CN116729559A - Shallow sea self-sinking-floating profile observation buoy and control method thereof - Google Patents

Abstract

The invention relates to a shallow sea self-sinking and floating section observation buoy and a control method thereof, comprising the following steps: the cylinder body is internally provided with a containing cavity. The controller is fixedly arranged in the accommodating cavity. The oil pump is fixedly arranged in the accommodating cavity and is electrically connected with the controller. The first oil bag is fixedly arranged in the accommodating cavity and is connected with one side of the oil pump through a pipeline. The second oil bag is fixedly arranged outside the cylinder body and is connected with the other side of the oil pump through a pipeline. The observation instrument is fixedly arranged at the top of the cylinder body and is electrically connected with the controller, and is used for carrying out floating observation and sinking observation and sending observation data to the controller. The propeller is fixedly arranged at the bottom of the cylinder body through the frame and is electrically connected with the controller. The power supply device is fixedly arranged in the cylinder body and is electrically connected with the controller. The absorbing part is fixedly arranged at the edge of the propeller so as to absorb sediment on the sea floor. The suction member is arranged so that the buoy is prevented from being lost by sucking sediment at the bottom of the water when the buoy is submerged and bottoms out.

Description

Shallow sea self-sinking-floating profile observation buoy and control method thereof

Technical Field

The invention relates to the technical field of ocean observation devices, in particular to a shallow sea self-sinking profile observation buoy and a control method thereof.

Background

In recent years, with the development of ocean resources and the deepening of research on ocean environments, investigation of ocean on a global scale is particularly important. In general, there are several methods for investigating the ocean: (1) The scientific investigation ship carries observation instruments (such as various observation sensors) and sampling equipment to observe and sample, and is characterized by flexible maneuvering, and can carry a manned submersible (HOV') or an underwater remote control Robot (ROV) and the like to carry out underwater fine operation. (2) The fixed point observation platform is arranged to carry out long-term observation at a specific position, for example, a buoy platform carrying observation instrument is used for carrying out fixed point long-term observation on a sea-air interface, a submerged buoy platform carrying observation instrument is used for carrying out fixed point long-term observation on a specific layer of a sea water column, and a bottom-sitting observation platform carrying observation instrument is used for carrying out fixed point long-term observation on a near-sea boundary layer. The characteristic of observing by using the fixed point observation platform is that the long-term continuous observation can be carried out on a specific position, and the observation cost is relatively low. (3) The observation is carried out by using mobile platform carrying equipment, wherein the mobile platform comprises an underwater autonomous robot (AUV), an underwater glider, an automatic sinking and floating buoy and the like. The underwater autonomous robot and the underwater glider can observe according to a preset route, but are high in cost, limited in operation duration and relatively low in cost, and the self-sinking buoy is long in observation time. (4) The method is characterized in that all fixed-point observation platforms are connected by using the observation network, so that long-term real-time continuous observation from sea surface to sea bottom of all observation sites of the submarine observation network is realized, and the implementation cost is high.

At present, the traditional self-sinking floating buoy is mainly used for observing ocean profile, the buoy firstly sinks to a certain depth in the working process and moves along with ocean current, the buoyancy is regulated to sink or float up by regulating the oil quantity of the inner oil bag and the outer oil bag, the buoy floats to the sea surface after one time of observation is finished, observation data are transmitted through satellites, and then the next working cycle is carried out. Such buoys are typically used in wide deep seas and have a non-fixed observation position, "wave-by-wave", which is easily lost by bottoming once it moves with the ocean current to shallow sea areas.

Therefore, the conventional self-floating buoy is easy to lose bottoming when performing profile observation in a shallow sea area and is difficult to perform long-term profile observation in the shallow sea area.

Disclosure of Invention

In view of the above, it is desirable to provide a shallow sea self-sinking and floating profile observation buoy which is less likely to lose contact with the bottom when profile observation is performed in a shallow sea area and is relatively easy to perform long-term profile observation in the shallow sea area, and a control method thereof.

