Long-time automatic subsurface buoy anti-deviation-descending system and method
By designing a multi-stage anti-decreasing subsystem and automatic adjustment mechanism on the latent mark, the problem of low bias and decreasing adjustment efficiency during long-term layout of the latent mark is solved, and the anti-decreasing effect of rapid response and long-term storage is achieved to ensure data measurement accuracy.
Patent Information
- Application Number
- CN202510769122.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-06-10
- Publication Date
- 2025-09-05
AI Technical Summary
The existing latent standard anti-deflection system has the problem of inefficient adjustment efficiency during long-term deployment, especially the passive adjustment system is difficult to store underwater for a long time and the adjustment process is slow, which affects the data measurement results.
A long-term latent standard automatic anti-deflection system is designed, and multiple first and second anti-deflection subsystems are used to distribute along the circumference of the subnt standard mechanical body, and automatically unfold and fold with locking device, elastic body and torsional elastic elements. It is adjusted in real time with the controller and water depth sensor to achieve rapid response and long-term storage.
It realizes automatic expansion after the latent standard reaches the preset depth, quickly responds to changes in the ocean current, prevents deviation and rotation, ensures data measurement accuracy, and does not affect other tasks, and has long-term storage capabilities.
Smart Images
Figure CN120589136A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of marine submersible buoy equipment, in particular to an automatic anti-descent system and method for a long-term submersible buoy. Background Art
[0002] Submersible buoys are systems moored below the sea surface for long-term observation of marine environmental factors. They are typically deployed in the ocean for extended periods to continuously acquire relevant oceanographic data. During long-term deployment, buoys are affected by parameters such as ocean current velocity, causing changes in positioning depth, resulting in drooping. This affects data measurements at a constant depth, necessitating the use of anti-droop devices.
[0003] Currently, there are two main types of anti-fall systems: active and passive. Passive systems often use airbags, which are difficult to store underwater for long periods of time. They also suffer from low efficiency and a slow adjustment process, which affects measurement results. Summary of the Invention
[0004] The technical problem solved by the present invention is to overcome the shortcomings of the existing technology and provide a long-term submersible buoy automatic anti-deviation system and method to solve the problem of low efficiency of deviation adjustment when the ocean submersible buoy is deployed for a long time.
[0005] The technical solution of the present invention is to provide a long-term automatic anti-falling system for a submerged buoy, comprising a plurality of first anti-falling subsystems and a plurality of second anti-falling subsystems; along the mechanical body of the submerged buoy, the first anti-falling subsystems are arranged at the same height and evenly distributed around the circumference of the mechanical body; the second anti-falling subsystems are arranged at the same height and evenly distributed around the circumference of the mechanical body, and the first anti-falling subsystems are located above the second anti-falling subsystems;
[0006] The first anti-fall subsystem includes a first drag plate wing, with an anti-rotation backflow wing fixedly mounted on the leading edge of the wing, and a trailing edge connected to the mechanical body of the buoy. Torsion elastic elements are provided on both sides of the connecting shaft. The wing is connected to the mechanical body through elastic bodies at the top and bottom, and together they form an actuator. The wing, the elastic body and the mechanical body, as well as the wing and the elastic body, are all connected in a rotational manner.
[0007] The second anti-fall subsystem has the same structural form as the first anti-fall subsystem, and the difference is that the second drag plate wing surface in the second anti-fall subsystem has a smaller area than the first drag plate wing surface.
[0008] Furthermore, it also includes a locking device; the working states of the automatic anti-falling system are divided into a folded state and an unfolded state; when the preset depth is not reached, it is in a folded state, and the leading edge side of the drag plate wing of all anti-falling subsystems is fixed to the mechanical body through a locking device; after reaching the preset depth, the locking device is unlocked, and under the joint action of the upper and lower elastic bodies and the torsional elastic element, the drag plate wing surface of each anti-falling subsystem rotates to be perpendicular to the mechanical body, reaching the unfolded state.
[0009] Furthermore, in the folded state, the upper elastic body is in a compressed state, the lower elastic body is in a stretched state, and the torsional elastic element is in a torque output state; in the unfolded state, the output of the torsional elastic element is zero, and the vertical resultant force of the upper and lower elastic bodies is zero.
