JP2009143331A - Buoy for tsunami-ocean wave observation - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a buoy for tsunami-ocean wave observation reducing a measurement error of wave height. <P>SOLUTION: The buoy for tsunami-ocean wave observation is mounted with an observer 17 for observing tsunami and ocean waves, and is provided with a buoy staying device for propelling a stationary buoy 11 having a tail pipe 13 hung from a buoy body 12 by a propulsion unit 31 to stay the buoy in a predetermined sea area. The buoy staying device is constituted to control the propulsion unit 31 to stay the stationary buoy 11 in the predetermined sea area based on a positional deviation between the position of the stationary buoy 11 detected by a GPS receiver and a target position. Oscillation of the stationary buoy 11 is free from constraint by a mooring rope. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a tsunami / wave observation buoy that is stopped in a predetermined sea area and used for wave observation, tsunami prediction, and the like.

For example, as shown in FIG. 14 (a), an observation buoy 1 is moored in a predetermined sea area by a mooring line 4 connected to an anchor 2 and / or a sink weight 3 installed on the seabed. It is disclosed in documents 1, 2 and the like.
JP-A-8-110226 JP 2002-13923 A

  As shown in FIG. 14 (c), the floating body floating on the sea surface is oscillated linearly in the front-rear direction (surge: x-axis direction along the traveling direction of the incident wave) and vertically swayed (heave: vertical direction). Z-axis direction fluctuation), left-right swirl movement (pitch: swivel movement around the y-axis perpendicular to the incident wave traveling direction and vertical direction), left-right linear movement (sway: incident wave traveling direction) Y-axis swing perpendicular to the vertical direction), forward / backward swing motion (roll: swing swing around the x-axis along the traveling direction of the incident wave), circumferential swing motion (yaw: vertical motion around the z-axis) It can be viewed as a complex coupled motion consisting of swirling motion.

  In the wave measurement, vertical linear motion [hereinafter referred to as linear heave] and horizontal rotational motion [hereinafter referred to as rotational pitch] are measured, as shown in FIG. The incident wave height H is obtained by correcting the measured value η of the linear shake (heave) with the measured value of the turning shake (pitch).

  As shown in FIG. 14 (a), when the mooring line 4 is loose, the observation buoy 1 is in a freely floating state, and even when the observation buoy 1 is linearly shaken by an incident wave, There is no big influence when turning, and there is no problem in measuring waves and tsunamis.

  However, as shown in FIG. 14B, when the observation buoy 1 is swept away by the tidal current and the mooring line 4 reaches the extension limit, the observation buoy 1 is pulled by the mooring line 4 and its oscillation is suppressed. That is, the vertical component force Fv of the tension F of the mooring line 4 acts on the linear sway (heave) of the observation buoy 1, and the horizontal component Fh of the tension F turns the sway ( pitch). As a result, there is a problem that the accurate incident wave height H cannot be measured.

  SUMMARY OF THE INVENTION An object of the present invention is to provide a tsunami / wave observation buoy that solves the above-described problems and can reduce a measurement error of wave height.

  The invention according to claim 1 is a tsunami / wave observation buoy equipped with an observing device for observing tsunami and / or waves, wherein the buoy main body is propelled by the propulsion device to stop the buoy main body in a predetermined sea area. The buoy stop device controls the propulsion device based on a position deviation between the position of the buoy main body detected by the GPS receiver and the target position to stop the buoy main body in a predetermined sea area. It is comprised as follows.

  According to a second aspect of the present invention, in the configuration of the first aspect, the propulsion device includes a thrust generation device in which a propulsion direction and thrust are controlled by the buoy stop device, and a power supply device that supplies driving power to the thrust generation device. The power supply device includes at least one of a solar power generation device having a solar battery panel and a hydroelectric power generation device having a power generation turbine that is rotationally driven by a tidal current.

