Shallow sea self-sinking and floating profile observation buoy and control method thereof

Abstract

The present application relates to a kind of shallow sea self-sinking and floating profile observation buoy and its control method, comprising: barrel, inside specific have accommodating cavity.Control device, fixed installation is in accommodating cavity inside.Oil pump, fixedly arranged in accommodating cavity inside, and with control device electric connection.First oil bag, fixedly arranged in accommodating cavity inside and through pipeline with the side of oil pump be connected.Second oil bag, fixedly arranged in the barrel outside, and through pipeline with the other side of oil pump be connected.Observation instrument, fixed installation is in the top of barrel, and with control device electric connection, for carrying out floating observation and sinking observation and sending observation data to control device.Propeller, by frame fixed installation is in the bottom of barrel, and with control device electric connection.Power supply device, fixed installation is in the inside of barrel, and with control device electric connection.Suction accessory, fixedly arranged in the edge of propeller, to absorb the sediment of seabed.The setting of suction accessory makes the buoy sink into water and touch the bottom by absorbing the sediment of seabed to prevent loss.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of ocean observation devices, in particular to a shallow sea self-sinking and floating profile observation buoy and a control method thereof. BACKGROUND

[0002] In recent years, with the development of marine resources and the deepening of the study of marine environment, the investigation of the global ocean is particularly important. Generally, there are the following methods for investigating the ocean: (1) a scientific research ship carries observation instruments (such as various observation sensors) and sampling equipment to carry out observation and sampling, which is characterized by flexibility and can carry a manned submersible (HOV) or a remotely operated vehicle (ROV) to carry out underwater fine work. (2) A fixed-point observation platform is used to carry out long-term observation at a specific location. For example, a buoy platform is used to carry observation instruments to carry out long-term observation at a fixed point on the sea-air interface, a submerged platform is used to carry observation instruments to carry out long-term observation at a fixed point on a specific layer of seawater column, and a bottom-lying observation platform is used to carry observation instruments to carry out long-term observation on the near-boundary layer of the seabed. The fixed-point observation platform is characterized by long-term continuous observation at a specific location and relatively low observation cost. (3) A mobile platform is used to carry out observation. The mobile platform includes an autonomous underwater vehicle (AUV), an underwater glider and a self-sinking and floating buoy. The autonomous underwater vehicle and the underwater glider can observe according to a predetermined route, but the cost is high and the operation time is limited. The self-sinking and floating buoy has a long observation time and relatively low cost. (4) A seabed observation network is used to carry out observation. The observation network is characterized by connecting various fixed-point observation platforms to realize long-term real-time continuous observation of the ocean from the sea surface to the seabed. The implementation cost is also high.

[0003] At present, the traditional self-sinking and floating buoy is mainly used for marine profile observation. During the operation of such a buoy, it is first submerged to a certain depth and moves with the sea current. The buoy adjusts the buoyancy by adjusting the oil volume of the inner and outer oil bags to sink or float. After the observation is completed, the buoy floats to the sea surface, the observation data is transmitted back through a satellite, and the next operation cycle is performed. Such a buoy is usually used in the vast deep sea and the observation position is not fixed. It moves with the sea current and is easily lost by touching the bottom when it moves to the shallow sea area.

[0004] Therefore, the traditional self-sinking and floating buoy is easily lost by touching the bottom when it is used for profile observation in the shallow sea area and it is difficult to carry out long-term profile observation in the shallow sea area. SUMMARY

[0005] Therefore, it is necessary to provide a shallow sea self-sinking and floating profile observation buoy and a control method thereof, which are not easily lost by touching the bottom when they are used for profile observation in the shallow sea area and are easy to carry out long-term profile observation in the shallow sea area.

[0006] The present application provides a shallow sea self-sinking and floating profile observation buoy, comprising:

[0007] a cylinder body having an accommodating cavity inside;

[0008] a controller fixedly installed in the accommodating cavity;

[0009] an oil pump fixedly arranged inside the accommodating cavity and electrically connected with the controller;

[0010] a first oil bag fixedly arranged inside the accommodating cavity and connected with one side of the oil pump through a pipeline;

[0011] a second oil bag fixedly arranged outside the cylinder body and connected with the other side of the oil pump through a pipeline;

[0012] an observation instrument fixedly installed on the top of the cylinder body and electrically connected with the controller, used for floating observation and sinking observation and sending observation data to the controller;

[0013] a propeller fixedly installed on the bottom of the cylinder body through a frame and electrically connected with the controller;

[0014] a power supply device fixedly installed inside the cylinder body and electrically connected with the controller;

[0015] a suction accessory arranged at the edge of the propeller to suck the sediments on the seabed;

