A submersible system and method of controlling the same

Abstract

The application discloses a kind of submersible system and its control method, submersible system includes: submersible main body, float assembly and power supply part.Submersible main body includes control device and the cable break-off separation device connected with control device, float assembly is connected with submersible main body, for providing buoyancy to submersible main body, power supply part is connected with cable break-off separation device by first cable, to power supply submersible main body and as the mooring device of submersible system. Among them, control device is used to when submersible system satisfies cable break-off preset condition, control cable break-off separation device action, to disconnect first cable with submersible main body.The submersible system of the application reduces the volume and cost of submersible, increases the underwater safety of submersible system, since its compact structure, more conducive to the deployment and recovery efficiency of submersible system.

Description

Technical Field

[0001] This invention relates to the field of marine monitoring equipment technology, and in particular to a buoy system and its control method. Background Technology

[0002] Submersible mooring systems are currently one of the fixed-point monitoring methods for marine environmental monitoring and marine resource development and utilization. They typically employ a modular design, with each module positioned at different depths according to its function, and then connected as a whole by Kevlar lines. To facilitate the recovery of this mooring system, a large number of floats and mooring equipment are required. The added floats provide buoyancy to the mooring system, but the buoyancy provided by the floats affects the underwater state of the mooring system, thus affecting the performance of each module and limiting the mooring system's operational capabilities in complex sea areas. The added mooring equipment increases the manufacturing cost of the mooring system and the difficulty of deployment and recovery. Summary of the Invention

[0003] To address the aforementioned technical problems, this invention provides a buoy system and its control method, which solves the problems of buoys affecting the monitoring of the buoy system and the inconvenience of deployment and retrieval.

[0004] In a first aspect, the present invention provides a buoy system, comprising: a buoy body, a float assembly, and a power supply unit;

[0005] The main body of the underwater mooring includes a control device and a cable disconnection device connected to the control device;

[0006] A float assembly, connected to the main body of the underwater mooring, is used to provide buoyancy to the main body of the underwater mooring;

[0007] The power supply unit is connected to the cable breakage separation device via a first cable to supply power to the mooring body and to serve as a mooring device for the mooring system.

[0008] The control device is used to control the cable breaking separation device to disconnect the first cable from the mooring body when the mooring system meets the preset cable breaking conditions.

[0009] The cable breakage separation device includes:

[0010] The first electrical connection portion is connected to the control device;

[0011] The second electrical connection part is connected to the first cable;

[0012] The release component has a first state and a second state. In the first state, the release component causes the first electrical connection to contact the second electrical connection. In the second state, the release component separates the first electrical connection from the second electrical connection, thereby disconnecting the first cable connected to the second electrical connection from the buoy body.

[0013] The release component includes:

[0014] A first electromagnetic attraction assembly includes a first electromagnetic attraction part and a first holding member. The first holding member holds the first electrical connection part and the second electrical connection part along a first direction. The first electromagnetic attraction part can attract the first holding member, so that the first holding member moves along the first direction to unlock the first electrical connection part and the second electrical connection part in the first direction.

[0015] The second electromagnetic attraction component includes a second electromagnetic attraction part and a second holding member. The second holding member holds the first electrical connection part and the second electrical connection part along a second direction. The second electromagnetic attraction part can attract the second holding member, so that the second holding member moves along the second direction to unlock the first electrical connection part and the second electrical connection part in the second direction.

[0016] The first direction and the second direction are set at an angle.

[0017] The cable breakage separation device further includes a housing, which includes a top wall, a bottom wall, and side walls. The first electrical connection part is fixedly connected to the top wall. The bottom wall has a through hole for the second electrical connection part to pass through. Two of the first electromagnetic attraction parts and two of the first holding members are provided. The two first electromagnetic attraction parts are located on both sides of the first electrical connection part. The longitudinal section of the second electrical connection part is I-shaped. The two sides of the second electrical connection part have lateral openings. Two of the second electromagnetic attraction parts and two of the second holding members are provided. The two second electromagnetic attraction parts are fixed to the side walls and are respectively opposite to the two lateral openings. An elastic member is provided between the top wall and the second electrical connection part.

[0018] In the first state, the two second retaining members are respectively located in the two lateral openings, and a portion of the structure of the two first retaining members passes through the top of the second electrical connection and is inserted into the corresponding second retaining member, and the elastic member is in a compressed state;

[0019] In the second state, the two first holding members are respectively attracted to the corresponding first electromagnetic attraction part to disengage from the second electrical connection part and the second holding member, and the two second holding members are respectively attracted to the corresponding second electromagnetic attraction part to disengage from the second electrical connection part. The second electrical connection part is separated from the cable breakage separation device through the through hole under the elastic force of the elastic member.

