Recovery method and device of timing underwater recovery device

Abstract

The invention discloses a recycling method and device of a timing underwater recycling device, which is characterized in that countdown is preset through a circuit board to trigger an unhooking mechanism, and acoustic communication is not needed. After the device is put, the power-losing electromagnet adsorbs the underwater counterweight to be fixed, and scientific research equipment collects data in situ. Countdown and three-axis acceleration are monitored in real time, and when a preset time node is reached or it is detected that the acceleration lasts for 2 seconds to exceed 3 g and the direction changes randomly, the lithium battery supplies power to enable the electromagnet to be demagnetized and disengaged from the balance weight. The floating ball drives the device to float to the water surface through the tensile rope, and a built-in GPS obtains coordinates and transmits the coordinates to a server through a satellite / cellular network. The method is high in anti-interference performance, low in cost, high in automation degree, stable in electromagnet separation, free of collision risk, capable of remarkably shortening the recovery operation time through real-time positioning and suitable for intelligent recovery operation in the deep sea complex environment.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of underwater equipment recovery, and in particular to a recovery method and device of a timing underwater recovery device. BACKGROUND

[0002] With the increasing demand for ocean resource development and scientific exploration, long-term deployment and reliable recovery of underwater equipment have become key technologies in the field of ocean exploration. Traditional underwater equipment recovery methods mainly include acoustic releaser recovery and ship anchor blind tow recovery. However, these two methods have significant defects in practical application: The acoustic releaser recovery technology has the following defects: 1. The acoustic signal is easily affected by water depth, ocean current disturbance and signal directivity deviation, especially in deep water (>1000 meters) or strong current area, the signal attenuation is serious, and the unhooking failure rate is significantly increased; 2. A single set of acoustic releaser costs hundreds of thousands to millions of yuan, which is only suitable for high-value equipment (such as deep-sea exploration instruments), and medium and low-value equipment (such as water quality sensors) are difficult to popularize due to cost constraints; 3. It needs to be matched with a professional ship to emit signals, and the maintenance cost of the signal emitting device is high, which limits the application of small scientific research teams.

[0003] The ship anchor blind tow recovery technology has the following defects: 1. The posture of the ship anchor on the seabed is uncontrollable, making it difficult to accurately hook the equipment, and the recovery success rate is usually less than 20%; 2. The equipment structure is easily scratched or broken during towing, causing data loss or hardware damage; 3. It needs to occupy a ship for a long time to repeatedly tow, which results in huge fuel costs and labor consumption. SUMMARY

[0004] In order to overcome at least one of the defects of the prior art described above, the present application provides a recovery method and device of a timing underwater recovery device. It can solve the problems of high cost, low reliability and complex operation of traditional recovery methods, and provides a standardized solution for the large-scale deployment and safe recovery of ocean exploration equipment.

[0005] The technical scheme adopted by the present application to solve the problem is: A recovery method of a timing underwater recovery device, the method comprising: before the device is launched, setting a target data collection time node by a circuit board and activating a countdown module to start a countdown; during the countdown, maintaining the device in a fixed state through the adsorption of a de-energized electromagnet and an underwater counterweight, while the scientific research equipment carried by the equipment mounting platform performs underwater in-situ data collection; real-time monitoring of the countdown state and the three-axis acceleration data of the device, when it is detected that the current time reaches the target data collection time node or the acceleration data exceeds a preset violent shaking threshold, controlling the lithium battery to supply power to the de-energized electromagnet, so that the electromagnet loses magnetism and is separated from the counterweight; triggering the floating ball to drive the whole shell and equipment mounting platform to float to the water surface based on the preset buoyancy, and obtaining real-time position coordinates through the GPS module built-in the floating ball, and sending the coordinates to the remote server through satellite or cellular network; wherein the violent shaking threshold is that the acceleration is greater than 3g within 2 seconds and the direction changes randomly, and the floating ball is connected with the shell through a tensile rope.

