Subsurface buoy load rejection device based on sludge adsorption capacity detection and control method

Abstract

The invention provides a subsurface buoy load rejection device based on sludge adsorption force detection and a control method. The technical problem that an existing bottom-supported subsurface buoy is difficult to recycle in an underwater sludge environment is solved. According to the device, load rejection is carried out in an electromagnetic power-on mode, complex mechanical transmission mechanisms are reduced, the whole device is simple in structure, capable of being remotely controlled, high in response speed and high in load rejection efficiency, the adsorption force and the sinking depth of underwater sludge to the subsurface buoy base can be detected in real time, the accuracy and reliability of load rejection implementation are improved, and the application range is wide. And when the adsorption force exceeds a set threshold value, a load rejection mechanism is automatically triggered, and safe recovery of the subsurface buoy is achieved. According to the technical improvement, predictable parameters are provided for the underwater bottom-supported submersible vehicle under the emergency condition, the reliability and recovery efficiency of a subsurface buoy system are remarkably improved, the maintenance cost is reduced, and the adaptability to the complex marine environment is enhanced.

Description

Technical Field

[0001] The present invention relates to a jettisoning technology for underwater equipment such as underwater submersibles and landers, and in particular, to a buoy jettisoning device based on silt adsorption force detection and a control method. Background Art

[0002] Bottom-sitting buoys are key equipment for marine environmental monitoring and are used to collect marine environmental data over a long period of time. They are usually fixed to the seabed and can provide valuable information on important parameters such as ocean temperature, salinity, and currents. However, traditional bottom-sitting buoys have some limitations in design. For example, according to the Chinese invention patent with publication number CN103587653B, in a muddy environment, the buoy may sink into it, making it difficult to recover.

[0003] In order to improve the success rate of recovering submerged buoys, the present invention proposes an electromagnetic powered-on dumping device based on mud adsorption force detection for use on bottom-sitting submerged buoys. This device can automatically trigger the dumping mechanism when it detects excessive adsorption force when the submerged buoy floats up, thereby realizing the rapid recovery of the submerged buoy. This innovative design greatly improves the recovery rate of submerged buoys. Summary of the invention

[0004] In view of the defects in the prior art, the purpose of the present invention is to provide a submerged buoy loading device and control system based on silt adsorption force detection.

[0005] According to the present invention, a submerged buoy throwing device based on silt adsorption force detection includes: a single electromagnet device 20, a throwing base 9, an optical fiber strain sensor 11, a pressure sensor 12, a controller 13 and a host computer 19;

[0006] The single electromagnet device 20 is magnetically connected to the dumping base 9;

[0007] The optical fiber strain sensor 11 and the pressure sensor 12 are respectively installed on the base support plate 10 of the dumping base 9;

[0008] The controller 13 is installed inside the underwater buoy body and is electrically connected to the single electromagnet device 20 , the optical fiber strain sensor 11 and the pressure sensor 12 via a watertight cable 18 .

[0009] The host computer 19 is a PC installed on the shore and connected to the controller 13 .

[0010] Preferably, under the control of the host computer 19 and the controller 13:

[0011] When the buoy lands on the bottom for the first time, the pressure sensor 12 records the current depth data, and the buoy does not perform the dumping action under normal conditions;

[0012] When it is necessary to float, the pressure sensor 12 feeds back the depth data of the base support plate 10 at this time to the host computer 19 through the controller 13. At the same time, at the moment when the buoy floats, the optical fiber strain sensor 11 transmits the instantaneous stress of the silt on the base support plate 10 to the host computer 19 through the controller 13. The host computer 19 sends a dumping signal to the controller 13 of the buoy according to the actual situation, and powers on the electromagnet 3 of the single electromagnet device 20. The dumping base 9 is discarded by using the principle of mutual cancellation of positive and negative magnetic fields, so that the buoy obtains a certain buoyancy and returns to the water surface;

[0013] Among them, when the condition that the instantaneous stress exceeds the set threshold is met, the upper computer 19 sends a load-dumping signal to the controller 13. The set threshold is the threshold of the silt adsorption force that the buoy is allowed to receive without dumping the load when it sinks to different depths obtained according to simulation; the sinking depth is obtained by subtracting the depth data when it floats up from the depth data when it first lands on the bottom.

