Temperature-salinity-depth sensor with controllable descent speed and underwater data acquisition system and method

Abstract

The present invention relates to the field of underwater detection, and specifically to a temperature-salinity-depth sensor with controllable descent speed and an underwater data acquisition system and method, comprising: a main control module, a speed reduction adjustment module, a floating and sinking adjustment module, a power supply module, a sensor module, and a guide shell, wherein the power supply module supplies power to the main control module and the sensor module, the main control module processes information of the sensor module, the main control module is arranged at the tail end of the guide shell, the sensor module is arranged in the guide shell, the power supply module is arranged in the guide shell above the sensor module, and the floating and sinking adjustment module is connected to the guide shell above the power supply module. By arranging the speed reduction adjustment module, it is ensured that the descent speed of the sensor in the water is controllable.

Description

Technical Field

[0001] The present invention relates to the field of underwater detection, and in particular to a temperature-salinity-depth sensor with controllable descent speed and an underwater data acquisition system and method. Background Art

[0002] In marine scientific research projects, the changes in seawater temperature and salinity with depth are the most basic environmental information. Marine surveys first investigate the changes in seawater temperature and salinity with depth. The temperature-salinity-depth instrument, abbreviated as CTD, is an oceanographic instrument used to measure the conductivity, temperature and pressure of seawater.

[0003] In deep sea waters, the change of temperature and salinity is very small, which requires CTD to have high sensitivity, resolution and response speed, otherwise it is not enough to collect the corresponding seawater data. The lowering speed of CTD temperature-salinity-depth instrument is generally 1-2m / s, and the disposable temperature-salinity-depth XCTD is faster. For example, the temperature-depth profile measurement conducted in the 700m deep sea area can be completed in 1-2 minutes for a disposable temperature-depth measurement process, depending on the different drop areas, and the average underwater descent speed can reach 5.8~11.6m / s, so the CTD sensor must achieve a fast sampling rate, otherwise it is easy to miss the temperature-salinity data information of each layer of seawater, affecting data analysis.

[0004] This type of disposable sensor is used to quickly measure the temperature, salinity, and depth profile data of seawater while the ship is sailing. The most common and commercialized structure is to connect the discarded sensor probe with the deck unit information collection end through copper wire. In seawater, the transmission cable can generally reach several thousand meters, and it needs to be very thin and have a certain strength and toughness to prevent premature breakage. Before measurement, the transmission line is wound on two spools. During measurement, as the underwater disposable probe part falls freely in the water, the two spools unfold naturally. To wind the transmission winding and unfold it smoothly, a sophisticated mechanical auxiliary structure or winding process is required. At present, this type of process technology has a certain lag.

[0005] The cable connection also needs to be able to transmit data well. Due to the thin wire diameter, the DC resistance of the transmission wire is large, the values ​​of the inter-wire capacitance and equivalent inductance are also large, and as the spool is unfolded, their values ​​change greatly, causing serious attenuation and deformation of the data during transmission. In view of the various unfavorable communication conditions such as long transmission distance, severe amplitude attenuation and waveform distortion, and rapid time-varying channel parameters, various effective measures need to be taken to ensure the reliability of data transmission. During the measurement process, as the transmission wire is continuously unfolded, the length of the unfolded wire can range from 0 to 3000 m, and it is impossible to adopt a relay amplification solution. Since the transmission wire in the ship-borne throwable temperature and depth measuring instrument is an enameled wire with a diameter of about 0.1 mm, it is not a commonly used RS232 transmission wire, so the transmission effect is worse than that of the traditional twisted pair. At the same time, due to the transmission of the strip line, it is inevitable that the probe and the hull movement will be coupled, resulting in certain restrictions or influences on the falling process, such as the line breaking during the release process, which leads to the failure of this release.

[0006] To sum up the above problems, since disposable temperature-salinity-depth sensors often use a free-fall mode in the water to measure profiles, the falling speed is very fast and uncontrollable. The rapid falling process requires the sensor to respond very quickly in order to capture sufficiently accurate and detailed temperature-salinity-depth profile change data, which brings difficulties to the design and manufacture of the sensor; at the same time, in order to cooperate with the cruise measurement process, the communication line connecting the sensor and the deck unit must be extremely thin and able to be deployed smoothly and quickly, which increases the complexity of sensor design, production, and application. Summary of the invention

[0007] In view of the problems existing in the prior art, the purpose of the present invention is to provide a grid-rudder-assisted hydroacoustic communication disposable temperature-salinity-depth sensor which can simultaneously control the falling speed and posture of the sensor so that the sensor can measure at a controllable lower descent speed.

[0008] To achieve the above purpose, the technical solution adopted by the present invention is: a temperature-salinity-depth sensor with controllable descent speed, comprising:

[0009] A main control module, a speed reduction adjustment module, a floating and sinking adjustment module, a power supply module, a sensor module, and a guide shell. The power supply module supplies power to the main control module and the sensor module. The main control module processes information of the sensor module. The main control module is arranged at the tail end of the guide shell. The sensor module is arranged in the guide shell. The power supply module is arranged in the guide shell above the sensor module. The floating and sinking adjustment module is connected to the guide shell above the power supply module.

[0010] The deceleration adjustment module includes a deceleration wing, a locking device, an active adjustment wheel, a driven adjustment wheel, a left active inner wheel, a right active inner wheel, a left driven inner wheel, a right driven inner wheel, a fixed shaft, and a shaft fixing frame. The shaft fixing frame is connected to the guide shell. The active adjustment wheel and the driven adjustment wheel are meshed on the outside of the shaft fixing frame. The left active inner wheel and the right active inner wheel are meshed on the inside of the shaft fixing frame. The left driven inner wheel and the right driven inner wheel are meshed on the inside of the shaft fixing frame. The fixed shaft includes a fixed end and a keyway end. The fixed end is inserted into the shaft fixing frame. The keyway end is extended outward to be provided with a hollow keyway, four fixed shafts are provided, the active adjustment wheel is connected to the left active inner wheel through the same fixed shaft, the driven adjustment wheel is connected to the left driven inner wheel through the same fixed shaft, and the remaining two fixed shafts are respectively connected to the right active inner wheel and the right driven inner wheel, the locker is fixed on the guide shell, and the locker limits the position of the active adjustment wheel, the deceleration wing includes a wing body and a fixed plug, the fixed plug is provided at the edge of the wing body, and the fixed plug is inserted into the hollow keyway.

[0011] The above-mentioned temperature-salinity-depth sensor with controllable descent speed, the locking device includes a servo motor and a motor bracket, the motor bracket is fixed inside the guide shell, the servo motor is installed on the motor bracket, the servo motor is electrically connected to the power supply module, the main control module controls the rotation of the servo motor, and the output shaft of the servo motor is connected to the active adjustment wheel.

[0012] The above-mentioned temperature-salinity-depth sensor with controllable descent speed, the guide shell includes a top connecting shell, a speed reduction adjustment shell, a floating and sinking adjustment shell, a power supply shell, a sensor shell, and a guide shell. The speed reduction adjustment shell, the floating and sinking adjustment shell, the power supply shell, and the sensor shell are screwed together in sequence, the top connecting shell is screwed on the top of the speed reduction adjustment shell, the guide shell is screwed on the bottom of the sensor shell, and a counterweight block is arranged in front of the guide shell.

[0013] The above-mentioned temperature-salinity-depth sensor with controllable descent speed, the main control module includes an acoustic transducer and a main control circuit, the main control circuit is encapsulated inside the guide shell, and the acoustic transducer passes through the top of the guide shell and is connected to the main control circuit.

