Depth range controllable heaving reciprocating observation buoy, control method and system

Abstract

The invention belongs to the technical field of ocean monitoring, and discloses a heaving reciprocating observation buoy with a controllable depth range, a control method and a system. The control method comprises the following steps: in a diving stage, the depth range controllable heaving reciprocating observation buoy receives a satellite signal, and a control system executes a diving action; the air bag system controls an air bag to contract through an air path adjusting device, net buoyancy is reduced, and diving is achieved by executing a diving action instruction sent by the control system. In the depth-keeping stage, the air bag volume is not changed; and a floating stage, wherein the marine physical data observed in the floating stage are uniformly sent to a satellite. The multi-stage adjustable mode of the electromagnetic valve is adopted, the opening degrees of the electromagnetic valve are different, and compared with the traditional opening degree of 0-1, the multi-stage adjustable mode is low in energy consumption consumed by opening and closing each time, the energy consumption is reduced, the service life of the buoy is prolonged, and the maintenance frequency is reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of ocean monitoring, and in particular relates to a depth range controllable heave and sink reciprocating observation buoy, a control method and a system. Background Art

[0002] Ocean monitoring technology is an important part of marine science and technology, and plays a vital role in maintaining marine rights and interests, developing marine resources, warning of marine disasters, and protecting the marine environment. With the continuous deepening of global marine research, marine monitoring technology is also constantly developing and innovating. As one of the key equipment for marine monitoring, ocean buoys can achieve long-term, continuous, and real-time monitoring of marine environmental parameters. At present, ocean buoy technology has developed from traditional fixed buoys to drifting buoys capable of profile observations. They can provide richer and more accurate marine data, which is of great significance for marine meteorological forecasts, marine resource development, and marine scientific research.

[0003] Although existing profile observation buoy technologies have made some progress, they still have some limitations in practical applications. For example, some buoys usually rely on the buoyancy adjustment system to control the depth, but these systems may not be accurate or responsive enough, resulting in the buoy being unable to stabilize at the ideal depth.

[0004] Observations need to be deliberately controlled within a specific depth range, and depth adjustment for small-scale detection cannot be achieved; in addition, the energy supply problem of existing buoys is also an important factor limiting their long-term observation capabilities.

[0005] Through the above analysis, the problems and defects of the existing technology are as follows: most of the existing buoys cannot flexibly adjust the observation depth, which limits the ability to monitor changes in the environment of different water layers in the ocean. The existing Argo buoy (APEX type) adopts a "dual-path system", that is, a set of air path system and a set of oil path system. The submodules in its system are as follows: air pump, single-click pump, pneumatic bladder, hydraulic pump, hydraulic oil and hydraulic bladder. This system structure design is complex, which increases the difficulty of manufacturing and maintenance, and also affects the stability and reliability of the Argo buoy (APEX type). In addition, the existing buoy relies on battery power supply, and the total battery capacity is limited. If the energy consumption during the operation of the buoy is too large, it needs to be recycled and replaced frequently. This not only increases the difficulty of operation and maintenance, but also limits the long-term deployment capability of the buoy. The discontinuous energy supply of the buoy will also lead to interruptions in data collection, thereby affecting data integrity. Summary of the invention

[0006] In order to overcome the problems existing in the related art, the embodiments disclosed in the present invention provide a depth range controllable heave and sink reciprocating observation buoy, a control method and a system.

[0007] The technical solution is as follows: A control method for a depth range controllable heave and sink reciprocating observation buoy comprises: S1, diving stage: the depth range controllable heave reciprocating observation buoy receives satellite signals, and the control system executes the diving action; the airbag system controls the airbag to shrink through the air circuit regulating device to reduce the net buoyancy, and executes the diving action command issued by the control system to achieve diving. During the diving process, the multi-sensors carried by the depth range controllable heave reciprocating observation buoy record ocean physical data; the flow rate of the gas in the airbag system is determined by the opening and closing size of the solenoid valve on the air circuit regulating device, and the expansion process is the gas in the gas cylinder flowing to the airbag; S2, depth setting stage: the depth range controllable heave and sink reciprocating observation buoy dives to the fixed depth position, remains silent, collects ocean physical data, and the air path adjustment device controls the airbag volume to remain unchanged; S3, floating stage: the depth range controllable heave and sink reciprocating observation buoy receives the floating signal from the control system, records its own diving position information, and then executes the floating action; the airbag system controls the airbag to expand through the air path adjustment device to increase the net buoyancy, so that the depth range controllable heave and sink reciprocating observation buoy floats until it approaches the water surface, and after surfacing, the ocean physical data observed during this floating stage is sent to the satellite; the contraction process is the closing of the solenoid valve, the opening of the air release valve in the air path system, and the discharge of the gas in the airbag to the external environment.

[0008] In step S1, the control system executes a diving action, including: setting an initial depth, recording the current pipeline opening through the control panel, and sending a control signal to the solenoid valve; the solenoid valve performs multi-stage adjustment, selects the solenoid valve opening, and starts diving.

[0009] Furthermore, the control system performs a diving action, specifically including: Buoyancy control: The pressure or volume inside the buoy can be adjusted by changing the depth range and the controllable heave and sink reciprocating observation buoy. This is achieved by adjusting the volume of the airbag. When the airbag expands, the volume increases and the buoy floats up; when the airbag contracts, the volume decreases and the buoy sinks. buoyancy It is expressed as: ; In the formula, is the density of seawater, is the volume of water displaced by the buoy, is the acceleration due to gravity; Pressure regulation It is expressed as: ; In the formula, is atmospheric pressure, is the depth to which the buoy dives; Solenoid valve opening control: adjusted by control signal; Depth control feedback: The depth of the buoy during its dive Real-time measurement of depth through pressure sensor The pressure is adjusted by the following formula Related: ; The control algorithm is PID algorithm: ; In the formula, For the controller at time The output, is the proportional gain, is the difference between the expected depth and the actual depth; is the integration time constant, is the differential time constant; The control board calculates the deviation and adjusts the control amount based on the received data, and records the buoy's diving speed and depth change data to analyze the buoy's performance and optimize the control algorithm.

