A marine buoy and a control method thereof

Abstract

The application discloses a kind of ocean buoy and its control method, belong to marine engineering equipment technical field.The buoy includes buoy shell, eccentric pendulum, hybrid power generation system, active locking mechanism and adaptive control system.Hybrid power generation system contains electromagnetic generator branch and friction nanometer generator branch, and is driven by eccentric pendulum swing;Active locking mechanism contains micro linear electric push rod and limit hole;Adaptive control system monitors wave energy flow density in real time, controls switch on-off and locking mechanism action, switches four kinds of working modes.The application eliminates low sea state power supply dead zone, considers power supply efficiency and extreme working condition safety, widens wave energy response band, and improves buoy operation reliability.

Description

Technical Field

[0001] This invention relates to the field of marine engineering equipment technology, specifically to the field of marine buoy technology, and more particularly to a marine buoy and its control method. Background Technology

[0002] Ocean buoys are crucial maritime equipment for marine environmental monitoring, marine resource development, and marine security. Deployed long-term in nearshore or offshore areas, they undertake key tasks such as hydrological and meteorological observation, water quality monitoring, and marine disaster early warning. Due to their long-term unattended operation and maintenance difficulties, a stable and reliable self-powered supply is a core prerequisite for their continuous operation.

[0003] Currently, ocean buoys are primarily powered by disposable chemical batteries, solar panels, or wave energy generators. Disposable chemical batteries have short lifespans, high replacement costs, and their disposal can easily cause marine pollution. Solar power is greatly affected by day / night cycles and weather conditions, with unstable power supply at night or on cloudy or rainy days, making it difficult to meet the needs of long-term continuous monitoring. Therefore, wave energy self-powered systems have become the preferred solution for long-term, highly reliable ocean buoys.

[0004] Existing wave-energy self-powered buoys mostly use a single electromagnetic power generation structure, which has obvious shortcomings: the inherent cogging torque and electromagnetic damping of the electromagnetic generator result in a high system start-up threshold, making it difficult for the pendulum to start oscillating in low sea states, resulting in a significant "power generation dead zone" and an inability to provide continuous power to the buoy; the energy conversion efficiency is low under normal sea states, making it difficult to balance power supply and device size; and in high-energy or extreme sea states, there is a lack of active protection mechanisms, causing the pendulum to swing violently or even impact the buoy hull, resulting in structural damage and electrical failures, which seriously affect the buoy's survivability and service life.

[0005] To address the shortcomings of single electromagnetic power generation, the industry has proposed an electromagnetic-triboelectric nanocomposite power generation scheme. Patent CN119696403B discloses a wave-self-regulating bistable electromagnetic-triboelectric nanocomposite power generation device, attempting to improve low-energy capture capabilities through composite power generation. However, this scheme still has significant drawbacks: First, it employs passive mechanical regulation, relying on mechanical structures such as pistons and leaf springs, which limits the adjustment range and flexibility, making it unable to actively switch operating modes according to real-time sea conditions and difficult to adapt to multi-frequency wave inputs; second, it lacks mechanical lock-up protection for extreme sea conditions, making the pendulum prone to loss of control in severe weather, posing a risk of structural damage; third, the triboelectric power generation part uses a sliding friction design, resulting in high mechanical damping, rapid material wear, and poor long-term operational reliability, failing to meet the requirements for long-term maintenance-free buoy operation.

[0006] In summary, existing wave-energy self-powered buoys generally suffer from problems such as power outages in low sea states, poor sea state adaptability, lack of protection under extreme conditions, and insufficient long-term reliability. They struggle to balance high capture efficiency, wide-band response, and structural safety, thus hindering the large-scale application of marine buoys. Therefore, there is an urgent need for a self-powered marine buoy system that can actively adapt to multiple sea states, eliminate low-energy dead zones, and combine high-efficiency power generation with safety protection under extreme conditions. Summary of the Invention

[0007] This invention aims to provide a marine buoy and its control method, solving the technical problems of existing wave-powered self-powered buoys, such as power supply dead zone in low sea states, poor sea state adaptability, lack of protection in extreme conditions, and insufficient long-term reliability. By synergistically enhancing the effects of electromagnetic damping active unloading and pure rolling drag reduction, the power supply dead zone in low sea states is eliminated. Combined with adaptive multi-mode switching and electromechanical linkage lock-up protection, wide-frequency response, high-efficiency power generation, and safe and reliable operation in extreme conditions are achieved.