The invention provides a shallow sea self-sinking and floating section observation buoy, which comprises:

a cylinder body, the inside of which is provided with a containing cavity;

the controller is fixedly arranged in the accommodating cavity;

the oil pump is fixedly arranged in the accommodating cavity and is electrically connected with the controller;

the first oil bag is fixedly arranged in the accommodating cavity and is connected with one side of the oil pump through a pipeline;

the second oil bag is fixedly arranged outside the cylinder body and is connected with the other side of the oil pump through a pipeline;

the observation instrument is fixedly arranged at the top of the cylinder body, is electrically connected with the controller, and is used for carrying out floating observation and sinking observation and sending observation data to the controller;

the propeller is fixedly arranged at the bottom of the cylinder body through a frame and is electrically connected with the controller;

the power supply device is fixedly arranged in the cylinder body and is electrically connected with the controller;

the absorption part is arranged at the edge part of the propeller so as to absorb sediment on the sea floor;

the satellite antenna is fixedly arranged at the top of the cylinder body and is electrically connected with the controller so as to send the longitude and latitude of the position of the buoy to the controller through satellite positioning;

a pressure sensor fixedly installed on a pipeline between the second oil bag and the oil pump to measure the pressure on the pipeline between the second oil bag and the oil pump;

when the water is submerged in the tide, the controller controls the oil pump to pump the oil body in the second oil bag into the first oil bag, so that the buoyancy of the buoy is smaller than the gravity of the buoy, the buoy is submerged in water, the adsorption piece adsorbs sediment at the water bottom when the buoy touches the bottom, and when the water is submerged in the next tide, the controller controls the oil pump to pump the oil body in the first oil bag into the second oil bag, and the adsorption piece is separated from the sediment through the propeller, so that the floating observation is performed.

In one embodiment, the frame comprises a plurality of rods, and the propeller is fixedly connected with the bottom of the cylinder body through the rods and is spaced from the bottom of the cylinder body.

In one embodiment, the distance between the scope and the top of the cylinder is greater than the distance between the second oil bladder and the top of the cylinder, and the scope employs a thermal salt depth gauge for measuring the temperature and salinity of the seawater.

The invention also provides a control method of the shallow sea self-sinking and floating section observation buoy, which is used for controlling any one of the shallow sea self-sinking and floating section observation buoy, and comprises the following steps:

when an observation sea area is in a tide-free period, acquiring the longitude and latitude of a first position of a buoy through a satellite antenna, wherein the longitude and latitude of the first position are the longitude and latitude of the position before the buoy sinks;

sending a first instruction based on the longitude and latitude of the first position, and controlling an oil pump to pump the oil body in the second oil bag into the first oil bag through the first instruction so that the buoyancy of the buoy is smaller than the gravity of the buoy;

when the buoy sinks, a second instruction is sent out, and the observation instrument is controlled to conduct sinking observation through the second instruction so as to acquire corresponding sinking observation data;

after the buoy bottoms, a third instruction is sent out, and the oil pump is controlled by the third instruction to pump the oil body in the first oil bag into the second oil bag, so that the buoyancy of the buoy is larger than the gravity of the buoy;

and when the buoy floats upwards, a fourth instruction is sent out, and the observation instrument is controlled to carry out floating observation through the fourth instruction so as to acquire corresponding floating observation data.

In one embodiment, the method further comprises:

acquiring measurement data of a pressure sensor, and judging whether the buoy bottoms down in the sinking process based on the measurement data of the pressure sensor; if yes, then

And a fifth instruction is sent out, and the observation instrument is controlled to stop observation through the fifth instruction.

In one embodiment, the method further comprises:

after the buoy is sunk to the bottom, a sixth instruction is sent out, and the propeller is controlled to start through the sixth instruction, so that the adsorption piece is separated from sediment under the action of the propeller;

judging whether the adsorbing member is separated from sediment on the sea floor or not based on measurement data of the pressure sensor; if yes, then

And controlling the propeller to be closed.

In one embodiment, the method further comprises:

in the floating process of the buoy, controlling the observation instrument to perform floating observation so as to acquire floating observation data;

judging whether the buoy floats to the sea surface or not based on the measurement data of the pressure sensor; if yes, then

And controlling the measuring instrument to stop measuring, and acquiring the longitude and latitude of the second position of the buoy through the satellite antenna, wherein the longitude and latitude of the second position are the longitude and latitude of the new position of the buoy which is sunk and is floating out of the water again.

In one embodiment, the controlling the measuring instrument to stop measuring and obtaining the longitude and latitude of the second position of the buoy through the satellite antenna includes:

and if the distance between the longitude and latitude of the first position and the longitude and latitude of the second position exceeds a first threshold value, receiving a position correction instruction to control the buoy to carry out position correction.

