Halocline dynamic environment data automatic acquisition method based on unmanned ship

Abstract

The invention discloses an unmanned ship-based halocline dynamic environment data automatic acquisition method, and relates to the field of marine hydrological scientific investigation, a temperature-salinity-depth sensor and the like are carried on an unmanned ship through an automatic lifting winch, and the method comprises the following steps: fixedly placing the unmanned ship on the water surface of a preset observation station, or enabling the unmanned ship to sail according to a set route; a temperature-salinity-depth sensor and the like are put into water through a winch, and the temperature-salinity-depth sensor collects salinity data in a vertical water layer; transmitting the collected salinity data back to the upper computer, and analyzing the collected salinity data by the upper computer; and after the analysis of the upper computer is completed, the upper computer controls the automatic lifting winch to put the temperature-salinity-depth sensor into the salt spring layer, and dynamic environment data observation is carried out through the temperature-salinity-depth sensor and the like. The unmanned ship can continuously and accurately observe the vertical salt spring layer of the estuary, and the observation efficiency of the unmanned ship is higher than that of a traditional ship. The automatic identification of the salt spring layer can enable the unmanned ship to quickly lock the salinity change area for accurate measurement.

Description

Technical Field

[0001] The present invention relates to the field of marine hydrological scientific research, and in particular to a method for automatically collecting dynamic environmental data of a salt layer based on an unmanned ship. Background Art

[0002] At present, unmanned ships are an important means for marine scientific investigations, especially for near-shore waters. Unmanned ships have the advantages of small size, low cost, and strong maneuverability. At present, for marine hydrological scientific research, unmanned ships are mainly used to carry hydrological equipment to observe fixed routes in designated areas. They are unable to automatically identify characteristic phenomena in the sea area and then conduct high-precision tracking and observation of these phenomena. At present, it is of great significance to study the salt layer in the water of the estuary and move the sensors on the unmanned ship along the salt layer to observe other hydrological parameters. There is no relevant research at present. Summary of the invention

[0003] The present invention provides an automatic acquisition method of dynamic environment data of a salt layer based on an unmanned ship, which can control a sensor to move along the salt layer, thereby observing other hydrological parameters.

[0004] The present invention adopts the following technical solutions: An automatic collection method of dynamic environmental data of salt layers based on an unmanned ship, wherein an automatic lifting winch is installed on the unmanned ship, and a temperature-salinity-depth sensor, an ADV flowmeter, a turbidity meter and a multi-parameter water quality meter are carried by the automatic lifting winch. The automatic lifting winch drives the temperature-salinity-depth sensor, the ADV flowmeter, the turbidity meter and the multi-parameter water quality meter to rise and fall, and the temperature-salinity-depth sensor can detect salinity data in water, including the following steps: Step 1: Place the unmanned boat on the water surface at a preset observation site, or let the unmanned boat sail along a set route. Use an automatic lifting winch to place the temperature-salinity-depth sensor into the water. The winch drives the temperature-salinity-depth sensor to rise and fall in the water. The temperature-salinity-depth sensor collects salinity data in the water.

[0005] Step 2: The collected salinity data is transmitted back to the host computer, which analyzes the collected salinity data and extracts the vertical position of the salt layer.

[0006] Step 3: After the host computer analysis is completed, the host computer controls the automatic lifting winch to drop the temperature-salinity-depth sensor into the salt layer, and simultaneously observes the dynamic environment data through the temperature-salinity-depth sensor, ADV flowmeter, turbidity meter and multi-parameter water quality meter.

[0007] Preferably, step 2 specifically includes: Step 2.1: The salinity data of the collected water is transmitted back to the host computer. The host computer analyzes the salinity value T of the halocline based on the transmitted salinity value, and obtains the distribution direction of the low-salinity area and the high-salinity area.

[0008] Step 2.2: Set the salinity value of the observation interval of the halocline.

[0009] Preferably, the salinity value T of the halocline in step 2.1 is the salinity value corresponding to the point where the gradient change of the salinity value in water is the largest, the distribution direction of the low-salinity area refers to the direction extending from the salinity value T of the halocline to the area with a salinity value lower than T, and the distribution direction of the high-salinity area refers to the direction extending from the salinity value T of the halocline to the area with a salinity value higher than T.

