Method, device and equipment for determining rolling property parameter of buoy and medium

Abstract

The invention discloses a method, a device and equipment for determining rolling parameters of a buoy and a medium, which are used for quickly and accurately determining the rolling parameters of the buoy. The method comprises the following steps: obtaining a sea wind horizontal stress value of sea wind to a buoy based on the draught depth of the buoy and a sea wind stress algorithm; based on the draught depth and an ocean current stress algorithm, the ocean current horizontal stress value of the upper ocean current on the buoy is obtained; based on the draught depth and a sea wave horizontal stress algorithm, the sea wave horizontal stress value of sea waves on the buoy in the horizontal direction is obtained; based on the draught depth and a sea wave vertical stress algorithm, the sea wave vertical stress value of sea waves on the buoy in the vertical direction is obtained; based on the sea wind horizontal stress value, the sea current horizontal stress value, the sea wave horizontal stress value, the sea wave vertical stress value and a deflection motion algorithm, the rotation angle of the buoy is obtained, and therefore the rolling property parameters of the buoy can be rapidly and accurately determined.

Description

Technical Field

[0001] The present application relates to the field of data processing technology, and in particular to a method, device, equipment and medium for determining the roll parameters of a buoy. Background Art

[0002] The marine IoT buoy (hereinafter referred to as the buoy for convenience) has the ability to automatically collect (monitor) marine environmental parameters around the clock and transmit the monitoring data to the shore-based data receiving station via satellite, and is widely used in marine environmental monitoring. Among them, the roll of the buoy is one of the important parameters for evaluating the stability of the buoy's movement at sea. Especially when the buoy communicates with the satellite, the roll of the buoy can affect the stability and reliability of the communication link. For example, if the roll amplitude is too large, it may cause data transmission interruption.

[0003] Therefore, there is an urgent need for a technical solution that can quickly and accurately determine the roll parameters of the buoy. Summary of the invention

[0004] The present application provides a method, device, equipment and medium for determining the roll parameters of a buoy, which are used to quickly and accurately determine the roll parameters of the buoy.

[0005] In a first aspect, the present application provides a method for determining a roll parameter of a buoy, the method comprising:

[0006] For any statistical moment, based on a preset attitude sensor, obtain the draft of the buoy at the statistical moment;

[0007] Based on the draft and the set sea breeze force algorithm, the sea breeze horizontal force value of the sea breeze on the buoy in the horizontal direction is obtained; and based on the draft and the set current force algorithm, the sea current horizontal force value of the sea current on the buoy in the horizontal direction is obtained; based on the draft and the set wave horizontal force algorithm, the sea wave horizontal force value of the sea wave on the buoy in the horizontal direction is obtained; based on the draft and the set wave vertical force algorithm, the sea wave vertical force value of the sea wave on the buoy in the vertical direction is obtained;

[0008] The rotation angle of the buoy is obtained based on the horizontal force value of the sea breeze, the horizontal force value of the ocean current, the horizontal force value of the ocean wave, the vertical force value of the ocean wave and the deflection motion algorithm.

[0009] In a possible implementation manner, obtaining the sea wind horizontal force value of the sea wind on the buoy in the horizontal direction based on the draft depth and the set sea wind force algorithm includes:

[0010] Determine the sea wind force area of ​​the buoy at the statistical moment based on the rotation angle at the last statistical moment, the height of the buoy, the diameter of the cross section of the buoy, and the draft;

[0011] Based on the sea breeze force area and the sea breeze force algorithm, the sea breeze horizontal force value is determined.

[0012] In a possible implementation manner, obtaining the horizontal force value of the current on the buoy in the horizontal direction based on the draft depth and the set current force algorithm includes:

[0013] Determine the horizontal current force area of ​​the buoy at the statistical moment based on the obtained cross-sectional diameter of the buoy and the draft;

[0014] The horizontal current force value is determined based on the horizontal current force area and the set current force algorithm.

[0015] In a possible implementation manner, obtaining the horizontal wave force value of the wave on the buoy in the horizontal direction based on the draft depth and the set wave horizontal force algorithm includes:

[0016] Determine the wave force area of ​​the buoy in the horizontal direction at the statistical moment based on the rotation angle at the last statistical moment, the diameter of the cross section of the buoy, and the draft;

[0017] Based on the horizontal wave force area and the wave horizontal force algorithm, the wave horizontal force value is determined.

[0018] In a possible implementation manner, determining the wave horizontal force value based on the wave force area in the horizontal direction and the wave horizontal force algorithm includes:

[0019] The wetted water volume of the buoy is obtained according to the vertical wave force area and the draft at the statistical moment; wherein the vertical wave force area is determined based on the obtained diameter of the cross section of the buoy and the draft;

[0020] The horizontal wave force value is determined based on the wet water volume of the buoy, the horizontal wave force area and the wave horizontal force algorithm.

[0021] In a possible implementation manner, obtaining the vertical force value of the waves on the buoy in the vertical direction based on the draft depth and the set vertical force algorithm of the waves includes:

[0022] Determine the vertical wave force area of ​​the buoy at the statistical moment based on the obtained diameter of the cross section of the buoy and the draft;

[0023] Based on the vertical wave force area and the wave vertical force algorithm, the wave vertical force value is determined.

[0024] In a possible implementation manner, determining the vertical wave force value based on the vertical wave force area and the wave vertical force algorithm includes:

[0025] Obtaining the wetted water volume of the buoy according to the vertical wave force area and the draft;

[0026] The vertical wave force value is determined based on the wet water volume of the buoy, the vertical wave force area and the wave vertical force algorithm.

[0027] In a possible implementation manner, obtaining the rotation angle of the buoy based on the sea breeze horizontal force value, the ocean current horizontal force value, the ocean wave horizontal force value, the ocean wave vertical force value, and the deflection motion algorithm includes:

[0028] Based on the horizontal force value of the sea breeze and the first distance between the center of gravity of the buoy obtained by the attitude sensor and the point where the horizontal force value of the sea breeze acts on the buoy, determine the first torque of the sea breeze on the center of gravity of the buoy; and based on the horizontal force value of the ocean current and the second distance between the center of gravity of the buoy obtained by the attitude sensor and the point where the horizontal force value of the ocean current acts on the buoy, determine the second torque of the ocean current on the center of gravity of the buoy; based on the horizontal force value of the ocean wave and the third distance between the center of gravity of the buoy obtained by the attitude sensor and the point where the horizontal force value of the ocean wave acts on the buoy, determine the third torque of the ocean wave on the center of gravity of the buoy in the horizontal direction; based on the vertical force value of the ocean wave and the fourth distance between the center of gravity of the buoy obtained by the attitude sensor and the point where the vertical force value of the ocean wave acts on the buoy, determine the fourth torque of the ocean wave on the center of gravity of the buoy in the vertical direction;

[0029] Determine a gravity center torque based on the first torque, the second torque, the third torque and the fourth torque;

[0030] Based on the combined torque of the center of gravity and the preset moment of inertia of the buoy with respect to the center of gravity, the rotation angle of the buoy is obtained.

[0031] In a possible implementation manner, determining the center of gravity torque based on the first torque, the second torque, the third torque, and the fourth torque includes:

[0032] Obtaining a fifth torque of the buoyancy of the seawater on the buoy on the center of gravity of the buoy and a sixth torque of the tension of the counterweight on the buoy on the center of gravity of the buoy; wherein the fifth torque is determined based on the buoyancy of the seawater on the buoy and a fifth distance between the center of gravity of the buoy obtained by the attitude sensor and the point of action of the buoy on the buoy, and the sixth torque is determined based on the tension of the counterweight on the buoy and a sixth distance between the center of gravity of the buoy obtained by the attitude sensor and the point of action of the tension on the buoy;

[0033] A center-of-gravity torque is determined based on the first torque, the second torque, the third torque, the fourth torque, the fifth torque, and the sixth torque.

[0034] In a possible implementation, the method further includes:

[0035] Based on the vertical force value of the waves and the translational motion algorithm, the displacement of the buoy in the vertical direction is obtained.

[0036] In a possible implementation manner, obtaining the vertical displacement of the buoy based on the vertical force value of the wave and the translational motion algorithm includes:

[0037] Determine the vertical resultant force of the buoy in the vertical direction according to the vertical force value of the sea waves, the buoyancy of the sea water on the buoy, the pulling force of the counterweight on the buoy, and the gravity of the buoy;

[0038] Based on the vertical resultant force and the obtained mass of the buoy, the displacement of the buoy in the vertical direction is obtained.

[0039] In a second aspect, the present application provides a device for determining a roll parameter of a buoy, the device comprising:

[0040] A first obtaining module is used for obtaining the draft of the buoy at any statistical moment based on a preset attitude sensor;

[0041] The second obtaining module is used to obtain the sea wind horizontal force value of the sea wind on the buoy in the horizontal direction based on the draft depth and the set sea wind force algorithm; and to obtain the sea current horizontal force value of the sea current on the buoy in the horizontal direction based on the draft depth and the set sea current force algorithm; to obtain the sea wave horizontal force value of the sea wave on the buoy in the horizontal direction based on the draft depth and the set sea wave horizontal force algorithm; and to obtain the sea wave vertical force value of the sea wave on the buoy in the vertical direction based on the draft depth and the set sea wave vertical force algorithm;

[0042] The determination module is used to obtain the rotation angle of the buoy based on the horizontal force value of the sea breeze, the horizontal force value of the ocean current, the horizontal force value of the ocean wave, the vertical force value of the ocean wave and the deflection motion algorithm.