  According to a third aspect of the present invention, in the configuration according to the second aspect, the buoy body is provided with a tail tube suspended from the center of the bottom thereof, and the thrust generating device is constituted by a thruster device, and the thruster device is mounted on the tail tube. It arrange | positions at a lower end part, and arrange | positions the water turbine for electric power generation in the intermediate part of the said tail cylinder so that rotation is possible around the axis center of a tail cylinder.

  According to a fourth aspect of the present invention, in the configuration according to the first to third aspects, the buoy body is provided with a floating buoy that is held up and down and tiltable, and the floating buoy is vertically moved through the buoy body in the horizontal direction. It consists of a frame bar fitted in a hole so that it can move up and down and tiltable, and a measurement floating body that is attached to both ends of the frame bar and floats on both sides of the buoy body. Is provided with a sea level displacement detector capable of detecting

  According to the first aspect of the present invention, the propulsion device is controlled by the buoy stop device to propel the buoy body toward the target position and stop in the predetermined sea area. The main body of the buoy is pulled by the mooring line and the shaking is not suppressed. Therefore, an accurate incident wave height can be measured by the observation device.

  According to the invention described in claim 2, in the propulsion device, the thrust generator is driven by the electric power obtained from the solar cell panel and / or the power generation water turbine, and the buoy body is propelled toward the target position, so that it is good for a predetermined sea area. Can be stopped at.

  According to the third aspect of the present invention, the power generation turbine provided in the middle portion of the transition piece can efficiently generate power using the tidal current, and the thruster device provided in the lower end portion of the transition piece. The propulsion direction can be freely controlled.

  According to the invention of claim 4, the frame bar is held up and down and tiltably held in the lifting guide hole formed in the buoy body, and the measurement floating bodies are provided at both ends of the frame bar, respectively. Since the detection unit is provided, it is possible to detect the incident wave height with high accuracy by making the measurement floating body follow the fluctuation of the wave front well without being influenced by the behavior of the buoy main body due to the eddy current or the like.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[Embodiment]
As shown in FIGS. 1 and 2, this tsunami / wave observation buoy includes a buoy main body 12 and a buoy 11 that has a tail tube 13 suspended from the buoy main body 12 and is stopped in a predetermined sea area. The floating buoy 21 held up and down and tiltably held by the buoy body 12, the propulsion device 31 capable of propelling the stop buoy 11, and the propulsion device 31 are controlled to set the stop buoy 11 at the center position of a predetermined sea area. The buoy stop device 41 that is propelled toward the target position x _r , y _r (FIG. 4) and stops in a predetermined sea area, and the observation device 17 that detects the wave height by the sea surface displacement detector 24 provided in the floating buoy 21. It has.

(Stop buoy)
The stationary buoy 11 includes a tail tube 13 suspended from the center of the bottom of the columnar buoy body 12, an observation room 14 installed on the buoy body 12, and a tower structure 15 erected on the observation room 14. The buoy body 12 or the tail tube 13 is provided with a tidal current direction / velocimeter 51 (FIG. 3) for measuring the tidal current velocity and direction. In addition, the tower structure 15 includes a wind direction / anemometer 52 for measuring the wind direction and wind speed over the ocean, a GPS receiving antenna 53 for receiving a signal from a GPS satellite and detecting the coordinate position of the stop buoy 11, a ground base station, A transmission / reception antenna 19 for transmitting / receiving measurement data, position data, and operation signals is provided. A solar cell panel 18 is provided on the outer surface of the observation room 14 or the tower structure 15.

  Further, the observation room 14 has an observation device 17 with a transmitter / receiver that receives measurement data from a sea surface displacement detector 24 provided in the floating buoy 21, a buoy stop device 41 that stops the stop buoy 11 in a certain sea area, GPS A GPS receiver 54 that receives a signal from a satellite via a GPS receiving antenna 53 and detects its own position, an azimuth meter 55 that measures the direction of the stationary buoy 11, and an inclinometer 56 that measures the inclination angle of the stationary buoy 11 are provided. Has been.