[0014] The above-mentioned temperature-salinity-depth sensor with controllable descent speed, the buoyancy adjustment module includes a buoyancy base, a connecting rod, and a buoyancy block. The buoyancy base is fixed to the inner side of the guide shell, and the buoyancy block is fixed to the buoyancy base through the connecting rod. The buoyancy blocks are arranged in different groups on the buoyancy base according to the required buoyancy.

[0015] The above-mentioned temperature-salinity-depth sensor with controllable descent speed, the power supply module uses an independently pressure-resistant packaged battery pack, the battery pack uses a disposable large-capacity pollution-free lithium-ion battery or a mercury-free alkaline zinc-manganese primary battery, which is packaged in a cylindrical pressure-resistant shell with a certain pressure-resistant depth.

[0016] The above-mentioned temperature-salinity-depth sensor with controllable descent speed, the sensor module includes a supporting base plate, a salinity sensor, a temperature sensor, and a pressure sensor. The supporting base plate adopts a low-power acquisition circuit with an embedded chip as the core. The salinity sensor, temperature sensor, and pressure sensor are plugged into the acquisition circuit. The supporting base plate collects and pre-processes the temperature-salinity-depth data collected by the salinity sensor, temperature sensor, and pressure sensor, and transmits the data to the main control circuit in real time.

[0017] An underwater data acquisition system comprises a deck unit and an underwater unit, wherein the underwater unit comprises a temperature-salinity-depth sensor with controllable descent speed as described in any one of the above items, and the deck unit comprises an acoustic positioning communication transducer and a main control unit, wherein the main control unit is connected to the acoustic positioning communication transducer via a cable, and the acoustic positioning communication transducer receives a signal transmitted by the main control module.

[0018] In the above-mentioned underwater data acquisition system, the acoustic positioning communication transducer and the main control module are connected by wireless transmission or wired transmission.

[0019] An underwater data collection method comprises the following steps:

[0020] Step 1: Adjust the weight of the temperature-salinity-depth sensor as described in any of the above items according to the initially measured sea surface temperature and salinity data, and configure the sensor with a preset weight in water;

[0021] Step 2: Complete the assembly of the temperature, salt and depth sensor, connect the wires and power it on, adjust the shape of the deceleration wing, and put the sensor in measurement mode;

[0022] Step 3: Power on the deck unit, monitor the received signal, and test the communication function of the temperature, salinity and depth sensor on board. If the communication is abnormal, troubleshoot the fault or replace the new temperature, salinity and depth sensor, and repeat step 2. If the communication is normal, proceed to the next step;

[0023] Step 4: Place the sensor into the water, and the main control circuit adjusts the transmitted sound power according to the depth measured by the depth sensor, and transmits a set of acoustic communication data per second;

[0024] Step 5: Observe whether the depth exceeds the preset depth. If so, increase the transmitted acoustic power and repeat step 4. If not, maintain the current transmitted acoustic power.

[0025] Step 6: Determine whether the water depth increases. If the water depth continues to increase, continue working and repeat step 4. If the water depth does not increase, send measurement data from the initial depth cycle until the power is exhausted or the transmission stops.

[0026] The beneficial effects of the temperature-salinity-depth sensor and underwater data acquisition system with controllable descent speed of the present invention are: by setting a deceleration adjustment module, the descent speed of the sensor in the water is controllable, rather than sinking at the speed of the sensor's free fall, ensuring that the sensor moves at a certain uniform speed during the measurement process, and by using an open deceleration adjustment module, the posture of the sensor can also be adjusted during the descent of the sensor, ensuring that the posture of the falling process is more stable. By using a spliced ​​shell, it is convenient to independently manufacture each component, and it can be directly spliced ​​when in use. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a side view schematic diagram of the overall structure of the present invention;

[0028] Figure 2 It is a schematic top view of the overall structure of the present invention;

[0029] Figure 3 It is a schematic cross-sectional view of the overall exploded structure of the present invention;

[0030] Figure 4 It is a cross-sectional schematic diagram of the overall combined structure of the present invention;

[0031] Figure 5 This is a schematic diagram of the top structure of the present invention;

[0032] Figure 6 This is a schematic diagram of the overall structure of the speed reduction adjustment module of the present invention;

[0033] Figure 7 This is a schematic diagram of the gear connection structure of the speed reduction adjustment module of the present invention;

[0034] Figure 8 It is a three-dimensional schematic diagram of the gear connection structure of the speed reduction adjustment module of the present invention;

[0035] Fig. 9 This is a schematic diagram of the installation structure of the servo motor of the present invention;

[0036] Fig.10 This is a schematic diagram of the structure of the floating and sinking adjustment module of the present invention;

[0037] Fig.11 This is a schematic diagram of the structure of the power supply module of the present invention;

[0038] Fig.12 This is a schematic diagram of the structure of the sensor module of the present invention;

[0039] Fig.13This is a schematic diagram of the installation structure of the counterweight block of the present invention;

[0040] Fig.14 This is a schematic diagram of the connection structure of the underwater data acquisition system of the present invention;

[0041] Fig.15 It is a schematic diagram of the equivalent array structure of the present invention;

[0042] Fig.16 It is the first type of grid rudder-like deceleration wing in the embodiment of the present invention;

[0043] Fig.17 It is the second type of grid rudder-like deceleration wing in the embodiment of the present invention;

[0044] Fig.18 The figure is a schematic diagram of the workflow of the underwater profile data measurement process of the present invention.

[0045] Description of reference numerals: main control module 10, acoustic transducer 101, main control circuit 102, top connection shell 103, speed reduction adjustment module 20, grid rudder-like deceleration wing 201, position locker 202, active adjustment wheel 203, driven adjustment wheel 204, left active inner wheel 205, right active inner wheel 206, left driven inner wheel 207, right driven inner wheel 208, fixed shaft 209, shaft fixing frame 210, speed reduction adjustment shell 211, wing body 212, fixed plug column 213, servo Motor 214, motor bracket 215, output shaft 216, buoyancy adjustment module 30, buoyancy block 301, buoyancy adjustment shell 302, power supply module 40, battery pack 401, power supply shell 402, sensor module 50, support base plate 501, depth sensor 502, salinity sensor 503, temperature sensor 504, guide shell 60, guide shell 601, counterweight lead block 602, end cover 603, acoustic positioning communication transducer 701, main control unit 702, cable 703. DETAILED DESCRIPTION

[0046] In order to enable those skilled in the art to better understand the technical solution of the present invention, the technical solution of the present invention is described below in conjunction with the drawings of specific implementation methods.

[0047] Disposable temperature, salinity and depth sensors are generally used in the process of ship navigation. The ship does not stop to measure. During the descent process of the sensor, a winding mechanism with extremely fine enameled wire is used to release the wire to realize the data transmission of the sensor. The faster the descent speed, the better it is to reduce the cable length and the winding and releasing process, and improve the success rate of the discarded sensor. In actual application, due to the thinner cables, the winding and releasing process is complicated and uncontrollable during the descent process, which often leads to a lower success rate of measurement. In addition to the waste of equipment, it may also cause the missed measurement points of interest. In order to increase the probability of a successful measurement, multiple sensors are often continuously deployed near a measurement area, which brings inconvenience to the design and execution of the measurement plan.