[0043] In a possible implementation manner, the second obtaining module is specifically configured to:

[0044] Determine the sea wind force area of ​​the buoy at the statistical moment based on the rotation angle at the last statistical moment, the height of the buoy, the diameter of the cross section of the buoy, and the draft;

[0045] Based on the sea breeze force area and the sea breeze force algorithm, the sea breeze horizontal force value is determined.

[0046] In a possible implementation manner, the second obtaining module is specifically configured to:

[0047] Determine the horizontal current force area of ​​the buoy at the statistical moment based on the obtained cross-sectional diameter of the buoy and the draft;

[0048] The horizontal current force value is determined based on the horizontal current force area and the set current force algorithm.

[0049] In a possible implementation manner, the second obtaining module is specifically configured to:

[0050] Determine the wave force area of ​​the buoy in the horizontal direction at the statistical moment based on the rotation angle at the last statistical moment, the diameter of the cross section of the buoy, and the draft;

[0051] Based on the horizontal wave force area and the wave horizontal force algorithm, the wave horizontal force value is determined.

[0052] In a possible implementation manner, the second obtaining module is specifically configured to:

[0053] The wetted water volume of the buoy is obtained according to the vertical wave force area and the draft at the statistical moment; wherein the vertical wave force area is determined based on the obtained diameter of the cross section of the buoy and the draft;

[0054] The horizontal wave force value is determined based on the wet water volume of the buoy, the horizontal wave force area and the wave horizontal force algorithm.

[0055] In a possible implementation manner, the second obtaining module is specifically configured to:

[0056] Determine the vertical wave force area of ​​the buoy at the statistical moment based on the obtained diameter of the cross section of the buoy and the draft;

[0057] Based on the vertical wave force area and the wave vertical force algorithm, the wave vertical force value is determined.

[0058] In a possible implementation manner, the second obtaining module is specifically configured to:

[0059] Obtaining the wetted water volume of the buoy according to the vertical wave force area and the draft;

[0060] The vertical wave force value is determined based on the wet water volume of the buoy, the vertical wave force area and the wave vertical force algorithm.

[0061] In a possible implementation manner, the determining module is specifically configured to:

[0062] Based on the horizontal force value of the sea breeze and the first distance between the center of gravity of the buoy obtained by the attitude sensor and the point where the horizontal force value of the sea breeze acts on the buoy, determine the first torque of the sea breeze on the center of gravity of the buoy; and based on the horizontal force value of the ocean current and the second distance between the center of gravity of the buoy obtained by the attitude sensor and the point where the horizontal force value of the ocean current acts on the buoy, determine the second torque of the ocean current on the center of gravity of the buoy; based on the horizontal force value of the ocean wave and the third distance between the center of gravity of the buoy obtained by the attitude sensor and the point where the horizontal force value of the ocean wave acts on the buoy, determine the third torque of the ocean wave on the center of gravity of the buoy in the horizontal direction; based on the vertical force value of the ocean wave and the fourth distance between the center of gravity of the buoy obtained by the attitude sensor and the point where the vertical force value of the ocean wave acts on the buoy, determine the fourth torque of the ocean wave on the center of gravity of the buoy in the vertical direction;

[0063] Determine a gravity center torque based on the first torque, the second torque, the third torque and the fourth torque;

[0064] Based on the combined torque of the center of gravity and the preset moment of inertia of the buoy with respect to the center of gravity, the rotation angle of the buoy is obtained.

[0065] In a possible implementation manner, the determining module is specifically configured to:

[0066] Obtaining a fifth torque of the buoyancy of the seawater on the buoy on the center of gravity of the buoy and a sixth torque of the tension of the counterweight on the buoy on the center of gravity of the buoy; wherein the fifth torque is determined based on the buoyancy of the seawater on the buoy and a fifth distance between the center of gravity of the buoy obtained by the attitude sensor and the point of action of the buoy on the buoy, and the sixth torque is determined based on the tension of the counterweight on the buoy and a sixth distance between the center of gravity of the buoy obtained by the attitude sensor and the point of action of the tension on the buoy;

[0067] A center-of-gravity torque is determined based on the first torque, the second torque, the third torque, the fourth torque, the fifth torque, and the sixth torque.

[0068] In a possible implementation manner, the determining module is further configured to:

[0069] Based on the vertical force value of the waves and the translational motion algorithm, the displacement of the buoy in the vertical direction is obtained.

[0070] In a possible implementation manner, the determining module is specifically configured to:

[0071] Determine the vertical resultant force of the buoy in the vertical direction according to the vertical force value of the sea waves, the buoyancy of the sea water on the buoy, the pulling force of the counterweight on the buoy, and the gravity of the buoy;

[0072] Based on the vertical resultant force and the obtained mass of the buoy, the displacement of the buoy in the vertical direction is obtained.

[0073] In a third aspect, the present application provides an electronic device, which includes at least a processor and a memory, and the processor is used to implement the steps of any method described in the first aspect when executing a computer program stored in the memory.

[0074] In a fourth aspect, the present application provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of any method described in the first aspect.

[0075] In the embodiment of the present application, the process of calculating the roll parameters of the buoy can be simplified to obtaining the sea breeze horizontal force value on the buoy in the horizontal direction based on the draft of the buoy at any statistical moment and the set sea breeze force algorithm; and obtaining the sea current horizontal force value on the buoy in the horizontal direction based on the draft and the set current force algorithm; obtaining the sea wave horizontal force value on the buoy in the horizontal direction based on the draft and the set wave horizontal force algorithm; obtaining the sea wave vertical force value on the buoy in the vertical direction based on the draft and the set wave vertical force algorithm; obtaining the rotation angle in the roll parameters of the buoy based on the sea breeze horizontal force value, the current horizontal force value, the wave horizontal force value, the wave vertical force value and the deflection motion algorithm. Based on this, while ensuring the accuracy of the determined roll parameters of the buoy to the greatest extent, it is also possible to simplify the calculation process, improve the calculation speed, and achieve the purpose of quickly and accurately determining the roll parameters of the buoy. BRIEF DESCRIPTION OF THE DRAWINGS

[0076] In order to more clearly illustrate the implementation methods in the embodiments of the present application or the related technologies, the following is a brief introduction to the drawings required for use in the embodiments or the related technology descriptions. Obviously, the drawings described below are some embodiments of the present application, and a person skilled in the art can also obtain other drawings based on these drawings.

[0077] Figure 1 A schematic diagram of a process for determining a roll parameter of a first buoy provided in some embodiments is shown;

[0078] Figure 2 A schematic diagram of a buoy force analysis provided by some embodiments is shown;

[0079] Figure 3 Another schematic diagram of buoy force analysis provided by some embodiments is shown;

[0080] Figure 4 A schematic diagram of a process for determining a roll parameter of a second buoy provided in some embodiments is shown;

[0081] Figure 5 A schematic diagram of a device for determining a rolling parameter of a buoy provided in some embodiments is shown;

[0082] Figure 6 A schematic diagram of the structure of an electronic device provided by some embodiments is shown. DETAILED DESCRIPTION

[0083] In order to make the purpose, technical solutions and advantages of this application clearer, this application will be further described in detail below in conjunction with the accompanying drawings. Obviously, the embodiments described in this application are only part of the embodiments of this application, rather than all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0084] It should be noted that the brief description of terms in this application is only for the convenience of understanding the embodiments described below, and is not intended to limit the embodiments of this application. Unless otherwise specified, these terms should be understood according to their common and usual meanings.

[0085] The terms "first", "second", "third", etc. in the specification and claims of this application and the above drawings are used to distinguish similar or similar objects or entities, and do not necessarily mean to limit a specific order or sequence, unless otherwise noted. It should be understood that the terms used in this way can be interchangeable under appropriate circumstances.

[0086] The terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover but not exclude inclusion, for example, a product or device comprising a list of components is not necessarily limited to all the components expressly listed but may include other components not expressly listed or inherent to such product or device.

[0087] The term "module" refers to any known or later developed hardware, software, firmware, artificial intelligence, fuzzy logic or combination of hardware and / or software code that is capable of performing the functions associated with that element.

[0088] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

[0089] In order to quickly and accurately determine the roll parameters of a buoy, the present application provides a method, device, equipment and medium for determining the roll parameters of a buoy.

[0090] All implementation methods of the embodiments of this application comply with the relevant provisions of national laws and regulations regarding the acquisition, storage, use, and processing of data.

[0091] Embodiment 1:

[0092] Figure 1FIG. 2 shows a schematic diagram of a process for determining the roll parameter of a first buoy provided in some embodiments. Figure 1 As shown, the process includes the following steps:

[0093] S101: For any statistical moment, based on a preset attitude sensor, obtain the draft of the buoy at the statistical moment.

[0094] The method for determining the roll parameters of a buoy provided in the embodiment of the present application is applied to an electronic device, which may be a PC, a mobile terminal or other device, or a server or other device.

[0095] The roll parameters of the buoy may include parameters such as the rotation angle of the buoy and the displacement of the buoy in the vertical direction. Among them, when the buoy communicates with the satellite, the rotation angle of the buoy may have a greater impact on the stability and reliability of the corresponding communication link than the displacement of the buoy in the vertical direction. The embodiment of the present application can obtain the rotation angle of the buoy. In addition, the embodiment of the present application can also obtain the displacement of the buoy in the vertical direction. The following is an introduction to the process of obtaining the roll parameters such as the rotation angle of the buoy and the displacement of the buoy in the vertical direction in the embodiment of the present application.