[0010] Furthermore, it also includes a controller and a water depth sensor; the controller and the water depth sensor are fixed on the mechanical body, the water depth sensor measures the depth of the mechanical body in real time and sends it to the controller, and after the controller solves it, it provides a deployment signal for each anti-fall subsystem; after deployment, it no longer provides any signal during long-term storage.
[0011] Furthermore, the arrangement height of each first anti-fall subsystem from the bottom plane of the mechanical body is greater than 1 / 2 of the height of the mechanical body of the buoy, the arrangement height of each second anti-fall subsystem from the bottom plane of the mechanical body is less than 1 / 4 of the height of the mechanical body of the buoy, and the difference in arrangement height between each first anti-fall subsystem and each second anti-fall subsystem does not exceed 1 / 4 of the height of the mechanical body;
[0012] The upper elastic body and the lower elastic body are symmetrically distributed relative to the wing surface. The distance from the position where the upper and lower elastic bodies are connected to the wing surface to the rotation axis connecting the trailing edge of the wing surface and the submerged buoy mechanical body is greater than 1 / 2 of the length of the drag plate wing surface. The distance from the position where the upper and lower elastic bodies are connected to the submerged buoy mechanical body to the rotation axis connecting the trailing edge of the wing surface and the submerged buoy mechanical body is greater than 1 / 3 of the length of the drag plate wing surface and less than 1 / 2 of the length of the drag plate wing surface.
[0013] The area of the second drag plate wing surface does not exceed 2 / 3 of the first drag plate wing surface.
[0014] Furthermore, the anti-rotation backflow wing is a plate-like body arranged along the central axis of the airfoil. The thickness of the plate-like body gradually increases from top to bottom, and the thickness gradually narrows from the leading edge to the trailing edge of the airfoil.
[0015] Furthermore, the first resistance plate wing surface and the second resistance plate wing surface have multiple oblique holes evenly and staggeredly distributed on the upper and lower surfaces of the wing surfaces.
[0016] Furthermore, the distribution of the inclined holes is specifically as follows: multiple groups of inclined holes are distributed in sequence along the axial direction of the airfoil, each group of inclined holes includes a row of forward inclined holes and a row of reverse inclined holes, and the forward inclined holes and the reverse inclined holes are evenly staggered.
[0017] Furthermore, the drilling angle in the inclined hole is positively correlated with the size of the ocean current, seawater density and the depth of the buoy, ranging from 45° to 90°. The drilling angles of the forward inclined hole and the reverse inclined hole are the same in size but in opposite directions.
[0018] Furthermore, a plurality of square holes are evenly distributed on the upper and lower surfaces of the upper elastic body and the lower elastic body.
[0019] Furthermore, the components in each anti-fall subsystem are made of corrosion-resistant and water pressure-resistant materials; among them, the first resistance plate wing surface, the second resistance plate wing surface and the upper and lower elastic bodies are all made of non-metallic materials.
[0020] The present invention also provides a method for automatically preventing a long-term submerged buoy from slanting down, which utilizes the aforementioned automatic anti-slanting system for a long-term submerged buoy to achieve automatic anti-slanting down, comprising:
[0021] Determine whether the buoy has reached a preset depth; if not, place all anti-fall subsystems in a folded state; when the buoy reaches the preset depth, send a deployment signal to all locking devices in each anti-fall subsystem, causing each anti-fall subsystem to deploy under the combined action of the upper and lower elastic bodies and the torsional elastic element until all drag plate surfaces are perpendicular to the machine body; thereafter, no active control is performed;
[0022] When the buoy is affected by the ocean current and is about to deflect vertically, the upper and lower deflection forces generated by the ocean current act on the resistance plate wing surface, and the resistance plate wing surface transmits the force to the upper and lower elastic bodies and the torsional elastic element, which produces the upper and lower deflection forces in the opposite direction to the upper and lower elastic bodies and the torsional elastic element, and then transmits it to the mechanical body of the buoy, causing the buoy to move in the opposite direction of the vertical deflection, preventing the vertical deflection from occurring; when the buoy is affected by the ocean current and is about to rotate and deflect, the anti-rotation backflow wing prevents the rotation from occurring.
[0023] The advantages of the present invention compared with the prior art are:
[0024] (1) The present invention innovatively proposes a long-term automatic anti-descent system for submerged buoys, which consists of two-level anti-descent subsystems, upper and lower. It adopts an actuator composed of multiple passive drive sources and a cross-matrix inclined hole resistance plate wing surface, which is arranged in an array. It achieves the effects of no interference in the depth setting process, full opening when the state is in place, long-term storage of the actuator, and full adjustment of the descent direction.