[0008] The technical solution adopted in this invention is as follows: An ocean buoy includes: a buoy shell; an eccentric pendulum oscillatingly mounted within the buoy shell; a hybrid power generation system disposed within the buoy shell, comprising an electromagnetic generator branch and a triboelectric nanogenerator branch, wherein the oscillation of the eccentric pendulum drives the electromagnetic generator branch and the triboelectric nanogenerator branch; the triboelectric nanogenerator branch includes an arc-shaped annular guide rail and multiple sets of balls that can roll along the arc-shaped annular guide rail; an active locking mechanism including a miniature linear electric actuator and a limiting hole, the miniature linear electric actuator being connected to a connecting rod of the eccentric pendulum, and the limiting hole being formed on a base surface fixed relative to the buoy shell; and an adaptive control system including an inertial measurement unit, a microcontroller, a first controlled switch connected in series at the rear end of the electromagnetic generator branch, and a second controlled switch connected in series at the rear end of the triboelectric nanogenerator branch; the microcontroller controls the on / off state of the first and second controlled switches based on wave data collected by the inertial measurement unit, and controls the operation of the active locking mechanism.

[0009] Furthermore, the electromagnetic generator branch includes a magnetic gear composite motor, which has an outer rotor that is coaxially coupled to the shaft of the eccentric pendulum.

[0010] Furthermore, the magnetic gear composite motor also includes a central stator, a central high-speed rotor, an inner rotor, and a magnetic adjustment ring; the outer rotor is driven to rotate by the eccentric pendulum, and the magnetic adjustment ring is disposed between the outer rotor and the inner rotor. When the outer rotor rotates, the inner rotor and the central high-speed rotor are driven to rotate at an increased speed by magnetic field modulation, and the central high-speed rotor and the central stator generate relative motion to generate electricity.

[0011] Furthermore, each of the multiple sets of balls is covered with a dielectric layer, and staggered electrodes are arranged on the arc-shaped annular guide rail; the balls roll purely along the arc-shaped annular guide rail under the drive of the eccentric pendulum, so that the dielectric layer and the staggered electrodes make periodic contact and separation to generate electricity.

[0012] Furthermore, the actuator of the miniature linear electric actuator is a pin; when the adaptive control system issues a lock command, the miniature linear electric actuator drives the pin to extend along the guide tube and push into the limiting hole, thereby restricting the rotational degree of freedom of the eccentric pendulum.

[0013] Furthermore, the limiting hole is a plurality of independent blind holes evenly distributed along the ring, and the pin is embedded in one of the independent blind holes under the guidance of the eccentric pendulum rotation.

[0014] Furthermore, the microcontroller will use the wave energy flux density collected by the inertial measurement unit. , and the preset low energy threshold Conventional threshold High energy threshold The comparison is performed, and the power generation mode is switched based on the comparison results.

[0015] Furthermore, the microcontroller is configured as follows: when When the second controlled switch is closed and the first controlled switch is open, only the triboelectric nanogenerator branch operates; when When both the first and second controlled switches are closed, the electromagnetic generator branch and the triboelectric nanogenerator branch work simultaneously. when When the first controlled switch is closed and the second controlled switch is open, only the electromagnetic generator branch works; when When the first and second controlled switches are disconnected, the active locking mechanism is driven to lock the eccentric pendulum.

[0016] A control method for an ocean buoy, applied to the ocean buoy, includes: acquiring wave energy flux density collected in real time by an inertial measurement unit.

[0017] when At that time, the triboelectric nanogenerator branch is activated while the electromagnetic generator branch is deactivated; when At the same time, the triboelectric nanogenerator branch and the electromagnetic generator branch are controlled to work simultaneously; when At that time, the electromagnetic generator branch operates, and the triboelectric nanogenerator branch disconnects; when At that time, both the control electromagnetic generator branch and the triboelectric nanogenerator branch are disconnected, and the active locking mechanism is driven to lock the eccentric pendulum.

[0018] Furthermore, when the control electromagnetic generator branch is disconnected, the electromagnetic damping of the magnetic gear composite motor is unloaded, reducing the eccentric pendulum oscillation threshold; when the control triboelectric nanogenerator branch is disconnected, the dielectric layer outside the ball is protected from overload breakdown.

