An underwater diffuse attenuation coefficient observation device across sea-air medium

Abstract

The application discloses a cross-sea-air medium amphibious underwater diffuse attenuation coefficient observation device, an electrical control device in the body drives a gas pressure control device to adjust the buoyancy of a buoyancy device to realize floating, or drives a propelling device to realize diving; a flight rotor is installed on a machine arm to realize flight; an optical probe samples downlink irradiance data information and measures an attenuation coefficient (KD); a microcomputer carries out operation processing according to the data information of the optical probe; a data transmission module transmits the data information to a ground control center according to the signal of a GPS tracking module; the device can accurately profile the specified water area, effectively controls the observation platform to be far away from a ship to reduce the interference of the ship body shadow, realizes automatic deployment and recovery, saves time and effort, transmits the pretreated observation data back to the base station in the first time when the system is out of water, has better timeliness, keeps a horizontal posture when falling freely underwater, and can control the free fall speed and depth to profile the shallow water area.

Description

Technical Field

[0001] This invention belongs to the field of underwater robot equipment manufacturing technology, specifically relating to an amphibious underwater diffuse attenuation coefficient observation device and method for cross-sea and air media. Background Technology

[0002] The propagation of light in seawater is easily affected by factors such as colored dissolved organic matter, phytoplankton, non-algal particulate matter, and pure water, thus altering the underwater light field. Bio-optical parameters are used to describe and characterize the influence of ecological processes in seawater on the underwater light field. By establishing the relationship between optical properties and biological parameters in water bodies, effective evidence is provided for understanding ecological processes in water bodies through optical means. The underwater diffuse attenuation coefficient, as an important marine bio-optical parameter, is crucial for understanding marine physical and biological processes such as upper-layer heat exchange, phytoplankton photosynthesis and primary productivity, and turbidity in open ocean and nearshore waters.

[0003] In natural water bodies, by vertically placing irradiance probes on various observation platforms and acquiring irradiance at different depths, the profile variation of the underwater diffuse attenuation coefficient can be calculated. The observation of the underwater diffuse attenuation coefficient needs to meet the following conditions: 1. The irradiance probe needs to be kept vertical, and the observation platform should maintain a free-fall motion trend as much as possible, with the deflection angle in the Z-axis direction not exceeding 5 degrees; 2. The irradiance probe should be placed as high as possible on the top of the observation platform to reduce light signal interference caused by the observation platform; 3. The optical observation platform needs to be kept as far away from the ship as possible to avoid the ship's shadow affecting the observation results. Currently, both domestically and internationally, the Profiller II manufactured by SeaBird Technologies in the United States is commonly used. This technology integrates a downlink irradiance probe onto a free-fall platform with a guide vane, relying on connecting cables for underwater data communication and retrieval. However, this technology faces the following shortcomings: 1. When deployed in low wind and current conditions, the observation platform is difficult to drift away from the vessel, thus affecting data observation quality; 2. Instrument retrieval requires manual towing back to the deck, which is time-consuming and labor-intensive; 3. When used in shallow nearshore waters, the difficulty in controlling the descent speed and depth significantly increases the risk of the instrument hitting the bottom and damaging the probe. Therefore, further improvements and optimizations are needed for the current observation methods and platforms. Summary of the Invention

[0004] To address the aforementioned problems in existing technologies, the present invention aims to provide an amphibious underwater diffuse attenuation coefficient observation device that spans sea and air media. This device can be deployed and retrieved automatically without the need for cable towing, accurately conduct profile observations of designated water areas, save time and effort, and maintain a free-fall horizontal attitude underwater, reducing interference from ship shadows.

[0005] The technical solution adopted in this invention is as follows:

[0006] An amphibious underwater diffuse attenuation coefficient observation device for cross-sea and air media includes a sealed fuselage, with a GPS tracking module, a position detection module and multiple arms fixedly installed on the outside of the fuselage, and an electrical control device, a pneumatic control device, a microcomputer and a data transmission and remote control module installed inside the fuselage, and an optical probe installed on the top of the fuselage; each arm is equipped with a buoyancy device and a propulsion device.

[0007] The electrical control device is used to drive the air pressure control device to adjust the buoyancy of the buoyancy device to achieve upward movement, or to drive the propulsion device to achieve downward movement;

[0008] The arm is used to mount the flight rotor to achieve flight;

[0009] The optical probe is used to measure downlink irradiance data at different depth locations;

[0010] The microcomputer is used to perform calculations and processing based on the data information from the optical probe.

[0011] The data transmission module is used to transmit the processed data information to the ground control center based on the signal from the GPS tracking module.

[0012] Furthermore, the machine body includes a sealed housing, on which a machine arm fixing member is fitted; the machine arm fixing member is provided with a plurality of machine arm fixing seats whose positions and numbers are adapted to the positions and numbers of the machine arms;

[0013] Each arm is fitted with a buoyancy sleeve, and the root of the buoyancy sleeve is fixedly connected to the root of the arm on the arm mounting base.

[0014] Furthermore, each buoyancy sleeve is provided with a buoyancy adjustment cavity, and each buoyancy sleeve is a streamlined integral structure made of buoyant material through a one-time molding process; the buoyancy sleeves constitute a buoyancy device.

