Modular marine environment integrated measuring device and method of use

Abstract

The application provides a kind of modular marine environment integrated measuring device and use method in the technical field of marine environment measurement, including main frame, retraction system and hydraulic control system.The application can realize comprehensive perception and control of real-time running state of measuring device by setting GPS positioning antenna and pressure sensor, ensure the safety of measuring device work, solve the problem that traditional marine environment measuring device cannot obtain real-time water depth position information and working posture is not clear.Through setting acceleration sensor on rotating arm, whether rotating arm is forced to vibrate is detected, and rotating arm is controlled by hydraulic cylinder to work stably.

Description

Technical Field

[0001] This invention relates to the field of marine environmental measurement technology, specifically to a modular integrated marine environmental measurement device and its usage method. Background Technology

[0002] Marine environmental measurement devices are typically used to acquire marine environmental data, such as water depth, water temperature, water quality, and seabed topography, to support marine research, navigation, port operations, and other marine applications. Traditional deployment methods for marine environmental measurement devices include: Bottom-mounted sensors, installed on the bottom of the hull and usually suspended underwater by ropes, cables, or supports, suitable for measuring parameters such as water depth, seabed topography, and water quality; and side-mounted sensors, installed on the sides of the hull, typically below the waterline, suitable for measuring parameters such as water temperature, water quality, and underwater sonar, with the sensor position and angle adjusted according to the specific measurement task. On some larger vessels, well-mounted sensors can be used, placed in fixed wells within the hull, allowing measurements to be taken from inside the hull and reducing the impact of external disturbances. These traditional installation methods have advantages in specific application scenarios but also have limitations. They may require manual operation, are difficult to adapt to different hull types, pose challenges for maintenance and repair, and are susceptible to external disturbances.

[0003] Different types of ship hulls have different structures and layouts, making the connection and installation of marine environmental measurement devices challenging. The position, angle, and installation method of sensors need to be adjusted according to the characteristics of the hull, requiring more time and labor. Fixed sensor installations can make maintenance and replacement difficult; for example, if one sensor needs repair or replacement, the entire device may need to be raised out of the water, potentially increasing downtime and maintenance costs. Various disturbances exist in the marine environment, such as waves and currents, which can interfere with sensor operation. Insufficient sensor position and fixing methods to cope with these disturbances will affect data accuracy. Furthermore, traditional marine environmental measurement devices typically include fixed sensors, the type and number of which are often limited by the physical layout, potentially preventing the flexible configuration of different types of sensors to meet diverse measurement needs.

[0004] To address the problems of difficult deployment and replacement of marine environmental measurement devices and low work efficiency, existing technologies, such as patent CN116357867A, disclose a hull mounting device for a multibeam echo sounder system and its usage method, which includes multiple sets of hollow pipes, a first integrated unit, a second integrated unit, a hull mounting frame, and a rotating frame. This solves the problem of measuring the system's position coordinates and performing angle correction before each measurement, while also improving the system's integration and reducing the possibility of errors.

[0005] For example, patent CN108861964B discloses a lifting system for a multibeam measuring device installed in a ship's well, including a lifting winch assembly, a ship's well cofferdam, guide rails, a lifting platform, a drag chain assembly, and an electrical control system. The lifting device can enable the multibeam transducer to move up and down in the well cofferdam, thus extending the transducer's service life.

[0006] For example, patent CN114132450A discloses a multibeam echo sounder mounting bracket that is easy to install and highly adaptable, including a hull mounting bracket and a measuring rod fixing bracket. It is modular and universal in structure, highly adaptable to installation, and reduces design and manufacturing costs.

[0007] For example, patent CN116215744A discloses a lifting device for multibeam equipment on an unmanned vessel, including a multibeam mounting tube and a fixing frame. The structure is simple and low in cost. The lifting and lowering of the multibeam equipment can be achieved by extending and retracting the push rod, thus avoiding frequent disassembly of the multibeam equipment and collisions during testing and transportation.

[0008] For example, patent CN209567040U discloses a hull structure for multibeam measurement, including a hull, GPS device, moon pool, motion sensor, controller, wireless transceiver, and multibeam equipment, which reduces the impact of wind and waves on the measurement, ensures measurement quality, has a wider working depth range, and provides effective protection for the measurement equipment.

[0009] For example, patent CN212290199U discloses a multi-beam measurement equipment flipping device, including a connecting component and an installation component, which facilitates the taking-up and taking-down of measurement settings and has little impact on the stability of the ship during navigation, ensuring the safety and operability of the ship during navigation.

[0010] For example, patent CN215794310U discloses a multi-functional transducer mounting bracket for unmanned vessels, including an unmanned vessel surface mounting platform, a sensor mounting base, a connection port, and an equipment locking ring, which solves the problem that traditional depth sounders cannot be fixed on unmanned vessels for operation.