[0016] a satellite antenna fixedly installed on the top of the cylinder body and electrically connected with the controller to send the longitude and latitude of the position of the buoy to the controller through satellite positioning;

[0017] a pressure sensor fixedly installed on the pipeline between the second oil bag and the oil pump to measure the pressure on the pipeline between the second oil bag and the oil pump;

[0018] wherein, when sinking observation is performed during the slack tide period, the oil in the second oil bag is pumped into the first oil bag by the oil pump controlled by the controller, so that the buoyancy of the buoy is less than the gravity of the buoy, so that the buoy sinks into the water, and when touching the bottom, the sediments on the seabed are sucked by the suction accessory, and the oil in the first oil bag is pumped into the second oil bag by the oil pump controlled by the controller during the next slack tide period, and the suction accessory is separated from the sediments by the propeller to perform floating observation.

[0019] In one embodiment, the frame includes a plurality of rods, and the propeller is fixedly connected with the bottom of the cylinder body through the plurality of rods and has a spacing between the bottom of the cylinder body.

[0020] In one of the embodiments, the distance between the observation instrument and the top of the cylinder is greater than the distance between the second oil bladder and the top of the cylinder, and the observation instrument is a CTD (Conductivity, Temperature, Depth) instrument for measuring the temperature and salinity of seawater.

[0021] The present application also provides a control method of the shallow sea self-sinking and floating profile observation buoy, for controlling any of the above-mentioned shallow sea self-sinking and floating profile observation buoy, the method comprising:

[0022] When the observation sea area is in the slack tide period, the first position latitude and longitude of the buoy is obtained through the satellite antenna, the first position latitude and longitude being the position latitude and longitude of the buoy before sinking;

[0023] A first instruction is sent based on the first position latitude and longitude, and the oil pump is controlled by the first instruction to pump the oil in the second oil bladder into the first oil bladder, so that the buoyancy of the buoy is less than the gravity of the buoy;

[0024] A second instruction is sent when the buoy sinks, and the observation instrument is controlled by the second instruction to perform sinking observation to obtain corresponding sinking observation data;

[0025] A third instruction is sent when the buoy lands, and the oil pump is controlled by the third instruction to pump the oil in the first oil bladder into the second oil bladder, so that the buoyancy of the buoy is greater than the gravity of the buoy;

[0026] A fourth instruction is sent when the buoy floats, and the observation instrument is controlled by the fourth instruction to perform floating observation to obtain corresponding floating observation data.

[0027] In one of the embodiments, the method further comprises:

[0028] The measurement data of the pressure sensor is obtained, and whether the buoy lands during sinking is judged based on the measurement data of the pressure sensor; if yes, then

[0029] A fifth instruction is sent, and the observation instrument is controlled by the fifth instruction to stop observation.

[0030] In one of the embodiments, the method further comprises:

[0031] A sixth instruction is sent when the buoy sinks and lands, and the propeller is controlled by the sixth instruction to start, so that the suction accessory is separated from the sediment under the action of the propeller;

[0032] Whether the suction accessory is separated from the sediment of the seabed is judged based on the measurement data of the pressure sensor; if yes, then

[0033] The propeller is controlled to be closed.

[0034] In one embodiment, the method further includes:

[0035] During the ascent of the buoy, the observation instrument is controlled to perform ascent observations in order to obtain ascent observation data;

[0036] Based on the measurement data from the pressure sensor, determine whether the buoy has risen to the surface; if so, then...

[0037] The measuring instrument is controlled to stop measuring, and the second position latitude and longitude of the buoy is obtained through the satellite antenna. The second position latitude and longitude is the new position latitude and longitude of the buoy after it sinks and resurfaces.

[0038] In one embodiment, the step of controlling the measuring instrument to stop measuring and obtaining the second position latitude and longitude of the buoy via the satellite antenna, followed by:

[0039] If the distance between the latitude and longitude of the first location and the latitude and longitude of the second location exceeds a first threshold, a position correction command is received to control the buoy to perform position correction.

