A smart marker

Abstract

The invention discloses an intelligent submerged buoy, which includes an active sounding instrument, an inactive sounding instrument, a submerged buoy controller, a main buoy, a bracket, a mooring cable, a signal cable, an instrument chain, an anchor chain and a gravity anchor; the active sounding instrument includes an ADCP and a single-point current meter; the inactive sounding instrument includes a beacon, a hydrophone, a submerged buoy controller, an acoustic releaser and a temperature-salinity-depth meter; the interface circuit of the submerged buoy controller is connected to the interface circuit of the active sounding instrument and the inactive sounding instrument through a signal cable; the transducer of the hydrophone is arranged at the focus of the hyperbolic reflection surface on the main buoy; the sound signal is reflected and converged by the hyperbolic reflection surface and transmitted to the transducer, and the transducer converts the sound signal into an electrical signal, which is transmitted to the submerged buoy controller for processing, and the active sounding instrument is started or stopped according to the measurement results of the hydrophone and the ADCP. The intelligent submerged buoy of the invention can avoid intentional or unintentional damage due to exposure of itself, and reduce the unit observation data cost.

Description

Technical Field

[0001] The invention relates to a submerged buoy for ocean observation, in particular to an intelligent submerged buoy with a high recovery rate. Background Art

[0002] The submerged buoy can realize the long-term continuous measurement of the ocean elements at the deployment point of the submerged buoy, and is one of the few important equipment that can carry out fixed-point continuous observation of ocean elements. The core equipment of the submerged buoy: Acoustic Doppler Current Profiler (ADCP) uses a transducer to emit an acoustic pulse signal. The acoustic pulse signal is reflected by the unevenly distributed sediment particles and plankton in the water body, and the transducer receives the signal. The flow velocity is calculated by measuring the Doppler frequency shift. ADCP has the characteristics of being able to directly measure the flow velocity profile of the cross section, not disturbing the flow field, short measurement time and large velocity measurement range. It is currently widely used in the measurement of flow field structure in the ocean and estuaries.

[0003] The 3500-meter buoy (CN202987464U) discloses the basic structure of the buoy. The timed satellite communication buoy (CN104890816A) can not only ensure the timely acquisition of ocean observation data, but also understand the working status of the buoy, which is of great help to the reliability and stability of the buoy. The real-time transmission buoy device (CN1967618A) discloses the real-time transmission technology of the buoy. The underwater working status and observation data of the buoy can be transmitted to the shore station through the satellite communication buoy. The satellite communication buoy floating on the water surface for a long time is very easy to be damaged by passing ships and cause the underwater observation unit of the buoy to be affected. Today's radio directional positioning technology is quite mature, and the location of the buoy is very easy to be exposed during satellite communication. Especially when observing marine elements in sensitive waters on the high seas, the ADCP actively sends out sound signals that are easily detected by hydroacoustic equipment of the same frequency. Actively sending sound signals is very easy to expose oneself, be destroyed and lost. Due to the lack of an identity recognition system, one's own people may also clear unidentified buoys.

[0004] The damage and loss of submerged buoys has long been a problem that has plagued marine surveys. The loss of valuable instruments has left researchers helpless and frustrated. The root cause is that existing marine observation buoys cannot sense the environment and only start active acoustic instruments after confirming safety to avoid exposing themselves and causing loss. Therefore, it is necessary to study a buoy that can work stably while ensuring the safety of the buoy itself. Summary of the invention

[0005] The purpose of the present invention is to provide an intelligent submerged buoy, which can sense the environment and start the active acoustic instrument after confirming safety to avoid exposure and loss; and the submerged buoy controller of the present invention can reset the sampling frequency according to the ADCP flow velocity measurement result, increase the ADCP operation time, and reduce the unit observation data cost.

