CN117614490A - Recovery method based on underwater unmanned vehicle sensor measurement data - Google Patents
Recovery method based on underwater unmanned vehicle sensor measurement data Download PDFInfo
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Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B3/00—Line transmission systems
- H04B3/60—Systems for communication between relatively movable stations, e.g. for communication with lift
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04Q—SELECTING
- H04Q9/00—Arrangements in telecontrol or telemetry systems for selectively calling a substation from a main station, in which substation desired apparatus is selected for applying a control signal thereto or for obtaining measured values therefrom
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04Q—SELECTING
- H04Q2209/00—Arrangements in telecontrol or telemetry systems
- H04Q2209/30—Arrangements in telecontrol or telemetry systems using a wired architecture
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04Q—SELECTING
- H04Q2209/00—Arrangements in telecontrol or telemetry systems
- H04Q2209/40—Arrangements in telecontrol or telemetry systems using a wireless architecture
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- H—ELECTRICITY
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- H04Q—SELECTING
- H04Q2209/00—Arrangements in telecontrol or telemetry systems
- H04Q2209/80—Arrangements in the sub-station, i.e. sensing device
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- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
- Testing Or Calibration Of Command Recording Devices (AREA)
Abstract
The invention discloses a recovery method based on underwater unmanned vehicle sensor measurement data, which comprises a data acquisition module, a data return module and a remote monitoring module, wherein the data acquisition module comprises a physical ocean sensor and a biochemical sensor, the data return module comprises a data recovery floating body and a data recovery floating body base, the release of the data recovery floating body is completed by an electric effect self-fluxing device and a matched mechanism or a secondary release shape memory alloy compaction release mechanism thereof, and the remote monitoring module consists of a shore-based set of data receiving system. The invention can realize in-situ collection and automatic storage of deep sea water parameters by means of the deep sea unmanned vehicle as a platform; the self-elevating data recovery floating body based on the underwater unmanned vehicle has underwater non-contact data transmission and single-pass data return capacity, realizes fixed-period return of the acquired and observed deep sea data, greatly reduces the recovery and re-arrangement cost of the underwater unmanned vehicle, and can improve the systematicness, continuity and timeliness of the deep sea observation and data acquisition.
Description
Technical Field
The invention relates to the technical field of underwater environment detection, in particular to a recovery method based on underwater unmanned vehicle sensor measurement data.
Background
At present, the detection equipment commonly used in deep sea detection and scientific investigation mostly adopts self-contained data storage, namely, acquired data are stored in a storage unit in the equipment, after the detection equipment completes a whole work flow and a work period, relevant personnel recycle the detection equipment to a mother ship or a shore-based laboratory, and stored detection data are exported and maintained. This observation may bring extra equipment re-recovery and re-deployment costs for scientific tasks that need to be performed for a long period of time, and if autonomous navigation of the underwater equipment fails, the previously acquired data will be lost.
The timing and complete recovery of the acquired data are of great importance for autonomous detection in deep sea. The traditional data and collection and storage modes of the deep sea observation equipment can ensure that the equipment sails under water for a long time, but the observed data cannot be recovered in time, the continuity and the instantaneity of data recovery are weaker, and the main problem of the reason is the complexity of the deep sea environment, and the reliability of any data transmission mode with extremely high efficiency on land can be extremely poor in the sea, especially in the deep sea. In addition, the current common deep sea observation equipment has the trend of miniaturization and intellectualization, and the acquired hydrological parameter data are various and large in quantity, and the limited space is used for assembling the detection module and the propulsion module. For the present design, solving this problem is a major breakthrough in the present design.