[0014] Preferably, the single electromagnet device 20 comprises: a flange cover plate 1, an oil-filled cavity 2, an electromagnet 3, an oil pipe 4, a two-core watertight socket 5 and an electromagnet installation cavity 6;

[0015] The oil pipe 4 is connected to the oil filling cavity 2 for oil replenishment;

[0016] The flange cover plate 1 and the oil-filled cavity 2 form a sealing structure, and the interior is filled with transformer oil for pressure compensation;

[0017] The two-core watertight socket 5 is internally connected to the lead wire of the electromagnet 3, and the external watertight cable 18 is connected to the two-core watertight socket 5. The host computer 19 sends a control instruction to the controller 13, and the controller 13 transmits the instruction to the electromagnet 3 through the watertight cable 18;

[0018] The connectors between the two-core watertight socket 5 and the plug are all cable connectors that can be separated after being subjected to tension, so that the cables can be safely separated when the load is dumped.

[0019] Preferably, the electromagnet 3 and the electromagnet mounting cavity 6 are potted by the polyurethane component 7 .

[0020] Preferably, the flange cover plate 1 and the oil-filled cavity 2 are both made of titanium alloy material.

[0021] Preferably, the dumping base 9 is made of stainless steel and is an integrated welded structure.

[0022] Preferably, the controller 13 is connected to a communication transducer 17 on the buoy body via a watertight cable 18 , and then performs hydroacoustic communication with a host computer 19 on the shore.

[0023] Preferably, a transfer mounting iron plate 8 is installed on the dumping base 9, and the transfer mounting iron plate 8 is attached to the single electromagnet device 20 through magnetic force;

[0024] The dumping base 9 is provided with a base support plate 10 , on which a fiber optic strain sensor 11 and a pressure sensor 12 are symmetrically mounted.

[0025] Preferably, the optical fiber strain sensor 11 and the pressure sensor 12 are symmetrically mounted on the bottom of the base support plate 10 and connected to the controller 13 via a watertight cable 18;

[0026] The optical fiber strain sensor 11 is fixedly connected to the base support plate 10, and the pressure sensor 12 is fixedly arranged in the hole of the base support plate 10;

[0027] The optical fiber strain sensor 11 is used to detect the strain of the base support plate 10, thereby reflecting the adsorption force of the silt on the chassis support plate; the pressure sensor 12 is used to detect the accumulated settlement of the chassis.

[0028] According to the present invention, a control method for a submerged buoy throwing device based on silt adsorption force detection comprises the following steps:

[0029] Step 1: Under normal conditions, the permanent magnet inside the electromagnet 3 is used to adsorb the dumping base 9 under the buoy;

[0030] Step 2: When the buoy lands on the bottom for the first time, the pressure sensor 12 records the current depth data, which is transmitted to the host computer 19 via hydroacoustic communication. Under normal conditions, the buoy does not perform the dumping action;

[0031] Step three: When it is necessary to float, the force sensor 12 will feed back the depth data of the base support plate 10 at this time to the host computer 19. At the same time, at the moment the buoy floats, the optical fiber strain sensor 11 will upload the instantaneous stress of the silt on the base support plate 10 to the host computer 19. The host computer 19 will send a dumping signal to the controller 13 of the buoy according to the actual situation, power on the electromagnet 3, and use the principle of mutual cancellation of positive and negative magnetic fields to abandon the dumping base 9, so that the buoy can obtain a certain buoyancy and return to the water surface.

[0032] Compared with the prior art, the present invention has the following beneficial effects:

[0033] 1. The present invention can detect the adsorption force of underwater silt on the buoy base and the sinking depth in real time, thereby improving the accuracy and reliability of dumping.

[0034] 2. The present invention dumps the load by electromagnetic power-on, which reduces the complex mechanical transmission mechanism. The whole device has a simple structure, can be remotely controlled, has a fast response speed and high load dumping efficiency.