[0006] The technical solution adopted by the present invention is: an intelligent submerged buoy, which includes an active sounding instrument, an inactive sounding instrument, a submerged buoy controller, a main buoy, a bracket, a mooring cable, a signal cable, an instrument chain, an anchor chain and a gravity anchor; the active sounding instrument includes an ADCP and a single-point current meter; the inactive sounding instrument includes a beacon, a hydrophone, a submerged buoy controller, an acoustic releaser and a temperature-salinity-depth meter; the submerged buoy controller is installed in a pressure-resistant shell and is arranged in a cavity reserved for the main buoy, and the interface circuit of the submerged buoy controller is connected to the active sounding instrument through the signal cable. The interface circuit and the interface circuit of the non-active sounding instrument; the main buoy is in the shape of a pancake, and a hyperbolic reflecting surface is arranged on it; the transducer of the hydrophone is arranged at the focus of the hyperbolic reflecting surface; the sound signal is reflected and converged by the hyperbolic reflecting surface and then transmitted to the transducer of the hydrophone, the transducer converts the sound signal into an electrical signal, and transmits it to the submerged buoy controller via the signal cable, the submerged buoy controller processes the hydrophone sound signal, processes the flow velocity data of the ADCP, and starts or stops the active sounding instrument according to the measurement results of the hydrophone and the ADCP.

[0007] The intelligent submersible buoy, wherein the bracket is a stainless steel bracket, is divided into a lower bracket and an upper bracket, the upper bracket and the lower bracket are connected as a whole by an extension nut, the lower bracket and the upper bracket have four columns, which are axially symmetrically arranged, the symmetry axis of the bracket coincides with the symmetry axis of the main float, the ends of the upper bracket and the lower bracket are provided with external threads, the extension nut is provided with internal threads, locking nut one and locking nut two prevent the extension nut from loosening, and the relative position of the symmetry axis of the upper bracket and the lower bracket can be adjusted by adjusting the extension nut, thereby ensuring that the hydrophone is located at the focus of the hyperbolic reflection surface.

[0008] The intelligent buoy further has a beacon machine arranged at the top of the upper bracket, which is fixedly connected to the upper bracket; the lower bracket passes through the light hole on the main float, and uses a nut to form a threaded connection with the external thread on the lower bracket to fix the main float on the lower bracket; the lower end of the lower bracket is connected to the mooring cable; the ADCP is provided with two, namely ADCP 1 and ADCP 2, one of which faces upward and the other faces downward, and both are fixed on the main float.

[0009] The intelligent submerged buoy further comprises a central processing unit, a memory, an external memory, an interface circuit, a power supply and a water-tight pressure-resistant casing. The central processing unit uses a printed circuit board to connect the memory, the external memory and the interface circuit respectively, and the central processing unit, the memory, the external memory and the interface circuit are respectively connected to the power supply for powering it; the processor of the submerged buoy controller is connected to the USB to multi-serial port card through a USB interface, and the USB to multi-serial port card is respectively connected to the ADCP, the single-point current meter and the temperature-salinity depth meter; the processor of the submerged buoy controller sends control instructions to the ADCP, the single-point current meter and the temperature-salinity depth meter, and receives data collected by the ADCP, the single-point current meter and the temperature-salinity depth meter and the instrument operation status data. The submerged buoy controller is connected to the controlled instrument through a signal cable electrical signal. The submerged buoy controller collects the data of the controlled instrument by running the program stored in the external memory in the memory, stores it in the external memory, adjusts the working parameters of the controlled instrument, and controls the active sounding instrument to work or stop working.

[0010] The intelligent buoy further comprises a buoy controller processor which uses an RS232 interface to connect to a hydrophone, the buoy controller processor sends control instructions to the hydrophone, and a program processor of the buoy controller receives water acoustic data and hydrophone operation status data collected by the hydrophone.

[0011] The intelligent buoy further comprises a hydrophone including a transducer, an amplifier circuit, a filter circuit, an AD conversion circuit, an interface circuit and a power supply. The transducer converts an acoustic signal into an electrical signal, which is amplified by the amplifier circuit, filtered by the filter circuit, and then converted into a digital signal by the AD conversion circuit, which is sent to the interface circuit and sent to the controller via the interface circuit. The power supply supplies power to the transducer, the amplifier circuit, the filter circuit, the AD conversion circuit and the interface circuit.

[0012] The program modules of the intelligent latent buoy include a main program module, a data acquisition module, a data preprocessing module, a parameter setting module and an exposure prevention module.

