Low-power ocean instrument launching and recovering device and method

Abstract

The present invention discloses a low-power ocean instrument deployment and recovery device and a method thereof, wherein the low-power ocean instrument deployment and recovery device includes: an MCU control module, a battery, a GPS module, a water and land communication module, an oil bladder buoyancy adjustment mechanism, and a posture detection mechanism. The battery is electrically connected to the MCU control module. The GPS module is electrically connected to the MCU control module and the battery, respectively. The water and land communication module is electrically connected to the MCU control module, and the water and land communication module is used to communicate with the water and land communication device of the operating vessel, and the water and land communication module is turned on at a fixed time. The oil bladder buoyancy adjustment mechanism is fixed on the ocean instrument, and the oil bladder buoyancy adjustment mechanism is electrically connected to the MCU control module. The posture detection mechanism is fixed on the ocean instrument, and the posture detection mechanism is electrically connected to the MCU control module. By this means, the low-power ocean instrument deployment and recovery device of the present invention has low power consumption, high efficiency and reliability, low cost, environmental friendliness, simple equipment, and can be easily used on a variety of ocean instruments.

Description

Technical Field

[0001] The present invention relates to the technical field of launching and recovering ocean instruments, and in particular to a launching and recovering device for low-power ocean instruments and a method thereof. Background Art

[0002] As an emerging marine geophysical method, marine electromagnetic method is widely used in geophysical exploration of mineral resources such as seabed oil and gas exploration and hydrate investigation.

[0003] Seabed electromagnetic receivers are offshore equipment used in marine electromagnetic methods. At the end of the last century, China University of Geosciences (Beijing) pioneered research in seabed magnetotelluric methods in China, developing the country's first seabed electromagnetic receiver. With continued support from subsequent projects, they have completed the mass production of controlled-source electromagnetic receivers and towed electromagnetic receivers, which have been successfully applied in oil and gas exploration, hydrate surveys, and underwater target detection. In recent years, domestic peers such as China National Petroleum Corporation (CNPC) Oriental Geophysical Company and Ocean University of China have also begun developing seabed electromagnetic receivers.

[0004] Taking the deployment and recovery process of receivers as an example, modern oceanographic instruments are mostly deployed in the following ways:

[0005] After reaching the target point in the work area, the work vessel drops the receiver, which sinks freely and starts data collection after reaching the bottom. After the collection is completed, the work vessel sends a command to the receiver on the seabed through the land and water communication device. After receiving the release command, the receiver releases the cement block and floats freely to the surface. After the work vessel waits for the receiver to float to the surface, it recovers the salvaged receiver, downloads data, charges it, replaces it with a new cement block, and drops it to the next station, repeating the operation in this cycle.

[0006] After long-term practice, it was found that the main problems faced by the existing deployment method are: there are high safety risks in the deployment and recovery of instruments. Due to the complex and changeable marine environment and the inability to accurately judge the seabed environment, the instruments often capsize after deployment during the deployment process, or due to the harsh seabed environment at the deployment point, the instrument encounters irregular terrain and other harsh factors after sinking to the bottom, causing the instrument to capsize, resulting in the instrument not being able to work normally. What's worse, the instrument is buried in the mud and cannot be recovered normally. It cannot receive the response signal, which makes it impossible to float up and recover normally, resulting in the loss of valuable data and expensive instruments. In addition, the cement blocks left on the seabed can easily cause damage to the seabed ecological environment.

[0007] To address these risks, a common solution currently involves installing attitude sensors on oceanographic instruments, supplemented by power units, to adjust the instrument's attitude at all times, ensuring it doesn't tip over during seabed operations. While this approach effectively addresses the risks associated with deploying and recovering traditional oceanographic instruments, the additional sensors inevitably incur higher costs. Furthermore, in the relatively closed environment of the seabed, additional sensors inevitably consume additional power, reducing instrument acquisition time and ultimately increasing deployment costs.

[0008] The information disclosed in this background technology section is only intended to enhance understanding of the overall background of the invention and should not be regarded as an admission or any form of suggestion that the information constitutes the prior art already known to a person skilled in the art. Summary of the Invention

[0009] The purpose of the present invention is to provide a low-power ocean instrument deployment and recovery device and method, which has low power consumption, high efficiency and reliability, low cost, environmental friendliness, simple equipment, and can be easily used on a variety of ocean instruments; it solves the problem of instrument rollover caused by turbulent ocean currents or uneven seabed at the deployment site during the deployment of ocean instruments.

