A comprehensive ocean current monitoring system based on ocean observation buoys

Abstract

The present invention discloses a comprehensive monitoring system for ocean currents based on an ocean observation buoy, which relates to the field of ocean observation technology, and includes a buoy main body module, a net buoyancy adjustment module, a motion state prediction module, a buoy deviation evaluation module, a buoy motion optimization module, and a data transmission module, wherein the modules are connected by electrical signals; the buoy main body module is equipped with various sensors to collect physical parameters of the ocean environment. Through the coordinated work of the motion state prediction module and the buoy motion optimization module, the system can predict and adjust the motion state of the buoy to reduce the data collection error caused by environmental changes, thereby improving the accuracy of the data, providing a solid data foundation for marine scientific research, and through the motion state evaluation module, the abnormal motion state of the buoy can be discovered in time, and the state of the buoy can be quickly adjusted through the motion optimization module to ensure the continuity and accuracy of the data.

Description

Technical Field

[0001] The present invention relates to the field of ocean observation technology, and in particular to an ocean current comprehensive monitoring system based on ocean observation buoys. Background Art

[0002] With the continuous development of marine science, scientists' understanding and research needs for marine environmental elements are increasing. As a new type of marine observation equipment, the self-sustaining profile observation buoy is placed into the water and, according to pre-set parameters, uses buoyancy drive to achieve the buoy platform's autonomous diving, constant depth drifting, floating measurement, surface communication, and re-diving profile cycle process. It can carry different types of sensors (such as CTD, DO, CO2, etc.) to achieve profile measurement of marine environmental elements, providing valuable data support for marine scientific research, helping to reveal the movement laws of the ocean, climate change trends, and ecosystem evolution processes, and promote the in-depth development of marine scientific research.

[0003] In the prior art, the net buoyancy of the buoy will change with the change of the diving depth, which will in turn affect the hovering performance and depth control accuracy of the buoy. Regarding the problem of net buoyancy change, how to analyze the diving depth and net buoyancy of the buoy, predict the movement state of the buoy and optimize the control parameters to reduce the impact of the change of the net buoyancy of the buoy on the depth control accuracy is the problem we need to solve. To this end, a comprehensive ocean current monitoring system based on ocean observation buoys is proposed. Summary of the invention

[0004] The purpose of the present invention is to provide an integrated ocean current monitoring system based on ocean observation buoys to solve the problems raised in the above background technology.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0006] An integrated ocean current monitoring system based on an ocean observation buoy comprises a buoy main body module, a net buoyancy adjustment module, a motion state prediction module, a buoy deviation evaluation module, a buoy motion optimization module and a data transmission module, wherein electrical signals are connected between the modules;

[0007] The buoy main body module, as the carrier of the entire system, floats or dives in the ocean, carries various sensors to collect physical parameters of the ocean environment, ensures that the system can work stably in the target sea area, and provides necessary buoyancy support, wherein the buoy is a self-sustaining profile observation buoy;

[0008] The net buoyancy adjustment module adjusts the net buoyancy of the buoy by adjusting the buoyancy device inside the buoy to adapt to the seawater pressure at different depths, realize diving and floating movements, and reduce the fluctuation of the movement state caused by the change of net buoyancy;

[0009] The motion state prediction module predicts the future motion state of the buoy based on historical data and buoy motion parameter data so as to make timely adjustments;

[0010] The buoy deviation evaluation module evaluates the current motion state of the buoy in combination with the output result of the motion state prediction module, and analyzes the current deviation degree of the buoy;

[0011] The buoy motion optimization module dynamically adjusts the control parameters of the buoy motion according to the current motion state and deviation degree of the buoy, optimizes the motion trajectory of the buoy, reduces the depth fluctuation caused by the change of net buoyancy, and improves the stability and accuracy of the fixed depth control;

[0012] The data transmission module collects data from various sensors on the buoy and transmits it wirelessly to the shore-based data center to achieve real-time monitoring and data sharing of the marine environment, providing data support for marine scientific research, environmental protection, and disaster warning.

[0013] A further improvement of the technical solution of the present invention is that in the buoy main body module, the process of collecting the physical parameters of the ocean environment is as follows:

[0014] The self-sustaining profile observation buoy is deployed to the target sea area by ship or aircraft. After the buoy contacts the seawater, it automatically starts and initializes. The initialization process includes checking the working status of each sensor, calibrating the sensor to ensure the accuracy of the data, and setting working parameters such as collection cycle and diving depth.