[0048] The disposable temperature-salinity-depth sensor measures profile information during the falling process in seawater, which is similar to the process of rocket falling and recovering in the air. However, the speed of the disposable temperature-salinity-depth sensor in the falling process in seawater is uncontrollable, and there is no power reverse thrust device to slow down. According to relevant literature, its falling speed in seawater can reach 5.8~11.6m / s, which requires the disposable temperature-salinity-depth sensor to have high sensitivity, resolution and extremely fast response speed, so as to measure the real and sufficiently accurate profile sensing information of seawater. The normal lowering speed of the temperature-salinity-depth sensor connected by a cable for profile measurement is generally 1-2m / s, which is nearly 5-10 times the difference between the two. Reducing the sensor's descent speed can bring benefits to the measurement process. On the one hand, it can reduce the requirements for sensor performance, and on the other hand, it can improve the level of refined measurement in the measurement process. The longer it can stay at the same height point, the more conducive it is to obtain more realistic in-situ sensing measurement data, improve data quality, reduce sampling frequency, and help reduce the workload of data transmission and processing circuits. However, the lower descent speed will increase the length of the additional transmission winding and the transmission distance for the cruise measurement process, which is extremely disadvantageous for the cable winding and unwinding process and signal transmission, especially the 5-10 times difference, which is unbearable for the existing disposable temperature-salinity-depth sensor. How to achieve the low-cost movement of the disposable temperature-salinity-depth sensor at a lower controllable descent speed, reduce the sensor's requirements for the performance of the sensor element, and at the same time, accurately measure the profile data of the descent process, while ensuring that the transmission process is not greatly affected is a problem that needs to be solved.

[0049] In view of the above problems, this scheme draws on the grid rudder idea that has been successfully applied in the field of aerospace, combines the mechanism of aircraft speed brake or parachute deceleration, combines the functions of the two, and realizes it through a structure, that is, designing a grid rudder-like deceleration wing or a deceleration wing with a low porosity as a deceleration and speed control auxiliary structure of the disposable temperature-salinity-depth sensor, that is, the grid rudder-like structure increases the grid spacing area and reduces the gap area, so that its structure becomes a grid rudder and a deceleration wing. This structure can not only play a certain attitude adjustment role through the gap, but also decelerate the descent process of the disposable temperature-salinity-depth sensor through a relatively large grid area, so that its maximum descent speed is reduced to a speed associated with the parameters of the grid rudder-like deceleration wing. At the same time, the grid rudder-like method can also be used to control the attitude to a certain extent. Since the upper limit of the deceleration descent speed of this type of grid rudder deceleration wing is one-to-one associated with the projection area of ​​the solid wing surface and the weight of the sensor in water, in actual application, the force change can be brought about by setting different inclination angles of the wing surface, and the change of the corresponding projection area can be adjusted under a certain sensor weight.

[0050] In order to cope with the problem of data transmission and communication distance extension caused by the reduced descent speed of the sensor, the present invention adopts an acoustic sensor to perform communication data transmission, replacing the traditional winding and unwinding transmission method. The underwater application of the sensor is separated from the coupling association of the cable, which can take into account the controllable speed and refined measurement of the measurement process brought about by the low-speed descent, and also take into account the data transmission problem caused by the increased data transmission distance due to the low speed of the cruise measurement.

[0051] This scheme is based on the traditional grid rudder structure and the Bernoulli principle. The grid rudder is designed to increase the resistance force along the direction of movement. By changing the area ratio of the grid rudder grid-gap and increasing the vertical wall thickness of the grid rudder grid interval, it becomes a grid rudder-like structure, reduces the gap area and increases the grid interval area, thereby increasing its force surface along the direction of movement. On the basis of the function of the grid rudder to control the attitude, the water resistance of the sensor falling in the water, that is, the reaction force, is increased by increasing the area. The reaction force will also increase with the increase of speed in the water. The reaction force is used as the reverse thrust to offset the gravity, ensuring that the reverse thrust and gravity are offset when the sensor reaches a descent speed limit in the water, ensuring that the sensor as a whole can descend at a limit speed that is much lower than the falling speed in the free fall state and with attitude controlled, thereby realizing the measurement process of the temperature-salinity-depth profile.

[0052] The sensor as a whole adopts a segmented modular combination structure. The segmented structure module includes a main control module 10, a speed reduction adjustment module 20, a floating adjustment module 30, a power supply module 40, a sensor module 50, a guide shell 60, and a counterweight. The sensor can achieve controllable descent speed and posture underwater through the grid rudder deceleration wing mechanism, the floating adjustment module 30, the buoyancy of the counterweight, and the field adjustment of the counterweight parameters. The segmented structures of the sensor are connected by screwing and plugging to achieve universal and interchangeable modules between batch sensors, thereby improving the flexibility and success rate of field application of the sensor.

[0053] Example 1

[0054] like Figure 1 , Figure 2 , Figure 6 , Figure 7 , Fig. 9 As shown, a temperature-salinity-depth sensor with controllable descent speed includes a main control module 10, a speed reduction adjustment module 20, a floating and sinking adjustment module 30, a power supply module 40, a sensor module 50, a guide shell 60, and a counterweight.

[0055] The power supply module 40 supplies power to the main control module 10 and the sensor module 50. The main control module 10 processes the information of the sensor module 50. The counterweight block is arranged at the front end of the guide shell 60, the main control module 10 is arranged at the rear end of the guide shell 60, the sensor module 50 is arranged in the guide shell 60 above the counterweight block, the power supply module 40 is arranged in the guide shell 60 above the sensor module 50, the floating and sinking adjustment module 30 is connected to the guide shell 60 above the power supply module 40, and the main control module 10 is responsible for sending the overall information collected by the sensor and receiving control signals sent from the outside.

[0056] The speed reduction adjustment module 20 includes a grid rudder-like deceleration wing 201, a position locker 202, an active adjustment wheel 203, a driven adjustment wheel 204, a left active inner wheel 205, a right active inner wheel 206, a left driven inner wheel 207, a right driven inner wheel 208, a fixed shaft 209, and a shaft fixing frame 210. The shaft fixing frame 210 is connected to the guide shell 60. The active adjustment wheel 203 and the driven adjustment wheel 204 are meshed on the outside of the shaft fixing frame 210. The left active inner wheel 205 and the right active inner wheel 206 are meshed on the inside of the shaft fixing frame 210. The left driven inner wheel 207 and the right driven inner wheel 208 are meshed on the inside of the shaft fixing frame 210. The fixed shaft 209 includes a fixed end and a keyway end. The fixed end is inserted into the shaft In the fixed frame 210, a hollow keyway is extended outward from the keyway end, and four fixed shafts 209 are provided. The active adjustment wheel 203 is connected to the left active inner wheel 205 through the same fixed shaft 209, and the driven adjustment wheel 204 is connected to the left driven inner wheel 207 through the same fixed shaft 209. The remaining two fixed shafts 209 are respectively connected to the right active inner wheel 206 and the right driven inner wheel 208. The position locker 202 is fixed on the guide shell 60, and the position locker 202 limits the position of the active adjustment wheel 203. The grid rudder deceleration wing 201 includes a wing body 212 and a fixed column 213. The fixed column 213 is arranged at the edge of the wing body 212, and the fixed column 213 is inserted in the hollow keyway.

[0057] Furthermore, in order to facilitate the adjustment of the sensor's landing posture at any time during the landing process, the position locker 202 uses electronic control and electric drive, such as Figure 6 , Fig. 9 As shown, the position locker 202 includes a servo motor 214 and a motor bracket 215. The motor bracket 215 is fixed inside the guide shell 60. When the motor bracket 215 is installed, one end can be fixedly connected to the guide shell 60 and the other end can be fixedly connected to the shaft fixing frame 210, or both ends can be fixed to the guide shell 601. The servo motor 214 is installed on the motor bracket 215. The servo motor 214 is electrically connected to the power supply module 40. The main control module 10 controls the rotation of the servo motor 214, and the output shaft 216 of the servo motor 214 is connected to the active adjustment shaft.

[0058] Furthermore, to facilitate the installation and sealing of various components, the guide shell 60 includes a top connecting shell 103, a speed reduction adjustment shell 211, a floating and sinking adjustment shell 302, a power supply shell 402, a sensor shell, and a guide shell 601 according to the positions of different components. The speed reduction adjustment shell 211, the floating and sinking adjustment shell 302, the power supply shell 402, and the sensor shell are screwed together in sequence. The top connecting shell 103 is screwed to the top of the speed reduction adjustment shell 211, the guide shell 601 is screwed to the bottom of the sensor shell, and the counterweight block is set at the front section of the guide shell 601.

