Array buoy and method for wave directional spectrum data collection

Abstract

The present invention belongs to the technical field of buoy structure, and discloses an array buoy and method for wave directional spectrum data collection. The buoy body includes lugs installed on different directions of the outer shell; the lugs are connected to the swing arm through a rotating joint; a sub-buoy is installed at the outer end of the swing arm; a carbon-based flexible sensor is installed inside the rotating joint; a plurality of wires are arranged inside the flat slot to connect the carbon-based flexible sensor with the main control system installed in the buoy body; a sub-control system is installed in the sub-buoy, and the sub-control system exchanges data with the main control system through communication signals. The array buoy of the present invention is simple to deploy, and the cost is greatly reduced compared with the traditional buoy array for obtaining wave spectrum data. The sub-buoy and the main buoy of the array buoy can be easily integrated into one system, so as to achieve better consistency.

Description

Technical Field

[0001] The present invention belongs to the technical field of buoy structures, and in particular relates to an array buoy and a method for collecting wave directional spectrum data. Background Art

[0002] The wave directional spectrum is an important concept in physical oceanography. It describes the distribution of wave energy in different directions. It is very important for understanding the generation, development and propagation mechanisms of waves. It can help researchers predict wave behavior and has important application value in the fields of marine energy development and offshore structure design. Traditional methods of obtaining wave directional spectra include buoys and satellite remote sensing. However, the accuracy and resolution of satellite remote sensing methods are low. The traditional buoy method requires additional structures to connect multiple independent buoys into an array. However, this method has poor consistency and high cost, and the deployment process is also relatively complicated. Summary of the invention

[0003] In order to overcome the problems existing in the related art, the disclosed embodiment of the present invention provides an array buoy and method for wave directional spectrum data collection, and specifically relates to an eight-directional circular array buoy structure.

[0004] The technical solution is as follows: an array buoy for wave directional spectrum data collection is provided with a buoy body, the buoy body is provided with a plurality of lugs installed at different directions of the outer shell, the lugs are connected to the swing arm through a rotating joint, and a sub-buoy is installed at the outer end of the swing arm;

[0005] The middle of the rotating joint is a hollow structure, and a carbon-based flexible sensor is installed in the hollow structure; one end of the carbon-based flexible sensor is connected to the end surface of the swing arm by a clamping device, and the other end of the carbon-based flexible sensor is fixed to the lug slot;

[0006] The lug has a flat slot inside, which passes through the end of the lug to the inside of the buoy body; multiple wires arranged inside the flat slot connect the carbon-based flexible sensor with the main control system installed in the buoy body; a sub-control system is installed in the sub-buoy, and the sub-control system transmits data with the main control system through wireless communication.

[0007] Furthermore, the upper end of the buoy body is open, a transparent glass cover is provided on the upper end of the buoy body, and the sub-buoy is a colander-type container.

[0008] Further, the main control system includes: a controller, a satellite communication module, a power module, a first timer, a second timer, a third timer, a main wave sensor, and a Bluetooth communication module;

[0009] The satellite communication module adopts the Beidou L-band short message communication terminal for data communication with the shore base station; the power module adopts a large-capacity lithium battery with a power distribution system. The first timer, the second timer, and the third timer are all external crystal oscillators for obtaining time. The first timer is used to control the time interval of the main program and the data sending time interval of the satellite communication module. The second timer is used to control the sleep and wake-up time of the peripheral module. The third timer is used to control the synchronization of information reception and transmission between the main control system and the sub-control system. The main wave sensor moves with the buoy body to obtain the effective wave height, average wave period and wave direction of the array center point represented by the buoy body.

[0010] Further, the sub-control system includes: a control unit, a Bluetooth communication module, a power module, a fourth timer, a fifth timer, and a sub-wave sensor;

[0011] A micro control unit MCU is installed in the control unit, which is used to send control signals to sensors and peripheral modules, receive data, process data, save data, send data, energy management, GPS positioning, and task scheduling; the power module uses a lithium battery with a power distribution system, and the fourth timer and the fifth timer are both external crystal oscillators for obtaining time. Among them, the fourth timer is used to control the time interval of the subroutine, and the fifth timer is used to control the sleep and wake-up time of the peripheral module. The sub-wave sensor moves with the sub-buoy to obtain the effective wave height, average wave period and wave direction of the array center point represented by the sub-buoy; the Bluetooth communication module uses the zigbee protocol as a router and terminal device.

