Sediment suction force detection-based submersible load-throwing device and control method

Abstract

The application provides a mooring buoy unloading device based on silt adsorption force detection and a control method, and solves the technical problem of difficulty in recovering the existing bottom sitting mooring buoy in the underwater silt environment. The device is unloaded by electromagnetic power-on, reduces the complex mechanical transmission mechanism, the whole device structure is simple, can be remotely controlled, has fast response speed, high unloading efficiency, can detect the adsorption force and sinking depth of the underwater silt to the mooring buoy base in real time, improves the accuracy and reliability of the unloading implementation, and automatically triggers the unloading mechanism when the adsorption force exceeds the set threshold, realizes the safe recovery of the mooring buoy. This technical improvement provides predictable parameters for underwater bottom sitting submersibles under emergency conditions, significantly improves the reliability and recovery efficiency of the mooring buoy system, reduces the maintenance cost, and enhances the adaptability to complex marine environments.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of load shedding technology for underwater devices such as underwater vehicles and landers, and specifically relates to a submersible buoy load shedding device based on silt adsorption force detection and a control method. BACKGROUND

[0002] Bottom-mounted buoys are key equipment for ocean environment monitoring, used for long-term and continuous collection of ocean environment data. They are usually fixed on the seabed and can provide valuable information about important parameters such as ocean temperature, salinity, and ocean currents. However, traditional bottom-mounted buoys have some limitations in design. For example, Chinese invention patent CN103587653B, in a silt environment, the buoy may sink into the silt, making recovery difficult.

[0003] In order to improve the success rate of buoy recovery, the application proposes an electromagnetic type on-load shedding device based on silt adsorption force detection used on a bottom-mounted buoy. This device can automatically trigger the load shedding mechanism when the buoy is floating and the adsorption force is too large, thereby achieving rapid recovery of the buoy. This innovative design greatly improves the recovery rate of the buoy. SUMMARY

[0004] In view of the defects in the prior art, the purpose of the application is to provide a submersible buoy load shedding device based on silt adsorption force detection and a control system.

[0005] According to the submersible buoy load shedding device based on silt adsorption force detection provided by the application, the single electromagnet device 20, the load shedding base 9, the optical fiber strain sensor 11, the pressure sensor 12, the controller 13, and the upper computer 19 are included.

[0006] The single electromagnet device 20 is magnetically connected to the load shedding 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 load shedding 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 through the water-tight cable 18.

[0009] The upper computer 19 is a PC set on the shore end and is connected to the controller 13.

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

[0011] When first bottom-mounted, the pressure sensor 12 records the current depth data, and the buoy does not perform load shedding action under normal conditions.

[0012] When the buoyancy is needed, the pressure sensor 12 feeds the depth data of the base support plate 10 at this time to the host computer 19 through the controller 13, and at the same time, the optical fiber strain sensor 11 uploads the instantaneous stress of the silt on the base support plate 10 to the host computer 19 through the controller 13 at the moment of the buoyant instant, and the host computer 19 sends a jettison signal to the controller 13 of the buoyant according to the actual situation, and the electromagnet 3 of the single electromagnet device 20 is powered on, and the positive and negative magnetic fields are used to offset each other, so that the jettison base 9 is jettisoned, so that the buoyant obtains a certain buoyancy and returns to the water surface.

[0013] Among them, when the instantaneous stress exceeds the set threshold, the host computer 19 sends a jettison signal to the controller 13, and the set threshold is the threshold of the silt adsorption force allowed by the buoyant at different sinking depths according to the simulation; the depth of sinking is obtained by subtracting the depth data of the first bottom from the depth data of the buoyant to be floated.

[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 water-tight socket 5 and an electromagnet mounting cavity 6.

[0015] The oil pipe 4 is communicated with the oil-filled cavity 2 for oil supplement.

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

[0017] The two-core water-tight socket 5 is connected with the lead of the electromagnet 3 inside, and the water-tight cable 18 is connected with the two-core water-tight socket 5, and the control instruction is sent to the controller 13 by the host computer 19, and the controller 13 transmits the instruction to the electromagnet 3 through the water-tight cable 18.

[0018] The connector between the two-core water-tight socket 5 and the plug is a cable connector that can be separated after being pulled, so that the cable can be safely separated during jettisoning.

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

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

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

[0022] Preferably, the controller 13 is connected with the communication transducer 17 on the buoyant body through the water-tight cable 18, and then communicates with the shore end host computer 19 through water sound.