[0011] However, the aforementioned patents still have some unresolved problems, such as the inability to deploy multiple sets of multi-purpose sensors simultaneously, limited adaptability to different ship hulls, and difficulties in installation and deployment; untimely acquisition of water depth and working attitude information; and the tendency for the rotating arm to vibrate under stress during operation, resulting in unstable working conditions. Summary of the Invention

[0012] To address the shortcomings of existing technologies, the purpose of this invention is to provide a modular integrated marine environmental measurement device and its usage method.

[0013] According to the present invention, a modular marine environment integrated measurement device includes a main frame, a deployment and retraction system and a hydraulic control system. The deployment and retraction system includes a rotating arm, which is disposed within the main frame. An acceleration sensor is disposed on the rotating arm, and the acceleration sensor is used to detect whether the rotating arm is subjected to force and vibrates.

[0014] A rotating arm limiting device is also installed on the crossbar inside the main frame. The rotating arm body is locked in the rotating arm limiting device. The rotating arm limiting device is used to provide a fulcrum when the rotating arm vibrates under force to prevent the rotating arm from vibrating violently.

[0015] A GPS positioning antenna is installed on the top of the main frame. The retraction system also includes a pressure sensor and an adapter flange. The pressure sensor is installed on the adapter flange, and the adapter flange is connected to one end of the rotating arm.

[0016] Pressure sensors and GPS positioning antennas are used to acquire water depth location information and operating attitude of the modular marine environment integrated measurement device in real time.

[0017] In some embodiments, the main frame is composed of multiple long rods and multiple short rods connected to each other, and the main frame includes a rectangular main frame;

[0018] Multiple rotating arm limiting devices are provided on the crossbar at the bottom of the main frame. The rotating arm limiting device includes a semi-circular rotating arm limiting device, and multiple limiting rubber blocks are provided on the inner side of the rotating arm limiting device. The limiting rubber blocks include arc-shaped limiting rubber blocks.

[0019] In some embodiments, lifting devices are provided at the four corners of the top of the main frame, and the lifting devices are all located on the long poles on both sides of the top of the main frame. Multiple lifting devices are used to connect lifting cables to lift the modular marine environment integrated measurement device and place it into the hull.

[0020] In some embodiments, the lower end face of the lifting device is connected to the main frame, and the annular hole on the lifting device is set as a lifting point, and multiple lifting points are used to connect one end of the lifting cable.

[0021] In some embodiments, GPS positioning antennas are installed on the short rods one and two on the top sides of the main frame, and the GPS positioning antennas on both sides constitute a dual-antenna positioning system. The dual-antenna positioning system is used to provide the position and heading of the modular marine environment integrated measurement device on the ocean.

[0022] The main frame is also provided with a short rod three at the top. The short rod three is positioned between the short rod one and the short rod two, and an IMU sensor is provided on the short rod three. The IMU sensor is used to measure the velocity and acceleration of the modular marine environment integrated measurement device in the six-axis direction.

[0023] In some embodiments, a top plate is also provided on the main frame, and the top plate is connected to the periphery of the cuboid frame composed of the long rod and the short rod at the top of the main frame;

[0024] Furthermore, multiple bolt holes are provided around the perimeter of the top plate, and the top plate is detachably connected to the hull through these bolt holes.

[0025] In some embodiments, the retraction system further includes a hydraulic cylinder, one end of which is connected to the main frame, one side of the rotating arm is locked in the rotating arm limiting device, and the other side of the rotating arm is connected to the hydraulic rod at the other end of the hydraulic cylinder.

[0026] When in storage mode, the rotating arm is parallel to the horizontal plane of the main frame, with an included angle of 0 degrees.

[0027] When in operation, the hydraulic rod on the hydraulic cylinder extends and pushes the rotating arm, so that the rotating arm is set at a 90-degree angle with the horizontal plane of the main frame.

[0028] In some embodiments, one end of the adapter flange is connected to the rotating arm, and the other end of the adapter flange is connected to the measuring sensor;

[0029] Furthermore, the pressure sensor is installed on the adapter flange to measure the water pressure on the modular marine environment integrated measurement device and obtain water depth information.

[0030] Furthermore, a small hole is provided on the side of the adapter flange, through which one end of a sling passes, and the other end of the sling is connected to the second crossbar inside the main frame.

[0031] In some embodiments, the hydraulic control system includes a hydraulic pump station and a hydraulic control box, which are disposed within the main frame;

[0032] Furthermore, when the modular marine environment integrated measurement device is not in operation, multiple pipelines, multiple hydraulic cylinders, multiple rotating arms, and multiple measurement sensors are arranged in parallel within the main frame. The hydraulic pump station is connected to the hydraulic cylinders through the pipelines, one end of the rotating arm is connected to the hydraulic cylinder, and the other end of the rotating arm is connected to the measurement sensor through the adapter flange.