  Further, in the middle portion of the tail tube 13, a propeller-type power generation water wheel 36 a in which a plurality of fins rotatably provided around the axis of the tail tube 13 is rotated by a tidal current, a power storage device (battery) 38, and the like. A ballast weight 39 for lowering the center of gravity of the stopping buoy 11 is provided. A propulsion device 31 controlled by a buoy stop device 41 is provided at the lower end of the tail cylinder 13. The ballast weight 39 is for suppressing the inclination of the stationary buoy 11 due to the thrust of the propulsion device 31 by lowering the center of gravity G of the stationary buoy 11 downward.

(Propulsion device)
The propulsion device 31 includes a thruster device 32 that is a thrust generating device, and a power supply device 33 that supplies driving power to the thruster device 32. The thruster device 32 includes a steering unit 34 and a drive unit 35. The steering unit 34 is provided with a steering motor 34a with a speed reducer that rotates the thruster duct 35a around a vertical axis via a steering shaft 34b. The drive unit 35 is provided with a propulsion motor 35b that rotationally drives the screw 35c within the thruster duct 35a.

  The power supply device 33 includes a hydroelectric power generation unit 36, a solar power generation unit 37, and a power storage device 38, and the solar power generation unit 37 is configured by the solar cell panel 18. Further, the hydroelectric power generation unit 36 is configured to generate electric power by rotationally driving the generator 36d through the rotating shaft 36b and the speed increasing gear device 36c by the rotational power obtained from the power generation water turbine 36a. Then, the electric power obtained by the generator 36 d and the solar cell panel 18 is stored in the power storage device 38.

  With the above configuration, electric power is supplied from the power storage device 38 to the propulsion motor 35b and the steering motor 34a to rotate the screw 35c, and the direction of the thruster duct 35a is controlled so that the stationary buoy 11 is in a predetermined direction. Promoted. Here, in addition to the stationary buoy 11, wave-making resistance and propulsion resistance of two measurement floating bodies 22 to be described later increase, but the effective horsepower of the thruster device 32 is sufficiently secured to obtain a large propulsive force. ing.

(Buoy stop device)
As shown in FIG. 3, the buoy stop device 41 includes a subtractor 42, a feedback calculator 43, a feedforward calculator 44, an adder 45, a command thrust limiter 46, a command operation amount calculator 47, and a steering operation unit 48. And a propulsion operating section 49.

In the subtractor 42, as shown in FIG. 4, in the plane rectangular coordinate system (x, y coordinates), the preset target positions x _r , y _r and the position coordinates x, y measured by the GPS receiver 54 are used. Position deviations x _e and y _e are obtained.

As shown in FIG. 5, the feedback calculation unit 43 converts the positional deviations x _e and y _e of the plane rectangular coordinate system into a buoy fixed coordinate system (X, Y coordinates) based on the measurement value of the azimuth meter 55. In the fixed coordinate system (X, Y), control command thrusts Tx, Ty for canceling the position deviations x _e , y _e by PID control are obtained.

For example, when the control command thrust in the X-axis direction in the buoy fixed coordinate system is Tx and the control command thrust in the Y-axis direction is Ty,
Tx = Kp · x _e + Ki∫x _e dt + Kd · dx _e / dt
Ty = Kp · y _e + K _i ∫e dt + Kd · dy _e / dt.
Here, xe: deviation, ye: deviation, Kp: proportional gain, Ki: integral gain, Kd: differential gain.

  The feedforward calculation unit 44 obtains a steady external force from the measured values of the wind direction and wind speed measured by the wind direction and anemometer 52, and the measured values of the tidal current and flow velocity measured by the flow direction and anemometer 51, A feedforward control thrust that cancels the steady external force is calculated.