[0010] To achieve the above objectives, in a first aspect, the present invention provides a low-power oceanographic instrument deployment and recovery device and method thereof, wherein the low-power oceanographic instrument deployment and recovery device comprises: an MCU control module, a battery, a GPS module, a land and water communication module, an oil-bladder buoyancy adjustment mechanism, and a posture detection mechanism. The battery is electrically connected to the MCU control module. The GPS module is electrically connected to the MCU control module and the battery, respectively. The land and water communication module is electrically connected to the MCU control module and is used to communicate with the land and water communication device of the work vessel, and the land and water communication module is timed to activate. The oil-bladder buoyancy adjustment mechanism is fixed to the oceanographic instrument and electrically connected to the MCU control module. Furthermore, the posture detection mechanism is fixed to the oceanographic instrument and electrically connected to the MCU control module. The posture detection mechanism is used to detect and determine the posture of the oceanographic instrument in the water and, if the oceanographic instrument's posture is uneven, awaken the MCU control module, causing the MCU control module to activate the oil-bladder buoyancy adjustment mechanism to adjust the oceanographic instrument's posture. The MCU control module, battery, GPS module, and land and water communication module are all disposed within the posture detection mechanism.

[0011] In one embodiment of the present invention, the attitude detection mechanism includes: a shell, a movable rod, a conductive rod, two insulating rods, a bimetallic strip and a control cabin. The shell is fixed on the marine instrument, and the upper and lower ends of the shell are both made of elastic material. The movable rod is vertically arranged in the shell, and the upper and lower ends of the movable rod are abutted against the upper and lower ends of the shell by springs. The conductive rod is fixed on the inner wall of the shell and is located on one side of the movable rod, and the conductive rod is electrically connected to the MCU control module. The two insulating rods are respectively fixed on the inner wall of the shell, and the two ends of the conductive rod are respectively connected to one end of the two insulating rods. The bimetallic strip is fixed on the movable rod, and the bimetallic strip faces the conductive rod. And the control cabin is arranged in the shell, and the MCU control module, battery, GPS module and land and water communication module are all arranged in the control cabin.

[0012] In one embodiment of the present invention, the deployment and recovery device for low-power oceanographic instruments further includes a GPS startup module electrically connected to the MCU control module, and the GPS startup module can control the start and stop of the GPS module.

[0013] In one embodiment of the present invention, the GPS activation module includes a first resistor R1, a second resistor R2, and a metal probe. The first resistor R1 is fixed to the inner wall of the housing and is located above the other side of the movable rod. The second resistor R2 is fixed within the control cabin and is electrically connected to the first resistor R1 and the GPS detection pin of the MCU control module. The metal probe is fixed to the movable rod and faces the first resistor R1.

[0014] In one embodiment of the present invention, the first resistor R1 and the metal probe form a potentiometer, which is connected in series with the second resistor R2, and the second resistor R2 is connected in parallel with the GPS detection pin. At this time, U=U0, and a small current high level is given by the voltage source. When the marine instrument enters the water in a flat posture, the pressure difference between the upper and lower ends of the shell can cause the movable rod to move upward, driving the metal probe to move upward along with the movable rod, so that the metal probe touches the first resistor R1, and then the first resistor R1 increases, and the voltage U across the second resistor R2 decreases, which is recorded as U1. When the marine instrument floats up to the upper end of the shell and emerges from the sea, the pressure difference between the lower and upper ends decreases, causing the movable rod to move downward, driving the metal probe to move downward along with the movable rod, so that the metal probe touches the first resistor R1, and then the first resistor R1 decreases, and the voltage U across the second resistor R2 increases, which is recorded as U2. Among them, when the marine instrument tilts over a large range, the pressure difference between the upper and lower ends of the shell can cause the movable rod to move upward, driving the metal probe to move upward with the movable rod, so that the metal probe touches the first resistor R1, thereby reducing the first resistor R1 and increasing the voltage U across the second resistor R2, which is recorded as U3. Among them, when the preset voltage U of the GPS detection pin is greater than or equal to U4, the GPS detection pin enables the MCU control module, and when the MCU control module receives the bimetallic strip disconnection signal, the MCU control module controls the GPS module to turn on. Among them, U2>U4, and U3>U4. Among them, when the marine instrument has been uneven, the marine instrument floats up until the bimetallic strip is disconnected, and the MCU control module turns on the GPS module.

[0015] In a second aspect, the present invention provides a method for launching and recovering a low-power oceanographic instrument. Based on the aforementioned low-power oceanographic instrument launching and recovery device, the method comprises: Step S1: Launching the launch and recovery device and the oceanographic instrument, both in a dormant state, into seawater. After the oceanographic instrument descends to an operating altitude, the instrument activates a posture detection mechanism under the action of pressure and a bimetallic strip. Step S2: The posture detection mechanism detects whether the instrument is level as it sinks. Step S3: If the posture detection mechanism detects a tilted posture, the posture detection mechanism enables an MCU control pin to initiate posture correction. Step S4: The MCU control module activates an oil-bladder buoyancy adjustment mechanism and controls it to increase buoyancy, thereby causing the instrument to float upward and adjust its launch posture. During the upward movement, the posture detection mechanism continuously monitors and determines the instrument's posture. Step S5: If the instrument is level, the MCU control module controls the oil-bladder buoyancy adjustment mechanism to reduce buoyancy, causing the instrument to sink again. Step S2 is repeated until the instrument is successfully launched.

[0016] In one embodiment of the present invention, if the posture detection mechanism detects that the posture of the ocean instrument remains flat during the descent process, the ocean instrument is successfully launched.

