Ocean profile rapid observation system and method based on unmanned aerial vehicle airdrop buoy

Abstract

The invention belongs to the technical field of unmanned aerial vehicles, and relates to an ocean profile rapid observation system and method based on an unmanned aerial vehicle airdrop buoy. The system comprises a fuselage assembly, a buoy assembly and a mounting and releasing device, and quick acquisition and transmission of ocean profile temperature and depth data are realized through air-drop of a buoy by an unmanned aerial vehicle. The fuselage assembly carries the buoy assembly and provides a mounting carrier for the mounting and releasing device. The buoy is connected with the fuselage through the connecting rod, and the buoy is released when the connecting rod droops and then dives to a preset depth. The buoy collects water temperature, water depth and other information in the floating process, and data are sent to the receiving device through the wireless communication device. According to the method, the ocean profile information in a certain range can be quickly and efficiently acquired, the technical bottleneck of in-situ data acquisition in the ocean sub-mesoscale process is broken through, and accurate in-situ stereoscopic observation is realized.

Description

Technical Field

[0001] The present invention belongs to the technical field of ocean detection equipment, and focuses on a system capable of rapidly acquiring ocean profiles, namely, a system and method for rapidly measuring ocean profiles based on drone-dropped buoys. Background Art

[0002] Submesoscale ocean processes include submesoscale fronts, vortex filaments, orographic wakes, and coherent submesoscale eddies. These phenomena differ significantly from mesoscale processes and ocean turbulent mixing processes in terms of temporal and spatial scales. Acquiring in situ data on these submesoscale processes is crucial for studying ocean energy cascades, material and energy exchange, and the true structure of ocean circulation.

[0003] The sub-mesoscale process of the ocean presents special time scale and spatial scale characteristics, which brings new challenges to the existing ocean detection equipment technology. Although the remote sensing observation technology represented by satellite altimeter observation and sea surface infrared temperature observation shows good continuity in time scale, its spatial resolution is in the range of tens of kilometers, which is difficult to meet the requirements of fine observation of sub-mesoscale processes. The shipborne fine observation technology represented by shipborne throwable temperature profiler (XBT) and shipborne hanging temperature-salinity-depth meter (CTD) can guarantee its good data quality, but because its spatial scale is between 0.1km and 10km, and shipborne observation has the characteristics of low speed and high cost, these factors jointly limit the application of the observation means in the field of in-situ observation of sub-mesoscale processes. To solve the above problems, the present invention can quickly and accurately obtain ocean profile data in sub-mesoscale processes by airdropping buoys by unmanned aerial vehicles, which solves the shortcomings of the existing technology in real-time in-situ observation of sub-mesoscale processes. Summary of the Invention

[0004] In view of the particularity of the time and spatial scales of ocean sub-mesoscale processes, as well as the significant defects of spatial scale inconsistency between satellite remote sensing observations and ship-borne in-situ observation technologies, the present invention proposes a rapid ocean profile measurement system and method based on drone airdrop.

[0005] The system described in the present invention is composed of a fuselage assembly, a buoy assembly, and a buoy mounting and releasing device. The fuselage assembly includes: a fuselage body, a control device, a positioning device, an energy device A, and a power device. The fuselage adopts the structure of a general four-rotor drone, and an installation position for the buoy mounting and releasing device is added below it, serving as a carrier of the entire system to adapt to airdrop missions. The buoy assembly described in the present invention includes a sealing device, a mounting device, a data storage and control device, an energy device B, a wireless communication device, a sensor device, and a gravity adjustment device. The buoy assembly mounting and releasing device is located below the fuselage assembly, and is composed of a servo, a gear shaft, and a connecting rod, and is used to suspend and release the buoy.

[0006] Furthermore, the fuselage assembly described in the present invention comprises: a fuselage body, a control device, a positioning device, an energy device A, and a power unit. The fuselage assembly utilizes a quadcopter drone structure, weighing 2,355 grams, with a diagonal wheelbase of 650 millimeters and a maximum takeoff weight of 3,600 grams. It can hover for over 20 minutes with a 1-kilogram payload and fly at a speed of 17 meters per second. Energy device A utilizes a high-performance lithium battery to power the control device, positioning device, and power unit; the power unit provides power for the drone's flight; and the control device utilizes a drone flight controller to control the drone's speed, attitude, and position.