According to the shallow sea self-sinking and floating profile observation buoy and the control method thereof, when the observation instrument is used for sinking and observing, the controller is used for controlling the oil pump to pump the oil body in the second oil bag into the first oil bag, so that the buoyancy of the buoy is smaller than the gravity of the buoy, the buoy is submerged in water, corresponding sinking profile observation data are obtained, and when the buoy is submerged and bottomed, sediment on the seabed is adsorbed by the adsorption piece, so that the buoy is adsorbed on the sediment on the seabed before the next tide level period, and the buoy is prevented from being lost along with the movement of ocean currents. And in the next tide-level period, the controller controls the oil pump to pump the oil body in the first oil bag into the second oil bag, so that the buoyancy of the buoy is greater than the gravity of the buoy, and the propeller is started to separate the absorption part from the submarine sediment, so that the buoy floats out of the water surface, and corresponding floating profile observation data are obtained. In addition, the satellite antenna is arranged, so that a worker can easily obtain the position of the buoy when the buoy floats out of the sea, and find the buoy and charge the buoy when the electric quantity of the power supply device is small, so that the buoy can be used in a shallow sea area for a long time. Therefore, the shallow sea self-sinking and floating profile observation buoy is not easy to lose bottoming when profile observation is performed in a shallow sea area, and long-term profile observation is easy to be performed in the shallow sea area.

Drawings

In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic structural diagram of a shallow sea self-sinking-floating section observation buoy provided by the invention;

FIG. 2 is a schematic flow chart of a control method of the shallow sea self-sinking-floating section observation buoy provided by the invention;

FIG. 3 is a second schematic flow chart of the control method of the shallow sea self-sinking-floating section observation buoy provided by the invention;

FIG. 4 is a third schematic flow chart of the control method of the shallow sea self-sinking-floating section observation buoy provided by the invention;

FIG. 5 is a flow chart of a control method of the shallow sea self-sinking-floating section observation buoy provided by the invention.

Reference numerals:

100. a cylinder; 110. a receiving chamber; 120. a satellite antenna; 200. a controller; 300. an oil pump; 310. a first oil pocket; 320. a second oil pocket; 330. a pressure sensor; 340. a pipeline; 400. an observation instrument; 500. a propeller; 510. a frame; 511. a rod piece; 600. a power supply device; 700. an absorbent member.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When a component is considered to be "connected" to another component, it can be directly connected to the other component or intervening components may also be present. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and the like are used in the description of the present invention for the purpose of illustration only and do not represent the only embodiment.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" on a second feature may be that the first feature is in direct contact with the second feature, or that the first feature and the second feature are in indirect contact through intermedial media. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely under the second feature, or simply indicating that the first feature is less level than the second feature.

Unless defined otherwise, all technical and scientific terms used in the specification of the present invention have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used in the description of the present invention includes any and all combinations of one or more of the associated listed items.

The shallow sea self-sinking and floating section observation buoy and the control method thereof according to the present invention are described below with reference to fig. 1 to 5.

As shown in fig. 1, in one embodiment, a shallow sea autofloating profile observation buoy comprises:

the cylinder 100 has a housing chamber 110 therein.

The controller 200 is fixedly installed inside the accommodating chamber 110.

The oil pump 300 is fixedly disposed inside the accommodating chamber 110 and electrically connected to the controller 200. The two sides of the oil pump 300 are respectively communicated with a first oil bag 310 and a second oil bag 320 through a pipeline 340, wherein the first oil bag 310 is arranged inside the cylinder 100, the second oil bag 320 is arranged outside the cylinder 100, and a pressure sensor 330 is arranged on the pipeline between the second oil bag 320 and the oil pump 300. When the buoy performs sinking observation in the flat tide, the controller 200 controls the oil pump 300 to pump the oil body in the second oil bag 320 into the first oil bag 310, so that the buoyancy of the whole buoy is smaller than the gravity of the whole buoy, and the buoy sinks into the sea water under the action of the gravity. When the buoy floats up in the next tide level, the controller 200 controls the oil pump 300 to pump the oil in the first oil bag 310 into the second oil bag 320, so that the integral buoyancy of the buoy is greater than the integral gravity of the buoy, and the buoy automatically floats up.

