A method and device for comprehensive buoyancy adjustment of a buoy platform

Abstract

This invention relates to the field of buoy platform control, and discloses a comprehensive buoyancy adjustment method and device for a buoy platform. The buoy platform achieves rapid sinking due to negative buoyancy by using a load-bearing counterweight and rapid surfacing due to positive buoyancy by jettisoning weights and piston movement. When the buoy reaches a preset depth, the inflated airbags provide auxiliary buoyancy, ensuring rapid surfacing and raising the antenna compartment to a certain height above the water. A wave-resistant device opens under the inflated airbags, providing some wave resistance. When the buoy platform needs to dive, the airbag system retracts the inflated airbags, and the wave-resistant device retracts under the action of a torsion spring, maintaining its shape and reducing drag. Fine buoyancy adjustment is performed via a piston, allowing the buoy platform to reach the designated depth. This invention simplifies the system structure and achieves efficient and reliable operation of the buoy platform across all mission profiles through the organic combination of multiple buoyancy adjustment methods and a reasonable mechanical linkage design.

Description

Technical Field

[0001] This invention relates to the field of buoy platform control, and more particularly to a method and apparatus for comprehensive buoyancy adjustment of a buoy platform. Background Technology

[0002] Buoy platforms are crucial transportation tools for marine environmental measurement, marine acoustic communication, and marine navigation, playing a vital role in national defense, military operations, and the national economy. Buoyancy adjustment is a critical function ensuring the buoy platform completes its intended tasks and is a key indicator of its operational performance. Existing buoy platforms either emphasize rapid maneuverability or precise hovering, but a technology that efficiently integrates both capabilities is still immature. Some existing buoy platforms exhibit poor stability in rough seas, affecting not only the accuracy of communication and measurement tasks but also threatening their own survivability. The market urgently needs a buoy platform capable of rapid initial dives and ascents, ensuring stable communication at a certain height above the water, possessing wave resistance up to sea state 4, and allowing for precise buoyancy adjustment for depth control. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems existing in related technologies. To this end, the present invention provides a method and apparatus for comprehensive buoyancy adjustment of a buoy platform.

[0004] The first implementation scheme is given below.

[0005] A method for comprehensive buoyancy adjustment of a buoy platform includes the following steps:

[0006] S1, the buoy platform relies on carrying a counterweight to achieve negative buoyancy, thereby quickly diving to the target depth;

[0007] S2, at the target depth, the buoy platform releases counterweights by jettisoning to give the platform positive buoyancy and quickly rise to the surface;

[0008] S3, when the buoy platform rises to a preset water depth above the water surface, the airbag system is activated to inflate the airbag, causing the airbag to expand and provide auxiliary buoyancy, and causing the buoy platform to rise above the water surface to a certain height;

[0009] S4, During the inflation of the airbag, the shape-maintaining wave-resistant device switches from the closed state to the open state, improving the wave-resistant performance of the platform when it is on the water surface;

[0010] S5: When the buoy platform needs to dive again after completing its mission, the control airbag system will de-inflate the airbag to contract, and the shape-maintaining and wave-resistant device will be recovered and closed to reduce underwater resistance.

[0011] Furthermore, it also includes,

[0012] S6, by finely adjusting the drainage volume of the buoy platform, the buoy platform is controlled to dive again and reach a fixed depth.

[0013] Furthermore, in step S2, the specific implementation of releasing the counterweight block by throwing it to give the platform positive buoyancy is to drive the piston to perform a single linear motion to increase the drainage volume of the buoy platform while simultaneously causing the counterweight block to be released from its constraint and discarded.

[0014] Furthermore, in step S4, while the airbag system inflates the airbag, the expansion force of the airbag is used to open the conformal wave-resistant device, thereby improving the wave resistance of the buoy platform on the water surface.

[0015] Furthermore, in step S5, the gas in the airbag is recovered, and the shape-maintaining and wave-resistant device is closed and recovered under the action of an elastic restoring force that antagonizes the expansion force of the airbag.

[0016] Furthermore, in step S3, the airbag system inflates the airbag by opening the first circuit connecting the cylinder and the airbag;

[0017] In step S5, the airbag system is controlled to depress, causing the airbag to contract. This is achieved by using an air pump to draw gas back from the airbag to the cylinder via a second circuit.