[0010] Preferably, the salinity value of the observation interval of the halocline in step 2.2 is [T-1, T+1].

[0011] Preferably, step 3 specifically includes: Step 3.1: The host computer controls the lifting of the temperature-salinity-depth sensor through the automatic lifting winch, and the temperature-salinity-depth sensor collects salinity values ​​in real time.

[0012] Step 3.2: Compare the salinity value collected in step 3.1 with the salinity value of the observation interval of the set salt jump layer. If the collected salinity value falls within [T-1, T+1], the automatic lifting winch does not move, and the temperature-salinity-depth sensor, ADV current meter, turbidity meter and multi-parameter water quality meter collect other dynamic environmental data; if the collected salinity value is higher than T+1, the winch controls the temperature-salinity-depth sensor to move toward the distribution direction of the low-salinity area until the collected salinity value falls within the salinity value of the observation interval of the salt jump layer, and then the automatic lifting winch does not move, and the temperature-salinity-depth sensor, ADV current meter, turbidity meter and multi-parameter water quality meter collect other dynamic environmental data; if the collected salinity value is lower than T-1, the winch controls the temperature-salinity-depth sensor to move toward the distribution direction of the high-salinity area until the collected salinity value falls within the salinity value of the observation interval of the salt jump layer, and then the automatic lifting winch does not move, and the temperature-salinity-depth sensor, ADV current meter, turbidity meter and multi-parameter water quality meter collect other dynamic environmental data.

[0013] Preferably, the temperature-salinity-depth sensor, ADV current meter, turbidity meter and multi-parameter water quality meter collect other dynamic environment data only when the collected salinity value falls within the salinity value of the observation interval of the halocline.

[0014] The present invention has the following beneficial effects: 1. High efficiency and wide coverage. Unmanned vessels can observe at fixed positions or sail along set routes, which is more efficient than traditional ship observations. Automatic identification of the salt layer allows the unmanned vessel to quickly lock the maximum salinity gradient position, perform precise measurements, and observe other hydrological characteristic parameters of the salt layer.

[0015] 2. Safety: When observing halocline in complex or dangerous marine environments, the use of unmanned vessels can avoid the risks of human operation. For example, unmanned vessels can perform measurements and observations without involving the safety of personnel.

[0016] 3. The unmanned boats of the present invention can operate continuously and in clusters, reducing expenses in manpower, fuel, etc. This advantage is more significant especially when long-term monitoring is required.

[0017] 4. Improve research accuracy. Unmanned vessels can make observations with higher spatial and temporal resolution, which is particularly important for oceanographic research. Accurate identification and measurement of the halocline will help to better understand the interaction between ocean dynamics and climate change. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 The figure is an overall flow chart of an automatic collection method of salt layer dynamic environment data based on an unmanned vessel.

[0019] Figure 2 This is a flow chart of the upper computer controlling the temperature-salinity-depth sensor to rise and fall along the salt layer through the automatic lifting winch.

[0020] Figure 3 This is the salinity distribution diagram obtained by the automatic lifting winch driving the temperature-salinity-depth sensor to rise and fall in the water in step 1 of Example 1. DETAILED DESCRIPTION

[0021] The specific implementation of the present invention is further described below in conjunction with the accompanying drawings and specific examples.

[0022] Example 1: In this example, it is necessary to observe the dynamic environment data at the vertical salt layer in a certain estuary sea area. The specific process is as follows: Combination Figures 1 to 3 , an automatic collection method of salt layer dynamic environment data based on an unmanned boat, an automatic lifting winch is installed on the unmanned boat, and a temperature-salinity-depth sensor, an ADV flowmeter, a turbidity meter and a multi-parameter water quality meter are carried by the automatic lifting winch. The automatic lifting winch drives the temperature-salinity-depth sensor, the ADV flowmeter, the turbidity meter and the multi-parameter water quality meter to rise and fall. The temperature-salinity-depth sensor can detect the salinity data in the water, including the following steps.