The adder 45 adds the control command thrusts Tx and Ty of the feedback calculation unit 43 and the feedforward control thrust of the feedforward calculation unit 44 to obtain the command thrust.
In the command thrust limiter 46, as shown in FIGS. 6A and 6C, if the thruster device 32 is suddenly raised or lowered, the thruster device 32 may be damaged. b) As shown in (d), in order to protect the thruster device 32, a limit command thrust is obtained by limiting the rate of change to the command thrust. The maximum change rates α1 and α2 allowed here vary depending on the specifications of the thruster device 32. In addition, as shown in FIG. 7, the command thrust limiter 46 reduces the output value of the limit command thrust to 0 when the input value is very small in order to save power consumption and suppress frequent changes in the command azimuth. Dead zones β1 and β2 are provided.

  The command operation amount calculation unit 47 obtains the steering angle and rotation speed of the thruster device 32 from the limit command thrust value of the command thrust limiter 46. A propulsion command signal is output from the propulsion operation unit 49 to the propulsion motor 35b based on the rotational speed obtained by the command operation amount calculation unit 47. Further, based on the steering angle obtained by the command operation amount calculation unit 47, a steering command signal is output from the steering operation unit 48 to the steering motor 34a.

Accordingly, in the stationary buoy 11 floating in a predetermined sea area, the current position coordinates x and y are measured at regular intervals by the GPS receiver 54, and in the buoy stationary device 41, the target position x _r , Position deviations x _e and y _e are obtained from _yr and current position coordinates x and y. Then, the control command thrusts Tx, Ty are obtained from the position deviations x _e , y _e , and the feedforward control thrust for canceling the steady external force obtained from the wind direction / anemometer 52 and the flow direction / velocimeter 51, and the control command thrust The command thrust is obtained from Tx and Ty. Further, the command thrust is subjected to a rate of change restriction, and the limit command thrust is obtained by excluding the dead zones β1 and β2 with respect to the minute input value. Further, the steering angle and the rotational speed of the thruster device 32 are obtained from the limit command thrust value, a propulsion command signal is output from the propulsion operation unit 49 to the propulsion motor 35b, and the steering motor 34a is operated from the steering operation unit 48. The steering command signal is output to Stationary buoy 11 thereby propulsion device 31 is controlled drive, the target position x _r, is stationary in a predetermined sea area around the y _r.

(Loose buoy and wave height detector)
When the stationary buoy 11 has a simple shape and is not affected by the eddy current, the response characteristic to the wave is linear, and an accurate wave height can be obtained by correction. However, since the stop buoy 11 is provided with the thruster device 32 and the power generation water turbine 36a on the tail cylinder 13, it has a structure in which eddy currents are likely to occur. Due to the influence of this eddy current, the stationary buoy 11 moves non-linearly, and it may be difficult to grasp the response characteristic to the wave and to correct it. When the sea level displacement detector 24 is installed directly in the observation room 14, There is a possibility that an accurate wave height cannot be detected.

  For this reason, in the present invention, a floating buoy 21 that can be moved up and down and tilted is provided on the stationary buoy 11, and a sea level displacement detector 24 is provided via a measurement floating body 22 of the floating buoy 21. That is, as shown in FIGS. 8 to 11, the floating buoy 21 includes a pair of floating guide holes 26 that are horizontally penetrating in the vicinity of the buoy body 12 above the draft, and float on the sea surface on both sides of the buoy body 12. The measurement floating bodies 22 are arranged, and these measurement floating bodies 22 are connected to each other by a frame bar 23 that is loosely fitted in the elevation guide hole 26 so as to be movable up and down and tilted. Each measurement floating body 22 is provided with a sea level displacement detector 24 with a transmitter for detecting the sea level displacement.

  Around the opening of the elevating guide hole 26 of the buoy main body 12, in order to buffer the impact caused by the contact with the measurement floating body 22, a buffer fender 27 made of synthetic rubber or the like is attached. The anchor member 27 prevents damage caused by the collision between the buoy main body 12 and the measurement floating body 22 and also buffers the impact on the sea surface displacement detection unit 24 to prevent noise from being mixed into measurement data. The fender member 27 may be attached to the measurement floating body 22 or may be attached to both the buoy body 12 and the measurement floating body 22.