[0015] The self-sustaining profile observation buoy floats on the sea surface, in standby mode, waiting to receive a start signal, and synchronously collects marine environmental data near the sea surface, including temperature, salinity, and wind speed;

[0016] After receiving the start signal of the diving command, the self-sustaining profile observation buoy starts to perform the diving mission. During the diving process, the onboard sensors collect physical parameters of the ocean environment at different depths, including temperature, salinity, pressure (for calculating depth), flow velocity, and flow direction. At the same time, the control system inside the buoy dynamically adjusts the diving speed and depth according to the preset profile observation plan to ensure the accuracy and completeness of data collection;

[0017] After reaching the set depth, the buoy will stay for 7 to 10 days to collect the ocean environment data of the depth layer. After completing the preset profile observation task, the buoy will start to float up. During the floating process, the buoy will transmit the collected data to the shore-based data center;

[0018] After the buoy floats to the sea surface, it enters the floating and waiting state again, waiting to receive the next diving mission instructions.

[0019] A further improvement of the technical solution of the present invention is that: the self-sustaining profile observation buoy is divided into two parts, namely, an upper shell and a lower shell, the upper shell wraps the lower shell, and the connection between the upper shell and the lower shell is nested with each other and can slide relatively, a sealing ring is arranged between the upper shell and the lower shell, and the upper shell and the lower shell are sealed by the sealing ring, and the sealing ring can be provided with multiple channels for combined sealing to ensure the sealing effect, a protective sleeve is arranged between the upper shell and the lower shell to play a protective role, the protective sleeve is made of rubber and is a cylindrical structure, the two ends of the protective sleeve wrap the joint between the upper shell and the lower shell, the inside is filled with lubricating oil, and a fastening device is used to fix and seal, the protective sleeve is filled with oil to resist pressure and lubricate, and the relatively moving part of the protective shell is protected from contacting seawater, and marine organisms are prevented from attaching and affecting the movement and sealing effect;

[0020] An upper shell connecting plate is fixedly connected to the inner edge surface of the upper shell, and a lower shell connecting plate is fixedly installed on the inner edge surface of the lower shell near the upper shell connecting plate. A low-power ranging device is arranged between the upper shell connecting plate and the lower shell connecting plate. The low-power ranging device calculates the volume by feedback distance to accurately control the motion state of the profile buoy.

[0021] A further improvement of the technical solution of the present invention is that a motor is fixedly installed on the surface of the side of the lower shell connecting plate away from the upper shell connecting plate, the output shaft of the motor passes through the lower shell connecting plate and rotates in coordination with the inner wall of the lower shell connecting plate, the end of the output shaft of the motor is fixedly connected with a screw, the end of the screw away from the motor passes through the upper shell connecting plate, and is threadedly adapted to the threaded hole on the upper shell connecting plate, wherein the motor uses a large-torque normally closed self-locking motor, the large torque can meet the needs of underwater work, and the normally closed self-locking can ensure that the power can be turned off to lock the screw after the buoyancy is adjusted to the right position, without reversal, precise adjustment, and reduced power consumption.

[0022] A further improvement of the technical solution of the present invention is that: in the net buoyancy adjustment module, the adjustment process of the net buoyancy of the buoy is:

[0023] The net buoyancy adjustment module is activated when the self-sustaining profile observation buoy is activated, and the parameters of the net buoyancy adjustment module are set according to the preset profile observation plan and the seawater pressure variation range, including the target buoyancy value and the pressure threshold;

[0024] The pressure sensor inside the buoy monitors the changes in seawater pressure in real time. Based on the monitored seawater pressure, the net buoyancy required for the buoy at the current depth is calculated. If the current buoyancy is greater than the required buoyancy, it is necessary to dive; if the current buoyancy is less than the required buoyancy, it is necessary to float up.

[0025] When it is necessary to dive, the buoy control module controls the motor to rotate forward, and the screw rotates clockwise with the motor, driving the upper shell and the lower shell to move relative to each other, compressing along the cylindrical surface, reducing the volume, increasing the density, and the buoy dives, so that the buoy can dive smoothly to the target depth;

[0026] When it is necessary to float up, the motor reverses and drives the screw to rotate counterclockwise, so that the upper shell and the lower shell expand along the cylindrical surface, the volume becomes larger, the density becomes smaller, and the buoy floats up;

[0027] During the diving and surfacing process, the net buoyancy regulation module dynamically adjusts the net buoyancy of the buoy according to the changes in seawater pressure and the preset profile observation plan, so that the buoy can move stably along the preset trajectory.

[0028] A further improvement of the technical solution of the present invention is that in the motion state prediction module, the prediction process of the future motion state of the buoy is:

[0029] Obtain the historical motion status data of the buoy from the shore-based data center, and collect the current buoy motion parameter data in real time through the sensors on the buoy, including position (latitude and longitude), speed, acceleration, attitude (pitch angle, roll angle, yaw angle) parameters;

[0030] Perform preprocessing operations such as cleaning, denoising, and normalization on the collected historical data and real-time data, and divide the preprocessed historical data into a training set and a test set. The training set is used to train the model, and the test set is used to evaluate the performance of the model.