[0040] The aforementioned shallow-sea self-sinking and floating profiling buoy and its control method, when used for sinking observations, involve a controller that pumps oil from the second oil bladder into the first oil bladder, making the buoyancy less than the buoy's weight, causing the buoy to sink and providing corresponding sinking profiling data. Upon reaching the bottom, the buoy uses an adsorption device to absorb seabed sediment, ensuring it remains attached to the sediment before the next low tide, preventing it from being lost due to ocean currents. At the next low tide, the controller pumps oil from the first oil bladder into the second oil bladder, making the buoyancy greater than the buoy's weight, and then the thruster separates the adsorption device from the seabed sediment, causing the buoy to surface and providing corresponding rising profiling data. Furthermore, the satellite antenna allows personnel to easily locate the buoy when it surfaces and recharge it when the power supply is low, enabling long-term use of the buoy in shallow-sea areas. Therefore, this shallow-sea self-sinking and floating profiling buoy is not easily lost when it touches the bottom during profiling in shallow sea areas, and it is relatively easy to conduct long-term profiling in shallow sea areas. Attached Figure Description

[0041] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0042] Figure 1 The structural schematic diagram of the shallow sea self-sinking and floating profile observation buoy provided by the present application is shown in the figure.

[0043] Figure 2 The control method flowchart of the shallow sea self-sinking and floating profile observation buoy provided by the present application is shown in the figure.

[0044] Figure 3 The control method flowchart of the shallow sea self-sinking and floating profile observation buoy provided by the present application is shown in the figure.

[0045] Figure 4 The control method flowchart of the shallow sea self-sinking and floating profile observation buoy provided by the present application is shown in the figure.

[0046] Figure 5 The control method flowchart of the shallow sea self-sinking and floating profile observation buoy provided by the present application is shown in the figure.

[0047] Reference signs:

[0048] 100, barrel; 110, accommodating cavity; 120, satellite antenna; 200, controller; 300, oil pump; 310, first oil bladder; 320, second oil bladder; 330, pressure sensor; 340, pipeline; 400, observation instrument; 500, propeller; 510, frame; 511, rod; 600, power supply device; 700, suction accessory. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0050] It should be noted that when a component is referred to as being “fixed to” or “set on” another component, it can be directly on the other component or there can be a middle component. When a component is referred to as being “connected to” another component, it can be directly connected to the other component or there can be a middle component. The terms “vertical”, “horizontal”, “up”, “down”, “left”, “right” and similar expressions used in the specification of the present application are only for the purpose of illustration and do not represent the only implementation.

[0051] In addition, the terms "first", "second", etc. are used herein only to describe different instances, and are not used to denote or imply relative importance or a number of indications of the technical features indicated. Thus, the technical features defined with "first", "second", etc. can explicitly or implicitly include at least one of the technical features. In the description of the present application, the meaning of "a plurality of" is at least two, for example, two, three, etc., unless otherwise explicitly and specifically limited.

[0052] In the present application, unless otherwise explicitly specified and limited, the "on", "under" of the first feature to the second feature can be that the first feature is in direct contact with the second feature, or the first feature is indirectly in contact with the second feature through an intermediate medium. Moreover, the "over", "above" and "on" of the first feature to the second feature can be that the first feature is directly above or obliquely above the second feature, or only indicates that the first feature is horizontally higher than the second feature. The "under", "below" and "under" of the first feature to the second feature can be that the first feature is directly below or obliquely below the second feature, or only indicates that the first feature is horizontally lower than the second feature.

[0053] Unless otherwise defined, all technical and scientific terms used in the specification of the present application have the same meaning as commonly understood by those skilled in the art to which the present application belongs. The terms used in the specification of the present application are only for the purpose of describing the specific embodiments and are not intended to limit the present application. The term "and / or" used in the specification of the present application includes any and all combinations of one or more of the related listed items.

[0054] The present application will be described below in conjunction with Figures 1-5 The present application describes a shallow sea self-sinking and floating profile observation buoy and a control method thereof.

[0055] As Figure 1 shown, in one embodiment, a shallow sea self-sinking and floating profile observation buoy comprises:

[0056] The barrel 100 has an accommodation cavity 110 inside.

[0057] The controller 200 is fixedly installed inside the accommodation cavity 110.

[0058] The oil pump 300 is fixedly arranged in the accommodating cavity 110 and electrically connected with the controller 200. The oil pump 300 is communicated with the first oil bag 310 and the second oil bag 320 through pipelines 340 arranged at two sides of the oil pump 300, wherein the first oil bag 310 is arranged in the barrel 100, and the second oil bag 320 is arranged outside the barrel 100. A pressure sensor 330 is arranged on the pipeline between the second oil bag 320 and the oil pump 300. When the buoy is sinking for observation in the slack tide period, the oil pump 300 is controlled by the controller 200 to pump the oil in the second oil bag 320 into the first oil bag 310, so that the buoyancy of the whole buoy is less than the gravity of the whole buoy, so that the buoy sinks into the seawater under the action of gravity. When the buoy is floating for observation in the next slack tide period, the oil pump 300 is controlled by the controller 200 to pump the oil in the first oil bag 310 into the second oil bag 320, so that the buoyancy of the whole buoy is greater than the gravity of the whole buoy, so that the buoy automatically floats up.