[0023] Step 1: After the unmanned boat sails to the estuary, it is fixed on the water surface of the preset observation station or allowed to sail according to the set route. The temperature-salinity-depth sensor is placed into the water through the automatic lifting winch. The automatic lifting winch drives the temperature-salinity-depth sensor to rise and fall in the water. The temperature-salinity-depth sensor synchronously collects salinity data in the water during the vertical movement.

[0024] The route of the unmanned ship is set based on experience, and the operator can determine the approximate location of the halocline.

[0025] Step 2: The collected salinity data is transmitted back to the host computer, which analyzes the collected salinity data and extracts the vertical position of the salt layer.

[0026] Specifically, it includes: Step 2.1: The salinity data in the collected water is transmitted back to the host computer, and the host computer analyzes the salinity value T of the halocline based on the salinity value transmitted back, and obtains the distribution direction of the low-salinity area and the high-salinity area. In the actual physical scene, the low-salinity area is on the side close to the water surface, and the high-salinity area is on the side close to the bottom of the bed.

[0027] The salinity value T of the halocline is the salinity value corresponding to the point where the gradient of the salinity value in the water changes the most. Figure 3 As shown, Figure 3 The horizontal axis is distance, and the vertical axis is depth. In this embodiment, the salinity value of the halocline determined by the host computer is 27.

[0028] The distribution direction of the low-salinity area refers to the direction extending from the salinity value of 27 in the halocline to the area with a salinity value lower than 27.

[0029] The distribution direction of high-salinity areas refers to the direction extending from the salinity value of 27 in the halocline to the area with a salinity value higher than 27.

[0030] Step 2.2: Set the salinity value of the observation interval of the halocline. In this embodiment, the salinity value of the observation interval of the halocline is [26, 28].

[0031] Step 3: After analysis by the host computer, the host computer controls the temperature-salinity-depth sensor to rise and fall along the salt jump layer through the winch, and detects other hydrological data through the temperature-salinity-depth sensor.

[0032] Specifically include: Step 3.1: The host computer controls the lifting of the temperature-salinity-depth sensor through the automatic lifting winch, and the temperature-salinity-depth sensor collects salinity values ​​in real time.

[0033] Step 3.2: Compare the salinity value collected in step 3.1 with the salinity value of the observation interval of the set halocline. If the collected salinity value falls within [26,28], the automatic lifting winch will not move, and the temperature-salinity-depth sensor, ADV flowmeter, turbidity meter and multi-parameter water quality meter will collect other dynamic environmental data.

[0034] If the collected salinity value is higher than 28, the winch controls the temperature-salinity-depth sensor to move toward the distribution direction of the low-salinity area (since the low-salinity area is located above, the winch actually controls the temperature-salinity-depth sensor to move upward) until the collected salinity value falls within the observation interval of the halocline. After that, the winch is automatically raised and lowered without moving, and the temperature-salinity-depth sensor, ADV flowmeter, turbidity meter and multi-parameter water quality meter collect other dynamic environmental data.

[0035] If the collected salinity value is lower than 26, the winch controls the temperature-salinity-depth sensor to move toward the distribution direction of the high-salinity area (since the high-salinity area is located below, the winch actually controls the temperature-salinity-depth sensor to move downward) until the collected salinity value falls within the observation interval of the halocline. After that, the winch is automatically raised and lowered without moving. The temperature-salinity-depth sensor, ADV flowmeter, turbidity meter and multi-parameter water quality meter collect other dynamic environmental data.

[0036] It is worth noting that the temperature-salinity-depth sensor, ADV flowmeter, turbidity meter and multi-parameter water quality meter only collect other dynamic environmental data when the collected salinity value falls within the salinity value of the observation interval of the halocline.

[0037] Of course, the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by technicians in this technical field within the essential scope of the present invention should also fall within the protection scope of the present invention.