[0096] In a possible implementation, in order to quickly and accurately determine the roll parameter of the buoy, for any statistical moment, the draft of the buoy at the statistical moment can be obtained based on a preset attitude sensor, etc. Taking the current statistical moment as t as an example, the draft of the buoy's current submerged portion can be obtained based on the attitude sensor, etc., and the draft is determined as the draft y(t) of the buoy at the statistical moment t.

[0097] S102: Based on the draft and the set sea breeze force algorithm, obtain the sea breeze horizontal force value of the sea breeze on the buoy in the horizontal direction; and based on the draft and the set current force algorithm, obtain the sea current horizontal force value of the sea current on the buoy in the horizontal direction; based on the draft and the set wave horizontal force algorithm, obtain the sea wave horizontal force value of the sea wave on the buoy in the horizontal direction; based on the draft and the set wave vertical force algorithm, obtain the sea wave vertical force value of the sea wave on the buoy in the vertical direction.

[0098] For ease of understanding, the force conditions of the buoy are first introduced below. The buoy itself can be a symmetrical structure, and its position in the three-dimensional Cartesian coordinate system can be simplified to a two-dimensional coordinate representation. Figure 2 , Figure 2A schematic diagram of a buoy force analysis provided by some embodiments is shown. In which, x′oz′ represents an inertial coordinate system fixed in space, and xoz represents a body coordinate system fixed to the buoy, which moves with the buoy. Generally, the forces on the buoy on the sea surface include its own gravity G, the buoyancy F of the seawater on the buoy, and the buoyancy G of the buoy. b , the pulling force F of the counterweight on the buoy 配重 , as well as the forces exerted on the buoy by sea breeze, current and waves.

[0099] In a possible implementation, considering that in the marine environment, the buoy will inevitably be affected by the sea breeze, waves and currents and will roll, and the forces exerted by the sea breeze, waves and currents on the buoy are usually constantly changing, in order to quickly and accurately determine the roll parameters of the buoy, considering that under the action of the sea breeze and current, the force exerted on the buoy in the horizontal direction is usually much greater than the force exerted in the vertical direction, the force exerted by the sea breeze on the buoy can be approximated as acting only in the horizontal direction (for ease of description, the force exerted by the sea breeze on the buoy will be referred to as the sea breeze horizontal force value, F wind ), the force of the ocean current on the buoy is also approximately treated as acting only in the horizontal direction (for the convenience of description, the force of the ocean current on the buoy is referred to as the horizontal force value of the ocean current, F curr ). As for the force of waves on the buoy, considering that the buoy can usually move significantly in both horizontal and vertical directions under the action of waves, the force of waves on the buoy can be treated as acting in both horizontal and vertical directions (for the convenience of description, the force of waves on the buoy in the horizontal direction is referred to as the horizontal force value of waves, F waveH The vertical force of the waves on the buoy is called the vertical force of the waves, F waveV ).

[0100] Optionally, the sea wind horizontal force value F of the sea wind on the buoy in the horizontal direction can be obtained based on the draft depth y(t) and the set sea wind force algorithm. wind Among them, the horizontal force value of sea breeze is F wind The determination process can be as follows:

[0101] Optionally, in order to quickly and accurately determine the rolling parameters of the buoy, the vertical projection area of ​​the buoy exposed to the water surface can be used to equate the sea wind force area S of the buoy. wind That is to say, the sea wind force area S of the buoy can be wind The approximate treatment is the vertical projection area of ​​the buoy exposed to the water surface. wind When , the rotation angle of the last statistical moment (t-Δt) calculated can be obtained Where Δt represents the time difference between two adjacent statistical moments. In addition, the height (h) of the buoy and the diameter (w) of the cross section of the buoy that are pre-saved or pre-measured can also be obtained, which can be based on the rotation angle at the last statistical moment. The height h of the buoy, the diameter w of the cross section of the buoy and the draft y(t) determine the sea wind force area S of the buoy at the current statistical time t. wind Specifically, the sea wind force area S of the buoy at the current statistical time t can be determined based on the following formula: wind :

[0102] Determine the sea breeze force area S wind Then, based on the sea breeze force area S wind And the sea breeze force algorithm to determine the sea breeze horizontal force value (sea breeze force) F wind Optionally, the horizontal force value F of the sea breeze can be determined based on the following formula: wind :

[0103]

[0104] Among them, ρ a It can be the pre-saved air density, the value can be 1.2kg / m 3 Etc., this application does not make any specific limitation on this. h It can be a preset buoy height coefficient, and its value can be 1.0, etc., which is not specifically limited in this application. s It can be a preset shape coefficient of the buoy, and its value can be 1.5, etc., which is not specifically limited in this application. wind It can be the wind speed in the horizontal direction measured based on a sensor or the like, and the wind speed unit can be m / s, which is not specifically limited in the present application.

[0105] Optionally, the horizontal force value F of the current on the buoy in the horizontal direction can be obtained based on the draft depth y(t) and the set current force algorithm. curr Among them, the horizontal force value of the ocean current is F curr The determination process can be as follows:

[0106] Optionally, in order to quickly and accurately determine the roll parameters of the buoy, the vertical projection area of ​​the submerged buoy can be used to equal the horizontal current force area of ​​the buoy (for ease of description, referred to as the horizontal current force area) S curr That is to say, the horizontal current force area S of the buoy can be curr The approximate treatment is the vertical projection area of ​​the part of the buoy submerged in the water. Specifically, in determining the horizontal current force area Scurr When the diameter (w) of the cross section of the buoy is obtained, which is saved or measured in advance, the horizontal current force area S of the buoy at the current statistical time t can be determined based on the diameter w of the cross section of the buoy and the draft y(t). curr Specifically, the horizontal current force area S of the buoy at the current statistical time t can be determined based on the following formula: curr :

[0107] s curr =y(t)*w.

[0108] Optionally, determine the horizontal current force area S curr Then, we can calculate the horizontal current force area S based on curr And the ocean current force algorithm to determine the ocean current horizontal force value (the force of the waves on the buoy in the horizontal direction) F curr Optionally, the horizontal force value F of the current can be determined based on the following formula: curr :

[0109]

[0110] Among them, ρ w The pre-saved seawater density can be 1200kg / m 3 Etc., this application does not make any specific limitation on this. DH is the preset horizontal resistance coefficient, which may be 0.5 or the like, and is not specifically limited in this application. curr It is the velocity of the ocean current measured by sensors, etc., and the value unit may be m / s, etc., which is not specifically limited in this application.

[0111] Optionally, the horizontal force value F of the waves on the buoy in the horizontal direction can be obtained based on the draft depth y(t) and the set wave force algorithm in the horizontal direction (wave horizontal force algorithm). waveH Among them, the horizontal force value of the wave is F waveH The determination process can be as follows:

[0112] Optionally, in order to quickly and accurately determine the roll parameters of the buoy, the vertical projection area of ​​the submerged buoy can be used to equate the horizontal wave force area of ​​the buoy (for ease of description, referred to as the horizontal wave force area) S waveH That is to say, the horizontal wave force area S of the buoy can be waveH The approximate treatment is the vertical projection area of ​​the part of the buoy submerged in the water. Specifically, in determining the horizontal wave force area S waveH When , the rotation angle of the last statistical moment (t-Δt) calculated can be obtained In addition, the diameter (w) of the cross section of the buoy that has been saved or measured in advance can be obtained, which can be based on the rotation angle at the last statistical moment. The diameter w of the cross section of the buoy and the draft y(t) determine the horizontal wave force area S of the buoy at the current statistical time t. waveH Specifically, the horizontal wave force area S of the buoy at the current statistical time t can be determined based on the following formula: waveH :

[0113]

[0114] Optionally, determine the horizontal wave force area S waveH Then, based on the horizontal wave force area S waveH And the wave horizontal force algorithm to determine the wave horizontal force value (the force of the wave on the buoy in the horizontal direction) F waveH Optionally, the horizontal force value F of the wave can be determined based on the following formula: waveH :

[0115]

[0116] Among them, ρ w The pre-saved seawater density can be 1200kg / m 3 Etc., this application does not make any specific limitation on this. iH V is the preset horizontal inertia coefficient, which can be 1.0 or the like, and is not specifically limited in this application. b is the wetted water volume of the buoy (how to determine the wetted water volume of the buoy will be introduced later, so I won’t go into details here), and the unit can be m 3 etc., which are not specifically limited in this application. H is the wave height, which can be measured in real time by sensors, etc., and the unit can be m, which are not specifically limited in this application. T is the wave period, which can also be measured in real time by sensors, etc. L is the wavelength of the wave, which can be measured in real time by sensors, etc. k is the wave number, which can be obtained by the formula k=2π / L, which will not be repeated here. y is the draft. x is the distance between the buoy and the set reference point at the current statistical moment, which can be measured in real time by sensors, etc. w is the wave frequency, which can be obtained by the formula w==2π / T, which will not be repeated here. C DH It is a preset horizontal resistance coefficient, and its value may be 0.5, etc. This application does not make any specific limitation on this.