[0025] (2) The anti-fall system of the present invention is installed independently of the other systems and remains folded and at zero buoyancy until reaching the desired state, without affecting the equipment's other mission profiles. By placing the large anti-fall subsystem at the top and the smaller anti-fall subsystem at the bottom, the risk of equipment rollover is reduced.
[0026] (3) All components in the anti-fall subsystem of the present invention are made of corrosion-resistant materials and have long-term storage capabilities. After deployment, fall adjustment can be achieved without the need for energy.
[0027] (4) According to the equipment requirements, the present invention can install multiple sets of anti-descent subsystems to achieve omnidirectional adjustment of the descent, and add anti-rotation backflow winglets to reduce the risk of rotation offset.
[0028] (5) The anti-falling subsystem of the present invention is composed of two groups of elastic bodies and high-torque torsion springs, which can generate a large torque to increase the resistance to the incoming flow and can also quickly return the platform to the center.
[0029] (6) The drag plate of the present invention is provided with a cross matrix of oblique holes arranged on the wing surface to enhance the drag value in all directions up and down. BRIEF DESCRIPTION OF THE DRAWINGS
[0030] Figure 1 This is a schematic diagram of the deployed state of the long-term submerged buoy automatic anti-descent system of the present invention;
[0031] Figure 2 This is a schematic diagram of the folded state of the automatic anti-falling system for long-term submerged buoys of the present invention;
[0032] Figure 3 This is a schematic diagram of the drag plate wing surface of the present invention;
[0033] Figure 4 This is a schematic diagram of the anti-rotation backflow wing of the present invention;
[0034] Figure 5 Schematic diagram of the elastomer of the present invention. DETAILED DESCRIPTION
[0035] In order to better understand the technical solution of the present invention, the specific implementation methods of the present invention are described below.
[0036] See also Figure 1As shown, the long-term automatic anti-falling system for submerged buoys provided in this embodiment includes a plurality of large-scale anti-falling subsystems 1 (i.e., the first anti-falling subsystems), a plurality of small-scale anti-falling subsystems 2 (i.e., the second anti-falling subsystems), and also includes a controller, a water depth sensor, and cables. Along the direction of the mechanical body of the submerged buoy, the large-scale anti-falling subsystems 1 are at the same height, and the small-scale anti-falling subsystems 2 are at the same height, and the large-scale anti-falling subsystems 1 are located above the small-scale anti-falling subsystems 2; and the anti-falling subsystems are evenly distributed circumferentially at their own installation heights. The arrangement height of the large-scale anti-falling subsystems 1 based on the bottom plane of the mechanical body is greater than 1 / 2 of the height of the mechanical body of the submerged buoy, and the arrangement height of the small-scale anti-falling subsystems 2 based on the bottom plane of the mechanical body is less than 1 / 4 of the height of the mechanical body of the submerged buoy, and the difference in arrangement height between the large-scale anti-falling subsystems 1 and the small-scale anti-falling subsystems 2 does not exceed 1 / 4 of the height of the mechanical body. The number of large-scale anti-fall subsystem, small-scale anti-fall subsystem and water depth sensors is determined according to system requirements. Figure 1 In the figure, only a large-scale anti-falling subsystem and a small-scale anti-falling subsystem are taken as examples.
[0037] The large-scale anti-fall subsystem 1 includes a large-scale drag plate wing 1-1, the trailing edge of which is connected to the mechanical body 4 via a pin connection, and a high-torque torsion spring 5 acts on the connecting shaft between the wing and the mechanical body. The wing is connected to the mechanical body above and below via an upper elastic body 1-2 and a lower elastic body 1-3, respectively. The distance from the connection point of the upper and lower elastic bodies to the wing and the connecting shaft between the trailing edge of the wing and the submerged buoy mechanical body is greater than 1 / 2 of the wing length, and the distance from the connection point of the upper and lower elastic bodies to the submerged buoy mechanical body to the connecting shaft is greater than 1 / 3 and less than 1 / 2 of the wing length, together forming an actuator. The small-scale anti-fall subsystem 2 is arranged in the same manner as the large-scale anti-fall subsystem 1, except that the large-scale drag plate wing 1-1 is replaced by a small-scale drag plate wing 2-1. The area of the small-scale drag plate wing 2-1 does not exceed 2 / 3 of the large-scale drag plate wing 1-1. The rest of the structure is the same.
