Deep sea observation buoy for deep sea environment observation information transmission

Abstract

The invention provides a deep-sea observation buoy for deep-sea environment observation information transmission, and the buoy comprises an antenna unfolding and maintaining device which comprises an inflation device and a flexible stabilizing device, and when a first target signal is received, the inflation device inflates the flexible stabilizing device, so that the flexible stabilizing device is unfolded; the satellite communication spherical antenna is connected with the antenna unfolding keeping device through a flexible material and comprises an umbrella stand structure and a satellite antenna array, when a second target signal is received, the umbrella stand structure is opened, the air inflation device inflates air inwards, and when air inflation is completed, the length of the flexible material is adjusted; the satellite communication signal processing module is used for receiving and processing signals transmitted back by the satellite communication spherical antenna; and the energy supply module is used for providing energy. By implementing the scheme, the limitation of the sea condition on the water outlet height of the antenna body is broken through, the communication reliability in the high sea condition environment is effectively improved, and the influence degree of the sea wave fluctuation on the communication effect in the high sea condition environment is greatly reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of ocean detection equipment, and in particular relates to a deep-sea observation buoy used for transmitting deep-sea environment observation information. Background Art

[0002] Deep-sea buoys are one of the core equipment in the field of marine environmental monitoring. They are mainly used for long-term, continuous, and multi-dimensional data collection and transmission in deep-sea areas far from the continental shelf and with a water depth of more than 200 meters. With the increase in global climate change research, marine resource development, and disaster prevention and early warning needs, the observation capabilities of traditional near-shore buoys can no longer meet the needs of systematic research on ocean circulation, extreme weather, marine ecology, etc. Against this background, deep-sea buoy technology has developed rapidly since the late 20th century, and its design integrates multidisciplinary achievements such as marine engineering, sensor technology, satellite communications, and new energy technologies.

[0003] Since the development of deep-sea buoys, in the relevant technologies, the satellite communication antenna configured on the buoy is generally connected rigidly to the buoy body. The height of the antenna out of the water is directly limited by the height of the buoy out of the water. As a result, due to the low height of the antenna out of the water, in high sea conditions in the deep sea, affected by the obstruction of sea surface wind and waves, the actual stable communication time is short. Under level 5 sea conditions, the proportion of communication time to the total time is generally difficult to exceed 50%. Summary of the invention

[0004] In view of this, an object of the present invention is to provide a deep-sea observation buoy for transmitting deep-sea environment observation information, so as to reduce the influence of the deep-sea buoy being blocked by sea surface wind and waves.

[0005] In order to achieve the above object, the present invention provides the following technical solutions:

[0006] The present invention provides a deep-sea observation buoy for transmitting deep-sea environment observation information, comprising: an antenna deployment and holding device, comprising an inflating device and a flexible stabilizing device, wherein when a first target signal is received, the inflating device inflates the flexible stabilizing device to deploy the flexible stabilizing device; a satellite communication spherical antenna, which is connected to the antenna deployment and holding device through a flexible material, comprises an umbrella frame structure and a skin covering the umbrella frame structure, and a satellite antenna array arranged on the skin, wherein when a second target signal is received, the umbrella frame structure is opened, the inflating device inflates inwardly, and when the inflation is completed, the length of the flexible material is adjusted; a satellite communication signal processing module, which is used to receive and process the signal transmitted back by the satellite communication spherical antenna; and an energy supply module, which provides energy for the antenna deployment and holding device, the satellite communication spherical antenna and the satellite communication signal processing module.

[0007] Optionally, a deep-sea observation buoy for transmitting deep-sea environment observation information further includes: an underwater communication device configured to transmit the satellite information received by the satellite communication spherical antenna, or receive deep-sea remote information underwater and transmit the deep-sea remote information to the satellite communication signal processing module for processing.

[0008] Optionally, the energy supply module is disposed at the bottom of the antenna deployment and retention device, and the energy supply module is at least one wave power generation energy capture board.

[0009] Optionally, the antenna deployment and retention device further includes: a first control module, a pumping device, a level measurement, a seawater density sensor, a first water injection bag, and a second water injection bag; the first water injection bag is disposed at the center of the bottom of the antenna deployment and retention device, and the second water injection bags are evenly arranged along the edge of the antenna deployment and retention device; the first control module performs the following steps: reading the seawater density of the seawater density sensor; determining the buoyancy according to the volume, shape, and seawater density of the antenna deployment and retention device; determining the magnitude of the tensile force according to the structural parameters and material characteristics of the satellite communication spherical antenna; determining the water injection volume of the first water injection bag according to the buoyancy and the magnitude of the tensile force, and controlling the pumping device to pump out or pump in the corresponding water injection volume from the first water injection bag; determining the target second water injection bag and the water injection volume according to the level measurement result, and controlling the pumping device to pump out or pump in the corresponding water injection volume from the target second water injection bag.

[0010] Optionally, a deep-sea observation buoy for transmitting deep-sea environment observation information further includes: a wave parameter monitoring module configured to monitor target parameters of waves, the target parameters including wave height, wavelength, and period; a second control module configured to issue a flexible material length adjustment control instruction according to the target parameters of the waves; and a motor disposed on the antenna deployment and retention device configured to rotate forward or backward according to the flexible material length adjustment control instruction issued by the second control module to adjust the length of the flexible material.

[0011] Optionally, issuing a flexible material length adjustment control instruction according to the target parameters of the waves includes: determining the wave type according to the target parameters transmitted by the wave parameter monitoring module, the wave type including wind wave, swell, nearshore wave, solitary wave, and wave group; determining a first flexible material length parameter according to the wave type and the wave height; inputting the first flexible material length parameter into a pre-established digital twin model to determine whether the signal quality of the satellite communication spherical antenna at the first flexible material length reaches a preset quality requirement, and when it reaches, using the first flexible material length parameter as one of the flexible material length adjustment control instructions.