Disclosure of Invention
The invention aims to solve the defects in the prior art, and provides a recovery method based on underwater unmanned vehicle sensor measurement data.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the data transmission module comprises six data recovery floating bodies and six data recovery floating body bases, the release of the data recovery floating bodies is completed through an electric effect self-fluxing device and a matched mechanism or a secondary release shape memory alloy compression release mechanism of the electric effect self-fluxing device, and the electric effect self-fluxing device and the matched mechanism of the electric effect self-fluxing device comprise an electric effect self-fluxing device tray, a spring tray, a spring shaft block, an electric effect self-fluxing device clamp, a self-fluxing device position regulator, a data transmission watertight cable, an electric main control watertight cable and a magnetic induction communication coil groove;
the method specifically comprises the following operation steps:
s1: before the data recovery floating body enters water, a reserved groove on the electric effect self-melting device is clamped through an electric effect self-melting device clamp and an electric effect self-melting device position regulator, and the reserved groove, an electric effect self-melting device tray, a spring tray and a spring shaft block are used for effectively fixing the electric effect self-melting device and are integrally installed on an underwater unmanned vehicle;
s2: after the step S1 is completed, the electric effect self-melting device is pre-tensioned properly through the position regulator of the electric effect self-melting device, so that the position stability of the data recovery floating body is ensured;
s3: one end of the data transmission watertight cable is connected with the main control bin, and the other end of the data transmission watertight cable penetrates out of the tray of the electric effect self-fluxing device, is connected with the magnetic induction coil and is sealed in the magnetic induction communication coil groove through epoxy resin;
s4: after the unmanned vehicle is launched, the data acquisition module acquires various underwater parameters, underwater signals are stored in the communication control cabin in an electric signal mode through the data transmission watertight cable, after the main control cabin detects that the data is transmitted in and meets the requirement of a transmission data format, the data is transmitted to the data recovery floating body base through the data transmission watertight cable, and the data is transmitted to the circuit board of the battery cabin in a non-contact mode through an electromagnetic effect principle and stored;
s5: after the data recovery floating body completes a given operation task, a main control board mounted in a control cabin of the unmanned vehicle implements a control instruction through an electric main control watertight cable to provide a direct-current power supply, so that an electric effect generates heat and melts from an electric heating sheet in the melting device, and finally, release and throwing of a release hook are completed under the buoyancy action of the data recovery floating body, and finally, release of the data recovery floating body is realized;
s6: after the data recovery floating body floats up to the water surface, the data is sent to the satellite and finally transmitted back to the shore base or the mother ship, and after the floating time exceeds 24 hours, the data is self-destroyed, so that the data leakage is prevented.
As a further technical scheme of the invention, the physical ocean sensor can collect parameters such as ocean current, conductivity, temperature, pressure and the like, the biochemical sensor can collect parameters such as chlorophyll, dissolved oxygen, a fluorometer, turbidity, pH and the like, the sensor has a data self-contained storage function, and the sensor can continuously and controllably sample and store data.
As a further technical scheme of the invention, a battery pack, a non-contact data communication control cabin, a data recovery floating body main control cabin and a Beidou satellite communication module are mounted in the data recovery floating body.
As a further technical scheme of the invention, the sensor of the data acquisition module is connected with the communication control cabin of the data recovery floating body through a watertight cable, data observed at the point location is stored in the communication control cabin in an electric signal mode, and data transmission between the data recovery floating body and the data recovery floating body base is realized by using an electromagnetic induction communication coil.
As a further technical scheme of the invention, in S1 and S5, the two-stage release shape memory alloy space compression release mechanism is effectively fixed between the data recovery floating bodies and integrally installed on the underwater unmanned vehicle or released through the two-stage release shape memory alloy space compression release mechanism.
As a further technical scheme of the invention, a spring shaft block vertically penetrates through the edge of the electric effect self-fluxing device tray, the spring tray is located under the electric effect self-fluxing device tray, the spring is vertically welded between the electric effect self-fluxing device tray and the spring tray, the electric effect self-fluxing device is fixedly installed at the middle of the electric effect self-fluxing device tray, an electric effect self-fluxing device clamp is fixedly installed at the center of the bottom of the spring tray, an electric effect self-fluxing device position regulator is fixedly installed at the bottom of the electric effect self-fluxing device clamp, a data transmission watertight cable and an electric master control watertight cable are both connected to the bottom of the electric effect self-fluxing device, the spring shaft block is fixed through screws and the electric effect self-fluxing device tray, plastic nuts are screwed at the bottom ends of the spring shaft block, the spring shaft block and the spring are all provided with a plurality of watertight heads, the magnetic induction communication coil grooves are formed in the bottom of the electric effect self-fluxing device, the data transmission watertight cable penetrates through the bottom of the spring tray, the data transmission watertight heads are fixedly installed at the bottom of the watertight heads fixedly installed at the bottoms of the watertight heads fixedly installed at the watertight heads fixedly installed on the bottoms of the watertight heads.