[0017] In one embodiment of the present invention, if the posture of the ocean instrument is still uneven, the ocean instrument continues to float up until the bimetallic strip is disconnected, and the MCU control module turns on the GPS module to prepare to recover the ocean instrument.

[0018] In one embodiment of the present invention, the method for deploying and recovering a low-power oceanographic instrument further includes: Step S6, where, after the oceanographic instrument completes acquisition, the MCU control module receives a recovery instruction via a timed land and water communication module. Step S7, where, upon receiving the recovery instruction, the MCU control module controls the oil bladder buoyancy adjustment mechanism to increase buoyancy, thereby causing the oceanographic instrument to float.

[0019] In one embodiment of the present invention, the method for deploying and recovering low-power oceanographic instruments further includes: step S8, when the oceanographic instrument floats to a preset height, the GPS startup module starts the GPS module through the MCU control module, so that the operating vessel can determine the location of the oceanographic instrument and recover and salvage it.

[0020] Compared with the existing technology, the low-power ocean instrument deployment and recovery device and method according to the present invention use conditions such as atmospheric pressure and seawater temperature difference to determine the position of the instrument in the ocean and the sinking posture of the instrument, thereby controlling the opening and closing of the corresponding circuit. Compared with traditional ocean instrument deployment and recovery devices, it has many advantages such as ultra-low power consumption, high efficiency and reliability, low cost, environmental friendliness, simple equipment, and can be easily used on a variety of ocean instruments; it solves the problem of instrument rollover caused by turbulent ocean currents encountered during the deployment of ocean instruments or uneven seabed at the deployment site. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 1 is a schematic diagram of a wireframe structure of a low-power oceanographic instrument launching and recovering device according to an embodiment of the present invention;

[0022] Figure 2 1 is a schematic diagram of a cross-sectional structure of a low-power oceanographic instrument launching and recovering device according to an embodiment of the present invention;

[0023] Figure 3 1 is a flow chart of a method for deploying and recovering a low-power oceanographic instrument according to an embodiment of the present invention;

[0024] Figure 4 1 is a schematic diagram of the working process of a deployment and recovery device for a low-power oceanographic instrument according to an embodiment of the present invention;

[0025] Figure 5 The diagram is a circuit diagram of a GPS start module of a low-power oceanographic instrument deployment and recovery device according to an embodiment of the present invention.

[0026] Description of main reference numerals:

[0027] 1-shell, 2-elastic material, 3-movable rod, 4-spring, 5-conductive rod, 6-insulating rod, 7-bimetallic strip, 8-oil bag buoyancy adjustment mechanism, 9-control cabin, 10-MCU control module, 11-battery, 12-GPS module, 13-land and sea communication module, 14-attitude detection mechanism, 15-GPS start module, 16-first resistor, 17-metal probe, 18-second resistor. DETAILED DESCRIPTION

[0028] The specific embodiments of the present invention are described in detail below with reference to the accompanying drawings, but it should be understood that the protection scope of the present invention is not limited by the specific embodiments.

[0029] Unless expressly stated otherwise, throughout the specification and claims, the term "comprise" or variations such as "include" or "comprising", etc., will be understood to include the stated elements or components but not to exclude other elements or other components.

[0030] Figure 1 It is a schematic diagram of the wireframe structure of a deployment and recovery device for a low-power ocean instrument according to one embodiment of the present invention. Figure 2 It is a schematic diagram of the posture cross-sectional structure of a launching and recovering device of a low-power ocean instrument according to one embodiment of the present invention.

[0031] like Figures 1 to 2As shown, in the first aspect, a low-power ocean instrument deployment and recovery device and method thereof are provided according to a preferred embodiment of the present invention, wherein the low-power ocean instrument deployment and recovery device comprises: an MCU control module 10, a battery 11, a GPS module 12, a water and land communication module 13, an oil bladder buoyancy adjustment mechanism 8, and a posture detection mechanism 14. The battery 11 is electrically connected to the MCU control module 10. The GPS module 12 is electrically connected to the MCU control module 10 and the battery 11, respectively. The water and land communication module 13 is electrically connected to the MCU control module 10, and the water and land communication module 13 is used to communicate with the water and land communication device of the operating vessel, and the water and land communication module 13 is timed to be turned on. The oil bladder buoyancy adjustment mechanism 8 is fixed on the ocean instrument, and the oil bladder buoyancy adjustment mechanism 8 is electrically connected to the MCU control module. The attitude detection mechanism 14 is fixed on the marine instrument. The attitude detection mechanism 14 is electrically connected to the MCU control module 10. The attitude detection mechanism 14 is used to detect and determine the attitude of the marine instrument in the water, and wake up the MCU control module 10 when the attitude of the marine instrument is not level, so that the MCU control module 10 turns on the oil bag buoyancy adjustment mechanism 8 to adjust the attitude of the marine instrument. Among them, the MCU control module 10, the battery 11, the GPS module 12 and the land and water communication module 13 are all arranged inside the attitude detection mechanism 14. Among them, the power supply battery 11 is used to power the instrument, the attitude detection mechanism 14 is used to determine the attitude of the instrument in the water, and wake up the MCU control module 10 to perform buoyancy control and correct the instrument attitude when the attitude of the instrument is not level. Among them, the land and water communication module 13 is used to regularly receive the recovery signal transmitted by the surface operation vessel, and the MCU control module 10 is the core control module of the instrument, which is used to adjust the buoyancy of the oil bag and control the GPS module 12. The oil bag type buoyancy adjustment mechanism 8 is used for adjusting the buoyancy of the instrument. It uses hydraulic oil as the working medium and changes the displacement of the pressure-resistant rubber oil bag by extracting or pumping hydraulic oil into the pressure-resistant rubber oil bag to achieve the purpose of buoyancy adjustment.