[0035] 3. The present invention improves the survivability of underwater submersible equipment in emergency situations, detects the silt adsorption force and the depth of sinking into the seabed in real time, and provides predictable parameters for underwater bottom-sitting submersibles under emergency conditions.

[0036] 4. The present invention significantly improves the reliability and recovery efficiency of the submerged buoy system, reduces maintenance costs, and enhances adaptability to complex marine environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0038] Figure 1 It is a cross-sectional schematic diagram of a single electromagnet device of the present invention;

[0039] Figure 2 This is a schematic diagram of the external structure of the dumping base of the present invention;

[0040] Figure 3 This is a schematic diagram of the installation arrangement of the sensor of the present invention;

[0041] Figure 4 It is a schematic diagram of the connection of the overall system of the present invention;

[0042] Figure 5 This is a flow chart of load dumping control according to the present invention.

[0043] The figure shows:

[0044] DETAILED DESCRIPTION

[0045] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0046] A submerged buoy dumping device based on silt adsorption force detection provided in the present invention includes: a single electromagnet device 20, a dumping base 9, an optical fiber strain sensor 11, a pressure sensor 12, a controller 13 and a host computer 19.

[0047] The single electromagnet device 20 is filled with transformer oil. The single electromagnet device 20 is provided with a flange, which is fastened to the dumping base 9 by screws. The single electromagnet device 20 is provided with an oil pipe 4. The optical fiber strain sensor 11 and the pressure sensor 12 are symmetrically installed on the base support plate 10 of the dumping base 9, two in number. The dumping base 9 is made of stainless steel 316L and is an integrated welded structure.

[0048] The controller 13 is installed inside the underwater buoy body and is electrically connected to the single electromagnet device 20, the optical fiber strain sensor 11 and the pressure sensor 12 through a watertight cable 18. The controller 13 contains a data acquisition board 14, a signal processing board 15 and a computer control board 16. The controller 13 performs underwater acoustic communication with the shore host computer 19 through the communication transducer 17 on the buoy body.

[0049] Furthermore, the host computer 19 is a PC, and the buoy centralized control software is installed in the system.

[0050] The present invention will be described in more detail below with reference to preferred examples.

[0051] like Figure 1 As shown, the single electromagnet device 20 includes a flange cover plate 1, an oil-filled cavity 2, an electromagnet 3, an oil pipe 4, a two-core watertight socket 5 and an electromagnet installation cavity 6.

[0052] The flange cover plate 1 and the oil-filled cavity 2 form a sealed structure, which is filled with transformer oil. The oil filling is used for pressure compensation, which can effectively reduce the shell thickness of the electromagnet installation cavity 6. The flange cover plate 1 and the oil-filled cavity 2 are both made of titanium alloy.

[0053] The electromagnet 3 and the electromagnet mounting cavity 6 are potted by a polyurethane component 7 to ensure impact resistance and wear resistance.

[0054] The oil pipe 4 is connected to the oil filling cavity 2 for oil replenishment.

[0055] The two-core watertight socket 5 is internally connected to the lead wire of the electromagnet 3 , and the external watertight cable 18 is connected to the two-core watertight socket 5 . The host computer 19 sends a control instruction to the controller 13 , and the controller 13 transmits the instruction to the electromagnet 3 through the watertight cable 18 .

[0056] like Figure 2 As shown, a transfer mounting iron plate 8 is installed on the dumping base 9, and the transfer mounting iron plate 8 is fitted with the single electromagnet device 20 through magnetic force.

[0057] The dumping base 9 has four base support plates 10, on which optical fiber strain sensors 11 and pressure sensors 12 are symmetrically installed. The optical fiber strain sensor 11 is used to detect the strain of the base support plate 10, thereby reflecting the adsorption force of the silt on the base support plate 10. The pressure sensor 12 is used to detect the cumulative settlement of the base support plate 10. The optical fiber strain sensor 11 and the pressure sensor 12 are both installed in the holes of the base support plate 10. The optical fiber strain sensor 11 and the pressure sensor 12 are both connected to the controller 13 through a watertight cable 18.

[0058] like Figure 3 As shown, the optical fiber strain sensor 11 and the pressure sensor 12 are symmetrically mounted on the bottom of the base support plate 10. The optical fiber strain sensor 11 is fixed by welding, and the pressure sensor 12 is fixed in the hole of the base support plate 10 by potting.