As a further technical scheme of the invention, the data acquisition module and the data return module are in a dormant state in the process of not carrying out data acquisition and releasing the floating body, and the data acquisition module and the data return module need to be awakened before working, and the awakening process is as follows: when the main control board in the communication control cabin needs to transmit data to the data recovery floating body, the communication control cabin wakes up the main control in the data recovery floating body electronic cabin through the RS232 interface, and the related circuit unit is started.
The beneficial effects of the invention are as follows: the in-situ collection and automatic storage of deep sea parameters can be realized by means of the deep sea unmanned vehicle as a platform; the self-elevating data recovery floating body based on the underwater unmanned vehicle has underwater non-contact data transmission and single-pass data return capacity, can take the data recovery floating body as a medium, realizes the fixed period return of the acquired and observed deep sea data, does not need to recover an unmanned vehicle system, greatly reduces the recovery and redistributing cost, and can promote the systematicness, the continuity and the timeliness of the deep sea observation and the data acquisition.
Drawings
FIG. 1 is a schematic diagram of an electric effect self-melting device and a matched mechanism thereof based on a recovery method of underwater unmanned vehicle sensor measurement data;
fig. 2 is a schematic diagram of the front view structure of an electric effect self-melting device and a matching mechanism thereof based on the recovery method of the underwater unmanned vehicle sensor measurement data;
FIG. 3 is a schematic diagram of a cross-sectional structure of an electric effect self-melting device and a matching mechanism thereof based on a recovery method of underwater unmanned vehicle sensor measurement data;
FIG. 4 is a schematic diagram of a two-stage release shape memory alloy compression release mechanism based on the recovery method of underwater unmanned vehicle sensor measurement data;
FIG. 5 is a flow chart of a wake-up process of a data recovery system of the recovery method based on the underwater unmanned vehicle sensor measurement data;
fig. 6 is a schematic diagram of non-contact data transmission of a recovery method based on underwater unmanned vehicle sensor measurement data according to the present invention;
fig. 7 is a flowchart of a recovery method based on underwater unmanned vehicle sensor measurement data.
In the figure: 1. an electric effect self-melting device; 2. electric effect self-fluxing device tray; 3. a spring; 4. a spring tray; 5. a spring shaft block; 6. a data transmission watertight head; 7. a power supply main control watertight head; 8. an electric effect self-fluxing device clamp; 9. an electric effect self-melting device position regulator; 10. a data transmission watertight cable; 11. the data transmission watertight head locking cover; 12. the electric main control watertight head locking cover; 13. an electric main control watertight cable; 14. a plastic nut; 15. a screw; 16. a magnetic induction communication coil slot.
Detailed Description
The invention is further described in connection with the following detailed description, in order to make the technical means, the creation characteristics, the achievement of the purpose and the effect of the invention easy to understand.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "upper", "lower", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific direction, be configured and operated in the specific direction, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "provided," "connected," and the like are to be construed broadly, and may be fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Referring to fig. 1-7, a recovery method based on underwater unmanned vehicle sensor measurement data comprises a data acquisition module, a data return module and a remote monitoring module, wherein the data acquisition module comprises a physical marine sensor and a biochemical sensor, the data return module comprises six data recovery floating bodies and six data recovery floating body bases, the release of the data recovery floating bodies is completed through an electric effect self-melting device and a matched mechanism or a two-stage release shape memory alloy compaction release mechanism thereof, the electric effect self-melting device and the matched mechanism thereof comprise an electric effect self-melting device 1, an electric effect self-melting device tray 2, a spring 3, a spring tray 4, a spring shaft block 5, an electric effect self-melting device clamp 8, a self-melting device position regulator 9, a data transmission watertight cable 10, an electric main control watertight cable 13 and a magnetic induction communication coil groove 16, the remote monitoring module comprises a set of data receiving system of a shore base, and the remote monitoring module has the capability of receiving data returned by the data recovery floating bodies, can send commands to the data recovery floating bodies, and has the functions of storing, processing, analyzing, exporting, visually displaying and the recovered data, and the floating time exceeds 24 hours after the floating time is short;
the communication control cabin of the data recovery floating body realizes data transmission between sensor sampling data and the data recovery floating body, and simultaneously realizes fixed-period controlled release of the data recovery floating body, and when the buoyancy cabin self-checking state is that the sea surface floats when the water is discharged, the Beidou satellite module integrated in the antenna cabin is connected with the receiving base station, so that observation data is returned by using a satellite.