[0010] Furthermore, the control algorithm adopts PID algorithm, multi-objective optimization or feedback correction; the PID control algorithm is used to control the opening size of the solenoid valve, the depth If the expected depth is not reached , control the solenoid valve opening to increase or remain unchanged, if it exceeds the expected depth , then the opening of the control solenoid valve becomes smaller; PID algorithm, including: Proportional control: The control signal is proportional to the error, and the expression is: ; In the formula, is the control signal, is the proportional gain; Integral control: The error accumulates over time and eliminates the steady-state error. The expression is: ; In the formula, is the integral gain; Differential control: The rate of change of error reduces the overshoot and oscillation of the system. The expression is: ; In the formula, is the differential gain; Multi-objective optimization, including: comprehensive optimization for multiple control objectives through Pareto optimization multi-objective optimization algorithm; Feedback correction includes: during the control process, real-time feedback of the current state, and adjustment of the control signal through correction algorithm control to change the dynamic structure and parameters of the surrounded links.

[0011] In step S1, during the diving stage, the pressure sensor collects the pressure conditions at the depth of the buoy and transmits the current information to the control board. The control board compares the pressure at the set depth with the current pressure and calculates the error. , and then record the current pipeline opening through the control panel; (1) Pressure calculation at set depth, based on the preset target depth of the buoy Calculate the corresponding pressure , through the water pressure formula Implementation, where is the density of seawater, is the acceleration due to gravity, is the depth, the expression becomes: ; (2) Pressure measurement at the current depth. The pressure sensor measures the current pressure at the depth of the buoy in real time. ; (3) Error calculation: Error Is the difference between the preset pressure and the current pressure, the error Calculated by the following formula: ; error It is used to adjust the output of the control board to change the opening of the solenoid valve, thereby controlling the diving speed and depth of the buoy; if the error If the error is positive, it means that the buoy has not reached the preset depth and needs to dive further. If it is negative, it means that the buoy has exceeded the preset depth and needs to reduce the diving speed or start to float up; and the control signal is sent to the solenoid valve, which is multi-level adjustable and circulates; until it reaches the error value set at the beginning, the control board sends a signal to the solenoid valve, and the solenoid valve closes. At this time, the buoy stops diving and conducts fixed depth observation with the ocean current.

[0012] In step S1, the airbag system controls the airbag to shrink through the air circuit regulating device, reduces the net buoyancy, and executes the diving action command issued by the control system to dive, including: the airbag system uses a stepless valve to adjust the opening of the solenoid valve according to different water depths; The pressure in the airbag is monitored by collecting data and compared with the preset pressure target. The flow of the air pump is adjusted through the PID control algorithm to achieve pressure control. The dive is achieved by controlling the exhaust of the solenoid valve. Adjust the valve opening according to different water depths, including: PID control algorithm design, by adjusting the three parameters of proportion, integration and differentiation, the PID controller reduces the error and stabilizes the system, and uses the PID algorithm to adjust the valve opening to achieve the desired pressure or depth; Control parameter adjustment: adjust the parameters of the PID algorithm through experiments or simulations to achieve optimal control; Real-time control, integrating PID algorithm into the control board to achieve real-time control of the solenoid valve opening.

[0013] In step S2, during the depth-fixing stage, after diving to the predetermined working depth, the control system adjusts the working state of the air pump as needed to keep the buoy hovering stably at the depth, or continues to perform the data collection task; dynamically adjusts the working state of the air pump according to the real-time pressure feedback data to compensate for the pressure changes caused by position changes or other factors.

[0014] In step S3, during the floating phase: Inflation preparation: Before the ascent phase begins, the airbag system instructs the servo motor to work in the forward direction, and the air pump adds gas to the airbag to increase the air pressure in the airbag; Change the buoyancy: The servo motor controls the opening and closing degree of the stepless valve. As the air pressure in the airbag increases, the overall buoyancy of the buoy increases, causing the buoy to start moving upward, overcoming the negative buoyancy of the buoy. Floating process: The expansion of the airbag increases the overall volume of the buoy, reducing the displacement in the water. According to the Archimedean principle, the upward buoyancy of the buoy increases, allowing it to float upward. Data transmission: When floating close to the water surface, the airbag gradually stops inflating, and the collected ocean data is sent to the ground station using satellite communication equipment; Completed surfacing: Data transmission is completed, and according to mission requirements and control system instructions, it is ready to continue drifting on the surface or enter the diving phase.

[0015] Another object of the present invention is to provide a control system for a depth range controllable heave reciprocating observation buoy, which is implemented by the control method of the depth range controllable heave reciprocating observation buoy, and the system includes: an airbag system, a communication system, a control system, a data acquisition system and an energy supply system; The air bag system is composed of an air pump, an air cylinder and an air circuit system (104) for shrinking and expanding the volume of the air bag in water; the air bag and the air pump are used as a regulating mechanism to realize the conversion between the buoyancy stage and the diving stage, and the stepless valve is used to adjust the valve opening according to different water depths; The communication system includes a communication terminal; it is used for the communication between the depth range controllable heave and sink reciprocating observation buoy and the satellite during the diving stage, depth setting stage and surfacing stage; The control system includes a solenoid valve and a pressure sensor; it is used to collect data, initialize, sink, set depth and rise, and work together with the stepless solenoid valve to realize the control of the depth range controllable heave and sink reciprocating observation buoy; The data acquisition system includes conductivity sensor and temperature sensor; The energy supply system includes a lithium battery pack.