[0013] At the same time, the present invention also provides a control method for the intelligent latent buoy, which comprises the following steps:

[0014] S1, after the buoy controller completes the hardware self-check, it starts the operating system and runs the main program module; the main program module calls the data acquisition module to start the non-sound instrument work, continuously collects the data of the buoy deployment point, and collects and stores the data in the high-speed SD card; in particular, the hydrophone continuously collects the hydroacoustic signal of the buoy deployment point, increasing the data volume of the deployment point hydroacoustic database;

[0015] S2, the main program module calls the data preprocessing module to process the water acoustic signal collected by the hydrophone. The water acoustic signal is preprocessed and converted into a frequency domain signal. In the low frequency band of 0 to 50 Hz, the maximum power amplitude Pmax is calculated;

[0016] S3, the main program module calls the data acquisition module to start the sound instrument, collect the data of the buoy deployment point, and collect and store the data in the high-speed SD card;

[0017] S4, the main program module calls the parameter setting module, analyzes the data of ADCP 1 and ADCP 2 to reset the instrument parameters, especially resets the sampling frequencies of ADCP 1 and ADCP 2 according to the magnitude of the velocity change ΔV; analyzes the single-point current meter data to reset the sampling frequency of the single-point current meter according to the magnitude of the velocity change ΔV; analyzes the temperature-salinity-depth instrument data to reset the instrument parameters, especially resets its temperature sampling frequency according to the magnitude of the temperature change ΔT, resets its salinity sampling frequency according to the magnitude of the salinity change ΔS, and resets its depth sampling frequency according to the magnitude of the depth change ΔD;

[0018] S5, the main program module calls the anti-exposure module to read the flow rate of ADCP 1. If the sea surface flow rate at the buoy deployment point is greater than the flow rate threshold, the controller determines that it is a high sea state, all instruments of the buoy continue to work, and the program returns to step S2;

[0019] S6, if the flow rate is less than the flow rate threshold and the maximum value Pmax of the power amplitude is less than or equal to the power amplitude threshold, the anti-exposure module determines that: the low-frequency underwater acoustic signal is not much different from the ambient noise, and the program returns to step S2;

[0020] S7, if the flow rate is less than the flow rate threshold, and the maximum power amplitude Pmax is greater than the power amplitude threshold, the anti-exposure module determines that there is a ship near the buoy, the main program module calls the data acquisition module to issue a control command, stops the sound instrument, and waits until Pmax is less than the threshold, and the program returns to step S2.

[0021] The beneficial technical effects of the present invention are as follows: the buoy controller of the intelligent buoy of the present invention analyzes the measurement data of the hydrophone, and after confirming safety, starts or stops the active sound-emitting instrument, thereby preventing the buoy from exposing itself to intentional or unintentional damage due to the active emission of sound signals; the buoy controller processes the ADCP flow velocity measurement results, resets the sampling frequency according to the measurement results, increases the ADCP operating time, and reduces the unit observation data cost; the hyperbolic reflection surface focuses the sound signal to facilitate the transducer of the hydrophone to receive the sound signal. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of the structure of the intelligent buoy of the present invention;

[0023] Figure 2 This is a schematic diagram of the bracket adjustment of the intelligent submersible buoy of the present invention;

[0024] Figure 3 This is a schematic diagram of the circuit structure of the intelligent latent marker of the present invention;

[0025] Figure 4 A schematic diagram of the power spectrum of the water acoustic signal collected by the hydrophone in the intelligent submersible buoy of the present invention;

[0026] In the figure:

[0027] 101-beacon, 102-hydrophone, 103-ADCP 1, 104-buoy controller, 105-main buoy, 106-ADCP 2, 107-mooring cable, 108-signal cable, 109-instrument chain, 110-acoustic releaser, 111-gravity anchor, 112-seabed, 113-sediment, 114-seawater, 115-anchor chain, 116-small buoy 1, 117-temperature and salinity depth meter, 118-small buoy 2, 119-single point current meter, 120-lower bracket, 121-nut, 122-hyperbolic reflection surface, 123-extended nut, 124-upper bracket, 125-sound range, 126-detection range;

[0028] 201-locking nut one, 202-locking nut two. DETAILED DESCRIPTION

[0029] The present invention will be further described below in conjunction with the accompanying drawings and specific implementations.

[0030] See also Figure 1 The intelligent submerged buoy of the present invention includes an active sounding instrument, an inactive sounding instrument, a submerged buoy controller 104, a main buoy 105, a lower bracket 120, an upper bracket 124, a mooring cable 107, a signal cable 108, an instrument chain 109, an anchor chain 115 and a gravity anchor 111. The active sounding instrument includes ADCP-1 103, ADCP-2 106 and a single-point current meter 119. The inactive sounding instrument includes a beacon 101, a hydrophone 102, a submerged buoy controller 104, an acoustic releaser 110 and a temperature-salinity-depth meter 117. The acoustic releaser 110 is in a dormant state and does not actively make a sound before receiving a wake-up command. The beacon 101 is arranged at the top of the upper bracket 124 and is fixedly connected to the upper bracket 124; the upper bracket 124 is connected to the lower bracket 120 as a whole using an extended nut 123, which is convenient for submerged buoy assembly.