The integrated different sensors are connected into the communication control cabin of the data recovery floating body through watertight cables, data obtained through point location observation are stored into the communication control cabin through an electric signal mode, and after the main control cabin detects that the data is transmitted in and meets the data transmission format requirement, the data are transmitted to the base of the fixed recovery floating body through watertight cables.
The data transmission between the data recovery floating body base and the release unit is realized by using an electromagnetic induction communication coil, the wireless transmission between energy and signals can be realized by using an electromagnetic induction principle, measured data is transmitted and stored into the release unit through the unit, and the data is transmitted back to the shore base receiving station through the satellite module after the release unit floats out of the water.
The data transmission between the unmanned vehicle and the data recovery floating body is completed through the magnetic induction coil, the coil is reasonably arranged, the data transmission is carried out at the optimal communication signal working frequency, meanwhile, the complexity and the circuit scale of a circuit are reduced, the adverse effect caused by a complex underwater environment is overcome, the non-contact data transmission mode is favorable for the transmission of the data recovery floating body, the underwater medium has certain conductivity, the receiving induced voltage is increased along with the improvement of the communication signal working frequency, and meanwhile, the eddy current loss along with the increase of the frequency reduces the receiving induced voltage.
The method specifically comprises the following operation steps:
s1: before the data recovery floating body enters water, a reserved groove on the electric effect self-melting device 1 is clamped by an electric effect self-melting device clamp 8 and an electric effect self-melting device position regulator 9, and the reserved groove, the electric effect self-melting device 2, a spring 3, a spring tray 4 and a spring shaft block 5 are used for effectively fixing the electric effect self-melting device 1 together, and the electric effect self-melting device is integrally installed on an underwater unmanned vehicle;
s2: after the step S1 is completed, the electric effect self-melting device 1 is properly pre-tensioned through the electric effect self-melting device position regulator 9, so that the position stability of the data recovery floating body is ensured;
s3: one end of the data transmission watertight cable 10 is connected with the main control bin, and the other end of the data transmission watertight cable penetrates out of the electric effect self-melting device tray 2, is connected with the magnetic induction coil and is sealed in the magnetic induction communication coil groove 16 through epoxy resin;
s4: after the unmanned vehicle is launched, the data acquisition module acquires various underwater parameters, underwater signals are stored in the communication control cabin in an electric signal mode through the data transmission watertight cable 10, after the main control cabin detects that the data is transmitted in and meets the requirement of a transmission data format, the data is transmitted to the data recovery floating body base through the data transmission watertight cable 10, and the data is transmitted to the circuit board of the battery cabin in a non-contact mode through an electromagnetic effect principle and stored;
s5: after the data recovery floating body completes a given operation task, a main control board mounted in a control cabin of the unmanned vehicle implements a control instruction through an electric main control watertight cable 13 to provide a direct-current power supply, so that an electric effect generates heat and melts from an electric heating sheet in the melting device 1, and finally, release and throwing of a release hook are completed under the buoyancy action of the data recovery floating body, and finally, release of the data recovery floating body is realized;
s6: after the data recovery floating body floats up to the water surface, the data is sent to the satellite and finally transmitted back to the shore base or the mother ship, and after the floating time exceeds 24 hours, the data is self-destroyed, so that the data leakage is prevented.
In a preferred embodiment, the physical ocean type sensor can collect parameters such as ocean current, conductivity, temperature, pressure and the like, the biochemical type sensor can collect parameters such as chlorophyll, dissolved oxygen, a fluorometer, turbidity, pH and the like, the sensor has an automatic data storage function, and the sensor can continuously and controllably sample and store data.
In a preferred embodiment, the data recovery floating body is internally provided with a battery pack, a non-contact data communication control cabin, a data recovery floating body main control cabin and a Beidou satellite communication module.
In a preferred embodiment, the sensors of the data acquisition module are connected to the communication control cabin of the data recovery floating body through watertight cables, data obtained through point location observation are stored in the communication control cabin in an electric signal mode, and data transmission between the data recovery floating body and the data recovery floating body base is achieved through electromagnetic induction communication coils.