[0019] The beneficial effects of this invention are as follows: (1) The buoy of this invention adopts an electromagnetic-triboelectric nanogenerator hybrid acquisition architecture and an adaptive control system based on an inertial measurement unit, realizing active multi-mode switching under multiple sea states, significantly broadening the wave energy response frequency band, and completely eliminating the "power generation dead zone" in low sea states. In the start-up mode, the electromagnetic generator branch is actively disconnected to unload the cogging torque and electromagnetic damping. At the same time, the triboelectric nanogenerator branch uses multiple sets of rolling balls coated with dielectric layers to roll purely along the circular guide rail on the arc surface, changing sliding friction into rolling friction, greatly reducing mechanical damping, significantly reducing the overall oscillation threshold, and ensuring that the pendulum can still oscillate and generate electricity normally under low-frequency sea states. The two drag reduction methods produce a synergistic effect, and the drag reduction magnitude is far greater than the effect of using either measure alone. This is something that existing technologies and other schemes that rely on mechanical passive adjustment have never revealed or anticipated. Under normal sea states, the electromagnetic generator branch and the triboelectric nanogenerator branch generate electricity in parallel and in combination, maximizing energy output.

[0020] (2) The buoy of this invention achieves active switching protection of the triboelectric nanogenerator branch through an adaptive control system, effectively avoiding the risk of overload breakdown of dielectric materials under high-energy sea conditions and significantly extending the effective working life of the triboelectric nanogenerator. In high-energy mode, the system actively disconnects the triboelectric nanogenerator branch, allowing the accumulated charge inside to be discharged in a controllable manner, avoiding rapid aging and breakdown of dielectric materials under the dual stress of high voltage and strong mechanical impact. The life extension effect brought about by this active protection strategy cannot be achieved by existing passive mechanical adjustment schemes. At the same time, the high- and low-voltage isolated energy storage branch design is matched with the different output characteristics of the electromagnetic generator and the triboelectric nanogenerator, respectively, improving the overall energy conversion efficiency and electrical safety.

[0021] (3) The buoy of the present invention is equipped with an active locking mechanism consisting of a miniature linear electric push rod and a limiting hole, which is completely disconnected from the circuit to form an electromechanical linkage protection mechanism. Under extreme sea conditions such as strong winds or typhoons, the pendulum can be reliably locked to prevent the pendulum from crashing out of control and causing damage to the internal structure of the buoy, thus ensuring the structural safety of the device under survival conditions. The electromechanical linkage protection also produces unexpected technical effects: after the pendulum is locked, the outer rotor of the magnetic gear composite motor stops rotating, avoiding the risk of overheating of the device and demagnetization of the permanent magnet caused by the high-speed rotor running under no-load; after all circuits are cut off, even if the buoy shell is flooded or the electrical interface is damaged, no short-circuit current or electrolytic corrosion will be generated, thus maximizing the electrical safety of the device. The prior art does not have any mechanical locking and circuit cutting mechanism under extreme sea conditions, and cannot achieve the above-mentioned electromechanical linkage protection effect.

[0022] (4) The buoy device of the present invention has a compact structure and a high degree of modularity. The electromagnetic generator branch adopts a non-contact magnetic speed-increasing mechanism of a magnetic gear composite motor, which avoids the friction loss and failure risk caused by traditional mechanical gear speed-increasing. The triboelectric nanogenerator branch adopts a rolling independent energy harvesting module, which has low frictional damping, low material wear, and long maintenance-free life. The overall device can flexibly configure the capacity parameters of each branch according to the wave conditions of different deployment sea areas, which has strong adaptability and good engineering application prospects. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of the marine buoy of the present invention; Figure 2 This is a three-dimensional structural diagram of the triboelectric nanogenerator of the present invention; Figure 3 This is a partial enlarged view of the triboelectric nanogenerator of the present invention; Figure 4 This is a schematic diagram of the magnetic gear composite motor structure of the present invention; Figure 5 This is a schematic diagram of the active locking mechanism of the present invention; Figure 6 This is a circuit schematic diagram of the adaptive control system of the present invention; Figure 7 This is a block diagram illustrating the working principle of the adaptive control of this invention.

[0024] The markings on the components in the attached diagram are explained below: 1-Buoy hull; 2-Magnetic gear composite motor; 3-Triboelectric nanogenerator; 4-Miniature linear electric actuator; 5-Control module; 6-Eccentric pendulum; 7-Pendulum connecting rod; 8-Arc-shaped annular guide rail; 9-Hemispherical inner liner; 10-Ball bearing; 11-Central stator; 12-Central high-speed rotor; 13-Inner rotor; 14-Magnetic adjusting ring; 15-Outer rotor; 16-Guide tube; 17-Pin; 18-Limiting hole. Detailed Implementation

[0025] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0026] This invention proposes a marine buoy and its control method.