[0012] Optionally, the satellite communication signal processing module is further configured to detect the quality of the satellite communication signal. The deep-sea observation buoy for transmitting deep-sea environment observation information further includes: a positioning module disposed on the antenna deployment and holding device for determining the geographical location of the antenna deployment and holding device; an offshore wind monitoring module for monitoring offshore wind parameters; a second control module further configured to issue a direction offset control instruction for the flexible material direction control device according to the offshore wind parameters, the current satellite communication signal quality, and the geographical location of the antenna deployment and holding device; and a flexible material direction control device disposed at a position on the antenna deployment and holding device connected to the flexible material for controlling the offset direction of the flexible material according to the direction offset control instruction of the second control module.

[0013] Optionally, issuing a direction offset control instruction for the flexible material direction control device according to the offshore wind parameters, the current satellite communication signal quality, and the geographical location of the antenna deployment and holding device includes: when the satellite communication signal quality is lower than the target quality, re-determining the receiving direction according to the geographical location of the current antenna deployment and holding device, the azimuth angle and elevation angle of the satellite; inputting the offshore wind parameters into a pre-established offset model of the satellite communication spherical antenna direction corresponding to the current geographical location to determine the offset parameters of the satellite communication spherical antenna, where the offset model is constructed based on the mechanical properties of the flexible material, the acting force of the wind on the satellite communication spherical antenna, and the torque; and determining the offset control direction and offset control amount of the flexible material direction control device according to the offset parameters of the satellite communication spherical antenna and the receiving direction.

[0014] Optionally, the length of the antenna array is matched and changed according to the short-wave transmission operating frequency.

[0015] Optionally, the transmission operating frequency is adjusted according to target conditions, where the target conditions include receiving real-time predicted operating frequency data transmitted by the shore base and a preset operating frequency.

[0016] The embodiment of the present invention provides a deep-sea observation buoy for transmitting deep-sea environment observation information, and proposes a structure of a tethered aerostat antenna connected to a buoy body, which breaks through the limitation of the sea condition on the water emergence height of the antenna body, effectively improves the reliability of communication in a high-sea condition environment, and greatly reduces the influence degree of the wave undulation on the communication effect in a high-sea condition environment.

[0017] Other advantages, objectives, and features of the present invention will be described in the subsequent specification, and to some extent, will be obvious to those skilled in the art, or those skilled in the art can obtain teachings from the practice of the present invention. The objectives and other advantages of the present invention can be achieved and obtained through the following specification. Description of the Drawings

[0018] To make the objectives, technical solutions, and beneficial effects of the present invention clearer, the present invention provides the following drawings for illustration:

[0019] Figure 1 It is a schematic diagram of the modules of a deep-sea observation buoy for deep-sea environment observation information transmission in the present invention;

[0020] Figure 2 It is a schematic diagram of the connection between the antenna deployment and retention device and the satellite communication spherical antenna in a deep-sea observation buoy for deep-sea environment observation information transmission in the present invention through a flexible material;

[0021] Figure 3 It is a schematic diagram of the connection relationship among the antenna deployment and retention device, the satellite communication spherical antenna, and the underwater communication device in a deep-sea observation buoy for deep-sea environment observation information transmission in the present invention;

[0022] Figure 4 It is a schematic diagram of the structure of the energy supply module in a deep-sea observation buoy for deep-sea environment observation information transmission in the present invention. Detailed implementation manners

[0023] Next, the technical solutions of the present invention will be clearly and completely described in conjunction with the drawings. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0024] In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can also be the communication inside two components. It can be a wireless connection or a wired connection. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0025] In addition, the technical features involved in different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0026] An embodiment of the present invention provides a deep-sea observation buoy for deep-sea environment observation information transmission, as Figure 1 shown, including:

[0027] An antenna deployment and retention device 101, including an inflation device and a flexible stabilizing device. When receiving a first target signal, the inflation device inflates the flexible stabilizing device to make the flexible stabilizing device unfold;

[0028] The satellite communication spherical antenna 102 is connected to the antenna deployment and holding device through a flexible material, and includes an umbrella frame structure and a skin covering the umbrella frame structure, and a satellite antenna array arranged on the skin. When a second target signal is received, the umbrella frame structure is opened, and the inflatable device is inflated inwardly. When the inflation is completed, the length of the flexible material is adjusted;

[0029] Satellite communication signal processing module 103, used for receiving and processing the signal returned by the satellite communication spherical antenna;

[0030] The energy supply module 104 provides energy for the antenna deployment and holding device, the satellite communication spherical antenna and the satellite communication signal processing module.

[0031] Exemplarily, the antenna deployment and holding device 101 is a stabilizing device floating on the sea surface, which includes a flexible stabilizing device and a high-pressure inflating device. The high-pressure inflating device can be a disposable small inflatable bottle, which stores high-pressure gas. The high-pressure inflating device is used to inflate the flexible stabilizing device. The flexible stabilizing device can be an airbag that automatically opens when triggered by a first target signal. The high-pressure inflating device inflates the airbag. The first target signal can be a water-touching signal. When the buoy is thrown into the sea, it can quickly and stably float on the sea surface.

[0032] At the same time, the antenna deployment holding device is connected to the satellite communication spherical antenna through a flexible material, as shown in the schematic diagram. Figure 2 As shown, the flexible material can be a connecting rope, which contains a high-strength fixing rope and a radio frequency feeder cable. The high-strength fixing rope is used to connect the surface antenna of the satellite communication buoy and the antenna deployment and retention device near the water surface, and plays a fixing role as a mooring force; the radio frequency feeder cable is used for signal transmission between the satellite communication spherical antenna and the satellite communication signal processing module inside the buoy, and its length is slightly greater than the high-strength fixing rope to ensure that it is basically not subjected to force.

[0033] The satellite communication spherical antenna 102 includes an umbrella frame structure and a satellite antenna surface array covered on the outer surface of the structure. The umbrella frame structure can be an elastic carbon fiber structure. When the second target signal is received, the umbrella frame structure is opened, and the inflatable device is inflated inwardly. When the inflation is completed, the length of the flexible material is adjusted. The second target signal can also be a water contact signal. The second target signal can also be a signal that the flexible stabilization device is inflated. This embodiment does not limit the second target signal. This embodiment proposes a large-caliber satellite antenna structure that is self-released and launched into the air. Relying on the large-caliber spherical antenna structure that is deployed after inflation, supplemented by the support of a built-in elastic carbon fiber umbrella, the adaptability of the effective aperture and direction changes of the satellite antenna on the buoy is greatly improved, so that high-speed transmission has a hardware foundation support, and at the same time provides software tracking and satellite robustness.