In a preferred embodiment, in S1 and S5, the secondary release shape memory alloy space compression release mechanism is effectively fixed between the data recovery floating bodies and integrally installed on the underwater unmanned vehicle, or released through the secondary release shape memory alloy space compression release mechanism.
SMA materials (such as NiTi alloys) can produce shape memory effects and huge restoring forces by converting electrical energy and thermal energy into mechanical energy and outputting the mechanical energy in the form of displacement and force, and thus can be used for a novel space compression release mechanism; the secondary release shape memory alloy space compression release mechanism consists of a locking/release system, a trigger system, a driving element, a shell and the like, the separation pin is used for realizing the connection of a locked object and the mechanism, the separation pin is limited by a ball, after receiving a release command, the trigger system controls the driving element in the release mechanism to complete the phase change of an SMA material, and finally the separation of the locked object and the mechanism is realized.
Referring to fig. 1-3, in a preferred embodiment, a spring shaft block 5 vertically penetrates through the edge of the electric effect self-melting device tray 2, the spring tray 4 is located under the electric effect self-melting device tray 2, the spring 3 is vertically welded between the electric effect self-melting device tray 2 and the spring tray 4, the electric effect self-melting device 1 is fixedly installed in the middle of the electric effect self-melting device tray 2, the electric effect self-melting device clamp 8 is fixedly installed at the center of the bottom of the spring tray 4, the electric effect self-melting device position regulator 9 is fixedly installed at the bottom of the electric effect self-melting device clamp 8, and the data transmission watertight cable 10 and the electric main watertight cable 13 are connected to the bottom of the electric effect self-melting device 1.
Referring to fig. 1-3, in a preferred embodiment, a spring shaft block 5 is fixed to a tray 2 of the melting device by screws 15 and an electric effect, a plastic nut 14 is screwed to the bottom end of the spring shaft block 5, a spring 3 is sleeved on the periphery of the spring shaft block 5, and a plurality of magnetic induction communication coil slots 16 are formed in the bottom of the electric effect self-melting device 1, wherein the number of the magnetic induction communication coil slots is the same as the number of the spring shaft block 5.
Referring to fig. 1-3, in a preferred embodiment, a data transmission watertight head 6 is fixedly installed at a bottom position of a data transmission watertight cable 10 penetrating through a spring tray 4, a data transmission watertight head locking cover 11 is fixedly installed at the bottom of the data transmission watertight head 6, a power supply main control watertight head 7 is fixedly installed at a bottom position of an electric main control watertight cable 13 penetrating through the spring tray 4, and an electric main control watertight head locking cover 12 is fixedly installed at the bottom of the power supply main control watertight head 7.
In a preferred embodiment, the data acquisition module and the data backhaul module are in a dormant state during the period when data acquisition and float release are not performed, and need to be awakened before performing work. In order to ensure that the whole set of system can meet the requirement of long-time working under water, the power consumption of the system is controlled.
Referring to fig. 6, in a preferred embodiment, the wake-up procedure is as follows: when the main control board in the communication control cabin needs to transmit data to the data recovery floating body, the communication control cabin wakes up the main control in the data recovery floating body electronic cabin through the RS232 interface, and the related circuit unit is started.
Aiming at the connection mode between the fixed base and the release units and the working principle, the data recorded by the sensor detection units of the unmanned vehicle are mainly accessed into the communication control cabin through the connection of the watertight cable, and the main control in the cabin transmits the acquired data to the bases of the six release units through the watertight cable after the acquired data are detected to meet the requirements, and the data are stored into the main control in the floating body. In the process of transmitting data from the sensor, the base of the fixed release unit is powered by a large battery compartment in the unmanned vehicle, and the transmission of the acquired data is completed through the electromagnetic induction coil. The data recovery floating body is in a dormant state at the moment so as to achieve the purpose of saving power consumption.
The magnetic induction wireless communication modules are respectively arranged between the release unit and the base for fixing the release unit, and the release unit and the base are used for transmitting information through alternating magnetic fields generated by coils in surrounding space. After the signal is modulated to the carrier frequency, the signal is loaded to two ends of the coil through a driving circuit. Since the current on the coil is alternating, an alternating magnetic field is generated in the surrounding space, and at the same time, the receiving end coil is positioned in the alternating magnetic field, and an induced current and an induced voltage are generated. The induced voltages at the two ends of the receiving coil are modulated and then demodulated into baseband signals, so that signal transmission is completed, and data are transmitted into the releasing unit from the base of the fixed releasing unit.