[0018] Based on the first solution, a second implementation plan is presented.

[0019] A buoy platform for implementing the comprehensive buoyancy adjustment method of the buoy platform includes:

[0020] The shell and the conformal wave-resistant device installed on the shell;

[0021] The conformal wave-resistant device contains an antenna compartment and an airbag; the airbag and the airbag control system together form the airbag system.

[0022] The housing also contains a cylinder, and a piston is installed inside the cylinder; the piston is connected to a mounting plate, on which a detachable counterweight can be installed; the movement of the piston within the cylinder is powered by a drive device.

[0023] The drive device and airbag control system are connected to the control unit. The control unit controls the operating status of the drive device and airbag control system according to the task requirements, so as to realize the comprehensive buoyancy adjustment method of the buoy platform.

[0024] In the initial state, the piston retracts into the cylinder, and the counterweight on the mounting plate is restricted by the cylinder and hangs on the mounting plate;

[0025] During the initial dive, the drive unit drives the piston downward, and the mounting plate also moves downward. When the mounting plate extends out of the cylinder, the counterweight is released from the cylinder's restraint, and the counterweight separates from the mounting plate, thus releasing the counterweight. The buoy platform then gains positive buoyancy and achieves rapid ascent.

[0026] Furthermore, the conformal wave-resistant device consists of two or more wave-resistant plates, which are connected to the shell via torsion springs. When the wave-resistant plates are open, they are located on the top outer ring of the shell, providing a certain wave-resistant capability for the buoy platform. When the wave-resistant plates are retracted, they form a protective cover, which reduces resistance when the buoy platform returns to its closed state.

[0027] Furthermore, the conformal wave-resistant device is equipped with an antenna compartment and an airbag; the airbag and the airbag control system constitute the airbag system; the airbag control system includes a cylinder, an air pump, a first solenoid valve and a second solenoid valve.

[0028] The airbag is connected to a first solenoid valve and a second solenoid valve located inside the housing.

[0029] The first solenoid valve is connected to the cylinder via an air pump; the second solenoid valve is connected to the cylinder.

[0030] The airbag system consists of two circuits: the cylinder, the second solenoid valve, and the airbag form the inflation circuit, and the cylinder, the air pump, the first solenoid valve, and the airbag form the intake circuit.

[0031] The airbag system inflates the airbags, and the expansion of the airbags provides auxiliary buoyancy, causing the buoy platform to rise to the surface of the water.

[0032] While the airbag system inflates the airbag, it uses the expansion force of the airbag to open the conformal wave-resistant device, thereby improving the buoy platform's wave resistance on the water surface.

[0033] When the buoy platform dives again, the airbag system deflates, causing the airbag to contract. The conformal wave-resistant device loses the force of the airbag and is then closed by the elastic restoring force of the torsion spring, returning to its closed state.

[0034] Furthermore, by changing the displacement volume of the buoy platform through the movement of the piston, the buoy force on the buoy platform can be precisely controlled, thereby controlling the diving depth of the buoy platform.

[0035] The above-described one or more technical solutions in the embodiments of the present invention have at least one of the following technical effects:

[0036] This invention integrates three buoyancy adjustment modes: rapid, auxiliary, and precise. It systematically solves the full-mission profile deployment requirements of buoy platforms, from initial rapid deployment and stable surface communication to precise underwater hovering. Compared with existing technologies with a single adjustment mode, it has more comprehensive functions and a wider range of applicable scenarios.

[0037] By linking the piston movement with the counterweight ejection function and the airbag inflation with the wave-resistant device deployment function, a "one-action-two-effect" system is achieved, which significantly reduces the number of actuators such as drive motors, simplifies the mechanical structure, reduces system complexity and potential failure points, and improves the overall reliability of the device.

[0038] By leveraging the combined effect of airbags providing auxiliary buoyancy and deploying wave-resistant devices, the platform's antenna compartment can be stably surfaced and possess wave resistance capability for sea state 4, solving the technical challenge of surface communication stability and demonstrating superior operational performance.

[0039] The wave-resistant device automatically shuts off and is recovered underwater, restoring the streamlined shape of the buoy platform, thus playing a role in shape preservation and drag reduction. This reduces energy consumption when the platform is performing fine adjustments and depth control underwater, and improves underwater maneuverability.