[0034] Taking the water contact signal as an example, when the water contact signal is received, the umbrella frame structure is synchronously opened, and the inflation device inflates inward. When the inflation is completed, the length of the flexible material is adjusted. Specifically, the connecting rope between the surface antenna of the satellite communication buoy and the buoy body is released. The length of the connecting rope is generally 5 meters, which is greater than the 4-meter wave height in sea conditions above level 5. After the spherical antenna of the satellite communication buoy ascends and floats, it can meet the requirement of unobstructed communication signals within the line-of-sight range in the straight direction of the buoy-to-satellite. The way to adjust the length of the flexible material can be to automatically unlock the flexible material control module, so that the satellite spherical antenna 102 rises under the fixation of the flexible material. In addition, the length of the flexible material can also be adjusted according to the real-time monitored wave height.

[0035] The satellite communication signal processing module 103 is used to receive and process the signals transmitted back by the satellite communication spherical antenna, including satellite communication signal processing and satellite communication. When the satellite communication spherical antenna is released and stably maintained, it performs adaptive software tracking and focusing of the satellite, as well as the conversion of satellite communication and communication protocols. Its function is to complete satellite communication signal processing and the conversion of different communication protocols. The power of its transmitter can be 10W. Satellite communication signal processing includes adaptive software tracking of the satellite and encoding and modulation of satellite communication information. In this embodiment, the commonly used parabolic antenna and mechanical servo structure device are cancelled, and a software-based phased array processing method is adopted, which greatly reduces the hardware scale and mechanical complexity.

[0036] The energy supply module 104 can be a solar energy structure, which provides energy for the antenna deployment and holding device, the satellite communication spherical antenna, and the satellite communication signal processing module.

[0037] The embodiment of the present invention provides a deep-sea observation buoy for deep-sea environment observation information transmission, and proposes a structure of a tethered aerostat antenna connected to the buoy body, which breaks through the limitation of the sea condition on the water emergence height of the antenna body, effectively improves the reliability of communication in high-sea conditions, and greatly reduces the influence of sea wave fluctuations on the communication effect in high-sea conditions.

[0038] As an alternative embodiment, the deep-sea observation buoy for deep-sea environment observation information transmission, as Figure 1 shown, further includes:

[0039] The underwater communication device 105 is used to transmit the satellite information received by the satellite communication spherical antenna, or receive the deep-sea remote information underwater and transmit the deep-sea remote information to the satellite communication signal processing module for processing.

[0040] Exemplarily, the underwater communication module 105 is configured to transmit the satellite information received by the satellite communication spherical antenna through the underwater communication device. The underwater communication device can adopt an underwater acoustic communication or a blue-green laser communication device, and its function also includes receiving deep-sea scientific observation information and transmitting it to the satellite communication signal processing module, so as to achieve high-speed transmission of shore-based to deep-sea remote information underwater.

[0041] The underwater acoustic communication device uses the propagation characteristics of sound waves in water to transmit information. At the transmitting end, the information to be transmitted (such as digital data, voice, etc.) is processed through encoding, modulation, etc., and then converted into a sound wave signal by a transducer and transmitted into the water. The sound wave propagates in the water to the receiving end, where the transducer of the receiving end converts the sound wave signal back into an electrical signal, and then through demodulation, decoding, etc. processing, the original information is restored. For example, in deep-sea long-distance communication, the transmitting end modulates the digital signal transmitted by the satellite communication signal processing module, converts it into a sound wave signal with a specific frequency and phase, and after propagating hundreds or even thousands of meters in seawater, it is received by the underwater acoustic receiver of the underwater device and restored to a digital signal.

[0042] The blue-green laser communication device uses the low attenuation characteristics of blue-green laser in water for information transmission. Blue-green laser is in the blue-green light band of the spectrum, and the light in this band has relatively small scattering and absorption in water, and can effectively propagate within a certain depth and distance. The transmitting end loads the information onto the blue-green laser beam through modulation, and the laser beam propagates in the water to the receiving end. The receiving end receives the laser signal through an optical system and a photodetector, converts it into an electrical signal, and restores the original information through signal processing. For example, in underwater communication, the deep-sea remote information collected by the underwater device is transmitted through the blue-green laser communication device. The laser beam propagates in seawater and is received by the blue-green laser receiver on the buoy, and after processing, the information is transmitted to the satellite communication signal processing module.

[0043] The schematic diagram of the connection relationship among the antenna deployment and holding device 101, the satellite communication spherical antenna 102, and the underwater communication device 105 in the deep-sea observation buoy for deep-sea environment observation information transmission proposed in this embodiment is as Figure 3 shown. The two ends of the antenna deployment and holding device 101 are respectively connected to the satellite communication spherical antenna 102 and the underwater communication device 105. The satellite communication spherical antenna 102 floats in the air, and the underwater communication device 105 dives into the seawater.

[0044] It should be noted that on this basis, the different communication protocol conversion functions in the satellite communication signal processing module also include the format conversion between satellite received information and high-frequency underwater acoustic communication information, so that deep-sea observation information can be transmitted both in radio signals in the sky and underwater acoustic signals.

[0045] The deep - sea observation buoy proposed in this embodiment for transmitting deep - sea environment observation information presents a full - duplex communication method from deep - sea long - distance satellite communication to underwater communication, realizing cross - medium full - duplex communication over long distances in the deep sea, and can meet the high - speed information transmission requirements between deep - sea scientific observation equipment and onshore or ship - based facilities globally.

[0046] As an alternative implementation, the energy supply module is arranged at the bottom of the antenna deployment and holding device, and the energy supply module is at least one wave - power - generation energy - harvesting plate.