[0032] In one embodiment of the present invention, the posture detection mechanism 14 includes: a housing 1, a movable rod 3, a conductive rod 5, two insulating rods 6, a bimetallic strip 7, and a control cabin 9. The housing 1 is fixed to the marine instrument, and the upper and lower ends of the housing 1 are both made of elastic material 2. The movable rod 3 is vertically arranged in the housing 1, and the upper and lower ends of the movable rod 3 are abutted against the upper and lower ends of the housing 1 via springs 4. The conductive rod 5 is fixed to the inner wall of the housing 1 and is located on one side of the movable rod 3. The conductive rod 5 is electrically connected to the MCU control module 10. The two insulating rods 6 are respectively fixed to the inner wall of the housing 1, and the two ends of the conductive rod 5 are respectively connected to one end of the two insulating rods 6. The bimetallic strip 7 is fixed to the movable rod 3, and the bimetallic strip 7 faces the conductive rod 5. The control cabin 9 is arranged in the housing 1, and the MCU control module 10, battery 11, GPS module 12, and land and sea communication module 13 are all arranged in the control cabin 9.

[0033] In one embodiment of the present invention, the low-power oceanographic instrument deployment and recovery device further includes a GPS activation module 15, which is electrically connected to the MCU control module 10 and is capable of controlling the activation and deactivation of the GPS module 12. The GPS module 12 is used for instrument positioning, facilitating surface vessels obtaining the instrument's precise location during salvage operations. By default, the GPS activation module is configured to activate the GPS module 12 to minimize instrument power consumption.

[0034] In one embodiment of the present invention, the GPS activation module includes a first resistor 16 (R1), a second resistor 18 (R2), and a metal probe 17. The first resistor 16 is fixed to the inner wall of the housing 1 and is located above the other side of the movable rod 3. The second resistor 18 is fixed within the control cabin 9 and is electrically connected to the first resistor 16 and the GPS detection pin of the MCU control module 10. The metal probe 17 is fixed to the movable rod 3 and faces the first resistor 16.

[0035] In one embodiment of the present invention, the first resistor 16 and the metal probe 17 form a potentiometer, which is connected in series with the second resistor 18, and the second resistor 18 is connected in parallel with the GPS detection pin. At this time, U=U0, and a small current high level is given by the voltage source. When the marine instrument enters the water in a flat posture, the pressure difference between the upper and lower ends of the shell 1 can cause the movable rod 3 to move upward, driving the metal probe 17 to move upward along with the movable rod 3, so that the metal probe 17 touches the first resistor 16, and then the first resistor 16 increases, and the voltage U across the second resistor 18 decreases, which is recorded as U1. When the marine instrument floats to the upper end of the shell 1 and floats out of the sea, the pressure difference between the lower and upper ends decreases, causing the movable rod 3 to move downward, driving the metal probe 17 to move downward along with the movable rod 3, so that the metal probe 17 touches the first resistor 16, and then the first resistor 16 decreases, and the voltage U across the second resistor 18 increases, which is recorded as U2. Among them, when the marine instrument is tilted over a large range, the pressure difference between the upper and lower ends of the shell 1 can cause the movable rod 3 to move upward, driving the metal probe 17 to move upward along with the movable rod 3, so that the metal probe 17 touches the first resistor 16, thereby reducing the first resistor 16 and increasing the voltage U across the second resistor 18, which is recorded as U3. Among them, when the preset voltage U of the GPS detection pin is greater than or equal to U4, the GPS detection pin enables the MCU control module 10, and when the MCU control module 10 receives the bimetallic strip disconnection signal, the MCU control module 10 controls the GPS module 12 to turn on (that is, if the MCU control module 10 receives the signal from the GPS detection pin, it is also necessary to determine whether the bimetallic strip 7 is disconnected. If it is not disconnected, the GPS module 12 will not be turned on, which further prevents the occurrence of false alarms and further reduces power consumption). Among them, U2>U4, and U3>U4. Among them, when the marine instrument is not flat all the time, the marine instrument floats up until the bimetallic strip 7 is disconnected, and the MCU control module 10 turns on the GPS module 12. In this way, the GPS module 12 can be turned off by default and turned on when needed, thereby minimizing the power consumption of the instrument and increasing the underwater operation time.

