly pressed on the rubber sealing gasket (119), and two ends of the sealing plate are clamped below the left electromagnetic releaser (105) and the right electromagnetic releaser (133); the ship-shaped counterweight (103) is provided with a lower deflector hole (120) array, the sealing plate (107) is provided with an upper deflector hole (108) array, and the lower deflector hole (120) array and the upper deflector hole (108) array are arranged in a staggered manner;
-said ship-shaped counterweight (103) and unmanned boat (116) are configured for releasable connection using said release means (113), said towing bar (114) and said towing ring (115);
the controller (109) is arranged in the reserved cavity of the main floating ball (110), the controller (109) is electrically connected with the satellite communication device (106), the release device (113) and the water inlet device by using a signal cable (111), the controller (109) receives a remote deployment instruction through the satellite communication device (106), and sends out a control signal to control the release device (113) to release the ship-shaped counterweight (103) and control the water inlet device to realize the seawater injection into the ship-shaped counterweight (103) so as to complete the remote deployment of the submerged buoy;
The electromagnetic releaser (105, 133) comprises a long bolt (401), a wedge-shaped cushion block (402), a short bolt (403), an electromagnet (404), a support (405), a ferromagnetic disc (406), a corrosion-resistant spring (407), a connecting rod (408), a stop block (409) and a signal cable (111), wherein the long bolt (401) is connected with the ship-shaped counterweight (103), the wedge-shaped cushion block (402) and the support (405) are integrated, the electromagnet (404) is fixed on the support (405) by the short bolt (403), the connecting rod (408) and the stop block (409) are welded together, the connecting rod (408) penetrates through the corrosion-resistant spring (407) and a mounting hole on the support (405) and is connected with the ferromagnetic disc (406) in a threaded mode, the ferromagnetic disc (406) is opposite to the electromagnet (404), and the controller (109) uses the signal cable (111) to connect a power relay of the electromagnet (404).
2. The unmanned boat towed remote deployment intelligent submerged buoy according to claim 1, 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 pad (311) and a triangular cushion block (312), wherein the large bolt (301) is used for connecting the rack (310), the rubber pad (311) and the triangular cushion block (312) with the ship-shaped counterweight (103) into a whole, or the large bolt (301) is used for connecting the rack (310), the rubber pad (311) and the triangular cushion block (312) with the unmanned ship (116) into a whole; the sucker type electromagnet (308) is connected to the frame (310) in a threaded manner by using the small bolt (309); the novel connecting rod comprises a connecting rod (305), a triangular stop block (303) and a small spring (304), wherein one end of the connecting rod (305) is welded, the small spring (304) is sleeved on the connecting rod (305), the connecting rod (305) penetrates through a rack (310) to be in threaded connection with a disc (302), the disc (302) is made of ferromagnetic materials, a cylindrical pin (307) is sleeved with the large spring (306) to penetrate into a connecting hole of the rack (310) and a connecting ring of a traction rod (114), and the triangular stop block (303) blocks the cylindrical pin (307).
3. The unmanned boat towed remote deployment intelligent submerged buoy according to claim 2, wherein: -providing an anchor chain (203) on the anchor chain (124) close to the acoustic release, -providing at least four side mooring lines (201, 204) between the anchor chain (203) and the upper part of the boat-shaped counterweight (103).
4. A remotely deployed intelligent submerged buoy towed by an unmanned ship according to claim 3, wherein: be provided with checkpost (501) on closing plate (107), hexagon socket head cap screw passes fixed orifices (601) with checkpost (501) are fixed on closing plate (107), checkpost (501) are made by elastic plastic, mooring cable (131) card is in among checkpost (501).
5. The unmanned boat towed remote deployment intelligent submerged buoy according to claim 4, wherein: the solar thermal protection device is characterized in that a thermal insulation sun-screening board (101) is arranged at the top of the ship-shaped counterweight (103), a sealing gasket (102) is arranged between the ship-shaped counterweight (103) and the thermal insulation sun-screening board (101), rubber ropes (104) are bound on the thermal insulation sun-screening board (101) and the ship-shaped counterweight (103), and the total pulling-out force of the rubber ropes (104) is smaller than the net buoyancy of the main floating ball (110).