  The measurement floating bodies 22 have the same shape and the same buoyancy. For example, the measurement float 22 is formed in a spherical shape as shown in the figure, and the shell is hollow or filled with a buoyancy imparting material such as a foamed resin. The sea surface displacement detection unit 24 is provided in a watertight state at each buoyant position of the measurement floating body 22 and is capable of transmitting measurement data to the observation device 17. Further, the frame bar 23 is formed of a hollow and hermetically sealed metal, for example, and the upper parts of the two measurement floating bodies 22 are connected and fixed to each other, so that the frame bar 23 is free from the influence of incident waves. It is arranged at a position above the water line by a predetermined distance. A floating center g of the floating buoy 21 is located near the lower position of the center position of the frame bar 23. The measurement floating body 22 may have any shape other than a sphere, such as a cylindrical body, and may have as little influence as possible from incident waves, and the shape is not limited.

  The elevating guide hole 26 is formed at the center of the buoy body 12 at a height GH at which the frame bar 23 can be raised and lowered at equal intervals above and below the frame bar 23 of the floating buoy 21. Inclined surfaces 26u and 26d that gradually spread upward and downward at a predetermined inclination angle θ are formed on the surface and the bottom surface from the central portion toward the opening portion, respectively, to allow the frame bar 23 to be raised and lowered. Note that the height of the elevating guide hole 26: GH and the inclination angle θ of the inclined surfaces 26u, 26d are set so that the displacement is sufficiently allowed when these phase differences and amplitude differences occur.

  Thus, regardless of the inclination or behavior of the stationary buoy 11 due to eddy current or the like, the measurement floating bodies 22 are moved up and down with high accuracy following the wavefront ascent and lift, and the sea level displacement measuring unit 24 built in the measurement floating body 22 The sea level elevation (wave height) can be detected with high accuracy.

  Each of the sea surface displacement detection units 24 includes a transmitter that transmits measurement data to the observation device 17 in the observation room 14. When this sea level displacement detector 24 is composed of a GPS receiver and transmitter, the sea level detector 24 transmits measurement data obtained from radio waves received from GPS artificial satellites to the observation device 17 for observation. The data is transmitted from the device 17 to the ground base station via the transmission / reception antenna 19. When the sea level displacement detection unit 24 includes an accelerometer that detects the acceleration of the measurement floating body 22 and a transmitter, the acceleration data measured by the sea level displacement detection unit 24 is transmitted to the observation device 17. Along with the measurement data obtained from the radio wave received from the GPS satellite by the provided GPS receiver, the data is transmitted from the observation device 17 to the ground base station via the transmission / reception antenna 19. The ground base station processes the received reception data, and calculates the incident wave height from the period and amplitude of the linear motion (heave) and the turning motion (pitch) of the measurement floating body 22.

(Promotion posture)
At the start of propulsion, the stationary buoy 11 and the idle buoy 21 turn due to the difference in resistance between the two measurement floating bodies 22, but the buoy stationary device 41 controls the steering unit 34 based on the detected value of the azimuth meter 55. The measurement floating bodies 22 are disposed on both the left and right sides with respect to the propulsion direction, and are propelled in a posture in which the propulsion resistance and the wave-making resistance are equal on the left and right.

  Further, due to the thrust of the thruster device 32, a moment about the center of gravity G acts on the stationary buoy 11 and the stationary buoy 11 is inclined. In the floating buoy 21 at this time, there is a possibility that the frame bar 23 slides on the inner surface of the lifting guide hole 26. However, since the sliding resistance is very small, the influence on the lifting of the measurement floating body 22 is very small. Furthermore, the inclination of the stationary buoy 11 is measured by an inclinometer 56 installed in the observation room 14 and corrected in consideration of the response characteristics of the stationary buoy 11 in an inclined posture with respect to waves and the response characteristics of the measurement floating body 22. You can also.

(Effect of embodiment)
According to the above configuration, the buoy stop device 41 receives a signal from a GPS satellite by the GPS receiver, measures the position of the stop buoy 11, drives the propulsion device 31, and directs the stop buoy 11 to the target position. Since the buoy for observation is pulled by the mooring line at the movement limit, the shaking is not suppressed as in the conventional case. Therefore, an accurate incident wave height can be measured by the observation device 17.