[0016] Another object of the present invention is to provide a depth range controllable heave reciprocating observation buoy, the buoy comprising: A buoy body, the exterior of the buoy body is a shell, and the shell is a cylindrical pressure-resistant shell; A stabilizing plate is installed on the upper part of the shell; a satellite antenna, a temperature sensor, a conductivity sensor, and a pressure sensor are installed on the top of the shell; The shell has a variable volume bladder on the outside that is connected to the internal components and has an isolatable double-chamber structure; The variable volume bladder contains an air bag; The air bag is connected with the air pump and the air cylinder through the electromagnetic valve and the air circuit system; A battery pack is also installed inside the shell.

[0017] In combination with all the above technical solutions, the present invention has the beneficial effects. The depth range controllable heave and sink reciprocating observation buoy provided by the present invention has: 1) Flexible depth control: The observation depth can be adjusted as needed through the multi-level adjustable mode of the solenoid valve (in layman's terms, normally the opening of the solenoid valve is 0 or 1. This opening control method will lead to a problem as the Argo float (APEX type) gets closer and closer to the diving depth, that is, it cannot hover accurately. For example, when diving to 2000m, it will oscillate between 1800m or 2200m). The multi-level adjustable battery valve of the present invention has an opening of 0, 0.25, 0.5, 0.75 and 1. Multiple openings can be adjusted to achieve comprehensive monitoring of different water layers in the ocean.

[0018] 2) Simplified structural design: through optimized design (the present invention only uses the air circuit, reducing the storage parts of the oil (that is, reducing the hydraulic pump, hydraulic oil and hydraulic bag), the Argo buoy (APEX type) has two sets: oil circuit and air circuit; then the present invention only uses one set of air circuit system), compared with the oil circuit system and air circuit system of the Argo buoy (APEX type), the present invention only has the air circuit system, which reduces the structural complexity and improves the stability and reliability of the buoy.

[0019] 3) Efficient energy management system: adopting a multi-level adjustable solenoid valve (the opening of the solenoid valve is different. Compared with the traditional 0-1 opening, this multi-level adjustable valve consumes less energy each time it is switched on and off), reducing energy consumption, thereby extending the service life of the buoy and reducing maintenance frequency.

[0020] 4) The buoy of the present invention is an ocean observation device used to collect data such as ocean temperature and salinity. By applying the technical solution of the present invention to the manufacture and operation of buoys, their performance and reliability can be improved, thereby increasing their application scope and market share in marine scientific research. This will bring higher sales revenue and profits, and also help promote the development of related industries, such as marine resource development, climate change research, etc.

[0021] 5) The design and manufacture of the buoy of the present invention involves technologies in multiple fields, including materials science, electronic engineering, mechanical design, etc. At present, although some related technologies and products exist, there is still a technical gap in the dual-path (gas path and oil path propulsion method). The technical solution of the present invention provides a new solution or improvement method from the perspective of the single gas path propulsion method, which can fill these technical gaps and improve the overall performance and efficiency of the buoy.

[0022] 6) The single air path propulsion method in the present invention can improve the durability of the buoy, reduce maintenance costs, and improve data collection accuracy. The change from dual paths to a single air path not only simplifies the design structure, but also reduces its maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings herein are incorporated in and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the description, serve to explain the principles of the present disclosure; Figure 1 It is a schematic diagram of the structure of a depth range controllable heave and sink reciprocating observation buoy provided by an embodiment of the present invention; Figure 2 It is a schematic diagram of a control system for a depth range controllable heave and sink reciprocating observation buoy provided by an embodiment of the present invention; Figure 3 It is a schematic diagram of the operation process of the buoy in the control system provided by the embodiment of the present invention; Figure 4 is a schematic diagram of a control system provided by an embodiment of the present invention; Figure 5 It is a diving principle diagram of the airbag system operation process provided by an embodiment of the present invention; Figure 6 It is a diving principle diagram of the airbag system operation process and a floating principle diagram of the airbag system operation process provided by an embodiment of the present invention; Figure 7 is an operating principle diagram of an energy supply system provided by an embodiment of the present invention; Figure 8 The schematic diagram of the process of communication between the depth range controllable heave and sink reciprocating observation buoy and the satellite; Fig. 9 A real scene diagram of the process of communication between a depth range controllable heave and sink reciprocating observation buoy and a satellite; In the figure: 1. buoy body; 101. shell; 102. air pump; 103. gas cylinder; 104. gas path system; 2. variable volume bladder; 3. stabilizing disk; 4. satellite antenna; 5. temperature sensor; 6. conductivity sensor; 7. pressure sensor; 8. airbag; 9. solenoid valve; 10. communication terminal; 11. battery pack. DETAILED DESCRIPTION

[0024] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific implementation disclosed below.

[0025] Embodiment 1, as Figure 1 As shown, the depth range controllable heave and sink reciprocating observation buoy provided by the embodiment of the present invention comprises: a buoy body 1, the exterior of the buoy body 1 is a shell 101, and the shell 101 is a cylindrical pressure-resistant shell, which can ensure the underwater sealing and safety of the buoy. A stabilizing plate 3 is installed on the upper part of the housing 101; a satellite antenna 4, a temperature sensor 5, a conductivity sensor 6, and a pressure sensor 7 are installed on the top of the housing 101; The housing 101 has a variable volume leather bag 2 with an isolable double-chamber structure in communication with its internal components. The air bag 8 has no leakage or gas evolution after being inflated; the air bag can be fully inflated and deflated for more than 2,000 times without being damaged.

[0026] The variable volume leather bag 2 contains an air bag 8; after the air bag 8 is inflated, there is no leakage or gas evolution; the air bag 8 can be fully inflated and deflated for more than 2000 times without being damaged.

