An automatic collection method of salt jump layer dynamic environment data based on unmanned ship

Abstract

The application discloses a kind of salt jump layer dynamic environment data automatic acquisition method based on unmanned ship, it is related to marine hydrographic field, through automatic lifting winch on unmanned ship carries temperature-salinity-depth sensor etc., including the unmanned ship is fixedly placed on the water surface of preset observation site, or let unmanned ship sail according to set course, temperature-salinity-depth sensor etc. are put into water by winch, temperature-salinity-depth sensor collects the salinity data in vertical water layer;The salinity data collected is returned to host computer, and the salinity data collected is analyzed by host computer;After host computer analysis is completed, host computer controls automatic lifting winch and puts temperature-salinity-depth sensor into salt jump layer, and carries out dynamic environment data observation by temperature-salinity-depth sensor etc.The unmanned ship of the application can continuously and accurately observe the vertical salt jump layer of estuary, and is more efficient than traditional ship observation.The automatic identification salt jump layer can make unmanned ship quickly lock the salinity change area and accurately measure.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of marine hydrological investigation, and particularly relates to a salt jump layer dynamic environment data automatic acquisition method based on an unmanned ship. BACKGROUND

[0002] At present, for marine scientific investigation, an unmanned ship is an important means, and especially for the near-shore sea area, the unmanned ship has advantages of small size, low cost and strong maneuverability. At present, for marine hydrological investigation, the use mode of the unmanned ship is mainly to carry hydrological equipment to observe the fixed route of the specified area, and the unmanned ship cannot automatically identify the sea area characteristic phenomenon and then perform high-precision tracking observation. At present, it is of great significance to research the salt jump layer in the estuary sea area and make the sensor on the unmanned ship move along the salt jump layer to observe other hydrological parameters, and there is no related research at present. SUMMARY

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

[0004] The present application adopts the following technical scheme:

[0005] A salt jump layer dynamic environment data automatic acquisition method based on an unmanned ship, an automatic lifting winch is installed on the unmanned ship, 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 lift, the temperature-salinity-depth sensor can detect the salinity data in the water, and the method comprises the following steps:

[0006] Step 1: the unmanned ship is fixedly placed on the water surface of a preset observation station, or the unmanned ship is navigated according to a set route, the temperature-salinity-depth sensor is put into the water by the automatic lifting winch, the winch drives the temperature-salinity-depth sensor to lift in the water, and the temperature-salinity-depth sensor collects the salinity data in the water.

[0007] Step 2: the collected salinity data is returned to an upper computer, the upper computer analyzes the collected salinity data, and extracts the vertical position of the salt jump layer.

[0008] Step 3: 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 jump layer, and simultaneously performs dynamic environment data observation by the temperature-salinity-depth sensor, the ADV flowmeter, the turbidity meter and the multi-parameter water quality meter.

[0009] Preferably, step 2 specifically comprises:

[0010] Step 2.1: the salinity data in the collected water is returned to the host computer, and the host computer analyzes the salinity value of the halocline T to obtain the distribution direction of the low salinity area and the distribution direction of the high salinity area according to the returned salinity value.

[0011] Step 2.2: set the observation interval salinity value of the halocline.

[0012] Preferably, the salinity value T of the halocline in step 2.1 is the salinity value corresponding to the maximum gradient change of the salinity value in the water, 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.

[0013] Preferably, the observation interval salinity value of the halocline in step 2.2 is [T-1, T+1].

[0014] Preferably, step 3 specifically comprises:

[0015] Step 3.1: the host computer controls the temperature-salinity-depth sensor to ascend and descend through the automatic lifting winch, and the temperature-salinity-depth sensor collects the salinity value in real time.

[0016] Step 3.2: the salinity value collected in step 3.1 is compared with the set observation interval salinity value of the halocline, if the collected salinity value falls within [T-1, T+1], the automatic lifting winch is stationary, and the temperature-salinity-depth sensor, the ADV flow velocity meter, the turbidity meter and the multi-parameter water quality instrument 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 in the distribution direction of the low salinity area until the collected salinity value falls within the observation interval salinity value of the halocline, and then the automatic lifting winch is stationary, and the temperature-salinity-depth sensor, the ADV flow velocity meter, the turbidity meter and the multi-parameter water quality instrument 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 in the distribution direction of the high salinity area until the collected salinity value falls within the observation interval salinity value of the halocline, and then the automatic lifting winch is stationary, and the temperature-salinity-depth sensor, the ADV flow velocity meter, the turbidity meter and the multi-parameter water quality instrument collect other dynamic environmental data.

[0017] Preferably, the temperature-salinity-depth sensor, the ADV flow velocity meter, the turbidity meter and the multi-parameter water quality instrument only collect other dynamic environmental data when the collected salinity value falls within the observation interval salinity value of the halocline.