[0036] Figure 3 FIG. 1 is a flow chart of a method for deploying and recovering a low-power oceanographic instrument according to an embodiment of the present invention. Figure 3As shown, in the second aspect, a method for launching and recovering a low-power ocean instrument according to a preferred embodiment of the present invention is provided, based on the above-mentioned launching and recovering device for a low-power ocean instrument, and the method includes: step S1, launching the launching and recovering device and the ocean instrument in a dormant state into the seawater, and after the ocean instrument descends to the operating height, the attitude detection mechanism 14 is turned on under the action of pressure and the bimetallic strip 7. Step S2, the attitude detection mechanism 14 detects whether the sinking posture of the ocean instrument is flat. Step S3, if the attitude detection mechanism 14 detects that the attitude of the ocean instrument is tilted, the attitude detection mechanism 14 enables the MCU control pin and starts attitude correction. Step S4, the MCU control module 10 turns on the oil bladder buoyancy adjustment mechanism 8, and controls the oil bladder buoyancy adjustment mechanism 8 to increase the buoyancy, so that the ocean instrument floats up and adjusts the launching posture, and the attitude detection mechanism 14 continuously detects and judges the attitude state of the ocean instrument during the floating process. In step S5, if the posture of the ocean instrument is flat, the MCU control module 10 controls the oil bag type buoyancy adjustment mechanism 8 to reduce the buoyancy, so that the ocean instrument sinks again, and repeats step S2 until the ocean instrument is successfully launched.

[0037] In one embodiment of the present invention, if the posture detection mechanism 14 detects that the posture of the ocean instrument remains flat during the descent process, the ocean instrument is successfully launched.

[0038] In one embodiment of the present invention, if the posture of the ocean instrument is still uneven, the ocean instrument continues to float up until the bimetallic strip 7 is disconnected, and the MCU control module 10 turns on the GPS module 12 to prepare to recover the ocean instrument.

[0039] In one embodiment of the present invention, the method for deploying and recovering a low-power oceanographic instrument further includes: Step S6, where, after the oceanographic instrument completes acquisition, the MCU control module 10 receives a recovery instruction via the timed-on land and water communication module 13. Step S7, where, after receiving the recovery instruction, the MCU control module 10 controls the oil-bladder buoyancy adjustment mechanism 8 to increase buoyancy, thereby causing the oceanographic instrument to float.

[0040] In one embodiment of the present invention, the method for deploying and recovering low-power oceanographic instruments further includes: step S8, when the oceanographic instrument floats to a preset height, the GPS start module 15 starts the GPS module 12 through the MCU control module 10, so that the operating vessel can determine the location of the oceanographic instrument and recover and salvage it.

[0041] Figure 5 FIG. 1 is a circuit diagram of a GPS start module of a low-power oceanographic instrument deployment and recovery device according to an embodiment of the present invention. Figure 5 As shown, the GPS enable pin is detected by voltage, and a high level with a certain threshold is used in combination with a very small current (milliampere level) to achieve the following:

[0042] 1. Further explain the GPS startup module, such as Figure 5 As shown, the first resistor 16 (R1) and the metal probe 17 form a potentiometer, which is connected in series with the second resistor 18 (R2). The second resistor 18 (R2) is connected in parallel with the GPS detection pin. At this time, U=U0, and a small current high level is given by the voltage source;

[0043] 2. When entering the water, the movable rod 3 moves upward, and the metal probe 17 moves upward (in the schematic diagram, it moves to the left of R1), R1 increases, and the voltage U across R2 decreases, which is recorded as U1;

[0044] 3. When water is discharged, the movable rod 3 moves downward, driving the metal probe 17 downward (reflected in the schematic diagram as moving to the right of R1), R1 decreases, and the voltage U across R2 increases and is recorded as U2;

[0045] 4. When tilted over a large range, the movable rod 3 moves upward, driving the metal probe 17 upward (reflected in the schematic diagram as moving to the right of R1), R1 decreases, and the voltage U across R2 increases, which is recorded as U3;

[0046] 5. Set the GPS detection pin. When U≥U4, the GPS module detection pin is enabled, and when the bimetallic strip 7 is disconnected, the MCU control module gives another signal. When the two signals are true, the GPS module is turned on.

[0047] 6. After calculation, the appropriate resistance value of R2 can be selected so that U2>U4 or U3>U4 when water is discharged and when tilted over a large range.

[0048] In order to overcome the shortcomings of existing marine instrument deployment and recovery methods in terms of recovery success rate, safety risks, environmental protection, and operating costs, the low-power marine instrument deployment and recovery device and method of the present invention use physical devices to determine the position of the instrument in the ocean and the sinking posture of the instrument, thereby controlling the opening and closing of the corresponding circuit. Compared with other marine instrument deployment and recovery devices, it has many advantages such as ultra-low power consumption, high efficiency and reliability, low cost, and environmental friendliness.