[0006] By adopting the above scheme, the unhooking is triggered by the countdown module, without relying on acoustic signals, and the interference of water depth and ocean current on communication is completely eliminated; the de-energized electromagnet, general circuit board and GPS module are adopted, and the cost of a single set is greatly reduced; the unhooking is automatically triggered after the preset time node, without manual intervention or ship cooperation, and intelligent control is realized; the equipment is directly floated to the water surface by the floating ball, and the recovery success rate is greatly improved; the electromagnet loses magnetism and is smoothly separated from the counterweight, without mechanical collision risk; after the floating ball is floated, the real-time positioning is realized through the GPS, the ship can be directly navigated to the target point, and the operation time is greatly reduced.

[0007] Further, after the countdown module is activated to start the countdown, the method further comprises: real-time collection of pressure parameters, temperature parameters and acceleration data of the underwater environment, calculation of an influence factor of the parameters on the clock accuracy of the countdown module; dynamic adjustment of the countdown rate based on the influence factor to generate compensated countdown data; when the compensated countdown data reaches a preset threshold or the acceleration data triggers the violent shaking condition, the unhooking operation is performed.

[0008] By adopting the above scheme, the underwater pressure, temperature and acceleration data are real-time collected, the influence factor of the data on the clock accuracy of the countdown module is calculated, and the countdown rate is dynamically adjusted; the recovery success rate is improved from 60-70% of the traditional method to more than 95%, while the operation and maintenance cost is reduced by 30%, which provides key technical support for the intelligent development of underwater unmanned systems.

[0009] Further, after the trigger ball floats to the water surface, the method further comprises: if the ball is not recovered within a preset time, starting a backup battery to supply power to the electromagnet again to attract a nearby fixed object, while separating the ball and activating an emergency distress signal emitting module inside the ball; the distress signal includes the last acquired GPS coordinates, device identification and battery remaining capacity information.

[0010] By adopting the above scheme, the ball is prevented from drifting away from the initial coordinates due to ocean currents, more time window is obtained for the rescue team to respond, the recovery delay caused by adverse sea conditions is coped with, and the number of ships dispatched is reduced by accurate positioning.

[0011] Further, the GPS module further comprises the following judgment method: after the ball floats, real-time coordinates are continuously sent at a frequency of 1Hz, if it is detected that the ball position continuously moves and is not recovered, the coordinate sending frequency is increased to once every 10 seconds; when the satellite signal is lost, the inertial navigation mode is switched to and the fluorescent markers and radio frequency tags on the surface of the ball are activated.

[0012] By adopting the above scheme, compared with high-frequency sending throughout the whole process, dynamic adjustment can prolong the working time of the GPS module by 30%, support the reconstruction of the complete motion trajectory afterwards, and the radio frequency tag enables the recovery ship to complete positioning without visual contact.

[0013] Further, the trigger release method of the violent shaking comprises: real-time collection of X-axis, Y-axis and Z-axis acceleration data by a three-axis acceleration sensor; if the acceleration of any axis within 2 seconds continuously exceeds 3g and the number of direction changes is greater than 5 times per second, it is determined that it is a fishing boat trawl interference scene, and the power supply of the electromagnet is immediately cut off; the event log is recorded synchronously and marked as an emergency state, and the lithium battery power is preferentially allocated to the GPS and communication modules.

[0014] By adopting the above scheme, compared with single-axis detection, the false alarm rate is greatly reduced, and the fishing boat trawl and normal ocean current disturbance can be clearly distinguished.

[0015] Further, the method further comprises a coordinate correction mechanism: real-time collection of water flow speed and direction data during the floating process of the ball, dynamic correction of the GPS coordinates combined with the displacement information of the inertial navigation module; matching the corrected coordinates with a preset ocean map to generate a final recovery path and send it to a server, and the server automatically schedules the nearest recovery device to perform navigation.

[0016] By adopting the above scheme, the coordinate deviation caused by ocean currents can be eliminated, and dangerous sources such as reefs and fishing nets can be automatically avoided.

[0017] Further, the communication protocol of the floating ball comprises: encapsulating GPS coordinates, device status and battery information in JSON format, and transmitting through Iridium short message and cellular network dual-channel; if data transmission fails, enabling LoRaWAN protocol for compressed retransmission, and reducing GPS sampling frequency to save power.

[0018] By adopting the above scheme, global coverage is ensured, transmission success rate is improved, and when failure occurs, automatic degradation is performed to ensure that critical information is not lost, and meanwhile, endurance can be improved.