[0059] The disposable temperature-salinity-depth sensor with adjustable speed reduction of this scheme adopts a grid rudder-like auxiliary structure, and a number of grid rudder-like auxiliary structures with artificially preset void ratios are symmetrically added near the upper end of the disposable temperature-salinity-depth sensor. When the speed reaches the upper speed limit that the auxiliary structure can bear during the descent of the sensor through the auxiliary structure, the reaction force offsets its own weight, so that the sensor will no longer accelerate during the descent process and maintain the maximum speed; at the same time, since the auxiliary structure itself is a grid rudder structure, it can also play the role of the grid rudder itself in the descent process. Control the posture to ensure that the posture during the descent process is more stable.

[0060] Example 2

[0061] like Figure 3 , Figure 4 As shown, a temperature-salinity-depth sensor with controllable descent speed includes a main control module 10, a deceleration adjustment module 20, a floating and sinking adjustment function module 30, a power supply module 40, a sensor module 50, a guide shell 60, and a counterweight. Specifically, the functional design and implementation of each module are as follows.

[0062] The main control module 10 includes an acoustic transducer 101 , a potted main control circuit 102 , and a top connection housing 103 .

[0063] like Figure 5 As shown, the acoustic transducer 101 adopts a piezoelectric ceramic transducer. According to the different communication water depths, for shallow water measurements, such as within hundreds of meters, a half-space non-directional transducer is used; if the measured water depth exceeds a kilometer, a narrow beam directional transducer can be selected, such as a directional angle of 60°, 45°, 30°, etc. The deeper the water depth, the smaller the directional angle selected.

[0064] The main control circuit 102 (potting) is the main control circuit for the control system. Its main functions are: receiving the collected temperature, salinity and depth sensor data, controlling the acoustic transducer 101 to emit sound waves, and sending the collected sensor data to the deck receiving unit through acoustic communication.

[0065] The main control circuit 102 is potted inside the guide shell 60 , and the acoustic transducer 101 passes through the top of the guide shell 60 to be connected with the main control circuit 102 .

[0066] The speed reduction adjustment module 20 is used to adjust the descent speed of the sensor, and includes a grid rudder-like deceleration wing 201, a position locking bolt, a linked rotating outer gear, a linked rotating inner gear, a fixed shaft 209, a shaft fixing frame 210, and a speed reduction adjustment housing 211.

[0067] like Figure 6 , Figure 7 , Figure 8 , Fig. 9As shown, the grid rudder-like deceleration wing 201 is an auxiliary structure for adjusting the descent speed and attitude of the sensor. The deceleration wing adopts a structural form similar to that of the grid rudder, but is different from the grid rudder that is only designed for attitude adjustment. It adopts thickened grid vertical walls, reduces the pore area between grids and increases the grid area to increase the motion force and limit the upper limit of the descent speed of the disposable sensor. The deceleration wing adopts a sleeve-type split insertion form. In the storage state, the deceleration wing and the sensor are stored separately and independently. When the sensor needs to be used, the deceleration wing is inserted into the sensor, and the four deceleration wings can be connected in pairs by rotating the outer gear and the inner gear in a linked manner, and the two adjacent deceleration wings can be rotated in opposite directions through gear linkage to achieve the angle adjustment of the deceleration wing, so as to realize the change of the projection area and projection porosity of the deceleration wing, fine-tune the motion force, and at the same time ensure that the forces in the horizontal direction cancel each other out, and only retain the force change along the landing direction.

[0068] The position locking bolt adopts a push-pull structure. When the rotation angle of the deceleration wing is set, the locking bolt is inserted into the tooth gap of the linked rotating external gear opposite to it to lock the gear position and ensure that the rotation positions of the four deceleration wings are locked.

[0069] The linked rotating external gear includes an active adjusting wheel 203 and a driven adjusting wheel 204. The linked rotating external gear is arranged outside the shaft fixing frame 210. There are two of them. Figure 6 As shown, the upper and left speed reduction wings are meshed and connected via external gears, so that the two wings can rotate in opposite directions.

[0070] The linked rotating internal gears include a left driving internal gear 205, a right driving internal gear 206, a left driven internal gear 207, and a right driven internal gear 208. The linked rotating internal gears are arranged inside the shaft fixing frame 210. There are four internal gears with two diameters, large and small. Every two adjacent gears have the same diameter and are meshed and connected. Figure 6 As shown, the left driving inner wheel 205 and the right driving inner wheel 206 are provided with two small diameter internal gears which are meshed to connect the upper and right deceleration wings, and the left driven inner wheel 207 and the right driven inner wheel 208 are provided with two large diameter internal gears which are meshed to connect the left and lower deceleration wings.

[0071] The fixed shaft 209, the linked rotating outer gear, and the linked rotating inner gear are fixedly installed on the fixed shaft 209. The fixed shaft 209 passes through the shaft fixing frame 210 and the outer shell of the floating and sinking adjustment module 30 to realize the connection between the shaft fixing frame 210 and the outer shell; the center of the fixed shaft 209 is a hollow structure with a keyway, and the end of the grid rudder-like deceleration wing 201 adopts a solid cylindrical structure with a key to be inserted into the hollow structure of the fixed shaft 209 to realize the plug-in installation and use of the grid rudder-like deceleration wing 201. Only when the sensor is ready to be launched into the water, the grid rudder-like deceleration wing 201 is manually inserted into the fixed shaft 209, and the fixed shaft 209 is rotated to mesh through the gears, and the four deceleration wings are synchronously adjusted to the appropriate angle, and then the position locking bolt is pressed down to fix.

[0072] The shaft fixing frame 210 is a square side wall, and a bearing is provided in the direction facing the four deceleration wings for fixed connection with the fixed shafts 209 in four directions to realize the connection between the shaft fixing frame 210 and the housing of the floating and sinking adjustment module 30.

[0073] The speed reduction adjustment housing 211 is the housing of this functional section, and corresponding bearings are provided in the direction opposite to the 4 surfaces of the shaft fixing frame 210, which are used to pass through the fixed shaft 209 and be connected and fixed to the shaft fixing frame 210.

[0074] The speed reduction adjustment module 20 is a core module for controlling the descent speed and adjusting the posture of the disposable temperature-salinity-depth sensor. Since the sensor is subjected to less force during the underwater descent, all structural parts can be made of plastic materials to reduce the weight of the entire sensor. The easy processing or injection molding characteristics of plastic materials can be used for mechanical processing or injection molding. Moreover, each structural part is a simple structural form such as a flat plate or a cylindrical shape with a relatively simple configuration, which is easy to pre-produce in batches and can maintain good consistency.

[0075] The buoyancy adjustment module 30 includes a buoyancy block 301, a buoyancy adjustment housing 302, a connecting rod, and a buoyancy base.

[0076] like Fig.10 As shown, the buoyancy adjustment module 30 is composed of a low-density buoyancy block 301 that can generate a large buoyancy. The module is made into a standardized small-size structure and can be increased or decreased as needed. Each buoyancy block 301 provides the system with an upward positive buoyancy. The module is designed to be applied in an increase or decrease manner. In actual application, according to the actual sea temperature and salinity differences, density differences, test sinking time differences, etc., the number of buoyancy blocks 301 is dynamically increased or decreased to adjust the positive buoyancy of the sensor to cope with different sea conditions; at the same time, by increasing or decreasing the buoyancy blocks 301, the sensor's descent speed in the water is affected, and the consistency of the temperature and salinity profile measurements of each sensor can be further verified at the same measuring point, and the data can be better traceable. When the buoyancy blocks 301 are used, they can be directly placed one by one in the buoyancy adjustment housing 302 according to the required number.