[0027] In one embodiment of the present invention, such as Figure 1 As shown, the marine buoy proposed in this invention mainly consists of a buoy shell 1, a magnetic gear composite motor 2, a triboelectric nanogenerator 3, a miniature linear electric actuator 4, and a control module 5. The buoy shell 1 has an elliptical structure, floats on the water surface, and sways with the waves; the magnetic gear composite generator 2, the triboelectric nanogenerator 3, and the active locking mechanism are installed on the internal fixed base; the control module 5 is deployed on the upper surface inside the buoy shell 1 to realize data acquisition, mode control, and locking drive.

[0028] The mechanical energy acquisition system, used to capture wave energy and convert it into mechanical energy, mainly includes a buoy hull 1 and an eccentric pendulum 6. The eccentric pendulum 6 is mounted on the outer rotor 15 of the magnetic gear composite motor 2 and can oscillate at a low frequency around its axis under the excitation of external waves, serving as the initial mechanical energy input source for the system. The buoy hull 1, with its elliptical structure, floats on the water surface and sways with the rise and fall of the waves, thereby driving the internal eccentric pendulum 6 to oscillate. When waves act on the buoy hull 1, the buoy hull 1 undergoes pitching and rolling motions with the waves, and the eccentric pendulum 6 oscillates back and forth around its axis under the combined action of gravity and inertia, converting the kinetic energy of the waves into the mechanical kinetic energy of the pendulum.

[0029] The hybrid power generation system converts the mechanical energy of the eccentric pendulum 6 into electrical energy, comprising two parallel energy conversion channels: an electromagnetic generator branch and a triboelectric nanogenerator branch. The electromagnetic generator branch uses a magnetic gear composite motor 2 for power generation, while the triboelectric nanogenerator branch uses a triboelectric nanogenerator device 3. Both branches are driven by the oscillation of the eccentric pendulum 6, but employ different energy conversion mechanisms to adapt to wave excitation of different frequencies and amplitudes.

[0030] Reference Figure 4The magnetic gear composite motor 2 is the core component of the electromagnetic generator branch. This magnetic gear composite motor 2 employs a non-contact magnetic speed-up mechanism. Internally, from the inside out, it comprises a central stator 11, a central high-speed rotor 12, an inner rotor 13, a magnetic adjustment ring 14, and an outer rotor 15. The central stator 11 has slots on its iron core, with coil windings for inducing electromotive force embedded inside, fixed to the central shaft. The central high-speed rotor 12 consists of two sets of magnetic arc segments with opposite magnetic properties. Inside the inner rotor 13 is the inner rotor core, with four sets of magnetic arc segments with opposite magnetic properties fixed to this core. The magnetic adjustment ring 14 is located between the outer rotor 15 and the inner rotor 13, fixed to the magnetic gear housing, and has small gaps between it and both the inner and outer rotors to achieve a magnetic field modulation effect. Outside the outer rotor 15 is the outer rotor core, with multiple sets of magnetic arc segments with opposite magnetic properties fixed to this core. The outer rotor core is directly and rigidly connected to the eccentric pendulum 6 via the pendulum connecting rod 7, so that the movement of the eccentric pendulum 6 directly drives the outer rotor 15 to rotate synchronously.

[0031] When the eccentric pendulum 6 oscillates under the action of waves, it drives the outer rotor 15 to rotate together. Under the magnetic field modulation of the adjusting ring 14, the low-speed rotation of the outer rotor 15 is converted into the high-speed rotation of the inner rotor 13 and the central high-speed rotor 12. The central high-speed rotor 12 generates high-speed relative motion with the central stator 11, cutting magnetic field lines, thereby inducing three-phase alternating current in the windings of the central stator 11. This magnetic gear composite structure realizes non-contact magnetic speed increase, avoiding the friction loss, noise and mechanical failure risks caused by traditional mechanical gear speed increase mechanisms, and improving the reliability and energy conversion efficiency of the system. The low-speed rotor of the magnetic gear composite motor 2, namely the outer rotor 15, is coaxially coupled with the shaft of the eccentric pendulum 6, and high-energy-density power generation is directly achieved through the internal non-contact magnetic speed increase mechanism.