[0047] Exemplarily, the energy supply module can provide 100 Wh of energy and can continuously supply the energy for signal transmission for more than 2 hours. As Figure 4 shown, the self - power - generation device is attached to the bottom of the inflatable stabilizing device surrounding the buoy, and is arranged in a cross - shaped structure spreading around the buoy cylinder. It includes several wave - power - generation energy - harvesting plates, shown as 4 groups in the figure, with each group containing 5 serially - connected wave - power - generation energy - harvesting plates. The typical size of the wave - power - generation energy - harvesting plate is a thin plate of 20 cm×2 cm. The energy - harvesting plate captures the kinetic energy of the waves through piezoelectric elements and converts it into electrical energy. The output power under sea states of level 3 - 4 is about 4 mW. There are a total of 20 wave - power - generation energy - harvesting plates in the figure, with a total output power of 80 mW. The energy provided in 24 hours is 1.92 Wh, which can meet the limited - time energy supply of the antenna deployment and holding device, the satellite communication spherical antenna, and the satellite communication signal processing module. At the same time, it can also effectively supplement the self - power consumption loss of the energy storage device. Even in the extreme case where the power of the energy storage device is exhausted, charging for 10 days can support the buoy to continuously transmit signals for more than 1 hour. Under normal circumstances, the buoy transmits signals on demand. Calculated by working 1 hour per day, the self - power - generation and energy - supply device can ensure the long - term operation of the buoy. This embodiment proposes a continuous power - supply method of wave self - power - generation, which can realize the self - sustaining energy supply for buoy platform communication and achieve the effect of long - term endurance.

[0048] As an alternative implementation, the antenna deployment and holding device further includes: a first control module, a pumping device, a level measurement, a seawater density sensor, a first water - injection bag, and a second water - injection bag; the first water - injection bag is arranged at the center of the bottom of the antenna deployment and holding device, and the second water - injection bags are evenly arranged along the edge of the antenna deployment and holding device;

[0049] The first control module performs the following steps: Read the seawater density from the seawater density sensor; Determine the buoyancy according to the volume, shape of the antenna deployment and retention device, and the seawater density; Determine the magnitude of the tensile force according to the structural parameters and material properties of the satellite communication spherical antenna; Determine the water injection volume of the first water injection bag according to the buoyancy and the magnitude of the tensile force, and control the pumping device to pump out the corresponding water injection volume from the first water injection bag, or pump in the corresponding water injection volume into the first water injection bag; Determine the target second water injection bag and the water injection volume according to the measurement result of the level gauge, and control the pumping device to pump out the corresponding water injection volume from the target second water injection bag, or pump in the corresponding water injection volume into the target second water injection bag.

[0050] Exemplarily, install a high-precision level gauge measurement device at the key positions of the antenna deployment and retention device, such as the centrally symmetric position, and fix it with screws or strong glue to ensure that the level gauge does not shift or loosen during the operation of the device. The level gauge measurement device transmits the measurement data to the first control module by wired (such as RS-485 data cable) or wireless (such as Bluetooth, WiFi module) means.

[0051] Distribute multiple second water injection bags around the antenna deployment and retention device. The number and distribution of the second water injection bags should be determined according to the structural and center-of-gravity adjustment requirements of the device, and can be symmetrically distributed. For example, 4-8 second water injection bags are evenly arranged at the four corners or along the edge of the device. Each second water injection bag is equipped with an independent water inlet and outlet, and the water inlet and outlet are connected to the pumping device through a high-pressure-resistant water pipe. Install the pumping device at a position close to the water injection bag and convenient for maintenance. The pumping device has a two-way pumping function, which can both pump water from the second water injection bag and inject water into the second water injection bag. Its power and pumping speed are selected according to the capacity of the water injection bag and the response speed requirements for the center-of-gravity adjustment of the device. The pumping device is connected to the first control module through a control cable, receives the control instructions issued by the first control module, and at the same time, the operating state (such as working, stopping, malfunction, etc.) of the pumping device can also be fed back to the first control module.

[0052] The first control module continuously receives the real-time level state data from the level gauge measurement device. The level gauge measurement data is usually presented in the form of an angle deviation value. For example, when the level gauge measures that the device is tilted by a certain angle in a certain direction, such as tilted by θ degrees in the x-axis direction. The first control module first filters these data to remove the noise data generated by environmental interference and other factors. Specifically, the Kalman filtering algorithm can be used to improve the accuracy and stability of the data. Then, according to the filtered level state data, the first control module uses a preset center-of-gravity adjustment algorithm to determine the target second water injection bag and the water injection volume.

[0053] Assume that the device tilts to one side, for example, to the left side. The first control module will analyze the tilt direction and degree to determine the second water injection bags that need to adjust the center of gravity. Since the device has a regular and symmetric structure and tilts in the direction of two second water injection bags on the left side, then these two second water injection bags on the left side and the two symmetric second water injection bags on the right side are the target second water injection bags. The calculation of the water injection volume is based on the structural parameters of the device, the tilt angle, and the positional relationship of the second water injection bags. For example, by establishing a mechanical model of the device, given that the mass of the device is M, the offset distance of the center of gravity is d (calculated from the tilt angle), and the distance from the second water injection bag to the center of the device is r, according to the lever principle, the amount of water m that needs to be adjusted can be calculated.

[0054] The first control module sends corresponding control commands to the pumping equipment according to the determined target second water injection bags and water injection volume. In the above case, if it is necessary to reduce the water volume of the target second water injection bags on the left side, the first control module sends a reverse pumping command to control the pumping equipment to pump out the corresponding amount of water from the target second water injection bags and discharge it to the outside. At the same time, in order to accelerate the balance maintenance, the water volume of the target second water injection bags on the right side can be increased synchronously. The first control module sends a forward pumping command to control the pumping equipment to extract the corresponding amount of water from the external water source and inject it into the target second water injection bags. During the pumping process, the first control module monitors the operating state of the pumping equipment and the water volume change of the water injection bags in real time. Specifically, a flow sensor can be installed on the water pipe to feedback the flow data to the first control module to ensure that the pumped water volume accurately reaches the calculated value. The above-mentioned second water injection bags prevent the antenna deployment and holding device from tipping over, and can effectively offset the unbalanced force caused by the waves, reduce the swaying and tilting degree of the buoy, and ensure that the satellite communication spherical antenna can float stably in the air, guaranteeing the quality and stability of the communication signal.