In order to finish the successful release of the data recovery floating body, the ocean autonomous release device with reasonable structure and simple operation is designed, and the ocean autonomous release device has the advantages of simple structure, low cost, reusability, small volume and light weight, and can be suitable for the environment with full sea depth.
The groove is reserved in the shell of the releasing device, and before the main floating body enters water, the main floating body and the releasing device are connected through the anchor ear and the base, so that the releasing device is effectively fixed. The tightening and fixing of the data recovery floating body are completed through proper pre-tightening measures, and the position stability of the data recovery floating body is ensured. When the data recovery floating body finishes a given operation task and needs to be recovered, a release instruction is given through the main control to finish the load throwing logic response, the release device is continuously provided with a direct current power supply through the watertight plug, at the moment, the electric heating plate starts to heat the thermoplastic melt adhesive, the thermoplastic melt adhesive is melted after about a few minutes (determined by the ambient temperature and the load throwing weight), and the release of the stainless steel release hook is finished, so that the load throwing is finished, and the release of the data recovery floating body is realized.
Those of ordinary skill in the art will appreciate that: the discussion of any of the embodiments above is merely exemplary and is not intended to suggest that the scope of the invention (including the claims) is limited to these examples; the technical features of the above embodiments or in the different embodiments may also be combined within the idea of the invention, the steps may be implemented in any order and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity.
The present invention is intended to embrace all such alternatives, modifications and variances which fall within the broad scope of the appended claims. Therefore, any omission, modification, equivalent replacement, improvement, etc. of the present invention should be included in the scope of the present invention.
Claims (10)
1. The method is characterized by comprising a data acquisition module, a data return module and a remote monitoring module, wherein the data acquisition module comprises a physical marine sensor and a biochemical sensor, the data return module comprises six data recovery floating bodies and six data recovery floating body bases, the release of the data recovery floating bodies is completed through an electric effect self-melting device and a matched mechanism or a secondary release shape memory alloy compression release mechanism thereof, the electric effect self-melting device and the matched mechanism thereof comprise an electric effect self-melting device (1), an electric effect self-melting device tray (2), a spring (3), a spring tray (4), a spring shaft block (5), an electric effect self-melting device clamp (8), a self-melting device position regulator (9), a data transmission watertight cable (10), an electric main control cable (13) and a magnetic induction communication coil groove (16), and the remote monitoring module consists of a bank-based set of data receiving system;
the method specifically comprises the following operation steps:
s1: before the data recovery floating body enters water, a reserved groove on the electric effect self-melting device (1) is clamped through an electric effect self-melting device clamp (8) and an electric effect self-melting device position regulator (9), and the reserved groove, the electric effect self-melting device, a tray (2) of the electric effect self-melting device, a spring (3), a spring tray (4) and a spring shaft block (5) are used for effectively fixing the electric effect self-melting device (1) together, and the electric effect self-melting device is integrally installed on an underwater unmanned vehicle;
s2: after the step S1 is completed, the electric effect self-melting device (1) is pre-tensioned properly through the electric effect self-melting device position regulator (9), so that the position stability of the data recovery floating body is ensured;
s3: one end of a data transmission watertight cable (10) is connected with the main control bin, and the other end of the data transmission watertight cable penetrates out of the electric effect self-melting device tray (2), is connected with the magnetic induction coil and is sealed in the magnetic induction communication coil groove (16) through epoxy resin;
s4: after the unmanned vehicle is launched, the data acquisition module acquires various underwater parameters, underwater signals are stored in the communication control cabin in an electric signal mode through the data transmission watertight cable (10), after the main control cabin detects that the data is transmitted and meets the requirement of a data transmission format, the data is transmitted to the data recovery floating body base through the data transmission watertight cable (10), and the data is transmitted to the circuit board of the battery cabin in a non-contact mode through an electromagnetic effect principle and stored;
s5: after the data recovery floating body completes a given operation task, a main control board mounted in a control cabin of the unmanned vehicle implements a control instruction through an electric main control watertight cable (13) to provide a direct-current power supply, so that an electric effect generates heat and melts from an electric heating plate in the melting device (1), and finally, release and throwing of a release hook are completed under the buoyancy action of the data recovery floating body, and finally, release of the data recovery floating body is realized;
s6: after the data recovery floating body floats up to the water surface, the data is sent to the satellite and finally transmitted back to the shore base or the mother ship, and after the floating time exceeds 24 hours, the data is self-destroyed, so that the data leakage is prevented.