[0077] The connecting rod is made of engineering plastic or light metal, and is used to install the buoyancy block 301 and to connect the structure with the main control module 10. The connecting rod is designed as a strip or long cylindrical structure with a square cross section, and a number of them are evenly distributed on the buoyancy base.

[0078] The buoyancy base is made of the same material and structure as the outer shell of the buoyancy adjustment module 30 so as to be mechanically connected to other structures of the sensor.

[0079] The buoyancy base is fixed on the inner side of the guide shell 60, and the buoyancy blocks 301 are fixed on the buoyancy base through connecting rods. The buoyancy blocks 301 are arranged in different groups on the buoyancy base according to the required buoyancy.

[0080] The power supply module 40 includes a battery pack 401 and a power supply housing 402 .

[0081] like Fig.11 As shown, the power supply module 40 is an independent pressure-resistant packaged battery pack 401. Different numbers of battery packs 401 are used. According to different water depths, the number of battery packs 401 is increased or decreased to achieve a certain balance between working capacity and cost saving. The power supply module 40 uses a disposable large-capacity pollution-free lithium-ion battery or a mercury-free alkaline zinc-manganese primary battery, which is encapsulated in a cylindrical pressure-resistant shell with a certain pressure-resistant depth. For example, an aluminum alloy cylindrical packaging shell is used. This type of material can withstand a pressure range of 100MPa-300MPa, which is equivalent to a water depth pressure of about 1000m-3000m. A power supply connector interface is reserved outside the cylindrical packaging shell for connection between power supply modules 40 and power supply modules 40, or between power supply modules 40 and other power-consuming modules. The packaging shell of the power supply module 40 is pre-designed into different pressure-resistant depth levels (different wall thicknesses), such as 1000m depth level and 2000m depth level, so that it can be flexibly selected and used on site.

[0082] The shell of the power supply module 40 is used to hold the battery pack 401. The top and bottom are respectively provided with boss structures that plug into other shells, so that the functional module can realize the multi-segment combined structure application. Each structural segment is composed of a power supply shell 402 and a sealed battery pack 401. Different structural segments can be connected through the upper and lower steps of the two structures. They can be freely extended and combined according to different water depths and different power consumption to increase or decrease the number of power supply modules 40.

[0083] The sensor module 50 includes a supporting base plate 501 , a depth sensor 502 (pressure sensor), a salinity sensor 503 , and a temperature sensor 504 .

[0084] like Fig.12As shown, salinity sensor 503 and temperature sensor 504 are used in this module. The sensor elements of the existing temperature and salinity sensor are used, and a depth sensor 502 (pressure sensor) is added. In this way, the synchronous measurement of underwater temperature, salinity and depth parameters can be achieved. Such sensors have mature products for selection. The support base plate 501 uses a collection circuit with low power consumption and embedded chip as the core, which is used to collect and pre-process the temperature, salinity and depth data collected by the sensor, and transmit the data to the main control circuit 102 (potting) in real time.

[0085] The salinity sensor 503 , the temperature sensor 504 , and the pressure sensor are plugged into the acquisition circuit, and the support base plate 501 collects and pre-processes the temperature-salinity-depth data collected by the salinity sensor 503 , the temperature sensor 504 , and the pressure sensor, and transmits the data to the main control circuit 102 in real time.

[0086] The guide shell 60 includes a guide shell 601 and an end cover 603 , and the counterweight block uses a counterweight lead block 602 .

[0087] like Fig.13 As shown, the flow guide housing 601 is made of engineering plastic material and is designed as a grid-like housing. The bottom is designed with mounting holes for adding or removing the counterweight lead block 602. The end cover 603 is used to seal the mounting holes to prevent the counterweight lead block 602 from falling off. The flow guide housing 601 is an elongated cylindrical shape as a whole, the bottom is designed as a spherical or ellipsoidal surface, the upper part is designed as an elongated cylindrical shape with a grid, and is designed as an internal thread structure, which is connected to the external thread of the housing of the supporting base plate 501.

[0088] The mechanical structure connection between the main control module 10, the speed reduction adjustment module 20, the floating adjustment module 30, the power supply module 40, the sensor module 50, the guide shell 60 and the counterweight block can be connected by designing internal and external threads or boss plug-in structures of the shells of each structure. The assembled structure is as follows Figure 4 shown.

[0089] The main control module 10 is electrically connected to the power supply module 40 and the sensor module 50 through plug-in connection of external connection cables.

[0090] The effect of the sensor after overall assembly is shown as follows Figure 5 As shown, the sensor is designed as a modular, detachable and assembled structure. In the overall structural module, except for the main control circuit 102 (potting) which requires a certain pressure resistance design and the power supply module is an independent preset pressure resistance design, the other parts do not need additional pressure resistance and watertight protection.

[0091] Example 3

[0092] like Fig.14As shown, an underwater data acquisition system includes a deck unit and an underwater unit. The underwater unit includes a temperature-salinity-depth sensor with a controllable descent speed as described in Example 1 and Example 2. The deck unit includes an acoustic positioning communication transducer 701 and a main control unit 702. The main control unit 702 is connected to the acoustic positioning communication transducer 701 through a cable 703. The acoustic positioning communication transducer 701 receives signals transmitted by the temperature-salinity-depth sensor.

[0093] In the deck unit, the acoustic positioning communication transducer 701 array can be designed to be fixed on the bottom of the ship, or it can be designed to be connected to the side of the ship and sunk to a certain depth below the sea surface through a connecting rod; the main control unit 702 is placed at the corresponding position on the hull deck and can be connected to the acoustic positioning communication transducer 701 array through a cable 703.

[0094] The acoustic positioning communication transducer 701 is connected to the main control module 10 of the temperature, salinity and depth sensor by underwater hydroacoustic communication wireless transmission or wired transmission. In wireless transmission, the acoustic communication positioning transducer on the ship receives the measurement data sent by the remote sensor by acoustic communication wireless transmission.

[0095] When only the acoustic communication receiving function is used, the real-time temperature, salinity and depth measurement data uploaded by the disposable temperature-salinity-depth sensor are received through acoustic communication; when the positioning function is turned on, each acoustic communication signal is based on the ultra-short baseline underwater acoustic positioning principle, and the array equivalent formation structure is as follows Fig.15 As shown in the figure, according to the positioning algorithm designed in the paper [Wang Hongru, Wang Zhongqiu, Qi Suiping, et al. Error-balanced stereo five-element ultra-short baseline underwater acoustic positioning [J]. Journal of Tsinghua University (Science and Technology). 2018, 58(6): 553-557.], the sensor can be positioned underwater. Then, at the deck unit end, while receiving the acoustic communication data, the depth information corresponding to each acoustic communication data can be solved. This can be compared and verified with the depth data measured by the temperature-salinity-depth sensor, and the sensor's falling trajectory underwater can be monitored in real time to determine the working status of the falling process.

[0096] Example 4

[0097] This embodiment mainly calculates and designs the structure of the grid rudder-like deceleration wing 201 that can control the descent speed of the sensor.

[0098] According to the Bernoulli equation, when a moving object moves relative to a fluid, the dynamic pressure it bears perpendicular to the equivalent projection surface can be calculated using the following formula: , Indicates the dynamic pressure generated by fluid motion on the projected cross section, in N / m 2 , Indicates density. The average density of seawater at normal temperature and pressure is 1025 Kg / m3 , Indicates the speed of the fluid relative to the object, in m / s.