[0055] In this embodiment, a first water injection bag is also provided. The first water injection bag balances the buoyancy and the pulling force as a whole, enables the buoy to maintain a proper floating state on the sea surface, provides a stable support basis for the satellite communication spherical antenna, and ensures that it can lift off and maintain a proper position in the air. The water volume control method of the first water injection bag is as follows:

[0056] First, according to the design drawing or manufacturing parameters of the antenna deployment and holding device, determine its volume and shape parameters, and collect the structural parameters of the satellite communication spherical antenna, such as the diameter, thickness, material, etc. of the antenna, and understand its material properties, such as elastic modulus, density, etc. These parameters can be obtained from the design document of the antenna and stored in the first control module. Then, determine the pulling force of the satellite communication spherical antenna. The pulling force is determined by the difference between the buoyancy caused by the air and its own gravity. The buoyancy can be obtained through Archimedes' principle. According to the structural parameters of the satellite communication spherical antenna, obtain the volume of the antenna, and determine the gravity of the antenna according to the material thickness, etc. The difference between the two is used as the pulling force value.

[0057] Meanwhile, the seawater density of the seawater density sensor is read; according to the volume, shape of the antenna deployment and retention device, and the seawater density, the buoyancy is calculated by Archimedes' principle as well. The first control module determines the amount of water injection that needs to be adjusted for the first water injection bag based on the calculated buoyancy and tension. According to the balance of forces, when G 注水量 +G 天线线展开保持装置 >F 浮 +F 拉 , a certain amount of water needs to be pumped out from the first water injection bag to reduce the overall weight (G 注水量 +G 天线线展开保持装置 ) of the buoy, so as to achieve a new balance; when G 注水量 +G 天线线展开保持装置 <F 浮 +F 拉 , a certain amount of water needs to be injected into the first water injection bag to increase the overall weight of the buoy. The amount of water injection can be calculated according to the following formula:

[0058] An embodiment of the present invention provides a deep-sea observation buoy for deep-sea environment observation information transmission, which designs two water injection bags and two water injection algorithms. The first water injection bag can ensure the stability of the entire buoy, and the second water injection bag can offset the unbalanced force caused by sea waves, reduce the swaying and tilting degree of the buoy, ensure that the satellite communication spherical antenna can float stably in the air, and guarantee the quality and stability of communication signals.

[0059] As an alternative embodiment, a deep-sea observation buoy for deep-sea environment observation information transmission further includes:

[0060] A sea wave parameter monitoring module for monitoring the target parameters of sea waves, where the target parameters include wave height, wavelength, and period;

[0061] A second control module that issues a flexible material length adjustment control instruction according to the target parameters of sea waves;

[0062] A motor, which is arranged on the antenna deployment and retention device and is used to rotate forward or backward according to the flexible material length adjustment control instruction issued by the second control module to adjust the length of the flexible material.

[0063] Exemplarily, the target parameters include wave height, wavelength, and period. The sea wave parameter monitoring module may include an acoustic Doppler wave height gauge, whose principle is to measure the wave height by using the characteristic that sound waves are reflected by sea waves when propagating in seawater; it may also include a high-precision GPS receiver. By accurately recording the displacement change of the buoy under the action of sea waves and combining the timestamp information, the wavelength and period of the sea waves are calculated using the target algorithm. The way for the target algorithm to determine the period can be to calculate the autocorrelation function of the displacement time series. The autocorrelation function represents the similarity of the signal at different time delays. For a periodic sea wave signal, the autocorrelation function will have peaks at integer multiples of the sea wave period in terms of time delay. By finding the peak positions in the autocorrelation function, the period of the sea wave can be determined.

[0064] The way for the target algorithm to determine the wavelength λ can be to calculate it in combination with the motion speed information of the buoy. Assume that the motion speed of the buoy in the sea wave propagation direction is v, and the period of the sea wave has been obtained as T. According to the basic motion relationship of the sea wave: λ = T·v, where the motion speed v can be calculated through the position change information in the GPS data. To avoid inaccurate single calculations, the average value may be obtained over a period of time as the final speed.

[0065] Different combinations of wavelength and period represent different sea wave forms and energy transfer modes. By monitoring the wavelength and period and combining the wave height information, the second control module can more accurately calculate the length that the flexible material needs to be adjusted in the current sea wave conditions to maintain the optimal deployment state of the antenna and communication stability. For example, sea waves with longer wavelengths and larger periods require the flexible material to be adjusted to a longer length to adapt to the slow undulation of the sea waves; while sea waves with shorter wavelengths and smaller periods require a shorter length of the flexible material to quickly follow the changes of the sea waves and avoid excessive impact on the antenna. At the same time, the occlusion of the communication link caused by the wave height also needs to be considered.

[0066] The second control module queries the pre-stored mapping table according to the target parameters of the sea waves to determine the corresponding length of the flexible material, and determines the adjustment control instruction according to the current length of the flexible material. In this embodiment, the way for the second control module to determine the adjustment amount of the flexible material length according to the target parameters is not limited, and those skilled in the art can determine it according to needs.

[0067] The motor rotates forward or backward according to the flexible material length adjustment control instruction issued by the second control module to adjust the length of the flexible material. Specifically, the absolute encoder of the motor real-time feeds back the rotation position of the motor to the driver, and the driver monitors and adjusts the operating state of the motor according to the feedback signal. If there is a deviation between the actual rotation position of the motor and the position required by the second control module instruction, the driver automatically adjusts the rotation speed and direction of the motor to ensure that the motor operates accurately according to the control instruction, thereby accurately adjusting the length of the flexible material.