[0117] Optionally, the vertical force value F of the waves on the buoy in the vertical direction can be obtained based on the draft depth y(t) and the set wave force algorithm in the vertical direction (wave vertical force algorithm). waveV Among them, the vertical force value of the wave FwaveV The determination process can be as follows:

[0118] Optionally, in order to quickly and accurately determine the roll parameters of the buoy, the horizontal projection area of ​​the submerged buoy can be used to equal the vertical wave force area of ​​the buoy (for ease of description, referred to as the vertical wave force area) S waveV That is to say, the vertical wave force area S of the buoy can be waveV The approximate treatment is the horizontal projection area of ​​the part of the buoy submerged in the water. Specifically, in determining the vertical wave force area S waveV When the diameter (w) of the cross section of the buoy is obtained, which is saved or measured in advance, the vertical wave force area S of the buoy at the current statistical time t can be determined based on the diameter w of the cross section of the buoy and the draft y(t). waveV Specifically, the vertical wave force area S of the buoy at the current statistical time t can be determined based on the following formula: waveV :

[0119] s waveV =y(t)*w.

[0120] Optionally, determine the vertical wave force area S waveV Then, based on the vertical wave force area S waveV And the vertical force algorithm of the waves to determine the vertical force value of the waves (the force of the waves on the buoy in the vertical direction) F waveV Optionally, the vertical force F of the wave can be determined based on the following formula: waveV :

[0121]

[0122] Among them, C iV is the preset vertical inertia coefficient, which can be 1.0 or the like, and is not specifically limited in this application. DV It is a preset vertical resistance coefficient, and its value may be 0.5, etc. This application does not make any specific limitation on this.

[0123] In a possible implementation, in order to quickly and accurately determine the roll parameters of the buoy and simplify the calculation, when determining the wetted water volume of the buoy at the statistical time t, the vertical wave force area S at the statistical time t can be used. waveV The product of the draft depth y(t) is equivalent to (determined as) the wetted water volume V of the buoy b , that is, V b =S waveV ×y(t), thereby achieving the purpose of determining the rolling parameters of the buoy quickly and accurately.

[0124] S103: Based on the horizontal force value of the sea breeze, the horizontal force value of the ocean current, the horizontal force value of the ocean wave, the vertical force value of the ocean wave and the deflection motion algorithm, the rotation angle of the buoy is obtained.

[0125] For ease of understanding, the following describes the force conditions when the buoy is tilted. Figure 3 , Figure 3 Another schematic diagram of buoy force analysis provided by some embodiments is shown. In a possible implementation, considering that the buoy may translate and rotate under the action of sea breeze, current, waves and counterweight, wherein, considering that the buoy is restricted by the counterweight, its translational movement in the horizontal direction is small, in order to quickly and accurately determine the roll parameters of the buoy and improve the calculation efficiency, the translational movement of the buoy in the horizontal direction may be ignored, and the roll parameters of the buoy may be determined based on the translational movement of the buoy in the vertical direction (oz' axis) and the rotational movement around the buoy's own center of gravity (rotational movement in the x'oz' plane). Optionally, during the movement of the buoy, the translation of the buoy along the positive direction of the oz' axis may be determined as the translation along the positive direction, and the counterclockwise rotation around the center of gravity may be determined as the rotation around the positive direction.

[0126] In a possible implementation, the rotation angle of the buoy can be obtained based on the horizontal force value of the sea breeze, the horizontal force value of the sea current, the horizontal force value of the sea wave, the vertical force value of the sea wave and the deflection motion algorithm. The process of determining the rotation angle of the buoy can be as follows:

[0127] Optionally, it can be based on the horizontal force value F of the sea breeze wind And the point of action of the horizontal force value of the sea wind on the buoy from the center of gravity of the buoy obtained by the attitude sensor ( Figure 2 The first distance between the two points (called the wind action point) determines the first torque M of the sea wind on the center of gravity of the buoy wind (t). For example, F wind The result of the cross product with the first distance is determined as the first torque M of the sea wind on the center of gravity of the buoy wind (t).

[0128] In addition, the horizontal force value F can be calculated based on the ocean current curr And the point of action of the buoy from the center of gravity of the buoy to the horizontal force value of the ocean current obtained by the attitude sensor ( Figure 2 The second distance between the wave force action point and the buoy center of gravity is determined by the second torque M of the ocean current on the buoy center of gravity. curr (t). For example, F curr The result of the cross product with the second distance is determined as the second torque M of the ocean current on the center of gravity of the buoy curr (t).

[0129] In addition, the horizontal force value F of the waves can be waveH And the point of action of the buoy from the center of gravity of the buoy to the horizontal force value of the wave obtained by the attitude sensor ( Figure 2 The third distance between the wave force action point and the horizontal wave is called the third torque M of the buoy center of gravity. waveH (t). For example, F waveH The result of the cross product with the third distance is determined as the third torque M of the sea wave on the center of gravity of the buoy in the horizontal direction. waveH (t).

[0130] In addition, the vertical force F of the waves can be waveV And the point of action of the vertical force value of the wave on the buoy from the center of gravity of the buoy obtained by the attitude sensor ( Figure 2 The fourth distance between the wave force action point and the buoy center of gravity is determined by the fourth torque M of the wave on the buoy center of gravity in the vertical direction. waveV (t). For example, F waveV The result of the cross product of the fourth distance is determined as the fourth torque M of the sea wave on the center of gravity of the buoy in the vertical direction. waveV (t).

[0131] Optionally, the combined torque of the center of gravity may be determined based on the first torque, the second torque, the third torque, and the fourth torque. Optionally, the buoyancy F of the seawater on the buoy may be determined based on the buoyancy F of the seawater on the buoy. b And the buoy center of gravity obtained by the attitude sensor to the point where the buoyant force acts on the buoy ( Figure 2 The fifth distance between the buoyant force of the seawater and the center of gravity of the buoy is determined by the fifth torque M b (t). For example, F b The result of the cross product with the fifth distance is determined as the fifth torque M of the buoyancy on the center of gravity of the buoy b (t).

[0132] It can also be based on the pulling force F of the counterweight on the buoy 配重 and the center of gravity of the buoy obtained by the attitude sensor to the point where the tension acts on the buoy (see Figure 3 Medium F 配重 The sixth distance between the end point of the arrow (indicated by the sixth distance between the end point of the arrow, referred to as the tension point in the figure) determines the sixth torque M of the tension of the counterweight on the buoy on the center of gravity of the buoy T (t). For example, F 配重 The result of the cross product of the sixth distance is determined as the sixth torque M of the pulling force on the center of gravity of the buoy. T (t). In addition, Figure 2Among them, l1 can represent the distance between the center of gravity of the buoy and the point of application of tension, l2 can represent the distance between the point of application of wave force and the point of application of tension, D can represent the vertical distance between the water surface and the point of application of tension, l3 can represent the distance between the point of application of wind force and the point of application of tension, and l4 can represent the vertical distance from the point of application of tension to the plane where the top surface of the buoy is located. I will not go into details here.

[0133] Optionally, the gravity resultant torque may be determined based on the first torque, the second torque, the third torque, the fourth torque, the fifth torque, and the sixth torque. For example, the sum of the first torque, the second torque, the third torque, the fourth torque, the fifth torque, and the sixth torque may be determined as the gravity resultant torque, that is, the gravity resultant torque may be obtained using the following formula:

[0134] M(t)=M wind (t)+M curr (t)+M waveH (t)+M waveV (t)+M b (t)+M T (t)

[0135] Optionally, the rotation angle of the buoy can be obtained based on the combined torque of the center of gravity, the preset moment of inertia J of the buoy to the center of gravity, and the time series iteration method. Among them, the rotation angle of the buoy can be determined based on the following formula:

[0136]

[0137] Among them, ω(t) represents the angular velocity of the buoy around the center of gravity at the current statistical time t, and ω(t) can be obtained by the following formula:

[0138] ω(t)=a J (t)Δt+ω(t-Δt).

[0139] Among them, a J (t) represents the angular acceleration of the buoy around its center of gravity at the current statistical moment t. J (t) can be obtained by the following formula:

[0140]

[0141] Indicates the rotation angle of the buoy around the center of gravity at the last statistical moment.

[0142] ω(t-Δt) represents the angular velocity of the buoy around the center of gravity at the last statistical moment.

[0143] The following is an introduction to the process of determining the vertical displacement of the buoy. In a possible implementation, for the vertical translation of the buoy, the vertical displacement of the buoy can be obtained based on the vertical force value of the wave and the translation algorithm, and the vertical displacement of the buoy is used to reflect the vertical translation of the buoy. Optionally, when determining the vertical displacement z(t) of the buoy, the vertical force value F of the wave can be obtained respectively. waveV (t), buoyancy of seawater on the buoy F b (t), the pulling force F of the counterweight on the buoy 配重 , and the gravity G of the buoy. The pulling force of the counterweight on the buoy can be a preset value, which is not specifically limited in this application. The gravity G of the buoy can be measured in advance and will not be described in detail here. b (t) can be obtained based on the following formula:

[0144] F b (t) = ρgV 排 , where ρ is the pre-stored seawater density, which can be 1200 kg / m 3 etc., which is not specifically limited in this application. g is the set gravity acceleration. Optionally, V 排 can be the displacement volume of the buoy, V 排 Can be equal to the buoy wet water volume V b .

[0145] Optional, That is, V can be determined based on the diameter w of the cross section of the buoy and the draft y(t). 排 , and then determine the buoyancy F of seawater on the buoy b (t).