[0033] Furthermore, an angle sensor is installed at the pin connecting the rotating arm body to the inside of the main frame, and the working status is determined by sensing the rotation angle of the rotating arm through the angle sensor;

[0034] Furthermore, the rotation angle of the rotating arm is adjusted in real time through the hydraulic control box and the hydraulic pump station.

[0035] A method of using the aforementioned modular integrated marine environmental measurement device comprises the following steps:

[0036] 1. Debugging and installation phase

[0037] 1-1: Connect one end of the adapter flange to the rotating arm, and connect the other end of the adapter flange to the measuring sensor;

[0038] 1-2: Check whether the connection and function of the GPS positioning antenna, the IMU sensor, the acceleration sensor and the pressure sensor are normal; check whether the hydraulic control box, the hydraulic pump station and the hydraulic cylinder are functioning normally.

[0039] 2. Lifting Stage

[0040] 2-1: Workers secure the hoisting cable to multiple lifting devices, and a crane slowly retrieves the hoisting cable until it is straightened and can bear the full weight of the modular marine environment integrated measurement device, and then lifts the modular marine environment integrated measurement device to a suitable height;

[0041] 2-2: The crane lifts the modular marine environment integrated measurement device into the ship's cabin until the modular marine environment integrated measurement device is inside the ship's cabin and the lifting cable is no longer under tension, then the lifting cable on the lifting device is untied;

[0042] The main frame is bolted to the hull via the bolt holes on the top plate;

[0043] 2-3: Unscrew the slings so that the rotating arm can be freely deployed after receiving a control command;

[0044] 3. Deployment Phase

[0045] 3-1: The vessel and the modular marine environment integrated measurement device are launched together. The positioning information is obtained through the GPS positioning antenna and the IMU sensor to determine whether the designated operating area has been reached.

[0046] 3-2: The ship's own sensors determine whether the ship's draft level meets the operational requirements. When the rotating arm is rotated into position and the measuring sensor is more than 500 mm away from the water surface, the deployment requirements are met and the measuring sensor can be deployed.

[0047] 3-3: After the water level meets the requirements, select one of the measurement sensors carried by the modular marine environment integrated measurement device and deploy it. The hydraulic control box issues a control command, and the hydraulic pump station transmits power to the corresponding hydraulic cylinder through the corresponding pipeline. The corresponding hydraulic cylinder extends its hydraulic rod and pushes the corresponding rotating arm to rotate around the axis.

[0048] 3-4: During this process, the angle sensor works in real time to monitor the rotation status of the rotating arm. When the rotation angle reaches 90 degrees, the deployment is completed and the hydraulic cylinder stops working.

[0049] 3-5: The rotating arm limiting device restricts the movement angle of the rotating arm, and the limiting rubber block contacts the rotating arm to provide cushioning and fixation.

[0050] 4. Work Phase

[0051] 4-1: Working phase: After the measurement sensors are deployed, they begin to operate.

[0052] 4-2: During operation, the angle sensor monitors the status of the rotating arm in real time. When the angle is less than 90 degrees, the hydraulic pump station controls the hydraulic cylinder to compensate and push the rotating arm until the angle requirement is met.

[0053] 4-3: During operation, the acceleration sensor monitors the state of the rotating arm in real time. When the amplitude or frequency of the acceleration change in the ship's direction of travel, such as the lateral and longitudinal directions, is too large, a greater force is applied to the rotating arm through the hydraulic cylinder. The limiting rubber block is used to keep the rotating arm stable or to appropriately reduce the ship's speed.

[0054] 4-4: During operation, the pressure sensor monitors the water depth in real time and immediately alarms when the water level is detected to be too low.

[0055] 5. Recycling Phase

[0056] 5-1: The measuring sensor stops operating. A control command is issued by the hydraulic control box, and the hydraulic pump station transmits power to the corresponding hydraulic cylinder through the corresponding pipeline. The corresponding hydraulic cylinder retracts its hydraulic rod, and the hydraulic rod retracts the rotating arm by shortening its own length until the angle sensor senses 0 degrees.

[0057] 5-2: After the vessel returns to port, the rotating arm is lifted by passing the sling through the small hole on the adapter flange and tied to the crossbar two inside the main frame. This is used to lock the modular marine environment integrated measurement device when it is not in operation, and to prevent the rotating arm from rotating due to changes in the hydraulic cylinder pressure, which could cause an accident.

[0058] 5-3: Remove the bolts in the bolt holes on the top plate to separate the main frame from the hull. Workers then fix the hoisting cable to multiple hoisting devices. The crane slowly retrieves the hoisting cable until it is straightened and can bear the full weight of the modular marine environment integrated measurement device.

[0059] The modular marine environment integrated measurement device is lifted to a suitable height, removed from the ship's cabin, and recovered for reuse in the next marine environment measurement operation.