[0018] The present application has the beneficial effects that:

[0019] 1. Efficiency and coverage, unmanned ships can be fixed position observation can also be set according to the route for navigation observation, more efficient than traditional ship observation. Automatic identification of halocline can make the unmanned ship quickly lock the maximum salinity gradient position, accurate measurement, and observation of other hydrological parameters of halocline.

[0020] 2. Safety, in complex or dangerous marine environment observation halocline, using unmanned ships can avoid the risk of human operation. For example, unmanned ships can measure and observe without involving personnel safety.

[0021] 3. The unmanned ship of the present application can be continuously and cluster operated, reducing the cost of manpower, fuel and other aspects, especially in the case of long-term monitoring, this advantage is more significant.

[0022] 4. Improve research accuracy, unmanned ships can observe with higher spatial and temporal resolution, which is particularly important for oceanography. Accurate identification and measurement of halocline helps better understand the interaction of ocean dynamic processes and climate change. BRIEF DESCRIPTION OF DRAWINGS

[0023] Fig. 1 It is a whole flow chart of a halocline dynamic environment data automatic acquisition method based on an unmanned ship.

[0024] Fig. 2 It is a flow chart of the host computer controlling the temperature-salinity-depth sensor to ascend and descend along the halocline through the automatic lifting winch.

[0025] Fig. 3 It is a salinity distribution diagram obtained by the automatic lifting winch driving the temperature-salinity-depth sensor to ascend and descend in water in step 1 of embodiment 1. DETAILED DESCRIPTION

[0026] The specific embodiments of the present application will be further described below in combination with the drawings and specific embodiments.

[0027] Embodiment 1, in this embodiment, the dynamic environment data at the vertical halocline in a certain estuary needs to be observed, the specific process is as follows:

[0028] In combination Figs. 1 to 3 , a halocline dynamic environment data automatic acquisition method based on an unmanned ship, an automatic lifting winch is installed on the unmanned ship, a temperature-salinity-depth sensor, an ADV flowmeter, a turbidity meter and a multi-parameter water quality meter are carried through 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 ascend and descend, the temperature-salinity-depth sensor can detect salinity data in water, including the following steps.

[0029] Step 1: After the unmanned vessel sails to the estuary area, it is fixed on the water surface of the preset observation station or the unmanned vessel is allowed to sail along the set route. The temperature, salinity and depth sensor is put into the water by an automatic lifting winch. The automatic lifting winch drives the temperature, salinity and depth sensor to rise and fall in the water. During the vertical movement, the temperature, salinity and depth sensor collects the salinity data in the water at the same time.

[0030] The unmanned vessel's route is set based on experience, allowing operators to determine the approximate location of the halocline.

[0031] Step 2: The collected salinity data is transmitted back to the host computer, which analyzes the collected salinity data and extracts the vertical location of the halocline.

[0032] Specifically, this includes: Step 2.1: The collected salinity data in the water is transmitted back to the host computer. The host computer analyzes the transmitted salinity values ​​to obtain the salinity value T of the halocline, and determines the distribution direction of the low-salinity region and the high-salinity region. In actual physical scenarios, the low-salinity region is located on the side closer to the water surface, and the high-salinity region is located on the side closer to the bottom of the bed.

[0033] The salinity value T of the halocline is the salinity value corresponding to the point where the salinity gradient in the water changes the most. For example... Fig. 3 As shown, Fig. 3 The horizontal axis represents distance, and the vertical axis represents depth. In this embodiment, the salinity value of the halocline determined by the host computer is 27.

[0034] The distribution direction of low salinity areas refers to the direction of extension from the salinity value of 27 in the halocline to areas with salinity values ​​below 27.

[0035] The distribution direction of high salinity areas refers to the direction of extension from the salinity value of 27 in the halocline to areas with salinity values ​​higher than 27.

[0036] Step 2.2: Set the salinity values ​​for the observation interval of the halocclusion. In this embodiment, the salinity values ​​for the observation interval of the halocclusion are [26, 28].

[0037] Step 3: After analysis by the host computer, the host computer controls the temperature, salinity and depth sensor to rise and fall along the halocline via a winch, and detects other hydrological data through the temperature, salinity and depth sensor.

[0038] Specifically, it includes: Step 3.1: The host computer controls the temperature, salinity and depth sensor to rise and fall through an automatic lifting winch, and the temperature, salinity and depth sensor collects salinity values ​​in real time.

[0039] Step 3.2: Compare the salinity value collected in Step 3.1 with the salinity value of the set halocline observation interval. If the collected salinity value falls within [26,28], the automatic lifting winch will not move, and the temperature, salinity and depth sensor, ADV flow meter, turbidity meter and multi-parameter water quality meter will collect other dynamic environmental data.