[0099] The relative velocity dynamic pressure borne by the equivalent projected area on the equivalent cross section perpendicular to the direction of fluid movement Calculated as follows: , It represents the dynamic force generated by fluid motion on the projected equivalent cross section, in N. Indicates the equivalent projection area perpendicular to the direction of motion, in m 2 . Use Fig.16 and Fig.17 Any of the grid rudder deceleration wings 201 shown in the figure is horizontally inserted into the disposable temperature-salinity-depth sensor to form a Figure 1 , Figure 2 or Figure 4 in the form of.

[0100] According to the above formula, it can be calculated that in seawater, the four grid rudder deceleration wing 201 structures with a length and width of 0.2m×0.1m and a porosity of 50% can generate a motion resistance of about 2kg at a falling speed of 1m / s; and the four grid rudder structures with a size of 0.1m×0.05m and a porosity of 50% that are reduced by 1 times can also generate a motion resistance of about 2kg at a falling speed of 2m / s. The following Table 1 shows the maximum descent speed comparison corresponding to the weight of two sensors under two structural parameters in this embodiment. It can be seen from the table that for the same structural parameters of the grid rudder deceleration wing 201, the descent speed can be controlled by increasing or decreasing the counterweight, such as the comparison of the two speed changes in the 1st and 2nd rows, or the comparison of the two speed changes in the 3rd and 4th rows in the table; the descent speed can also be adjusted by changing and replacing the grid rudder deceleration wing 201 with different structural parameters while keeping the counterweight unchanged, such as the comparison of the two speed changes in the 1st and 3rd rows, or the comparison of the two speed changes in the 2nd and 4th rows in the table. The structural parameters, speed and weight in this table can be further expanded and refined as a parameter adjustment comparison table for practical applications, providing a reference for on-site measurement and adjustment of parameters.

[0101] Table 1 Comparison table of structural parameters and maximum descent speed of grid rudder-like deceleration wing 201

[0102] .

[0103] As a reference for specific implementation design, the currently common disposable temperature, salinity and depth sensors, such as the TSK temperature, salinity and depth instrument and the shipborne disposable temperature and depth instrument XCTD-4N, have dimensions of 320*265*46mm, a weight of 3Kg, and a measuring depth of 1800m.

[0104] Commonly used temperature, salinity and depth sensors have dimensions of 500mm in height, 70mm in diameter, weigh ≤2kg, and can measure depths of 1000m.

[0105] When this plan is implemented, the weight of the overall sensor is equivalent to the existing similar sensors, which is 2kg-3kg, and the maximum weight of 3kg is taken for estimation.

[0106] The grid rudder-like deceleration wing 201 structure has a length and width size of 0.2m×0.1m and a porosity of 50%. The deceleration wing surface is installed vertically and horizontally with the sensor, which can control the maximum descent speed of the sensor underwater to be about 1.2m / s.

[0107] Since the disposable temperature, salinity and depth sensor is used for measurement in the ship's cruising mode, the acoustic communication distance of the sensor should be able to cover the communication slant distance at the deepest position and when the ship is farthest away.

[0108] (1) Taking the profile measurement of the sea area at a depth of 700 m as an example, according to an actual detection case, the ship travels at a speed of 12 n mile, that is, 1 knot (1 kn, equivalent to 0.514 m / s).

[0109] After throwing the sensor, for a water depth range of 700m, the underwater movement time of the sensor is: t=700 / 1.2=583.3s, that is, it takes about 10 minutes to complete the measurement. Correspondingly, the working time of the existing disposable temperature-salinity-depth sensor is 2 minutes.

[0110] At the end of the measurement, the distance the ship travels from the casting point is S=0.514*583.3=299.8m, so the maximum slant distance of the sensor from the ship underwater is: m.

[0111] Considering the relatively shallow water area, the underway measurement can be carried out at a relatively high speed. The ship speed is set to increase to 5 times, that is, 5 knots. The maximum slant distance of the sensor from the ship underwater is: m.

[0112] The communication distance coverage of conventional underwater acoustic communication transducers available on the market is generally up to several kilometers, and the communication distances in the above two scenarios are completely within the coverage range.

[0113] (2) For the extreme water depth range of 2000m, the underwater movement time of the sensor is: t=2000 / 1.2=1666.7s, that is, it takes about 27.7 minutes to complete the measurement. Correspondingly, the working time of the existing disposable temperature-salinity-depth sensor is estimated to be 5.7 minutes based on the movement speed at a water depth of 2000m.

[0114] At the end of the measurement, the distance the ship travels from the casting point is S=0.514*1666.7=856.7m, so the maximum slant distance of the sensor from the ship underwater is: m. This distance is also within the communication coverage of conventional underwater acoustic communication transducers.

[0115] Since this embodiment uses the deceleration wing to decelerate and transmit data back through hydroacoustic communication, the measurement process takes a relatively long time. However, since there is no physical cable interference in the hydroacoustic communication process, the hydroacoustic communication channel can be used to manually adjust the setting characteristics. During the working process, it can be measured by casting multiple sensors at the same time. In this way, it not only ensures the refinement and accuracy of the measurement process, but also takes into account the multi-point approximate synchronous measurement, and there will be no interference with each other. A single person can complete the measurement operation of multiple sets of sensors by just casting after preliminary preparation, without considering various on-site operations such as tangent, cutting, and changing the connection between the sensor and the deck unit as with existing disposable sensors.

[0116] Example 5

[0117] like Fig.18 As shown, an underwater data collection method includes the following steps.

[0118] Step 1: Adjust the weight of the temperature-salinity-depth sensor as described in any of the above items according to the initially measured sea surface temperature and salinity data, and configure the sensor with a preset weight in water.

[0119] Step 2: Complete the assembly of the temperature, salinity and depth sensor, connect the wires and power on, adjust the shape of the grid rudder speed reducer 201, and put the sensor in measurement mode.

[0120] Step 3: Power on the deck unit, monitor the received signal, and test the communication function of the temperature, salinity and depth sensor on board. If the communication is abnormal, troubleshoot the fault or replace the new temperature, salinity and depth sensor, and repeat step 2. If the communication is normal, proceed to the next step.

[0121] Step 4: The sensor is placed into the water, and the main control circuit 102 adjusts the transmitted sound power according to the depth measured by the depth sensor 502, and transmits a set of sound communication data per second.

[0122] Step 5: Observe whether the depth exceeds the preset depth. If so, increase the transmitted acoustic power and repeat step 4. If not, maintain the current transmitted acoustic power.

[0123] Step 6: Determine whether the water depth increases. If the water depth continues to increase, continue working and repeat step 4. If the water depth does not increase, send measurement data from the initial depth cycle until the power is exhausted or the transmission stops.

[0124] Specifically, based on the predicted seawater temperature, salinity and other information of the current sea surface, the descent speed of the disposable temperature-salinity-depth sensor is estimated, and the weight of the counterweight is adjusted. If a quick descent is desired, the counterweight can be increased to 3kg. If a relatively slow descent is desired, a counterweight of 1kg or 2kg can be selected.

[0125] After the weight adjustment is completed, the sensor is assembled and connected, and the wiring of each module is connected. After the sensor is powered on, it will enter the working mode. By default, it will transmit the preset transmission data once with lower sound power and lower transmission frequency, such as once every 10 seconds, for communication testing with the deck unit to ensure that the equipment functions normally. If the communication function is normal, you can choose to drop the sensor into the sea at an appropriate time to start profile measurement.

[0126] After the sensor enters the sea, the main control circuit 102 measures the water depth in real time through the depth sensor 502. When the measured depth exceeds the water depth pressure of 0.5m, it starts to record the temperature, salinity and depth data at a preset sampling rate.

[0127] In order to be consistent with the current mainstream temperature, salinity and depth sensor measurement data, the preset sampling rate is 20Hz, that is, sensing and recording temperature, salinity and depth data per second can generate 120 bits of measurement data.