When the buoy floats or sinks, the pressure of the seawater to the second oil bag 320 is continuously changed, and the pressure change of the seawater to the second oil bag 320 can be determined according to the measurement data of the pressure sensor 330, so as to determine the movement process of the buoy. If the measurement data of the pressure sensor 330 is continuously increased, the buoy is sinking, and if the measurement data of the pressure sensor 330 is increased to the maximum value and is not changed, the buoy bottoms out. If the measured data of the pressure sensor 330 is continuously decreasing, it indicates that the buoy is floating, and if the measured data of the pressure sensor 330 is decreasing to a minimum value and is not changed, it indicates that the buoy is floating on the water surface.

The observation instrument 400 is a thermal salt depth instrument for measuring the temperature and salinity of seawater, is fixedly installed on the top of the cylinder 100, is electrically connected with the controller 200, and is used for performing profile observation in the buoy sinking process and profile observation in the buoy floating process so as to obtain corresponding floating profile observation data and sinking profile observation data, and transmits the obtained floating profile observation data and sinking profile observation data to the controller 200. In addition, the distance between the observation instrument 400 and the top of the cylinder 100 is greater than the distance between the second oil pocket 320 and the top of the cylinder 100, so that the observation instrument 400 can perform floating observation when the buoy floats upwards.

The propeller 500 is fixedly installed at the bottom of the cylinder 100 through a frame 510, the frame 510 is composed of a plurality of rods 511, the propeller 500 is fixedly installed at the bottom of the cylinder 100 through the plurality of rods 511 and has a certain interval with the bottom of the cylinder 100, and the propeller 200 supports the buoy through the plurality of rods 511 when the buoy bottoms out.

The power supply device 600 is fixedly installed inside the cylinder 100 and electrically connected with the controller 200, and supplies power to the entire buoy device through the controller 200.

The suction member 700 is fixedly connected to the edge of the propeller 500 for sucking sediment on the sea floor when the buoy bottoms out, preventing the buoy from being lost with the movement of the ocean current during the non-flat tide. During the sinking process of the buoy, the adsorbing member 700 adsorbs the sediment on the seabed when the buoy touches the bottom, and the adsorbing member 700 is separated from the sediment on the seabed by starting the propeller 500 in the next tide-level period stored in the controller 200, and the propeller 500 is closed when the buoy can float upwards autonomously, so that the buoy can float upwards for observation in the process of floating upwards autonomously.

The satellite antenna 120 is fixedly installed at the top of the cylinder 100 and is electrically connected with the controller 200, and is used for transmitting the longitude and latitude of the position of the buoy to the controller 200 through satellite positioning, and the controller 200 transmits the longitude and latitude of the position, the up-floating profile observation data and the down-floating profile observation data to the shore base station after the buoy is out of the water surface through the satellite antenna 120, so that a worker can master the specific position of the buoy and the data observed by the observation instrument 400.

According to the shallow sea self-sinking profile observation buoy, when the observation instrument is used for sinking observation, the controller is used for controlling the oil pump to pump the oil body in the second oil bag into the first oil bag, so that the buoyancy of the buoy is smaller than the gravity of the buoy, the buoy is sunk into water, corresponding sinking profile observation data are obtained, sediment on the seabed is adsorbed by the adsorption piece when sinking to the bottom, the buoy is adsorbed on the sediment on the seabed before the next flat tide, and the buoy is prevented from being lost along with the movement of ocean currents. And in the next tide-level period, the controller controls the oil pump to pump the oil body in the first oil bag into the second oil bag, so that the buoyancy of the buoy is greater than the gravity of the buoy, and the propeller is started to separate the absorption part from the submarine sediment, so that the buoy floats out of the water surface, and corresponding floating profile observation data are obtained. In addition, the satellite antenna is arranged, so that a worker can easily find the position of the buoy when the buoy floats out of the sea, and find the buoy and charge the buoy when the electric quantity of the power supply device is small, and the buoy can be used in a shallow sea area for a long time. Therefore, the shallow sea self-sinking and floating profile observation buoy is not easy to lose bottoming when profile observation is performed in a shallow sea area, and long-term profile observation is easy to be performed in the shallow sea area.