[0060] Compared with the prior art, the present invention has the following beneficial effects:

[0061] 1. By setting up a GPS positioning antenna and a pressure sensor, this invention can achieve comprehensive perception and control of the real-time operating status of the measuring device, ensuring the safety of the measuring device's operation and solving the problems of traditional marine environment measuring devices being unable to obtain real-time water depth location information and having unclear working attitude.

[0062] 2. This invention uses an acceleration sensor on the rotating arm to detect whether the rotating arm is vibrating due to force, and controls the rotating arm to work stably by using a hydraulic cylinder.

[0063] Meanwhile, by setting a rotating arm limiting device on the main frame, a fulcrum is provided when the rotating arm vibrates under force, which solves the problems of rotating arm vibration, difficulty in control, unstable working state, and easy material fatigue and damage.

[0064] 3. By adopting a modular payload compartment design, this invention can simultaneously install multiple sets of multi-purpose sensors on the main frame, enabling free and rapid installation and deployment of integrated marine environmental measurement devices, improving work efficiency, and providing strong adaptability to different measurement vessels. This solves the problems of cumbersome deployment and replacement of marine environmental measurement devices and insufficient adaptability to different ship hulls.

[0065] It also enables efficient and convenient equipment maintenance, solving the problem of difficult repair and maintenance of existing marine environmental measurement devices. Attached Figure Description

[0066] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0067] Figure 1This is a three-dimensional structural schematic diagram of the modular marine environment integrated measurement device of the present invention;

[0068] Figure 2 This is a side view of the modular marine environment integrated measurement device of the present invention.

[0069] Figure 3 This is a front view schematic diagram of the modular marine environment integrated measurement device of the present invention;

[0070] Figure 4 This is a top view schematic diagram of the modular marine environment integrated measurement device of the present invention;

[0071] Figure 5 This is a partial structural schematic diagram of the modular marine environment integrated measurement device of the present invention;

[0072] Figure 6 This is a schematic diagram of the lifting stage of the modular marine environment integrated measurement device of the present invention;

[0073] Figure 7 This is a schematic diagram illustrating the working stages of the modular marine environment integrated measurement device of the present invention.

[0074] Figure label:

[0075] Main frame 1, lifting point 401, measuring sensor 11

[0076] Long rod 101, top plate 5, acceleration sensor 12

[0077] Short rod 102 bolt hole 501 pressure sensor 13

[0078] Short pole 1021 GPS positioning antenna 6 slings 14

[0079] Short rod 2 1022 IMU sensor 7 hydraulic pump station 15

[0080] Short rod three 1023 hydraulic cylinder 8 pipelines 16

[0081] Rectangular frame 103 hydraulic rod 801 hydraulic control box 17

[0082] Rotary arm limiting device 2, rotary arm 9, angle sensor 18

[0083] Limiting rubber block 3, adapter flange 10, crossbar 19

[0084] Lifting device 4 small holes 1001 crossbar two 20 Detailed Implementation

[0085] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the scope of protection of the present invention.

[0086] Example 1

[0087] like Figures 1-5 As shown, the present invention includes a main frame 1, a deployment and retraction system, and a hydraulic control system. The deployment and retraction system includes a rotating arm 9, which is disposed within the main frame 1. An acceleration sensor 12 is mounted on the rotating arm 9 to detect whether the rotating arm 9 is vibrating under stress. A rotating arm limiting device 2 is also provided on a crossbar 19 inside the main frame 1. The rotating arm 9 is locked within the rotating arm limiting device 2, which provides a fulcrum when the rotating arm 9 vibrates under stress, preventing violent vibration. A GPS positioning antenna 6 is mounted on the top of the main frame 1. The deployment and retraction system also includes a pressure sensor 13 and an adapter flange 10. The pressure sensor 13 is mounted on the adapter flange 10, which is connected to one end of the rotating arm 9. The pressure sensor 13 and the GPS positioning antenna 6 are used to acquire the water depth position information and working attitude of the modular marine environment integrated measurement device in real time.