[0020] The side wall is provided with a water inlet, and a switch device is provided inside the water inlet for opening or closing the water inlet.

[0021] The main body of the underwater glider includes a monitoring equipment compartment, a signal processing compartment, and a main control storage compartment connected in sequence.

[0022] The control device is located in the main control storage compartment. The control device includes a control module and a storage module. The control module is used to control the operation of the cable disconnection device.

[0023] The monitoring equipment compartment is equipped with monitoring equipment for acquiring marine environmental data, and the signal processing compartment is equipped with a signal processing device.

[0024] The signal processing device is used to process the marine environmental data acquired by the monitoring equipment and send the processed data to the storage module for storage.

[0025] The floating body assembly includes multiple connected buoys and sensors. The sensors are used to collect spatially distributed ocean physical characteristics, and the sensors are connected to the main body of the underwater mooring via a second cable.

[0026] The signal processing device is also used to process the data monitored by the sensor and then send it to the storage module for storage.

[0027] In another aspect, the present invention provides a control method for a mooring system, wherein the mooring system is the mooring system described in the first aspect, and the control method for the mooring system includes:

[0028] The control device determines whether the underwater buoy system meets the preset conditions for cable breakage.

[0029] When the preset conditions for cable breakage are met, the control device controls the cable breakage separation device to disconnect the first cable from the underwater mooring body.

[0030] The cable breakage preset conditions include:

[0031] The underwater mooring body reaches a preset time; and / or,

[0032] Received cable disconnection control command; and / or,

[0033] A malfunction was detected in the underwater glider system.

[0034] The mooring body controls the cable disconnection device to disconnect the mooring device from the mooring body, including:

[0035] Disconnect the power supply to the first electrical connection of the cable breakage separation device;

[0036] The first electromagnetic attraction part of the cable breakage separation device is controlled to attract the first holding member;

[0037] The second electromagnetic attraction part of the cable breakage separation device is controlled to attract the second holding member;

[0038] The water inlet of the cable breakage separation device is opened to allow water to enter the device. Under the action of the elastic element and buoyancy, the first cable separates from the cable breakage separation device.

[0039] The advantages of this invention are:

[0040] The underwater mooring system of this invention includes a control device and a cable breakage separation device. A float assembly is connected to the mooring body to provide buoyancy. A power supply unit provides power to the mooring body and is also connected to the cable breakage separation device, serving as a mooring device for the mooring body. Therefore, no additional mooring equipment is needed, reducing the overall size and manufacturing cost of the underwater mooring system. When the mooring system meets the preset cable breakage conditions, the cable breakage separation device separates from the mooring body, facilitating rapid recovery of the mooring system without the need for additional mooring equipment. This avoids excessive buoyancy of the float affecting the underwater safety of the mooring system. Cable breakage also facilitates rapid deployment and recovery of the mooring system, while improving monitoring efficiency.

[0041] Other features and advantages of the invention will become clear when reading the following description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0042] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention. In these drawings, similar reference numerals are used to denote similar elements. The drawings described below are some embodiments of the invention, but not all embodiments. Other drawings will be readily available to those skilled in the art based on these drawings without any inventive effort.

[0043] Figure 1 This is a schematic diagram of the underwater glider system shown in this invention;

[0044] Figure 2This is a top view of the cable breakage separation device shown in this invention;

[0045] Figure 3 This is illustrated in one embodiment of the present invention. Figure 2 A cross-sectional view of the connection status in the WE direction;

[0046] Figure 4 This is illustrated in one embodiment of the present invention. Figure 2 A cross-sectional view of the separated state in the WE direction;

[0047] Figure 5 This is illustrated in one embodiment of the present invention. Figure 2 A cross-sectional view of the connection status in the NS direction;

[0048] Figure 6 This is illustrated in one embodiment of the present invention. Figure 2 A cross-sectional view of the separated state in the NS direction;

[0049] Figure 7 This is a flowchart illustrating the control method of the underwater glider system according to the present invention.

[0050] Figure label:

[0051] 1. Submersible buoy system;

[0052] 11. Main body of the underwater glider; 112. Monitoring equipment compartment; 113. Signal processing compartment; 114. Main control and storage compartment;

[0053] 12. Float assembly; 121. Buoy; 122. Sensor;

[0054] 13. Power Supply Department;

[0055] 20. Cable disconnection device; 21. First electrical connection part; 22. Second electrical connection part; 23. Release component; 231. First electromagnetic attraction assembly; 2311. First electromagnetic attraction part; 2312. First holding member; 232. Second electromagnetic attraction assembly; 2321. Second electromagnetic attraction part; 2322. Second holding member; 24. Housing; 241. Top wall; 242. Bottom wall; 243. Side wall; 25. Water inlet; 251. Switching device; 26. Through hole; 27. Elastic element; 28. Gasket;

[0056] 31. First cable; 32. Second cable. Detailed Implementation

[0057] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be arbitrarily combined with each other.