[0007] Furthermore, the buoy assembly is used to collect ocean profile water temperature and depth information. It features a compact and lightweight structure and can be mounted on a drone. The buoy assembly includes a sealing device, a mounting device, a data storage and control device, an energy device B, a wireless communication device, a sensor device, and a gravity adjustment device. The sealing device of the buoy assembly comprises a pressure chamber and an O-ring. The pressure chamber is a cylindrical body that can withstand pressure at a certain water depth. The O-ring is used to fill gaps between the pressure chamber and other devices to prevent seawater from entering. The buoy assembly of the present invention has a compact structure, can withstand water pressure, and can quickly transmit ocean profile data via wireless communication equipment. The mounting device of the buoy assembly connects the buoy to the buoy mounting and release device and includes a rubber ring with a circular hole, a metal ring, and a thin rope loop. The rubber ring is attached to the pressure chamber by friction, the metal ring is threaded through the circular hole in the rubber ring, and the thin rope loop is threaded through the metal ring. The data storage and control device, primarily a circuit board, stores water temperature and depth information and controls whether the electromagnetic demagnetization electromagnet is energized. Energy Device B primarily consists of a small, rechargeable, environmentally friendly zinc-ene battery, which powers the other devices. The wireless communication device primarily consists of an antenna, which transmits radio waves and transmits information from the data storage and control device. The sensing device, which includes a pressure sensor and a temperature sensor, collects water depth and temperature information and transmits this information to the data storage and control device. The gravity adjustment device, which includes an electromagnetic degaussing electromagnet and a weight, controls the release of the weight by energizing the electromagnetic degaussing electromagnet, thereby controlling the buoy's gravity.

[0008] Furthermore, the buoy mounting and release device includes a steering gear, a gear shaft, and a connecting rod. The steering gear transmits rotation to the connecting rod via the gear shaft, causing the connecting rod to rotate. Subsequently, the connecting rod rotates from an upward position to a downward position, completing the airdrop of the buoy assembly.

[0009] Based on the above system implementation, the present invention also relates to a method for rapid measurement of ocean profiles based on drone airdrops, which includes: a preparation method before drone airdrops a buoy, a method for drone mounting and airdropping a buoy, and a method for rapid measurement of buoy ocean profiles.

[0010] Furthermore, the preparation method for a drone airdropping a buoy covers two aspects: setting the buoy's intended diving depth and planning the drone's flight path. Regarding the buoy's intended diving depth, the method controls the power state of the electromagnetic demagnetization electromagnet based on the required measurement depth and the water depth information from the sensor device to release the weight and thereby determine the buoy's diving depth. Specifically, when the electromagnetic demagnetization electromagnet is not energized, the weight is attached to the buoy; when the electromagnetic demagnetization electromagnet is energized, the weight is released. Regarding drone flight path planning, the drone's flight path must be rationally planned based on the scope of rapid ocean profile measurements. This planning includes planning the buoy airdrop location and the path between the takeoff point and the buoy airdrop location. Specifically, the airdrop location planning should be set based on the scope of rapid ocean profile measurements to determine the specific location and number of airdropped buoys, thereby achieving standard measurement accuracy and obtaining a reasonable ocean profile temperature. A drone can carry four buoys at a time. Based on this, the path planning between the take-off point and the buoy drop site needs to be based on the location and number of the airdropped buoys. The path of the drone should be planned between each airdrop point and between the airdrop point and the take-off point, so as to achieve multiple and rapid buoy mounting, ultimately improving measurement efficiency.

[0011] Furthermore, the drone-mounted and airdropped buoy method can be further divided into the drone-mounted buoy method and the drone-airdropped buoy method. The drone-mounted buoy method operates by hooking the thin rope loop on the buoy to the connecting rod on the buoy mounting and release device. Before the buoy is released, the connecting rod forms a certain angle with the horizontal plane and maintains an upward position to ensure that the buoy can be mounted on the drone. The drone-airdropped buoy method proceeds as follows: the connecting rod rotates under the action of the servo, and the connecting rod changes from an upward position to a downward position. During this process, the thin rope detaches from the connecting rod due to the weight of the buoy, thus completing the airdrop operation.