[0088] The main frame 1 is composed of multiple long rods 101 and multiple short rods 102 connected together, and the main frame 1 includes a rectangular main frame. The long rods 101 are longitudinal ribs, and the short rods 102 are crossbeams, which serve to support the equipment and structure. The shape of the main frame 1 matches the cabin of the surveying vessel. Two rotating arm limiting devices 2 are set on the bottom crossbeam 19 of the main frame 1. The rotating arm limiting device 2 includes a semi-circular rotating arm limiting device, and multiple limiting rubber blocks 3 are set on the inner side of the rotating arm limiting device 2. The limiting rubber blocks 3 include arc-shaped limiting rubber blocks. The shape and material of the limiting rubber blocks 3 can be selected from various types. In this embodiment, an arc-shaped anti-slip pad adapted to the shape of the rotating arm 9 is used. The anti-slip material is preferably rubber, which can provide sufficient friction and ensure that its contact area with the surface of the rotating arm 9 is large enough so that the pressure brought by the arc-shaped anti-slip pad will not damage the structure of the rotating arm 9. Lifting devices 4 are installed at the four corners of the top of the main frame 1, and each lifting device 4 is mounted on a long pole 101 on both sides of the top of the main frame 1. These four lifting devices 4 are used to connect lifting cables to lift the modular marine environment integrated measurement device and place it into the hull. The lower end face of each lifting device 4 is connected to the main frame 1, and the annular holes on each lifting device 4 are used as lifting points 401, which are used to connect one end of the lifting cable. GPS positioning antennas 6 are installed on short poles 1021 and 1022 on both sides of the top of the main frame 1. These two GPS positioning antennas 6 form a dual-antenna positioning system, which provides the position and heading of the modular marine environment integrated measurement device at sea. A third short pole 1023 is also installed on the top of the main frame 1, positioned opposite each other between the first and second short poles 1021 and 1022. An IMU sensor 7 is installed on the third short pole 1023, which measures the velocity and acceleration of the modular marine environment integrated measurement device in six axes. A top plate 5 is also provided on the main frame 1. The top plate 5 is connected to the periphery of the cuboid frame 103 composed of long rods 101 and short rods 102 at the top of the main frame 1. Multiple bolt holes 501 are opened around the perimeter of the top plate 5, and the top plate 5 is detachably connected to the hull through the multiple bolt holes 501.

[0089] The retraction system also includes a hydraulic cylinder 8, one end of which is connected to the main frame 1. One side of the rotating arm 9 is engaged within the rotating arm limiting device 2, and the other side of the rotating arm 9 is connected to the hydraulic rod 801 at the other end of the hydraulic cylinder 8. In the retracted state, the rotating arm 9 is parallel to the horizontal plane of the main frame 1, with an angle of 0 degrees. In the working state, the hydraulic rod 801 on the hydraulic cylinder 8 extends and pushes the rotating arm 9, causing the rotating arm 9 to be positioned at a 90-degree angle to the horizontal plane of the main frame 1. One end of the adapter flange 10 is connected to the rotating arm 9, and the other end is connected to a measuring sensor 11. A small hole 1001 is also provided on the side of the adapter flange 10, through which one end of a lifting cable 14 passes, and the other end of the lifting cable 14 is connected to a crossbar inside the main frame 1.

[0090] The hydraulic control system includes a hydraulic pump station 15 and a hydraulic control box 17, both housed within the main frame 1. When the modular marine environment integrated measurement device is not in operation, two pipelines 16, two hydraulic cylinders 8, two rotating arms 9, and two measuring sensors 11 are arranged side-by-side within the main frame 1. The hydraulic pump station 15 is connected to the hydraulic cylinders 8 via pipelines 16. One end of each rotating arm 9 is connected to a hydraulic cylinder 8, and the other end is connected to the measuring sensor 11 via an adapter flange 10. An angle sensor 18 is installed at the pin connecting the rotating arm 9 to the interior of the main frame 1. The angle sensor 18 detects the rotation angle of the rotating arm 9 to determine the operating status. The rotation angle of the rotating arm 9 is adjusted in real-time via the hydraulic control box 17 and the hydraulic pump station 15.

[0091] Specifically, in this embodiment, the four vertical frame edges on the main frame 1 are partially beveled to avoid interference with the hull during installation and to facilitate installation.

[0092] Specifically, in this embodiment, the hydraulic control box 17 includes a main control module, a signal transceiver, a manual controller, an emergency stop device, and various signal lines and cables. The main control module, a microcontroller or computer, is responsible for receiving signals from remote and manual control devices, as well as signals from various sensors on the device, and converting them into relevant cylinder extension / retraction control signals and monitoring information output. This controls the operation of various devices on the device and provides monitoring information to the operator. The hydraulic control box 17 can be automatically controlled according to actual conditions, or it can be used by the operator to control the operation of the hydraulic pump station 15 on-site or remotely, thereby controlling the hydraulic cylinder 8 to control the rotating arm 9.

[0093] Example 2

[0094] like Figure 6-7 As shown, a method of use is applied to the modular marine environment integrated measurement device of Example 1, and the steps are as follows:

[0095] 1. Debugging and installation phase

[0096] 1-1: Connect one end of the adapter flange 10 to the rotating arm 9, and connect the other end of the adapter flange 10 to the measuring sensor 11.

[0097] 1-2: Check whether the connection and function of GPS positioning antenna 6, IMU sensor 7, acceleration sensor 12 and pressure sensor 13 are normal, and check whether the functions of hydraulic control box 17, hydraulic pump station 15 and hydraulic cylinder 8 are normal.