[0146] In a possible implementation, the resultant force of the buoy in the vertical direction (referred to as the vertical resultant force for convenience of description) F can be determined according to the sum of the vertical force value of the waves, the buoyancy of the seawater on the buoy, the pulling force of the counterweight on the buoy, and the gravity of the buoy. z (t), that is:

[0147] F z (t) = F waveV (t)+F b (t)+T+G.

[0148] Optionally, it can be based on the vertical force F z (t), the mass m of the buoy measured in advance, and the time series iteration method are used to obtain the displacement of the buoy in the vertical direction. Optionally, the displacement z(t) of the buoy in the vertical direction can be obtained based on the following formula:

[0149]

[0150] Among them, v(t) represents the vertical velocity of the buoy at the current statistical time t, and v(t) can be obtained by the following formula:

[0151] v(t)=a(t)Δt+v(t-Δt)

[0152] Where a(t) represents the vertical acceleration of the buoy at the current statistical time t, and a(t) can be obtained by the following formula:

[0153]

[0154] Where m is the mass of the buoy.

[0155] Δt represents the time interval between two adjacent statistical moments, that is, the time iteration step of displacement calculation. z(t-Δt) is the vertical displacement of the buoy at the last statistical moment. v(t-Δt) is the vertical velocity of the buoy at the last statistical moment.

[0156] The embodiment of the present application is based on the above-mentioned time series iteration method. When obtaining the roll parameters of the buoy (such as the displacement or rotation angle of the buoy in the vertical direction), the roll parameters of the buoy at each statistical moment under different time granularity (precision) can be obtained by adjusting the size of the time iteration step (the time interval Δt between two adjacent statistical moments). For example, when the time iteration step (the time interval Δt between two adjacent statistical moments) is set to be larger, the time interval between two adjacent statistical moments is longer, and the roll parameters of the buoy such as the displacement and rotation angle of the buoy in the vertical direction at each statistical moment under a coarser time granularity can be obtained. When the time iteration step (the time interval Δt between two adjacent statistical moments) is set to be smaller, the time interval between two adjacent statistical moments is shorter, and the roll parameters of the buoy such as the displacement and rotation angle of the buoy in the vertical direction at each statistical moment under a finer time granularity can be obtained. That is, the embodiment of the present application can flexibly and quickly obtain the roll parameters of the buoy at each statistical moment under different time granularity based on the above-mentioned time series iteration method.

[0157] After obtaining the buoy's roll parameters such as the buoy's vertical displacement and rotation angle, the buoy's structural parameters can be adjusted based on the buoy's roll parameters to enhance the buoy's robustness, further improve the buoy's roll, reduce the deflection angle, reduce the antenna beam width requirements, increase the antenna gain, etc., to maximize the stability of the buoy during data transmission and ensure the stability of the marine environment monitoring process. Among them, the existing technology can be used to adjust the buoy's structural parameters based on the roll parameters, which will not be repeated here.

[0158] Since the embodiment of the present application can simplify the process of calculating the roll parameters of the buoy to obtain the sea breeze horizontal force value on the buoy in the horizontal direction based on the draft of the buoy at any statistical moment and the set sea breeze force algorithm; and obtain the sea current horizontal force value on the buoy in the horizontal direction based on the draft and the set current force algorithm; obtain the sea wave horizontal force value on the buoy in the horizontal direction based on the draft and the set wave horizontal force algorithm; obtain the sea wave vertical force value on the buoy in the vertical direction based on the draft and the set wave vertical force algorithm; obtain the rotation angle of the buoy based on the sea breeze horizontal force value, the current horizontal force value, the wave horizontal force value, the wave vertical force value and the deflection motion algorithm, based on this, while ensuring the accuracy of the determined roll parameters of the buoy to the greatest extent, it is also possible to simplify the calculation process, improve the calculation speed, and achieve the purpose of quickly and accurately determining the roll parameters of the buoy.

[0159] For ease of understanding, the following is an explanation of the process of determining the roll parameters of the buoy provided by the present application through a specific embodiment. Figure 4 , Figure 4 A schematic diagram of a process for determining a roll parameter of a second buoy provided in some embodiments is shown, and the process includes the following steps:

[0160] S401: For the current statistical moment, based on a preset attitude sensor, obtain the draft of the buoy at the current statistical moment.

[0161] S402: Based on the rotation angle, height, cross-sectional diameter and draft of the buoy at the last statistical moment, determine the sea breeze force area of ​​the buoy at the current statistical moment; based on the sea breeze force area and the sea breeze force algorithm, determine the sea breeze horizontal force value. At the same time, the horizontal current force area of ​​the buoy at the current statistical moment can be determined based on the cross-sectional diameter and draft of the buoy; based on the horizontal current force area and the set current force algorithm, determine the current horizontal force value of the buoy at the current statistical moment. In addition, the horizontal wave force area of ​​the buoy at the current statistical moment can also be determined based on the rotation angle, cross-sectional diameter and draft of the buoy at the last statistical moment; based on the horizontal wave force area and the wave horizontal force algorithm, determine the wave horizontal force value of the buoy at the current statistical moment. In addition, the vertical wave force area of ​​the buoy at the current statistical moment can be determined based on the diameter of the buoy's cross section and the draft depth; the vertical wave force value of the buoy at the current statistical moment can be determined based on the vertical wave force area and the wave vertical force algorithm.

[0162] S403: Based on the horizontal force value of the sea breeze, the horizontal force value of the ocean current, the horizontal force value of the ocean wave, the vertical force value of the ocean wave and the deflection motion algorithm, the rotation angle of the buoy is obtained; and based on the vertical force value of the ocean wave and the translation motion algorithm, the displacement of the buoy in the vertical direction is obtained.

[0163] Embodiment 2:

[0164] Based on the same technical concept, the present application provides a device for determining the roll parameters of a buoy, see Figure 5 , Figure 5 A schematic diagram of a device for determining a roll parameter of a buoy provided in some embodiments is shown, the device comprising:

[0165] The first obtaining module 51 is used for obtaining the draft of the buoy at any statistical moment based on a preset attitude sensor;

[0166] The second obtaining module 52 is used to obtain the horizontal force value of the sea wind on the buoy in the horizontal direction based on the draft and the set sea wind force algorithm; and to obtain the horizontal force value of the sea current on the buoy in the horizontal direction based on the draft and the set sea current force algorithm; to obtain the horizontal force value of the sea wave on the buoy in the horizontal direction based on the draft and the set sea wave horizontal force algorithm; and to obtain the vertical force value of the sea wave on the buoy in the vertical direction based on the draft and the set sea wave vertical force algorithm;

[0167] The determination module 53 is used to obtain the rotation angle of the buoy based on the horizontal force value of the sea breeze, the horizontal force value of the ocean current, the horizontal force value of the ocean wave, the vertical force value of the ocean wave and the deflection motion algorithm.

[0168] In a possible implementation manner, the second obtaining module 52 is specifically configured to:

[0169] Determine the sea wind force area of ​​the buoy at the statistical moment based on the rotation angle at the last statistical moment, the height of the buoy, the diameter of the cross section of the buoy, and the draft;

[0170] Based on the sea breeze force area and the sea breeze force algorithm, the sea breeze horizontal force value is determined.

[0171] In a possible implementation manner, the second obtaining module 52 is specifically configured to:

[0172] Determine the horizontal current force area of ​​the buoy at the statistical moment based on the obtained cross-sectional diameter of the buoy and the draft;

[0173] The horizontal current force value is determined based on the horizontal current force area and the set current force algorithm.

[0174] In a possible implementation manner, the second obtaining module 52 is specifically configured to:

[0175] Determine the wave force area of ​​the buoy in the horizontal direction at the statistical moment based on the rotation angle at the last statistical moment, the diameter of the cross section of the buoy, and the draft;

[0176] Based on the horizontal wave force area and the wave horizontal force algorithm, the wave horizontal force value is determined.

[0177] In a possible implementation manner, the second obtaining module 52 is specifically configured to:

[0178] The wetted water volume of the buoy is obtained according to the vertical wave force area and the draft at the statistical moment; wherein the vertical wave force area is determined based on the obtained diameter of the cross section of the buoy and the draft;

[0179] The horizontal wave force value is determined based on the wet water volume of the buoy, the horizontal wave force area and the wave horizontal force algorithm.

[0180] In a possible implementation manner, the second obtaining module 52 is specifically configured to:

[0181] Determine the vertical wave force area of ​​the buoy at the statistical moment based on the obtained diameter of the cross section of the buoy and the draft;

[0182] Based on the vertical wave force area and the wave vertical force algorithm, the wave vertical force value is determined.

[0183] In a possible implementation manner, the second obtaining module 52 is specifically configured to:

[0184] Obtaining the wetted water volume of the buoy according to the vertical wave force area and the draft;

[0185] The vertical wave force value is determined based on the wet water volume of the buoy, the vertical wave force area and the wave vertical force algorithm.