[0012] Furthermore, the main steps of the buoy rapid ocean profile measurement method include buoy descent, buoy ascent, and data transmission. The buoy descent step involves the buoy slowly descending under the influence of its own weight, overcoming the buoyancy of the water. During this process, the descent is relatively rapid, allowing the sensor device to preheat or precool, and no data is stored during this stage. The ascent step involves the buoy descending to a specific water depth at which the weight is released. At this point, the buoy's buoyant force exceeds its gravity, and the buoy's descent speed gradually decreases to zero. After reaching the maximum water depth, the buoy begins to ascend. The ascent is relatively slow, during which the sensor device collects water depth and temperature information and stores the data in a data storage and control device. The data transmission step involves the buoy surfacing, where the antenna transmits the water depth and temperature information stored in the data storage and control device to a receiving device located on land, in the air, or on the surface.

[0013] The advantages of the present invention are as follows:

[0014] 1. Buoy Structural Characteristics and Improved Measurement Efficiency: Buoys are simple, compact, and lightweight. A drone can carry four buoys at a time, enabling rapid measurements of ocean profiles at various locations, significantly improving measurement efficiency.

[0015] 2. Gravity-adjustable buoys and flexible measurement: The buoy's gravity-adjusting mechanism allows it to adjust its own weight in the water, allowing it to autonomously descend and ascend, with the depth of its descent freely adjustable. This feature simplifies manual control and increases measurement flexibility.

[0016] 3. Multi-buoy data collection and ocean profile measurement are more effective: Multiple buoys can collect water depth and temperature information simultaneously, thereby enabling rapid measurement of the ocean profile of the entire target area, thereby obtaining a three-dimensional temperature and depth change curve of the water body, and enhancing the continuity and three-dimensionality of rapid ocean profile measurement.

[0017] 4. Higher information transmission and collection efficiency: Water temperature and depth information can be quickly and accurately transmitted to the receiving device through wireless communication devices, which effectively improves the efficiency of information collection.

[0018] 5. Drone flight path planning improves efficiency: Drone flight path planning can provide drones with reasonable buoy airdrop locations and flight paths, thereby improving the efficiency of rapid ocean profile detection and expanding the scope of detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1-1 It is a structural schematic diagram of the UAV mounting buoy of the present invention.

[0020] Figure 1-2 It is a schematic structural diagram of the internal device of the UAV of the present invention.

[0021] Figure 2-1 Schematic diagram of the buoy structure of the present invention.

[0022] Figure 2-2 It is a schematic diagram of the cross section of the buoy II of the present invention.

[0023] Figure 3 It is a structural schematic diagram of the buoy mounting and releasing device of the present invention.

[0024] Figure 4 It is a schematic diagram of the UAV airdrop buoy of the present invention.

[0025] Figure 5 It is a schematic diagram of the rapid measurement and collection of ocean surface by the buoy diving and rising in the present invention.

[0026] In the figure: 1- fuselage, 2- control device, 3- positioning device, 4- energy device A, 5- power device A, 6- power device B, 7- power device C, 8- power device D, 9- pressure chamber, 10- O-ring, 11- data storage and control device, 12- energy device B, 13- wireless communication device, 14- sensing device, 15- electromagnetic demagnetization electromagnet, 16- weight, 17- mounting device, 18- servo, 19- gear shaft, 20- connecting rod. DETAILED DESCRIPTION

[0027] The objects and advantages of the present invention are further described below with reference to the accompanying drawings and specific embodiments. It should be noted that a person skilled in the art may make a number of modifications and improvements without departing from the scope of the present invention. These modifications and improvements are all within the scope of protection of the present invention. In describing the present invention, it is important to note that terms such as "upper," "lower," "front," "back," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer" refer to positions or locations. These terms are based on the positions or locations shown in the accompanying drawings. These terms are used solely to facilitate the description of the present invention and simplify the explanation. They are not intended to indicate or imply that a device or component must be in a specific orientation or be constructed or operated in a specific manner. Therefore, these terms should not be construed as limiting the present invention.

[0028] In addition, the drawings only schematically show parts related to the present invention and do not represent the actual structure of the product.

[0029] The present invention provides a rapid ocean profile measurement system and method based on drone airdrop, which is characterized by a fuselage component, a buoy component, and a buoy mounting and releasing component.

[0030] like Figure 1-1and Figure 1-2 As shown, the fuselage assembly of the present invention is divided into a middle part and arms. The structure of the middle part of the fuselage 1 can be divided into three layers: upper, middle and lower. The control device 2 is located in the upper layer of the middle carrier plate of the fuselage, the positioning device 3 is located in the upper layer of the middle carrier plate of the fuselage, and the energy device A4 is located in the middle layer of the middle carrier plate of the fuselage. The four buoy mounting and release assemblies are located in the lower layer of the middle structure of the fuselage and are distributed at the edge of the lower structure. The fuselage 1 has four arms, and the power unit A5, power unit B6, power unit C7, and power unit D8 are respectively located at the ends of the arms and fixed to the ends of the arms by fasteners. The servo 18 of the fuselage 1 is connected to the connecting rod 20 through the gear shaft 19, and the mounting device 17 mounts the buoy assembly on the connecting rod 20 of the four buoy mounting and release assemblies.