[0040] The entire adjustment process, especially key actions such as counterweight disposal and the opening and closing of wave-resistant devices, is automated through linkage design, eliminating the need for complex multi-system coordination and control, reducing operational difficulty, and improving the intelligence and autonomous operation level of the buoy platform.

[0041] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0042] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0043] Figure 1 This is a schematic diagram of the buoy platform structure of the present invention;

[0044] Figure 2 This is a schematic diagram of the rapid descent state of the buoy platform of the present invention;

[0045] Figure 3 This is a schematic diagram of the rapid ascent state of the buoy platform of the present invention;

[0046] Figure 4 This is a schematic diagram of the buoy platform conformal and wave-resistant device of the present invention in its open state;

[0047] Figure 5 This is a structural diagram of the buoy platform airbag system of the present invention.

[0048] Figure label:

[0049] 1. Shell; 2. Wave deflector; 3. Antenna compartment; 4. Torsion spring; 5. Cylinder; 6. Piston; 7. Mounting plate; 8. Counterweight; 9. Airbag; 10. Cylinder; 11. Air pump; 12. Sealing ring. Detailed Implementation

[0050] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention. The following embodiments are used to illustrate this invention but cannot be used to limit the scope of this invention.

[0051] This invention proposes a comprehensive buoyancy adjustment method for a buoy platform. This method can achieve rapid, assisted, and precise adjustment of the buoy platform's buoyancy, ensuring that the buoy platform completes its preset tasks.

[0052] The buoyancy adjustment method for the buoy platform proposed in this application includes a rapid buoyancy adjustment stage, an auxiliary buoyancy adjustment stage, and a fine buoyancy adjustment stage. The buoy platform achieves rapid sinking with maximum negative buoyancy by using a load-bearing counterweight. Then, it rapidly switches buoyancy by jettisoning the weight and using piston movement, switching to positive buoyancy for rapid ascent. When the buoy is within a specified depth, auxiliary buoyancy is provided by inflating airbags, ensuring rapid ascent and allowing the upper antenna compartment to emerge above the water to a certain height for stable communication. Simultaneously, due to airbag inflation, the conformal wave-resistant device opens from closed, providing some wave resistance. When the buoy platform needs to dive again, the airbag system retracts the inflated airbags, and the conformal wave-resistant device closes and retracts under the action of a torsion spring. The device then returns to its closed state, restoring the buoy platform to its cylindrical streamlined shape, while also maintaining its shape and reducing drag. The buoy performs fine buoyancy adjustment via a piston. The buoy platform re-enters the water, and the piston movement and depth control maintain a constant depth to the specified depth.

[0053] like Figure 1 The diagram shows the overall structure of the buoy platform.

[0054] The buoy platform includes a shell 1 and a conformal wave-resistant device disposed on the shell 1;

[0055] like Figure 2 and Figure 3 As shown, this illustrates the motion state of the buoy platform before and after releasing the counterweight 8.

[0056] The housing 1 also contains a cylinder 5, and a piston 6 is installed inside the cylinder 5; the piston 6 is connected to a mounting plate 7, and a detachable counterweight 8 can be installed on the mounting plate 7. The movement of the piston 6 within the cylinder 5 is powered by a drive device.

[0057] In the initial state, piston 6 retracts into cylinder 5, and counterweight 8 on mounting plate 7 is restricted by cylinder 5 and attached to mounting plate 7. The buoy platform relies on the counterweight 8 to achieve maximum negative buoyancy, thereby rapidly descending to the target depth.

[0058] During the initial dive, the drive unit drives the piston 6 downward, and the mounting plate 7 also moves downward. When the mounting plate 7 extends out of the cylinder 5, the counterweight 8 is released from the cylinder 5 and separates from the mounting plate 7, thus releasing the counterweight 8. The buoy platform then gains positive buoyancy and achieves rapid ascent.

[0059] During subsequent ascent and descent, the movement of piston 6 changes the displacement volume of the buoy platform, precisely controlling the buoy force and thus controlling the diving depth. A sealing ring 12 is installed between piston 6 and cylinder 5, and the sealing ring 12 is located in the annular groove on the side wall of piston 6. Alternatively, a mechanical seal can be used to achieve a sealing effect between piston 6 and cylinder 5 through precision machining; the maximum stroke of piston 6 does not exceed the end face of cylinder 5.