[0015] Furthermore, each of the aforementioned arms is respectively installed through the upper part of each buoyancy sleeve, and the outer end of each arm extending outside the buoyancy sleeve is used to install the flight rotor;

[0016] Each buoyancy sleeve has a buoyancy adjustment chamber in the middle of its inner end face. Each buoyancy adjustment chamber is equipped with an airbag. Each airbag is connected to the air pressure control device inside the fuselage through a high-pressure air pipe.

[0017] Furthermore, the position detection module includes at least one sonar ranging module and at least one depth sensor;

[0018] At least one of the said arms is also equipped with a lighting device;

[0019] Each of the aforementioned arms is a round rod structure, and each arm is provided with multiple clamps. The buoyancy sleeve is provided with a slot corresponding to the position of each clamp.

[0020] The sonar ranging module, lighting device, and propulsion device are respectively fixedly connected to the corresponding clamps via adapters.

[0021] Furthermore, the housing is a cylindrical structure, with an upper sealing flange at the top of the housing, and the optical probe is vertically positioned at the center of the top surface of the upper sealing flange;

[0022] The area surrounding the optical probe on the top surface of the upper sealing flange is used to house the waterproof switch, depth sensor, multiple threading bolts, and waterproof antenna for the data transmission remote control module;

[0023] The waterproof switch, GPS tracking module, sonar ranging module, propulsion device, and lighting device are all connected to the electrical control device inside the fuselage via threaded bolts.

[0024] Furthermore, a transparent cover is sealed to the bottom of the housing via a lower sealing flange, and a gimbal camera is installed at the bottom of the inner cavity of the body. The gimbal camera is used to record video and take photos to record the data acquisition process.

[0025] Furthermore, the inner cavity of the fuselage is provided with a support frame, which includes multiple vertical support columns and multiple layers of horizontal support plates. The electrical control device, pneumatic control device, microcomputer and data transmission remote control module are all supported and installed in the inner cavity of the fuselage through the multiple layers of support plates.

[0026] Furthermore, the pressure control device includes a pressure-resistant gas storage tank and a diaphragm vacuum pump. The pressure-resistant gas storage tank is connected to the buoyancy device via the diaphragm vacuum pump. The diaphragm vacuum pump is used to transport the gas in the pressure-resistant gas storage tank to the buoyancy device, or to draw the gas in the buoyancy device back to the pressure-resistant gas storage tank.

[0027] Finally, the electrical control device includes a pneumatic circuit and thruster control module, and the GPS tracking module, position detection module, thruster, optical probe and lighting device are all connected to the pneumatic circuit and thruster control module;

[0028] The air path and propulsion control module is used to drive the operation of the air pressure control device, propulsion device and lighting device based on the data information collected by the GPS tracking module, position detection module and optical probe.

[0029] The beneficial effects of this invention are as follows:

[0030] A transoceanic, amphibious underwater diffuse attenuation coefficient observation device utilizes an internal electrical control unit to drive a pneumatic control unit to adjust the buoyancy of the buoyancy device for ascent or a propulsion unit for descent. Flight is achieved via a rotor mounted on the arm. An optical probe samples downhill irradiance data at different depths. A microcomputer processes the attenuation coefficient (KD) based on the optical probe data. A data transmission module transmits the processed data to a ground control center based on signals from a GPS tracking module. Compared to traditional cable-towed deployment methods, this device enables precise profiling of designated water areas, effectively controlling the observation platform away from vessels to reduce hull shadow interference. The use of an unmanned aerial vehicle (UAV) platform allows for automatic deployment and retrieval, saving time and effort. Furthermore, the pre-processed observation data is transmitted back to the base station immediately upon system surfacing, providing better timeliness. During underwater freefall, the device maintains a horizontal attitude while controlling the freefall speed and depth, enabling profiling of shallow water areas. Attached Figure Description

[0031] Figures 1-2 This is a three-dimensional structural diagram of the amphibious underwater diffuse attenuation coefficient observation device for cross-sea and air media according to Embodiment 1 of the present invention, after removing one buoyancy sleeve.

[0032] Figure 3 This is a three-dimensional structural diagram of the boom section of the amphibious underwater diffuse attenuation coefficient observation device for transoceanic and air-medium media after an explosion, according to Embodiment 1 of the present invention.

[0033] Figures 4-5 This is an enlarged schematic diagram of the internal structure of the amphibious underwater diffuse attenuation coefficient observation device for cross-sea and air media according to Embodiment 1 of the present invention;

[0034] Figure 6 This is an exploded enlarged schematic diagram of the bottom structure of the amphibious underwater diffuse attenuation coefficient observation device for cross-sea and air media according to Embodiment 1 of the present invention;

[0035] Figures 7-8 This is an enlarged three-dimensional schematic diagram of the buoyancy sleeve structure of the amphibious underwater diffuse attenuation coefficient observation device for cross-sea and air media according to Embodiment 1 of the present invention;

[0036] Figure 9 This is a schematic diagram of the air path structure of the amphibious underwater diffuse attenuation coefficient observation device for cross-sea and air media according to Embodiment 1 of the present invention;

[0037] Figure 10 This is a schematic diagram of the circuit structure of the amphibious underwater diffuse attenuation coefficient observation device for cross-sea and air media according to Embodiment 1 of the present invention. Detailed Implementation

[0038] 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, and not all embodiments. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0039] like Figures 1-10 As shown, in order to solve the technical problems in the prior art, the present invention provides an amphibious underwater diffuse attenuation coefficient observation device for cross-sea and air media. The overall planning scheme first conceives a structure for an amphibious underwater diffuse attenuation coefficient observation device for cross-sea and air media. The main structure first sets up a sealed fuselage. A GPS tracking module, a position detection module and multiple arms 50 are fixedly installed on the outside of the fuselage. An electrical control device, a pneumatic control device, a microcomputer 18 and a data transmission and remote control module 19 are fixedly installed inside the fuselage. An optical probe 36 is fixedly installed on the top of the fuselage. A buoyancy device and a propulsion device 43 are respectively installed on each arm 50.