[0058] Submersible mooring systems are equipment systems used for monitoring the marine environment and developing marine resources. They typically employ a modular design, connected by Kevlar lines. This modular assembly includes various sensors and monitoring equipment, each positioned at different depths according to its intended function. A float is usually added to the mooring system to facilitate retrieval. However, the buoyancy of the float can affect the mooring system's position in the water, potentially causing prolonged tilting during monitoring, or parts of the mooring system failing to reach the required monitoring depth. This can affect the performance of the detection equipment and sensors, and even threaten the mooring system's survival, significantly limiting its operational capabilities in complex sea areas. Therefore, mooring devices are used to counteract buoyancy and correct the mooring system's position in the water. However, the addition of mooring devices also increases the manufacturing cost of the mooring system and the difficulty of retrieval after deployment, creating new challenges for mooring system monitoring.

[0059] To address the aforementioned problems, this invention provides a submersible mooring system in which a power supply unit serves as a mooring device. The power supply unit provides power to the mooring moor body via a cable and is connected to the mooring moor body. When recovering the mooring mooring system, the connection between the power supply unit and the mooring moor body is disconnected. The mooring moor body then rapidly rises to the surface under the buoyancy of the float assembly, completing the recovery operation. Therefore, while reducing the size and manufacturing cost of the mooring mooring system, it also increases the underwater safety of the mooring mooring system. The system has a compact structure, facilitating rapid deployment and recovery.

[0060] The present invention will now be described in detail with reference to the accompanying drawings.

[0061] like Figure 1As shown, the mooring system 1 includes: a mooring body 11, a float assembly 12, and a power supply unit 13. The mooring body 11 includes a control device (not shown) and a cable breakage separation device 20 connected to the control device. The control device in the mooring body 11 is used to control the autonomous monitoring of the mooring system 1 and to achieve the cable breakage separation function. In this embodiment, the sensors and monitoring equipment in the float assembly 12 and the mooring body 11 input the marine environmental data they monitor into the mooring body 11. After the marine environmental data is analyzed and processed in the mooring body 11, the control device controls each part to achieve the monitoring, cable breakage, and other operations of the mooring system 1. The control device is connected to the cable breakage separation device 20; specifically, the control device can control the cable breakage separation device 20 to complete the separation operation with other parts. (Continue to refer to...) Figure 1 The float assembly 12 is connected to the mooring body 11 and provides buoyancy to the mooring body 11. Specifically, the float assembly 12 includes an integrated buoy 121, a sensor 122, and a signal cable. In this embodiment, the buoy 121 can be designed with a small size to provide suitable buoyancy for the mooring system 1 without affecting the state of the mooring system 1 in the water. The sensor 122 can monitor the surrounding marine environment and then transmit the monitoring data to the mooring body via the signal cable. In this embodiment, the signal cable can be set as a second cable 32. Hair thread is wrapped around the second cable 32 of the float assembly 12. The hair thread can be used to reduce external interference and avoid affecting the data transmission of the second cable 32 and the monitoring operation of the sensor 122 installed on the second cable 32. Continue to refer to Figure 1 The power supply unit 13 is connected to the cable breakage separation device 20 via the first cable 31, supplying power to the mooring body 11 and serving as a mooring device for the mooring system 1. In this embodiment, using the power supply unit 13 as a mooring device for the mooring system 1 eliminates the need for additional mooring devices, reducing the overall volume and manufacturing cost of the mooring system 1. By connecting the power supply unit 13 to the cable breakage separation device 20 via the first cable 31, when the mooring system needs to be recovered, a portion of the cable breakage separation device 20 separates from the mooring body 11 along with the power supply unit 13, reducing the overall weight of the mooring system 1 and facilitating rapid recovery. Specifically, when the mooring system 1 meets the preset cable breakage conditions, the control device controls the cable breakage separation device 20 to disconnect the first cable 31 from the mooring body 11. After disconnection, the mooring body 11 can be rapidly recovered under the buoyancy of the float assembly 12 and the buoyancy within the mooring body 11.