  Moreover, the solar power generation part 37 which consists of the solar cell panel 18, and the hydraulic power generation part 36 which has the water turbine 36a for electric power generation are provided, the thruster apparatus 32 is driven with these own electric power, and the stop buoy 11 is turned to the target position. It can be propelled and stopped well in a predetermined sea area.

  Further, the power generation turbine 36a provided in the middle part of the transition piece 13 can efficiently generate power using the tidal current, and the thruster device 32 provided at the lower end part of the transition piece 13 changes the propulsion direction. It can be freely controlled.

  Furthermore, the frame bar 23 is held in the lift guide hole 26 formed in the buoy main body 12 so that the frame bar 23 can be moved up and down and tilted, and measurement floats 22 are provided at both ends of the frame bar 23, respectively. Since the unit 24 is provided, the sea level displacement detection unit 24 can detect the incident wave height with high accuracy by making the measurement floating body 22 follow the fluctuation of the wave front well without being influenced by the behavior of the stationary buoy 11. .

  In the above embodiment, the sea surface displacement detector 24 is provided in the measurement floating body 22. However, when the response characteristic to the wave of the stationary buoy 11 due to the eddy current can be easily grasped and corrected, the floating buoy 21 is eliminated. The sea level displacement detector 24 may be provided in the observation room 14.

Further, as a structure in which the stationary buoy 11 does not have the tail cylinder 13, the propulsion device 31 and the power generation water turbine 32 can be provided in the buoy main body 12.
Further, as shown in FIG. 12, the thrust generating device is replaced by a thruster device 32 provided at the lower end portion of the transition piece 13, and a pair of left and right airfoils at symmetrical positions corresponding to the center of gravity G at the lower portion of the buoy body 12. The support body 62 is projected in the horizontal direction, and a pod type propulsion device 61 capable of turning around the vertical axis by the steering portion 61a is installed in the vicinity of the horizontal plane including the center of gravity G. Thus, the inclination of the stationary buoy 11 due to thrust can be prevented. The pod type propulsion device 61 is provided with a propeller 61c integrally with an output shaft of a spindle type propulsion drive motor 61b.

  Furthermore, as shown in FIG. 13, the thrust generating device can be configured by a water jet type propulsion device 71. In this case, the water intake 72 is opened at the bottom of the buoy main body 12, and the discharge ports 73 communicating with the water intake 72 at four positions every 90 ° are formed around the bottom of the buoy main body 12. The water pump 71a and the variable discharge duct 71b are provided respectively, and the discharge duct 71b can be swung in a range of a steering angle α exceeding 90 ° by a steering device (not shown) so that the discharge direction can be changed. By starting and stopping 71a, the propulsion direction of the stationary buoy 11 can be arbitrarily set.

Further, the thrust direction can be controlled by providing a steering ladder (steering plate) in the thruster device 32, the pod type propulsion unit 61, and the water jet type propulsion unit 71.
The power generation water turbine 36a of the hydroelectric power generation unit 36 has a propeller shape. However, as shown in FIG. 12, a plurality of arms 83 projecting in a symmetric direction from the rotating shaft portion 82, and a spherical shape at the tip of each arm 83. Alternatively, a drag turbine type power generation turbine 81 having a cylindrical surface-shaped wing body 84 may be used.

Incidentally, in the above embodiment, the center target position x _r of a predetermined sea area to be observed _has been set in advance and y _r, and operation signals of the target position from the ground base station and maintenance ship, due equipped with timer By changing the target position to, for example, another sea area, the observation buoy can be automatically moved to the maintenance sea area or the observation sea area can be changed.