[0040] The electrical control device can drive the pneumatic control device to adjust the buoyancy of the buoyancy device to achieve upward movement, or it can drive the propulsion device 43 to achieve submersion or suspension in the water.

[0041] Each of the 50 arms can be equipped with a flight rotor to enable flight.

[0042] The optical probe 36 can measure downlink irradiance data at different sampling depths.

[0043] The microcomputer 17 can calculate the attenuation coefficient (KD) based on the downlink irradiance data sampled and measured by the optical probe 36, thereby calculating the profile change of the underwater diffuse attenuation coefficient.

[0044] The data transmission remote control module 19 can transmit the processed data information to the ground control center based on the signal from the GPS tracking module 26.

[0045] Example 1:

[0046] The main structure of the fuselage is a sealed shell 24, preferably a cylindrical shell. A ring-shaped arm fixing member 25 is fitted on the outer wall of the shell 24. In this example, four arms 50 are fixedly installed on the outside of the fuselage, and the four arms 50 are evenly distributed in a cross shape along the circumference.

[0047] Four arm fixing seats 251 are provided on the arm fixing component 25. The positions of the four arm fixing seats 251 are adapted to the positions of the four arms 50, so that each arm 50 can be fixedly installed and connected to the housing 24 through the arm fixing seat 251 and the arm fixing component 25.

[0048] Furthermore, a buoyancy sleeve 49 is fitted onto the outside of each arm 50, and the root of each buoyancy sleeve 49 is simultaneously fixedly connected to the root of each arm 50 on the arm mounting base 251. The structure is simple and compact, and the space utilization rate is high.

[0049] Furthermore, a buoyancy adjustment cavity 491 is provided inside each buoyancy sleeve 49, and each buoyancy sleeve 49 is also a streamlined integral structure made of a buoyant material (i.e. a material with a density less than water) through a one-time molding process; thereby making the buoyancy sleeve 49 a buoyancy device that can adjust the buoyancy magnitude through its own material buoyancy and the buoyancy adjustment cavity.

[0050] Furthermore, a through hole is provided in the upper part of each buoyancy sleeve 49, so that each arm 50 can be installed in the upper part of each buoyancy sleeve 49, thereby further improving space utilization and the stability and reliability of the mechanical structure; one or more flight rotors are installed at the outer end of each arm 50 extending outside the buoyancy sleeve 49, thereby realizing the flight function; the flight rotor can directly adopt the flight rotor structure in the prior art. The specific detailed structure of the flight rotor is not shown in the attached figure of this example, only the motor structure of the flight rotor is shown.

[0051] A buoyancy adjustment chamber is provided in the middle of the inner end face of each buoyancy sleeve 49, and an airbag 48 is provided in each buoyancy adjustment chamber. Each airbag 48 is connected to the air pressure control device inside the fuselage through a high-pressure air pipe. The air pressure control device can be used to evacuate or inflate the airbag, thereby adjusting the buoyancy of the airbag and achieving the purpose of adjusting the buoyancy of the buoyancy device.

[0052] The inner end face of the buoyancy sleeve can also be set as an arc shape that conforms to the outer cylindrical surface of the shell, so that the inner end face of the buoyancy sleeve fits tightly against the outer surface of the shell, and the inner end face of the buoyancy sleeve can be glued and fixed to the outer surface of the shell. The lower part of the inner end face of each buoyancy sleeve is in surface contact with the shell, and the glued bonding is reliable.

[0053] Furthermore, the position detection module is specifically composed of at least one sonar ranging module 45 and at least one depth sensor 35. The sonar ranging module 45 monitors the surrounding environment in real time and avoids obstacles, and can also perform underwater engineering inspection, underwater target search, emergency search and rescue, environmental protection inspection, underwater security, underwater topography measurement, underwater target scanning, underwater structure inspection and other operations. The depth sensor 35 can monitor diving depth data in real time and transmit the depth and position data information back to the control system.

[0054] Furthermore, a lighting device 46 is installed on at least one of the robotic arms 50, which can emit illumination light to improve the underwater data acquisition effect.

[0055] Each arm 50 adopts a round rod structure, and multiple clamps are set on each arm 50. A slot is set on the buoyancy sleeve 49 corresponding to the position of each clamp. The sonar ranging module 45, the lighting device 46 and the propulsion device 43 can be fixedly connected to the clamps at the corresponding positions through their respective adapters.