[0062] In a specific embodiment, such as Figure 1 , Figure 2 , Figure 3 and Figure 4As shown, the cable separation device 20 includes a first electrical connection part 21, a second electrical connection part 22, and a release component 23. The cable separation device 20 can be made of a high-buoyancy rigid plastic material. The first electrical connection part 21 is connected to a control device, the second electrical connection part 22 is connected to a first cable 31, and the first cable 31 is also connected to a power supply part 13, thus connecting the power supply part 13 to the underwater glider body 11. (Continue to refer to...) Figure 3 and Figure 4 The release component 23 has a first state and a second state. In the first state, the release component 23 brings the first electrical connection 21 into contact with the second electrical connection 22. In the second state, the release component 23 separates the first electrical connection 21 from the second electrical connection 22, causing the first cable 31 connected to the second electrical connection 22 to disconnect from the mooring body 11. Specifically, in the first state, the release component 23 brings the first electrical connection 21 into contact with the second electrical connection 22. At this time, the mooring system 1 can collect ocean data. The power supply unit 13 is connected to the second electrical connection 22 via the first cable 31. The power supply unit 13 supplies power to the mooring system 1 via the first cable 31 and acts as a mooring device to keep the mooring system 1 in the water, allowing the mooring system 1 to anchor during monitoring and making the monitoring position more accurate. When the release component 23 is in the second state, the first electrical connection 21 separates from the second electrical connection 22. When the second electrical connection 22 separates from the first electrical connection 21, the power supply unit 13, which serves as the mooring device, separates from the mooring body 11 together with the second electrical connection 22, reducing the overall weight of the mooring system 1 and facilitating its recovery. In this embodiment, an anchoring hook can also be provided at the bottom of the power supply unit 13. The anchoring hook at the bottom of the power supply unit 13 facilitates its underwater gripping and fixation, making the mooring system 1 more stable underwater.

[0063] In one specific embodiment, such as Figure 3 and Figure 4As shown, the release component 23 includes a first electromagnetic attraction assembly 231 and a second electromagnetic attraction assembly 232. The first electromagnetic attraction assembly 231 includes a first electromagnetic attraction part 2311 and a first holding member 2312. The first electromagnetic attraction part 2311 is fixed in the cable breakage separation device 20, and the first holding member 2312 is disposed at a position corresponding to the first electromagnetic attraction part 2311. The first holding member 2312 holds the first electrical connection part 21 and the second electrical connection part 22 along a first direction. The first electromagnetic attraction part 2311 can attract the first holding member 2312, causing the first holding member 2312 to move along the first direction to unlock the first electrical connection part 21 and the second electrical connection part 22 in the first direction. The first electromagnetic attraction part 2311 is controlled by a control device. Under a control signal, it is energized to generate magnetism. The first holding member 2312, based on this magnetism, attracts the first electromagnetic attraction part 2311, causing the first holding member 2312 to move rapidly along a first direction, unlocking the first electrical connection part 21 and the second electrical connection part 22 in the first direction. In this embodiment, the second electromagnetic attraction assembly 232 includes a second electromagnetic attraction part 2321 and a second holding member 2322. The second electromagnetic attraction part 2321 is fixedly disposed in the cable breakage separation device 20, and the second holding member 2322 is disposed at a position corresponding to the second electromagnetic attraction part 2321. The second holding member 2322 holds the first electrical connection part 21 and the second electrical connection part 22 along a second direction. The second electromagnetic attraction part 2321 can attract the second holding member 2322, causing the second holding member 2322 to move along the second direction to unlock the first electrical connection part 21 and the second electrical connection part 22 in the second direction. (Continue to refer to...) Figure 3 and Figure 4The second electromagnetic attraction part 2321 is also controlled by the control device. After receiving the control signal from the control device, the second holding member 2322 engages with the second electromagnetic attraction part 2321 along the second direction, thereby unlocking the first electrical connection part 21 and the second electrical connection part 22 in the second direction. Specifically, the first direction and the second direction are set at an angle. The first holding member 2312 and the second holding member 2322 respectively engage the first electrical connection part 21 and the second electrical connection part 22 in the angled direction. In this embodiment, when the first electromagnetic attraction assembly 231 and the second electromagnetic attraction assembly 232 are not engaged, the first holding member 2312 and the second holding member 2322 can hold the first electrical connection part 21 and the second electrical connection part 22. When the control device issues a control command, the first holding member 2312 engages with the first electromagnetic attraction part 2311 along the first direction, and the second holding member 2322 engages with the second electromagnetic attraction part 2321 along the second direction, thus unlocking the first electrical connection part 21 and the second electrical connection part 22 in the first and second directions. At this time, the first electrical connection part 21 and the second electrical connection part 22 are separated, facilitating the cable breakage separation device 20 to complete the separation operation. In this embodiment, in order to ensure that the second holding member 2322 can smoothly engage with the second electromagnetic attraction part 2321 and will not shift its position during the movement process, affecting subsequent operations, a groove is provided on the bottom wall 242 of the cable breakage separation device 20 to restrict the movement path of the second holding member 2322, thereby improving the efficiency of the cable breakage separation operation.