[0031] like Figure 2-1 and Figure 2-2 As shown, the buoy assembly of the invention includes a pressure chamber 9, an O-ring 10, a data storage and control device 11, an energy device B12, a wireless communication device 13, a sensor device 14, an electromagnetic degaussing electromagnet 15, a weight 16, and a mounting device 17. In the buoy assembly, the pressure chamber 9 protects the buoy's internal electronic equipment; the O-ring 10 seals the buoy assembly; the data storage and control device 11 records and manages data; the energy device B12 uses a rechargeable zinc-ene environmentally friendly battery to provide power to the buoy assembly; the wireless communication device 13 enables data transmission with external devices; the sensor device 14 collects environmental data; the electromagnetic degaussing electromagnet 15 controls the release of the weight; the weight 16, released by the electromagnet, adjusts buoyancy and controls the buoy's diving depth; and the mounting device 17 secures the buoy to a drone.

[0032] like Figure 3 As shown, the buoy mounting and release assembly of the present invention includes a servo 18, a gear shaft 19, and a connecting rod 20. The system and method for rapid ocean profile measurement based on drone airdrop provided by the present invention enable autonomous drone airdrop of buoys. The servo 18 in the buoy mounting and release assembly rotates the connecting rod 20 via the gear shaft 19, causing the connecting rod 20 to shift from an upward position to a downward position. The buoy assembly then releases by its own gravity, releasing it from the connecting rod 20.

[0033] The present invention provides a system and method for rapid ocean profile measurement based on drone airdrop, capable of autonomously descending, ascending, collecting data, storing data, and transmitting data. After being airdropped into the target waters, the buoy assembly rapidly descends, relying on its own gravity to overcome buoyancy. During this phase, the data storage and control device 11 does not record data, but the sensor device 14 can be pre-cooled or pre-heated to adapt to the environment. When the buoy assembly descends to a predetermined depth, the electromagnetic demagnetization electromagnet 15 releases the weight 16. The buoyancy acting on the buoy assembly becomes greater than its gravity, reducing its speed to zero and reaching its maximum water depth. The buoy assembly then begins to ascend, relying on its buoyancy to overcome gravity. During the ascent, the sensor device 14 transmits the collected water depth and temperature information to the data storage and control device 11. When the buoy assembly rises to the surface, the wireless communication device 13 transmits the information stored in the data storage and control device 11 to a receiving device.

[0034] The above describes specific embodiments of the present invention. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art may make various modifications or variations within the scope of the claims, which do not affect the essence of the present invention. Unless there is a conflict, the embodiments of this application and the features in the embodiments may be combined with each other in any manner.

Claims

1. A rapid ocean profile observation system based on drone airdrop, characterized in that: The system consists of a fuselage assembly, a buoy assembly, and a buoy mounting and releasing device; the fuselage assembly adopts a standard quad-rotor drone structure, and an installation position for the buoy mounting and releasing device is added below it to adapt to airdrop missions; The system includes the following components: a fuselage, a control device, a positioning device, an energy device A, and a power device; the buoy component includes a sealing device, a mounting device, a data storage and control device, an energy device B, a wireless communication device, a sensor device, and a gravity adjustment device; the buoy mounting and releasing device is located below the fuselage component and is used to suspend and release the buoy, and the components include a servo, a gear shaft, and a connecting rod.

2. The ocean profile rapid observation system based on drone airdrop according to claim 1 is characterized in that: The fuselage of the fuselage assembly adopts a quad-rotor UAV structure, weighs 2355 grams, has a diagonal wheelbase of 650 mm, and a maximum take-off weight of 3600 grams. It can hover for more than 20 minutes under a load of 1 kg and fly at a speed of 17 meters per second; the power unit of the fuselage assembly includes a flight controller and power system of a standard quad-rotor UAV, and the energy device A is used to supply power to the control device, the positioning device and the power device; the power device is used to provide power for the UAV flight; the control device adopts a UAV flight controller to control the speed, attitude and position of the UAV.