[0027] The air bag 8 is connected to the air pump 102 and the gas cylinder 103 through the solenoid valve 9 and the gas circuit system 104; A battery pack 11 is also installed inside the housing 101; Embodiment 2, the embodiment of the present invention provides a control method for a depth range controllable heave and sink reciprocating observation buoy, the control method comprising: S1, diving stage: the depth range controllable heave reciprocating observation buoy receives satellite signals, and the control system executes the diving action; the airbag system controls the airbag to shrink through the air circuit regulating device to reduce the net buoyancy, and executes the diving action command issued by the control system to achieve diving. During the diving process, the multi-sensors carried by the depth range controllable heave reciprocating observation buoy record ocean physical data; the flow rate of the gas in the airbag system is determined by the opening and closing size of the solenoid valve on the air circuit regulating device, and the expansion process is the gas in the gas cylinder flowing to the airbag; The opening and closing of the solenoid valve on the gas circuit regulating device determines the flow rate of the gas in the airbag system. The gas flows from a high-pressure area to a low-pressure area. The gas cylinder is a high-pressure area, and the airbag is a low-pressure area. The expansion process is when the solenoid valve is opened widely, and the gas in the cylinder flows to the airbag; the contraction process is when the solenoid valve is closed, the air release valve in the gas circuit system is opened, and the gas in the airbag is released to the external environment.

[0028] Reduce the net buoyancy and execute the diving action command issued by the control system to achieve diving. During the diving process, the multi-sensors carried by the depth range controllable heave and sink reciprocating observation buoy record the ocean physical data; Sensors that can be carried: CTD sensor (used to measure parameters such as temperature, salinity and depth), dissolved oxygen sensor (to measure the dissolved oxygen content in seawater), chlorophyll sensor, nitrate sensor, pH sensor, pressure sensor, carbon dioxide sensor (to measure the carbon dioxide concentration in seawater), oxygen sensor and sea surface temperature sensor (real-time temperature of the sea surface).

[0029] Parameters that can be measured: temperature, salinity, depth, dissolved oxygen content, chlorophyll, nitrate, pH, pressure, carbon dioxide concentration, oxygen concentration and sea surface temperature.

[0030] S2, depth setting stage: the depth range controllable heave and sink reciprocating observation buoy dives to the fixed depth position, remains silent, collects ocean physical data, and the air path adjustment device controls the airbag volume to remain unchanged; S3, floating stage: the depth range controllable heave and sink reciprocating observation buoy receives the floating signal from the control system, records its own diving position information, and then executes the floating action; the airbag system controls the airbag to expand through the air path adjustment device to increase the net buoyancy, so that the depth range controllable heave and sink reciprocating observation buoy floats until it approaches the water surface, and after surfacing, the ocean physical data observed during this floating stage is sent to the satellite; the contraction process is the closing of the solenoid valve, the opening of the air release valve in the air path system, and the discharge of the gas in the airbag to the external environment.

[0031] like Figure 2, the embodiment of the present invention provides a control system for a depth range controllable heave and sink reciprocating observation buoy, that is, the buoy body 1 includes an airbag system, a communication system and a control system, a data acquisition system and an energy supply system, etc.; The air bag system is composed of an air pump 102, an air cylinder 103 and an air circuit system 104 that can shrink and expand the volume of the air bag in water; The communication system comprises a communication terminal 10; The control system includes a solenoid valve 9 and a pressure sensor 7; The data acquisition system includes a conductivity sensor 6 (a high-precision temperature-salinity-depth sensor); The energy supply system includes a lithium battery pack 11 .

[0032] For example, (1) Control system.

[0033] like Figure 3 As shown in the figure, the operation process of the buoy in the control system is data collection, initialization, sinking, depth setting and rising, and the buoy is precisely controlled by the stepless electromagnetic valve (inflation valve and deflation valve) working together. The buoy integrates advanced sensor technology, including temperature sensor 5, conductivity sensor 6, pressure sensor 7 (depth sensor), which can measure the temperature, conductivity (automatically converted into salinity) and pressure of seawater. The buoy dives to a certain depth by changing its own buoyancy, and drifts freely with the ocean current for a certain period of time at this depth. During this period, data is collected through the sensors carried by itself, and then after receiving the floating command, it starts to float and collects data during the ascent. After reaching the sea surface, the positioning information is obtained through the satellite antenna and the collected data information is transmitted.

[0034] Multi-parameter integration capability. In addition to measuring the temperature, conductivity and pressure of seawater, the buoy of the present invention can also integrate other types of sensors, such as dissolved oxygen, pH value, chlorophyll, etc., to achieve multi-parameter synchronous measurement and provide more comprehensive marine environmental information. The sensor and data acquisition system of the present invention are designed to operate with low energy consumption. By optimizing energy use and battery management, the service life of the buoy is extended, enabling it to work longer in the ocean. Allow users to customize the buoy according to specific needs, including sensor selection, sampling strategy, data transmission settings, etc., to meet the needs of different research purposes.

[0035] like Figure 4 As shown in the figure, the control feedback loop of the buoy diving to the set depth is described as follows: the depth is set at the initial time, and then the current pipeline opening is recorded through the control board, and the control signal is sent to the solenoid valve. The solenoid valve is multi-level adjustable, and the appropriate solenoid valve opening is selected, and the buoy starts to dive.

[0036] Exemplary, buoyancy control: The buoyancy of a buoy can be adjusted by changing its internal pressure or volume. It is expressed as: ; In the formula, is the density of seawater, is the volume of water displaced by the buoy, is the acceleration due to gravity; The pressure regulation is expressed as: ; In the formula, is atmospheric pressure, is the depth to which the buoy dives; Solenoid valve opening control: adjusted by control signal; the opening of the battery valve is related to the buoy diving speed and the required pressure change. The opening of the solenoid valve can be adjusted by control signal to achieve precise pressure control.

[0037] Depth control feedback: The depth of the buoy during its dive The pressure sensor measures the depth in real time and the pressure is measured by the following formula: Related: ; Control algorithm: The control board calculates the deviation and adjusts the control amount according to the received data, and records the diving speed and depth change data of the buoy to analyze the performance of the buoy and optimize the control algorithm.