[0064] In a specific embodiment, such as Figure 3 , Figure 4 , Figure 5 and Figure 6As shown, the cable disconnection device 20 also includes a housing 24, which includes a top wall 241, a bottom wall 242, and a side wall 243. A first electrical connection part 21 is fixedly connected to the top wall 241. Two first electromagnetic attraction parts 2311 and two first retaining members 2312 are each provided. The first electrical connection part 21 is fixedly connected to the top wall 241, and the first electromagnetic attraction parts 2311 are located on both sides of the first electrical connection part 21 to facilitate receiving control commands from the control device. A through hole 26 is provided on the bottom wall 242 for the second electrical connection part 22 to pass through. The longitudinal section of the second electrical connection part 22 is I-shaped, and the opposite sides of the second electrical connection part 22 have lateral openings, with the width of the second electrical connection part 22 matching the width of the through hole 26. Two second electromagnetic attraction parts 2321 and two retaining members 2322 are each provided. The two second electromagnetic attraction parts 2321 are fixed to the side wall 243 and are respectively opposite to the two lateral openings. The second electrical connection portion 22 has an I-shaped longitudinal section. The second retaining member 2322 is opposite to the two side openings. The second electromagnetic attraction portion 2321 is located on the side wall 243 of the outer casing 24, which can attract the second retaining member 2322 along the second direction, causing the second retaining member 2322 to move away from the second electrical connection portion 22 under the action of magnetic force, thus completing the unlocking operation of the second electrical connection portion 22 in the second direction. After the second electrical connection portion 22 is unlocked in both the first and second directions, it passes through the through hole 26 in the bottom wall 242 of the outer casing 24, separating from the first electrical connection portion 21. In this embodiment, an elastic member 27 is provided between the top wall 241 and the second electrical connection portion 22. The elastic member 27 is located on the periphery of the first electrical connection portion 21 and abuts against the second electrical connection portion 22. In one embodiment, a gasket 28 is provided at the contact point between the elastic member 27 and the second electrical connection portion 22. The gasket 28 can make the pressure of the elastic member 27 on the second electrical connection portion 22 more uniform, so that the second electrical connection portion 22 will not be skewed when passing through the through hole 26 of the bottom wall 242, so as to smoothly separate from the first electrical connection portion 21.

[0065] Specifically, please refer to Figure 3 , Figure 4 , Figure 5 and Figure 6In the first state, the two second retaining members 2322 are respectively located in the two lateral openings, locking the second electrical connection 22 in that position and preventing it from passing through the through hole 26. Parts of the structure of the two first retaining members 2312 pass through the top of the second electrical connection 22 and are inserted into the corresponding second retaining member 2322. After the second retaining member 2322 locks the second electrical connection 22, the first retaining member 2312 further increases the locking strength of the second electrical connection 22, making the entire underwater buoy system compact and with high connection strength. At this time, the elastic member 27 is in a compressed state. In the first state, the first electrical connection 21 is connected to the second electrical connection 22. At this time, the control device does not send control commands to the first electrical connection 21 and the second electrical connection 22. The first retaining member 2312 and the second retaining member 2322 lock the second electrical connection 22 when not under magnetic force, keeping the first electrical connection 21 and the second electrical connection 22 connected.

[0066] like Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown, in the second state, the two first holding members 2312 are respectively attracted to the corresponding two first electromagnetic attraction parts 2311 and disengaged from the second electrical connection part 22 and the second holding member 2322. The two second holding members 2322 are respectively attracted to the corresponding second electromagnetic attraction parts 2321 to disengage from the second electrical connection part 22. The second electrical connection part 22 is separated from the cable breakage separation device 20 through the through hole 26 under the elastic force of the elastic member 27. In this embodiment, when the control device sends a control command to the first electromagnetic attraction assembly 231 and the second electromagnetic attraction assembly 232, the first electromagnetic attraction part 2311 is energized, and the first holding member 2312 is attracted to the first electromagnetic attraction part 2311 along the first direction. After the second electromagnetic attraction part 2321 is energized, the second holding member 2322 is attracted to the second electromagnetic attraction part 2321 along the second direction. At this time, the second electrical connection part 22 is popped out under the elastic action of the elastic member 27, so that the second electrical connection part 22 is disconnected from the first electrical connection part 21 through the through hole 26 of the bottom wall 242.

[0067] In one embodiment, a water inlet 25 is provided on the side wall 243, and a switching device 251 is provided inside the water inlet 25 for opening or closing the water inlet 25. Figure 3 and Figure 4As shown, a water inlet 25 is provided on the side wall 243, and the built-in switch device 251 of the water inlet 25 is also controlled by the control device. In this embodiment, the control device controls the switch device 251. When the switch device 251 is open, water is introduced into the cable breakage separation device 20 through the water inlet 25. Seawater enters the cable breakage separation device 20, which can balance the pressure inside and outside the device. Under the action of the elastic element 27 and buoyancy, the first electrical connection 21 and the second electrical connection 22 are quickly separated, and the second electrical connection 22 quickly leaves the cable breakage separation device 20 through the through hole 26 of the bottom wall 242. When the switch device 251 is closed, water does not enter the cable breakage separation device 20 through the water inlet 25, which has tightness, maintains the pressure inside the cable breakage separation device 20, and will not affect the normal monitoring operation of the underwater buoy system 1.