[0049] Specifically, the low-power oceanographic instrument deployment and recovery device of the present invention comprises a power supply battery 11, a posture detection mechanism 14, a land-water communication module 13, an MCU control module 10, an oil-bladder buoyancy adjustment mechanism 8, a GPS module 12, and a GPS activation module 15. The power supply battery 11 powers the instrument. The posture detection module determines the instrument's posture in the water and, if the instrument's posture is uneven, activates the MCU control module 10 to perform buoyancy control and correct the instrument's posture. The land-water communication module 13 periodically receives recovery signals transmitted by surface vessels. The MCU control module 10 is the instrument's core control module, responsible for adjusting the buoyancy of the oil bladder and controlling the GPS module 12. The oil-bladder buoyancy adjustment system, which uses hydraulic oil as the working medium, achieves buoyancy adjustment by changing the displacement of the pressure-resistant rubber oil bladder by pumping or drawing hydraulic oil into it. The GPS module 12 is used for instrument positioning, facilitating surface vessels obtaining the instrument's precise location during salvage operations. It is in the off state by default. The GPS activation module 15 activates the GPS module 12 to minimize instrument power consumption.

[0050] The attitude detection mechanism 14 consists of upper and lower elastic shells, a spring 4, a movable rod 3, an insulating rod 6, a bimetallic strip 7, and a conductive rod 5. The working principle mainly utilizes the pressure and the temperature sensitivity of the low-temperature bimetallic strip 7. When the instrument is placed in the ocean, the elastic shells at the upper and lower ends of the instrument are deformed due to the pressure of sea water, and the movable rod 3 is driven to move by the spring 4. A low-temperature bimetallic alloy sheet is installed in the middle of the movable rod 3. At room temperature, the alloy sheet is in a bent state, ensuring that the movable rod 3 and the conductive rod 5 are in a disconnected state.

[0051] When the instrument is placed in seawater of a certain depth, the large temperature difference between the surface temperature and the deep temperature in the ocean (up to 20°C on average) is combined with the temperature sensitivity of the low-temperature bimetallic strip 7. The difference in metal materials at both ends causes the metals at both ends to change in different scales when the temperature changes, resulting in bending. When the instrument reaches the preset working depth (which can be set by using alloy sheets of different materials), the bent alloy sheet straightens under the action of temperature, and the device is judged to have entered the operating water depth. When the instrument is in a flat posture (maintaining verticality or a small inclination angle), the elastic shells at the upper and lower ends are subjected to a pressure difference, causing the movable rod 3 to move upward. The upward movement range of the movable rod 3 when the instrument is in a flat posture or at a small inclination angle can be calculated. An insulating rod 6 is installed on the inner wall of the instrument within this range, so that the straightened metal sheet always points to this area when the posture is flat.

[0052] When the instrument's posture is uneven or the tilt angle is too large, the movement range of the movable rod 3 is calculated, and the conductive rod 5 is placed within this range, so that the straightened metal sheet always points to this area when the posture is uneven, thereby forming a path with the conductive rod 5. The conductive rod 5 is connected to the MCU detection pin, and when a high level is detected, the oil bladder buoyancy adjustment module is used to adjust the buoyancy.

[0053] The control cabin 9 includes an MCU control module 10, a GPS module 12, a water and land communication module 13 and an electric field group. The MCU control module 10 is connected to the attitude detection mechanism 14, the oil bladder buoyancy adjustment mechanism 8, the GPS module 12, and the GPS startup module 15, and is responsible for the instrument's attitude perception, buoyancy adjustment and GPS startup.

[0054] The GPS startup module 15 is composed of a first resistor 16, a second resistor 18, and a metal probe 17 in conjunction with an MCU circuit. When the marine instrument enters the water in a flat posture, the pressure difference between the upper and lower ends of the shell 1 can cause the movable rod 3 to move upward, driving the metal probe 17 to move upward along with the movable rod 3, so that the metal probe 17 touches the first resistor 16, and then the first resistor 16 increases, and the voltage U across the second resistor 18 decreases, which is recorded as U1. Among them, when the marine instrument floats up to the upper end of the shell 1 and emerges from the sea, the movable rod 3 moves downward due to the reduction in the pressure difference between the lower and upper ends, driving the metal probe 17 to move downward along with the movable rod 3, so that the metal probe 17 touches the first resistor 16, and then the first resistor 16 decreases, and the voltage U across the second resistor 18 increases, which is recorded as U2. Among them, when the marine instrument is tilted over a large range, the pressure difference between the upper and lower ends of the shell 1 can cause the movable rod 3 to move upward, driving the metal probe 17 to move upward along with the movable rod 3, so that the metal probe 17 touches the first resistor 16, thereby reducing the first resistor 16 and increasing the voltage U across the second resistor 18, which is recorded as U3. Among them, when the preset voltage U of the GPS detection pin is greater than or equal to U4, the GPS detection pin enables the MCU control module 10, and when the MCU control module 10 receives the bimetallic strip disconnection signal, the MCU control module 10 controls the GPS module 12 to turn on (that is, if the MCU control module 10 receives the signal from the GPS detection pin, it is also necessary to determine whether the bimetallic strip 7 is disconnected. If it is not disconnected, the GPS module 12 will not be turned on, which further prevents the occurrence of false alarms and further reduces power consumption). Among them, U2>U4, and U3>U4. Among them, when the marine instrument is not flat all the time, the marine instrument floats up until the bimetallic strip 7 is disconnected, and the MCU control module 10 turns on the GPS module 12. In this way, the GPS module 12 can be turned off by default and turned on when needed, thereby minimizing the power consumption of the instrument and increasing the underwater operation time.