[0059] During the process of the buoy floating up or sinking, the pressure of seawater on the second oil bag 320 is constantly changing. According to the measurement data of the pressure sensor 330, the change of the pressure of seawater on the second oil bag 320 can be determined, and then the movement process of the buoy can be determined. If the measurement data of the pressure sensor 330 continuously increases, it indicates that the buoy is sinking. If the measurement data of the pressure sensor 330 increases to a maximum value and no longer changes, it indicates that the buoy has touched the bottom. If the measurement data of the pressure sensor 330 continuously decreases, it indicates that the buoy is floating up. If the measurement data of the pressure sensor 330 decreases to a minimum value and no longer changes, it indicates that the buoy has floated out of the water.

[0060] The observation instrument 400 adopts a CTD instrument for measuring the temperature and salinity of seawater, is fixedly installed at the top of the barrel 100, and is electrically connected with the controller 200. The observation instrument 400 is used for profile observation during the sinking process of the buoy and profile observation during the floating process of the buoy, so as to obtain corresponding floating profile observation data and sinking profile observation data, and send the obtained floating profile observation data and sinking profile observation data to the controller 200. In addition, the distance between the observation instrument 400 and the top of the barrel 100 is greater than the distance between the second oil bag 320 and the top of the barrel 100, so as to facilitate the observation instrument 400 to perform floating observation when the buoy floats up.

[0061] The propeller 500 is fixedly installed at the bottom of the barrel 100 through a frame 510 composed of a plurality of rod members 511. The propeller 500 is fixedly installed at the bottom of the barrel 100 through the plurality of rod members 511 and has a certain interval with the bottom of the barrel 100. The propeller 500 supports the buoy when the buoy touches the bottom through the plurality of rod members 511.

[0062] The power supply device 600 is fixedly installed in the barrel 100 and electrically connected with the controller 200, and supplies power to the whole buoy device through the controller 200.

[0063] The suction attachment 700 is fixedly connected to the edge of the propeller 500, and is used to suck the sediment on the seabed when the buoy touches the seabed, so as to prevent the buoy from being lost due to the movement of the sea current during the non-tidal period. During the sinking process of the buoy, the suction attachment 700 will suck the sediment on the seabed when the buoy touches the seabed, and the sediment on the seabed will be separated from the suction attachment 700 by starting the propeller 500 at the next tidal period stored in the controller 200, and the propeller 500 will be turned off when the buoy can automatically rise, so that the buoy can be observed during the automatic rising process.

[0064] The satellite antenna 120 is fixedly installed on the top of the cylinder 100 and is electrically connected with the controller 200, and is used to send the position of the buoy in latitude and longitude to the controller 200 through satellite positioning, and the controller 200 will send the position in latitude and longitude, the rising profile observation data and the sinking profile observation data to the shore base station after the buoy floats on the water surface through the satellite antenna 120, so that the staff can master the specific position of the buoy and the data observed by the observation instrument 400.

[0065] The above-mentioned shallow sea self-sinking and floating profile observation buoy can control the oil pump to pump the oil in the second oil bag into the first oil bag through the controller when the observation instrument is used for sinking observation, so that the buoyancy of the buoy is less than the gravity of the buoy, so that the buoy sinks into the water, and the corresponding sinking profile observation data is obtained, and the sediment on the seabed is sucked by the suction attachment when the sinking touches the bottom, so that the buoy is attached to the sediment on the seabed before the next tidal period, so as to prevent the buoy from being lost due to the movement of the sea current. And the oil in the first oil bag is pumped into the second oil bag by the oil pump controlled by the controller at the next tidal period, so that the buoyancy of the buoy is greater than the gravity of the buoy, and the suction attachment is separated from the sediment on the seabed by starting the propeller, so that the buoy floats on the water surface, and the corresponding rising profile observation data is obtained. In addition, the satellite antenna can make the staff easily find the position of the buoy when the buoy floats on the sea surface, and find the buoy and charge the buoy when the power supply device has less power, so that the buoy can be used in the shallow sea area for a long time. Therefore, the shallow sea self-sinking and floating profile observation buoy is not easy to be lost when it touches the bottom during the profile observation in the shallow sea area, and it is easy to perform long-term profile observation in the shallow sea area.