[0031] According to the motion characteristics and prediction requirements of the buoy, the buoy state prediction model is trained using the training set data combined with the decision tree model. By adjusting the parameters and structure of the model, the model can accurately predict the future motion state of the buoy. The trained model is evaluated using the cross-validation method combined with the test set data to ensure that the prediction performance and stability of the model meet the requirements.

[0032] Based on the trained buoy state prediction model, the motion state evaluation index is calculated to predict and analyze the motion trajectory of the buoy;

[0033] The preprocessed real-time data is input into the trained buoy state prediction model, and the future motion state of the buoy is predicted by combining the rules and patterns in the historical data. The prediction results are output, including the future position, speed, and acceleration parameters.

[0034] A further improvement of the technical solution of the present invention is that the calculation expression of the motion state evaluation index is:

[0035] ;

[0036] Where M is the motion state evaluation index, V is the current speed of the buoy, is the reference speed of the buoy, and are the maximum and minimum speeds of the buoy, respectively, A is the current acceleration of the buoy, is the reference acceleration of the buoy, is the attitude angle of the buoy, which can be pitch angle, roll angle or yaw angle, is a trigonometric function used to consider the effect of attitude on velocity. It is an exponential function used to take into account changes in acceleration. The value of M ranges from 0 to 1.

[0037] A further improvement of the technical solution of the present invention is that in the buoy deviation evaluation module, the analysis process of the current deviation degree of the buoy is:

[0038] Receiving the output result from the motion state prediction module, obtaining the predicted motion parameters of the buoy, including the future position, velocity, and acceleration prediction parameters of the buoy, and extracting the motion state evaluation index based on the received prediction result to quantify the motion state characteristics of the buoy;

[0039] The actual motion parameters of the buoy are collected in real time by the sensors carried on the buoy, the predicted motion parameters of the buoy are compared with the actual motion parameters, the difference between the predicted value and the actual value is calculated, the deviation evaluation coefficient is calculated based on the calculated difference, and the deviation degree between the current motion state of the buoy and the predicted state is analyzed;

[0040] The current motion state of the buoy is evaluated according to the deviation assessment coefficient to determine the degree of deviation between the current motion state of the buoy and the expected state. If the deviation assessment coefficient is large, it means that there is a large deviation between the current motion state of the buoy and the expected state, and corresponding measures need to be taken to make adjustments to ensure that the buoy can move according to the preset trajectory.

[0041] A further improvement of the technical solution of the present invention is that the calculation expression of the deviation evaluation coefficient is:

[0042] ;

[0043] Where D is the deviation assessment coefficient, P is the predicted position parameter of the buoy, is the minimum value of the buoy position, is the reference value of the buoy position, YA is the acceleration prediction parameter of the buoy, is the minimum value of the buoy acceleration, is the reference value of the buoy acceleration, YV is the predicted velocity of the buoy, is the reference value of the buoy speed, and are the maximum and minimum values ​​of the buoy speed respectively, and the value range of D is limited between 0 and 1.

[0044] A further improvement of the technical solution of the present invention is that in the buoy motion optimization module, the dynamic adjustment process of the buoy motion control parameters is:

[0045] Obtain the current motion state and deviation evaluation results of the buoy from the buoy deviation evaluation module, and based on the evaluation results, preliminarily determine the control parameters that need to be adjusted, including net buoyancy, propulsion force and attitude adjustment, to reduce depth fluctuations;

[0046] Apply PID control optimization algorithm to adjust control parameters to achieve more precise motion control, and send the adjusted control parameters to the actuator of the buoy. The sensor on the buoy continuously monitors the motion state of the buoy and collects feedback data, including position, speed, acceleration, attitude angle, depth, etc., to evaluate the adjustment effect.

[0047] The monitored motion state of the buoy is compared with the preset target state to evaluate whether the adjusted control parameters have effectively reduced the depth fluctuation and improved the stability and accuracy of the motion control. If there is still a deviation between the monitored motion state of the buoy and the preset target state, the optimization loop is entered to further adjust the parameters of the PID controller according to the deviation size and the response of the buoy. The parameters adjusted each time and the response of the buoy are recorded for subsequent performance analysis and model improvement.

[0048] Due to the adoption of the above technical solution, the present invention has the following technical advances compared with the prior art:

[0049] The present invention provides an integrated ocean current monitoring system based on an ocean observation buoy. Through the coordinated work of a motion state prediction module and a buoy motion optimization module, the system can predict and adjust the motion state of the buoy to reduce data collection errors caused by environmental changes, thereby improving data accuracy and providing a solid data foundation for marine scientific research. Furthermore, through the motion state evaluation module, the abnormal motion state of the buoy can be discovered in time, and the state of the buoy can be quickly adjusted through the motion optimization module to ensure the continuity and accuracy of the data.