[0056] The specific structure is as follows:

[0057] The boom fixing component 25 is a ring-shaped sleeve similar to a clamp structure, composed of two semi-circular rings. Four boom fixing seats are set on the boom fixing component corresponding to the positions of the four booms. Each boom fixing seat has an inner hole. The rear section of each boom is inserted into the boom fixing seat at the corresponding position by interference fit. A stepped hole is set on the rear section of each buoyancy sleeve. Each buoyancy sleeve is fitted onto the outside of the boom fixing seat through the stepped hole. At the same time, threaded holes are also set at the corresponding positions of the boom fixing seat, the rear section of the boom, and the rear section of the buoyancy sleeve. The boom fixing seat, the rear section of the boom, and the rear section of the buoyancy sleeve are then fastened together by bolts.

[0058] On each arm, a first clamp 501, a second clamp 502, a third clamp 503 and a fourth clamp 504 are arranged sequentially from the inside out. On the buoyancy sleeve 49, a first slot 491, a second slot 492 and a third slot 493 are arranged sequentially from the inside out.

[0059] A first connector 5011 is fixedly installed on the first clamp 501. The first connector 5011 is a horizontal circular plate. The inner end of the first connector 5011 passes through the first slot 491 and is fixedly connected to the first clamp 501. The sonar ranging module 45 can be fixedly installed below the first connector 5011.

[0060] A second connector 5021 is fixedly installed on the second clamp 502. The second connector 5021 is a vertical circular plate. The upper end of the second connector 5021 passes through the second slot 492 through a horizontal fold and is fixedly connected to the second clamp 502. The lighting device 46 can be fixedly installed on the outer side of the second connector 5021.

[0061] A third connector 5031 is fixedly installed on the third clamp 503. The third connector 5031 is a vertical rectangular plate. The upper end of the third connector 5031 is fixedly connected to the third clamp 503. The upper end surface of the third connector 5031 is inclined, so that it can be fixedly connected to the third clamp 503 through the third slot 493 on the buoyancy sleeve. The propulsion device 43 can be fixedly installed on the third connector 5031, and the mounting plate of the propulsion device 43 is embedded in the third slot 493 of the buoyancy sleeve, so that the propulsion device can stably and reliably propel the amphibious drone of the present invention to sink rapidly underwater.

[0062] The fourth clamp 504 is fitted onto the arm near the outer end. A mounting frame 5041 is set at the outer end of the fourth clamp 504, extending from the outer port of the buoyancy sleeve to the outside of the buoyancy sleeve. Sealing plates 5042 are respectively set on the upper and lower surfaces of the mounting frame 5041. The flight rotor is fixedly installed on the mounting frame 5041 through the sealing plates 5042. The structure is simple and compact, with high space utilization and stable reliability.

[0063] Furthermore, an upper sealing flange 27 is provided at the top of the housing 24, and the optical probe 36 is fixedly installed in the middle of the top surface of the upper sealing flange 27 along the vertical direction, so that the measurement effect is accurate and reliable.

[0064] The area surrounding the optical probe 36 on the top surface of the upper sealing flange 27 is used to fix and install components such as the waterproof switch 28, depth sensor 35, multiple threaded bolts, and the waterproof antenna 33 of the data transmission remote control module 19. The waterproof switch 28, GPS tracking module 26, sonar ranging module 45, propulsion device 43, and lighting device 46 are all connected to the electrical control device inside the fuselage via threaded bolts. In this example, five threaded bolts are provided. The first threaded bolt is used to install the depth sensor 35, the third threaded bolt 31 is reserved, the second threaded bolt 30 is used to seal the connection of the sonar ranging module 45 to the electrical control device inside the fuselage via electrical wires, the fourth threaded bolt 32 is used to seal the connection of the lighting device 46 to the electrical control device inside the fuselage via electrical wires, and the fifth threaded bolt 34 is used to connect the airbag 48 to the air pressure control device inside the fuselage via a high-pressure air pipe.

[0065] Since the optical parameters collected by the optical probe are actually the optical parameters of sunlight, it is important to note during actual operation that the height of the waterproof antenna 33 must not exceed the height of the optical probe 36, so as to avoid the waterproof antenna obstructing the accuracy of the data collected by the optical probe.

[0066] Furthermore, a transparent cover 22 is sealed to the bottom of the housing 24 via a lower sealing flange 23, and a gimbal camera 1 is installed at the bottom of the inner cavity of the body. The gimbal camera 1 can record video and take pictures to record the data acquisition process.

[0067] Furthermore, a support frame 3 is installed in the inner cavity of the fuselage. The support frame is composed of multiple vertical support columns and multiple horizontal support plates. The electrical control device, pneumatic control device, microcomputer 17 and data transmission remote control module 19 are all fixedly supported in the inner cavity of the fuselage through multiple support plates.

[0068] The main structure of the air pressure control device is a pressure-resistant air tank 4 and a diaphragm vacuum pump 14. The pressure-resistant air tank is connected to the air bladder 48 in the buoyancy device 49 via the diaphragm vacuum pump 14. The diaphragm vacuum pump 14 can transport the high-pressure gas in the pressure-resistant air tank 4 to the air bladder to increase buoyancy, or draw the gas in the air bladder back to the pressure-resistant air tank 4 to reduce buoyancy.

[0069] Finally, the main structure of the electrical control device is the air circuit and thruster control module 16. The GPS tracking module, position detection module, propulsion device, optical probe and lighting device are all connected to the air circuit and thruster control module.