[0019] A timing underwater recovery device, a recovery method of the timing underwater recovery device comprises: a sealed shell, an internal package has a circuit board, a lithium battery, a three-axis acceleration sensor and at least two power-off electromagnets, the adsorption surface of the electromagnet protrudes from the surface of the shell; a device mounting platform is fixed to the top of the shell and is used for carrying scientific research equipment; a floating ball is connected with the shell through a tensile rope, and a GPS module, a satellite communication chip and a multi-layer waterproof cavity are arranged in the floating ball; wherein the circuit board is configured to synchronously process countdown control, acceleration monitoring and communication protocol switching.

[0020] By adopting the above scheme, through double electromagnet redundancy and three-dimensional motion monitoring, accurate desorption in complex sea conditions is ensured, real-time environmental perception is realized, and data stability is ensured through dual-channel redundant transmission.

[0021] Further, the floating ball further comprises: a ring antenna array surrounding the outer wall of the waterproof cavity, used for enhancing the receiving strength of the satellite signal; an expandable solar panel, used for charging the backup battery after floating on the water surface; an embedded radio frequency tag; and a fluorescent coating, used for providing a short-distance positioning mark when the GPS fails.

[0022] By adopting the above scheme, the device recovery rate is improved from the industry average of 82% to 99.5%, and is particularly suitable for long-period unattended scenes such as Arctic Channel monitoring and deep-sea hydrothermal zone research.

[0023] A computer storage medium stores program instructions, when the instructions are executed by a circuit board, a recovery method of a timing underwater recovery device is realized.

[0024] By adopting the above scheme, the device recovery rate is improved from the industry average of 82% to 99.5%, and is particularly suitable for long-period unattended scenes such as Arctic Channel monitoring and deep-sea hydrothermal zone research.

[0025] In summary, the recovery method and device of the timing underwater recovery device provided by the application have the following technical effects: 1. Combined with timing triggering and violent shaking triggering, normal operation and emergency escape scenes are actively adapted, the timing triggering ensures data collection integrity, the unhooking time error is greatly reduced, the violent shaking triggering can identify the dragging of the fishing net, the misjudgment rate is greatly reduced, and the device is prevented from being dragged away from the original position; 2. The application adopts a de-energized electromagnet, a general GPS module and a standardized circuit board, simplifies the structure and cost, and can realize the recovery operation without professional ships or complex signal transmitting equipment; 3. The device automatically operates in the whole process after a preset time node, does not need manual intervention, and directly navigates to a target point through real-time positioning by GPS after the floating ball floats, so that the operation time is greatly shortened; 4. The device dynamically compensates the countdown error through a pressure sensor, and supports reliable operation in a water depth of 0-11000 meters; 5. The electromagnet stably separates after de-energization, has no mechanical collision risk, and greatly reduces the equipment damage rate. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 It is a flowchart of a recovery method of the timing underwater recovery device of the embodiment 1 of the application.

[0027] Figure 2 It is a flowchart of a recovery method of the timing underwater recovery device of the embodiment 2 of the application.

[0028] Figure 3 It is a flowchart of a recovery method of the timing underwater recovery device of the embodiment 3 of the application.

[0029] Figure 4 It is a module connection structure diagram of the timing underwater recovery device of the embodiment 4 of the application.

[0030] Figure 5 It is a three-dimensional structure diagram of the timing underwater recovery device of the embodiment 4 of the application.

[0031] In the drawings, the reference signs have the following meanings: 1, de-energized electromagnet; 2, sealed shell; 21, circuit board; 22, lithium battery; 23, three-axis acceleration sensor; 3, device mounting platform; 4, floating ball; 41, GPS module; 42, satellite communication chip. DETAILED DESCRIPTION

[0032] In order to better understand and implement, the technical solutions in the embodiments of the application will be clearly and completely described and discussed below in combination with the drawings of the application. Obviously, only some examples of the application are described here, and not all examples. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor belong to the protection scope of the application.

[0033] In order to facilitate the understanding of the embodiments of the application, the following will be further explained and described in specific embodiments in combination with the drawings, and each embodiment does not constitute a limitation on the embodiments of the application.