[0186] In a possible implementation manner, the determining module 53 is specifically configured to:

[0187] Based on the horizontal force value of the sea breeze and the first distance between the center of gravity of the buoy obtained by the attitude sensor and the point where the horizontal force value of the sea breeze acts on the buoy, determine the first torque of the sea breeze on the center of gravity of the buoy; and based on the horizontal force value of the ocean current and the second distance between the center of gravity of the buoy obtained by the attitude sensor and the point where the horizontal force value of the ocean current acts on the buoy, determine the second torque of the ocean current on the center of gravity of the buoy; based on the horizontal force value of the ocean wave and the third distance between the center of gravity of the buoy obtained by the attitude sensor and the point where the horizontal force value of the ocean wave acts on the buoy, determine the third torque of the ocean wave on the center of gravity of the buoy in the horizontal direction; based on the vertical force value of the ocean wave and the fourth distance between the center of gravity of the buoy obtained by the attitude sensor and the point where the vertical force value of the ocean wave acts on the buoy, determine the fourth torque of the ocean wave on the center of gravity of the buoy in the vertical direction;

[0188] Determine a gravity center torque based on the first torque, the second torque, the third torque and the fourth torque;

[0189] Based on the combined torque of the center of gravity and the preset moment of inertia of the buoy with respect to the center of gravity, the rotation angle of the buoy is obtained.

[0190] In a possible implementation manner, the determining module 53 is specifically configured to:

[0191] Obtaining a fifth torque of the buoyancy of the seawater on the buoy on the center of gravity of the buoy and a sixth torque of the tension of the counterweight on the buoy on the center of gravity of the buoy; wherein the fifth torque is determined based on the buoyancy of the seawater on the buoy and a fifth distance between the center of gravity of the buoy obtained by the attitude sensor and the point of action of the buoy on the buoy, and the sixth torque is determined based on the tension of the counterweight on the buoy and a sixth distance between the center of gravity of the buoy obtained by the attitude sensor and the point of action of the tension on the buoy;

[0192] A center-of-gravity torque is determined based on the first torque, the second torque, the third torque, the fourth torque, the fifth torque, and the sixth torque.

[0193] In a possible implementation manner, the determining module 53 is further configured to:

[0194] Based on the vertical force value of the waves and the translational motion algorithm, the displacement of the buoy in the vertical direction is obtained.

[0195] In a possible implementation manner, the determining module 53 is specifically configured to:

[0196] Determine the vertical resultant force of the buoy in the vertical direction according to the vertical force value of the sea waves, the buoyancy of the sea water on the buoy, the pulling force of the counterweight on the buoy, and the gravity of the buoy;

[0197] Based on the vertical resultant force and the obtained mass of the buoy, the displacement of the buoy in the vertical direction is obtained.

[0198] Embodiment 3:

[0199] Based on the same technical concept, the present application also provides an electronic device, Figure 6 A schematic diagram of the structure of an electronic device provided by some embodiments is shown. Figure 6 As shown, the electronic device includes: a processor 61, a communication interface 62, a memory 63 and a communication bus 64, wherein the processor 61, the communication interface 62, and the memory 63 communicate with each other through the communication bus 64;

[0200] The memory 63 stores a computer program. When the program is executed by the processor 61, the processor 61 performs the following steps:

[0201] For any statistical moment, based on a preset attitude sensor, obtain the draft of the buoy at the statistical moment;

[0202] Based on the draft and the set sea breeze force algorithm, the sea breeze horizontal force value of the sea breeze on the buoy in the horizontal direction is obtained; and based on the draft and the set current force algorithm, the sea current horizontal force value of the sea current on the buoy in the horizontal direction is obtained; based on the draft and the set wave horizontal force algorithm, the sea wave horizontal force value of the sea wave on the buoy in the horizontal direction is obtained; based on the draft and the set wave vertical force algorithm, the sea wave vertical force value of the sea wave on the buoy in the vertical direction is obtained;

[0203] The rotation angle of the buoy is obtained based on the horizontal force value of the sea breeze, the horizontal force value of the ocean current, the horizontal force value of the ocean wave, the vertical force value of the ocean wave and the deflection motion algorithm.

[0204] In a possible implementation manner, the processor 61 is specifically configured to:

[0205] Determine the sea wind force area of ​​the buoy at the statistical moment based on the rotation angle at the last statistical moment, the height of the buoy, the diameter of the cross section of the buoy, and the draft;

[0206] Based on the sea breeze force area and the sea breeze force algorithm, the sea breeze horizontal force value is determined.

[0207] In a possible implementation manner, the processor 61 is specifically configured to:

[0208] Determine the horizontal current force area of ​​the buoy at the statistical moment based on the obtained cross-sectional diameter of the buoy and the draft;

[0209] The horizontal current force value is determined based on the horizontal current force area and the set current force algorithm.

[0210] In a possible implementation manner, the processor 61 is specifically configured to:

[0211] Determine the wave force area of ​​the buoy in the horizontal direction at the statistical moment based on the rotation angle at the last statistical moment, the diameter of the cross section of the buoy, and the draft;

[0212] Based on the horizontal wave force area and the wave horizontal force algorithm, the wave horizontal force value is determined.

[0213] In a possible implementation manner, the processor 61 is specifically configured to:

[0214] The wetted water volume of the buoy is obtained according to the vertical wave force area and the draft at the statistical moment; wherein the vertical wave force area is determined based on the obtained diameter of the cross section of the buoy and the draft;

[0215] The horizontal wave force value is determined based on the wet water volume of the buoy, the horizontal wave force area and the wave horizontal force algorithm.

[0216] In a possible implementation manner, the processor 61 is specifically configured to:

[0217] Determine the vertical wave force area of ​​the buoy at the statistical moment based on the obtained diameter of the cross section of the buoy and the draft;

[0218] Based on the vertical wave force area and the wave vertical force algorithm, the wave vertical force value is determined.

[0219] In a possible implementation manner, the processor 61 is specifically configured to:

[0220] Obtaining the wetted water volume of the buoy according to the vertical wave force area and the draft;

[0221] The vertical wave force value is determined based on the wet water volume of the buoy, the vertical wave force area and the wave vertical force algorithm.

[0222] In a possible implementation manner, the processor 61 is specifically configured to:

[0223] Based on the horizontal force value of the sea breeze and the first distance between the center of gravity of the buoy obtained by the attitude sensor and the point where the horizontal force value of the sea breeze acts on the buoy, determine the first torque of the sea breeze on the center of gravity of the buoy; and based on the horizontal force value of the ocean current and the second distance between the center of gravity of the buoy obtained by the attitude sensor and the point where the horizontal force value of the ocean current acts on the buoy, determine the second torque of the ocean current on the center of gravity of the buoy; based on the horizontal force value of the ocean wave and the third distance between the center of gravity of the buoy obtained by the attitude sensor and the point where the horizontal force value of the ocean wave acts on the buoy, determine the third torque of the ocean wave on the center of gravity of the buoy in the horizontal direction; based on the vertical force value of the ocean wave and the fourth distance between the center of gravity of the buoy obtained by the attitude sensor and the point where the vertical force value of the ocean wave acts on the buoy, determine the fourth torque of the ocean wave on the center of gravity of the buoy in the vertical direction;

[0224] Determine a gravity center torque based on the first torque, the second torque, the third torque and the fourth torque;

[0225] Based on the combined torque of the center of gravity and the preset moment of inertia of the buoy with respect to the center of gravity, the rotation angle of the buoy is obtained.

[0226] In a possible implementation manner, the processor 61 is specifically configured to:

[0227] Obtaining a fifth torque of the buoyancy of the seawater on the buoy on the center of gravity of the buoy and a sixth torque of the tension of the counterweight on the buoy on the center of gravity of the buoy; wherein the fifth torque is determined based on the buoyancy of the seawater on the buoy and a fifth distance between the center of gravity of the buoy obtained by the attitude sensor and the point of action of the buoy on the buoy, and the sixth torque is determined based on the tension of the counterweight on the buoy and a sixth distance between the center of gravity of the buoy obtained by the attitude sensor and the point of action of the tension on the buoy;

[0228] A center-of-gravity torque is determined based on the first torque, the second torque, the third torque, the fourth torque, the fifth torque, and the sixth torque.

[0229] In a possible implementation manner, the processor 61 is further configured to:

[0230] Based on the vertical force value of the waves and the translational motion algorithm, the displacement of the buoy in the vertical direction is obtained.

[0231] In a possible implementation manner, the processor 61 is specifically configured to:

[0232] Determine the vertical resultant force of the buoy in the vertical direction according to the vertical force value of the sea waves, the buoyancy of the sea water on the buoy, the pulling force of the counterweight on the buoy, and the gravity of the buoy;

[0233] Based on the vertical resultant force and the obtained mass of the buoy, the displacement of the buoy in the vertical direction is obtained.

[0234] The communication bus mentioned in the above electronic device can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0235] The communication interface 62 is used for communication between the above electronic device and other devices.

[0236] The memory may include a random access memory (RAM) or a non-volatile memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0237] The above-mentioned processor can be a general-purpose processor, including a central processing unit, a network processor (Network Processor, NP), etc.; it can also be a digital signal processing processor (Digital Signal Processing, DSP), an application-specific integrated circuit, a field programmable gate array or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, etc.

[0238] Embodiment 4:

[0239] Based on the same technical concept, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program executable by an electronic device. When the program runs on the electronic device, the electronic device implements the following steps when executing:

[0240] For any statistical moment, based on a preset attitude sensor, obtain the draft of the buoy at the statistical moment;

[0241] Based on the draft and the set sea breeze force algorithm, the sea breeze horizontal force value of the sea breeze on the buoy in the horizontal direction is obtained; and based on the draft and the set current force algorithm, the sea current horizontal force value of the sea current on the buoy in the horizontal direction is obtained; based on the draft and the set wave horizontal force algorithm, the sea wave horizontal force value of the sea wave on the buoy in the horizontal direction is obtained; based on the draft and the set wave vertical force algorithm, the sea wave vertical force value of the sea wave on the buoy in the vertical direction is obtained;

[0242] The rotation angle of the buoy is obtained based on the horizontal force value of the sea breeze, the horizontal force value of the ocean current, the horizontal force value of the ocean wave, the vertical force value of the ocean wave and the deflection motion algorithm.