[0050] The present invention provides an integrated ocean current monitoring system based on ocean observation buoys. Through the self-sustaining profile observation buoy, it can work autonomously in the ocean for a long time, reducing the dependence on ships and human resources, thereby reducing the observation cost. Moreover, through the precise control of the motion state evaluation module and the deviation evaluation module, the buoy can be maintained at the optimal monitoring position, ensuring the representativeness and reliability of the data, thereby improving the accuracy of the prediction model. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0052] Figure 1 It is a module structure diagram of the present invention;

[0053] Figure 2 It is a schematic diagram of the cross-sectional structure of the self-sustaining profile observation buoy of the present invention;

[0054] Figure 3 It is a flow chart for predicting the future motion state of the buoy of the present invention;

[0055] Figure 4 This is a flow chart for analyzing the current deviation degree of the buoy of the present invention.

[0056] Explanation of the accompanying drawings: 1. upper shell; 2. protective cover; 3. lower shell; 4. motor; 5. sealing ring; 6. lower shell connecting plate; 7. low power consumption ranging device; 8. screw; 9. upper shell connecting plate. DETAILED DESCRIPTION

[0057] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0058] Embodiment 1, as Figure 1 , Figure 2 As shown, the present invention provides an integrated ocean current monitoring system based on an ocean observation buoy, comprising a buoy main body module, a net buoyancy adjustment module, a motion state prediction module, a buoy deviation evaluation module, a buoy motion optimization module and a data transmission module, wherein the modules are connected by electrical signals;

[0059] The buoy main body module, as the carrier of the entire system, floats or dives in the ocean, and is equipped with various sensors to collect physical parameters of the ocean environment to ensure that the system can work stably in the target sea area and provide necessary buoyancy support. The buoy is a self-sustaining profile observation buoy, which is deployed to the target sea area by ship or aircraft. After the buoy contacts the seawater, it automatically starts and initializes. The initialization process includes checking the working status of each sensor, calibrating the sensor to ensure the accuracy of the data, and setting working parameters such as collection cycle, diving depth, etc. The self-sustaining profile observation buoy floats on the sea surface and is in standby state, waiting to receive the start signal, and synchronously collects marine environmental data near the sea surface, including temperature, salinity, wind speed, etc. After receiving the start signal of the diving command, the profile observation buoy starts to perform the diving mission. During the diving process, the onboard sensors collect physical parameters of the ocean environment at different depths, including temperature, salinity, pressure (for calculating depth), flow rate, and flow direction. At the same time, the control system inside the buoy dynamically adjusts the diving speed and depth according to the preset profile observation plan to ensure the accuracy and completeness of data collection. After reaching the set depth, the buoy stays for 7 to 10 days to collect the ocean environment data of the depth layer. After completing the preset profile observation mission, the buoy starts to float up. During the floating process, the buoy transmits the collected data to the shore-based data center. After the buoy floats to the sea surface, it enters the floating and waiting state again, waiting to receive the next diving mission command;

[0060] Furthermore, the self-sustaining profile observation buoy is divided into two parts, namely, an upper shell (1) and a lower shell 3. The upper shell 1 wraps around the lower shell 3, and the connection between the upper shell 1 and the lower shell 3 is nested and can slide relative to each other. A sealing ring 5 is arranged between the upper shell 1 and the lower shell 3, and the upper shell 1 and the lower shell 3 are sealed by the sealing ring 5. The sealing ring 5 can be provided with multiple channels for combined sealing to ensure the sealing effect. A protective sleeve 2 is arranged between the upper shell 1 and the lower shell 3 to play a protective role. The protective sleeve 2 is made of rubber and has a cylindrical structure. The two ends of the protective sleeve 2 wrap around the joint between the upper shell 1 and the lower shell 3. The interior is filled with lubricating oil and is fixed with a fastening device for sealing. The protective sleeve 2 is filled with oil to resist pressure and lubricate, and the relatively moving parts of the protective shells are protected from contacting seawater to prevent marine organisms from attaching and affecting the movement and sealing effect. The floating, diving and floating actions of the profile observation buoy are achieved by changing the overall density of the buoy. After the equipment enters the water, the mass remains unchanged, the volume decreases, and the density increases. When the buoy dives, the volume increases, the density decreases, and the buoy rises. Floating, the change of the buoy volume is achieved by the relative movement of the upper shell 1 and the lower shell 3. An upper shell connecting plate 9 is fixedly connected to the inner edge surface of the upper shell 1, and a lower shell connecting plate 6 is fixedly installed on the inner edge surface of the lower shell 3 near the upper shell connecting plate 9. A low-power ranging device 7 is arranged between the upper shell connecting plate 9 and the lower shell connecting plate 6. The low-power ranging device 7 calculates the volume through the feedback distance to accurately control the movement state of the profile buoy. A motor 4 is fixedly installed on the surface of the lower shell connecting plate 6 on the side away from the upper shell connecting plate 9. The output shaft of the motor 4 passes through the lower shell connecting plate 6 and rotates in coordination with the inner wall of the lower shell connecting plate 6. A screw 8 is fixedly connected to the end of the output shaft of the motor 4. The end of the screw 8 away from the motor 4 passes through the upper shell connecting plate 9 and is threadedly adapted to the threaded hole on the upper shell connecting plate 9. Among them, the motor 4 uses a large-torque normally closed self-locking motor. The large torque can meet the needs of underwater work. The normally closed self-locking can ensure that the power can be turned off to lock the screw 8 after the buoyancy is adjusted to the right position, and it will not reverse, and the adjustment can be precise to reduce power consumption.