[0059] like Figure 4 As shown, a data acquisition board 14 , a signal processing board 15 and a computer control board 16 are installed in the controller 13 .

[0060] The controller 13 is connected to the single electromagnet device 20, the optical fiber strain sensor 11, the pressure sensor 12 and the communication transducer 17 through a watertight cable 18. The connectors between the two-core watertight socket 5 and the plug are cable connectors that can be separated after being pulled, so that the cables can be safely separated when dumping. The host computer 19 performs underwater acoustic communication with the communication transducer 17.

[0061] like Figure 5As shown, the present invention also provides a control method for the submerged buoy dumping device based on silt adsorption force detection, and its working principle is: a single electromagnet device 20 filled with oil is used, and the maximum suction force of the electromagnet 3 is 75kg, and the working suction force is 25kg. Under normal conditions, the permanent magnet inside the electromagnet 3 is used to adsorb the dumping base 9 under the submerged buoy. At the same time, optical fiber strain sensors 11 and pressure sensors 12 are installed on the four base support plates 10. When the bottom is first landed, the pressure sensor 12 will record the current depth data, which is transmitted to the host computer 19 through hydroacoustic communication. Under normal conditions, the buoy does not perform the dumping action. When it needs to float up for a 7-day cycle of work, the pressure sensor 12 feeds back the depth data of the base support plate 10 at this time to the host computer 19. At the same time, when the buoy floats up, the optical fiber strain sensor 11 uploads the instantaneous stress of the silt on the base support plate 10 to the host computer 19. The host computer 19 sends a dumping signal to the controller 13 of the buoy according to the actual situation, powers on the electromagnet 3, and uses the principle of mutual cancellation of positive and negative magnetic fields to discard the dumping base 9, so that the buoy obtains a certain buoyancy and returns to the water surface. Among them, when the condition that the instantaneous stress exceeds the set threshold is met, the host computer (19) sends a dumping signal to the controller (13). The threshold is the threshold of the silt adsorption force that the buoy is allowed to receive without dumping when sinking at different depths according to the simulation; the sinking depth is obtained by subtracting the depth data when it is to be floated from the depth data when it first lands on the bottom, and the sinking amount is the sinking amount of the buoy.

[0062] In the description of the present application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0063] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A submerged buoy throwing device based on silt adsorption force detection, characterized in that: include: A single electromagnet device (20), a dumping base (9), an optical fiber strain sensor (11), a pressure sensor (12), a controller (13) and a host computer (19); The single electromagnet device (20) is magnetically connected to the load-releasing base (9); The optical fiber strain sensor (11) and the pressure sensor (12) are respectively installed on the base support plate (10) of the dumping base (9); The controller (13) is installed inside the underwater buoy body and is electrically connected to the single electromagnet device (20), the optical fiber strain sensor (11) and the pressure sensor (12) via a watertight cable (18). The host computer (19) is a PC arranged at the shore end and connected to the controller (13).

2. The submerged buoy throwing device based on silt adsorption force detection according to claim 1 is characterized in that: Under the control of the host computer (19) and the controller (13): When the buoy lands on the bottom for the first time, the pressure sensor (12) records the current depth data, and the buoy does not perform the dumping action under normal conditions; When it is necessary to float, the pressure sensor (12) feeds back the depth data of the base support plate (10) at this time to the host computer (19) through the controller (13). At the same time, at the moment when the buoy floats, the optical fiber strain sensor (11) transmits the instantaneous stress of the silt on the base support plate (10) to the host computer (19) through the controller (13). The host computer (19) sends a dumping signal to the controller (13) of the buoy according to the actual situation, and powers on the electromagnet (3) of the single electromagnet device (20). By using the principle of mutual cancellation of positive and negative magnetic fields, the dumping base (9) is discarded, so that the buoy obtains a certain buoyancy and returns to the water surface. When the condition that the instantaneous stress exceeds a set threshold is met, the upper computer (19) sends a dumping signal to the controller (13), wherein the set threshold is a threshold of the silt adsorption force that the buoy is allowed to receive without dumping the load when sinking to different depths, obtained based on simulation; the sinking depth is obtained by subtracting the depth data when the buoy is to be floated from the depth data when it first lands on the bottom.