[0038] The automatic anti-fall system has two working states: folded state and unfolded state; Figure 2 As shown, in the folded state, the leading edge side of the drag plate of each anti-fall subsystem is fixed to the machine body through the locking device 3; in the unfolded state, as shown Figure 1 As shown, the locking device 3 is unlocked, and under the joint action of the upper and lower elastic bodies and the high-torque torsion spring, the drag plate wing surfaces of each anti-falling subsystem are perpendicular to the mechanical body.
[0039] The controller and water depth sensor are fixed on the mechanical body, measuring the depth of the mechanical body in real time and providing a deployment signal for the anti-fall subsystem. No signal is required during long-term storage.
[0040] The components of the large / small size anti-fall subsystems all achieve zero buoyancy through ground balancing, which has no impact on the buoy. They are all made of corrosion-resistant and water pressure-resistant materials and can be stored for a long time.
[0041] In one possible implementation, large / small size drag plate airfoil, such as Figure 3 As shown, it is made of corrosion-resistant non-metallic material, and multiple inclined holes are evenly and staggeredly distributed on the upper and lower surfaces of the wing to increase the resistance of the wing when it moves up and down and its own water pressure resistance. The leading edge of the wing is fixedly installed with anti-rotation backflow winglets 1-4, and the bottom end of the wing is fixedly connected to the pin shaft through a spline.
[0042] Preferably, the distribution of the inclined holes is as follows: multiple groups of inclined holes are distributed in sequence along the axial direction of the airfoil, each group of inclined holes includes a row of forward inclined holes 1-5 and a row of reverse inclined holes 1-6, and the forward inclined holes and the reverse inclined holes are evenly staggered.
[0043] Preferably, the drilling angle in the inclined hole is positively correlated with the ocean current size, seawater density and buoy depth, ranging from 45° to 90°, and the drilling angles of the forward inclined hole and the reverse inclined hole are the same in size and opposite in direction.
[0044] Preferably, the anti-rotation backflow wing is a plate-shaped body arranged along the central axis of the wing surface, such as Figure 4 As shown, the thickness of the plate-like body increases gradually from top to bottom, and gradually narrows from the leading edge to the trailing edge of the airfoil. Preferably, the plate-like body is composed of an integrated rounded rectangular body and a triangular body, with the rounded rectangular body at the leading edge of the airfoil.
[0045] In one possible implementation, the upper / lower elastic body, such as Figure 5 As shown, they are all made of corrosion-resistant non-metallic materials and designed as a mesh structure, that is, multiple square holes are evenly arranged on the surface of the elastomer, and the drilling angle is 90° to improve its ductility and its own water pressure resistance. Pins are used at both ends to pass through the support seat to the mechanical body and the large-size resistance plate wing respectively.
[0046] In one possible implementation, the high-torque torsion spring is divided into a left high-torque torsion spring and a right high-torque torsion spring, both of which are made of corrosion-resistant metal materials. They are fixed on the mechanical body together with the support seat and exert the output force on the large-size drag plate wing surface. When the drag plate wing surface and the mechanical body are in a vertical state, the torque output is zero.
[0047] In a possible implementation, the locking device uses explosive bolts, the number of which is determined according to system requirements, and the two ends are respectively fixed to the leading edge side of the large-sized drag plate wing and the mechanical body.
[0048] In one possible implementation, the controller is fixedly mounted on the mechanical body, collects water depth sensor signals in real time, determines whether the anti-fall subsystem changes from a folded state to an unfolded state, and provides an ignition signal for the explosive bolt. When the anti-fall subsystem is unfolded, it will no longer provide a signal to the anti-fall system, and its own life has no effect on the anti-fall subsystem.
[0049] In one possible implementation, the water depth sensor is fixedly mounted on the mechanical body, and the number is determined according to system requirements to measure the depth of the mechanical body in real time. When the anti-fall subsystem is deployed, its own life span has no effect on the anti-fall subsystem.