[0061] The net buoyancy adjustment module adjusts the net buoyancy of the buoy by adjusting the buoyancy device inside the buoy to adapt to the seawater pressure at different depths, realize diving and floating movements, and reduce the fluctuations in the motion state caused by the change in net buoyancy. The net buoyancy adjustment module is started with the start of the self-sustaining profile observation buoy, and the parameters of the net buoyancy adjustment module, including the target buoyancy value and the pressure threshold, are set according to the preset profile observation plan and the range of seawater pressure changes. The changes in seawater pressure are monitored in real time through the pressure sensor inside the buoy. According to the monitored seawater pressure, the net buoyancy required for the buoy at the current depth is calculated. If the current buoyancy is greater than the required buoyancy, a diving action is required. If the current buoyancy is less than the required buoyancy, the net buoyancy adjustment module is automatically started. If buoyancy is needed, it is necessary to float up. When it is necessary to dive, the buoy control module controls the motor 4 to rotate forward, and the screw 8 rotates clockwise with the motor 4, driving the upper shell 1 and the lower shell 3 to move relative to each other, compressing along the cylindrical surface, reducing the volume, increasing the density, and the buoy dives, so that the buoy can dive smoothly to the target depth. When it is necessary to float up, the motor 4 reverses and drives the screw 8 to rotate counterclockwise, so that the upper shell 1 and the lower shell 3 expand along the cylindrical surface, increasing the volume, decreasing the density, and the buoy floats up. During the diving and floating process, the net buoyancy adjustment module dynamically adjusts the net buoyancy of the buoy according to the changes in seawater pressure and the preset profile observation plan, so that the buoy can stably move according to the preset trajectory;

[0062] The motion state prediction module predicts the future motion state of the buoy based on historical data and buoy motion parameter data so as to make timely adjustments;

[0063] The buoy deviation assessment module evaluates the current motion state of the buoy and analyzes the current deviation degree of the buoy in combination with the output results of the motion state prediction module;

[0064] The buoy motion optimization module dynamically adjusts the control parameters of the buoy motion according to the current motion state and deviation degree of the buoy, optimizes the motion trajectory of the buoy, reduces the depth fluctuation caused by the change of net buoyancy, and improves the stability and accuracy of fixed depth control;

[0065] The data transmission module collects data from various sensors on the buoy and transmits it wirelessly to the shore-based data center to achieve real-time monitoring and data sharing of the marine environment, providing data support for marine scientific research, environmental protection, and disaster warning.

[0066] Embodiment 2, as Figure 3 , Figure 4 As shown, based on Example 1, the present invention provides a technical solution: Preferably, in the motion state prediction module, the prediction process of the future motion state of the buoy is:

[0067] The historical motion status data of the buoy is obtained from the shore-based data center, and the current buoy motion parameter data, including position (latitude and longitude), speed, acceleration, attitude (pitch angle, roll angle, yaw angle) parameters, are collected in real time through the sensors on the buoy. The collected historical data and real-time data are cleaned, denoised, and normalized to improve the data quality and prediction accuracy. Among them, data cleaning removes duplicate data, invalid data (such as missing values, outliers), etc., checks the consistency and integrity of the data, ensures the reliability of the data, uses filtering algorithms (such as Kalman filtering, mean filtering, etc.) to reduce noise, smoothes the data, removes noise and interference, and uses the minimum-maximum normalization method to scale the data to a uniform range to improve the training efficiency and prediction accuracy of the model. The historical data is divided into a training set and a test set. The training set is used to train the model, and the test set is used to evaluate the performance of the model. According to the motion characteristics and prediction requirements of the buoy, the training set data is combined with the decision tree model to train the buoy state prediction model. By adjusting the parameters and structure of the model, the model can accurately predict the future motion state of the buoy. The trained model is evaluated using the cross-validation method in combination with the test set data to ensure that the prediction performance and stability of the model meet the requirements. Based on the trained buoy state prediction model, the motion state evaluation index is calculated, and the motion trajectory of the buoy is predicted and analyzed. The preprocessed real-time data is input into the trained buoy state prediction model. Combined with the rules and patterns in the historical data, the future motion state of the buoy is predicted, and the prediction results are output, including the future position, velocity, and acceleration parameters.