[0055] Figure 4FIG. 1 is a schematic diagram of the workflow of a low-power oceanographic instrument deployment and recovery device according to an embodiment of the present invention. Figure 4 As shown, the working process of the low-power ocean instrument deployment and recovery device and method of the present invention is as follows:

[0056] 1. When the instrument is put into water, the electronic components are in a dormant state. After the device detects that the instrument has descended to the operating height, the attitude detection mechanism 14 is activated under the action of pressure and the bimetallic strip 7;

[0057] 2. The posture detection mechanism 14 detects whether the instrument is in a flat position when it descends. If the instrument remains flat during the descent, the instrument is successfully launched. If the instrument is detected to be tilted, the posture detection mechanism 14 enables the MCU control pin to start posture correction.

[0058] 3. The MCU control module 10 controls the oil bag to increase buoyancy, causing the instrument to float up and adjust the launch posture. During the instrument's floating process, the posture detection mechanism 14 continuously determines the instrument's status. If the posture is flat, the MCU control module 10 controls the oil bag to reduce buoyancy, causing the instrument to sink again. The above process 2 is repeated until the instrument is successfully launched. If the posture is still not flat, the instrument continues to float until the bimetallic strip 7 is disconnected, and then the GPS module 12 is turned on.

[0059] 4. The recovery process is divided into normal recovery after a successful launch and emergency recovery after a failed launch. When the instrument completes the acquisition, the control circuit receives the recovery command through the regularly activated water and land communication module 13. After receiving the recovery command, the MCU control module 10 controls the oil bladder to increase buoyancy, causing the instrument to float up. When the GPS activation module is enabled, it turns on the GPS, allowing surface vessels to determine the instrument's location and recover it. If the launch fails (i.e., the posture remains uneven), the instrument floats up to the point where the bimetallic strip 7 disconnects, and the MCU controls the GPS to turn on in preparation for instrument recovery.

[0060] In summary, the low-power ocean instrument deployment and recovery device and method of the present invention use conditions such as atmospheric pressure and seawater temperature difference to determine the position of the instrument in the ocean and the sinking posture of the instrument, thereby controlling the opening and closing of the corresponding circuit. Compared with traditional ocean instrument deployment and recovery devices, it has many advantages such as ultra-low power consumption, high efficiency and reliability, low cost, environmental friendliness, simple equipment, and can be easily used on a variety of ocean instruments. It solves the problem of instrument rollover caused by turbulent ocean currents encountered during the deployment of ocean instruments or uneven seabed at the deployment site.

[0061] The foregoing descriptions of specific exemplary embodiments of the present invention are for purposes of illustration and description. These descriptions are not intended to limit the invention to the precise forms disclosed, and it is apparent that many modifications and variations are possible in light of the foregoing teachings. The exemplary embodiments have been selected and described for the purpose of explaining the specific principles of the invention and their practical application, thereby enabling those skilled in the art to make and utilize a variety of exemplary embodiments of the invention and various options and variations. The scope of the invention is intended to be defined by the claims and their equivalents.

Claims

1. A low-power oceanographic instrument launching and recovering device, characterized in that: include: MCU control module; A battery, electrically connected to the MCU control module; A GPS module is electrically connected to the MCU control module and the battery respectively; A land and water communication module is electrically connected to the MCU control module, and is used to communicate with the land and water communication device of the workboat, and the land and water communication module is turned on at a fixed time; An oil bladder buoyancy adjustment mechanism is fixed on the ocean instrument and is electrically connected to the MCU control module; as well as a posture detection mechanism fixed to the oceanographic instrument, the posture detection mechanism being electrically connected to the MCU control module, and configured to detect and determine the posture of the oceanographic instrument in the water, and to wake up the MCU control module when the posture of the oceanographic instrument is uneven, thereby causing the MCU control module to activate the oil bladder buoyancy adjustment mechanism to adjust the posture of the oceanographic instrument; Wherein, the MCU control module, the battery, the GPS module and the land and water communication module are all arranged inside the posture detection mechanism; Wherein, the posture detection mechanism includes: A shell, wherein the shell is fixed to the marine instrument, and the upper and lower ends of the shell are both made of elastic material; A movable rod is vertically arranged in the shell, and the upper end and the lower end of the movable rod are both in contact with the upper end and the lower end of the shell through a spring; A conductive rod is fixed on the inner wall of the housing and is located on one side of the movable rod, and the conductive rod is electrically connected to the MCU control module; Two insulating rods are respectively fixed on the inner wall of the shell, and two ends of the conductive rod are respectively connected to one end of the two insulating rods; A bimetallic strip is fixed to the movable rod, the bimetallic strip facing the conductive rod. The bimetallic strip is temperature-sensitive. The difference in metal material at both ends of the bimetallic strip causes the metal at both ends to change in different scales when the temperature changes, thereby causing bending. When the oceanographic instrument reaches a preset working depth, the bent metal at both ends straightens under the action of temperature, thereby determining the operating water depth. A control cabin is provided in the housing, and the MCU control module, the battery, the GPS module and the land and water communication module are all provided in the control cabin; The low-power ocean instrument launching and recovering device further comprises a GPS startup module electrically connected to the MCU control module, and the GPS startup module is capable of controlling the opening and closing of the GPS module; Wherein, the GPS startup module includes: a first resistor R1 fixed to the inner wall of the housing and located above the other side of the movable rod; A second resistor R2 is fixed in the control cabin, and the second resistor R2 is electrically connected to the first resistor R1 and the GPS detection pin of the MCU control module respectively; A metal probe is fixed on the movable rod and faces the first resistor R1.