[0098] 2. Lifting Stage

[0099] 2-1: Workers secure the hoisting cable to the four lifting devices 4. The crane slowly retrieves the hoisting cable until it is straight and can bear the full weight of the modular marine environment integrated measurement device, and then lifts the modular marine environment integrated measurement device to a suitable height.

[0100] 2-2: The crane lifts the modular marine environment integrated measurement device into the ship's hold until the device is fully inside and the lifting cable is no longer under load. Then, the lifting cable on the lifting device 4 is released. The main frame 1 is bolted to the hull via bolt holes 501 on the top plate 5.

[0101] 2-3: Unscrew the sling 14 so that the rotating arm 9 can be freely deployed after receiving the control command.

[0102] 3. Deployment Phase

[0103] 3-1: The ship and the modular marine environment integrated measurement device are launched together. The GPS positioning antenna 6 and IMU sensor 7 are used to obtain positioning information and determine whether the designated operation area has been reached.

[0104] 3-2: The ship's own sensors determine whether the ship's draft level meets the operational requirements. When the rotating arm 9 is rotated into position and the distance between the measuring sensor 11 and the water surface is greater than 500 mm, the deployment requirements are met and the measuring sensor 11 can be deployed.

[0105] 3-3: After the water level meets the requirements, select one of the measurement sensors 11 carried by the modular marine environment integrated measurement device and send a control command from the hydraulic control box 17. The hydraulic pump station 15 transmits power to the corresponding hydraulic cylinder 8 through the corresponding pipeline 16. The corresponding hydraulic cylinder 8 extends its hydraulic rod 801 and pushes the corresponding rotating arm 9 to rotate around the axis.

[0106] 3-4: During this process, the angle sensor 18 monitors the rotation status of the rotating arm 9 in real time. When the rotation angle reaches 90 degrees, the deployment is completed and the hydraulic cylinder 8 stops working.

[0107] 3-5: The rotating arm limiting device 2 restricts the movement angle of the rotating arm 9, and the limiting rubber block 3 is in contact with the rotating arm 9 to play a buffering and fixing role.

[0108] 4. Work Phase

[0109] 4-1: Working phase: After the measurement sensor 11 is deployed, it begins to operate.

[0110] 4-2: During operation, the angle sensor 18 monitors the status of the rotating arm 9 in real time. When the angle is less than 90 degrees, the hydraulic pump station 15 controls the hydraulic cylinder 8 to compensate and push the rotating arm 9 until the angle requirement is met.

[0111] 4-3: During operation, the acceleration sensor 12 monitors the status of the rotating arm 9 in real time. When the amplitude or frequency of the acceleration change in the ship's direction of travel, such as the lateral and longitudinal directions, is too large, the hydraulic cylinder 8 applies a greater force to the rotating arm 9, and the limiting rubber block 3 is used to keep the rotating arm 9 stable, or the ship's speed is appropriately reduced.

[0112] 4-4: During operation, pressure sensor 13 monitors the water depth in real time and will immediately issue an alarm when the water level is too low.

[0113] 5. Recycling Phase

[0114] 5-1: The measuring sensor 11 stops operating. The hydraulic control box 17 issues a control command, and the hydraulic pump station 15 transmits power to the corresponding hydraulic cylinder 8 through the corresponding pipeline 16. The corresponding hydraulic cylinder 8 retracts its hydraulic rod 801, and the hydraulic rod 801 retracts the rotating arm 9 by shortening its own length until the angle sensor 18 senses 0 degrees.

[0115] 5-2: After the ship returns to port, the rotating arm 9 is lifted and tied to the crossbar 20 inside the main frame 1 by passing the sling 14 through the small hole 1001 on the adapter flange 10. This is used to lock the modular marine environment integrated measurement device when it is not in operation, and to prevent the rotating arm 9 from rotating due to changes in the pressure of the hydraulic cylinder 8, which could cause an accident.

[0116] 5-3: Remove the bolts inside bolt holes 501 on the top plate 5 to separate the main frame 1 from the hull. Workers then secure the hoisting cable to the four lifting devices 4. The crane slowly retrieves the hoisting cable until it is taut and can bear the full weight of the modular marine environmental integrated measurement device. Once lifted to a suitable height, the modular marine environmental integrated measurement device is lifted off the ship's hold and retrieved for reuse in the next marine environmental measurement operation.

[0117] By applying the above-described method, this invention enables the deployment, operation, and retrieval of the integrated marine environmental measurement device to be completed smoothly and accurately, greatly improving the deployment and retrieval efficiency of the measurement device, reducing the installation difficulty and ship type requirements for different measurement vessels, and solving the problems of insufficient adaptability, difficult installation and deployment, low working efficiency, and poor stability control of marine environmental measurement devices.