[0066] In a specific embodiment, the present application provides a control method of a shallow sea self-sinking and floating profile observation buoy, which is combined with Figure 1As shown, it mainly consists of satellite antenna 120, cylinder 100, controller 200, battery (power supply device 600), oil pump 300, pressure sensor 330, inner oil bag (first oil bag 310), outer oil bag (second oil bag 320), and adsorption skirt (adsorption accessory 700) and thruster 500. Among them, controller 200, battery 600, oil pump 300, pressure sensor 330 and inner oil bag (first oil bag 310) are packaged in cylinder 100, satellite antenna 120 and outer oil bag (second oil bag 320) are installed on the upper end outside cylinder 100, satellite antenna 120 is electrically connected with controller 200 through cable, and its function is to carry out satellite positioning and communicate with shore base through satellite. The outer oil bag (second oil bag 320) is connected with the oil pump 300 through the pipeline (pipeline 340), the thruster 500 and the adsorption skirt (adsorption accessory 700) are installed on the lower end outside the cylinder 100, and the thruster 500 is electrically connected with the controller 200 through the cable and is controlled by the controller 200.

[0067] In this embodiment, the function of the adsorption skirt is to increase the adsorption force of the sediment on the buoy after it touches the bottom, so as to overcome the force of the sea current and stay on the seabed, and the adsorption skirt can be made of rubber cloth. The function of the thruster is to make the buoy get rid of the adsorption of the sediment by the thrust generated by the thruster when the buoy needs to float up, and the thruster can be an electrically driven propeller thruster.

[0068] In the process of using the shallow sea self-sinking and floating profile observation buoy, first, prepare the self-sinking and floating profile observation buoy, input the tidal information of the observation sea area into the controller in advance, and set the buoy to float up for observation during the flat tide period and upload observation data and receive instructions. The ship carries the buoy to the observation sea area, and throws it into the sea during the flat tide period. The buoy is positioned by satellite antenna and records the position latitude and longitude at this time, and then the controller starts the observation instrument and controls the oil pump to pump the oil in the outer oil bag into the inner oil bag at a constant speed (set the required time to t minutes), so that the buoy receives a buoyancy less than its weight, so that the buoy automatically sinks to the seabed under the action of gravity, and carries out profile observation during the sinking process. The controller judges that the buoy touches the bottom according to the data of the pressure sensor, and closes the observation instrument to stop observation. At this time, the buoy adsorption skirt contacts the seabed sediment and is adsorbed by the sediment, so that the buoy can resist the action of the sea current and remain stationary during the rising tide or falling tide, preventing the buoy from being lost due to the action of the sea current.

[0069] The controller of the buoy determines the time of the start of the next slack tide period according to the tide data, and starts the oil pump t minutes before the start of the next slack tide period to pump the oil in the inner oil bag into the outer oil bag, so that the buoy is subjected to a buoyancy greater than the gravity. The controller starts the observation instrument, and then starts the propeller. After the controller determines that the buoy has floated away from the seabed according to the data of the pressure sensor, the controller stops the propeller, so that the buoy automatically floats to the sea surface under the action of the buoyancy, and the observation instrument is stopped. The buoy performs satellite positioning through the satellite antenna and records the position latitude and longitude at this time, and then transmits the last sinking position and sinking profile observation data and the current out-of-water position and floating profile observation data back to the shore base through satellite communication, and receives the instructions and tide data updates from the shore base.

[0070] Subsequently, the controller stops the observation instrument and stops the observation after determining that the buoy has floated to the sea surface according to the data of the pressure sensor. The buoy performs satellite positioning through the satellite antenna and records the position latitude and longitude at this time, and then transmits the last sinking position and sinking profile observation data and the current out-of-water position and floating profile observation data back to the shore base through satellite communication, and receives the instructions and tide data updates from the shore base.

[0071] After the communication is completed, the controller starts the observation instrument and the oil pump to pump the oil in the outer oil bag into the inner oil bag, and the buoy sinks to the seabed while performing profile observation. The observation instrument is stopped after the buoy is on the seabed, and the buoy stays on the seabed and waits for the next slack tide period for floating profile observation and communication. In addition, the buoy repeats the observation process of “floating to perform profile observation - sending data on the sea surface and communication - sinking to perform profile observation - staying on the seabed” until the battery is depleted. During the observation process, when the out-of-water position of the buoy deviates significantly from the target observation position, the shore base formulates a plan for correcting the position of the buoy using the tidal current according to the tidal current rules of the observation sea area and transmits the plan to the buoy, and the buoy executes the process of “diving - staying - floating - drifting - diving” according to the correction plan to correct its position. The shore base can also use the tidal current to move the buoy to a new observation position for profile observation.

[0072] The above-mentioned shallow sea self-sinking and floating profile observation buoy stays on the seabed by using the adsorption skirt to adsorb the seabed sediments, prevents the buoy from being affected by the force of the tidal current during the rising tide period or the falling tide period, and uses the slack tide period to carry out profile observation and data transmission, and corrects the position through the same communication mode as the profile observation and moves to a new position for profile observation, thereby realizing long-term self-sinking and floating profile observation in the shallow sea area.