[0040] If the collected salinity value is higher than 28, the winch controls the CTD to move in the distribution direction of the low salinity area (since the low salinity area is located above, it is actually the CTD moving upwards), until the collected salinity value falls into the observed salinity value interval of the halocline, then the automatic lifting winch is stationary, and the CTD, ADV flow meter, turbidity meter and multi-parameter water quality meter collect other dynamic environmental data.

[0041] If the collected salinity value is lower than 26, the winch controls the CTD to move in the distribution direction of the high salinity area (since the high salinity area is located below, it is actually the CTD moving downwards), until the collected salinity value falls into the observed salinity value interval of the halocline, then the automatic lifting winch is stationary, and the CTD, ADV flow meter, turbidity meter and multi-parameter water quality meter collect other dynamic environmental data.

[0042] It is worth mentioning that the CTD, ADV flow meter, turbidity meter and multi-parameter water quality meter only collect other dynamic environmental data when the collected salinity value falls into the observed salinity value interval of the halocline.

[0043] Of course, the above description is not a limitation of the present application, and the present application is not limited to the above examples. Changes, modifications, additions or substitutions made by those skilled in the art within the scope of the present application should also be within the scope of the present application.

Claims

1. An unmanned ship-based salt jump layer power environment data automatic acquisition method, an automatic lifting winch is installed on the unmanned ship, a temperature-salinity-depth sensor, an ADV flowmeter, a turbidity meter and a multi-parameter water quality instrument are carried through 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 instrument to lift, the temperature-salinity-depth sensor can detect salinity data in water, characterized in that, The method comprises the following steps: Step 1: fixing the unmanned ship on the water surface of a preset observation site, or making the unmanned ship sail along a set route, and putting the temperature-salinity-depth sensor into the water through the automatic lifting winch, so that the winch drives the temperature-salinity-depth sensor to ascend and descend in the water, and the temperature-salinity-depth sensor collects the salinity data in the water; Step 2: returning the collected salinity data to the upper computer, and analyzing the collected salinity data by the upper computer to extract the vertical position of the halocline; Specifically comprising: Step 2.1: returning the collected salinity data in the water to the upper computer, and obtaining the salinity value T of the halocline, the distribution direction of the low-salinity region and the distribution direction of the high-salinity region by the upper computer according to the returned salinity value; The salinity value T of the halocline is the salinity value corresponding to the maximum gradient change of the salinity value in the water, the distribution direction of the low-salinity region is the direction extending from the salinity value T of the halocline to the region with a salinity value lower than T, and the distribution direction of the high-salinity region is the direction extending from the salinity value T of the halocline to the region with a salinity value higher than T; Step 2.2: setting the observation interval salinity value of the halocline; the observation interval salinity value of the halocline is [T-1, T+1]; Step 3: 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 halocline, and simultaneously performs dynamic environment data observation through the temperature-salinity-depth sensor, the ADV flowmeter, the turbidity meter and the multi-parameter water quality instrument; Specifically comprising: Step 3.1: the upper computer controls the temperature-salinity-depth sensor to ascend and descend through the automatic lifting winch, and the temperature-salinity-depth sensor collects the salinity value in real time; Step 3.2: comparing the salinity value collected in step 3.1 with the set observation interval salinity value of the halocline, if the collected salinity value falls within [T-1, T+1], the automatic lifting winch is stationary, and the temperature-salinity-depth sensor, the ADV flowmeter, the turbidity meter and the multi-parameter water quality instrument collect other dynamic environment data; if the collected salinity value is higher than T+1, the winch controls the temperature-salinity-depth sensor to move towards the distribution direction of the low-salinity region until the collected salinity value falls within the observation interval salinity value of the halocline, and then the automatic lifting winch is stationary, and the temperature-salinity-depth sensor, the ADV flowmeter, the turbidity meter and the multi-parameter water quality instrument collect other dynamic environment data; if the collected salinity value is lower than T-1, the winch controls the temperature-salinity-depth sensor to move towards the distribution direction of the high-salinity region until the collected salinity value falls within the observation interval salinity value of the halocline, and then the automatic lifting winch is stationary, and the temperature-salinity-depth sensor, the ADV flowmeter, the turbidity meter and the multi-parameter water quality instrument collect other dynamic environment data.

2. The method of claim 1, wherein the method is based on an unmanned ship. The temperature-salinity-depth sensor, the ADV flowmeter, the turbidity meter and the multi-parameter water quality instrument only collect other dynamic environment data when the collected salinity value falls within the observation interval salinity value of the halocline.

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