[0031] The lower bracket 120 passes through the light hole on the main buoy 105, and the nut 121 is used to form a threaded connection with the external thread on the lower bracket 120 to fix the main buoy 105 on the lower bracket 120. The lower end of the lower bracket 120 is connected to the mooring cable 107, the lower end of the mooring cable 107 is connected to the instrument chain 109, the lower end of the instrument chain 109 is connected to the acoustic releaser 110, the acoustic releaser 110 is connected to the anchor chain 115, and the lower end of the anchor chain 115 is connected to the gravity anchor 111; the gravity anchor 111 pushes away the sediment 113 and sits on the seabed 112, and the rest of the submerged buoy is located in the seawater 114; the submerged buoy controller 104 is installed in the pressure-resistant casing, Set in the cavity reserved in the main float 105, ADCP 1 103 and ADCP 2 106 are set on the main float, one facing up and the other facing down, and fixed on the main float 105 with connecting bolts; the main float 105 is a round pancake-shaped floating body with a thick middle and thin sides before the hyperbolic reflection surface 122 is processed, and a hyperbolic reflection surface 122 is processed on the main float 105. The main float 105 is an axisymmetric rotating body, and the hyperbolic reflection surface 122 refers to the reflection surface generated by the rotation of the hyperbola around its symmetry axis, and its function is to focus the sound signal so that the transducer of the hydrophone 102 can receive the sound signal. The focus of the hyperbolic reflection surface 122 is located on the symmetry axis; the hydrophone 102 is set at the focus of the hyperbolic reflection surface 122 of the main float 105; the detection range 126 is greater than the sound range 125. The detection range 126 refers to the range of the hyperbolic reflection surface reflecting and converging the environmental noise sound signal. The sound range 125 refers to the range directly reached by the sound signal of ADCP-103. The sound pulse signal emitted by ADCP-103 is reflected by the sea surface. Due to the fluctuation of the waves, the direction and size of the reflected sound signal are constantly changing and gradually weakened, and it is submerged in the environmental noise. The dotted line with an arrow in the figure indicates the sound signal. The submerged buoy controller 104 uses the signal cable 108 electrical signal to connect the hydrophone 102, ADCP-103, ADCP-106, single-point current meter 119 and temperature-salinity depth meter 117; collects the data observed by the hydrophone 102, ADCP-103, ADCP-106, single-point current meter 119 and temperature-salinity depth meter 117. The submerged buoy controller 104 starts and stops the active sounding instrument (ADCP and single-point current meter) according to the measurement signal of the hydrophone 102 and the size of the flow velocity measured by ADCP103 and ADCP106.

[0032] The instrument chain 109 includes at least a small float 116, a temperature-salinity-depth meter 117, a small float 2 118 and a single-point current meter 119. According to observation needs, several instruments can be added to the buoy, such as a deep-water nitrate meter, a dissolved oxygen recorder and a temperature recorder.

[0033] The lower bracket 120 and the upper bracket 124 have four columns, which are arranged axially symmetrically, and the symmetry axis of the bracket coincides with the symmetry axis of the main float 105. Figure 2As shown, the ends of the upper bracket 124 and the lower bracket 120 are provided with external threads, the extension nut 123 is provided with internal threads, and the locking nut 1 201 and the locking nut 202 prevent the extension nut 123 from loosening. The relative position of the symmetrical axis of the upper bracket 124 and the lower bracket 120 can be adjusted by adjusting the extension nut 123, thereby ensuring that the hydrophone is located at the focus of the hyperbolic reflection surface.

[0034] like Figure 3 As shown, the processor of the buoy controller 104 is connected to the USB to multi-serial port card through the USB interface, and the USB to multi-serial port card is respectively connected to ADCP-103, ADCP-106, single-point current meter 119 and temperature-salinity depth meter 117; the processor of the buoy controller 104 sends control instructions to ADCP-103, ADCP-106, single-point current meter 119 and temperature-salinity depth meter 117, and receives data collected by ADCP-103, ADCP-106, single-point current meter 119 and temperature-salinity depth meter 117 and instrument operation status data.