[0073] As shown in FIG. 1, Figure 2 a control method of a shallow sea self-sinking and floating profile observation buoy, including the following steps:

[0074] In step S210, when the observation sea area is in the slack tide period, the first position latitude and longitude of the buoy is obtained through the satellite antenna, and the first position latitude and longitude is the position latitude and longitude before the buoy sinks.

[0075] Specifically, the controller acquires the position longitude and latitude of the buoy before sinking through the satellite antenna when observing that the sea area is in the slack tide period.

[0076] In step S220, a first instruction is sent based on the first position longitude and latitude, and the oil pump is controlled by the first instruction to pump the oil in the second oil bag into the first oil bag, so that the buoyancy of the buoy is less than the gravity of the buoy.

[0077] Specifically, the controller sends a first instruction after obtaining the position longitude and latitude of the buoy before sinking, and controls the oil pump to start pumping the oil in the second oil bag into the first oil bag by the first instruction, so that the buoyancy of the whole buoy is less than the gravity of the whole buoy, so that the buoy starts to sink under the action of gravity.

[0078] In step S230, a second instruction is sent when the buoy sinks, and the observation instrument is controlled by the second instruction to perform sinking observation to obtain corresponding sinking observation data.

[0079] Specifically, the controller sends a second instruction during the sinking of the buoy, and controls the observation instrument to perform sinking profile observation by the second instruction to obtain corresponding sinking profile observation data, which is the sinking observation data.

[0080] In step S240, a third instruction is sent after the buoy touches the bottom, and the oil pump is controlled by the third instruction to pump the oil in the first oil bag into the second oil bag, so that the buoyancy of the buoy is greater than the gravity of the buoy.

[0081] Specifically, the controller sends a third instruction after the buoy touches the bottom, and controls the oil pump to start pumping the oil in the first oil bag into the second oil bag by the third instruction, so that the buoyancy of the whole buoy is greater than the gravity of the whole buoy, so that the buoy floats up autonomously without the action of the propeller.

[0082] In step S250, a fourth instruction is sent when the buoy floats up, and the observation instrument is controlled by the fourth instruction to perform floating observation to obtain corresponding floating observation data.

[0083] Specifically, the controller sends a fourth instruction during the autonomous floating of the buoy, and controls the observation instrument to perform floating profile observation by the fourth instruction to obtain corresponding floating profile observation data, which is the floating observation data.

[0084] It should be noted that the controller stores a predicted tide table, the tide table including predicted occurrence time of the flat tide period, the rising tide period and the falling tide period, the controller controls the buoy to sink at the first flat tide period in the tide table, and after sinking to the bottom, the suction member is used to suck the sediment on the seabed to prevent the buoy from being taken away by the sea current during the rising tide period or the falling tide period, the controller controls the oil pump to pump the oil in the first oil bag into the second oil bag in advance based on the predicted time of the next flat tide period in the tide table, and controls the propeller to separate the suction member from the sediment when the next flat tide period comes, and the propeller is turned off in time after the separation, so that the buoy floats up automatically under the action of the buoyancy, and the energy is saved to a certain extent.

[0085] As shown in Figure 3 In one embodiment, the control method of the shallow sea self-sinking and floating profile observation buoy provided by the present application further comprises the following steps:

[0086] In step S310, the measurement data of the pressure sensor is obtained, and whether the buoy is grounded during sinking is judged based on the measurement data of the pressure sensor.

[0087] Specifically, the controller obtains the measurement data of the pressure sensor, and judges whether the buoy is grounded during sinking based on the measurement data of the pressure sensor.

[0088] It should be noted that the pressure of seawater on the second oil bag is constantly changing during the process of the buoy floating up or sinking, and the change of the pressure of seawater on the second oil bag can be judged according to the measurement data of the pressure sensor, and then the movement process of the buoy can be judged. If the measurement data of the pressure sensor constantly increases, it means that the buoy is sinking, if the measurement data of the pressure sensor increases to the maximum value and no longer changes, it means that the buoy is grounded, if the measurement data of the pressure sensor constantly decreases, it means that the buoy is floating up, and if the measurement data of the pressure sensor decreases to the minimum value and no longer changes, it means that the buoy has floated out of the water.

[0089] In step S320, a fifth instruction is sent, and the observation instrument is controlled to stop observation by the fifth instruction.