[0068] Furthermore, the calculation expression of the motion state evaluation index is:

[0069] ;

[0070] Where M is the motion state evaluation index, V is the current speed of the buoy, is the reference speed of the buoy, and are the maximum and minimum speeds of the buoy, respectively, A is the current acceleration of the buoy, is the reference acceleration of the buoy, is the attitude angle of the buoy, which can be pitch angle, roll angle or yaw angle, is a trigonometric function used to consider the effect of attitude on velocity. It is an exponential function, which is used to consider the change of acceleration. The value range of M is between 0 and 1. The closer the value of M is to 1, the closer the actual motion state of the buoy is to the ideal state (that is, under a given attitude, the speed and acceleration are close to their maximum possible values). On the contrary, the closer the value of M is to 0, the farther the actual motion state of the buoy is from the ideal state. When the speed and acceleration of the buoy are close to their maximum values, M tends to 1. When the speed and acceleration of the buoy are lower than the reference value, or the attitude angle deviates from the ideal state, M tends to 0.

[0071] In the buoy deviation assessment module, the analysis process of the current deviation degree of the buoy is as follows:

[0072] Receive the output result from the motion state prediction module, obtain the predicted motion parameters of the buoy, including the future position, velocity, and acceleration prediction parameters of the buoy, extract the motion state evaluation index based on the received prediction result to quantify the motion state characteristics of the buoy, collect the actual motion parameters of the buoy in real time through the sensor carried by the buoy, compare the predicted motion parameters of the buoy with the actual motion parameters, calculate the difference between the predicted value and the actual value, calculate the deviation evaluation coefficient according to the calculated difference, analyze the deviation degree between the current motion state of the buoy and the predicted state, evaluate the current motion state of the buoy according to the deviation evaluation coefficient, and judge the deviation degree between the current motion state of the buoy and the expected state. If the deviation evaluation coefficient is large, it means that there is a large deviation between the current motion state of the buoy and the expected state, and corresponding measures need to be taken to adjust it to ensure that the buoy can move according to the preset trajectory;

[0073] Furthermore, the calculation expression of the deviation evaluation coefficient is:

[0074] ;

[0075] Where D is the deviation assessment coefficient, P is the predicted position parameter of the buoy, is the minimum value of the buoy position, is the reference value of the buoy position, YA is the acceleration prediction parameter of the buoy, is the minimum value of the buoy acceleration, is the reference value of the buoy acceleration, YV is the predicted velocity of the buoy, is the reference value of the buoy speed, and are the maximum and minimum values ​​of the buoy speed, respectively. The value range of D is limited to between 0 and 1. The closer the value of D is to 1, the closer the actual motion state of the buoy is to the predicted state, that is, the smaller the deviation is. On the contrary, the closer the value of D is to 0, the greater the deviation between the actual motion state of the buoy and the predicted state. When the predicted position, velocity and acceleration parameters of the buoy are close to their reference values, D tends to 1. When the difference between the predicted parameters and the actual parameters of the buoy is large, D tends to 0.

[0076] In the buoy motion optimization module, the dynamic adjustment process of the buoy motion control parameters is as follows:

[0077] The current motion state and deviation evaluation results of the buoy are obtained from the buoy deviation evaluation module. Based on the evaluation results, the control parameters that need to be adjusted are preliminarily determined, including net buoyancy, propulsion force and attitude adjustment, to reduce depth fluctuations. The PID control optimization algorithm is applied to adjust the control parameters to achieve more precise motion control, and the adjusted control parameters are sent to the actuator of the buoy. The motion state of the buoy is continuously monitored by the sensor carried on the buoy, and feedback data, including position, speed, acceleration, attitude angle, depth, etc., are collected to evaluate the adjustment effect. The monitored motion state of the buoy is compared with the preset target state to evaluate whether the adjusted control parameters effectively reduce depth fluctuations and improve the stability and accuracy of motion control. If there is still a deviation between the monitored motion state of the buoy and the preset target state, the optimization loop is entered. According to the deviation size and the response of the buoy, the parameters of the PID controller are further adjusted. The parameters adjusted each time and the response of the buoy are recorded for subsequent performance analysis and model improvement.