[0032] Reference Figure 2 and Figure 3The triboelectric nanogenerator branch includes a triboelectric nanogenerator device 3. This device 3 is deployed on a platform inside the buoy shell 1 and mainly includes an eccentric pendulum 6, a pendulum connecting rod 7, an arc-shaped annular guide rail 8, a hemispherical inner liner 9, and balls 10. The arc-shaped annular guide rail 8 is a structure with an arc-shaped surface and is fixedly installed on the platform inside the buoy shell 1. The eccentric pendulum 6, through the pendulum connecting rod 7, forms a rotating body that can rotate around the Z-axis of the buoy. The triboelectric nanogenerator device 3, from top to bottom, mainly consists of the hemispherical inner liner 9, balls 10, and the arc-shaped annular guide rail 8, and all of these components are coaxially installed along the same central axis. The eccentric pendulum 6 serves as an inertial device, with the pendulum connecting rod 7 serving as the input shaft. Multiple sets of balls 10 are provided on the bottom surface of the eccentric pendulum 6. The balls 10 are made of polytetrafluoroethylene (PTFE) and their surfaces are coated with a dielectric layer. The arc-shaped annular guide rail 8 is made of a nylon film, on which staggered electrodes are arranged. As the eccentric pendulum 6 swings back and forth, the ball bearing 10 also rolls purely within the annular guide rail 8 made of nylon film.

[0033] The triboelectric nanogenerator in this invention employs a rolling mode where multiple sets of dielectric-coated balls 10 roll along an arc-shaped annular guide rail 8. When the balls 10 roll along the annular guide rail 8 under the influence of an eccentric pendulum 6, periodic contact and separation occur between the dielectric layer on the surface of the balls 10 and the staggered electrodes on the annular guide rail 8. Based on the coupling principle of triboelectric charging and electrostatic induction, during contact, the surfaces of the two materials acquire equal amounts of opposite charges due to the triboelectric effect; during separation, electrons flow in the external circuit to balance the potential difference, thereby generating an alternating current. This pure rolling mode resolves the significant mechanical damping and material wear problems present in traditional sliding triboelectric nanogenerators, significantly extending the maintenance-free lifespan of the device. Because the contact between the balls 10 and the annular guide rail 8 is rolling rather than sliding, the frictional resistance is greatly reduced. Even under micro-wave excitation, the eccentric pendulum 6 can easily overcome resistance and oscillate, thus effectively collecting wave energy at low energy flux densities.

[0034] The active locking mechanism is used to protect the internal structure of the device under extreme sea conditions. (Refer to...) Figure 5 The active locking mechanism is mounted on the pendulum connecting rod 7 of the eccentric pendulum 6, and mainly includes a guide tube 16, a pin 17, and a limiting hole 18. A miniature linear electric actuator 4 driven by a micro motor is deployed on the pendulum connecting rod 7. The guide tube 16 is mounted on the pendulum connecting rod 7 to guide the extension and retraction of the pin 17. The pin 17 is the actuating end of the miniature linear electric actuator 4, and its end is a pin structure. The limiting hole 18 is opened inside the buoy housing 1 on the base surface opposite to the pendulum connecting rod 7. An annular groove is opened on this base surface, and the limiting hole 18 is an independent blind hole structure that is evenly distributed along the annular groove and adapted to the shape of the end of the pin 17.

[0035] In extreme sea conditions such as storms, when the adaptive control system issues a lock-up command, the miniature linear electric actuator 4 drives the pin 17 to extend downwards along the guide tube 16. Guided by the rotation of the eccentric pendulum 6, the pin at the end of the pin 17 will naturally embed into a limiting hole 18, forming a fit. At this time, physical shear resistance is generated between the inner wall of the limiting hole 18 and the side of the pin 17, forming a rigid constraint, thereby completely restricting the rotational degree of freedom of the eccentric pendulum 6. This mechanism achieves the locking of the pendulum through this array pin-type limiting method, effectively preventing the pendulum from going out of control under extreme sea conditions and causing impact damage to the internal components of the buoy. When the sea state returns to normal, the adaptive control system can control the miniature linear electric actuator 4 to drive the pin 17 to retract, releasing the lock on the eccentric pendulum 6 and allowing the device to return to normal power generation operation.

[0036] The adaptive control system is used to monitor sea conditions in real time and dynamically switch power generation modes and control the action of the active locking mechanism. (Refer to...) Figure 6 and Figure 7 The adaptive control system mainly includes an inertial measurement unit (IMU), a microcontroller, and a high- and low-voltage isolated energy storage circuit installed inside the buoy hull 1. The IMU is used to acquire the motion attitude data of the buoy hull 1 in real time, including wave energy flux density. Information such as wave period can be collected and used to calculate wave power density. The microcontroller, as the control core, receives data collected by the inertial measurement unit and performs real-time processing and analysis.