[0012] Furthermore, the carbon-based flexible sensor is divided into an upper and lower double-layer structure, and each layer of the structure is composed of a carbon nanotube material layer and a polydimethylsiloxane layer from top to bottom; the outer part of the upper and lower double-layer structure is coated with a thermoplastic polyurethane layer, and the leads on the carbon nanotube material layer are led out to coat the thermoplastic polyurethane layer.

[0013] Furthermore, the carbon-based flexible sensor is connected to the AISC peripheral module, which is integrated on the main control system PCB board and connected to the controller to realize data exchange; the carbon-based flexible sensor obtains the electrical signal conversion of the upper and lower double-layer structures, and then performs differential operation, analyzes the functional relationship between the differential result and the angle, and calculates the corresponding swing angle accordingly.

[0014] Another object of the present invention is to provide a method for collecting wave directional spectrum data, which is applied to the array buoy for collecting wave directional spectrum data, and the method comprises:

[0015] S1, using multiple sub-wave sensors of multiple sub-control systems to collect the effective wave height and average wave period of multiple sub-buoys floating up and down with the waves, and using the main wave sensor of the main control system to collect the effective wave height and average wave period of the buoy body floating up and down with the waves; using each carbon-based flexible sensor to collect the swing angle of the rotating joint floating up and down with the waves; obtaining the wave period information and wave direction information through the collection and analysis of the swing angle data, the sub-wave sensor and the main wave sensor realize the wave period observation through the collection of the swing angle, and correct the accuracy;

[0016] S2, the controller MCU of the main control system uses code division multiple access technology to encode the collected information for distinction, and uses the main control selection technology to send a control signal through the main control system to select the auxiliary machine for data reception. After each auxiliary machine completes the data transmission and reception, it switches to the next auxiliary machine and receives a batch of data collected by each node in order;

[0017] S3, after the acquired information is integrated, it is stored by time, and finally the data structure is obtained as data of two dimensions (T, C), where T is the total number of time and C is the number of data at each time, which is sent to the shore through communication signals.

[0018] In step S1, each carbon-based flexible sensor is used to collect the swing angle of the rotating joint as it floats up and down with the waves, including: the carbon-based flexible sensor provided at the rotating joint changes its resistance after bending and deformation, and converts the strain information into an electrical signal, which is analyzed by the onboard AISC peripheral module to obtain the rotation angle information of the swing arm and cache it.

[0019] Further, the AISC peripheral module parses and obtains the rotation angle information of the swing arm, including:

[0020] Method 1: Connect the carbon-based flexible sensor and the swing arm to the display device, determine the angle range, rotate the swing arm to the specified angle, record the corresponding electrical signal data, obtain <sensor electrical signal, angle>, use a quadratic or cubic polynomial function to fit these data, and compile the polynomial into the ASIC processing code. The AISC peripheral module converts the carbon-based flexible sensor electrical signal into an angle through the polynomial;

[0021] Method 2: Use a two-layer neural network to train the <sensor electrical signal, angle> data, use linear interpolation between discrete experimental data to obtain a large amount of intermediate data to enhance the training data, perform multiple rounds of training to prevent overfitting, and then deploy the two-layer neural network to the ASIC peripheral module for conversion between the electrical signal and angle value of the carbon-based flexible sensor.

[0022] Further, in step S3, the size of C is:

[0023] ;

[0024] In the formula, is the number of main wave sensors, is the number of sub-wave sensors, is the number of carbon-based flexible sensors;

[0025] These 26 data are arranged in sequence, the order cannot be exchanged, and are stored in the storage unit of the main control system according to the vector.