[0035] The processor of the submerged buoy controller 104 is connected to the hydrophone 102 using an RS232 interface, the controller processor sends control instructions to the hydrophone 102 , and the program processor of the submerged buoy controller 104 receives the water acoustic data collected by the hydrophone 102 and the operating status data of the hydrophone 102 .

[0036] The hydrophone includes a transducer, an amplifier circuit, a filter circuit, an AD conversion circuit, an interface circuit and a power supply. The transducer converts the acoustic signal into an electrical signal, which is amplified by the amplifier circuit, filtered by the filter circuit, and then converted into a digital signal by the AD conversion circuit, which is sent to the interface circuit and then to the controller. The power supply supplies power to the transducer, the amplifier circuit, the filter circuit, the AD conversion circuit and the interface circuit.

[0037] The submerged buoy controller 104 includes a central processing unit, a memory, an external storage, an interface circuit, a power supply and a water-tight and pressure-resistant casing. The central processing unit uses a printed circuit board to connect the memory, the external storage and the interface circuit respectively, and the central processing unit, the memory, the external storage and the interface circuit are respectively connected to the power supply for powering them; the submerged buoy controller 104 is connected to ADCP-103, ADCP-2 106, a single-point current meter 119, a beacon 101, a hydrophone 102, an acoustic releaser 110 and a temperature-salinity-depth meter 117 through a signal cable 108 electrical signal. The submerged buoy controller 104 collects data of the above instruments by running the program stored in the external storage in the internal memory, stores the data in the external storage, adjusts the working parameters of the above instruments, and controls the active sounding instrument to work or stop working; the external storage refers to an external storage memory, and a high-speed SD card is preferably used as the external storage memory.

[0038] The program of the submerged buoy controller 104 includes a main program module, a data acquisition module, a data preprocessing module, a parameter setting module and an exposure prevention module. The control method of the intelligent submerged buoy of the present invention includes the following steps:

[0039] S1, after the controller completes the hardware self-check, it starts the operating system and runs the main program module; the main program module calls the data acquisition module to start the non-sound instrument work, continuously collects the data of the buoy deployment point, and collects and stores the data in the high-speed SD card; in particular, the hydrophone 102 continuously collects the hydroacoustic signal of the buoy deployment point, increasing the data volume of the deployment point hydroacoustic database;

[0040] S2, the main program module calls the data preprocessing module, and the water acoustic signal collected by the hydrophone 102 is preprocessed and converted into a frequency domain signal, such as Figure 4 The power spectrum of the underwater acoustic signal collected by the hydrophone is shown in the schematic diagram. In the low frequency range of 0 to 50 Hz, the maximum value of the power amplitude Pmax is calculated;

[0041] S3, the main program module calls the data acquisition module to start the sound instrument, collect the data of the buoy deployment point, and collect and store the data in the high-speed SD card;

[0042] S4, the main program module calls the parameter setting module, analyzes the data of ADCP-103 and ADCP-2 106 to reset the instrument parameters, especially resets the sampling frequencies of ADCP-103 and ADCP-2 106 according to the magnitude of the velocity change ΔV; analyzes the data of the single-point current meter 119 to reset the sampling frequency of the single-point current meter 119 according to the magnitude of the velocity change ΔV; analyzes the data of the temperature-salinity-depth meter 117 to reset the instrument parameters, especially resets its temperature sampling frequency according to the magnitude of the temperature change ΔT, resets its salinity sampling frequency according to the magnitude of the salinity change ΔS, and resets its depth sampling frequency according to the magnitude of the depth change ΔD;

[0043] S5, the main program module calls the anti-exposure module to read the flow rate of ADCP-103. If the sea surface flow rate at the buoy deployment point is greater than the flow rate threshold, the controller determines that it is a high sea state, all the instruments of the buoy continue to work, and the program returns to step S2. Because of the occurrence of ocean processes that must be observed, it is difficult for surface ships to operate at the buoy deployment point, and the possibility of the buoy being destroyed by surface ships is small. At the same time, the noise at the buoy deployment point is relatively large, making it difficult to effectively extract hydroacoustic signals to identify ships;

[0044] S6, if the flow rate is less than the flow rate threshold and the maximum value Pmax of the power amplitude is less than or equal to the power amplitude threshold, the anti-exposure module determines that: the low-frequency underwater acoustic signal is not much different from the ambient noise, and the program returns to step S2.