2. The method for recycling measurement data based on the underwater unmanned vehicle sensor according to claim 1, wherein the physical ocean sensor can collect parameters such as ocean current, conductivity, temperature and pressure, the biochemical sensor can collect parameters such as chlorophyll, dissolved oxygen, fluorometer, turbidity and pH, the sensor has a data self-contained storage function, and the sensor can continuously sample and store data under control.
3. The recovery method based on the underwater unmanned vehicle sensor measurement data according to claim 1, wherein a battery pack, a non-contact data communication control cabin, a data recovery floating body main control cabin and a Beidou satellite communication module are mounted in the data recovery floating body.
4. The method for recycling measurement data based on the underwater unmanned vehicle sensor according to claim 1, wherein the sensor of the data acquisition module is connected with the communication control cabin of the data recycling floating body through a watertight cable, the data obtained through point location observation is stored in the communication control cabin in an electric signal mode, and data transmission between the data recycling floating body and the base of the data recycling floating body is achieved through an electromagnetic induction communication coil.
5. The method for recovering the measurement data based on the underwater unmanned vehicle sensor according to claim 1, wherein in the step S1 and the step S5, a secondary release shape memory alloy space compression release mechanism is effectively fixed between the data recovery floating bodies and integrally installed on the underwater unmanned vehicle, or released through the secondary release shape memory alloy space compression release mechanism.
6. The method for recycling measurement data based on the underwater unmanned vehicle sensor according to claim 1, wherein a spring shaft block (5) vertically penetrates through the edge of the electric effect self-melting device tray (2), the spring tray (4) is located right below the electric effect self-melting device tray (2), the spring (3) is vertically welded between the electric effect self-melting device tray (2) and the spring tray (4), the electric effect self-melting device (1) is fixedly installed in the middle of the electric effect self-melting device tray (2), the electric effect self-melting device clamp (8) is fixedly installed at the center of the bottom of the spring tray (4), the electric effect self-melting device position regulator (9) is fixedly installed at the bottom of the electric effect self-melting device clamp (8), and the data transmission watertight cable (10) and the electric control watertight cable (13) are both connected to the bottom of the electric effect self-melting device (1).
7. The method for recycling measurement data based on the underwater unmanned vehicle sensor according to claim 6, wherein the spring shaft block (5) is fixed with the electric effect self-melting device tray (2) through a screw (15), a plastic nut (14) is screwed at the bottom end of the spring shaft block (5), the spring (3) is sleeved on the periphery of the spring shaft block (5), a plurality of magnetic induction communication coil grooves (16) are formed in the bottom of the electric effect self-melting device (1) and the number of the spring shaft block (5) is the same as the number of the spring (3).
8. The method for recycling measurement data based on the underwater unmanned vehicle sensor according to claim 7, wherein a data transmission watertight head (6) is fixedly installed at the bottom position of the data transmission watertight cable (10) penetrating through the spring tray (4), a data transmission watertight head locking cover (11) is fixedly installed at the bottom of the data transmission watertight head (6), a power supply main control watertight head (7) is fixedly installed at the bottom position of the power supply main control watertight head (13) penetrating through the spring tray (4), and a power supply main control watertight head locking cover (12) is fixedly installed at the bottom of the power supply main control watertight head (7).
9. The method for recovering measurement data based on the underwater unmanned vehicle sensor according to claim 1, wherein the data acquisition module and the data return module are in a dormant state in the process of not carrying out data acquisition and releasing the floating body, and are required to be awakened before working.
10. The method for recovering measurement data based on an underwater unmanned vehicle sensor according to claim 9, wherein the wake-up process is as follows: when the main control board in the communication control cabin needs to transmit data to the data recovery floating body, the communication control cabin wakes up the main control in the data recovery floating body electronic cabin through the RS232 interface, and the related circuit unit is started.
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