[0118] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0119] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A modular integrated marine environmental measurement device, characterized in that, The system includes a main frame (1), a retraction system and a hydraulic control system. The retraction system includes a rotating arm (9), which is located inside the main frame (1). An acceleration sensor (12) is installed on the rotating arm (9) to detect whether the rotating arm (9) is subjected to force and vibrates. A rotating arm limiting device (2) is also provided on the crossbar (19) inside the main frame (1). The body of the rotating arm (9) is locked in the rotating arm limiting device (2). The rotating arm limiting device (2) is used to provide a fulcrum when the rotating arm (9) is subjected to force and shakes, so as to prevent the rotating arm (9) from shaking violently. The main frame (1) is equipped with a GPS positioning antenna (6) at the top. The retraction system also includes a pressure sensor (13) and a connecting flange (10). The pressure sensor (13) is installed on the connecting flange (10), and the connecting flange (10) is connected to one end of the rotating arm (9). The pressure sensor (13) and the GPS positioning antenna (6) are used to acquire the water depth location information and working attitude of the modular marine environment integrated measurement device in real time. The main frame (1) is composed of multiple long rods (101) and multiple short rods (102) connected to each other, and the main frame (1) includes a rectangular main frame; Multiple rotating arm limiting devices (2) are provided on the crossbar (19) at the bottom of the main frame (1). The rotating arm limiting device (2) includes a semi-circular rotating arm limiting device, and multiple limiting rubber blocks (3) are provided on the inner side of the rotating arm limiting device (2). The limiting rubber blocks (3) include arc-shaped limiting rubber blocks. The GPS positioning antennas (6) are installed on the short rods one (1021) and the short rod two (1022) on both sides of the top of the main frame (1). The GPS positioning antennas (6) on both sides constitute a dual-antenna positioning system. The dual-antenna positioning system is used to provide the position and heading of the modular marine environment integrated measurement device on the ocean. The main frame (1) is also provided with a short rod three (1023) at the top. The short rod three (1023) is arranged opposite to the short rod one (1021) and the short rod two (1022). An IMU sensor (7) is provided on the short rod three (1023). The IMU sensor (7) is used to measure the velocity and acceleration of the modular marine environment integrated measurement device in the six-axis direction. The retraction system also includes a hydraulic cylinder (8), one end of which is connected to the main frame (1), one side of the rotating arm (9) is locked in the rotating arm limiting device (2), and the other side of the rotating arm (9) is connected to the hydraulic rod (801) at the other end of the hydraulic cylinder (8). When in storage, the rotating arm (9) is parallel to the horizontal plane of the main frame (1) with an included angle of 0 degrees. When in working condition, the hydraulic rod (801) on the hydraulic cylinder (8) extends and pushes the rotating arm (9), so that the rotating arm (9) is set at an angle of 90 degrees with the horizontal plane of the main frame (1); One end of the adapter flange (10) is connected to the rotating arm (9), and the other end of the adapter flange (10) is connected to the measuring sensor (11). Furthermore, a small hole (1001) is provided on the side of the adapter flange (10), one end of the sling (14) passes through the small hole (1001), and the other end of the sling (14) is connected to the crossbar (20) inside the main frame (1); The hydraulic control system includes a hydraulic pump station (15) and a hydraulic control box (17), which are located within the main frame (1). Multiple pipelines (16), multiple hydraulic cylinders (8), multiple rotating arms (9) and multiple measuring sensors (11) are arranged in parallel within the main frame (1). The hydraulic pump station (15) is connected to the hydraulic cylinders (8) through the pipelines (16). One end of the rotating arm (9) is connected to the hydraulic cylinder (8), and the other end of the rotating arm (9) is connected to the measuring sensor (11) through the adapter flange (10). Furthermore, an angle sensor (18) is installed at the pin connecting the body of the rotating arm (9) to the inside of the main frame (1). The working status is determined by sensing the rotation angle of the rotating arm (9) through the angle sensor (18). The rotation angle of the rotating arm (9) is adjusted in real time through the hydraulic control box (17) and the hydraulic pump station (15).

2. The modular marine environment integrated measurement device according to claim 1, characterized in that, The main frame (1) is equipped with lifting devices (4) at the four corners of the top, and the lifting devices (4) are all installed on the long poles (101) on both sides of the top of the main frame (1). Multiple lifting devices (4) are used to connect lifting cables to lift the modular marine environment integrated measurement device and place it into the ship's hull.

3. The modular marine environment integrated measurement device according to claim 2, characterized in that, The lower end face of the lifting device (4) is connected to the main frame (1), and the annular hole on the lifting device (4) is set as a lifting point (401). Multiple lifting points (401) are used to connect one end of the lifting cable.

4. The modular marine environment integrated measurement device according to claim 2, characterized in that, The main frame (1) is also provided with a top plate (5), which is connected to the periphery of the cuboid frame (103) composed of the long rod (101) and the short rod (102) at the top of the main frame (1); Furthermore, multiple bolt holes (501) are provided around the top plate (5), and the top plate (5) is detachably connected to the hull through the multiple bolt holes (501).