[0068] An embodiment of the present invention provides a deep - sea observation buoy for transmitting deep - sea environment observation information. Through a second control module, according to the target parameters of sea waves, a control instruction for adjusting the length of a flexible material is issued, and the length can be adjusted according to the current situation of sea waves, thereby controlling the lifting height of the antenna. Compared with a fixed length, the length adjustment in this embodiment is more flexible, and can make intelligent decisions in any sea condition, avoiding poor antenna communication quality caused by the influence of sea waves and improving the communication quality of antenna communication.

[0069] As an optional implementation manner, issuing a control instruction for adjusting the length of a flexible material according to the target parameters of sea waves includes:

[0070] Determine the sea - wave type according to the target parameters transmitted by the sea - wave parameter monitoring module. The sea - wave types include wind waves, swell waves, near - shore waves, solitary waves, and wave groups;

[0071] Determine the first flexible - material length parameter according to the sea - wave type and the sea - wave height;

[0072] Input the first flexible - material length parameter into a pre - established digital - twin model to determine whether the signal quality of the satellite communication spherical antenna at the first flexible - material length meets the preset quality requirements. If it meets, use the first flexible - material length parameter as one of the control instructions for adjusting the length of the flexible material.

[0073] Exemplarily, the sea - wave parameter monitoring module continuously collects target parameters such as wave height, wavelength, and period. Before the data is transmitted to the subsequent processing unit, pre - processing is first performed. The pre - processing includes denoising and normalization. The moving average filtering method can be used to smooth the original data, remove outliers caused by sensor noise or minor disturbances on the sea - wave surface, and then normalize the denoised data.

[0074] Then, features that can distinguish different sea - wave types are extracted from the pre - processed data, including the minimum value of the period, the standard deviation of the wave height, the average value of the period, the coefficient of variation of the wave height, the ratio of the wavelength to the water depth, the change trend of the wave height with time, the maximum value of the wave height, the difference between adjacent wave heights, the number of waves in the wave - height sequence higher than a certain threshold, and the average period of these waves. The determination method of the sea - wave type can adopt machine - learning algorithms such as support vector machines, random forests, or neural networks. A large number of historical sea - wave features are used for training. The historical sea - wave features are labeled with the corresponding sea - wave types (wind waves, swell waves, near - shore waves, solitary waves, wave groups). The extracted features are used as inputs and the sea - wave types are used as outputs to train the model.

[0075] Determine the corresponding first flexible - material length parameter by looking up a table with the sea - wave type and the sea - wave height. A specific example of the look - up table is shown in Table 1:

[0076] Table 1

[0077]

[0078] Finally, using computer modeling technology, a digital twin model of the satellite communication spherical antenna and the flexible material is constructed. Specifically, it includes: establishing a mechanical model of the umbrella frame structure according to the actual structure of the satellite communication spherical antenna, establishing an electromagnetic model of the skin covering the umbrella frame structure and the satellite antenna array, establishing a mechanical model of the flexible material, considering its elasticity, damping and other characteristics, as well as the pulling force and supporting effect on the antenna at different lengths. According to the characteristics of different types of ocean waves, an interaction force model of the ocean waves on the antenna and the flexible material is established. For example, for wind waves, consider their high-frequency and irregular interaction forces; for swell waves, consider their long-period and large-amplitude interaction forces. Calibrate the parameters of the digital twin model through actual measurements and experimental data.

[0079] Input the determined first flexible material length parameter into the digital twin model. At the same time, input the current ocean wave type, wave height, wavelength, period and other parameters, as well as the relevant parameters of the satellite communication system (such as transmission power, operating frequency, etc.). The model simulates the operating state of the satellite communication spherical antenna at the first flexible material length under the current ocean wave conditions according to the input parameters. By solving the mechanical equations and electromagnetic equations, calculate the attitude change, force condition of the antenna, and the quality indicators of the satellite communication signal, such as signal strength, signal-to-noise ratio, bit error rate, etc.

[0080] According to the performance requirements of the satellite communication system, set a preset standard for signal quality. Compare the signal quality indicators calculated by the digital twin model with the preset quality requirements. If the signal quality meets the preset requirements, send the first flexible material length parameter as one of the flexible material length adjustment control commands to the motor control unit for adjusting the flexible material length. If the preset requirements are not met, return to re-determine the first flexible material length parameter, adjust it according to a certain adjustment strategy (such as increasing or decreasing a certain proportion of the length), and then input it into the digital twin model for evaluation again until the signal quality meets the requirements.

[0081] An embodiment of the present invention provides a deep-sea observation buoy for deep-sea environment observation information transmission. Through the deep integration of accurate identification of ocean wave types, differential control strategies and digital twin technology, the scientificity, reliability and self-adaptability of satellite communication antenna attitude control are realized.

[0082] As an alternative implementation, the satellite communication signal processing module is also used to detect the quality of the satellite communication signal. The deep-sea observation buoy for deep-sea environment observation information transmission further includes:

[0083] A positioning module, which is disposed on the antenna deployment and retention device and is used to determine the geographical location of the antenna deployment and retention device;

[0084] A marine wind monitoring module, which is used to monitor marine wind parameters;

[0085] A second control module, which is further used to issue a direction offset control instruction for the flexible material direction control device according to the marine wind parameters, the current satellite communication signal quality, and the geographical location of the antenna deployment and retention device;

[0086] A flexible material direction control device, which is disposed at the position on the antenna deployment and retention device where it is connected to the flexible material and is used to control the offset direction of the flexible material according to the direction offset control instruction of the second control module.

[0087] Exemplarily, the positioning module can be a high-precision GPS module, which is disposed on the antenna deployment and retention device. After the second control module obtains the marine wind parameters, it judges that the current wind force is relatively strong and may have a greater impact on the attitude and signal reception of the satellite communication spherical antenna. Since the geographical environment and meteorological conditions in different sea areas are different, the influence of wind force on the relationship between signal quality is also different. For example, in open sea areas and coastal areas, the characteristics of sea breeze and sea waves are different. Therefore, combining the geographical location information of the antenna deployment and retention device, query the pre-established wind force-signal quality-geographical location database, which stores the influence laws of signal quality under different sea areas and different wind force conditions and the corresponding countermeasures.