[0045] S7, if the flow rate is less than the flow rate threshold, and the maximum power amplitude Pmax is greater than the power amplitude threshold, the anti-exposure module determines that there is a ship near the buoy, the main program module calls the data acquisition module to issue a control command, stops the sound instrument, and waits until the maximum value P is less than the threshold, and the program returns to step S2.

[0046] It can be seen from this that the submerged buoy described in this application is not suitable for deployment in waterways and their vicinity, because there are many ships passing by and the underwater noise changes frequently, which may cause the submerged buoy to stop observing for a long time, resulting in a lot of data missing.

[0047] The related technical contents not described in the above methods can be realized by adopting or drawing on existing technologies. It should be noted that any equivalent substitution methods or obvious variations made by those skilled in the art under the guidance of this specification should be within the protection scope of the present invention.

Claims

1. An intelligent submerged buoy, comprising an active sounding instrument, an inactive sounding instrument, a submerged buoy controller (104), a main buoy (105), a bracket (120, 124), a mooring cable (107), a signal cable (108), an instrument chain (109), an anchor chain (115) and a gravity anchor (111); the active sounding instrument comprises an ADCP (103, 106) and a single-point current meter (119); the inactive sounding instrument comprises a beacon (101), a hydrophone (102), a submerged buoy controller (104), an acoustic releaser (110) and a temperature-salinity-depth meter (117); the characteristics are: The submerged buoy controller (104) is installed in a pressure-resistant casing and is arranged in a cavity reserved in the main buoy (105); the interface circuit of the submerged buoy controller (104) is connected to the interface circuit of the active sound-generating instrument and the interface circuit of the inactive sound-generating instrument via the signal cable (108); the main buoy (105) is in the shape of a pancake and is provided with a hyperbolic reflection surface (122); the transducer of the hydrophone (102) is arranged at the focus of the hyperbolic reflection surface (122); The acoustic signal is reflected and converged by the hyperbolic reflection surface (122) and then transmitted to the transducer of the hydrophone (102); the transducer converts the acoustic signal into an electrical signal and transmits the electrical signal to the submerged buoy controller (104) via the signal cable (108); the submerged buoy controller (104) processes the acoustic signal of the hydrophone (102) and the flow velocity data of the ADCP, and starts or stops the active sounding instrument according to the measurement results of the hydrophone (102) and the ADCP (103, 106); The bracket is a stainless steel bracket, which is divided into a lower bracket (120) and an upper bracket (124). The upper bracket (124) and the lower bracket (120) are connected as a whole through an extension nut (123). The lower bracket (120) and the upper bracket (124) have four columns, which are arranged axially symmetrically. The symmetry axis of the bracket coincides with the symmetry axis of the main float (105). The ends of the upper bracket (124) and the lower bracket (120) are provided with external threads, and the extension nut (123) is provided with internal threads. The locking nut 1 (201) and the locking nut 2 (202) prevent the extension nut (123) from loosening. By adjusting the extension nut (123), the relative position of the symmetric axis of the upper bracket (124) and the lower bracket (120) is adjusted, thereby ensuring that the hydrophone (102) is located at the focus of the hyperbolic reflection surface. The beacon (101) is arranged at the top of the upper bracket (124) and is fixedly connected to the upper bracket (124); the lower bracket (120) passes through the light hole on the main floating ball (105), and a nut (121) is used to form a threaded connection with the external thread on the lower bracket (120), so that the main floating ball (105) is fixed to the lower bracket (120); the lower end of the lower bracket (120) is connected to the mooring cable (107); The processor of the submerged buoy controller (104) is connected to a USB to multi-serial port card via a USB interface, and the USB to multi-serial port card is respectively connected to the ADCP, the single-point current meter (119) and the temperature-salinity depth meter (117); the processor of the submerged buoy controller (104) sends control instructions to the ADCP, the single-point current meter (119) and the temperature-salinity depth meter (117), and receives data collected by the ADCP, the single-point current meter (119) and the temperature-salinity depth meter (117) and instrument operation status data; and the processor of the submerged buoy controller (104) uses an RS232 interface to connect to the hydrophone (102), the processor of the submerged buoy controller (104) sends control instructions to the hydrophone (102), and the processor of the submerged buoy controller (104) receives water acoustic data collected by the hydrophone (102) and the operation status data of the hydrophone (102).