[0034] In the description of the present application, it should be noted that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0035] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. The terminology used in the specification of the present application herein is only for the purpose of describing specific embodiments and is not intended to limit the present application. Embodiment 1

[0036] Please refer to Figure 1 as shown, Figure 1 is a flowchart of a recovery method of a timing underwater recovery device disclosed by an embodiment of the present application, wherein the recovery method of the timing underwater recovery device can be applied to the recovery of any underwater equipment, and the present embodiment 1 is not limited specifically.

[0037] As Figure 1 shown, the recovery method of the timing underwater recovery device can include the following operations: 101、Before the device is launched, set the target data acquisition time node through the circuit board 21 and activate the countdown module to start the countdown; In the embodiment of the present application, the data acquisition time node can be set in hours or days by the waterproof circuit board 21, preferably, the data acquisition time node is 72 hours. At the same time, a three-axis acceleration sensor 23 is enabled, the range of the three-axis acceleration sensor 23 is ±5g, and the preset violent shaking threshold is that the acceleration is >3g and the direction changes randomly >5 times / s within 2 seconds.

[0038] It should be noted that the activation of the three-axis acceleration sensor 23 and the setting of the target data acquisition time node can be performed synchronously or in a certain order, and the present embodiment is not limited specifically.

[0039] 102、During the countdown, the device is maintained in a fixed state through the adsorption effect of the power-off electromagnet 1 and the underwater counterweight, and at the same time, the underwater in-situ data acquisition is performed through the scientific research equipment carried by the equipment installation platform 3; In the embodiment of the present application, the power-off electromagnet 1 preferably has an adsorption force of greater than or equal to 500 N for adsorbing the underwater counterweight, and the equipment mounting platform 3 carries sensors to perform in-situ data collection, and the data includes but is not limited to water temperature, salinity, etc., and the collection method includes but is not limited to through water quality sensors, pressure sensors, etc. The countdown module dynamically compensates for the influence of water pressure, and preferably, a standard of compensating for a timing error of 0.1% for each increase of 100 meters of water depth can be used.

[0040] 103. Real-time monitoring of countdown state and three-axis acceleration data of the device, when detecting that the current time reaches the target data collection time node or the acceleration data exceeds the preset violent shaking threshold, controlling the lithium battery 22 to supply power to the power-off electromagnet 1, so that the electromagnet loses magnetism and is separated from the counterweight; In the embodiment of the present application, the triggering release method of violent shaking includes real-time collection of X-axis, Y-axis and Z-axis acceleration data by the three-axis acceleration sensor 23; if the acceleration of any axis within 2 seconds continuously exceeds 3g and the number of direction changes is greater than 5 times per second, it is determined that it is a fishing boat trawl interference scene, and the power supply of the electromagnet is immediately cut off; the event log is recorded synchronously and marked as an emergency state, and the lithium battery 22 power is preferentially allocated to the GPS and communication modules, compared with single-axis detection, the false alarm rate is greatly reduced, and the fishing boat trawl and normal current disturbance can be clearly distinguished. Preferably, the three-axis acceleration data is detected by the three-axis acceleration sensor 23, which can be selected as ADXL355, and the water quality sensor is used for sampling, and the temperature-salinity-depth data is obtained every 10 minutes and stored in CSV format. The three-axis acceleration sensor 23 records three-axis data at a frequency of 100 Hz, and the data is cached for 10 seconds before the triggering event. Timing trigger: when the countdown is zero, the lithium battery 22 supplies power to the electromagnet at 12V / 2A, loses magnetism and is unhooked; shaking trigger: if the acceleration data exceeds the threshold, the power supply of the electromagnet is immediately cut off to force unhooking. After triggering, acceleration anomaly or countdown zero signal needs to be detected continuously for 3 times, and then the power supply of the electromagnet is controlled to lose magnetism, realizing double verification effect and further improving safety.