[0026] In combination with all the above-mentioned technical solutions, the beneficial effects of the present invention are as follows: the buoy of the present invention can be used to collect wave data in various directions of a local area for drawing a wave direction spectrum, and has a compact structure, is easy to deploy, and has a low cost. The array-type drifting buoy adopts an eight-directional sub-buoy system, which can specifically collect wave data for drawing a wave direction spectrum; specifically, the array-type buoy has a central point and eight sub-points, a total of nine points for collecting wave data, and each point is used by a wave sensor to collect wave data. In addition, while collecting the wave data at each point, the rotation angle data of the eight swing arms will also be collected. Since the main controller sends the collection instructions uniformly, the interrupt handler of each sub-controller obtains the wave data through the wave sensor after receiving the collection instructions, and the main controller will also obtain the rotation angle data of the eight swing arms at the same time. When the main controller sends instructions, the main control unit can send them simultaneously through multiple pins; when the main controller receives data from multiple sensors, it uses code division multiple access technology to use different codes to mark each sub-control system and the ASIC chip of the carbon-based flexible sensor, and then uses the main control selection technology to send a control signal through the main control system to select a specific auxiliary machine for data reception, which can effectively avoid data conflicts and effectively manage the communication between the main control system and multiple auxiliary machines. Based on this control method, wave data at nine points and angle data of eight swing arms can be obtained at the same time at each moment, and these data have good consistency in time, and the extremely slight time difference between the data caused by the signal transmission path can be ignored.

[0027] The advantages of using Zigbee technology for communication: no more wiring connection is required between the sub-buoy and the buoy body, which greatly simplifies the structural design and alleviates the waterproofing problem; at the same time, each sub-control system can be used as a router, so there are multiple routing paths for signal transmission to choose from, thereby ensuring that control instructions and data transmission can be quickly delivered, and the buoy can communicate normally even in a complex wave environment. This array buoy is easy to deploy and its cost is significantly lower than that of traditional buoy arrays used to obtain wave spectrum data. The sub-buoys and main buoys of this array buoy can be easily integrated into one system to achieve better consistency.

[0028] The present invention provides a wave directional spectrum data acquisition solution with high cost-effectiveness, simple deployment and good data consistency through innovative structural design and data acquisition technology. Expected benefits include reducing the cost of ocean data acquisition and improving the accuracy and reliability of wave data, thereby bringing significant economic value to the fields of marine energy development, offshore structure design, marine scientific research, etc. The present invention reduces the high deployment and maintenance costs of traditional buoy arrays, and opens up new market opportunities by providing high-quality wave data services.

[0029] The present invention realizes high-precision data collection of wave directional spectrum by integrating carbon-based flexible sensors and array buoy design, which is a technological breakthrough in the field of marine science and technology at home and abroad. It fills the gap of traditional buoy array in collecting array wave data under the condition of relative spatial consistency, and creates a new way to collect wave spectrum data.

[0030] The present invention achieves accurate measurement of the wave directional spectrum through the combination of array buoys and carbon-based flexible sensors, which is difficult to achieve with previous technologies. In addition, it also solves the problems of complex and high cost of traditional buoy array deployment, as well as the limitations of satellite remote sensing technology in ocean data collection. Moreover, traditional wave spectra are difficult to produce due to lack of data, or complex processing such as reanalysis of the data is required to generate wave spectra. However, this invention provides a solution from the data collection stage to more directly solve the problem of wave spectrum data collection. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] 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;

[0032] Figure 1 Schematic diagram of an array buoy for collecting wave directional spectrum data provided by an embodiment of the present invention;

[0033] Figure 2 is a schematic diagram of a sub-buoy and a rotating mechanism provided by an embodiment of the present invention;

[0034] Figure 3 It is a single side view of an array buoy provided by an embodiment of the present invention;

[0035] Figure 4 is a schematic diagram of a rotary joint provided by an embodiment of the present invention;

[0036] Figure 5 is a schematic diagram of the arrangement of a carbon-based flexible sensor provided by an embodiment of the present invention;

[0037] Figure 6 is a side view of a carbon-based flexible sensor structure provided by an embodiment of the present invention;

[0038] Figure 7 is a flow chart of a method for collecting wave directional spectrum data provided by an embodiment of the present invention;

[0039] Figure 8 The experimental effective wave height data of each array point of the experimental pool array buoy provided by the embodiment of the present invention;

[0040] Fig. 9 is an angle array point distribution diagram provided by an embodiment of the present invention;

[0041] Fig.10 is a buoy angle-time variation diagram provided by an embodiment of the present invention;

[0042] In the figure: 1. buoy body; 2. transparent glass cover; 3. lug; 4. swing arm; 5. sub-buoy; 6. lug slot; 7. wire; 8. carbon-based flexible sensor; 9. rotating joint; 10. clamping device; 11. flat slot; 12. carbon nanotube material layer; 13. thermoplastic polyurethane layer; 14. lead; 15. polydimethylsiloxane layer. DETAILED DESCRIPTION

[0043] 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.