3. The submerged buoy throwing device based on silt adsorption force detection according to claim 1 is characterized in that: The single electromagnet device (20) comprises: a flange cover plate (1), an oil-filled cavity (2), an electromagnet (3), an oil pipe (4), a two-core watertight socket (5) and an electromagnet installation cavity (6); The oil pipe (4) is connected to the oil filling cavity (2) for replenishing oil; The flange cover plate (1) and the oil-filled cavity (2) form a sealing structure, and the interior is filled with transformer oil to facilitate pressure compensation; The two-core watertight socket (5) is internally connected to the lead wire of the electromagnet (3), and the external watertight cable (18) is connected to the two-core watertight socket (5). The host computer (19) sends a control instruction to the controller (13), and the controller (13) transmits the instruction to the electromagnet (3) through the watertight cable (18); The connectors between the two-core watertight socket (5) and the plug are all cable connectors that can be separated after being subjected to a pulling force, so that the cable can be safely separated when the load is dumped.

4. The submerged buoy throwing device based on silt adsorption force detection according to claim 3 is characterized in that: The electromagnet (3) and the electromagnet installation cavity (6) are potted by the polyurethane component (7).

5. The submerged buoy throwing device based on silt adsorption force detection according to claim 3 is characterized in that: The flange cover plate (1) and the oil-filled cavity (2) are both made of titanium alloy material.

6. The submerged buoy throwing device based on silt adsorption force detection according to claim 1 is characterized in that: The dumping base (9) is made of stainless steel and is an integrated welded structure.

7. The submerged buoy throwing device based on silt adsorption force detection according to claim 1 is characterized in that: The controller (13) is connected to a communication transducer (17) on the submerged buoy through a watertight cable (18), and then performs hydroacoustic communication with a shore-side host computer (19).

8. The submerged buoy throwing device based on silt adsorption force detection according to claim 1 is characterized in that: The jettisoning base (9) is provided with a transfer mounting iron plate (8), and the transfer mounting iron plate (8) is attached to the single electromagnet device (20) through magnetic force; The dumping base (9) is provided with a base support plate (10), and an optical fiber strain sensor (11) and a pressure sensor (12) are symmetrically mounted on the base support plate (10).

9. The submerged buoy throwing device based on silt adsorption force detection according to claim 1 is characterized in that: The optical fiber strain sensor (11) and the pressure sensor (12) are symmetrically mounted on the bottom of the base support plate (10) and connected to the controller (13) via a watertight cable (18); The optical fiber strain sensor (11) is fixedly connected to the base support plate (10), and the pressure sensor (12) is fixedly arranged in a hole of the base support plate (10); The optical fiber strain sensor (11) is used to detect the strain of the base support plate (10), thereby reflecting the adsorption force of the silt on the chassis support plate; the pressure sensor (12) is used to detect the accumulated settlement of the chassis.

10. A control method for a submerged buoy throwing device based on silt adsorption force detection according to any one of claims 1 to 9, characterized in that: The following steps are involved: Step 1: Under normal conditions, the permanent magnet inside the electromagnet (3) is used to adsorb the dumping base (9) below the buoy; Step 2: When the buoy lands on the bottom for the first time, the pressure sensor (12) records the current depth data, which is transmitted to the host computer (19) via hydroacoustic communication. Under normal conditions, the buoy does not perform the dumping action; Step 3: When it is necessary to float, the force sensor (12) feeds back the depth data of the base support plate (10) at this time to the host computer (19). At the same time, at the moment when the buoy floats, the optical fiber strain sensor (11) transmits the instantaneous stress of the silt on the base support plate (10) to the host computer (19). The host computer (19) sends a dumping signal to the controller (13) of the buoy according to the actual situation, powers on the electromagnet (3), and uses the principle of mutual cancellation of positive and negative magnetic fields to discard the dumping base (9), so that the buoy obtains a certain buoyancy and returns to the water surface.

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