[0023] Preferably, the throw weight base 9 is provided with an adapter mounting iron plate 8, which is attached to the single electromagnet device 20 by magnetic force;

[0024] The throw weight 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 fiber optic strain sensor 11 and the pressure sensor 12 are symmetrically mounted at the bottom of the base support plate 10 and connected to the controller 13 through a water-tight cable 18;

[0026] The fiber optic 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;

[0027] The fiber optic strain sensor 11 is used to detect the strain of the base support plate 10, so as to reflect the adsorption force of the silt on the base support plate; and the pressure sensor 12 is used to detect the cumulative settlement of the base.

[0028] According to the control method of the submersible throw weight device based on silt adsorption force detection provided by the application, the following steps are included:

[0029] Step one: under normal conditions, the throw weight base 9 is adsorbed under the submersible by the permanent magnet in the electromagnet 3;

[0030] Step two: when the submersible first sits on the bottom, the pressure sensor 12 records the current depth data, which is transmitted to the upper computer 19 through underwater acoustic communication, and the submersible does not perform the throw weight action under normal conditions;

[0031] Step three: when it is needed to float up, the force sensor 12 feeds back the depth data of the base support plate 10 at this time to the upper computer 19, and at the same time, the fiber optic strain sensor 11 uploads the instantaneous stress of the silt on the base support plate 10 to the upper computer 19, and the upper computer 19 sends a throw weight signal to the controller 13 of the submersible according to the actual situation, and the electromagnet 3 is powered on, and the throw weight base 9 is abandoned by using the principle that the positive and negative magnetic fields offset each other, so that the submersible obtains a certain buoyancy and returns to the water surface.

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

[0033] 1. The application can detect the adsorption force of the underwater silt on the submersible base and the sinking depth in real time, and improves the accuracy and reliability of the implementation of the throw weight.

[0034] 2. The application performs the throw weight by the electromagnet power-on mode, reduces the complex mechanical transmission mechanism, and the whole device structure is simple, can be remotely controlled, has fast response speed and high throw weight efficiency.

[0035] 3、The application improves the survival ability of underwater submersible equipment in emergency, real-time detects the silt adsorption force and the depth of sinking into the seabed, and provides predictable parameters for underwater bottom sitting submersibles in emergency conditions.

[0036] 4、The application significantly improves the reliability and recovery efficiency of the buoy system, reduces the maintenance cost, and enhances the adaptability to complex marine environments. BRIEF DESCRIPTION OF DRAWINGS

[0037] Other characteristics, objects and advantages of the application will become more apparent from the following detailed description of non-restrictive embodiments, made with reference to the attached drawings:

[0038] Figure 1 It is a profile schematic diagram of the single electromagnet device of the application;

[0039] Figure 2 It is a schematic diagram of the external structure of the throw-off base of the application;

[0040] Figure 3 It is a schematic diagram of the sensor installation arrangement of the application;

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

[0042] Figure 5 It is a throw-off control flowchart of the application.

[0043] The drawings show:

[0044] DETAILED DESCRIPTION

[0045] The application will be described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the application, but do not limit the application in any form. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the application. These all belong to the protection scope of the application.

[0046] According to the submersible throw-off device based on silt adsorption force detection provided by the application, the single electromagnet device 20, the throw-off base 9, the optical fiber strain sensor 11, the pressure sensor 12, the controller 13 and the upper computer 19 are included.

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

[0048] The controller 13 is installed inside the underwater beacon body and is electrically connected to the single electromagnet device 20, the optical fiber strain sensors 11 and the pressure sensors 12 through the water-tight cable 18. The controller 13 has a data acquisition board 14, a signal processing board 15 and a computer control board 16. The controller 13 communicates with the host computer 19 on the shore through the communication transducer 17 on the beacon body.

[0049] Further, the host computer 19 is a PC, and the underwater beacon control software is installed in the system.

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

[0051] As shown in Figure 1 , 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 water-tight socket 5 and an electromagnet mounting cavity 6.

[0052] The flange cover plate 1 and the oil-filled cavity 2 form a sealed structure, and the inside is filled with transformer oil. The function of oil filling is to compensate the pressure, which can effectively reduce the thickness of the shell of the electromagnet mounting cavity 6. The flange cover plate 1 and the oil-filled cavity 2 are made of titanium alloy material.

[0053] The electromagnet 3 and the electromagnet mounting cavity 6 are filled with polyurethane components 7 to ensure impact resistance and wear resistance.

[0054] The oil pipe 4 is connected with the oil-filled cavity 2 for oil supplement.