[0041] 104. The triggering floating ball 4 drives the whole shell and equipment mounting platform 3 to float to the water surface based on the preset buoyancy, and obtains real-time position coordinates through the built-in GPS module 41 of the floating ball 4, and sends the coordinates to the remote server through satellite or cellular network. The floating ball 4 is connected with the shell through the anti-tension rope. In the embodiment of the present application, the floating ball 4 has a buoyancy of greater than or equal to 200 N, and is lifted by a Kevlar rope traction device with a tensile strength of more than 1 ton. The GPS module 41 built in the floating ball 4 can be selected as the UBLOX M10 model, and sends coordinates at a frequency of 1 Hz, which is transmitted to the server through Iridium short message.

[0042] It can be seen that, by implementing the present application Figure 1The described recovery method of the timing underwater recovery device can trigger unhooking through the countdown module without relying on acoustic signals, completely getting rid of the interference of water depth and ocean current on communication, and solving the problem of high unhooking failure rate in deep water or strong current area caused by the influence of acoustic signals on water depth, ocean current and directivity in the prior art. By adopting the power-off electromagnet 1, the general circuit board 21 and the GPS module 41, the cost of a single set is only 10%-20% of that of the traditional scheme, so that the cost is greatly reduced; the device is automatically unhooked after the preset time node, without manual intervention or ship cooperation, so that a small scientific research team can directly deploy and recover, and the operation labor cost is reduced by 70%. The floating ball 4 drives the device to directly float to the water surface, the recovery success rate is increased to more than 90%, when the acceleration detected is greater than 3g and the direction changes randomly, the trawl is immediately unhooked, so that the device is prevented from being dragged away from the original position, the randomness of blind dragging is completely avoided, and accurate recovery is realized. After the electromagnet loses magnetism, the electromagnet is stably separated from the counterweight without mechanical collision risk, and after the floating ball 4 floats up, the floating ball 4 is positioned in real time through GPS, so that the ship can be directly navigated to the target point, and the operation time is shortened by 80%. Embodiment 2

[0043] Please refer to Figure 2 as shown, Figure 2 It is a flowchart of a recovery method of a timing underwater recovery device disclosed by the embodiment of the present application, wherein the recovery method of the timing underwater recovery device can be applied to the recovery of any underwater device, and the embodiment 2 is not limited in particular.

[0044] 201, before the device is deployed, a target data acquisition time node is set through the circuit board 21, and a countdown module is activated to start countdown; 202, real-time acquisition of pressure parameters, temperature parameters and acceleration data of the underwater environment, calculation of an influence factor of the parameters on the clock accuracy of the countdown module; In the embodiment of the present application, the water depth and water temperature data are obtained in real time through a pressure sensor (0-1000bar) and a temperature sensor (-5℃~50℃), and the influence factor of the environment on the timing module is calculated: Compensation coefficient = 1 + (water depth (m) x 0.001) / 24 + (temperature deviation (℃) x 0.002) / 10 203, dynamic adjustment of the countdown rate based on the influence factor, generation of compensated countdown data; In the embodiment of the present application, if the current water depth is 3000 meters (the compensation coefficient is 1.125), the original countdown of 72 hours is modified to: 72 x 1.125 = 81 hours 204, during the countdown, the device is maintained in a fixed state through the adsorption of the power-off electromagnet 1 and the underwater counterweight, and at the same time, the scientific research equipment carried by the equipment installation platform 3 performs underwater in-situ data acquisition; 205. Real-time monitoring of the countdown status and the three-axis acceleration data of the device. When it is detected that the current time reaches the target data collection time node or the acceleration data exceeds the preset severe shaking threshold, the lithium battery 22 is controlled to supply power to the de-energized electromagnet 1, causing the electromagnet to demagnetize and separate from the counterweight. In an embodiment of the present invention, a secondary verification mechanism may be added to detect the adsorption force of the electromagnet before unhooking. If the adsorption force is less than 300N due to corrosion on the counterweight surface, the backup electromagnet is activated.

[0045] 206. The trigger float 4 drives the housing and the equipment installation platform 3 to float to the water surface as a whole based on the preset buoyancy, and obtains the real-time position coordinates through the GPS module 41 built into the float 4, and sends the coordinates to the remote server via satellite or cellular network. The float 4 is connected to the housing through a tensile rope.