[0070] The air circuit and propulsion control module is used to drive the operation of the air pressure control device, propulsion device and lighting device based on the data information collected by the GPS tracking module, position detection module and optical probe.

[0071] This invention relates to an amphibious underwater diffuse attenuation coefficient observation device that spans sea and air. The device utilizes an internal electrical control unit to drive a pneumatic control unit, adjusting the buoyancy of the buoyancy device to achieve ascent, or a propulsion unit to achieve descent. Flight is achieved via a rotor mounted on the arm. An optical probe samples radiance data at different depths. A microcomputer processes the data from the optical probe to measure the attenuation coefficient (KD). A data transmission module transmits the processed data to a ground control center based on signals from a GPS tracking module. Compared to traditional cable-driven deployment methods, this device allows for precise profiling of designated water areas, effectively controlling the observation platform away from vessels to reduce hull shadow interference. The use of an unmanned aerial vehicle (UAV) platform enables automatic deployment and retrieval, saving time and effort. Furthermore, the pre-processed observation data is transmitted back to the base station immediately upon system surfacing, providing better timeliness. During underwater freefall, the device maintains a horizontal attitude while controlling the freefall speed and depth, enabling profiling of shallow water areas.

[0072] Specific structural features:

[0073] First, a cylindrical shell 24 is installed, and a fifth threaded bolt 34 is installed at the top of the shell. High-pressure gas is led out from the pressure-resistant gas storage tank 4 inside the cabin to the four airbags 48 outside the cabin. The upper and lower ends of the shell 24 are respectively equipped with an upper sealing flange 27 and a lower sealing flange 23 made of aluminum alloy. The upper sealing flange 27 and the lower sealing flange 23 are respectively sealed and connected to the upper and lower ends of the shell 24 by two layers of waterproof sealing O-rings, for a total of four sealing rings at the upper and lower ends. After the sealing connection is assembled, it is necessary to evacuate the air to -20 inHG for a vacuum test, i.e., an airtightness test. At the same time, the vacuum created by evacuation can further lock and tighten the sealing rings.

[0074] The gimbal camera assembly 1 is fixedly installed at the bottom of the inner cavity of the housing 24. A hemispherical acrylic cover 22 is also installed between the bottom of the housing 24 and the lower sealing flange 23. The gimbal camera assembly 1 can take pictures and record videos through the transparent acrylic cover 22.

[0075] Five M10 threaded bolts, one M10 depth sensor 35, and one power control waterproof switch 28 are fixedly installed on the top surface of the upper sealing flange. The five M10 threaded bolts are designated as the first threaded bolt, the second threaded bolt 30, the third threaded bolt 31, the fourth threaded bolt 32, and the fifth threaded bolt 34. The first threaded bolt is used to install the depth sensor 35. The third threaded bolt 31 is used to fix and install the waterproof antenna 33. The second threaded bolt 30 is used to introduce the waterproof sonar ranging module 45 from outside the cabin into the cabin through an electrical wire. The waterproof sonar module 45 is fixedly installed on the side of the buoyancy sleeve 49 outside the cabin. The fourth threaded bolt 32 is used to control the lighting device and supply power to the lighting device. The lighting device is also fixedly installed on the side of the buoyancy sleeve 49 outside the cabin. The fifth threaded bolt 34 is used to seal and fix the high-pressure gas conduit (a PU material hose with an outer diameter of 6mm and an inner diameter of 4mm) that passes through and conducts the gas between the inside and outside of the cabin.

[0076] An optical probe 36 for measuring attenuation coefficient (KD) and a waterproof antenna 33 for a data transmission remote control module are also fixedly installed on the top surface of the upper sealing flange 27. All of these are introduced into the sealed housing 24 through threaded bolts. All of these threaded bolts or depth sensors are M10 in size and are fastened to the aluminum alloy upper sealing flange 27 on the top of the housing by threads.

[0077] Four arms 50 are evenly arranged on the outside of the shell. Each arm 50 is covered with a streamlined buoyancy sleeve 49. A first clamp 501, a second clamp 502, a third clamp 503, and a fourth clamp 504 are fixedly mounted on the arm. The sonar ranging module 45 is fixedly installed on the arm through the first clamp 501 and the first connector 5011 passing through the buoyancy sleeve. The lighting device 46 is fixedly installed on the arm through the second clamp 502 and the second connector 5021 passing through the buoyancy sleeve. The mounting plate of the propulsion device 43 is embedded in the buoyancy sleeve through the third clamp 503 and the third connector 5031. At the end of each arm 50, the flight rotor is fixedly installed through the fourth clamp 504, the mounting frame, and the sealing plate.

[0078] Each adapter connector will not damage the overall structural performance of the buoyancy sleeve, ensuring the buoyancy of the buoyancy sleeve is stable and reliable. At the same time, each adapter connector also provides a limiting and fixing function between the buoyancy sleeve and the boom.