[0055] The two-core water-tight socket 5 is connected with the lead of the electromagnet 3 inside, and the water-tight cable 18 is connected with the two-core water-tight socket 5. The control command is sent to the controller 13 by the host computer 19, and the controller 13 transmits the command to the electromagnet 3 through the water-tight cable 18.

[0056] As shown in Figure 2 , the throw-off base 9 is provided with a switching installation iron plate 8, and the switching installation iron plate 8 is attached to the single electromagnet device 20 by magnetic force.

[0057] The throw base 9 has four base support plates 10, on which are symmetrically installed fiber optic strain sensors 11 and pressure sensors 12. The fiber optic strain sensors 11 are used to detect the strain of the base support plates 10, thereby reflecting the adsorption of the sludge to the base support plates 10. The pressure sensors 12 are used to detect the cumulative settlement of the base support plates 10. The fiber optic strain sensors 11 and the pressure sensors 12 are both installed in the holes of the base support plates 10. The fiber optic strain sensors 11 and the pressure sensors 12 are both connected to the controller 13 through water-proof cables 18.

[0058] As shown in Figure 3 , the fiber optic strain sensors 11 and the pressure sensors 12 are symmetrically installed at the bottom of the base support plates 10. The fiber optic strain sensors 11 are fixed by welding, and the pressure sensors 12 are fixed in the holes of the base support plates 10 by potting.

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

[0060] The controller 13 is connected to the single electromagnet device 20, the fiber optic strain sensors 11, the pressure sensors 12 and the communication transducer 17 through the water-proof cables 18. The connectors between the two-core water-proof sockets 5 and the plugs are all cable connectors that can be separated after being pulled, so that the cables can be safely separated when the throw is performed. The upper computer 19 communicates with the communication transducer 17 through underwater sound.

[0061] As shown in Figure 5As shown, the application also provides a control method of the mud adsorption force detection based subsurface buoy ballast device, and the working principle is as follows: a single electromagnet device 20 filled with oil is used, the maximum suction force of the electromagnet 3 is 75 kg, and the working suction force is 25 kg. Under normal conditions, the permanent magnet in the electromagnet 3 is used to adsorb the ballast base 9 under the subsurface buoy, and at the same time, the optical fiber strain sensor 11 and the pressure sensor 12 are installed on the four base support plates 10. When the subsurface buoy is first seated, the pressure sensor 12 records the current depth data, which is transmitted to the upper computer 19 through underwater communication. The subsurface buoy does not perform the ballast action under normal conditions, and when it needs to be lifted for a 7-day cycle of work task, the pressure sensor 12 feeds back the depth data of the base support plate 10 at this time to the upper computer 19, and at the same time, the optical fiber strain sensor 11 feeds back the instantaneous stress of the mud on the base support plate 10 to the upper computer 19 at the moment when the subsurface buoy is lifted, and the upper computer 19 sends a ballast signal to the controller 13 of the subsurface buoy according to the actual situation, and the electromagnet 3 is powered on, and the principle of mutual offset of positive and negative magnetic fields is used to abandon the ballast base 9, so that the subsurface buoy obtains a certain buoyancy and returns to the water surface. When the instantaneous stress exceeds the set threshold, the upper computer (19) sends a ballast signal to the controller (13), and the threshold is the threshold of the mud adsorption force that the subsurface buoy can withstand without ballast when it sinks to different depths according to the simulation; the sinking depth is obtained by subtracting the depth data when the subsurface buoy is to be lifted from the depth data when it is first seated, and the sinking amount is the subsurface buoy.

[0062] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore cannot be understood as a limitation on the present application.

[0063] The specific embodiments of the application are described above. It should be understood that the application 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 essential content of the application. The embodiments of the present application and the features in the embodiments can be arbitrarily combined with each other without conflict.