[0078] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. An integrated ocean current monitoring system based on ocean observation buoys, characterized in that: It includes a buoy main body module, a net buoyancy adjustment module, a motion state prediction module, a buoy deviation evaluation module, a buoy motion optimization module and a data transmission module, wherein the electrical signals between the modules are connected; The buoy main body module is equipped with various sensors to collect physical parameters of the ocean environment, wherein the buoy is a self-sustaining profile observation buoy; The net buoyancy adjustment module adjusts the net buoyancy of the buoy by adjusting the buoyancy device inside the buoy to achieve diving and floating actions; The motion state prediction module predicts the future motion state of the buoy based on historical data and buoy motion parameter data; The buoy deviation evaluation module evaluates the current motion state of the buoy in combination with the output result of the motion state prediction module, and analyzes the current deviation degree of the buoy; The buoy motion optimization module dynamically adjusts the control parameters of the buoy motion according to the current motion state and deviation degree of the buoy, and optimizes the motion trajectory of the buoy; The data transmission module collects data from various sensors on the buoy and transmits the data to the shore-based data center wirelessly.

2. The integrated ocean current monitoring system based on ocean observation buoys according to claim 1 is characterized in that: In the buoy main body module, the process of collecting the physical parameters of the ocean environment is as follows: The self-sustaining profile observation buoy is deployed to the target sea area. After the buoy contacts the seawater, it automatically starts and initializes. The initialization process includes checking the working status of each sensor, calibrating the sensor, and setting the working parameters. The self-sustaining profile observation buoy floats on the sea surface, in a standby state, waiting to receive a start signal and synchronously collect marine environmental data near the sea surface; After receiving the start signal of the diving command, the self-sustaining profile observation buoy starts to perform the diving mission. During the diving process, the onboard sensors collect physical parameters of the ocean environment at different depths, including temperature, salinity, pressure, flow velocity, and flow direction. At the same time, the control system inside the buoy dynamically adjusts the diving speed and depth according to the preset profile observation plan. After reaching the set depth, the buoy will stay for 7 to 10 days to collect the ocean environment data of the depth layer. After completing the preset profile observation task, the buoy will start to float up. During the floating process, the buoy will transmit the collected data to the shore-based data center; After the buoy floats to the sea surface, it enters the floating and waiting state again, waiting to receive the next diving mission instructions.

3. The integrated ocean current monitoring system based on ocean observation buoys according to claim 2 is characterized in that: The self-supporting profile observation buoy is divided into two parts, namely an upper shell (1) and a lower shell (3), the upper shell (1) wraps around the lower shell (3), and the connection between the upper shell (1) and the lower shell (3) is mutually nested and can slide relative to each other, a sealing ring (5) is provided between the upper shell (1) and the lower shell (3), and the upper shell (1) and the lower shell (3) are sealed by the sealing ring (5), a protective sleeve (2) is provided between the upper shell (1) and the lower shell (3), the protective sleeve (2) is made of rubber and is a cylindrical structure, and the two ends of the protective sleeve (2) wrap around the joint between the upper shell (1) and the lower shell (3); An upper shell connecting plate (9) is fixedly connected to the inner edge surface of the upper shell (1), a lower shell connecting plate (6) is fixedly mounted on the inner edge surface of the lower shell (3) near the upper shell connecting plate (9), and a low-power distance measuring device (7) is provided between the upper shell connecting plate (9) and the lower shell connecting plate (6).

4. The integrated ocean current monitoring system based on ocean observation buoys according to claim 3 is characterized in that: A motor (4) is fixedly mounted on a surface of the lower shell connecting plate (6) on one side away from the upper shell connecting plate (9); an output shaft of the motor (4) passes through the lower shell connecting plate (6) and rotates in conjunction with the inner wall of the lower shell connecting plate (6); a screw rod (8) is fixedly connected to the end of the output shaft of the motor (4); an end of the screw rod (8) away from the motor (4) passes through the upper shell connecting plate (9) and is threadedly engaged with a threaded hole on the upper shell connecting plate (9).

5. The integrated ocean current monitoring system based on ocean observation buoys according to claim 4 is characterized in that: In the net buoyancy adjustment module, the adjustment process of the net buoyancy of the buoy is: The net buoyancy adjustment module is activated when the self-sustaining profile observation buoy is activated, and the parameters of the net buoyancy adjustment module are set according to the preset profile observation plan and the seawater pressure variation range, including the target buoyancy value and the pressure threshold; The pressure sensor inside the buoy monitors the changes in seawater pressure in real time. Based on the monitored seawater pressure, the net buoyancy required for the buoy at the current depth is calculated. If the current buoyancy is greater than the required buoyancy, it is necessary to dive; if the current buoyancy is less than the required buoyancy, it is necessary to float up. When it is necessary to dive, the buoy control module controls the motor (4) to rotate forward, and the screw (8) rotates clockwise along with the motor (4), driving the upper shell (1) and the lower shell (3) to move relative to each other, compressing along the cylindrical surface, reducing the volume, increasing the density, and the buoy dives; When it is necessary to float up, the motor (4) rotates in the reverse direction to drive the screw (8) to rotate counterclockwise, so that the upper shell (1) and the lower shell (3) expand along the cylindrical surface, the volume increases, the density decreases, and the buoy floats up; During the diving and surfacing process, the net buoyancy regulation module dynamically adjusts the net buoyancy of the buoy according to the changes in seawater pressure and the preset profile observation plan, so that the buoy can move stably along the preset trajectory.