[0037] In terms of circuit topology, the adaptive control system also includes a first controlled switch connected in series at the rear end of the electromagnetic generator branch rectifier bridge. and a second controlled switch connected in series at the rear end of the triboelectric nanogenerator branch rectifier bridge Specifically, the alternating current generated by the triboelectric generator module is rectified by a high-voltage rectifier bridge and then switched on. Connecting energy storage capacitors And through the anti-reverse current diode The power is transmitted to the DC-DC step-down module. The three-phase AC power generated by the electromagnetic generator module is rectified by a three-phase rectifier bridge and then switched on. Connect to a storage battery. The main control chip is powered by the battery and outputs control signals to the switches based on the IMU data it reads. ,switch And a motor drive module to execute adaptive control processes.

[0038] The microcontroller dynamically controls the controlled switches connected in series at the rear end of each branch rectifier bridge based on real-time external absolute sea state data monitored by the inertial measurement unit, using sliding time window filtering and parallel state machine logic. The system presets three wave energy flux density thresholds: a low energy flux wave state threshold... Conventional energy flow wave condition threshold and high-energy current wave condition threshold The microcontroller will collect the wave energy flux density in real time. By comparing these thresholds, and executing corresponding control strategies based on the comparison results, the power generation mode can be automatically switched.

[0039] Specifically, the adaptive control system is configured with the following four operating modes: (1) Start-up mode: When the external wave conditions are gentle sea conditions with small amplitude and low frequency, i.e., wave energy flux density satisfy When the conditions are met, the microcontroller outputs a control signal to close the second controlled switch. At the same time, disconnect the first controlled switch. In this mode, the electromagnetic generator branch is completely disconnected, and the electromagnetic reaction torque and cogging torque it generates are completely unloaded, minimizing the starting resistance of the eccentric pendulum 6. The system relies solely on the triboelectric nanogenerator branch to collect weak wave energy, and the ball bearing 10 generates electrical energy by rolling purely along the arc-shaped annular guide rail 8, which is then rectified and stored in a capacitor. This control method completely eliminates the "power generation dead zone" in low sea states, enabling the device to effectively collect energy even under slight waves.

[0040] (2) Mixed mode: When the external wave conditions intensify to normal sea conditions, i.e., wave energy flux density satisfy When the conditions are met, the microcontroller outputs a control signal and simultaneously closes the first controlled switch. Second controlled switch At this point, both the electromagnetic generator branch and the triboelectric nanogenerator branch are operational, with the magnetic gear composite motor 2 and the triboelectric nanogenerator 3 generating power in parallel, achieving dual-energy flow grid-connected hybrid power generation and maximizing energy output. In this mode, wave energy input is sufficient to overcome the starting resistance of the electromagnetic generator branch, while the triboelectric nanogenerator branch can also safely and efficiently collect energy, fully leveraging the advantages of both branches.

[0041] (3) High-energy mode: When the external wave condition further intensifies to a high-energy sea state, i.e., wave energy flux density satisfy When the conditions are met, the microcontroller outputs a control signal to disconnect the second controlled switch. At the same time, maintain the first controlled switch Close. At this point, the high-voltage circuit is disconnected, the triboelectric nanogenerator branch stops working, and only the electromagnetic generator branch outputs high-power electrical energy at full load. This effectively avoids the risk of overload breakdown of the high-voltage dielectric material inside the triboelectric nanogenerator under strong vibration, while ensuring overall energy conversion efficiency, thus improving the electrical reliability of the system.

[0042] (4) Risk avoidance mode: When encountering extreme sea conditions such as storms, i.e., wave energy flux density satisfy When the conditions are met, the microcontroller outputs a control signal and simultaneously disconnects the first controlled switch. Second controlled switch All power generation circuits are completely disconnected to prevent surge current from damaging power devices. Simultaneously, the microcontroller outputs commands to the motor relay module, driving the miniature linear electric actuator 4 to extend the pin 17 downwards, causing it to engage with the limiting hole 18 and rigidly lock the eccentric pendulum 6. Once the action is complete, the system maintains its safety state through mechanical self-locking, ensuring the safety of the internal structure under extreme sea conditions. When the wave energy flow density returns to a safe range, the system can automatically or manually unlock and resume normal operation.

[0043] The present invention also provides a control method for the aforementioned marine buoy. This control method is executed by a microcontroller in an adaptive control system and includes the following steps: First, acquiring the wave energy flux density collected by the inertial measurement unit in real time. Secondly, the wave energy flux density With the preset low energy threshold Conventional threshold and high energy threshold A comparison is made; finally, based on the comparison results, the on / off state of the controlled switches of the electromagnetic generator branch and the triboelectric nanogenerator branch, as well as the action of the active locking mechanism, are controlled.