[0068] In a specific embodiment, such as Figure 1 As shown, the main body 11 of the underwater mooring includes a monitoring equipment compartment 112, a signal processing compartment 113, and a main control storage compartment 114 connected in sequence. The control device is located in the main control storage compartment 114, and includes a control module and a storage module. The control module is used to control the operation of the cable breakage separation device 20. The monitoring equipment compartment 112 is equipped with monitoring equipment for acquiring marine environmental data, and its body can be made of a sound-permeable, water-permeable, and buoyant polymer material. The signal processing compartment 113 is equipped with a signal processing device, and its body can be made of materials such as aluminum alloy. The signal processing device processes the marine environmental data acquired by the monitoring equipment and sends the processed data to the storage module for storage. (Reference) Figure 1 , Figure 3 and Figure 4The control device is located in the main control storage compartment 114. The control device includes a control module and a storage module. The control module controls the operation of the cable disconnection device 20, and the storage device stores data monitored by the monitoring equipment compartment 112 and the float assembly 12, as well as data processed by the signal processing compartment 113. The signal processing compartment 113 is equipped with a signal processing device. When the signal processing compartment 113 receives a command from the control device, it analyzes and processes the data monitored by the float assembly 12 and the monitoring equipment compartment 112, and transmits the processed data to the main control storage compartment 114. The control device in the main control storage compartment 114 makes a judgment based on the processed data and analyzes the judgment result to determine whether a cable disconnection operation needs to be performed. The monitoring equipment compartment 112 is equipped with monitoring equipment for acquiring marine data. Specifically, the monitoring equipment compartment 112 is sealed to the signal processing compartment 113 to maintain the airtightness of the signal processing compartment 113. The monitoring equipment compartment 112 adopts a permeable structure design, through which marine environmental data can be acquired. Furthermore, the monitoring equipment compartment 112 can be made of buoyancy material to reduce resistance during the recovery of the mooring system. In this embodiment, the compartments are sealed with O-rings, and watertight plugs can be used for information and energy exchange. To facilitate data collection on the marine environment, the monitoring equipment compartment 112 may include hydrophones, pressure sensors, attitude sensors, temperature, salinity, and depth measuring instruments, as well as wet-end equipment such as underwater acoustic communication devices, ultra-short baseline underwater acoustic positioning devices, and ADCP. In this embodiment, the main control storage compartment 114 can perform autonomous monitoring based on the monitoring equipment compartment 112, signal processing compartment 113, and float assembly 12, such as monitoring the surrounding environment of the mooring system 1, controlling the acquisition of surrounding environmental data, exchanging information with various parts of the mooring system 1, and storing monitoring data. It can also achieve autonomous control based on control devices, such as controlling the cable disconnection device 20 to complete the cable disconnection operation. In this embodiment, the mooring system 1, based on autonomous monitoring and autonomous control, can optimize monitoring results and improve monitoring efficiency.

[0069] In one specific embodiment, such as Figure 1As shown, the float assembly 12 includes multiple connected buoys 121 and sensors 122. The sensors 122 are used to collect spatially distributed marine physical characteristics. These sensors 122 can be hydrophones, pressure sensors, temperature, salinity, and depth measuring instruments, etc., and multiple sensors 122 can collect spatial distribution characteristics of the marine environment. The sensors 122 are connected to the mooring body 11 via a second cable 32, allowing monitoring data to be transmitted to the mooring body 11. The second cable 32 is equipped with hairline wires, which reduce water flow interference to the float assembly 12, thereby improving the sensing accuracy of the sensors 122. The signal processing chamber 113 is also used to process the data monitored by the sensors 122 and send it to the storage module for storage. In addition to processing the marine data monitored in the monitoring equipment chamber 112, the signal processing device also processes the marine data monitored by the sensors 122 and inputs the processed marine data into the storage module for storage. In this embodiment, an integrated buoy 121 can be used. When the mooring system 1 needs to be recovered, the cable disconnection device 20 is activated to disconnect the cable. Under the buoyancy of the buoy 121 and the buoyancy of the mooring body 11 itself, the mooring body 11 is quickly recovered. Moreover, the buoyancy exerted by the buoy 121 on the mooring body 11 will not affect the state of the mooring system 1 in the water when the mooring system 1 is not disconnected, thus improving the monitoring effect of the mooring body 11.

[0070] An exemplary embodiment of this disclosure provides a control method for a buoy system, used to control the aforementioned buoy system, such as... Figure 7 As shown, the control method includes:

[0071] S110. The control device determines whether the underwater buoy system meets the preset conditions for cable breakage.