[0044] The innovation of the present invention lies in that the array buoy structure design of the present invention innovatively proposes an eight-way circular array buoy structure, which enables the buoy to collect wave data from multiple directions at the same time, thereby significantly improving the comprehensiveness and accuracy of the wave directional spectrum data. In this structure, the carbon-based flexible sensor 8 is applied to the swing arm 4 as a core component, which can sense the swing angle of the swing arm 4 with the waves, and capture the dynamic changes of the waves through the changes in electrical signals, greatly improving the collection accuracy of the wave period and direction data. In addition, the present invention also realizes a low-cost and high-efficiency deployment method, which makes the array buoy deployment simple, and the cost is greatly reduced compared with the traditional method, while maintaining good consistency, which has important economic significance for the large-scale deployment of wave monitoring equipment.

[0045] Embodiment 1, as Figure 1-Figure 5As shown, the array buoy for wave direction spectrum data collection provided by the embodiment of the present invention includes a buoy body 1, the upper end of which is open; a transparent glass cover 2 (PMMA, polymethyl methacrylate) is provided on it; the buoy body 1 has lugs 3 in 8 directions of the outer shell; the lugs 3 are connected to the swing arm 4 through a rotating joint 9; the outer end of the swing arm 4 is a sub-buoy 5, and the sub-buoy 5 is a colander-type container.

[0046] A main control system is installed in the buoy body 1; the main control system includes a controller, a satellite communication module, a power module, a first timer, a second timer, a third timer, a main wave sensor, and a Bluetooth communication module.

[0047] A sub-control system is installed in the sub-buoy 5 at the outer end of the swing arm 4; the sub-control system includes a control unit, a Bluetooth communication module, a power module, a fourth timer, a fifth timer, and a sub-wave sensor.

[0048] The connection between the lug 3 and the swing arm 4 is a rotating joint 9; the middle of the rotating joint 9 is a hollow structure, and a carbon-based flexible sensor 8 is installed inside; one end of the carbon-based flexible sensor 8 is connected to the end face of the swing arm 4 by a clamping device 10; the other end of the carbon-based flexible sensor 8 is fixed to the lug slot 6.

[0049] A flat slot 11 is provided inside the lug 3 , which passes through the end of the lug 3 to the inside of the buoy body 1 ; a plurality of wires 7 are arranged inside the flat slot 11 to connect the carbon-based flexible sensor 8 with the main control system.

[0050] Exemplarily, the main control system is a PCB board integrated with a single-chip microcomputer; the satellite communication module adopts the "Beidou" L-band short message communication terminal, which can realize the data communication task of 77 bytes per minute between the buoy and the shore base station; the power module adopts a large-capacity lithium battery with a power distribution system, and prolongs the battery life through a local sleep mode; the three timers are all peripheral crystal oscillators, which can obtain higher time accuracy, among which the first timer is used to control the time interval of the main program and the data sending time interval of the satellite communication module, the second timer is used to control the sleep and wake-up time of the peripheral module, and the third timer is used to control the synchronization of information reception and transmission between the main control system and the sub-control system. Setting different timers for each type of task can avoid time interference; the main wave sensor in the buoy body 1 moves with the buoy body 1, so as to obtain the effective wave height, average wave period and wave direction of the array center point represented by the buoy body 1; the Bluetooth communication module adopts the zigbee protocol, the zigbee module in the buoy body 1 is a coordinator, and the zigbee communication module in the corresponding sub-module acts as a router and a terminal device at the same time.

[0051] For example, Figure 6As shown, the carbon-based flexible sensor 8 is divided into an upper and lower double-layer structure, each layer of the structure

[0052] From top to bottom, it is composed of a carbon nanotube material layer 12 and a polydimethylsiloxane layer 15; the upper and lower double-layer structure is coated with a thermoplastic polyurethane layer 13, and the coated thermoplastic polyurethane layer 13 is led out from the lead 14 on the carbon nanotube material layer 12 and connected to the AISC peripheral module. The AISC chip is also integrated on the main control system PCB board and connected to the controller chip to realize data exchange. A single carbon-based flexible sensor 8 is led out by four leads 14 in total. In fact, what is obtained is the electrical signal conversion of the upper and lower sensors, and then the differential operation is performed to analyze the functional relationship between the differential result and the angle, and the corresponding swing angle can be calculated based on this;