[0079] A stepped hole is provided on the upper part of the root end face of each buoyancy sleeve to fit onto the arm mounting base. A rectangular groove is provided below the stepped hole to form a buoyancy adjustment cavity for placing the airbag 48. This not only avoids the use of a large amount of buoyancy material affecting the relationship between gravity and buoyancy, but also provides a fixed space for the airbag 48, which helps to fix the airbag and conforms to the overall fluid dynamics. The lower part of the inner end face of the buoyancy sleeve is glued to the outer surface of the shell 24 for a more secure connection. The GPS tracking module 26 is fixedly installed on the buoyancy sleeve near the body and is led into the flight control board 20 inside the cabin through electrical wire threading bolts. The sealed cabin shell 24 can be made of acrylic pressure-resistant material or aluminum alloy high-pressure-resistant material, and the airbag 48 can be made of TPU rubber.

[0080] Internal structural features:

[0081] The gimbal camera assembly 1 is fixedly installed at the bottom of the support frame 3 inside the shell 24 of the sealed cabin; the support frame 3 is composed of four support columns and multiple horizontal support plates; the space above the gimbal camera assembly 1 on the support frame 3 is fixedly installed from bottom to top with screws as follows: power supply 2, pressure-resistant gas tank 4, power management control board 11, voltage divider board 5, diaphragm vacuum pump 14, emergency gas cylinder 13, gas circuit and thruster control board 16, microcomputer 17, electromagnetic relay 18, water leakage detection sensor 21, data transmission remote control module 19, and flight control board 20; the power management control board 11 provides power to other electronic components and controls the power supply on and off, and also has voltage and current detection functions to facilitate the display of the remaining power.

[0082] By making full use of the space around the diaphragm vacuum pump 14 and the small size of the solenoid valve, the first solenoid valve 6, the second solenoid valve 7, the third solenoid valve 8, the fourth solenoid valve 9, the fifth solenoid valve 10, the high-pressure gas pipe, the emergency gas cylinder 13, the gas cylinder interface piece 12, and the pressure reducing valve 15 are installed around the diaphragm vacuum pump 14, making full use of the limited space inside the machine body and maximizing the space utilization rate.

[0083] The pressure-resistant gas storage tank 2 is connected to the air inlet of the diaphragm vacuum pump 14 via a high-pressure gas pipe through the first solenoid valve 6, the second solenoid valve 7, and the third solenoid valve 10. The air outlet of the diaphragm vacuum pump 14 is connected to the air bag 31 via the first solenoid valve 6, the fourth solenoid valve 11, and the fifth solenoid valve 12 through the gas conduit 32. The gas path is controlled stably and reliably through the first solenoid valve 6, the second solenoid valve 7, the third solenoid valve 8, the fourth solenoid valve 9, the fifth solenoid valve 10, and the high-pressure gas pipe.

[0084] The support frame 3 can be made of acrylic, aluminum alloy or other materials; the pressure-resistant gas storage tank 4 can be a high-pressure gas cylinder of various materials for storing various high-pressure gases; the first solenoid valve 6, the second solenoid valve 7, the third solenoid valve 8, the fourth solenoid valve 9, and the fifth solenoid valve 10 can be two-position two normally closed solenoid valves; the electromagnetic relay 18 can be a miniature digital single-channel or multi-channel relay.

[0085] Gas line connection:

[0086] As shown in the gas circuit diagram, the pressure-resistant gas storage tank 4 is connected to the OUT outlet of the first solenoid valve 6 and the IN inlet of the second solenoid valve 7 via a quick-connect tee high-pressure gas hose. The OUT outlets of the second solenoid valve 7 and the fifth solenoid valve 10 are connected to the IN inlet of the diaphragm vacuum pump 14 via quick-connect tee. The OUT outlet of the diaphragm vacuum pump 14 is connected to the OUT outlets of the fourth solenoid valve 9 and the first solenoid valve 6 via tee. The OUT outlets of the fourth solenoid valve 9, the third solenoid valve 8, and the fifth solenoid valve 10 are connected to the external annular or square airbag 48 via a quick-connect four-way connector and a high-pressure gas hose via the fifth threading bolt 34. The emergency high-pressure gas cylinder 13 is connected to the IN inlet of the pressure reducing valve 15 via the cylinder interface 12. After pressure reduction, the gas is output from the OUT port of the pressure reducing valve 15 to the IN port of the third solenoid valve 8, and finally connected to the four external airbags 48 to control buoyancy. High-pressure air hoses can be made of various materials that are resistant to high pressure.

[0087] Circuit connection:

[0088] Power supply 2 is connected to power management control board 11 via wires. Waterproof switch 28 is connected to power management control board 11 to control the power supply of the entire circuit. Voltage divider board 5 is connected to the output interface of power management control board 11 via wires. The output port of voltage divider board 5 is connected to the air circuit and thruster control board 16 (5V power supply output port) and electromagnetic relay 18 via wires. Electromagnetic relay 18 is connected to the first solenoid valve 6, the second solenoid valve 7, the third solenoid valve 8, the fourth solenoid valve 9, the fifth solenoid valve 10, and the diaphragm vacuum pump 14. (The negative terminals of this part are all grounded, and the positive terminals are individually connected to the positive output terminals of each relay.) The depth sensor 35, sonar 45, and water leakage sensor 21 are connected to the air path and thruster control board 16 via signal wires. Each sensor receives power from the UART and I2C ports of the air path and thruster control board 16 and simultaneously sends the collected data back to the air path and thruster control board 16 for decision-making. The air path and thruster control board 16 is connected to the electromagnetic relay 18 via signal wires to control the power supply to each solenoid valve and the diaphragm vacuum pump 14. The air path and thruster control board 16 is connected to the optical probe 36 and the lighting device 46 via signal wires to control the brightness and on / off status of the lighting. The data line of the optical probe 36 is also connected to the air path and thruster control board 16 for data acquisition, storage, and processing. The power distribution board 5 simultaneously distributes power to the flight control board 20 at 5V. At the same time, the signal line of the flight control board 20 is connected to the ESC to control the motors. The ESC is powered by the power management board 11.