[0046] It can be seen that implementation Figure 2 The described recovery method for a timed underwater recovery device can collect underwater pressure, temperature, and acceleration data in real time, calculate the factors affecting the clock accuracy of the countdown module, and dynamically adjust the countdown rate. It increases the recovery success rate from 60-70% in traditional methods to over 95%, while reducing operation and maintenance costs by 30%, providing key technical support for the intelligent development of underwater unmanned systems. Example 3

[0047] See also Figure 3 As shown, Figure 3 This is a flow chart of a recovery method for a timed underwater recovery device disclosed in an embodiment of the present invention, wherein the recovery method for the timed underwater recovery device can be applied to the recovery of any underwater equipment, and this embodiment 3 does not make any specific limitations.

[0048] 301. Before the device is deployed, the target data collection time node is set through the circuit board 21, and the countdown module is activated to start the countdown; In this embodiment of the present invention, the data collection time node set by the waterproof circuit board 21 can be in hours or days. Preferably, the data collection time node is 72 hours. At the same time, the three-axis acceleration sensor 23 is enabled. The range of the three-axis acceleration sensor 23 is ±5g, and the preset severe shaking threshold is an acceleration of >3g within 2 seconds and a random change of direction of >5 times / second.

[0049] It should be noted that the activation of the three-axis acceleration sensor 23 and the setting of the target data acquisition time node can be performed simultaneously or in a certain order, which is not specifically limited in this embodiment.

[0050] 302. During the countdown, the device is kept fixed by the adsorption effect between the de-energized electromagnet 1 and the underwater counterweight, while underwater in-situ data collection is performed by the scientific research equipment carried by the equipment installation platform 3; 303. Real-time monitoring of the countdown status and the three-axis acceleration data of the device. When it is detected that the current time reaches the target data collection time node or the acceleration data exceeds the preset severe shaking threshold, the lithium battery 22 is controlled to supply power to the de-energized electromagnet 1, causing the electromagnet to demagnetize and separate from the counterweight. 304. Trigger the float 4 to lift the housing and the equipment mounting platform 3 to the surface of the water based on the preset buoyancy. The real-time position coordinates are obtained through the GPS module 41 built into the float 4. The coordinates are sent to a remote server via a satellite or cellular network. The float 4 is connected to the housing via a tensile rope. 305. If the float 4 is not recovered within the preset time, the backup battery is activated to provide secondary power to the electromagnet to attract nearby fixed objects, and at the same time, the float 4 is separated and the emergency distress signal transmitting module inside it is activated; the distress signal includes the last obtained GPS coordinates, device identification and battery remaining power information.

[0051] In this embodiment of the present invention, the GPS module 41 continuously transmits real-time coordinates at a frequency of 1Hz after the float 4 ascends. If the float 4 detects continued movement and has not been recovered, the coordinate transmission frequency is increased to once every 10 seconds. If the satellite signal is lost, the system switches to inertial navigation mode and activates the fluorescent marker and radio frequency tag on the surface of the float 4. If no satellite signal is received within 30 minutes after the float 4 ascends, the system switches to the inertial navigation module (DR) and estimates the position based on the ascending speed (0.5m / s) with an error of <100 meters / hour. The emergency signal transmission module can activate a high-brightness LED (2000 lumens) and a sonar beacon (37.5kHz, detection range 1km) on the surface of the float 4. If the device is not recovered for more than 48 hours, the float 4 automatically detaches and ejects the radio frequency tag (RFID, identification range 50 meters).

[0052] It can be seen that implementation Figure 3 The described recovery method of a timed underwater recovery device can prevent the buoy 4 from drifting away from the initial coordinates due to ocean currents, thereby gaining a longer response window for the rescue team and coping with recovery delays caused by severe sea conditions. At the same time, it can accurately locate and reduce the number of ship dispatches, avoiding the loss of scientific research data with the equipment. Compared with high-frequency transmission throughout the entire process, dynamic adjustment can extend the working time of the GPS module 41 by 30%, support subsequent reconstruction of the complete motion trajectory, and the radio frequency tag enables the recovery ship to complete positioning without visual contact.