[0053] Another exemplary example is Figure 6 As shown, the carbon-based flexible sensor 8 uses carbon nanotubes as sensitive materials and adopts an upper and lower symmetrical structure to facilitate the upper and lower differential acquisition of electrical signals to improve accuracy; each carbon-based flexible sensor 8 is individually equipped with an AISC chip, so as to avoid conflicts in data from multiple sensors at the same time; the carbon-based flexible sensor 8 is divided into two upper and lower pieces. It should be noted that the middle surface of the carbon-based flexible sensor 8 passes through the middle axis of the rotating joint 9. Each single-chip sensor is led out by two wires, a total of four leads 14, which are connected to an AISC chip together. The data between the sensor electrical signal and the angle is processed by the program in the AISC chip, and finally the angle data is input into the controller MCU of the main control system.

[0054] The base layer of the carbon-based flexible sensor 8 uses PDMS (polydimethylsiloxane); a double-layer carbon nanotube material layer 12 is laid on the base layer, the two ends are connected, and a lead 14 is led out at the same time; a PDMS (polydimethylsiloxane layer 15) is used between the double-layer carbon nanotube material layers 12 for insulation; and a TPU (thermoplastic polyurethane layer 13) is used for packaging on the outside.

[0055] Embodiment 2, as Figure 7 As shown, as another embodiment of the present invention, the method for collecting wave directional spectrum data provided by the embodiment of the present invention includes:

[0056] S1, using multiple sub-wave sensors of multiple sub-control systems to collect the effective wave height and average wave period of multiple sub-buoys 5 floating up and down with waves, using the main wave sensor of the main control system to collect the effective wave height and average wave period of the buoy body 1 floating up and down with waves; using each carbon-based flexible sensor 8 to collect the swing angle of the rotating joint 9 floating up and down with waves; obtaining wave period information and wave direction information through the collection and analysis of the swing angle data, the sub-wave sensor and the main wave sensor realize wave period observation through the collection of the swing angle, and correct the accuracy;

[0057] S2, the controller MCU of the main control system uses code division multiple access technology to encode the collected information for distinction, and uses the main control selection technology to send a control signal through the main control system to select the auxiliary machine for data reception. After each auxiliary machine completes the data transmission and reception, it switches to the next auxiliary machine and receives a batch of data collected by each node in order;

[0058] S3, after the acquired information is integrated, it is stored by time, and finally the data structure is obtained as data of two dimensions (T, C), where T is the total number of time and C is the number of data at each time, which is sent to the shore through communication signals.

[0059] Exemplarily, in step S1, the buoy body 1 is the main control system, and the sub-buoy 5 is the sub-control system, and the main control system and the sub-control system exchange data through the Bluetooth communication module; when collecting information, the main control system sends a collection instruction to each sub-control system, and the sub-control system sends the collected information to the main control system; the main control system also controls the collection of electrical signals of the carbon-based flexible sensors 8 at each rotating joint 9, and calculates the angle of each carbon-based flexible sensor 8; the main control system is responsible for integrating the data of each sub-control system and the data of the carbon-based flexible sensor 8, which are uniformly sent and received by the satellite communication module in the buoy body 1.

[0060] Exemplarily, in step S1, an array of drifting buoys is deployed in a designated sea area;

[0061] The buoy body 1 swings up and down with the waves; the sub-buoy 5 also floats up and down with the waves; the swing arm 4 and the lug 3 are hinged and can rotate relative to each other, but the rotation range is limited. The end of the lug 3 has a limiting structure, and the swing arm 4 will be restricted when it rotates to a certain range.