[0038] Control algorithm: The control board can calculate the deviation (the difference between the set value and the actual value) based on the received data to adjust the control quantity, such as the PID algorithm. At the same time, the buoy's diving speed, depth change and other data are recorded. These data can be used to analyze the performance of the buoy and optimize the control strategy.

[0039] For example, the control algorithm uses PID algorithm, multi-objective optimization or feedback correction; the PID control algorithm is used to control the opening size of the solenoid valve, the depth If the expected depth is not reached , control the solenoid valve opening to increase or remain unchanged, if it exceeds the expected depth , then the opening of the control solenoid valve becomes smaller; PID algorithm, including: Proportional control: The control signal is proportional to the error, and the expression is: ; In the formula, is the control signal, is the proportional gain; Integral control: The error accumulates over time and eliminates the steady-state error. The expression is: ; In the formula, is the integral gain; Differential control: The rate of change of error reduces the overshoot and oscillation of the system. The expression is: ; In the formula, is the differential gain; The control algorithm may also adopt one of multi-objective optimization and feedback correction; Multi-objective optimization includes: considering multiple control objectives (such as diving speed, energy consumption, stability, etc.), and achieving comprehensive optimization through multi-objective optimization algorithms (such as Pareto optimization). For multiple control objectives, comprehensive optimization is performed through the Pareto optimization multi-objective optimization algorithm; in multi-objective optimization, there is usually no solution that is optimal for all objectives because there may be conflicts between different objectives. The goal of Pareto optimization is to find a set of solutions that are not dominated by other solutions in at least one objective, that is, no solution can be better than these solutions in all objectives. Among them, there are depth and energy consumption for multiple control objectives.

[0040] Feedback correction includes: during the control process, real-time feedback of the current state, and adjustment of the control signal through the correction algorithm to cope with changes in the external environment and system uncertainty. It can effectively change the dynamic structure and parameters of the surrounded link; under certain conditions, the characteristics of the correction device can replace the characteristics of the surrounded link, thereby reducing the adverse effects of this part of the link on the system due to changes in characteristic parameters and various interferences. In addition, feedback correction can also improve the stability and robustness of the system by reducing the system's sensitivity to parameter changes and suppressing system noise.

[0041] During the dive, the pressure sensor collects the pressure condition of the sea depth where the buoy is located and transmits the current information to the control board. The control board compares the pressure at the set depth with the current pressure and calculates the error e. At this time, the control board records the current pipeline opening and sends the control signal to the solenoid valve. The solenoid valve is multi-level adjustable and cycles until the error e reaches the error value set at the beginning. At this time, the control board sends a signal to the solenoid valve 9, and the solenoid valve is closed. At this time, the buoy stops diving and performs fixed depth observation with the ocean current.

[0042] (1) Pressure calculation at set depth, based on the preset target depth of the buoy Calculate the corresponding pressure , through the water pressure formula Implementation, where is the density of seawater, is the acceleration due to gravity, is the depth, the expression becomes: ; (2) Pressure measurement at the current depth. The pressure sensor measures the current pressure at the depth of the buoy in real time. ; (3) Error calculation: Error Is the difference between the preset pressure and the current pressure, the error Calculated by the following formula: ; error It is used to adjust the output of the control board to change the opening of the solenoid valve, thereby controlling the diving speed and depth of the buoy; if the error If the error is positive, it means that the buoy has not reached the preset depth and needs to dive further. If it is negative, it means that the buoy has exceeded the preset depth and needs to reduce the diving speed or start to float up; and the control signal is sent to the solenoid valve, which is multi-level adjustable and circulates; until it reaches the error value set at the beginning, the control board sends a signal to the solenoid valve, and the solenoid valve closes. At this time, the buoy stops diving and conducts fixed depth observation with the ocean current.

[0043] (2) Airbag system.

[0044] The buoy uses air bags and air pumps as its main adjustment mechanism to achieve the conversion between the floating and diving stages. The innovation of the air bag system in the present invention is to use a stepless valve to adjust the valve opening according to different water depths; Adjustment of valve opening according to different water depths includes: Control algorithm design, such as PID control algorithm, by adjusting the three parameters of proportion, integration and differentiation, the PID controller can reduce errors and stabilize the system. The PID algorithm can be used to adjust the valve opening to achieve the desired pressure or depth.

[0045] Control parameter adjustment: adjust the parameters of the PID algorithm through experiments or simulations to achieve the best control effect.

[0046] Real-time control, integrating PID algorithm into the control board to achieve real-time control of valve opening.

[0047] In the present invention, the control algorithm has sensor integration, and by integrating the pressure sensor. Combined with hydrological and meteorological sensors such as the temperature sensor 5, the conductivity sensor 6, and the pressure sensor 7, the system status and ocean hydrological information can be monitored in real time. The temperature sensor 5, the conductivity sensor 6, and the pressure sensor 7 are collectively referred to as temperature-salinity-depth sensors; Data recording and analysis: record control process data, analyze system performance, and further optimize control strategies.

[0048] Simulation and test verification: simulate the software by simulating different marine environments; test the control system through field sea trials to verify its performance and robustness.

[0049] The gas is pushed into the airbag by a high-pressure gas cylinder pump to adapt to different marine environments and needs.

[0050] The pressure in the airbag is monitored by collecting data and compared with the preset pressure target. The flow of the air pump is adjusted through the feedback control algorithm to achieve precise pressure control. The inflation and exhaust are controlled by the inflation valve and the exhaust valve, and then the buoy is floated up and down.

[0051] The difference between the airbag system and the traditional Argo buoy (APEX type) is that the traditional Argo buoy (APEX type) uses oil as a filler, and takes advantage of the fact that the density of oil is less than that of water, so that the Argo buoy (APEX type) floats or dives, while the airbag part of the present invention is filled with gas. Compared with oil, the advantage of gas is that it is easier to control. In addition, the leakage of the filler in the seawater will not cause environmental pollution.