[0089] The specific working principle is as follows:

[0090] Subsidence and data collection:

[0091] After takeoff, the amphibious drone performs tasks in active mode, such as target search and identification, via the gimbal camera component 1. It can also perform tasks in passive mode, such as marking points and planning paths. Upon reaching the target location, the amphibious drone begins its descent. When it reaches a distance of 1-2 meters from the water surface, the flight control system 20 stops control, and the air path and propulsion control board 16 intervenes to control it. Various sensors acquire data in real time for judgment and decision-making. Because the amphibious drone has a buoyancy sleeve 49 and an airbag 48, it can float steadily on the water surface until its attitude becomes relatively stable. When the environment is relatively safe, preparations for descent begin. At this time, the external airbag 48 is inflated. The air circuit and thruster control board 16 sends a command to the electromagnetic relay 18 to energize the solenoid valves 6 and 10 and the diaphragm vacuum pump 14 to start working and draw the gas from the external airbag 48 back into the pressure-resistant gas tank 4 inside the cabin. That is, the gas from the external airbag 48 is introduced into the pressure-resistant gas tank 4 through the solenoid valve 10, then through the diaphragm vacuum pump 14, and then through the solenoid valve 6. During this process, the solenoid valves 8, 9, and 7 are normally closed and do not participate in the operation. As the gas inside the external airbag 48 gradually decreases, its volume shrinks, and buoyancy gradually decreases. Eventually, gravity exceeds buoyancy, causing a descent. Simultaneously, it can rapidly descend using its onboard underwater thrusters 43. During descent, sonar 43 and depth sensors 35 continuously read data and feed it back to the air circuit and thruster control board 16 as a basis for stopping the descent. Once a certain depth is reached, the thrusters 43 can be used for hovering and depth control, or the external airbag 48 can be inflated for surfacing. Optical probe 36 begins sampling. Equipped with an IMU attitude sensor and depth sensor 35, and a Raspberry Pi microcomputer 17, the data is filtered, summarized, and further processed using algorithms before being saved to a memory card. During descent, the control board controls the on / off state and brightness adjustment of the lighting device 46. Since the cabin is equipped with a gimbal camera assembly 1, the entire process can be recorded and photographed.

[0092] Ascent and data transmission:

[0093] When an amphibious unmanned aerial vehicle (UAV) platform equipped with a measurement attenuation coefficient (kd) descends to a certain depth and attempts to surface for recovery, the thruster 43 engages and begins surfacing, adjusting its attitude during the process. When the depth sensor 35 detects a distance of approximately 10 meters from the water surface, the air circuit and thruster control board 16 sends a signal to the electromagnetic relay 18, energizing solenoid valves 7 and 9 (normally open). The diaphragm vacuum pump 14 is then energized, and the pressure-resistant gas tank 4 within the sealed chamber 24 begins to supply gas through a pressure-resistant pipe, solenoid valve 7, diaphragm vacuum pump 14, and then solenoid valve 9 into the external airbag 48. During this process, solenoid valves 6, 8, and 10 remain de-energized and normally closed, not participating in operation. As the gas inside the external airbag 46 gradually increases, the airbag volume increases, and the buoyancy also gradually increases. Throughout this process, the depth sensor 35, sonar ranging 45, and water leakage sensor 21 remain operational, and the air circuit and thruster control board 16 acquires data in real time as a basis for determining whether the condition is normal. Emergency measures will be taken if necessary. This is the surfacing process. When the drone rises to the surface of the water, the GPS26 and data transmission modules 19 receive the signal and begin to quickly transmit the data back to the ground segment through serial ports, local area networks and other means to complete the data collection. At the same time, the drone floats on the water and waits for its attitude to stabilize. When the flight control board 20 takes over, the drone quickly takes off and returns to the ground to complete the measurement task.

[0094] Data collection:

[0095] After the amphibious drone platform enters the water, it begins to collect data. The data is initially summarized, sorted, filtered and saved according to attitude, angle and depth, and real-time images are saved. When it floats on the water after emerging from the water, the GPS tracking module 26 receives the signal and immediately sends the data through the data transmission module 19. The drone platform returns to its home base to complete the entire measurement.

[0096] 1. The amphibious unmanned aerial vehicle platform of the present invention, compared with the traditional deployment method that relies on cable towing, can more accurately conduct profile observation of designated waters and effectively control the observation platform away from the ship to reduce interference from the ship's shadow.

[0097] 2. The amphibious unmanned aerial vehicle platform of the present invention can realize automatic deployment and recovery, saving time and effort, and transmits pre-processed observation data back to the base station as soon as the system emerges from the water, thus having better timeliness.

[0098] 3. The observation system carried by the amphibious unmanned aerial vehicle platform of the present invention can maintain a horizontal attitude while controlling the speed and depth of free fall during underwater free fall, thereby enabling profile observation of shallow water areas.