[0072] S120. When the preset conditions for cable breakage are met, the control device controls the cable breakage separation device to disconnect the first cable from the underwater buoy body.

[0073] In step S110, the control device determines whether the mooring system meets the preset conditions for cable breakage. These preset conditions may include, for example, the mooring body timing reaching a preset duration. In one embodiment, when the monitoring duration of the mooring system reaches the preset duration of the mooring body timing, the mooring body determines that the preset conditions for cable breakage are met. In another embodiment, the preset conditions for cable breakage may also include receiving a cable breakage control command. The mooring system can communicate with external devices through the monitoring equipment; when the mooring body receives the cable breakage command, the preset conditions for cable breakage are met. In another embodiment, the preset conditions for cable breakage also include detecting a device malfunction in the mooring system. Specifically, the data monitored by the monitoring equipment compartment and the float assembly is processed in the signal processing compartment and then autonomously controlled by the control device. When the monitoring equipment compartment and the float assembly exhibit conditions such as inability to input stored data or abnormal system monitoring, it can be determined that the current mooring system is malfunctioning, which is also considered to have met the preset conditions for cable breakage.

[0074] In step S120, when the preset conditions for cable breakage are met, the control device controls the cable breakage separation device to operate, thereby disconnecting the first cable from the mooring body. Once the mooring system meets the preset conditions for cable breakage, the mooring system can be retrieved. To facilitate rapid retrieval of the mooring system, the power supply, which acts as a mooring device, needs to be disconnected first to reduce the overall weight of the mooring system. Specifically, the power supply to the first electrical connection of the cable breakage separation device is first cut off to prepare for rapid separation of the power supply. Since the first cable is also connected to the power supply, which supplies power to the mooring system while acting as a mooring device, the power supply is disconnected from the mooring body to facilitate separation. Next, the control device also controls the first electromagnetic attraction part of the cable breakage separation device to engage the first holding member, and controls the second electromagnetic attraction part to engage the second holding member. The first and second electromagnetic attraction parts are controlled by the control device and, after being controlled, possess magnetism, enabling them to quickly engage the corresponding first and second holding members, allowing the first and second holding members to unlock in the first and second directions, respectively. Finally, the switch on the water inlet of the cable breakage separation device is opened, allowing water to enter the device and balancing the pressure inside and outside. Subsequently, the elastic element accelerates the separation of the first cable from the mooring body. At this point, under the buoyancy of the float assembly connected to the mooring body and the mooring body itself, the mooring system rises rapidly for recovery, and the first cable quickly separates from the cable breakage separation device.

[0075] In one specific embodiment, sensors and a monitoring equipment compartment within the float assembly monitor the mooring system itself and the marine environment in real time, transmitting the monitoring results to the main control storage compartment, which also receives remote commands. Therefore, the control device in the main control storage compartment determines whether to initiate cable breakage based on the system's own monitoring results, marine environment monitoring results, and remote control commands. When the preset cable breakage conditions are met according to the aforementioned monitoring results or received commands, the cable breakage operation is performed. First, the power supply to the mooring body is cut off. Then, the first and second locking components are unlocked, and the water inlet is opened. At this point, the internal and external pressures of the cable breakage separation device on the mooring body are consistent. Through the spring force and the buoyancy of the mooring body, the mooring system can be quickly separated. This reduces the complexity of the mooring system, increases its underwater safety, and facilitates its deployment and recovery.

[0076] The above-described contents can be implemented individually or in various combinations, and these variations are all within the protection scope of this invention.

[0077] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0078] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A system of submersible buoys, characterized in that, The underwater buoy system includes: The main body of the underwater mooring (11) includes a control device and a cable breakage separation device (20) connected to the control device. A float assembly (12) is connected to the mooring body (11) and is used to provide buoyancy to the mooring body (11); The power supply unit (13) is connected to the cable breakage separation device (20) via the first cable (31) to supply power to the mooring body (11) and to serve as a mooring device for the mooring system (1); The control device is used to control the cable breaking separation device (20) to operate when the underwater mooring system (1) meets the cable breaking preset conditions, so as to disconnect the first cable (31) from the underwater mooring body (11); The cable breakage separation device (20) includes: The first electrical connection part (21) is connected to the control device; The second electrical connection part (22) is connected to the first cable (31); The release component (23) has a first state and a second state. In the first state, the release component (23) causes the first electrical connection (21) to contact the second electrical connection (22). In the second state, the release component (23) separates the first electrical connection (21) from the second electrical connection (22) so that the first cable (31) connected to the second electrical connection (22) is disconnected from the buoy body (11). The release component (23) includes: A first electromagnetic attraction assembly (231) includes a first electromagnetic attraction part (2311) and a first holding member (2312). The first holding member (2312) holds the first electrical connection part (21) and the second electrical connection part (22) along a first direction. The first electromagnetic attraction part (2311) can attract the first holding member (2312), so that the first holding member (2312) moves along the first direction to unlock the first electrical connection part (21) and the second electrical connection part (22) in the first direction. The second electromagnetic attraction assembly (232) includes a second electromagnetic attraction part (2321) and a second holding member (2322). The second holding member (2322) holds the first electrical connection part (21) and the second electrical connection part (22) along a second direction. The second electromagnetic attraction part (2321) can attract the second holding member (2322), so that the second holding member (2322) moves along the second direction to unlock the first electrical connection part (21) and the second electrical connection part (222) in the second direction. The first direction and the second direction are set at an angle.