5. A method of use, characterized in that, The steps for applying the modular marine environment integrated measurement device according to claim 4 are as follows: Step 1: Debugging and Installation Phase 1-1: Connect one end of the adapter flange (10) to the rotating arm (9), and connect the other end of the adapter flange (10) to the measuring sensor (11). 1-2: Check whether the connection and function of the GPS positioning antenna (6), the IMU sensor (7), the acceleration sensor (12) and the pressure sensor (13) are normal; check whether the functions of the hydraulic control box (17), the hydraulic pump station (15) and the hydraulic cylinder (8) are normal. Step 2, Lifting Stage 2-1: The worker fixes the hoisting cable to multiple lifting devices (4), and the crane slowly retrieves the hoisting cable until the hoisting cable is straightened and bears the full weight of the modular marine environment integrated measurement device, and lifts the modular marine environment integrated measurement device to a suitable height; 2-2: The crane lifts the modular marine environment integrated measurement device into the cabin until the modular marine environment integrated measurement device enters the cabin and the lifting cable is no longer under stress, then the lifting cable on the lifting device (4) is untied; The main frame (1) is bolted to the hull through the bolt holes (501) on the top plate (5); 2-3: Unscrew the sling (14) to allow the rotating arm (9) to be freely deployed after receiving a control command; Step 3, Deployment Phase 3-1: The ship and the modular marine environment integrated measurement device are launched together. The GPS positioning antenna (6) and the IMU sensor (7) are used to obtain positioning information and determine whether the ship has reached the designated operating area. 3-2: The ship's own sensors determine whether the ship's draft level meets the operational requirements. When the rotating arm (9) is rotated into position and the measuring sensor (11) is more than 500 mm away from the water surface, the deployment requirements are met, and the measuring sensor (11) is deployed. 3-3: After the water level meets the requirements, select one of the measurement sensors (11) carried by the modular marine environment integrated measurement device and deploy it. The hydraulic control box (17) issues a control command, and the hydraulic pump station (15) transmits power to the corresponding hydraulic cylinder (8) through the corresponding pipeline (16). The corresponding hydraulic cylinder (8) extends its hydraulic rod (801) and pushes the corresponding rotating arm (9) to rotate around the axis. 3-4: During this process, the angle sensor (18) works in real time to monitor the rotation status of the rotating arm (9). When the rotation angle reaches 90 degrees, the placement is completed and the hydraulic cylinder (8) stops working. 3-5: The rotating arm limiting device (2) restricts the movement angle of the rotating arm (9), and the limiting rubber block (3) contacts the rotating arm (9) to play a buffering and fixing role; Step 4, Working Stage 4-1: During the working phase, the measurement sensor (11) begins to operate after it has been deployed; 4-2: During operation, the angle sensor (18) monitors the status of the rotating arm (9) in real time. When the angle is less than 90 degrees, the hydraulic pump station (15) controls the hydraulic cylinder (8) to compensate and push the rotating arm (9) until the angle requirement is met. 4-3: During operation, the acceleration sensor (12) monitors the state of the rotating arm (9) in real time. When the acceleration amplitude or frequency of the ship's direction of travel, such as the lateral and longitudinal directions, is too large, the hydraulic cylinder (8) applies a greater force to the rotating arm (9) and uses the limiting rubber block (3) to keep the rotating arm (9) stable or reduce the ship's speed. 4-4: During operation, the pressure sensor (13) monitors the water depth in real time and immediately alarms when the water level is too low. Step 5, Recycling Phase 5-1: When the measuring sensor (11) stops operating, the hydraulic control box (17) issues a control command, and the hydraulic pump station (15) transmits power to the corresponding hydraulic cylinder (8) through the corresponding pipeline (16). The corresponding hydraulic cylinder (8) retracts its hydraulic rod (801), and the hydraulic rod (801) retracts the rotating arm (9) by shortening its own length until the angle sensor (18) senses 0 degrees. 5-2: After the ship returns to port, the rotating arm (9) is lifted by passing the sling (14) through the small hole (1001) on the adapter flange (10) and tied to the crossbar (20) inside the main frame (1). This is used to lock the modular marine environment integrated measurement device when it is not working, and to prevent the rotating arm (9) from rotating due to pressure changes in the hydraulic cylinder (8), which could cause an accident. 5-3: Remove the bolts in the bolt holes (501) on the top plate (5) to separate the main frame (1) from the hull. Workers fix the hoisting cable to multiple hoisting devices (4). The crane slowly retrieves the hoisting cable until it is straightened and bears the full weight of the modular marine environment integrated measurement device. The modular marine environment integrated measurement device is lifted to a preset height, removed from the ship's cabin, and retrieved.

Images