[0052] For example, 1) during the diving phase, the airbag system operates as follows: Figure 5 As shown; Exhaust preparation: At the beginning of the dive phase, the airbag system will instruct the servo motor to work in reverse, and the air pump will pump out the air in the airbag to reduce the air pressure inside the airbag.

[0053] Changing the buoyancy: Control the opening and closing degree of the solenoid valve 9 (stepless valve). As the air in the airbag is gradually discharged, the buoyancy of the float decreases and begins to move downward.

[0054] Pressure feedback and predictive control integrate the feedback information of the pressure sensor into the control system to achieve automatic adjustment based on the pressure signal. Develop an adaptive control strategy that can automatically adjust the control parameters according to the changes in system performance to maintain optimal performance. Combined with multivariable control, consider the dual valve control targets of the intake valve and exhaust valve, optimize the valve opening and closing process, reduce energy consumption and extend the service life of the buoy.

[0055] Diving process: The reduction of the air bag causes the overall volume of the buoy to decrease, increasing its displacement in the water. According to the Archimedes principle, the upward buoyancy of the buoy is reduced, allowing it to dive.

[0056] Deep-sea exploration: During the dive, the sensors on board the buoy will continuously collect data on the deep ocean (temperature, conductivity, collectively known as CTD data) and the diving pressure (this pressure is used to convert into depth).

[0057] Complete the dive: After the buoy dives to the predetermined working depth, the control system will adjust the working status of the air pump as needed to keep the buoy hovering stably at that depth, or continue to perform data collection tasks.

[0058] The working state of the air pump is dynamically adjusted according to the real-time pressure feedback data to compensate for the pressure changes caused by position changes or other factors.

[0059] 2) Floating stage, such as Figure 6 As shown; Inflation preparation: Before the ascent phase begins, the airbag system will instruct the servo motor to work forward, and the air pump will add gas to the airbag to increase the air pressure inside the airbag.

[0060] Changing buoyancy: The servo motor controls the opening and closing degree of the stepless valve. As the air pressure in the airbag increases, the overall buoyancy of the float increases, which causes the float to start moving upward, overcoming the negative buoyancy design of the float.

[0061] Floating process: The expansion of the air bag increases the overall volume of the buoy, thereby reducing its displacement in the water. According to the Archimedes principle, the upward buoyancy of the buoy increases, causing it to float.

[0062] Data transmission: When the buoy floats up to the water surface, the airbag gradually stops inflating. At this time, the buoy will use satellite communication equipment to send the collected ocean data to the ground station.

[0063] Completing the ascent: Once the data transmission is completed, the buoy will be ready to continue drifting on the surface or enter the diving phase according to the mission requirements and control system instructions.

[0064] (3) Energy supply system. The energy supply system operates as follows: Figure 7 As shown; The power supply design of the buoy is also an important aspect. The power supply capacity can be improved by using lithium batteries or alkaline batteries, thereby increasing the service time of the buoy.

[0065] like Figure 7 As shown, the battery is connected to the power distribution module to supply power to the control system, airbag system, data acquisition system, and communication system respectively. This method improves operational reliability and power quality.

[0066] (4) Communication system, like Figure 8 As shown, the process of communication between the buoy and the satellite can be divided into the principles of the diving stage, the depth setting stage and the buoyancy stage. Fig. 9 This is a real scene diagram of the process of communication between the buoy and the satellite, which is also divided into the diving stage, the depth setting stage and the floating stage; Diving stage: The buoy receives satellite signals and the control system executes the diving action. The airbag system adjusts the air path adjustment device to reduce the net buoyancy and achieve diving. During this process, the temperature, salinity and depth instrument carried by the buoy will record detailed oceanographic physical data.

[0067] Depth-fixing stage: The buoy does not need to communicate with the satellite at this time, so it remains silent and quietly collects ocean physical data.

[0068] Ascending phase: The buoy receives the control signal to ascend, records its own diving position information, and then synchronously performs the ascending action. Its control system accurately adjusts the air path regulating device to continuously increase the net buoyancy, so that the buoys synchronously ascend at the same speed until they approach the water surface. After surfacing, the data observed during this ascending phase are uniformly sent to the satellite.

[0069] During the buoyancy process, the collected data is analyzed in real time, and the buoyancy strategy is adjusted according to the data quality feedback to ensure the integrity and accuracy of data collection. When the buoy approaches the water surface, the oil circuit control method of the traditional Argo buoy (APEX type) is improved. The buoy of the present invention is controlled by pure air circuit, which can automatically adjust the buoyancy speed and prepare for data transmission.

[0070] (1) Enhanced observation flexibility: The existing Argo floats (APEX type) can usually only observe at a few predetermined depth levels, which limits the comprehensive understanding of changes in the ocean environment. The present invention can more flexibly monitor the vertical profile of the ocean by realizing the reciprocating observation of growth and sinking at any depth range, thereby providing more comprehensive marine environmental data.

[0071] (2) Improving energy efficiency: In response to the energy supply problem in the prior art, the present invention adopts an innovative energy supply method, such as utilizing ocean wave energy or temperature difference energy. Such improvements significantly improve energy utilization efficiency and reduce dependence on traditional batteries, thereby extending the service life of the buoy.

[0072] (3) Simplified buoy structure design: The present invention reduces the complexity of the buoy structure through optimized design, simplifies the manufacturing process, and makes the buoy more stable and reliable. This simplified structure not only reduces the difficulty of production and manufacturing, but also improves the production quality of the buoy and makes maintenance more convenient.

[0073] (4) Improved data accuracy and reliability: To address the data accuracy issues in the prior art, the present invention integrates advanced sensors and data processing technologies to improve the accuracy of data collection. At the same time, through improved energy management systems and structural designs, the buoy can still operate stably in harsh marine environments, further improving data reliability.