In a specific embodiment, the present invention provides a control method for a shallow sea self-sinking profile observation buoy, which is shown in fig. 1, and mainly comprises a satellite antenna 120, a cylinder 100, a controller 200, a battery (a power supply device 600), an oil pump 300, a pressure sensor 330, an inner oil bag (a first oil bag 310), an outer oil bag (a second oil bag 320), an adsorption skirt (an adsorption member 700) and an impeller 500. The controller 200, the battery 600, the oil pump 300, the pressure sensor 330 and the inner oil bag (the first oil bag 310) are encapsulated in the cylinder 100, the satellite antenna 120 and the outer oil bag (the second oil bag 320) are installed at the upper outer end of the cylinder 100, and the satellite antenna 120 is electrically connected with the controller 200 through a cable and has the functions of performing satellite positioning and shore-based communication through a satellite. The outer oil bag (second oil bag 320) is connected with the oil pump 300 through a pipeline (pipe 340), the propeller 500 and the adsorption skirt (adsorption member 700) are installed at the outer lower end of the cylinder 100, and the propeller 500 is electrically connected with the controller 200 through a cable and controlled by the controller 200.

In this embodiment, the adsorption skirt is used to increase the adsorption force of the sediment after the buoy is landed on the bottom, so that the buoy can overcome the acting force of ocean currents to reside on the seabed, and the adsorption skirt can be made of rubber cloth in a cutting mode. The function of the propeller is that when the buoy is required to float upwards, the buoy is free from the adsorption of sediment through the thrust generated by the propeller, and the propeller can be an electrically driven propeller.

In the use process of the shallow sea self-sinking and floating section observation buoy, the self-sinking and floating section observation buoy is prepared first, tide information of an observation sea area is input into a controller in advance, and the buoy is set to float and observe in a flat tide period, upload observation data and receive instructions. The ship carries the buoy to an observation sea area, the buoy is thrown into the sea in the tide level, the buoy performs satellite positioning through a satellite antenna and records the longitude and latitude of the position at the moment, then the controller starts an observation instrument, and controls an oil pump to pump the oil of an outer oil bag into an inner oil bag (the required time is set to be t minutes) at a fixed speed, so that the buoyancy force born by the buoy is smaller than the gravity force born by the buoy, the buoy automatically sinks to the sea under the action of the gravity force, and profile observation is performed in the sinking process. And after the controller judges that the buoy is on the bottom according to the data of the pressure sensor, the observation instrument is closed to stop observation. At this time, the buoy adsorption skirt contacts and is adsorbed by the sediment at the sea bottom, so that the buoy can resist the acting force of ocean currents and keep still during the rising or falling of the tide, and the buoy is prevented from being lost due to the action of the ocean currents.

The controller of the buoy determines the time of the beginning of the next flat tide according to the tide data, and starts the oil pump t minutes before the beginning of the next flat tide, and pumps the oil in the inner oil bag into the outer oil bag, so that the buoyancy force born by the buoy is larger than the gravity force born by the buoy. And starting the observation instrument through the controller, starting the propeller, and after the controller judges that the buoy is separated from the seabed according to the data of the pressure sensor, closing the propeller to enable the buoy to automatically float up to the sea surface under the action of the buoyancy, and observing the profile through the observation instrument in the floating process.

And then, the controller judges that the buoy floats to the sea surface according to the data of the pressure sensor, and then closes the observation instrument and stops observation. The buoy performs satellite positioning through a satellite antenna and records the longitude and latitude of the position at the moment, then the last sinking position and sinking profile observation data, the current water outlet position and floating profile observation data are transmitted to the shore base through satellite communication, and meanwhile instructions and tide data update of the shore base are received.

After the communication is completed, the controller starts the observation instrument and the oil pump pumps the oil of the outer oil bag into the inner oil bag, and the buoy sinks to the sea bottom and performs profile observation. Closing the observation instrument after the buoy is on the bottom, and standing the buoy on the seabed and waiting for the next floating profile observation and communication in the tide level period. In addition, the buoy repeats the observation process of 'floating up for profile observation-sea surface for data transmission and communication-sinking for profile observation-residing on the sea floor' until the electric quantity of the battery is exhausted. In the observation process, when the floating water outlet position of the buoy deviates from the target observation position obviously, the shore base makes a plan for correcting the buoy position by utilizing tide according to the tide law of the observed sea area and transmits the plan to the buoy, and the buoy executes the process of 'submerging-staying-floating-drifting-submerging' according to the correction plan to correct the position of the buoy. The shore base can also utilize tide to enable the buoy to move to a new observation position for profile observation.

The shallow sea self-floating profile observation buoy prevents the buoy from losing due to the action force of ocean currents in the tide rising period or the tide falling period by utilizing the adsorption skirt to adsorb and reside on the seabed of the seabed sediment, performs profile observation and data transmission by utilizing the tide-flattening period, and performs position correction and profile observation by moving to a new position in the same communication mode as the profile observation, thereby realizing long-term self-floating profile observation of a shallow sea area.