[0128] The main control circuit 102 packages 120 bits of sampled data per second according to the preset acoustic communication frequency and transmits it outward through the underwater acoustic transducer. During the initial acoustic communication, due to the close distance to the ship, the sensor transmits the acoustic signal outward with the lowest acoustic radiation power to minimize the system power consumption and save electricity.

[0129] Acoustic communication can adopt a variety of different modulation and demodulation methods, such as MFSK (Multiple Frequency Shift Keying) modulation, which is a multi-frequency keying technology that represents digital information by changing the carrier frequency. MFSK modulation technology is an extension of FSK (Frequency Shift Keying) technology, allowing more bits of information to be transmitted in one signal. Specifically, MFSK encodes each symbol as one of M different frequencies, which means that as the M value increases, the information that can be transmitted simultaneously also increases, improving the spectrum efficiency. In MFSK modulation, the transmitting device converts the data bit into the corresponding MFSK signal, that is, each bit may correspond to a frequency offset, and the set of these frequency offsets constitutes the MFSK signal. The receiving device detects these frequency offsets and converts them back to the original data bits. This method is already a very mature technology in wireless communications. It can communicate without the need for frequency selectivity, and this embodiment will not be repeated. The acoustic communication frequency band is set to 9-14kHz, which belongs to the medium and low frequency of underwater acoustic communication. The frequency bandwidth is not high, and the acoustic communication rate is relatively low. The general baud rate can reach 140bps-2400bps, but it can achieve long-distance acoustic transmission and can achieve 2-6km communication, such as the indicators of MARINE ATM-965 products. This communication parameter can fully meet the needs of the data transmission volume and application scenarios of this embodiment.

[0130] The main control circuit 102 monitors the current water depth increment as a judgment condition for adjusting the acoustic radiation power through the real-time measurement data of the depth sensor 502. When the increment exceeds a certain preset water depth, such as 500m, the main control circuit 102 controls the excitation voltage of the acoustic transducer 101 to increase the radiated sound power to adapt to the gradually increasing communication distance conditions, ensure that the sound can be transmitted farther, and ensure that the receiving end has a sufficiently strong receiving signal. When the increment does not exceed the preset depth, the current radiated sound power is maintained and the operation continues.

[0131] A judgment of whether the depth continues to increase is added in the program. The main control circuit 102 uses the real-time measurement data of the depth sensor 502. When the depth does not reach the final expected depth and the depth does not change, it indicates that the sensor cannot continue to sink for measurement due to an accident, or the water is shallow and it touches the bottom in advance or hangs on or falls on other underwater structures and cannot sink, which is equivalent to the end of this profile measurement. At this time, the system can enter the end working state in two modes.

[0132] Mode 1, the main control circuit 102 controls the system to stop sampling and enter a simple transmission mode, that is, the sensor re-transmits the previously measured and pre-stored measurement data from the beginning in a cycle according to the currently set working rhythm until the power is exhausted. This process can remedy the situation where individual measurement data is incompletely received or lost during the mobile measurement process.

[0133] Mode 2: the main control circuit 102 controls the system to stop sampling and stop transmitting.

[0134] The above two modes can be selected by setting a simple pin in the main control circuit 102 board. When the ship is relatively slow, or the ship can be controlled to operate near a certain sea area, mode 1 can be selected; when the ship needs to conduct a second measurement after completing a measurement, mode 2 can be selected.

[0135] When the main control circuit 102 board monitors the depth sensor 502 and determines that the depth exceeds the final expected depth, although the sensor has not stopped sinking at this time, the depth profile purpose of this measurement has been achieved. At this time, the main control circuit 102 board controls the system to enter mode 1 or mode 2 and end this measurement.

[0136] Example 6

[0137] The sensor is assembled under the same conditions as in Example 5, and the grid rudder deceleration wing 201 is twisted to a certain angle and locked so that its vertical projection area is reduced to 1 / 4 of the horizontal state. Then, without changing the structural parameters of the grid rudder deceleration wing 201, the sensor of the same weight can increase the descent speed in water by 1 times. Refer to the corresponding relationship between speed and area in rows 1, 3 and rows 2, 4 in Table 1. In the reference table, the area change is proportional to the square of the speed change, which is calculated by Bernoulli's formula. For relatively deep water conditions, the measurement time can be appropriately reduced and the measurement process can be accelerated so that the sailing ship can only sail at a relatively faster speed. At the same time, it does not hinder the measurement process and can also adapt to the navigation planning of the ship.

[0138] In extreme cases, the grid rudder-like deceleration wing 201 can be twisted to a vertical posture, or not used. In this way, the working mode of the sensor is close to or basically the same as the working mode of a traditional disposable temperature-salinity-depth sensor, and only the hydroacoustic communication process is used to replace the transmission communication process of cable winding and unwinding.

[0139] Example 7

[0140] The solutions of Example 6 and Example 7 can conveniently realize the variant extension design of sensor application.

[0141] Since the sensor adopts a modular, spliced ​​and plug-in structure, the deceleration function module can be replaced as a whole by a coaxial forward and reverse dual-rotor propeller structure driven by a motor, and the grid rudder deceleration wing 201 can be replaced by an electrically controllable propeller structure. Since this type of propeller structure is a relatively mature technology, it will not be described in detail.

[0142] In this way, the entire underwater profile measurement process of the sensor has the ability to be completely autonomous and controllable. The speed of the propeller can be used to control the size of the reverse thrust, so that the sensor can perform profile measurements at any speed lower than the maximum descent speed limit. It can even perform repeated up and down movements to achieve multiple measurements of the profile at the same position until the power is exhausted.

[0143] From the analysis of the above embodiments, it can be seen that the disposable temperature-salinity-depth sensor of the present technical solution has the following technical advantages over the sensor connected with the traditional enameled wire.

[0144] 1) In this technical solution, under the premise of being able to obtain sensor elements with sufficiently good performance parameters, the measurement of temperature-salinity-depth profile and data transmission can be achieved through acoustic communication according to the working mode of the sensor connected by the current common enameled wire; the application method is flexible, and according to the needs, the counterweight can be reduced, the sensor's falling speed can be slowed down, the measurement time can be increased, and the temperature-salinity-depth sensor can be given more measurement response time to obtain more stable and accurate profile data. The design of this technical solution can give the sensor sufficient measurement time margin under the condition of poor performance parameters, and data transmission can still be achieved under the condition of increasing the measurement time by 5-10 times, which can greatly reduce the difficulty of designing, developing and applying sensor elements, and can also obtain better measurement data under the condition of existing sensors with relatively weak performance.

[0145] 2) This technical solution avoids the weaknesses in the design and manufacturing process of enameled wires, and the sensor does not require complicated winding and unwinding related processes and devices, which greatly facilitates the design and deployment of sensors. The sensor is modularly designed, and each module can be adjusted and assembled on-site according to different demand scenarios. The sensor can achieve profile measurement and wireless data return through simple assembly and launching into the sea. The data return method also has a certain fault tolerance for repeated reception, which is more flexible and reliable than the existing method of cutting the cable, re-launching, and data loss after a failed launch.

[0146] 3) In this technical solution, it can be ensured that the sensor can be judged whether it can work normally before it is used, and the measurement failure caused by disconnection or cable unwinding after casting will not occur, which can greatly ensure the success rate of measurement; there is no need to consider the measurement failure rate too much and reserve too many sensors in advance. At the same time, equipment failures found through pre-detection on board can be repaired in the future, which can ensure that all sensors can be used for measurement, and faulty parts and faulty parts can be easily replaced on site.