[0074] (6) Improved environmental adaptability: The design of the buoy of the present invention takes into account the adaptability to extreme marine environments, such as deep-sea high pressure and low temperature conditions. By enhancing the structural strength and using materials suitable for extreme environments, the environmental adaptability of the buoy is improved, enabling it to be used in a wider range of marine areas.

[0075] (7) Convenient use and maintenance: The buoy design of the present invention takes into account the user's operational convenience. By simplifying the operating process and maintenance steps, the user can deploy and maintain the buoy more conveniently, thereby improving the use efficiency.

[0076] (8) Improved production quality: Since the present invention adopts a modular and simplified design, the production process is more standardized and controllable, thereby improving the production quality. At the same time, since the complex assembly steps are reduced, the error rate in the production process is also reduced.

[0077] To further illustrate the effects of the embodiments of the present invention, the following experiment is conducted: In the application scenario of deep-sea experiments, the improved Argo buoy (APEX type) can conduct observations at any depth, and provide more comprehensive deep-sea environmental data based on the temperature, salinity and pressure data collected from the deep sea. The modular design allows for rapid deployment and collection of key data. The simplified buoy is easier to deploy and maintain, and the integrated advanced sensors can provide highly accurate data to help monitor coastal environmental changes.

[0078] Structurally, the performance of the buoy structure under different water pressure and environmental conditions is simulated through finite element analysis (FEA) and other methods to evaluate its durability and stability. In terms of observation depth, different depth trigger points are set in the simulation environment to simulate the buoy's diving and floating process, collect data at each depth layer, and analyze the continuity and integrity of the data. In addition, the performance of the buoy material is evaluated by simulating deep-sea high pressure and low temperature conditions to ensure its reliability under extreme conditions. The data acquisition process is simulated in a controlled simulation environment, and the effects of different sensor configurations and data processing algorithms on data accuracy are compared.

[0079] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any modifications, equivalent substitutions and improvements made by any technician familiar with the technical field within the technical scope disclosed by the present invention and within the spirit and principles of the present invention should be covered within the protection scope of the present invention.

Claims

1. A control method for a depth range controllable heave and sink reciprocating observation buoy, characterized in that: The method includes: S1, diving stage: the depth range controllable heave reciprocating observation buoy receives satellite signals, and the control system executes the diving action; the airbag system controls the airbag to shrink through the air circuit regulating device to reduce the net buoyancy, and executes the diving action command issued by the control system to achieve diving. During the diving process, the multi-sensors carried by the depth range controllable heave reciprocating observation buoy record ocean physical data; the flow rate of the gas in the airbag system is determined by the opening and closing size of the solenoid valve on the air circuit regulating device, and the expansion process is the gas in the gas cylinder flowing to the airbag; S2, depth setting stage: the depth range controllable heave and sink reciprocating observation buoy dives to the fixed depth position, remains silent, collects ocean physical data, and the air path adjustment device controls the airbag volume to remain unchanged; S3, floating stage: the depth range controllable heave and sink reciprocating observation buoy receives the floating signal from the control system, records its own diving position information, and then executes the floating action; the airbag system controls the airbag to expand through the air path adjustment device to increase the net buoyancy, so that the depth range controllable heave and sink reciprocating observation buoy floats until it approaches the water surface, and after surfacing, the ocean physical data observed during this floating stage is sent to the satellite; the contraction process is the closing of the solenoid valve, the opening of the air release valve in the air path system, and the discharge of the gas in the airbag to the external environment.

2. The control method of the depth range controllable heave reciprocating observation buoy according to claim 1, characterized in that: In step S1, the control system executes a diving action, including: setting an initial depth, recording the current pipeline opening through the control panel, and sending a control signal to the solenoid valve; the solenoid valve performs multi-stage adjustment, selects the solenoid valve opening, and starts diving.

3. The control method of the depth range controllable heave reciprocating observation buoy according to claim 2, characterized in that: The control system performs the diving action, including: Buoyancy control: The pressure or volume inside the buoy can be adjusted by changing the depth range and the controllable heave and sink reciprocating observation buoy. This is achieved by adjusting the volume of the airbag. When the airbag expands, the volume increases and the buoy floats up; when the airbag contracts, the volume decreases and the buoy sinks. buoyancy It is expressed as: ； In the formula, is the density of seawater, is the volume of water displaced by the buoy, is the acceleration due to gravity; Pressure regulation It is expressed as: ； In the formula, is atmospheric pressure, is the depth to which the buoy dives; Solenoid valve opening control: adjusted by control signal; Depth control feedback: The depth of the buoy during its dive Real-time measurement of depth through pressure sensor The pressure is adjusted by the following formula Related: ； The control algorithm is PID algorithm: ； In the formula, For the controller at time The output, is the proportional gain, is the difference between the expected depth and the actual depth; is the integration time constant, is the differential time constant; The control board calculates the deviation and adjusts the control amount based on the received data, and records the buoy's diving speed and depth change data to analyze the buoy's performance and optimize the control algorithm.

4. The control method of the depth range controllable heave reciprocating observation buoy according to claim 3 is characterized in that: The control algorithm uses PID algorithm, multi-objective optimization or feedback correction; the PID control algorithm is used to control the opening size and depth of the solenoid valve. If the expected depth is not reached , control the solenoid valve opening to increase or remain unchanged, if it exceeds the expected depth , then the opening of the control solenoid valve becomes smaller; PID algorithm, including: Proportional control: The control signal is proportional to the error, and the expression is: ； In the formula, is the control signal, is the proportional gain; Integral control: The error accumulates over time and eliminates the steady-state error. The expression is: ； In the formula, is the integral gain; Differential control: The rate of change of error reduces the overshoot and oscillation of the system. The expression is: ； In the formula, is the differential gain; Multi-objective optimization, including: comprehensive optimization for multiple control objectives through Pareto optimization multi-objective optimization algorithm; Feedback correction includes: during the control process, real-time feedback of the current state, and adjustment of the control signal through correction algorithm control to change the dynamic structure and parameters of the surrounded links.