[0243] In a possible implementation manner, obtaining the sea wind horizontal force value of the sea wind on the buoy in the horizontal direction based on the draft depth and the set sea wind force algorithm includes:

[0244] Determine the sea wind force area of ​​the buoy at the statistical moment based on the rotation angle at the last statistical moment, the height of the buoy, the diameter of the cross section of the buoy, and the draft;

[0245] Based on the sea breeze force area and the sea breeze force algorithm, the sea breeze horizontal force value is determined.

[0246] In a possible implementation manner, obtaining the horizontal force value of the current on the buoy in the horizontal direction based on the draft depth and the set current force algorithm includes:

[0247] Determine the horizontal current force area of ​​the buoy at the statistical moment based on the obtained cross-sectional diameter of the buoy and the draft;

[0248] The horizontal current force value is determined based on the horizontal current force area and the set current force algorithm.

[0249] In a possible implementation manner, obtaining the horizontal wave force value of the wave on the buoy in the horizontal direction based on the draft depth and the set wave horizontal force algorithm includes:

[0250] Determine the wave force area of ​​the buoy in the horizontal direction at the statistical moment based on the rotation angle at the last statistical moment, the diameter of the cross section of the buoy, and the draft;

[0251] Based on the horizontal wave force area and the wave horizontal force algorithm, the wave horizontal force value is determined.

[0252] In a possible implementation manner, determining the wave horizontal force value based on the wave force area in the horizontal direction and the wave horizontal force algorithm includes:

[0253] The wetted water volume of the buoy is obtained according to the vertical wave force area and the draft at the statistical moment; wherein the vertical wave force area is determined based on the obtained diameter of the cross section of the buoy and the draft;

[0254] The horizontal wave force value is determined based on the wet water volume of the buoy, the horizontal wave force area and the wave horizontal force algorithm.

[0255] In a possible implementation manner, obtaining the vertical force value of the waves on the buoy in the vertical direction based on the draft depth and the set vertical force algorithm of the waves includes:

[0256] Determine the vertical wave force area of ​​the buoy at the statistical moment based on the obtained diameter of the cross section of the buoy and the draft;

[0257] Based on the vertical wave force area and the wave vertical force algorithm, the wave vertical force value is determined.

[0258] In a possible implementation manner, determining the vertical wave force value based on the vertical wave force area and the wave vertical force algorithm includes:

[0259] Obtaining the wetted water volume of the buoy according to the vertical wave force area and the draft;

[0260] The vertical wave force value is determined based on the wet water volume of the buoy, the vertical wave force area and the wave vertical force algorithm.

[0261] In a possible implementation manner, obtaining the rotation angle of the buoy based on the sea breeze horizontal force value, the ocean current horizontal force value, the ocean wave horizontal force value, the ocean wave vertical force value, and the deflection motion algorithm includes:

[0262] Based on the horizontal force value of the sea breeze and the first distance between the center of gravity of the buoy obtained by the attitude sensor and the point where the horizontal force value of the sea breeze acts on the buoy, determine the first torque of the sea breeze on the center of gravity of the buoy; and based on the horizontal force value of the ocean current and the second distance between the center of gravity of the buoy obtained by the attitude sensor and the point where the horizontal force value of the ocean current acts on the buoy, determine the second torque of the ocean current on the center of gravity of the buoy; based on the horizontal force value of the ocean wave and the third distance between the center of gravity of the buoy obtained by the attitude sensor and the point where the horizontal force value of the ocean wave acts on the buoy, determine the third torque of the ocean wave on the center of gravity of the buoy in the horizontal direction; based on the vertical force value of the ocean wave and the fourth distance between the center of gravity of the buoy obtained by the attitude sensor and the point where the vertical force value of the ocean wave acts on the buoy, determine the fourth torque of the ocean wave on the center of gravity of the buoy in the vertical direction;

[0263] Determine a gravity center torque based on the first torque, the second torque, the third torque and the fourth torque;

[0264] Based on the combined torque of the center of gravity and the preset moment of inertia of the buoy with respect to the center of gravity, the rotation angle of the buoy is obtained.

[0265] In a possible implementation manner, determining the center of gravity torque based on the first torque, the second torque, the third torque, and the fourth torque includes:

[0266] Obtaining a fifth torque of the buoyancy of the seawater on the buoy on the center of gravity of the buoy and a sixth torque of the tension of the counterweight on the buoy on the center of gravity of the buoy; wherein the fifth torque is determined based on the buoyancy of the seawater on the buoy and a fifth distance between the center of gravity of the buoy obtained by the attitude sensor and the point of action of the buoy on the buoy, and the sixth torque is determined based on the tension of the counterweight on the buoy and a sixth distance between the center of gravity of the buoy obtained by the attitude sensor and the point of action of the tension on the buoy;

[0267] A center-of-gravity torque is determined based on the first torque, the second torque, the third torque, the fourth torque, the fifth torque, and the sixth torque.

[0268] In a possible implementation, the method further includes:

[0269] Based on the vertical force value of the waves and the translational motion algorithm, the displacement of the buoy in the vertical direction is obtained.

[0270] In a possible implementation manner, obtaining the vertical displacement of the buoy based on the vertical force value of the wave and the translational motion algorithm includes:

[0271] Determine the vertical resultant force of the buoy in the vertical direction according to the vertical force value of the sea waves, the buoyancy of the sea water on the buoy, the pulling force of the counterweight on the buoy, and the gravity of the buoy;

[0272] Based on the vertical resultant force and the obtained mass of the buoy, the displacement of the buoy in the vertical direction is obtained.

[0273] The above-mentioned computer-readable storage medium can be any available medium or data storage device that can be accessed by the processor in the electronic device, including but not limited to magnetic storage such as floppy disks, hard disks, magnetic tapes, magneto-optical disks (MO), etc., optical storage such as CD, DVD, BD, HVD, etc., and semiconductor storage such as ROM, EPROM, EEPROM, non-volatile memory (NANDFLASH), solid-state drive (SSD), etc.

[0274] Based on the same technical concept, the present application provides a computer program product, which includes: computer program code, when the computer program code runs on a computer, the computer implements the method described in any method embodiment applied to an electronic device.

[0275] In the above embodiments, all or part of the embodiments may be implemented by software, hardware, firmware or any combination thereof, and all or part of the embodiments may be implemented in the form of a computer program product. The computer program product includes one or more computer instructions, and when the computer instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present application are generated.

[0276] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0277] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0278] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0279] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0280] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A method for determining the rolling parameters of a buoy, characterized in that: The method comprises: For any statistical moment, based on a preset attitude sensor, obtain the draft of the buoy at the statistical moment; Based on the draft and the set sea breeze force algorithm, the sea breeze horizontal force value of the sea breeze on the buoy in the horizontal direction is obtained; and based on the draft and the set current force algorithm, the sea current horizontal force value of the sea current on the buoy in the horizontal direction is obtained; based on the draft and the set wave horizontal force algorithm, the sea wave horizontal force value of the sea wave on the buoy in the horizontal direction is obtained; based on the draft and the set wave vertical force algorithm, the sea wave vertical force value of the sea wave on the buoy in the vertical direction is obtained; The rotation angle of the buoy is obtained based on the horizontal force value of the sea breeze, the horizontal force value of the ocean current, the horizontal force value of the ocean wave, the vertical force value of the ocean wave and the deflection motion algorithm.

2. The method according to claim 1, characterized in that The obtaining of the sea wind horizontal force value of the sea wind on the buoy in the horizontal direction based on the draft depth and the set sea wind force algorithm includes: Determine the sea wind force area of ​​the buoy at the statistical moment based on the rotation angle at the last statistical moment, the height of the buoy, the diameter of the cross section of the buoy, and the draft; Based on the sea breeze force area and the sea breeze force algorithm, the sea breeze horizontal force value is determined.

3. The method according to claim 1, characterized in that The method of obtaining the horizontal force value of the current on the buoy in the horizontal direction based on the draft depth and the set current force algorithm includes: Determine the horizontal current force area of ​​the buoy at the statistical moment based on the obtained cross-sectional diameter of the buoy and the draft; The horizontal current force value is determined based on the horizontal current force area and the set current force algorithm.

4. The method according to claim 1, characterized in that: The method of obtaining the horizontal force value of the waves on the buoy in the horizontal direction based on the draft depth and the set horizontal force algorithm of the waves includes: Determine the wave force area of ​​the buoy in the horizontal direction at the statistical moment based on the rotation angle at the last statistical moment, the diameter of the cross section of the buoy, and the draft; Based on the horizontal wave force area and the wave horizontal force algorithm, the wave horizontal force value is determined.

5. The method according to claim 4, characterized in that The determining the horizontal wave force value based on the horizontal wave force area and the wave horizontal force algorithm comprises: The wetted water volume of the buoy is obtained according to the vertical wave force area and the draft at the statistical moment; wherein the vertical wave force area is determined based on the obtained diameter of the cross section of the buoy and the draft; The horizontal wave force value is determined based on the wet water volume of the buoy, the horizontal wave force area and the wave horizontal force algorithm.