3. The ocean profile rapid observation system based on drone airdrop according to claim 1 is characterized in that: The buoy is used to collect temperature and depth information of the ocean profile. It has a compact structure and light weight and can be mounted by a drone. The sealing device includes a pressure chamber and an O-ring. The pressure chamber is a cylindrical cabin that can withstand the pressure of a certain water depth. The O-ring is used to fill the gap when the pressure chamber is connected to other devices to prevent seawater from pouring in. The mounting device includes a rubber ring with a round hole, a metal ring and a thin rope loop. The rubber ring relies on its own friction to cover the pressure chamber, the metal ring is inserted into the round hole of the rubber ring, and the thin rope loop is inserted into the metal ring. The mounting device is used to connect the buoy and the buoy mounting and release The data storage and control device includes a circuit board for storing water temperature and water depth information and controlling whether to supply power to the electromagnetic degaussing electromagnet; the energy device includes a small battery for powering other devices; the wireless communication device is used to transmit radio waves to transmit information in the data storage and control device; the sensing device includes a pressure and temperature sensor for collecting water depth and water temperature information and transmitting it to the data storage and control device; the gravity adjustment device includes an electromagnetic degaussing electromagnet and a weight, and the release of the weight is controlled by whether the electromagnetic degaussing electromagnet is energized, thereby controlling the gravity of the buoy.

4. The ocean profile rapid observation system based on drone airdrop according to claim 1 is characterized in that: The buoy mounting and releasing device includes a steering gear, a gear shaft and a connecting rod; the steering gear transmits the rotation to the connecting rod through the gear shaft to realize the rotation of the connecting rod; the connecting rod changes from an upward posture to a downward posture to complete the airdrop of the buoy assembly.

5. The ocean profile rapid observation system based on drone airdrop as described in any one of claims 1, 2, 3, and 4, characterized in that: Based on the above system, a method for rapid observation of ocean profiles by drone airdrops is implemented, and the observation method includes: a preparation method before drone airdrops a buoy, a method for drone mounting and dropping a buoy, and a method for rapid observation of buoy ocean profiles.

6. The method for rapid observation of ocean profiles by drone airdrop according to claim 5, characterized in that: The preparation method for the drone to airdrop a buoy includes setting a predetermined diving depth of the buoy and planning a flight path of the drone; the predetermined diving depth of the buoy is set by energizing the electromagnetic demagnetization electromagnet at a suitable water depth to release the buoy according to the observation depth requirement and the water depth information of the sensor device, thereby controlling the diving depth of the buoy; the flight path planning of the drone is to reasonably plan the flight path of the drone according to the range of rapid ocean profile observation required, including buoy airdrop site planning, and path planning between the take-off point and the buoy airdrop site; the airdrop site planning needs to be set according to the range of rapid ocean profile observation, and the location and number of airdrop buoys need to be determined, so as to achieve reasonable observation accuracy and obtain reasonable ocean profile temperature; The drone can carry four buoys at a time. The path planning between the take-off point and the buoy airdrop site needs to be planned according to the location and number of the airdrop buoys. The path of the drone between each airdrop point and between the airdrop point and the take-off point should be planned, so as to achieve multiple and rapid mounting of buoys and improve observation efficiency.

7. The method for rapid ocean profile observation by drone airdrop according to claim 5, characterized in that: The method for mounting and dropping a buoy by a drone includes a method for mounting a buoy by a drone and a method for dropping a buoy by a drone; the method for dropping a buoy by a drone is that when the servo drives the connecting rod to rotate, the connecting rod changes from an upward posture to a downward posture, and the thin rope is separated from the connecting rod under the action of the gravity of the buoy, thereby completing the airdrop.

8. The method for rapid observation of ocean profiles by drone airdrop according to claim 5, characterized in that: The method for rapid observation of the buoy ocean profile includes a process of buoy diving, buoy floating, and data transmission. Under the action of its own gravity, the buoy slowly sinks. When the buoy floats up, the buoy dives to the water depth for releasing the weight. The weight is released, and the buoyant force on the buoy is greater than the gravity. The buoy diving speed slowly decreases to zero. After reaching the maximum water depth, the buoy starts to float up. The speed of the buoy floating up is relatively slow. At this time, the sensor device collects water depth information and water temperature information, and stores them in the data storage and control device. When the buoy floats to the surface of the water during data transmission, the antenna transmits the water depth information and water temperature information stored in the data storage and control device to the receiving device on the land, in the air or on the water surface.

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