6. The integrated ocean current monitoring system based on ocean observation buoys according to claim 5 is characterized in that: In the motion state prediction module, the prediction process of the future motion state of the buoy is: Obtain the historical motion status data of the buoy from the shore-based data center, and collect the current buoy motion parameter data in real time through the sensors carried on the buoy, including position, speed, acceleration, and attitude parameters; Perform preprocessing operations such as cleaning, denoising, and normalization on the collected historical data and real-time data, and divide the preprocessed historical data into training sets and test sets; According to the motion characteristics and prediction requirements of the buoy, the buoy state prediction model is trained using the training set data combined with the decision tree model, and the trained model is evaluated using the cross-validation method combined with the test set data; Based on the trained buoy state prediction model, the motion state evaluation index is calculated to predict and analyze the motion trajectory of the buoy; The preprocessed real-time data is input into the trained buoy state prediction model, and the future motion state of the buoy is predicted by combining the rules and patterns in the historical data. The prediction results are output, including the future position, speed, and acceleration parameters.

7. The integrated ocean current monitoring system based on ocean observation buoys according to claim 6 is characterized in that: The calculation expression of the motion state evaluation index is: ； Where M is the motion state evaluation index, V is the current speed of the buoy, is the reference speed of the buoy, and are the maximum and minimum speeds of the buoy, respectively, A is the current acceleration of the buoy, is the reference acceleration of the buoy, is the attitude angle of the buoy, and the value range of M is between 0 and 1.

8. The integrated ocean current monitoring system based on ocean observation buoys according to claim 7 is characterized in that: In the buoy deviation assessment module, the analysis process of the current deviation degree of the buoy is as follows: Receiving the output result from the motion state prediction module, obtaining the predicted motion parameters of the buoy, including the future position, velocity, and acceleration prediction parameters of the buoy, and extracting the motion state evaluation index based on the received prediction result to quantify the motion state characteristics of the buoy; The actual motion parameters of the buoy are collected in real time by the sensors carried on the buoy, the predicted motion parameters of the buoy are compared with the actual motion parameters, the difference between the predicted value and the actual value is calculated, the deviation evaluation coefficient is calculated based on the calculated difference, and the deviation degree between the current motion state of the buoy and the predicted state is analyzed; The current motion state of the buoy is evaluated according to the deviation evaluation coefficient to determine the degree of deviation between the current motion state of the buoy and the expected state.

9. The integrated ocean current monitoring system based on ocean observation buoys according to claim 8 is characterized in that: The calculation expression of the deviation evaluation coefficient is: ； Where D is the deviation assessment coefficient, P is the predicted position parameter of the buoy, is the minimum value of the buoy position, is the reference value of the buoy position, YA is the acceleration prediction parameter of the buoy, is the minimum value of the buoy acceleration, is the reference value of the buoy acceleration, YV is the predicted velocity of the buoy, is the reference value of the buoy speed, and are the maximum and minimum values ​​of the buoy speed respectively, and the value range of D is limited between 0 and 1.

10. The integrated ocean current monitoring system based on ocean observation buoys according to claim 9, characterized in that: In the buoy motion optimization module, the dynamic adjustment process of the buoy motion control parameters is as follows: Obtain the current motion state and deviation evaluation results of the buoy from the buoy deviation evaluation module, and preliminarily determine the control parameters that need to be adjusted based on the evaluation results, including net buoyancy, propulsion force and attitude adjustment; The PID control optimization algorithm is used to adjust the control parameters, and the adjusted control parameters are sent to the actuator of the buoy. The movement state of the buoy is continuously monitored through the sensor carried on the buoy, and feedback data is collected to evaluate the adjustment effect; The monitored motion state of the buoy is compared with the preset target state to evaluate whether the adjusted control parameters have effectively reduced the depth fluctuation. If there is still a deviation between the monitored motion state of the buoy and the preset target state, the optimization loop is entered to further adjust the parameters of the PID controller according to the deviation size and the response of the buoy, and the parameters adjusted each time and the response of the buoy are recorded.

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