2. The intelligent latent buoy as claimed in claim 1, characterized in that: The ADCP is provided with two, namely ADCP 1 (103) and ADCP 2 (106), one of which faces upwards and the other faces downwards, and both are fixed on the main float (105).

3. The intelligent latent buoy as claimed in claim 2, characterized in that: The hydrophone (102) comprises a transducer, an amplifier circuit, a filter circuit, an AD conversion circuit, an interface circuit and a power supply. The transducer converts an acoustic signal into an electrical signal, which is amplified by the amplifier circuit, filtered by the filter circuit, and then converted into a digital signal by the AD conversion circuit, which is sent to the interface circuit and then to the controller via the interface circuit. The power supply supplies power to the transducer, the amplifier circuit, the filter circuit, the AD conversion circuit and the interface circuit.

4. The intelligent buoy as claimed in claim 2 or 3, characterized in that: The submerged buoy controller (104) includes a central processing unit, a memory, an external memory, an interface circuit, a power supply and a water-tight pressure-resistant casing. The central processing unit is connected to the memory, the external memory and the interface circuit using a printed circuit board, and the central processing unit, the memory, the external memory and the interface circuit are connected to the power supply for powering them respectively. The submerged buoy controller (104) is connected to the controlled instrument via an electrical signal of a signal cable (108). The submerged buoy controller (104) collects data of the controlled instrument by running a program stored in the external memory in the memory, stores the data in the external memory, adjusts the working parameters of the controlled instrument, and controls the controlled instrument to work or stop working.

5. The intelligent submersible buoy as claimed in claim 2 or 3, characterized in that: The program modules of the submerged buoy controller (104) include a main program module, a data acquisition module, a data preprocessing module, a parameter setting module and an exposure prevention module.

6. The control method of the intelligent latent buoy as claimed in claim 5, characterized in that , including the following steps: S1, after the buoy controller (104) completes the hardware self-check, it starts the operating system and runs the main program module; the main program module calls the data acquisition module to start the non-active sound instrument, continuously collects the data of the buoy deployment point, and collects and stores the data in the high-speed SD card; the hydrophone (102) continuously collects the hydroacoustic signal of the buoy deployment point, and increases the data volume of the deployment point hydroacoustic database; S2, the main program module calls the data preprocessing module to process the water acoustic signal collected by the hydrophone (102), and the water acoustic signal is converted into a frequency domain signal after preprocessing, and the maximum value Pmax of the power amplitude in the low frequency band of 0 to 50 Hz is calculated; S3, the main program module calls the data acquisition module to start the active sound instrument, collect the data of the buoy deployment point, and collect and store the data in the high-speed SD card; S4, the main program module calls the parameter setting module, analyzes the data of ADCP 1 (103) and ADCP 2 (106), resets the instrument parameters, and resets the sampling frequencies of ADCP 1 (103) and ADCP 2 (106) according to the magnitude of the velocity change ΔV; analyzes the data of the single-point current meter (119), and resets the sampling frequency of the single-point current meter (119) according to the magnitude of the velocity change ΔV; analyzes the data of the temperature-salinity-depth meter (117), and resets the instrument parameters, resets its temperature sampling frequency according to the magnitude of the temperature change ΔT, resets its salinity sampling frequency according to the magnitude of the salinity change ΔS, and resets its depth sampling frequency according to the magnitude of the depth change ΔD; S5, the main program module calls the anti-exposure module to read the flow rate of ADCP-1 (103). If the sea surface flow rate at the buoy deployment point is greater than the flow rate threshold, the controller determines that it is a high sea condition, all instruments of the buoy continue to work, and the program returns to step S2; S6, if the flow rate is less than the flow rate threshold and the maximum value Pmax of the power amplitude is less than or equal to the power amplitude threshold, the anti-exposure module determines that: the low-frequency underwater acoustic signal is not much different from the ambient noise, and the program returns to step S2; S7, if the flow rate is less than the flow rate threshold, and the maximum value of the power amplitude Pmax is greater than the power amplitude threshold, the anti-exposure module determines that there is a ship near the buoy, the main program module calls the data acquisition module to issue a control command, stops the active sound instrument, and waits until Pmax is less than the threshold, and the program returns to step S2.

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