[0060] like Figure 4 The image shows the open state of the conformal wave-resistant device.

[0061] The conformal wave-resistant device consists of two or more wave-resistant plates 2, which are connected to the shell 1 via torsion springs 4. When the wave-resistant plates 2 are open, they are located on the top outer ring of the shell 1, providing a certain wave-resistant capability for the buoy platform. When the wave-resistant plates 2 are retracted, they form a protective cover, returning to the closed state, i.e., the conformal state, and the buoy platform returns to its cylindrical streamlined state, reducing drag.

[0062] like Figure 5 The diagram shows the structure of the buoy platform airbag system.

[0063] The conformal wave-resistant device houses an antenna compartment 3 and an airbag 9; the airbag 9 and the airbag control system together form an airbag system. The airbag control system includes a cylinder 10, an air pump 11, a first solenoid valve, and a second solenoid valve.

[0064] The airbag 9 is connected to the first solenoid valve and the second solenoid valve disposed inside the housing 1.

[0065] The first solenoid valve is connected to the cylinder 10 via the air pump 11; the second solenoid valve is connected to the cylinder 10.

[0066] The airbag system consists of two circuits: the inflation circuit is composed of cylinder 10, second solenoid valve, and airbag 9; the suction circuit is composed of cylinder 10, air pump 11, first solenoid valve, and airbag 9.

[0067] The drive device, air pump 11, first solenoid valve and second solenoid valve are connected to the control unit. The control unit controls the operating status of the drive device, air pump 11, first solenoid valve and second solenoid valve according to the task requirements, so as to realize the comprehensive buoyancy adjustment method of the buoy platform.

[0068] When the buoy platform rises to a preset water depth above the water surface, the airbag system is activated to inflate the airbag 9, causing the airbag 9 to expand and provide auxiliary buoyancy, and causing the buoy platform to rise above the water surface to a certain height to complete the communication or observation task.

[0069] While the airbag system inflates the airbag 9, the expansion force of the airbag 9 is used to open the conformal wave-resistant device, thereby improving the wave resistance of the buoy platform on the water surface.

[0070] When the buoy platform completes its mission and needs to dive again, the control airbag system deflates the airbag 9, causing it to contract. At the same time, the shape-maintaining and wave-resistant device loses the force of the airbag 9 and is closed by the elastic restoring force of the torsion spring 4, allowing the buoy platform to return to its shape-maintaining state, i.e., a cylindrical streamlined state, reducing underwater resistance.

[0071] A method for comprehensive buoyancy adjustment of a buoy platform, comprising the following steps:

[0072] Step 1: The buoy platform relies on the extreme negative buoyancy of the load counterweight to achieve its first rapid dive.

[0073] Step 2: The buoy platform uses piston movement to discard the counterweight, achieving a rapid switch in buoyancy and initially rising to positive buoyancy. When the buoy is in water depths of less than 100m, it relies on the inflation of the airbag to provide auxiliary buoyancy, ensuring the buoy platform rises quickly and the antenna cabin floats above the water surface to a certain height, achieving stable communication. At the same time, due to the inflation of the airbag, the conformal wave-resistant device changes from closed to open under the action of the airbag inflation, providing a certain wave-resistant capability.

[0074] Step 3: When the buoy platform needs to dive again, the airbag system retracts the inflated airbags, and the conformal wave-damping device is retracted under the action of the torsion spring. The conformal wave-damping device returns to the closed state, that is, the conformal state. The buoy platform returns to the cylindrical streamlined state. At this time, the conformal wave-damping device plays the role of conformal shaping and drag reduction. The buoy is finely adjusted for buoyancy by the piston, and the buoy platform re-enters the water to a fixed depth.