As shown in fig. 2, in one embodiment, a control method of a shallow sea self-sinking profile observation buoy includes the following steps:

step S210, when the observed sea area is in the tide-free period, acquiring the longitude and latitude of the first position of the buoy through the satellite antenna, wherein the longitude and latitude of the first position are the longitude and latitude of the position before the buoy sinks.

Specifically, the controller acquires the longitude and latitude of the position before the buoy sinks through the satellite antenna when the observed sea area is in the tide-level period.

Step S220, a first instruction is sent out based on the longitude and latitude of the first position, and the oil pump is controlled to pump the oil body in the second oil bag into the first oil bag through the first instruction, so that the buoyancy of the buoy is smaller than the gravity of the buoy.

Specifically, the controller sends a first instruction after obtaining the longitude and latitude of the position before the buoy sinks, and controls the oil pump to be started to pump the oil body in the second oil bag into the first oil bag through the first instruction, so that the integral buoyancy of the buoy is smaller than the integral gravity of the buoy, and the buoy begins to sink under the action of the gravity.

And step S230, a second instruction is sent out when the buoy sinks, and the observation instrument is controlled to conduct sinking observation through the second instruction so as to acquire corresponding sinking observation data.

Specifically, the controller sends out a second instruction in the sinking process of the buoy, and the second instruction is used for controlling the observation instrument to conduct sinking profile observation so as to acquire corresponding sinking profile observation data, wherein the sinking profile observation data is sinking observation data.

And step S240, after the buoy bottoms, a third instruction is sent, and the oil pump is controlled by the third instruction to pump the oil body in the first oil bag into the second oil bag so that the buoyancy of the buoy is greater than the gravity of the buoy.

Specifically, the controller sends a third instruction after the buoy bottoms down, and controls the oil pump to open to pump the oil body in the first oil bag into the second oil bag through the third instruction, so that the integral buoyancy of the buoy is larger than the integral gravity of the buoy, and the buoy floats upwards independently under the action of the non-propeller.

And step S250, a fourth instruction is sent out when the buoy floats, and the observation instrument is controlled to carry out floating observation through the fourth instruction so as to acquire corresponding floating observation data.

Specifically, the controller sends out a fourth instruction in the process of self-floating of the buoy, and the observation instrument is controlled by the fourth instruction to perform floating profile observation so as to acquire corresponding floating profile observation data, wherein the floating profile observation data is the floating observation data.

The controller stores a predicted tide table, the tide table comprises a tide level period, a tide rise period and a tide fall period, the controller controls the buoy to sink in the tide table in the first tide level period based on the tide table, and the buoy is adsorbed by the adsorption piece after sinking, so that the buoy is prevented from being carried away by ocean currents in the tide rise period or the tide fall period, the controller controls the oil pump to pump the oil body in the first oil bag into the second oil bag in advance based on the predicted time of the next tide level period in the tide table, and controls the propeller to separate the adsorption piece from the ocean bottom sediment in time after the next tide level period comes, so that the buoy floats automatically under the action of floating force, and energy is saved to a certain extent.

As shown in fig. 3, in one embodiment, the method for controlling the shallow sea self-sinking-floating profile observation buoy provided by the invention further comprises the following steps:

step S310, measurement data of the pressure sensor is obtained, and whether the buoy bottoms in the sinking process is judged based on the measurement data of the pressure sensor.

Specifically, the controller acquires measurement data of the pressure sensor, and judges whether the buoy bottoms out in the sinking process based on the measurement data of the pressure sensor.

It should be noted that, when the buoy floats or sinks, the pressure of the seawater to the second oil bag is continuously changed, and the pressure change of the seawater to the second oil bag can be determined according to the measurement data of the pressure sensor, so as to determine the movement process of the buoy. If the measured data of the pressure sensor is continuously increased, the buoy is indicated to be sinking, if the measured data of the pressure sensor is increased to the maximum value and is not changed, the buoy is indicated to be bottoming, if the measured data of the pressure sensor is continuously reduced, the buoy is indicated to be floating upwards, and if the measured data of the pressure sensor is reduced to the minimum value and is not changed, the buoy is indicated to be floating out of the water.

In step S320, a fifth instruction is issued, and the scope is controlled to stop observing by the fifth instruction.