[0088] When the current geographical location is in an open sea area, the wind force in the open sea area is relatively stable and is not disturbed by factors such as terrain. The influence of wind direction and wind force on the antenna is more regular. In this case, the wind direction is southeast, and the current signal quality drops significantly (the satellite communication signal quality is lower than the target quality. For example, the signal-to-noise ratio is lower than 10 dB, and the bit error rate is higher than 1×10 -9 ), then the main direction of the influence of the wind force on the antenna is the northwest direction. That is, under the action of the southeast wind, the antenna has a tendency to move, tilt or change its attitude in the northwest direction, and this tendency affects the reception quality of the satellite communication signal. The second control module then re-determines the reception direction according to the current geographical location of the antenna deployment and retention device, the azimuth angle and elevation angle of the satellite; then, inputs the marine wind parameters into the pre-established offset model of the satellite communication spherical antenna direction corresponding to the current geographical location to determine the offset parameters of the satellite communication spherical antenna. The offset model is constructed according to the mechanical properties of the flexible material, the acting force and torque of the wind force on the satellite communication spherical antenna; finally, according to the offset parameters of the satellite communication spherical antenna and the reception direction, determine the offset control direction and offset control amount of the flexible material direction control device.

[0089] Specifically, first, the position coordinates of the target satellite are obtained based on satellite ephemeris data, and the azimuth and elevation angles of the satellite at the antenna are calculated using the coordinate transformation formula. The calculation of the azimuth and elevation angles using the coordinate transformation formula is prior art and will not be elaborated here. The calculated azimuth and elevation angles of the satellite at the antenna are used as the re-determined receiving direction.

[0090] The method for constructing the offset model corresponding to different geographical locations can be to divide the ocean. The division types include open sea areas, coastal sea areas, etc. For different types of sea areas, signal quality, wind force, and wind direction data are collected in chronological order, and a relationship model is constructed using time series analysis methods. Time series analysis aims to reveal the laws and trends of data changes over time and predict future values by establishing models. Time series models can be autoregressive integrated moving average models, seasonal decomposition models, etc. For the relationship between signal quality and wind force and wind direction, wind force and wind direction can be used as external input variables, combined with historical data of signal quality, to establish a model that can reflect their mutual relationship over time.

[0091] Perform a stationarity test on the time series data. If the data is non-stationary, perform differencing and other processing to make it stationary. Then, select the time series model structure according to the characteristics of the data, determine the autoregressive order p, differencing order d, and moving average order q of the ARIMA model, estimate the parameters of the model using methods such as maximum likelihood estimation, and test the effectiveness of the model through model diagnosis, such as checking whether the residuals conform to the white noise hypothesis. Finally, use the time series of wind force and wind direction as external inputs and incorporate them into the model for training and optimization to obtain a time series model that can predict signal quality based on current and historical wind force and wind direction information. Input the offshore wind force parameters into the pre-established offset model of the satellite communication spherical antenna direction corresponding to the current geographical location to determine the offset parameters of the satellite communication spherical antenna.

[0092] The second control module determines the predicted position of the satellite communication spherical antenna under the influence of wind force based on the offset parameters and the initial position of the satellite communication spherical antenna. Then, based on the azimuth difference between the predicted position and the receiving direction, determine the target offset direction and target angle that need to be offset.

[0093] Generate a direction offset control instruction, and the instruction content includes the target offset direction and target angle. The flexible material direction control device receives the direction offset control instruction issued by the second control module. This device consists of a motor, a transmission mechanism, and a steering bracket. The motor drives the transmission mechanism according to the control instruction, and the transmission mechanism drives the steering bracket to rotate. The steering bracket is connected to the flexible material, and by rotating the steering bracket, the flexible material is offset by the target angle in the target offset direction. During the offset process, the flexible material direction control device monitors the offset angle in real time. When the target angle is reached, the motor stops running to complete the adjustment of the direction of the flexible material.

[0094] An embodiment of the present invention provides a deep - sea observation buoy for transmitting deep - sea environment observation information. The positioning module provides the geographical location of the antenna deployment and holding device in real time, enabling the system to formulate differentiated strategies in combination with the environmental characteristics of different sea areas; the offshore wind monitoring module captures parameters such as wind speed and wind direction in real time, providing a direct basis for judging the acting direction and intensity of the wind on the antenna; the second control module, as the decision - making core, combines the environmental background reflected by the geographical location, the load characteristics reflected by the wind parameters, and the actual effects feedback by the satellite communication signal quality, and dynamically calculates the optimal offset direction and angle of the flexible material through an algorithm model, improving the stability and reliability of satellite communication.

[0095] As an optional implementation manner, the length of the antenna array changes in accordance with the short - wave transmission operating frequency. In short - wave communication, the matching degree between the antenna radiation performance and the operating frequency is directly related. According to electromagnetic theory, the electrical length of the antenna (the ratio of the physical length to the wavelength) determines its radiation characteristics. The ideal radiation state of a whip antenna requires that the electrical length is close to one - quarter of the operating wavelength. When the antenna length can be adjusted in real time according to the frequency, it can ensure that at different short - wave frequencies, the physical length of the antenna always approaches the theoretical optimal length corresponding to that frequency, making the antenna input impedance highly matched with the feeder impedance, reducing signal reflection loss, and improving energy conversion efficiency.

[0096] As an optional implementation manner, the transmission operating frequency is adjusted according to target conditions. The target conditions include receiving real - time predicted operating frequency data sent by the shore - based station and preset operating frequencies. The transmission operating frequency can continuously monitor the electromagnetic environment of the current sea area or region, such as signal attenuation, interference intensity, ionospheric state, etc., based on multiple receiving points distributed at different positions by the shore - based station. Based on these real - time data, the current optimal operating frequency is predicted and sent to the transmitting end, enabling the frequency selection to accurately adapt to real - time environmental changes. For example, avoiding strong interference frequency bands and using the frequency band with the best ionospheric reflection to achieve dynamic avoidance of real - time interference of the operating frequency and improve communication efficiency. The transmission operating frequency can also be a preset operating frequency.