[0050] The present invention also provides a method for automatically preventing a long-term latent buoy from falling sideways, comprising the following steps:
[0051] (1) Before the equipment reaches a certain depth, the anti-falling system is in a folded state. The controller collects the water depth sensor signal in real time to determine whether the anti-falling system changes from a folded state to an unfolded state. In the folded state, the upper elastic body of all anti-falling subsystems is in compression, the lower elastic body is in tension, and the high-torque torsion spring is in a torque output state;
[0052] (2) When the equipment reaches a certain depth, the controller sends a separation signal to all explosive bolts in the anti-falling system. Each anti-falling subsystem is deployed under the joint action of the upper and lower elastic bodies and the high-torque torsion spring until the drag plate wing surface and the machine body are in a vertical state. At this time, the high-torsion spring output is zero, and the vertical force of the upper and lower elastic bodies is zero.
[0053] (3) When the buoy is about to deflect vertically due to the action of the ocean current, the up and down deflection force generated by the ocean current acts on the drag plate wing surface, and the drag plate wing surface transmits the force to the upper and lower elastic bodies and the torsional elastic element, generating an up and down deflection force in the opposite direction to that generated by the ocean current on the upper and lower elastic bodies and the torsional elastic element, and then transmits the force to the mechanical body of the buoy, causing the buoy to move in the opposite direction of the vertical deflection, thereby preventing the vertical deflection from occurring; at the same time, the holes arranged in a certain pattern, angle, and number on the wing surface and the elastic body can reduce the instantaneous impact of the up and down deflection force generated by the ocean current, reduce fatigue damage to the wing surface, the elastic body, and the torsional elastic element, and further extend the service life;
[0054] (4) When the equipment is about to rotate and deviate due to the influence of ocean currents, the anti-rotation backflow wing prevents the rotation and deviation from occurring; at the same time, by gradually increasing the thickness of the plate from top to bottom and gradually narrowing the thickness from the leading edge to the trailing edge of the wing, the resistance to rotation and deviation is further increased, thereby improving the anti-rotation and deviation effect.
[0055] It will be understood that the present invention is described by way of example, and it will be appreciated by those skilled in the art that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. In addition, under the teachings of the present invention, these features and embodiments may be modified to adapt to specific circumstances without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed herein, and any embodiment that falls within the scope of the claims of this application is intended to be within the scope of protection of the present invention.
[0056] The contents not described in detail in the specification of the present invention belong to the common knowledge of those skilled in the art.
Claims
1. A long-term submerged buoy automatic anti-descent system, characterized by: The system comprises a plurality of first anti-falling subsystems and a plurality of second anti-falling subsystems; along the direction of the mechanical body of the buoy, the first anti-falling subsystems are arranged at the same height and evenly distributed around the circumference of the mechanical body; the second anti-falling subsystems are arranged at the same height and evenly distributed around the circumference of the mechanical body, and the first anti-falling subsystems are located above the second anti-falling subsystems; The first anti-fall subsystem includes a first drag plate wing, with an anti-rotation backflow wing fixedly mounted on the leading edge of the wing, and a trailing edge connected to the mechanical body of the buoy. Torsion elastic elements are provided on both sides of the connecting shaft. The wing is connected to the mechanical body through elastic bodies at the top and bottom, and together they form an actuator. The wing, the elastic body and the mechanical body, as well as the wing and the elastic body, are all connected in a rotational manner. The second anti-fall subsystem has the same structural form as the first anti-fall subsystem, and the difference is that the second drag plate wing surface in the second anti-fall subsystem has a smaller area than the first drag plate wing surface.
2. The long-term submerged buoy automatic anti-descent system according to claim 1 is characterized by: It also includes a locking device; the working states of the automatic anti-falling system are divided into a folded state and an unfolded state; when the preset depth is not reached, it is in a folded state, and the leading edge side of the drag plate wing of all anti-falling subsystems is fixed to the mechanical body through a locking device; after reaching the preset depth, the locking device is unlocked, and under the joint action of the upper and lower elastic bodies and the torsional elastic elements, the drag plate wing surface of each anti-falling subsystem rotates to be perpendicular to the mechanical body, reaching the unfolded state.
3. The long-term submerged buoy automatic anti-descent system according to claim 2 is characterized by: In the folded state, the upper elastic body is in a compressed state, the lower elastic body is in a stretched state, and the torsional elastic element is in a torque output state; in the unfolded state, the torsional elastic element output is zero, and the vertical resultant force of the upper and lower elastic bodies is zero.
4. The long-term submerged buoy automatic anti-descent system according to claim 2 is characterized by: It also includes a controller and a water depth sensor; the controller and the water depth sensor are fixed on the mechanical body, and the water depth sensor measures the depth of the mechanical body in real time and sends it to the controller, which provides a deployment signal for each anti-fall subsystem after calculation; after deployment, it no longer provides any signal during long-term storage.