2. The system of claim 1, wherein, The cable breakage separation device (20) further includes a housing (24), which includes a top wall (241), a bottom wall (242), and a side wall (243). The first electrical connection part (21) is fixedly connected to the top wall (241). The bottom wall (242) is provided with a through hole (26) for the second electrical connection part (22) to pass through. Two of the first electromagnetic attraction parts (2311) and the first holding member (2312) are provided. The two first electromagnetic attraction parts (2311) are respectively located at On both sides of the first electrical connection part (21), the longitudinal section of the second electrical connection part (22) is I-shaped. The opposite sides of the second electrical connection part (22) have lateral openings. The second electromagnetic attraction part (2321) and the second holding member (2322) are each provided in two. The two second electromagnetic attraction parts (2321) are fixed to the side wall (243) and are respectively opposite to the two lateral openings. An elastic member (27) is provided between the top wall (241) and the second electrical connection part (22). In the first state, the two second retaining members (2322) are respectively located in the two lateral openings, and a portion of the structure of the two first retaining members (2312) passes through the top of the second electrical connection (22) and is inserted into the corresponding second retaining member (2322), and the elastic member (27) is in a compressed state; In the second state, the two first retaining members (2312) respectively engage with the corresponding first electromagnetic engaging part (2311) to disengage from the second electrical connection part (22) and the second retaining member (2322), and the two second retaining members (2322) respectively engage with the corresponding second electromagnetic engaging part (2321) to disengage from the second electrical connection part (22). The second electrical connection part (22) is separated from the cable breakage separation device (20) through the through hole (26) under the elastic force of the elastic member (27).

3. The system of claim 2, wherein, A water inlet (25) is provided on the side wall (243), and a switch device (251) is provided inside the water inlet (25) for opening or closing the water inlet (25).

4. The system according to any one of claims 1 to 3, characterized in that The main body of the underwater glider (11) includes a monitoring equipment compartment (112), a signal processing compartment (113), and a main control storage compartment (114) connected in sequence, wherein, The control device is located in the main control storage compartment (114). The control device includes a control module and a storage module. The control module is used to control the operation of the cable breakage separation device (20). The monitoring equipment compartment (112) is equipped with monitoring equipment for acquiring marine environmental data, and the signal processing compartment (113) is equipped with a signal processing device; The signal processing device is used to process the marine environmental data acquired by the monitoring equipment and send the processed data to the storage module for storage.

5. The system of claim 4, wherein, The floating body assembly (12) includes multiple connected buoys (121) and sensors (122). The sensors (122) are used to collect spatially distributed marine physical characteristics. The sensors (122) are connected to the mooring body (11) via a second cable (32). The signal processing device is also used to process the data monitored by the sensor (122) and send it to the storage module for storage.

6. A control method of a submersible system, the submersible system being the submersible system according to any one of claims 1 to 5, characterized in that, The control method for the underwater buoy system includes: The control device determines whether the underwater buoy system meets the preset conditions for cable breakage. When the preset conditions for cable breakage are met, the control device controls the cable breakage separation device to operate, thereby disconnecting the first cable from the underwater mooring body; The mooring body controls the cable disconnection device to disconnect the mooring device from the mooring body, including: Disconnect the power supply to the first electrical connection of the cable breakage separation device; The first electromagnetic attraction part of the cable breakage separation device is controlled to attract the first holding member; The second electromagnetic attraction part of the cable breakage separation device is controlled to attract the second holding member.

7. The control method of a submersible marker system according to claim 6, characterized in that, The preset conditions for cable breakage include: The underwater mooring body reaches a preset time; and / or, Received cable disconnection control command; and / or, A malfunction was detected in the underwater glider system.

8. The control method of a submersible marker system according to claim 6, characterized in that, The mooring body controls the operation of the cable disconnection device to disconnect the mooring device from the mooring body, and further includes: The water inlet of the cable breakage separation device is opened to allow water to enter the device. Under the action of the elastic element and buoyancy, the first cable separates from the cable breakage separation device.

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