[0075] The buoy platform employs multiple buoyancy adjustment methods during buoyancy regulation, including rapid adjustment by jettisoning counterweights to quickly switch between positive and negative buoyancy, buoyancy-assisted adjustment through airbag inflation and deflation, and fine-tuning buoyancy through piston movement. This constitutes a comprehensive buoyancy regulation method. The buoy platform achieves an initial rapid descent with maximum negative buoyancy by loading counterweights, achieves a rapid switch to positive buoyancy by jettisoning counterweights, and achieves an initial rapid ascent by inflating airbags to raise the buoy platform's antenna compartment to a certain height above the water. Subsequently, the airbags inhale and deflate, and fine-tuning of positive and negative buoyancy is achieved through piston movement.

[0076] In step 2, the actions of discarding the counterweight and the piston movement are designed as a linear motion, simultaneously achieving both counterweight discarding and piston movement functions, thus reducing the use of a motor. A counterweight mounting plate is designed below the piston, with an inclined design. The counterweight hangs on the plate and retracts into the piston cylinder, secured by the cylinder wall. When the buoy platform needs to rise quickly, the piston moves downward to increase the platform's drainage volume. Simultaneously, the piston pushes the connected counterweight mounting plate out of the piston cylinder. At this point, the counterweight, freed from the cylinder wall's constraint, detaches under its own weight and the inclined plate, achieving dual buoyancy adjustment—counterweight discarding and piston buoyancy regulation. Because the piston 6 and cylinder 5 are sealed by a mechanical seal or by a sealing ring 12 between them, the maximum stroke of piston 6 will not exceed the end face of cylinder 5. Therefore, when piston 6 moves to change the buoy platform's drainage volume, seawater will not enter cylinder 5.

[0077] In step 2, the airbags not only provide buoyancy assistance for adjustment but also serve to deploy the wave deflectors. The structure of the airbag system is as follows: Figure 5 As shown.

[0078] The airbag system consists of an airbag, a cylinder, an air pump, and two solenoid valves. The cylinder, air pump, and two solenoid valves are located inside the buoyancy chamber, while the airbag is located outside. The airbag system comprises two circuits: the cylinder, the second solenoid valve, and the airbag form the inflation circuit; the cylinder, the air pump, the first solenoid valve, and the airbag form the intake circuit. Initially, both the first and second solenoid valves are closed. When the buoy reaches a depth of 100m, the second solenoid valve opens, activating the inflation circuit. High-pressure gas from the cylinder enters the airbag through the inflation circuit, inflating the airbag and simultaneously deploying the wave deflector. After the buoy has completed its work on the surface, the second solenoid valve closes, the first solenoid valve opens, activating the intake circuit. The air pump then draws the gas from the airbag back into the cylinder through the intake circuit, causing the buoy to submerge again.

[0079] In step 3, the conformal wave-damping device is in the closed state underwater, providing conformal drag reduction, as shown in the attached diagram. Figure 2 Or attached Figure 3As shown; the wave-damping plate opens at the water surface due to the expansion force of the airbags, and after opening, it plays a role in resisting waves, as shown in the attached diagram. Figure 4 As shown; when the buoy dives again, the airbag system retracts the inflated airbags, and the wave deflector is retracted by the torsion spring. Returning to the attached... Figure 3 The wave-resistant plate, once recovered, forms a unified enclosure to protect the antenna compartment and airbag.

[0080] In step 3, the buoyancy of the buoy is finely adjusted by the piston, and the depth of the buoy is measured in real time by the depth sensor to fix the buoy at the specified depth.

[0081] Finally, it should be noted that the above 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 with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A comprehensive buoyancy adjustment method for a buoy platform, characterized in that, Includes the following steps: S1, the buoy platform relies on carrying a counterweight to achieve negative buoyancy, thereby quickly diving to the target depth; S2, at the target depth, the buoy platform releases counterweights by jettisoning to give the platform positive buoyancy and quickly rise to the surface; S3, when the buoy platform rises to a preset water depth above the water surface, the airbag system is activated to inflate the airbag, causing the airbag to expand and provide auxiliary buoyancy, and causing the buoy platform to rise above the water surface to a certain height; S4, During the inflation of the airbag, the shape-maintaining wave-resistant device switches from the closed state to the open state, improving the wave-resistant performance of the platform when it is on the water surface; S5, when the buoy platform needs to dive again after completing its mission, the control airbag system is deflated to inflate the airbag, and the shape-maintaining wave-resistant device is recovered and closed, restoring the closed state and reducing underwater resistance; The conformal wave-resistant device consists of two or more wave-resistant plates, which are connected to the shell via torsion springs. When the wave-resistant plates are open, they are located on the top outer ring of the shell, providing a certain wave-resistant capability for the buoy platform. When the wave-resistant plates are retracted, they form a protective cover, which reduces resistance when the buoy platform returns to its closed state.