[0062] A carbon-based flexible sensor 8 is provided at the rotating joint 9. The resistance of the carbon-based flexible sensor 8 changes after bending and deformation, thereby converting the strain information into an electrical signal, which is analyzed by the AISC chip to obtain the rotation angle information of the swing arm 4. The AISC chip should first be designed to have a certain cache capacity, because the edge device MCU can generally only process data input from a single interface at the same time, so the AISC should have a certain period of data storage capacity before outputting the angle information to the controller MCU of the main control system. There are two ways to analyze the angle from the electrical signal input of the carbon-based flexible sensor 8: both of them are based on the premise of obtaining a large number of <sensor electrical signal, angle> data pairs. In order to obtain the data, the AISC program can be used to directly output the electrical signal data, connect the experimental carbon-based flexible sensor 8 and the swing arm 4 to the display device (computer), and then determine the angle range. Rotate the swing arm 4 to the specified angle, record the corresponding electrical signal data, and you can get <sensor electrical signal, angle>. It is difficult for general sensors to obtain very perfect linearity, so a quadratic or cubic polynomial function can be used to fit these data, and then the polynomial can be compiled into the ASIC processing code; Improvement method: Use multiple quadratic polynomials for fitting, for example: the angle range is (-60~60°), and analysis shows that a polynomial can be used in the range of -60~-20°. For fitting, a quadratic polynomial can be used between -20° and 20° For fitting, it can be used in the range of 20°~60° For fitting, three segments of polynomials are used for fitting in the entire interval instead of a single polynomial, which can effectively further increase the fitting accuracy.

[0063] The AISC chip can convert the electrical signal of the carbon-based flexible sensor 8 into an angle through a polynomial; another way is to use a two-layer neural network, because each layer in the neural network has an activation function to increase the nonlinearity of the entire neural network, so the neural network model is used for fitting. The effect will be better, but the calculation speed will be slightly slower than the numerical method, but the two-layer neural network structure is relatively simple, so the reasoning speed is also relatively fast. The model training still uses <sensor electrical signal, angle> data, and a large amount of intermediate data can be obtained through linear interpolation; the experimental data obtained is the angle value list AngleList and the corresponding electrical signal data list SignalList. According to this data, fitting is first performed to obtain the following linear equation:

[0064] ;

[0065] In the formula, Represents a linear relationship, bringing in SignalList, that is , which represents a list (sequence) of angles, can calculate the corresponding angle values, that is, At this time, find the root mean square error RMSE between the calculated angle and the actual angle:

[0066] ;

[0067] In the formula, represents the angle calculated from the linear equation, represents the angle value actually measured in the physical experiment, and Indicates the angle number in the angle list, which is the abbreviation of index.

[0068] Then select a value So as to calculate the interpolation angle, here It represents the electrical signal that is not actually measured in the physical experiment, and the interpolated angle is calculated. for:

[0069] ;

[0070] In the formula, It indicates the angle after checking. is a certain electrical signal value, It means to take random numbers according to normal distribution, and the normal distribution is subject to the mean of 0 and the standard deviation of The data obtained in this way are It can be used as new data to supplement the training data for training neural networks.

[0071] Multiple rounds of training are then performed to prevent overfitting, and the neural network is then deployed into an ASIC chip for conversion between the electrical signal and angle value of the carbon-based flexible sensor 8 .

[0072] For example, in step S2, the main control system integrates the data of each sub-control system and the data of the carbon-based flexible sensor 8. The biggest problem is that if each node collects data and sends it to the controller MCU of the main control system at the same time, the data will be lost if the MCU cannot receive it in time. Therefore, each carbon-based flexible sensor 8 is equipped with an AISC chip. The AISC chip and the sub-control system have a cache mechanism to store the data obtained by various sensors. The MCU will use code division multiple access technology to encode each carbon-based flexible sensor 8 and sub-control system to distinguish them. Encoding is to distinguish them by encoding. For example, there are 8 sub-control systems, which are encoded using 3-bit binary, respectively 000, 001, 010, 011, 100, 101, 110, 111 represent 8 sub-control systems respectively. In the MCU, encoding can be realized by software programming. Create a unique identifier (ID) for each subsystem and use this ID when sending and receiving data. ), and then through the main control selection technology (after each sub-control system has been encoded, the MCU control program can identify the current ID in the loop program to determine the signal's transceiver port, which is connected to the sub-control system of the corresponding ID, and the control command signal is only transmitted from the transceiver port, thereby realizing selective command data exchange) the main control system sends a control signal to select a specific auxiliary machine for data reception. After each auxiliary machine completes the data transmission and reception, it quickly switches to the next auxiliary machine, thereby orderly receiving a batch of data collected by each node. This time is very small for the data collection interval time scale, so it will not affect data collection, because the data collection integration will have been completed when the data collection instruction is triggered next time.