Claims

1. A method for automatically collecting dynamic environmental data of salt layers based on an unmanned ship, wherein an automatic lifting winch is installed on the unmanned ship, and a temperature-salinity-depth sensor, an ADV current meter, a turbidity meter and a multi-parameter water quality meter are carried by the automatic lifting winch. The automatic lifting winch drives the temperature-salinity-depth sensor, the ADV current meter, the turbidity meter and the multi-parameter water quality meter to rise and fall, and the temperature-salinity-depth sensor can detect salinity data in water, and is characterized in that: The following steps are involved: Step 1: Place the unmanned boat on the water surface of the preset observation station, or let the unmanned boat sail according to the set route, and put the temperature-salinity-depth sensor into the water through the automatic lifting winch. The winch drives the temperature-salinity-depth sensor to rise and fall in the water, and the temperature-salinity-depth sensor collects salinity data in the water; Step 2: The collected salinity data is transmitted back to the host computer, which analyzes the collected salinity data and extracts the vertical position of the salt layer; Step 3: After the host computer analysis is completed, the host computer controls the automatic lifting winch to drop the temperature-salinity-depth sensor into the salt layer, and simultaneously observes the dynamic environment data through the temperature-salinity-depth sensor, ADV flowmeter, turbidity meter and multi-parameter water quality meter.

2. The method for automatically collecting dynamic environmental data of the salt layer based on an unmanned ship according to claim 1, characterized in that: Step 2 specifically includes: Step 2.1: The salinity data of the collected water is transmitted back to the host computer. The host computer analyzes the salinity value T of the halocline based on the transmitted salinity value, and obtains the distribution direction of the low-salinity area and the high-salinity area; Step 2.2: Set the salinity value of the observation interval of the halocline.

3. The method for automatically collecting dynamic environmental data of the salt layer based on an unmanned ship according to claim 2 is characterized in that: In step 2.1, the salinity value T of the halocline is the salinity value corresponding to the point where the gradient change of the salinity value in the water is the largest. The distribution direction of the low-salinity area refers to the direction extending from the salinity value T of the halocline to the area with a salinity value lower than T. The distribution direction of the high-salinity area refers to the direction extending from the salinity value T of the halocline to the area with a salinity value higher than T.

4. The method for automatically collecting dynamic environmental data of the salt layer based on an unmanned ship according to claim 3 is characterized in that: The salinity value of the observation interval of the halocline in step 2.2 is [T-1, T+1].

5. The method for automatically collecting dynamic environmental data of the salt layer based on an unmanned ship according to claim 4 is characterized in that: Step 3 specifically includes: Step 3.1: The host computer controls the temperature-salinity-depth sensor to rise and fall through the automatic lifting winch, and the temperature-salinity-depth sensor collects salinity values ​​in real time; Step 3.2: Compare the salinity value collected in step 3.1 with the salinity value of the observation interval of the set salt jump layer. If the collected salinity value falls within [T-1, T+1], the automatic lifting winch does not move, and the temperature-salinity-depth sensor, ADV current meter, turbidity meter and multi-parameter water quality meter collect other dynamic environmental data; if the collected salinity value is higher than T+1, the winch controls the temperature-salinity-depth sensor to move toward the distribution direction of the low-salinity area until the collected salinity value falls within the salinity value of the observation interval of the salt jump layer, and then the automatic lifting winch does not move, and the temperature-salinity-depth sensor, ADV current meter, turbidity meter and multi-parameter water quality meter collect other dynamic environmental data; if the collected salinity value is lower than T-1, the winch controls the temperature-salinity-depth sensor to move toward the distribution direction of the high-salinity area until the collected salinity value falls within the salinity value of the observation interval of the salt jump layer, and then the automatic lifting winch does not move, and the temperature-salinity-depth sensor, ADV current meter, turbidity meter and multi-parameter water quality meter collect other dynamic environmental data.

6. The method for automatically collecting dynamic environmental data of the salt layer based on an unmanned ship according to claim 5 is characterized in that: The temperature-salinity-depth sensor, ADV current meter, turbidity meter and multi-parameter water quality meter collect other dynamic environment data only when the collected salinity value falls within the salinity value of the observation interval of the halocline.

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