[0147] 4) This technical solution can make full use of the existing mature underwater acoustic digital communication technology, such as MFSK modulation and demodulation mode communication, which can realize the simultaneous transmission of multiple data channels and has great application flexibility. Several different counterweight schemes can be set at one drop point to measure multiple groups of profiles at different sinking speeds at the same time, which can verify the data consistency of the sensor time response to the profile measurement, so that the measurement data results have more modes of comparative data sources, making the measurement process and measurement data more scientific and reasonable, and providing great help for the correction of profile data and the development of sensor components. With the existing technology, only one sensor can be dropped at a time, and the working depth (timing) of the sensor needs to be monitored in real time through the deck unit. After reaching the predetermined depth, the cable must be cut manually or by other means to end the work and connect the next sensor to work. The process is relatively cumbersome.

[0148] 5) Existing disposable temperature-salinity-depth sensors need to estimate the descent distance through the descent time, and have strict streamlined design requirements for the sensor's shape. The shape is mostly an elliptical, approximately long water drop shape, so that it can meet the descent speed formula. This solution uses a grid rudder-like deceleration wing to reduce the sensor's underwater descent speed. The depth of the seawater during the descent process can be directly measured through the depth sensor. The sensor's descent speed and posture can be manually preset and controlled. At the same time, there are no special requirements for the sensor's shape design. Only through buoyancy and counterweight design, it is sufficient to maintain a basic vertical motion posture, which can greatly simplify the design and application of the sensor. This solution can also achieve fully autonomous and controllable sensor lifting and lowering control by replacing the deceleration function module as a whole with a propeller-type heave device, providing more possibilities for the multi-purpose application of sensors in the future.

[0149] The above embodiments are only for illustrating the inventive concept and features of the present invention, and their purpose is to enable those skilled in the art to understand the content of the present invention and implement it accordingly, and they cannot be used to limit the protection scope of the present invention. Any equivalent changes or modifications made based on the essence of the content of the present invention should be included in the protection scope of the present invention.

Claims

1. A temperature-salinity-depth sensor with controllable descent speed, characterized in that: include: A main control module, a speed reduction adjustment module, a floating and sinking adjustment module, a power supply module, a sensor module, and a guide shell. The power supply module supplies power to the main control module and the sensor module. The main control module processes information of the sensor module. The main control module is arranged at the tail end of the guide shell. The sensor module is arranged in the guide shell. The power supply module is arranged in the guide shell above the sensor module. The floating and sinking adjustment module is connected to the guide shell above the power supply module. The deceleration adjustment module includes a deceleration wing, a locking device, an active adjustment wheel, a driven adjustment wheel, a left active inner wheel, a right active inner wheel, a left driven inner wheel, a right driven inner wheel, a fixed shaft, and a shaft fixing frame. The shaft fixing frame is connected to the guide shell. The active adjustment wheel and the driven adjustment wheel are meshed on the outside of the shaft fixing frame. The left active inner wheel and the right active inner wheel are meshed on the inside of the shaft fixing frame. The left driven inner wheel and the right driven inner wheel are meshed on the inside of the shaft fixing frame. The fixed shaft includes a fixed end and a keyway end. The fixed end is inserted into the shaft fixing frame. The keyway end is extended outward to be provided with a hollow keyway, four fixed shafts are provided, the active adjustment wheel is connected to the left active inner wheel through the same fixed shaft, the driven adjustment wheel is connected to the left driven inner wheel through the same fixed shaft, and the remaining two fixed shafts are respectively connected to the right active inner wheel and the right driven inner wheel, the locker is fixed on the guide shell, and the locker limits the position of the active adjustment wheel, the deceleration wing includes a wing body and a fixed plug, the fixed plug is provided at the edge of the wing body, and the fixed plug is inserted into the hollow keyway.

2. The temperature-salinity-depth sensor with controllable descent speed according to claim 1, characterized in that: The locker includes a servo motor and a motor bracket, wherein the motor bracket is fixed inside the guide shell, the servo motor is mounted on the motor bracket, the servo motor is electrically connected to the power supply module, the main control module controls the rotation of the servo motor, and the output shaft of the servo motor is connected to the active adjustment wheel.

3. The temperature-salinity-depth sensor with controllable descent speed according to claim 1, characterized in that: The guide shell includes a top connecting shell, a speed reduction adjustment shell, a floating and sinking adjustment shell, a power supply shell, a sensor shell, and a guide shell. The speed reduction adjustment shell, the floating and sinking adjustment shell, the power supply shell, and the sensor shell are screwed together in sequence. The top connecting shell is screwed on the top of the speed reduction adjustment shell, and the guide shell is screwed on the bottom of the sensor shell. A counterweight block is arranged in front of the guide shell.

4. The temperature-salinity-depth sensor with controllable descent speed according to claim 1, characterized in that: The main control module includes an acoustic transducer and a main control circuit. The main control circuit is encapsulated inside the flow guide shell. The acoustic transducer passes through the top of the flow guide shell and is connected to the main control circuit.

5. The temperature-salinity-depth sensor with controllable descent speed according to claim 1, characterized in that: The buoyancy adjustment module includes a buoyancy base, a connecting rod, and a buoyancy block. The buoyancy base is fixed to the inner side of the guide shell, and the buoyancy block is fixed to the buoyancy base through the connecting rod. The buoyancy blocks are arranged in different groups on the buoyancy base according to the required buoyancy.

6. The temperature-salinity-depth sensor with controllable descent speed according to claim 1, characterized in that: The power supply module uses an independently pressure-resistant packaged battery pack, which uses a disposable large-capacity pollution-free lithium-ion battery or a mercury-free alkaline zinc-manganese primary battery, which is packaged in a cylindrical pressure-resistant shell with a certain pressure-resistant depth.

7. The temperature-salinity-depth sensor with controllable descent speed according to claim 1, characterized in that: The sensor module includes a supporting base plate, a salinity sensor, a temperature sensor, and a pressure sensor. The supporting base plate adopts a low-power acquisition circuit with an embedded chip as the core. The salinity sensor, the temperature sensor, and the pressure sensor are plugged into the acquisition circuit. The supporting base plate collects and pre-processes the temperature-salinity-depth data collected by the salinity sensor, the temperature sensor, and the pressure sensor, and transmits the data to the main control circuit in real time.

8. An underwater data acquisition system, characterized in that: It comprises a deck unit and an underwater unit, wherein the underwater unit comprises the temperature-salinity-depth sensor with controllable descent speed as described in any one of claims 1 to 7, and the deck unit comprises an acoustic positioning communication transducer and a main control unit, wherein the main control unit is connected to the acoustic positioning communication transducer via a cable, and the acoustic positioning communication transducer receives the signal transmitted by the main control module.

9. The underwater data acquisition system according to claim 8, characterized in that: The acoustic positioning communication transducer is connected to the main control module via wireless transmission or wired transmission.

10. An underwater data collection method, characterized in that: The following steps are involved: Step 1: adjusting the weight of the temperature-salinity-depth sensor according to any one of claims 1 to 7 according to the initially measured sea surface temperature and salinity data, and configuring the sensor with a preset weight in water; Step 2: Complete the assembly of the temperature, salt and depth sensor, connect the wires and power it on, adjust the shape of the deceleration wing, and put the sensor in measurement mode; Step 3: Power on the deck unit, monitor the received signal, and test the communication function of the temperature, salinity and depth sensor on board. If the communication is abnormal, troubleshoot the fault or replace the new temperature, salinity and depth sensor, and repeat step 2. If the communication is normal, proceed to the next step; Step 4: Place the sensor into the water, and the main control circuit adjusts the transmitted sound power according to the depth measured by the depth sensor, and transmits a set of acoustic communication data per second; Step 5: Observe whether the depth exceeds the preset depth. If so, increase the transmitted acoustic power and repeat step 4. If not, maintain the current transmitted acoustic power. Step 6: Determine whether the water depth increases. If the water depth continues to increase, continue working and repeat step 4. If the water depth does not increase, send measurement data from the initial depth cycle until the power is exhausted or the transmission stops.

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