Specifically, if the determination result in step S310 indicates that the buoy is on the bottom, the controller will issue a fifth instruction, and control the observation instrument to stop observation through the fifth instruction.

As shown in fig. 4, in one embodiment, the control method of the shallow sea self-sinking-floating profile observation buoy provided by the invention further comprises the following steps:

in step S410, a sixth command is issued after the buoy is submerged, and the propeller is controlled to start by the sixth command, so that the adsorbing member is separated from the sediment under the action of the propeller.

Specifically, the controller sends a sixth instruction after sinking to the bottom, and controls the propeller to start through the sixth instruction, so that the adsorption piece is separated from the submarine sediment under the action of the propeller, and the buoy floats upwards independently after the second oil bag pumps in the oil body.

Step S420, determining whether the suction member is separated from the sediment on the sea floor based on the measurement data of the pressure sensor.

Specifically, the controller determines whether the suction member is separated from the sediment on the sea floor based on the measurement data of the pressure sensor.

It should be noted that, as the measurement data of the pressure sensor is continuously reduced, the buoy is floating upwards, i.e. the suction member at the bottom of the buoy is separated from the seabed sediment.

In step S430, the control pusher is turned off.

Specifically, if the determination result in step S420 indicates that the measured data of the pressure sensor is continuously decreasing, it indicates that the buoy floats upwards, that is, the adsorption element is separated from the sediment, and at this time, the controller controls the propeller to be turned off, so that the buoy floats upwards autonomously under the action of the buoyancy.

As shown in fig. 5, in one embodiment, the method for controlling the shallow sea self-sinking-floating profile observation buoy provided by the invention further comprises the following steps:

step S510, in the process of floating the buoy, controlling the observation instrument to perform floating observation so as to obtain floating observation data.

Specifically, the controller controls the observation instrument to conduct floating observation in the floating process of the buoy so as to acquire corresponding floating observation data.

Step S520, determining whether the buoy floats to the sea surface based on the measurement data of the pressure sensor.

Specifically, the controller judges whether the buoy floats to the sea surface according to the measurement data of the pressure sensor.

It should be noted that if the measurement data of the pressure sensor is continuously reduced and reduced to the minimum value, the buoy is shown to be floating out of the sea surface.

In step S530, the measuring instrument is controlled to stop measuring, and the longitude and latitude of the second position of the buoy is obtained through the satellite antenna, wherein the longitude and latitude of the second position are the longitude and latitude of the new position of the buoy after sinking and floating out of the water again.

Specifically, if the determination result in step S520 indicates that the buoy has emerged out of the sea, the controller will control the measuring instrument to stop measuring, and acquire the new longitude and latitude of the position of the buoy that is submerged and emerges out of the water again through the satellite antenna.

In step S540, if the distance between the longitude and latitude of the first position and the longitude and latitude of the second position exceeds the first threshold, a position correction command is received to control the buoy to perform position correction.

Specifically, if the distance between the longitude and latitude of the position before the buoy sinks and the longitude and latitude of the new position after the buoy sinks and floats out of the water again exceeds a set threshold value, the buoy is indicated to deviate from the target observation position obviously, and at the moment, the controller receives a position correction instruction corresponding to the base station on the shore to control the buoy to carry out corresponding position correction.

When the buoy deviates from the target observing position, the shore base station utilizes the predicted tide table to plan the route of the buoy sinking and floating in the rising tide period or the falling tide period, sends the planned route to the controller in the buoy when the buoy floats out of the water surface through the satellite antenna, and controls the buoy to return to the target observing position under the action of ocean currents through the controller.

The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The foregoing examples illustrate only a few embodiments of the invention and are described in detail herein without thereby limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.

Claims (8)

1. A shallow sea self-sinking profile observation buoy, comprising:

a cylinder body, the inside of which is provided with a containing cavity;

the controller is fixedly arranged in the accommodating cavity;

the oil pump is fixedly arranged in the accommodating cavity and is electrically connected with the controller;

the first oil bag is fixedly arranged in the accommodating cavity and is connected with one side of the oil pump through a pipeline;

the second oil bag is fixedly arranged outside the cylinder body and is connected with the other side of the oil pump through a pipeline;

the observation instrument is fixedly arranged at the top of the cylinder body, is electrically connected with the controller, and is used for carrying out floating observation and sinking observation and sending observation data to the controller;