[0044] The specific control steps are as follows: when the wave energy flux density... satisfy At this time, the triboelectric nanogenerator branch is switched on and the electromagnetic generator branch is switched off. The electromagnetic damping of the electromagnetic generator branch is then unloaded to lower the oscillation threshold of the eccentric pendulum 6, and only the triboelectric nanogenerator branch collects weak wave energy; when the wave energy flux density... satisfy At the same time, both the triboelectric nanogenerator branch and the electromagnetic generator branch are simultaneously activated for dual hybrid power generation, maximizing energy output; when the wave energy flux density... satisfy When the electromagnetic generator branch is connected and the triboelectric nanogenerator branch is disconnected, the dielectric layer covering the ball 10 is protected from overload breakdown, and the electromagnetic generator branch outputs electrical energy at full load; when the wave energy flux density At this time, all power generation branches are disconnected and the active locking mechanism is driven to lock the eccentric pendulum 6, entering the risk avoidance protection state.

[0045] In low-energy wave conditions, the adaptive control system of this invention actively disconnects the controlled switch of the electromagnetic generator branch, effectively unloading electromagnetic damping and cogging torque, significantly reducing the mechanical vibration threshold, and completely eliminating the "power generation dead zone" under low sea states. Under normal sea states, the electromagnetic generator branch and the triboelectric nanogenerator branch operate simultaneously to maximize energy output. When the wave conditions increase to a high-energy state, the system actively disconnects the triboelectric nanogenerator branch. This effectively prevents the high-voltage dielectric material inside the triboelectric nanogenerator from overloading and breaking down under strong excitation, while ensuring overall energy conversion efficiency, thus improving the electrical reliability of the system.

[0046] For the energy storage architecture, this invention employs a high-low voltage isolated energy storage branch design. The high-voltage AC output from the triboelectric nanogenerator branch is rectified and stored in the energy storage capacitor on the high-voltage side, and then converted into low-voltage DC through anti-reverse current diodes and a DC-DC step-down module. The three-phase AC output from the electromagnetic generator branch is rectified and directly charges the battery. This high-low voltage isolation design can adapt to the distinct output characteristics of the two generators: the triboelectric nanogenerator has a high output voltage and low current, while the electromagnetic generator has a low output voltage and high current. Matched rectification and energy storage circuits are used for energy management, improving the overall system's energy conversion efficiency and electrical safety.

[0047] exist Figure 6 In the circuit diagram shown, the system uses a main control chip as the control core, in conjunction with a motor drive module and a controlled switch. and The triboelectric generator module, after being rectified by a high-voltage rectifier bridge, is switched on... Connecting energy storage capacitors And through the anti-reverse current diode The power is transmitted to the DC-DC step-down module. After rectification by the three-phase rectifier bridge, the electromagnetic generator outputs power through a switch. Connect to a battery. The main control chip is powered by the battery and calculates the wave power density based on the IMU data it reads, then outputs control signals to the switches accordingly. ,switch And a motor drive module to execute the adaptive control process described above.

[0048] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. For those skilled in the art, within the scope of the technical principles and inventive concept of the present invention, various equivalent substitutions and improvements can be made to the specific structure of the electromagnetic generator, the materials and electrode arrangement of the triboelectric nanogenerator, the limiting method of the active locking mechanism, and the threshold setting and control strategy of the adaptive control system. For example, the winding of the central stator 11 can be a distributed winding or a concentrated winding; the dielectric layer material of the ball bearing 10 can be other polymer materials with good triboelectric properties; the electrodes of the arc-shaped annular guide rail 8 can be interdigitated electrodes or segmented electrode structures; the pin 17 of the active locking mechanism can be replaced by an electromagnetic drive or hydraulic drive instead of a micro-motor drive; the threshold setting and control strategy of the adaptive control system... , , Calibration and online correction can be performed based on the wave statistical characteristics of the specific deployment area. For example, the inertial measurement unit can employ a six-axis or nine-axis IMU sensor to simultaneously acquire acceleration and angular velocity information; the microcontroller can use a low-power embedded processor and integrate a wireless communication module to achieve remote monitoring and data transmission; the energy storage capacitor... Supercapacitors or electrolytic capacitors can be used, with the capacity selected to match the characteristics of different sea conditions. The shape of the buoy hull 1 is not limited to elliptical; it can also be circular, cylindrical, or other structural forms suitable for floating at sea. All these equivalent substitutions and improvements should be understood to be included within the scope of protection of this invention.