[0099] In this invention, all motion mechanisms' actions, such as sinking propulsion, buoyancy, flight, measurement, and photography, can be uniformly and intelligently controlled by the intelligent control center according to the intelligent control program.

[0100] This invention is not limited to the above-described optional embodiments. Anyone can derive other various forms of products under the guidance of this invention. However, regardless of any changes made in their shape or structure, any technical solution that falls within the scope of the claims of this invention shall be protected by this invention.

Claims

1. A transoceanic, amphibious underwater diffuse attenuation coefficient observation device, characterized in that: It includes a sealed fuselage, with a GPS tracking module, a position detection module, and multiple arms fixedly installed on the outside of the fuselage. The fuselage is equipped with an electrical control device, a pneumatic control device, a microcomputer, and a data transmission and remote control module. An optical probe is installed on the top of the fuselage. Each arm is equipped with a buoyancy device and a propulsion device. The electrical control device is used to drive the air pressure control device to adjust the buoyancy of the buoyancy device to achieve upward movement, or to drive the propulsion device to achieve downward movement; The arm is used to mount the flight rotor to achieve flight; The optical probe is used to measure downlink irradiance data at different depth locations; The microcomputer is used to perform calculations and processing based on the data information from the optical probe. The data transmission remote control module is used to transmit the processed data information to the ground control center according to the signal from the GPS tracking module; the fuselage includes a sealed shell, on which an arm fixing component is fitted; the arm fixing component is provided with multiple arm fixing seats whose positions and numbers are adapted to the positions and numbers of the arms; Each arm is fitted with a buoyancy sleeve, and the root of the buoyancy sleeve is fixedly connected to the root of the arm on the arm mounting base. Each of the aforementioned arms is respectively installed through the upper part of each buoyancy sleeve, and the outer end of each arm extending outside the buoyancy sleeve is used to install the flight rotor; Each buoyancy sleeve has a buoyancy adjustment chamber in the middle of its inner end face. Each buoyancy adjustment chamber is equipped with an airbag. Each airbag is connected to the air pressure control device inside the fuselage through a high-pressure air pipe.

2. The amphibious underwater diffuse attenuation coefficient observation device for transoceanic and air-medium media according to claim 1, characterized in that: Each buoyancy sleeve is provided with a buoyancy adjustment cavity, and each buoyancy sleeve is a streamlined integral structure made of buoyant material through a one-time molding process; the buoyancy sleeves constitute a buoyancy device.

3. The amphibious underwater diffuse attenuation coefficient observation device for transoceanic and air-medium media according to claim 1, characterized in that: The position detection module includes at least one sonar ranging module and at least one depth sensor; At least one of the said arms is also equipped with a lighting device; Each of the aforementioned arms is a round rod structure, and each arm is provided with multiple clamps. The buoyancy sleeve is provided with a slot corresponding to the position of each clamp. The sonar ranging module, lighting device, and propulsion device are respectively fixedly connected to the corresponding clamps via adapters.

4. The amphibious underwater diffuse attenuation coefficient observation device for transoceanic and air-medium media according to claim 3, characterized in that: The housing is a cylindrical structure with an upper sealing flange at the top. The optical probe is vertically positioned at the center of the top surface of the upper sealing flange. The area surrounding the optical probe on the top surface of the upper sealing flange is used to house the waterproof switch, depth sensor, multiple threading bolts, and waterproof antenna for the data transmission remote control module; The waterproof switch, GPS tracking module, sonar ranging module, propulsion device, and lighting device are all connected to the electrical control device inside the fuselage via threaded bolts.

5. The amphibious underwater diffuse attenuation coefficient observation device for transoceanic and air-medium media according to claim 3, characterized in that: The bottom of the housing is sealed with a transparent cover via a lower sealing flange. A gimbal camera is installed at the bottom of the inner cavity of the body. The gimbal camera is used to record video and take pictures to record the data acquisition process.

6. The amphibious underwater diffuse attenuation coefficient observation device for transoceanic and air-medium media according to claim 1, characterized in that: The fuselage cavity is equipped with a support frame, which includes multiple vertical support columns and multiple horizontal support plates. The electrical control device, pneumatic control device, microcomputer and data transmission remote control module are all supported in the fuselage cavity by the multiple support plates.

7. The amphibious underwater diffuse attenuation coefficient observation device for transoceanic and air-medium media according to claim 1, characterized in that: The pressure control device includes a pressure-resistant gas storage tank and a diaphragm vacuum pump. The pressure-resistant gas storage tank is connected to the buoyancy device via the diaphragm vacuum pump. The diaphragm vacuum pump is used to transport the gas in the pressure-resistant gas storage tank to the buoyancy device, or to draw the gas in the buoyancy device back to the pressure-resistant gas storage tank.

8. The amphibious underwater diffuse attenuation coefficient observation device for transoceanic and air-medium media according to claim 3, characterized in that: The electrical control device includes a pneumatic circuit and thruster control module, and the GPS tracking module, position detection module, thruster, optical probe and lighting device are all connected to the pneumatic circuit and thruster control module; The air path and propulsion control module is used to drive the operation of the air pressure control device, propulsion device and lighting device based on the data information collected by the GPS tracking module, position detection module and optical probe.

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