[0090] Specifically, if the judgment result in step S310 shows that the buoy is grounded, the controller sends a fifth instruction, and controls the observation instrument to stop observation by the fifth instruction.

[0091] As shown in Figure 4 In one embodiment, the control method of the shallow sea self-sinking and floating profile observation buoy provided by the present application further comprises the following steps:

[0092] In step S410, a sixth instruction is sent after the buoy sinks to the bottom, and the propeller is controlled to start by the sixth instruction, so that the suction member is separated from the sediment under the action of the propeller.

[0093] Specifically, the controller sends out the sixth instruction after the bottom of the buoy sinks to the seabed, and controls the thruster to start through the sixth instruction, so that the suction accessory is separated from the seabed deposit under the action of the thruster, and the buoy floats up automatically after the second oil tank pumps the oil.

[0094] In step S420, whether the suction accessory is separated from the seabed deposit is judged based on the measurement data of the pressure sensor.

[0095] Specifically, the controller judges whether the suction accessory is separated from the seabed deposit based on the measurement data of the pressure sensor.

[0096] It should be noted that when the measurement data of the pressure sensor continuously decreases, it means that the buoy is floating up, that is, the suction accessory at the bottom of the buoy is separated from the seabed deposit.

[0097] In step S430, the thruster is controlled to be closed.

[0098] Specifically, if the judgment result in step S420 shows that the measurement data of the pressure sensor continuously decreases, it means that the buoy is floating up, that is, the suction accessory is separated from the seabed deposit, and at this time the controller controls the thruster to be closed, so that the buoy floats up automatically under the action of the buoyancy.

[0099] As shown in FIG. 8, in one embodiment, the control method of the shallow sea self-sinking and floating profile observation buoy provided by the present application further includes the following steps: Figure 5 In step S510, the observation instrument is controlled to perform up-floating observation to obtain up-floating observation data during the floating up of the buoy.

[0100] Specifically, the controller controls the observation instrument to perform up-floating observation to obtain corresponding up-floating observation data during the floating up of the buoy.

[0101] In step S520, whether the buoy floats to the sea surface is judged based on the measurement data of the pressure sensor.

[0102] Specifically, the controller judges whether the buoy floats to the sea surface according to the measurement data of the pressure sensor.

[0103] It should be noted that if the measurement data of the pressure sensor continuously decreases and decreases to a minimum value without change, it means that the buoy has floated out of the sea surface.

[0104] In step S530, the measurement instrument is controlled to stop measuring, and the second position longitude and latitude of the buoy is obtained through the satellite antenna, the second position longitude and latitude being the new position longitude and latitude of the buoy after sinking and floating out of the water surface again.

[0105]

[0106] ​Specifically, if the result of the determination in step S520 shows that the buoy has floated to the sea surface, the controller controls the measuring instrument to stop measuring and obtains the new position longitude and latitude of the buoy after sinking and floating to the sea surface again through the satellite antenna.

[0107] In step S540, if the distance between the first position longitude and latitude and the second position longitude and latitude exceeds the first threshold value, a position correction instruction is received to control the buoy to perform position correction.

[0108] Specifically, if the distance between the position longitude and latitude before the buoy sinks and the new position longitude and latitude after the buoy sinks and floats to the sea surface again exceeds the set threshold value, it indicates that the buoy deviates from the target observation position obviously, and at this time, the controller receives the position correction instruction from the corresponding shore base station to control the buoy to perform corresponding position correction.

[0109] It should be noted that when the buoy deviates from the target observation position obviously, the shore base station plans the sinking and floating route of the buoy in the rising tide period or the falling tide period by using the predicted tide table, and sends the planned route to the controller in the buoy through the satellite antenna when the buoy floats to the sea surface, so as to control the buoy to return to the target observation position under the action of the sea current.

[0110] The technical features of the above-described embodiments can be combined in any manner. To make the description concise, all possible combinations of the technical features in the above-described embodiments are not described, but as long as the combinations of the technical features do not exist contradictory, they should be considered as the scope of the present disclosure.

[0111] The above-described embodiments only express several embodiments of the present application, and the description is more specific and detailed, but it should not be understood as limiting the scope of the present patent. It should be noted that for ordinary skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are within the scope of the present application. Therefore, the protection scope of the present patent should be subject to the appended claims.