6. The unmanned boat towed remote deployment intelligent submerged buoy according to claim 5, wherein: a filler (134) is arranged in the ship-shaped counterweight (103), and an instrument is placed between the fillers (134).
7. The unmanned boat towed remote deployment intelligent submerged buoy according to claim 6, wherein: the rubber gasket (119) is embedded in the steel wire.
8. A method of remotely deploying an intelligent submerged buoy towed by an unmanned boat according to claim 7, comprising the steps of:
s1, selecting an instrument to be mounted on a submerged buoy according to observed ocean elements when a laboratory is in preparation for sea going out, checking and maintaining the selected observation instrument, and designing the ship-shaped counterweight (103) of the submerged buoy, a main floating ball and the net buoyancy of the main floating ball according to estimated observation environment parameters, so as to prefabricate the ship-shaped counterweight (103) of 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 each instrument of the submerged buoy is 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 with 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-screening plate (101) at the top of the ship-shaped counterweight (103);
s5, binding the heat insulation sun-screening plate (101) and the ship-shaped counterweight (103) into a whole by using the rubber rope (104);
s6, the ship-shaped counterweight (103) and the unmanned ship (116) are connected in a releasable mode through the release device (113), the traction rod (114) and the traction ring (115), and the controller (109) is connected with a power relay of the sucker type electromagnet (308) of the release device (113) through the signal cable (111);
s7, a remote distributor establishes TCP/IP connection with an autopilot of the unmanned ship (116) by using an intelligent terminal, longitude and latitude coordinates of a submerged buoy distribution point are set in the autopilot of the unmanned ship (116), after the unmanned ship (116) pulls the ship-shaped counterweight (103) to reach a distribution sea area, or after the remote distributor controls the unmanned ship (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 to be distributed according to the returned actual measured distribution environment information, the remote distributor establishes TCP/IP connection with the controller (109) through the satellite communication device (106), the controller (109) receives a distribution instruction, a control signal is transmitted to a relay of the release device (113) through the signal cable (111) according to the distribution instruction, and the sucker type electromagnet (308) is released, and the traction rod (114) is connected;
S8, according to a laying instruction, the controller (109) sends a control signal to be connected with a power relay of the water inlet device, seawater enters the ship-shaped counterweight (103), the ship-shaped counterweight (103) sinks, the main floating ball (105) jacks up the heat insulation sun-proof cover plate (101) upwards under the action of own buoyancy, the rubber rope (104) is pulled out, the heat insulation sun-proof cover plate (101) is separated from the ship-shaped counterweight (103), along with the continuous sinking of the ship-shaped counterweight (103), the mooring cable (131) is pulled out continuously from the clamp (501), the submerged buoy is unfolded gradually, and the submerged buoy continuously sinks under the action of gravity of the ship-shaped counterweight (103) and finally sits on the hard sediment layer (207) at rest to finish laying.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
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| 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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| CN113120167A CN113120167A (en) | 2021-07-16 |
| CN113120167B true CN113120167B (en) | 2023-05-05 |
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| CN111348148B (en) * | 2020-02-28 | 2021-03-12 | 中国海洋大学 | Separable full-profile subsurface buoy observation system and use method |
| CN112325859B (en) * | 2020-11-02 | 2024-02-27 | 广东海洋大学 | Floating type seabed base |
| CN213274245U (en) * | 2020-11-02 | 2021-05-25 | 广东海洋大学 | Self-adaptive bottom observation system |
| CN112606954B (en) * | 2020-12-25 | 2021-10-08 | 广东海洋大学 | Submerged buoy with data recovery instrument and recovery method thereof |
| CN113120167B (en) * | 2021-06-01 | 2023-05-05 | 广东海洋大学 | Remote distribution intelligent submerged buoy towed by unmanned ship |
-
2021
- 2021-06-01 CN CN202110607615.0A patent/CN113120167B/en active Active
-
2022
- 2022-03-23 WO PCT/CN2022/082408 patent/WO2022252771A1/en active Application Filing
- 2022-04-22 ZA ZA2022/04533A patent/ZA202204533B/en unknown
Also Published As
| Publication number | Publication date |
|---|---|
| WO2022252771A1 (en) | 2022-12-08 |
| ZA202204533B (en) | 2022-11-30 |
| CN113120167A (en) | 2021-07-16 |
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