the propeller is fixedly arranged at the bottom of the cylinder body through a frame and is electrically connected with the controller;

the power supply device is fixedly arranged in the cylinder body and is electrically connected with the controller;

the absorption part is fixedly arranged at the edge of the propeller so as to absorb sediment on the sea bottom;

the satellite antenna is fixedly arranged at the top of the cylinder body and is electrically connected with the controller so as to send the longitude and latitude of the position of the buoy to the controller through satellite positioning;

a pressure sensor fixedly installed on a pipeline between the second oil bag and the oil pump to measure the pressure on the pipeline between the second oil bag and the oil pump;

when the water is submerged in the tide, the controller controls the oil pump to pump the oil body in the second oil bag into the first oil bag, so that the buoyancy of the buoy is smaller than the gravity of the buoy, the buoy is submerged in water, the adsorption piece adsorbs sediment at the water bottom when the buoy touches the bottom, and when the water is submerged in the next tide, the controller controls the oil pump to pump the oil body in the first oil bag into the second oil bag, and the adsorption piece is separated from the sediment through the propeller, so that the floating observation is performed.

2. The shallow sea heave profile observation buoy according to claim 1, wherein the frame comprises a plurality of bars, the propeller being fixedly connected to the bottom of the cylinder by means of the plurality of bars with a space between the propeller and the bottom of the cylinder.

3. The shallow sea autofloating profile observation buoy of claim 1, characterized in that the distance between the observation instrument and the top of the cylinder is greater than the distance between the second oil bag and the top of the cylinder, and the observation instrument employs a thermal salt depth gauge for measuring the temperature and salinity of sea water.

4. A control method of a shallow sea self-sinking and floating profile observation buoy for controlling the shallow sea self-sinking and floating profile observation buoy according to any one of claims 1 to 3, characterized in that the method comprises:

when an observation sea area is in a tide-free period, acquiring the longitude and latitude of a first position of a buoy through a satellite antenna, wherein the longitude and latitude of the first position are the longitude and latitude of the position before the buoy sinks;

sending a first instruction based on the longitude and latitude of the first position, and controlling an oil pump to pump the oil body in the second oil bag into the first oil bag through the first instruction so that the buoyancy of the buoy is smaller than the gravity of the buoy;

when the buoy sinks, a second instruction is sent out, and the observation instrument is controlled to conduct sinking observation through the second instruction so as to acquire corresponding sinking observation data;

after the buoy bottoms, a third instruction is sent out, and the oil pump is controlled by the third instruction to pump the oil body in the first oil bag into the second oil bag, so that the buoyancy of the buoy is larger than the gravity of the buoy;

and when the buoy floats upwards, a fourth instruction is sent out, and the observation instrument is controlled to carry out floating observation through the fourth instruction so as to acquire corresponding floating observation data.

5. The method of controlling a shallow sea self-sinking and floating profile observation buoy according to claim 4, further comprising:

acquiring measurement data of a pressure sensor, and judging whether the buoy bottoms down in the sinking process based on the measurement data of the pressure sensor; if yes, then

And a fifth instruction is sent out, and the observation instrument is controlled to stop observation through the fifth instruction.

6. The method of controlling a shallow sea autofloating profile observation buoy according to claim 5, further comprising:

after the buoy is sunk to the bottom, a sixth instruction is sent out, and the propeller is controlled to start through the sixth instruction, so that the adsorption piece is separated from sediment under the action of the propeller;

judging whether the adsorbing member is separated from sediment on the sea floor or not based on measurement data of the pressure sensor; if yes, then

And controlling the propeller to be closed.

7. The method of controlling a shallow sea self-sinking and floating profile observation buoy according to claim 6, further comprising:

in the floating process of the buoy, controlling the observation instrument to perform floating observation so as to acquire floating observation data;

judging whether the buoy floats to the sea surface or not based on the measurement data of the pressure sensor; if yes, the measuring instrument is controlled to stop measuring, and the longitude and latitude of the second position of the buoy are obtained through the satellite antenna, wherein the longitude and latitude of the second position are the longitude and latitude of the new position of the buoy after sinking and floating out of the water again.

8. The method of claim 7, wherein the controlling the measuring instrument to stop measuring and obtaining the longitude and latitude of the second position of the buoy via the satellite antenna comprises:

and if the distance between the longitude and latitude of the first position and the longitude and latitude of the second position exceeds a first threshold value, receiving a position correction instruction to control the buoy to carry out position correction.