6. The method according to claim 1, characterized in that The method of obtaining the vertical force value of the waves on the buoy in the vertical direction based on the draft depth and the set vertical force algorithm of the waves includes: Determine the vertical wave force area of ​​the buoy at the statistical moment based on the obtained diameter of the cross section of the buoy and the draft; Based on the vertical wave force area and the wave vertical force algorithm, the wave vertical force value is determined.

7. The method according to claim 6, characterized in that The determining of the vertical wave force value based on the vertical wave force area and the wave vertical force algorithm comprises: Obtaining the wetted water volume of the buoy according to the vertical wave force area and the draft; The vertical wave force value is determined based on the wet water volume of the buoy, the vertical wave force area and the wave vertical force algorithm.

8. The method according to claim 1, characterized in that The obtaining of the rotation angle of the buoy based on the horizontal force value of the sea breeze, the horizontal force value of the sea current, the horizontal force value of the sea wave, the vertical force value of the sea wave and the deflection motion algorithm comprises: Based on the horizontal force value of the sea breeze and the first distance between the center of gravity of the buoy obtained by the attitude sensor and the point where the horizontal force value of the sea breeze acts on the buoy, determine the first torque of the sea breeze on the center of gravity of the buoy; and based on the horizontal force value of the ocean current and the second distance between the center of gravity of the buoy obtained by the attitude sensor and the point where the horizontal force value of the ocean current acts on the buoy, determine the second torque of the ocean current on the center of gravity of the buoy; based on the horizontal force value of the ocean wave and the third distance between the center of gravity of the buoy obtained by the attitude sensor and the point where the horizontal force value of the ocean wave acts on the buoy, determine the third torque of the ocean wave on the center of gravity of the buoy in the horizontal direction; based on the vertical force value of the ocean wave and the fourth distance between the center of gravity of the buoy obtained by the attitude sensor and the point where the vertical force value of the ocean wave acts on the buoy, determine the fourth torque of the ocean wave on the center of gravity of the buoy in the vertical direction; Determine a gravity center torque based on the first torque, the second torque, the third torque and the fourth torque; Based on the combined torque of the center of gravity and the preset moment of inertia of the buoy with respect to the center of gravity, the rotation angle of the buoy is obtained.

9. The method according to claim 8, characterized in that The determining of the gravity center torque based on the first torque, the second torque, the third torque and the fourth torque comprises: Obtaining a fifth torque of the buoyancy of the seawater on the buoy on the center of gravity of the buoy and a sixth torque of the tension of the counterweight on the buoy on the center of gravity of the buoy; wherein the fifth torque is determined based on the buoyancy of the seawater on the buoy and a fifth distance between the center of gravity of the buoy obtained by the attitude sensor and the point of action of the buoy on the buoy, and the sixth torque is determined based on the tension of the counterweight on the buoy and a sixth distance between the center of gravity of the buoy obtained by the attitude sensor and the point of action of the tension on the buoy; A center-of-gravity torque is determined based on the first torque, the second torque, the third torque, the fourth torque, the fifth torque, and the sixth torque.

10. The method according to any one of claims 1 to 9, characterized in that: The method further comprises: Based on the vertical force value of the waves and the translational motion algorithm, the displacement of the buoy in the vertical direction is obtained.

11. The method according to claim 10, characterized in that The obtaining of the vertical displacement of the buoy based on the vertical force value of the wave and the translational motion algorithm comprises: Determine the vertical resultant force of the buoy in the vertical direction according to the vertical force value of the sea waves, the buoyancy of the sea water on the buoy, the pulling force of the counterweight on the buoy, and the gravity of the buoy; Based on the vertical resultant force and the obtained mass of the buoy, the displacement of the buoy in the vertical direction is obtained.

12. A device for determining the rolling parameters of a buoy, characterized in that: The device comprises: A first obtaining module is used for obtaining the draft of the buoy at any statistical moment based on a preset attitude sensor; The second obtaining module is used to obtain the sea wind horizontal force value of the sea wind on the buoy in the horizontal direction based on the draft depth and the set sea wind force algorithm; and to obtain the sea current horizontal force value of the sea current on the buoy in the horizontal direction based on the draft depth and the set sea current force algorithm; to obtain the sea wave horizontal force value of the sea wave on the buoy in the horizontal direction based on the draft depth and the set sea wave horizontal force algorithm; and to obtain the sea wave vertical force value of the sea wave on the buoy in the vertical direction based on the draft depth and the set sea wave vertical force algorithm; The determination module is used to obtain the rotation angle of the buoy based on the horizontal force value of the sea breeze, the horizontal force value of the ocean current, the horizontal force value of the ocean wave, the vertical force value of the ocean wave and the deflection motion algorithm.

13. The device according to claim 12, characterized in that The second obtaining module is specifically used for: Determine the sea wind force area of ​​the buoy at the statistical moment based on the rotation angle at the last statistical moment, the height of the buoy, the diameter of the cross section of the buoy, and the draft; Based on the sea breeze force area and the sea breeze force algorithm, the sea breeze horizontal force value is determined.

14. The device according to claim 12, characterized in that The second obtaining module is specifically used for: Determine the horizontal current force area of ​​the buoy at the statistical moment based on the obtained cross-sectional diameter of the buoy and the draft; The horizontal current force value is determined based on the horizontal current force area and the set current force algorithm.

15. The device according to claim 12, characterized in that The second obtaining module is specifically used for: Determine the wave force area of ​​the buoy in the horizontal direction at the statistical moment based on the rotation angle at the last statistical moment, the diameter of the cross section of the buoy, and the draft; Based on the horizontal wave force area and the wave horizontal force algorithm, the wave horizontal force value is determined.

16. The device according to claim 15, characterized in that The second obtaining module is specifically used for: The wetted water volume of the buoy is obtained according to the vertical wave force area and the draft at the statistical moment; wherein the vertical wave force area is determined based on the obtained diameter of the cross section of the buoy and the draft; The horizontal wave force value is determined based on the wet water volume of the buoy, the horizontal wave force area and the wave horizontal force algorithm.

17. The device according to claim 12, characterized in that The second obtaining module is specifically used for: Determine the vertical wave force area of ​​the buoy at the statistical moment based on the obtained diameter of the cross section of the buoy and the draft; Based on the vertical wave force area and the wave vertical force algorithm, the wave vertical force value is determined.

18. The device according to claim 17, characterized in that The second obtaining module is specifically used for: Obtaining the wetted water volume of the buoy according to the vertical wave force area and the draft; The vertical wave force value is determined based on the wet water volume of the buoy, the vertical wave force area and the wave vertical force algorithm.

19. The device according to claim 12, characterized in that The determination module is specifically used for: Based on the horizontal force value of the sea breeze and the first distance between the center of gravity of the buoy obtained by the attitude sensor and the point where the horizontal force value of the sea breeze acts on the buoy, determine the first torque of the sea breeze on the center of gravity of the buoy; and based on the horizontal force value of the ocean current and the second distance between the center of gravity of the buoy obtained by the attitude sensor and the point where the horizontal force value of the ocean current acts on the buoy, determine the second torque of the ocean current on the center of gravity of the buoy; based on the horizontal force value of the ocean wave and the third distance between the center of gravity of the buoy obtained by the attitude sensor and the point where the horizontal force value of the ocean wave acts on the buoy, determine the third torque of the ocean wave on the center of gravity of the buoy in the horizontal direction; based on the vertical force value of the ocean wave and the fourth distance between the center of gravity of the buoy obtained by the attitude sensor and the point where the vertical force value of the ocean wave acts on the buoy, determine the fourth torque of the ocean wave on the center of gravity of the buoy in the vertical direction; Determine a gravity center torque based on the first torque, the second torque, the third torque and the fourth torque; Based on the combined torque of the center of gravity and the preset moment of inertia of the buoy with respect to the center of gravity, the rotation angle of the buoy is obtained.

20. The device according to claim 19, characterized in that The determination module is specifically used for: Obtaining a fifth torque of the buoyancy of the seawater on the buoy on the center of gravity of the buoy and a sixth torque of the tension of the counterweight on the buoy on the center of gravity of the buoy; wherein the fifth torque is determined based on the buoyancy of the seawater on the buoy and a fifth distance between the center of gravity of the buoy obtained by the attitude sensor and the point of action of the buoy on the buoy, and the sixth torque is determined based on the tension of the counterweight on the buoy and a sixth distance between the center of gravity of the buoy obtained by the attitude sensor and the point of action of the tension on the buoy; A center-of-gravity torque is determined based on the first torque, the second torque, the third torque, the fourth torque, the fifth torque, and the sixth torque.

21. The device according to claim 12, characterized in that The determining module is further used for: Based on the vertical force value of the waves and the translational motion algorithm, the displacement of the buoy in the vertical direction is obtained.

22. The device according to claim 21, characterized in that The determination module is specifically used for: Determine the vertical resultant force of the buoy in the vertical direction according to the vertical force value of the sea waves, the buoyancy of the sea water on the buoy, the pulling force of the counterweight on the buoy, and the gravity of the buoy; Based on the vertical resultant force and the obtained mass of the buoy, the displacement of the buoy in the vertical direction is obtained.

23. An electronic device, characterized in that: The electronic device comprises at least a processor and a memory, and the processor is used to implement the steps of any one of the methods of claims 1-11 when executing a computer program stored in the memory.

24. A computer-readable storage medium, characterized in that: It stores a computer program, which, when executed by a processor, implements the steps of the method according to any one of claims 1 to 11.

Images