Claims

1. A marine buoy, characterized in that, include: Buoy housing (1); eccentric pendulum (6), which is oscillatingly mounted inside the buoy housing (1); A hybrid power generation system, located within the buoy housing (1), includes an electromagnetic generator branch and a triboelectric nanogenerator branch. The swing of the eccentric pendulum (6) drives both the electromagnetic generator branch and the triboelectric nanogenerator branch. The triboelectric nanogenerator branch includes an arc-shaped annular guide rail (8) and multiple sets of balls (10) that can roll along the arc-shaped annular guide rail (8). An active locking mechanism includes a miniature linear electric push rod (4) and a limiting hole (18). The miniature linear electric push rod (4) is connected to the connecting rod (7) of the eccentric pendulum (6), and the limiting hole (18) is opened on a base surface that is fixed relative to the buoy housing (1). An adaptive control system includes an inertial measurement unit, a microcontroller, a first controlled switch connected in series at the rear end of the electromagnetic generator branch, and a second controlled switch connected in series at the rear end of the triboelectric nanogenerator branch. The microcontroller controls the on / off state of the first and second controlled switches based on the wave data collected by the inertial measurement unit, and controls the action of the active locking mechanism.

2. The marine buoy according to claim 1, characterized in that: The electromagnetic generator branch includes a magnetic gear composite motor (2), which has an outer rotor (15) and is coaxially coupled to the shaft of the eccentric pendulum (6).

3. The marine buoy according to claim 2, characterized in that: The magnetic gear composite motor (2) also includes a central stator (11), a central high-speed rotor (12), an inner rotor (13), and a magnetic adjustment ring (14); the outer rotor (15) is driven to rotate by the eccentric pendulum (6), and the magnetic adjustment ring (14) is disposed between the outer rotor (15) and the inner rotor (13). When the outer rotor (15) rotates, the inner rotor (13) and the central high-speed rotor (12) are driven to rotate at an increased speed by magnetic field modulation, and the central high-speed rotor (12) and the central stator (11) generate relative motion to generate electricity.

4. The marine buoy according to claim 1, characterized in that: Each of the multiple sets of balls (10) is covered with a dielectric layer, and staggered electrodes are arranged on the arc-shaped annular guide rail (8); the balls (10) roll purely along the arc-shaped annular guide rail (8) driven by the eccentric pendulum (6), so that periodic contact separation occurs between the dielectric layer and the staggered electrodes to generate electricity.

5. The marine buoy according to claim 1, characterized in that: The actuator of the micro linear electric actuator (4) is a pin (17); when the adaptive control system issues a lock command, the micro linear electric actuator (4) drives the pin (17) to extend along the guide tube (16) and push into the limiting hole (18) to restrict the rotational degree of freedom of the eccentric pendulum (6).

6. The marine buoy according to claim 5, characterized in that: The limiting hole (18) consists of multiple independent blind holes evenly distributed along the ring, and the pin (17) is embedded in one of the independent blind holes under the rotational guidance of the eccentric pendulum (6).

7. The marine buoy according to claim 1, characterized in that: The microcontroller will collect the wave energy flux density from the inertial measurement unit. , and the preset low energy threshold Conventional threshold High energy threshold The comparison is performed, and the power generation mode is switched based on the comparison results.

8. The marine buoy according to claim 7, characterized in that: The microcontroller is configured as follows: when When the second controlled switch is closed and the first controlled switch is open, only the triboelectric nanogenerator branch operates; when When both the first and second controlled switches are closed, the electromagnetic generator branch and the triboelectric nanogenerator branch work simultaneously. when When the first controlled switch is closed and the second controlled switch is open, only the electromagnetic generator branch works; when When the first and second controlled switches are disconnected, the active locking mechanism is driven to lock the eccentric pendulum (6).

9. A method for controlling an ocean buoy, characterized in that, The ocean buoy applied to any one of claims 1 to 8 includes: acquiring wave energy flux density collected in real time by an inertial measurement unit. when At that time, the triboelectric nanogenerator branch is activated while the electromagnetic generator branch is deactivated; when At the same time, the triboelectric nanogenerator branch and the electromagnetic generator branch are controlled to work simultaneously; when At that time, the electromagnetic generator branch operates, and the triboelectric nanogenerator branch disconnects; when At that time, the control electromagnetic generator branch and the triboelectric nanogenerator branch are both disconnected, and the active locking mechanism is driven to lock the eccentric pendulum (6).

10. The control method for marine buoys according to claim 9, characterized in that: When the control electromagnetic generator branch is disconnected, the electromagnetic damping of the magnetic gear composite motor (2) is unloaded, reducing the oscillation threshold of the eccentric pendulum (6); when the control triboelectric nanogenerator branch is disconnected, the dielectric layer outside the ball (10) is protected from overload breakdown.

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