Claims

1. A mooring buoy ballast throwing device based on silt adsorption force detection, characterized by, The single electromagnet device (20), the ballast base (9), the optical fiber strain sensor (11), the pressure sensor (12), the controller (13) and the upper computer (19) are included. The single electromagnet device (20) is magnetically connected with the ballast base (9). The optical fiber strain sensor (11) and the pressure sensor (12) are respectively installed on the base support plate (10) of the ballast base (9). The controller (13) is installed inside the underwater buoy body and is electrically connected with the single electromagnet device (20), the optical fiber strain sensor (11) and the pressure sensor (12) through the water-proof cable (18). The upper computer (19) is a PC machine arranged at the shore end and is connected with the controller (13). Under the control of the upper computer (19) and the controller (13): When the first time is seated on the bottom, the pressure sensor (12) records the current depth data, and the buoy does not perform the ballast action under the normal condition; When the buoy needs to be floated, the pressure sensor (12) feeds back the depth data of the base support plate (10) at this time to the upper computer (19) through the controller (13), at the same time, the optical fiber strain sensor (11) uploads the instantaneous stress of the silt on the base support plate (10) to the upper computer (19) through the controller (13), and the upper computer (19) sends the ballast signal to the controller (13) of the buoy according to the actual situation, the electromagnet (3) of the single electromagnet device (20) is powered on, the principle of the positive and negative magnetic fields is used to offset each other, the ballast base (9) is abandoned, so that the buoy obtains a certain buoyancy and returns to the water surface; Wherein, when the instantaneous stress exceeds the set threshold value, the upper computer (19) sends the ballast signal to the controller (13), and the set threshold value is the threshold value of the silt adsorption force that the buoy can withstand without ballast when the buoy sinks to different depths according to the simulation; the depth of sinking is obtained by subtracting the depth data when the buoy is floated from the depth data when the buoy is seated on the bottom for the first time; The ballast base (9) is provided with the adapter mounting iron plate (8), and the adapter mounting iron plate (8) is attached to the single electromagnet device (20) through magnetic force. The ballast base (9) is provided with the base support plate (10), and the base support plate (10) is symmetrically provided with the optical fiber strain sensor (11) and the pressure sensor (12). The optical fiber strain sensor (11) and the pressure sensor (12) are symmetrically installed at the bottom of the base support plate (10) and are connected with the controller (13) through the water-proof cable (18). The optical fiber strain sensor (11) is fixedly connected with the base support plate (10), and the pressure sensor (12) is fixedly arranged in the 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), so as to reflect the adsorption force of the silt on the base support plate; and the pressure sensor (12) is used to detect the cumulative subsidence amount of the base support plate. 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 water-proof socket (5) and an electromagnet mounting cavity (6).

2. The detection of silt adsorption force based on the weight of the device, according to claim 1, characterized in that, ​ The oil pipe (4) is communicated with the oil filling cavity (2) to supplement oil; The flange cover plate (1) and the oil filling cavity (2) form a sealed structure, and the inside is filled with transformer oil to compensate pressure; The two-core water-proof socket (5) is connected with the electromagnetic iron (3) lead wire inside, and the water-proof cable (18) is connected with the two-core water-proof socket (5), the control command is sent to the controller (13) by the upper computer (19), the controller (13) transmits the command to the electromagnetic iron (3) through the water-proof cable (18); The connector between the two-core water-proof socket (5) and the plug is a cable connector that can be separated after being pulled, so that the cable can be safely separated when the load is thrown.

3. The detection of silt adsorption force based on the weight of the device, according to claim 2, characterized in that, The electromagnetic iron (3) and the electromagnetic iron mounting cavity (6) are filled with polyurethane parts (7).

4. The detection of silt adsorption force based on the weight of the device is thrown, according to claim 2, characterized by, The flange cover plate (1) and the oil filling cavity (2) are both titanium alloy materials.

5. The detection of silt adsorption force based on the weight of the device according to claim 1, characterized in that, The throw load base (9) is made of stainless steel and is an integral welded structure.

6. The detection of silt adsorption force based on the weight of the device according to claim 1, characterized in that, The controller (13) is connected with the communication transducer (17) on the subsurface marker through the water-proof cable (18), and then communicates with the shore end upper computer (19) through water sound.

7. A control method of the mooring line based on silt adsorption force detection type buoyant load throwing device according to any one of claims 1 to 6, characterized by, The method comprises the following steps: Step one: under normal conditions, the throw load base (9) is adsorbed under the subsurface marker by the permanent magnet in the electromagnetic iron (3); Step two: when the subsurface marker is first seated, the pressure sensor (12) records the current depth data, which is transmitted to the upper computer (19) through water sound communication, and the subsurface marker does not perform the throw load action under normal conditions; Step three: when it is needed to float up, the depth data of the base support plate (10) at this time is fed back to the upper computer (19) by the force sensor (12), at the same time, the instantaneous stress of the silt on the base support plate (10) is transmitted to the upper computer (19) by the optical fiber strain sensor (11) at the moment of the subsurface marker floating up, the upper computer (19) sends the throw load signal to the controller (13) of the subsurface marker according to the actual situation, the electromagnetic iron (3) is powered on, and the throw load base (9) is thrown away by using the principle that the positive and negative magnetic fields offset each other, so that the subsurface marker obtains a certain buoyancy and returns to the water surface.

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