Claims

1. A shallow sea self-sinking and floating profile observation buoy, characterized in that, The method comprises: a barrel body with an accommodation cavity inside; a controller fixedly installed in the accommodation cavity; an oil pump fixedly arranged inside the accommodation cavity and electrically connected with the controller; a first oil bag fixedly arranged inside the accommodation cavity and connected with one side of the oil pump through a pipeline; a second oil bag fixedly arranged outside the barrel body and connected with the other side of the oil pump through a pipeline; an observation instrument fixedly installed at the top of the barrel body and electrically connected with the controller, used for floating observation and sinking observation and sending observation data to the controller; a propeller fixedly installed at the bottom of the barrel body through a frame and electrically connected with the controller; a power supply device fixedly installed inside the barrel body and electrically connected with the controller; a suction accessory fixedly arranged at the edge of the propeller to absorb the sediment on the seabed; a satellite antenna fixedly installed at the top of the barrel body and electrically connected with the controller to send the latitude and longitude of the position of the buoy to the controller through satellite positioning; a pressure sensor fixedly installed on the pipeline between the second oil bag and the oil pump to measure the pressure on the pipeline between the second oil bag and the oil pump; wherein, when sinking observation is performed during the slack tide period, the oil in the second oil bag is pumped into the first oil bag by the oil pump controlled by the controller, so that the buoyancy of the buoy is less than the gravity of the buoy, so that the buoy sinks into the water, and when it touches the bottom, the sediment on the seabed is absorbed by the suction accessory, and the next time the slack tide period is controlled by the controller to pump the oil in the first oil bag into the second oil bag, and the propeller is started to make the suction accessory separate from the sediment to perform floating observation.

2. The shallow sea self-sink-and-float profile observation buoy according to claim 1, characterized by, The frame comprises a plurality of rod members, and the propeller is fixedly connected with the bottom of the barrel body through the plurality of rod members and has a spacing between the bottom of the barrel body.

3. The shallow sea self-sink-and-float profile observation buoy according to claim 1, characterized by, The distance between the observation instrument and the top of the barrel body is greater than the distance between the second oil bag and the top of the barrel body, and the observation instrument adopts a CTD instrument for measuring the temperature and salinity of seawater.

4. A control method of a shallow sea self-sinking and floating profile observation buoy for controlling the shallow sea self-sinking and floating profile observation buoy according to any one of claims 1 to 3, characterized by, The method comprises: when the observation area is in the slack tide period, obtaining the first position latitude and longitude of the buoy through the satellite antenna, the first position latitude and longitude being the position latitude and longitude of the buoy before sinking; issuing a first instruction based on the first position latitude and longitude, and controlling the oil pump to pump the oil in the second oil bag into the first oil bag through the first instruction, so that the buoyancy of the buoy is less than the gravity of the buoy; issuing a second instruction when the buoy sinks, and controlling the observation instrument to perform sinking observation through the second instruction to obtain corresponding sinking observation data; issuing a third instruction after the buoy touches the bottom, and controlling the oil pump to pump the oil in the first oil bag into the second oil bag through the third instruction, so that the buoyancy of the buoy is greater than the gravity of the buoy; issuing a fourth instruction when the buoy floats, and controlling the observation instrument to perform floating observation through the fourth instruction to obtain corresponding floating observation data; the buoy performs observation during the slack tide period, and sits on the bottom at other times.

5. The control method of the shallow sea self-sinking and floating profile observation buoy according to claim 4, characterized by, The method further comprises: acquiring measurement data of the pressure sensor, and determining whether the buoy has touched the bottom during the sinking process based on the measurement data of the pressure sensor; if yes, then issuing a fifth instruction and controlling the observation instrument to stop observation through the fifth instruction.

6. The control method of the shallow sea self-sinking and -floating profile observation buoy according to claim 5, characterized by, The method further comprises: issuing a sixth instruction after the buoy has touched the bottom and controlling the propeller to start through the sixth instruction, so that the suction accessory is separated from the sediment under the action of the propeller; determining whether the suction accessory has been separated from the sediment on the seabed based on the measurement data of the pressure sensor; if yes, then controlling the propeller to stop.

7. The control method of the shallow sea self-sinking and -floating profile observation buoy according to claim 6, characterized by, The method further comprises: controlling the observation instrument to perform floating observation to acquire the floating observation data during the process of the buoy floating up; determining whether the buoy has floated to the sea surface based on the measurement data of the pressure sensor; if yes, then controlling the observation instrument to stop measurement and acquiring the second position latitude and longitude of the buoy through the satellite antenna, the second position latitude and longitude being the new position latitude and longitude of the buoy after sinking and floating out of the water again.

8. The control method of the shallow sea self-sinking and floating profile observation buoy according to claim 7, characterized by, The controlling the observation instrument to stop measurement and acquiring the second position latitude and longitude of the buoy through the satellite antenna further comprises: if the distance between the first position latitude and longitude and the second position latitude and longitude exceeds a first threshold, then receiving a position correction instruction to control the buoy to perform position correction.

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