[0073] Exemplarily, in step S3, the collected data is stored by time, that is, the data of one time is the data of nine nodes and eight carbon-based flexible sensors 8. The final data structure should be data of two dimensions (T, C), where T is the total number of time and C is the number of data at each time. If the wave sensor can obtain two data of effective wave height swh and average wave period mwp, the size of C is:

[0074] ;

[0075] In the formula, is the number of main wave sensors, is the number of sub-wave sensors, is the number of carbon-based flexible sensors;

[0076] These 26 data are arranged in sequence, and the order cannot be interchanged. They can be stored in the storage unit of the main control system according to vectors and sent to the shore through satellite communication equipment.

[0077] The prototype of the invention is placed in an artificial wave pool to generate waves in a directional manner, and the experimental data of the prototype is collected to evaluate the performance of the prototype. It is observed in the experiment that the wave sensors in the main buoy and the sub-buoy 5 can work independently to obtain the effective wave height, average wave period, and wave direction of the wave. These data can be formed into array data and displayed; Figure 8 The experimental effective wave height data of each array point of the experimental pool array buoy was obtained, and the corresponding joint angle data was also obtained through the experiment; Fig. 9 The angle array point distribution diagram is obtained to obtain the angle change of a sub-buoy 5; Fig.10 The buoy angle-time variation is used to analyze the wave period. The current experiment has fully demonstrated the practical value of this invention and its great role in obtaining data.

[0078] 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. An array buoy for collecting wave directional spectrum data, characterized in that: The array buoy is provided with a buoy body (1), the buoy body (1) is provided with a plurality of lugs (3) at different directions of the outer shell, the lugs (3) are connected to a swing arm (4) via a rotating joint (9), and a sub-buoy (5) is installed at the outer end of the swing arm (4); The middle of the rotating joint (9) is a hollow structure, and a carbon-based flexible sensor (8) is installed in the hollow structure; one end of the carbon-based flexible sensor (8) is connected to the end surface of the swing arm (4) by a clamping device (10), and the other end of the carbon-based flexible sensor (8) is fixed to the lug slot hole (6); The lug (3) has a flat slot (11) inside, which extends from the end of the lug (3) to the inside of the buoy body (1); a plurality of wires (7) arranged inside the flat slot (11) connect the carbon-based flexible sensor (8) to a main control system installed in the cabin of the buoy body (1); a sub-control system is installed in the sub-buoy (5), and the sub-control system transmits data with the main control system through wireless communication; The main control system comprises a main wave sensor, which moves with the buoy body (1) to obtain the effective wave height, average wave period and wave direction of the wave at the center point of the array represented by the buoy body (1); The sub-control system comprises a sub-wave sensor, which moves with the sub-buoy (5) to obtain the effective wave height, average wave period and wave direction of the wave at the center point of the array represented by the sub-buoy (5); The carbon-based flexible sensor (8) is a double-layer structure of upper and lower layers. The main control system obtains the electrical signal conversion of each of the upper and lower double-layer structures, and then performs a differential operation to analyze the functional relationship between the differential result and the angle, and calculates the corresponding swing angle accordingly; each carbon-based flexible sensor (8) is used to collect the swing angle of the rotating joint (9) floating up and down with the waves, and the sub-wave sensor and the main wave sensor realize wave period observation by collecting the swing angle and correct the accuracy; the main wave sensor and the sub-wave sensor work independently, and the collected wave direction spectrum data are displayed in array data.

2. The array buoy for wave direction spectrum data collection according to claim 1, characterized in that: The upper end of the buoy body (1) is open, and a transparent glass cover (2) is provided at the upper end of the buoy body (1). The sub-buoy (5) is a colander-type container.

3. The array buoy for wave direction spectrum data collection according to claim 1, characterized in that: The main control system also includes: a controller, a satellite communication module, a power module, a first timer, a second timer, a third timer, and a Bluetooth communication module; The satellite communication module adopts the Beidou L-band short message communication terminal for data communication with the shore base station; the power module adopts a large-capacity lithium battery with a power distribution system. The first timer, the second timer, and the third timer are all external crystal oscillators for obtaining time. The first timer is used to control the time interval of the main program and the data sending time interval of the satellite communication module. The second timer is used to control the sleep and wake-up time of the peripheral module. The third timer is used to control the synchronization of information reception and transmission between the main control system and the sub-control system.