2. The buoyancy adjustment method for a buoy platform according to claim 1, characterized in that, It also includes, S6, by finely adjusting the drainage volume of the buoy platform, the buoy platform is controlled to dive again and reach a fixed depth.

3. The buoyancy comprehensive adjustment method for a buoy platform according to claim 1, characterized in that, In step S2, the specific implementation of releasing the counterweight to give the platform positive buoyancy by throwing it is to drive the piston to perform a single linear motion to increase the drainage volume of the buoy platform while simultaneously causing the counterweight to be released from its constraint and discarded.

4. The buoyancy comprehensive adjustment method for a buoy platform according to claim 1, characterized in that, In step S4, while the airbag system inflates the airbag, the expansion force of the airbag is used to open the conformal wave-resistant device, thereby improving the wave resistance of the buoy platform on the water surface.

5. The buoyancy comprehensive adjustment method for a buoy platform according to claim 1, characterized in that, In step S5, the gas in the airbag is recovered, and the shape-maintaining and wave-resistant device is closed and recovered under the action of an elastic restoring force that counteracts the expansion force of the airbag.

6. The buoyancy adjustment method for a buoy platform according to claim 1, characterized in that, In step S3, the airbag system inflates the airbag by opening the first circuit connecting the cylinder and the airbag; In step S5, the airbag system is controlled to depress, causing the airbag to contract. This is achieved by using an air pump to draw gas back from the airbag to the cylinder via a second circuit.

7. A buoy platform implementing the comprehensive buoyancy adjustment method for a buoy platform as described in any one of claims 1-6, characterized in that, include: The shell and the conformal wave-resistant device installed on the shell; The conformal wave-resistant device contains an antenna compartment and an airbag; the airbag and the airbag control system together form the airbag system. The housing also contains a cylinder, and a piston is installed inside the cylinder; the piston is connected to a mounting plate, on which a detachable counterweight can be installed; the movement of the piston within the cylinder is powered by a drive device. The drive device and airbag control system are connected to the control unit. The control unit controls the operating status of the drive device and airbag control system according to the task requirements, so as to realize the comprehensive buoyancy adjustment method of the buoy platform. In the initial state, the piston retracts into the cylinder, and the counterweight on the mounting plate is restricted by the cylinder and hangs on the mounting plate; During the initial dive, the drive unit drives the piston downward, and the mounting plate also moves downward. When the mounting plate extends out of the cylinder, the counterweight is released from the cylinder's restraint, and the counterweight separates from the mounting plate, thus releasing the counterweight. The buoy platform then gains positive buoyancy and achieves rapid ascent.

8. The buoy platform according to claim 7, characterized in that, The conformal wave-resistant device contains an antenna compartment and an airbag; the airbag and the airbag control system together form an airbag system; the airbag control system includes a cylinder, an air pump, a first solenoid valve, and a second solenoid valve. The airbag is connected to a first solenoid valve and a second solenoid valve located inside the housing. The first solenoid valve is connected to the cylinder via an air pump; the second solenoid valve is connected to the cylinder. The airbag system consists of two circuits: the cylinder, the second solenoid valve, and the airbag form the inflation circuit, and the cylinder, the air pump, the first solenoid valve, and the airbag form the intake circuit. The airbag system inflates the airbags, and the expansion of the airbags provides auxiliary buoyancy, causing the buoy platform to rise to the surface of the water. While the airbag system inflates the airbag, it uses the expansion force of the airbag to open the conformal wave-resistant device, thereby improving the buoy platform's wave resistance on the water surface. When the buoy platform dives again, the airbag system deflates, causing the airbag to contract. The conformal wave-resistant device loses the force of the airbag and is then closed by the elastic restoring force of the torsion spring, returning to its closed state.

9. The buoy platform according to claim 7, characterized in that, By changing the displacement volume of the buoy platform through the movement of the piston, the buoy force on the buoy platform can be precisely controlled, thereby controlling the diving depth of the buoy platform.

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