5. The long-term submerged buoy automatic anti-descent system according to claim 1 is characterized by: The arrangement height of each first anti-fall subsystem from the bottom plane of the mechanical body is greater than 1 / 2 of the height of the mechanical body of the buoy, and the arrangement height of each second anti-fall subsystem from the bottom plane of the mechanical body is less than 1 / 4 of the height of the mechanical body of the buoy. The difference in arrangement height between each first anti-fall subsystem and each second anti-fall subsystem does not exceed 1 / 4 of the height of the mechanical body. The upper elastic body and the lower elastic body are symmetrically distributed relative to the wing surface. The distance from the position where the upper and lower elastic bodies are connected to the wing surface to the rotation axis connecting the trailing edge of the wing surface and the submerged buoy mechanical body is greater than 1 / 2 of the length of the drag plate wing surface. The distance from the position where the upper and lower elastic bodies are connected to the submerged buoy mechanical body to the rotation axis connecting the trailing edge of the wing surface and the submerged buoy mechanical body is greater than 1 / 3 of the length of the drag plate wing surface and less than 1 / 2 of the length of the drag plate wing surface. The area of the second drag plate wing surface does not exceed 2 / 3 of the first drag plate wing surface.
6. The long-term submerged buoy automatic anti-descent system according to claim 1 is characterized by: The anti-rotation backflow wing is a plate-like body arranged along the central axis of the airfoil. The thickness of the plate-like body gradually increases from top to bottom, and the thickness gradually narrows from the leading edge to the trailing edge of the airfoil.
7. The long-term submerged buoy automatic anti-descent system according to claim 1 is characterized by: The first resistance plate wing surface and the second resistance plate wing surface have multiple oblique holes evenly and staggeredly distributed on the upper and lower surfaces of the wing surfaces.
8. The long-term submerged buoy automatic anti-descent system according to claim 7, characterized in that: The distribution of the inclined holes is specifically as follows: multiple groups of inclined holes are distributed in sequence along the axial direction of the airfoil, each group of inclined holes includes a row of forward inclined holes and a row of reverse inclined holes, and the forward inclined holes and the reverse inclined holes are evenly staggered.
9. The long-term submerged buoy automatic anti-descent system according to claim 8, characterized in that: The drilling angle in the inclined hole is positively correlated with the size of the ocean current, seawater density and the depth of the buoy, ranging from 45° to 90°. The drilling angles of the forward inclined hole and the reverse inclined hole are the same in size but in opposite directions.
10. The system and method for automatically preventing the long-term submerged buoy from falling sideways according to claim 1, characterized in that: The upper elastic body and the lower elastic body have multiple square holes evenly distributed on the upper and lower surfaces.
11. The automatic anti-descent system for long-term submerged buoys according to claim 1, characterized in that: The components in each anti-fall subsystem are made of corrosion-resistant and water pressure-resistant materials; among them, the first resistance plate wing surface, the second resistance plate wing surface and the upper and lower elastic bodies are all made of non-metallic materials.
12. A method for automatically preventing a long-term submerged buoy from falling sideways, characterized in that: The automatic anti-descent system for a long-term submerged buoy as claimed in claim 1 is used to realize automatic anti-descent, comprising: Determine whether the buoy has reached a preset depth; if not, place all anti-fall subsystems in a folded state; when the buoy reaches the preset depth, send a deployment signal to all locking devices in each anti-fall subsystem, causing each anti-fall subsystem to deploy under the combined action of the upper and lower elastic bodies and the torsional elastic element until all drag plate surfaces are perpendicular to the machine body; thereafter, no active control is performed; When the buoy is affected by the ocean current and is about to deflect vertically, the upper and lower deflection forces generated by the ocean current act on the resistance plate wing surface, and the resistance plate wing surface transmits the force to the upper and lower elastic bodies and the torsional elastic element, which produces the upper and lower deflection forces in the opposite direction to the upper and lower elastic bodies and the torsional elastic element, and then transmits it to the mechanical body of the buoy, causing the buoy to move in the opposite direction of the vertical deflection, preventing the vertical deflection from occurring; when the buoy is affected by the ocean current and is about to rotate and deflect, the anti-rotation backflow wing prevents the rotation from occurring.