4. The array buoy for wave direction spectrum data collection according to claim 1, characterized in that: The sub-control system further includes: a control unit, a Bluetooth communication module, a power module, a fourth timer, and a fifth timer; The control unit is equipped with a micro control unit MCU, which is used to send control signals to sensors and peripheral modules, receive data, process data, save data, send data, energy management, GPS positioning, and task scheduling; the power module uses a lithium battery with a power distribution system, and the fourth timer and the fifth timer are both external crystal oscillators for obtaining time. Among them, the fourth timer is used to control the time interval of the subroutine, and the fifth timer is used to control the sleep and wake-up time of the peripheral module; the Bluetooth communication module uses the zigbee protocol as a router and terminal device.

5. The array buoy for collecting wave directional spectrum data according to claim 1, characterized in that: The carbon-based flexible sensor (8) is composed of a carbon nanotube material layer (12) and a polydimethylsiloxane layer (15) from top to bottom; the upper and lower double-layer structure is coated with a thermoplastic polyurethane layer (13) on the outside, and the lead wire (14) on the carbon nanotube material layer (12) is led out of the coated thermoplastic polyurethane layer (13).

6. The array buoy for wave direction spectrum data collection according to claim 5, characterized in that: The carbon-based flexible sensor (8) is connected to the AISC peripheral module, integrated on the main control system PCB board and connected to the controller to achieve data exchange.

7. A method for collecting wave directional spectrum data, characterized in that: The method is applied to the array buoy for wave directional spectrum data acquisition according to any one of claims 1 to 6, and the method comprises: S1, using multiple sub-wave sensors of multiple sub-control systems to collect the effective wave height and average wave period of multiple sub-buoys (5) floating up and down with waves, and using the main wave sensor of the main control system to collect the effective wave height and average wave period of the buoy body (1) floating up and down with waves; using each carbon-based flexible sensor (8) to collect the swing angle of the rotating joint (9) floating up and down with waves; obtaining wave period information and wave direction information by collecting and analyzing the swing angle data, and the sub-wave sensors and the main wave sensors realize wave period observation by collecting the swing angle, and correct the accuracy; S2, the controller MCU of the main control system uses code division multiple access technology to encode the collected information for distinction, and uses the main control selection technology to send a control signal through the main control system to select the auxiliary machine for data reception. After each auxiliary machine completes the data transmission and reception, it switches to the next auxiliary machine and receives a batch of data collected by each node in order; S3, after the acquired information is integrated, it is stored by time, and finally the data structure is obtained as data of two dimensions (T, C), where T is the total number of time and C is the number of data at each time, which is sent to the shore through communication signals.

8. The method for collecting wave directional spectrum data according to claim 7, characterized in that: In step S1, each carbon-based flexible sensor (8) is used to collect the swing angle of the rotating joint (9) floating up and down with the waves, including: the carbon-based flexible sensor (8) provided at the rotating joint (9) changes its resistance after bending deformation, converts the strain information into an electrical signal, and the AISC peripheral module carried thereon analyzes and obtains the rotation angle information of the swing arm (4) and caches it.

9. The method for collecting wave directional spectrum data according to claim 8, characterized in that: The AISC peripheral module analyzes and obtains the rotation angle information of the swing arm (4), including: Method 1: Connect the carbon-based flexible sensor (8) and the swing arm (4) to the display device, determine the angle range, rotate the swing arm (4) to the specified angle, record the corresponding electrical signal data, obtain <sensor electrical signal, angle>, use a quadratic or cubic polynomial function to fit these data, and compile the polynomial into the ASIC processing code. The AISC peripheral module converts the electrical signal of the carbon-based flexible sensor (8) into an angle through the polynomial; Method 2: Use a two-layer neural network to train the <sensor electrical signal, angle> data, use linear interpolation between discrete experimental data to obtain a large amount of intermediate data to enhance the training data, perform multiple rounds of training to prevent overfitting, and then deploy the two-layer neural network to the ASIC peripheral module for conversion between the electrical signal and angle value of the carbon-based flexible sensor (8).

10. The method for collecting wave directional spectrum data according to claim 7, characterized in that: In step S3, the size of C is: C=2×(N m +N s )+1×N c =2×(1+8)+1×8=26; Where N m is the number of main wave sensors, N s is the number of sub-wave sensors, N c is the number of carbon-based flexible sensors.

Images