1 is a perspective view showing an embodiment of a tsunami / wave observation buoy according to the present invention. FIG. It is a block diagram of a tsunami / wave observation buoy. It is a block diagram which shows a buoy stop apparatus. It is explanatory drawing of position holding control by a buoy stop apparatus. It is explanatory drawing of the coordinate system in the feedback control part of a buoy stop apparatus. The change restriction | limiting in the command thrust limiting part of a buoy stop apparatus is shown, (a) is the graph of the positive direction (output increase direction) when not restrict | limiting, (b) is the graph of the positive direction when restrict | limited, (c) is a restriction | limiting. A graph in the negative direction (output decreasing direction) when not limiting, and (d) is a graph in the output decreasing direction when limiting. It is a graph explaining the dead zone in the command thrust limiting part of a buoy stop device. It is a front view which shows the raising / lowering guide hole of a buoy main body. It is plane sectional drawing which shows the raising / lowering guide hole of a buoy main body. It is a partial longitudinal cross-sectional view which shows the raising / lowering guide hole of a buoy main body, and demonstrates the linear oscillation (heave) of a floating buoy. FIG. 5 is a partial vertical cross-sectional view illustrating the lifting guide hole of the buoy body and illustrating the turning movement (pitch) of the floating buoy. It is a perspective view which shows other embodiment which uses a pod type propulsion unit for a propulsion drive part, and uses a water turbine for power generation of a drag turbine type for a hydroelectric power generation part. An embodiment in which a water jet type propulsion device is used for a propulsion drive unit is shown, (a) is a longitudinal sectional view, and (b) is an AA sectional view shown in (a). It is explanatory drawing explaining the fluctuation of the conventional floating body or observation buoy, (a) shows the observation buoy in a normal state, (b) shows the observation buoy where the mooring line is in the extension limit by the tidal current, (c ) Indicates the sway of the floating body.

Explanation of symbols

G Center of gravity 11 Stop buoy 12 Buoy body 13 Obstacle 14 Observation room 15 Tower structure 17 Observation device 18 Solar panel 19 Transmitting / receiving antenna 21 Floating buoy 22 Measurement floating body 23 Frame bar 24 Sea surface displacement detection unit 31 Propulsion device 32 Thruster device 33 Power unit 34 Steering unit 35 Drive unit 36 Hydroelectric power generation unit 36a Power generation turbine 37 Solar power generation unit 38 Power storage device 41 Buoy stop device 51 Flow direction / velocimeter 52 Wind direction / velocimeter 53 GPS reception antenna 54 GPS receiver 55 Direction meter

Claims (4)

A tsunami / wave observation buoy equipped with an observation device for tsunami and / or wave observation,
Providing a buoy stopping device that propels the buoy body by a propulsion device and stops the buoy body in a predetermined sea area,
The buoy stopping device is configured to control the propulsion device to stop the buoy main body in a predetermined sea area based on a position deviation between a position of the buoy main body detected by the GPS receiver and a target position. A tsunami / wave observation buoy characterized by this. The propulsion device includes a thrust generator whose propulsion direction and thrust are controlled by a buoy stop device, and a power supply device that supplies driving power to the thrust generator,
2. The tsunami / wave observation buoy according to claim 1, wherein the power supply device includes at least one of a solar power generation device having a solar battery panel and a hydroelectric power generation device having a power generation turbine rotated by a tidal current. . The buoy body is provided with a tail tube suspended from the bottom center,
The thrust generating device is constituted by a thruster device, and the thruster device is arranged at the lower end of the tail cylinder,
The tsunami / wave observation buoy according to claim 2, wherein a power generation water turbine is rotatably disposed around an axis of the tail cylinder at an intermediate portion of the tail cylinder. The buoy body is provided with a floating buoy that can be moved up and down and tilted,
The floating buoy includes a frame bar that is vertically and tiltably fitted in an elevating guide hole that penetrates the buoy body in the horizontal direction, and a measurement floating body that is attached to both ends of the frame bar and floats on both sides of the buoy body. And consists of
The tsunami / wave observation buoy according to any one of claims 1 to 3, wherein each of the measurement floating bodies is provided with a sea surface displacement detection unit capable of detecting the displacement of the measurement floating body.

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