5. The control method of the depth range controllable heave reciprocating observation buoy according to claim 1, characterized in that: In step S1, during the diving stage, the pressure sensor collects the pressure conditions at the depth of the buoy and transmits the current information to the control board. The control board compares the pressure at the set depth with the current pressure and calculates the error. , and then record the current pipeline opening through the control panel; (1) Pressure calculation at set depth, based on the preset target depth of the buoy Calculate the corresponding pressure , through the water pressure formula Implementation, where is the density of seawater, is the acceleration due to gravity, is the depth, the expression becomes: ； (2) Pressure measurement at the current depth. The pressure sensor measures the current pressure at the depth of the buoy in real time. ; (3) Error calculation: Error Is the difference between the preset pressure and the current pressure, the error Calculated by the following formula: ； error It is used to adjust the output of the control board to change the opening of the solenoid valve, thereby controlling the diving speed and depth of the buoy; if the error If the error is positive, it means that the buoy has not reached the preset depth and needs to dive further. If it is negative, it means that the buoy has exceeded the preset depth and needs to reduce the diving speed or start to float up; and the control signal is sent to the solenoid valve, which is multi-level adjustable and circulates; until it reaches the error value set at the beginning, the control board sends a signal to the solenoid valve, and the solenoid valve closes. At this time, the buoy stops diving and conducts fixed depth observation with the ocean current.

6. The control method of the depth range controllable heave reciprocating observation buoy according to claim 1, characterized in that: In step S1, the airbag system controls the airbag to shrink through the air circuit regulating device, reduces the net buoyancy, and executes the diving action command issued by the control system to dive, including: the airbag system uses a stepless valve to adjust the opening of the solenoid valve according to different water depths; The pressure in the airbag is monitored by collecting data and compared with the preset pressure target. The flow of the air pump is adjusted through the PID control algorithm to achieve pressure control. The dive is achieved by controlling the exhaust of the solenoid valve. Adjust the valve opening according to different water depths, including: PID control algorithm design, by adjusting the three parameters of proportion, integration and differentiation, the PID controller reduces the error and stabilizes the system, and uses the PID algorithm to adjust the valve opening to achieve the desired pressure or depth; Control parameter adjustment: adjust the parameters of the PID algorithm through experiments or simulations to achieve optimal control; Real-time control, integrating PID algorithm into the control board to achieve real-time control of the solenoid valve opening.

7. The control method of the depth range controllable heave reciprocating observation buoy according to claim 1, characterized in that: In step S2, during the depth-fixing stage, after diving to the predetermined working depth, the control system adjusts the working state of the air pump as needed to keep the buoy hovering stably at the depth, or continues to perform the data collection task; dynamically adjusts the working state of the air pump according to the real-time pressure feedback data to compensate for the pressure changes caused by position changes or other factors.

8. The control method of the depth range controllable heave reciprocating observation buoy according to claim 1, characterized in that: In step S3, during the floating phase: Inflation preparation: Before the ascent phase begins, the airbag system instructs the servo motor to work in the forward direction, and the air pump adds gas to the airbag to increase the air pressure in the airbag; Change the buoyancy: The servo motor controls the opening and closing degree of the stepless valve. As the air pressure in the airbag increases, the overall buoyancy of the buoy increases, causing the buoy to start moving upward, overcoming the negative buoyancy of the buoy. Floating process: The expansion of the airbag increases the overall volume of the buoy, reducing the displacement in the water. According to the Archimedean principle, the upward buoyancy of the buoy increases, achieving floating; Data transmission: When floating close to the water surface, the airbag gradually stops inflating, and the collected ocean data is sent to the ground station using satellite communication equipment; Completed surfacing: Data transmission is completed, and according to mission requirements and control system instructions, it is ready to continue drifting on the surface or enter the diving phase.

9. A control system for a depth range controllable heave and sink reciprocating observation buoy, characterized in that: The system is implemented by the control method of the depth range controllable heave and sink reciprocating observation buoy according to any one of claims 1 to 8, and the system includes: an airbag system, a communication system, a control system, a data acquisition system and an energy supply system; The air bag system is composed of an air pump (102) for shrinking and expanding the volume of the air bag in water, an air cylinder (103) and an air circuit system (104); the air bag and the air pump are used as a regulating mechanism to realize the conversion between the buoyancy stage and the diving stage, and the stepless valve is used to adjust the valve opening according to different water depths; The communication system comprises a communication terminal (10); used for the communication between the depth range controllable heave and sink reciprocating observation buoy and the satellite during the diving stage, the depth setting stage and the surfacing stage; The control system comprises an electromagnetic valve (9) and a pressure sensor (7); and is used to realize control of a depth range controllable heave and sink reciprocating observation buoy through data acquisition, initialization, sinking, depth setting and ascent, and through the coordinated work of the stepless electromagnetic valve; The data acquisition system includes a conductivity sensor (6) and a temperature sensor (5); The energy supply system comprises a lithium battery pack (11).

10. A depth range controllable heave and sink reciprocating observation buoy, characterized in that: The buoy is equipped with a control system for a depth range controllable heave and sink reciprocating observation buoy as claimed in claim 9, and the buoy comprises: A buoy body (1), the exterior of the buoy body (1) being a shell (101), the shell (101) being a cylindrical pressure-resistant shell; A stabilizing plate (3) is installed on the upper part of the housing (101); a satellite antenna (4), a temperature sensor (5), a conductivity sensor (6), and a pressure sensor (7) are installed on the top of the housing (101); The housing (101) has a variable volume bladder (2) on the outside thereof which is in communication with its internal components and has an isolatable double-chamber structure; The variable volume leather bag (2) contains an air bag (8); The air bag (8) is connected to the air pump (102) and the air cylinder (103) via a solenoid valve (9) and an air circuit system (104); A battery pack (11) is also installed inside the housing (101).

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