2. The low-power oceanographic instrument launching and recovering device according to claim 1, characterized in that: The first resistor R1 and the metal probe form a potentiometer, which is connected in series with the second resistor R2, and the second resistor R2 is connected in parallel with the GPS detection pin. At this time, U=U0, and a small current high level is given by the voltage source; When the oceanographic instrument enters the water in a flat position, the pressure difference between the upper and lower ends of the housing can cause the movable rod to move upward, driving the metal probe to move upward along with the movable rod, thereby causing the metal probe to touch the first resistor R1, thereby increasing the first resistor R1 and reducing the voltage U across the second resistor R2, which is recorded as U1; When the ocean instrument floats up to the upper end of the shell and floats out of the sea, the pressure difference between the lower end and the upper end decreases, causing the movable rod to move downward, driving the metal probe to move downward with the movable rod, so that the metal probe touches the first resistor R1, thereby reducing the first resistor R1 and increasing the voltage U across the second resistor R2, which is recorded as U2; When the ocean instrument is tilted over a large range, the pressure difference between the upper and lower ends of the housing can cause the movable rod to move upward, driving the metal probe to move upward along with the movable rod, so that the metal probe touches the first resistor R1, thereby reducing the first resistor R1 and increasing the voltage U across the second resistor R2, which is recorded as U3; When the preset voltage U of the GPS detection pin is greater than or equal to U4, the GPS detection pin enables the MCU control module, and when the MCU control module receives the bimetallic strip disconnection signal, the MCU control module controls the GPS module to turn on; Among them, U2>U4, and U3>U4; Wherein, when the ocean instrument is not level all the time, the ocean instrument floats up until the bimetallic strip is disconnected, and then the MCU control module turns on the GPS module.

3. A method for launching and recovering a low-power oceanographic instrument, based on the launching and recovering device for a low-power oceanographic instrument according to any one of claims 1 to 2, characterized in that: The method comprises: Step S1: putting the dormant launching and recovery device and the oceanographic instrument into the seawater, and after the oceanographic instrument is lowered to the operating height, the attitude detection mechanism is activated under the action of pressure and a bimetallic strip; Step S2, the posture detection mechanism detects whether the sinking posture of the ocean instrument is flat; Step S3: If the attitude detection mechanism detects that the ocean instrument is tilted, the attitude detection mechanism enables the MCU control pin to start attitude correction; In step S4, the MCU control module activates the oil-bladder buoyancy adjustment mechanism and controls the oil-bladder buoyancy adjustment mechanism to increase buoyancy, thereby causing the oceanographic instrument to float up and adjust its launch posture. During the floating process, the posture detection mechanism continuously detects and determines the posture state of the oceanographic instrument. Step S5: If the posture of the ocean instrument is flat, the MCU control module controls the oil bag buoyancy adjustment mechanism to reduce the buoyancy, so that the ocean instrument sinks again, and repeats step S2 until the ocean instrument is successfully launched.

4. The method for launching and recovering a low-power oceanographic instrument according to claim 3, wherein: If the posture detection mechanism detects that the posture of the ocean instrument remains flat during the descent process, the ocean instrument is successfully launched.

5. The method for launching and recovering a low-power oceanographic instrument according to claim 4, wherein: If the posture of the ocean instrument is still uneven, the ocean instrument continues to float up until the bimetallic strip is disconnected, and then the MCU control module turns on the GPS module to prepare to recover the ocean instrument.

6. The method for launching and recovering a low-power oceanographic instrument according to claim 3, wherein: Also includes: Step S6, when the oceanographic instrument completes the acquisition, the MCU control module receives a recovery instruction via the land and water communication module that is turned on at a fixed time; Step S7: After the MCU control module receives the recovery instruction, the MCU control module controls the oil bladder buoyancy adjustment mechanism to increase the buoyancy, thereby causing the ocean instrument to float up.

7. The method for launching and recovering a low-power oceanographic instrument according to claim 6, wherein: Also includes: Step S8: When the ocean instrument floats up to a preset height, the GPS start module starts the GPS module through the MCU control module, so that the workboat can determine the position of the ocean instrument and recover and salvage it.

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