[0097] Finally, it should be noted that the above - mentioned preferred embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail through the above - mentioned preferred embodiments, those skilled in the art should understand that various changes can be made in form and details without departing from the scope defined by the claims of the present invention.

Claims

1. A deep - sea observation buoy for transmitting deep - sea environment observation information, characterized in that, include: The antenna deployment and holding device comprises an inflating device and a flexible stabilizing device. When receiving a first target signal, the inflating device inflates the flexible stabilizing device to deploy the flexible stabilizing device. The satellite communication spherical antenna is connected to the antenna deployment and holding device through a flexible material, including an umbrella frame structure and a skin covering the umbrella frame structure, and a satellite antenna array arranged on the skin. When a second target signal is received, the umbrella frame structure is opened, and the inflatable device is inflated inwardly. When the inflation is completed, the length of the flexible material is adjusted; A satellite communication signal processing module, used for receiving and processing the signal transmitted back by the satellite communication spherical antenna; The energy supply module provides energy for the antenna deployment and retention device, the satellite communication spherical antenna and the satellite communication signal processing module.

2. The deep-sea observation buoy for transmitting deep-sea environment observation information according to claim 1, characterized in that, Also includes: The underwater communication device is used to transmit the satellite information received by the satellite communication spherical antenna, or to receive deep-sea remote information underwater and transmit the deep-sea remote information to the satellite communication signal processing module for processing.

3. The deep-sea observation buoy for deep-sea environment observation information transmission according to claim 1, characterized in that The energy supply module is arranged at the bottom of the antenna deployment and holding device, and the energy supply module is at least one wave power generation energy capture plate.

4. The deep-sea observation buoy for deep-sea environment observation information transmission according to claim 1, characterized in that The antenna deployment and holding device also includes: A first control module, a pumping device, a level measurement, a seawater density sensor, a first water injection bag, and a second water injection bag; The first water-filled bag is arranged at the bottom center of the antenna deployment and holding device, and the second water-filled bags are evenly arranged along the edge of the antenna deployment and holding device; The first control module performs the following steps: Read the seawater density from the seawater density sensor; Determine the buoyancy based on the volume and shape of the antenna deployment and holding device and the density of seawater; Determine the pulling force based on the structural parameters and material properties of the satellite communication spherical antenna; Determine the water injection amount of the first water injection bag according to the buoyancy and the pulling force, and control the pumping equipment to extract the corresponding amount of water from the first water injection bag, or to pump the corresponding amount of water into the first water injection bag; According to the measurement result of the level meter, the target second water-filled bag and the water injection amount are determined, and the pumping equipment is controlled to extract the corresponding water injection amount from the target second water-filled bag, or to pump the corresponding water injection amount into the target second water-filled bag.

5. The deep-sea observation buoy for transmitting deep-sea environment observation information according to claim 1, characterized in that, Also includes: The wave parameter monitoring module is used to monitor the target parameters of the waves, including wave height, wavelength and period; The second control module issues a control instruction for adjusting the length of the flexible material according to the target parameters of the waves; The motor is arranged in the antenna deployment and holding device, and is used for rotating forward or reversely according to the flexible material length adjustment control instruction issued by the second control module to adjust the length of the flexible material.

6. The deep-sea observation buoy for deep-sea environment observation information transmission according to claim 5, characterized in that, According to the target parameters of the waves, the flexible material length adjustment control instructions are issued, including: Determine the wave type according to the target parameters transmitted by the wave parameter monitoring module, and the wave types include wind waves, swell waves, nearshore waves, solitary waves and wave groups; Determining a length parameter of the first flexible material according to the type of waves and the height of the waves; The first flexible material length parameter is input into the pre-established digital twin model to determine whether the signal quality of the satellite communication spherical antenna under the first flexible material length meets the preset quality requirements. If it does, the first flexible material length parameter is used as one of the flexible material length adjustment control instructions.

7. A deep-sea observation buoy for transmitting deep-sea environment observation information according to any one of claims 1-6, characterized in that The satellite communication signal processing module is also used to detect the quality of satellite communication signals. The deep-sea observation buoy for transmitting deep-sea environment observation information further includes: A positioning module, arranged on the antenna deployment and holding device, for determining the geographical location of the antenna deployment and holding device; An offshore wind monitoring module, for monitoring offshore wind parameters; A second control module, further used to issue a direction offset control instruction for the flexible material direction control device according to the offshore wind parameters, the current satellite communication signal quality, and the geographical location of the antenna deployment and holding device; A flexible material direction control device, arranged at the position on the antenna deployment and holding device where it is connected to the flexible material, for controlling the offset direction of the flexible material according to the direction offset control instruction of the second control module.

8. The deep-sea observation buoy for transmitting deep-sea environment observation information according to claim 7, characterized in that, Issuing a direction offset control instruction for the flexible material direction control device according to the offshore wind parameters, the current satellite communication signal quality, and the geographical location of the antenna deployment and holding device includes: When the satellite communication signal quality is lower than the target quality, re-determine the receiving direction according to the geographical location of the current antenna deployment and holding device, the azimuth angle and elevation angle of the satellite; Input the offshore wind parameters into the pre-established offset model of the satellite communication spherical antenna direction corresponding to the current geographical location to determine the offset parameters of the satellite communication spherical antenna. The offset model is constructed according to the mechanical properties of the flexible material, the acting force of the wind on the satellite communication spherical antenna, and the torque; Determine the offset control direction and offset control amount of the flexible material direction control device according to the offset parameters of the satellite communication spherical antenna and the receiving direction.

9. A deep-sea observation buoy for transmitting deep-sea environment observation information according to any one of claims 1-6, characterized in that, The length of the antenna array changes in matching according to the short-wave transmission operating frequency.

10. The deep-sea observation buoy for transmitting deep-sea environment observation information according to claim 9, characterized in that, The transmission operating frequency is adjusted according to the target conditions, and the target conditions include receiving the real-time predicted operating frequency data sent by the shore base and the preset operating frequency.

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