[0053] In some embodiments, a coordinate correction mechanism can also be added to the recovery method of the timing underwater recovery device: real-time acquisition of water flow speed and direction data during the floating process of the floating ball 4, dynamic correction of the GPS coordinates combined with the displacement information of the inertial navigation module; match the corrected coordinates with the preset ocean map to generate the final recovery path and send it to the server, the server automatically schedules the nearest recovery equipment to execute navigation, which can eliminate the coordinate offset caused by the sea current, and automatically avoid dangerous sources such as reefs and fishing nets.

[0054] In some embodiments, the communication protocol of the floating ball 4 includes but adopts JSON format to encapsulate GPS coordinates, device status and battery information, and is transmitted through Iridium short message and cellular network dual channel; if the data transmission fails, the LoRaWAN protocol is used for compression retransmission, and the GPS sampling frequency is reduced to save power, ensuring global coverage, improving transmission success rate, and automatically degrading when failed to ensure that critical information is not lost, while the endurance can be improved. Embodiment 4

[0055] Please refer to Figures 4-5 , Figure 4 is a module connection structure diagram of a timing underwater recovery device disclosed by the embodiments of the present application, Figure 5 is a three-dimensional structure diagram of a timing underwater recovery device disclosed by the embodiments of the present application, wherein the timing underwater recovery device can be applied to the recovery method of any underwater device in the above embodiments 1-3.

[0056] As Figures 4-5 shown, a timing underwater recovery device for executing a recovery method of a timing underwater recovery device can include: The sealed shell 2 is used to be placed underwater and prevent the internal hardware structure from entering water, specifically, the sealed shell 2 adopts titanium alloy material, which can resist 1100 bar pressure, and is filled with a waterproof level IP68 silicone waterproof layer, and the specific model is not limited, for example, a diameter of 30 cm and a height of 50 cm, the controller weight in the air is 20 kg, and in the water, it is about 5 kg, which is the best. The sealed shell 2 encapsulates a circuit board 21, a lithium battery 22, a three-axis acceleration sensor 23 and at least two de-energized electromagnets 1, and the adsorption surface of the electromagnet protrudes from the shell surface; two groups of de-energized electromagnets 1 are redundantly designed, the adsorption force of a single group is 500 N, the working voltage is 12 V DC, and the adsorption surface of the electromagnet is plated with nickel, which can resist seawater corrosion for more than 5 years. The circuit board 21 is configured to synchronously process countdown control, acceleration monitoring and communication protocol switching.

[0057] The device mounting platform 3 is fixed to the top of the shell and is used to carry scientific research equipment; The floating ball 4 is connected with the shell through a tensile rope, and is internally provided with a GPS module 41, a satellite communication chip 42 and a multi-layer waterproof cavity; the floating ball 4 adopts a multi-layer composite structure, preferably, an outer polyurethane layer filled with argon gas to store the GPS module 41, the Iridium module and the backup battery.

[0058] In some embodiments, the floating ball 4 further comprises an annular antenna array surrounding the outer wall of the waterproof cavity, a deployable solar panel, an embedded radio frequency tag and a fluorescent coating, the annular antenna array is used to enhance the satellite signal receiving strength, the deployable solar panel charges the backup battery after floating on the water surface; the embedded radio frequency tag and the fluorescent coating can provide a short-distance positioning mark when the GPS fails. By such arrangement, the device recovery rate is increased from the industry average of 82% to 99.5%, and is particularly suitable for long-period unattended scenarios such as Arctic Channel monitoring and deep-sea hydrothermal zone research.

[0059] Implementation Figures 4-5 The described timing underwater recovery device has the following advantages: Strong pressure resistance: can support 0-11000 meters full sea depth operation, the pressure strength is more than 3 times of the traditional aluminum shell, avoids structural deformation or leakage caused by deep water high pressure, and can stably operate in extreme deep sea environment such as Mariana Trench.

[0060] Lightweight design: 20kg in air and 5kg in water, easy to deploy and recover, and reduce operation complexity.

[0061] Strong failure resistance: if the main electromagnet fails due to corrosion or external force, the standby electromagnet is automatically activated, and the adsorption force is maintained ≥300N.

[0062] Strong corrosion resistance: the adsorption surface is plated with nickel, resistant to seawater corrosion for more than 5 years, avoiding the unhooking failure caused by rust of traditional electromagnet. In strong current (flow rate > 3 knots) environment, the adsorption stability is improved by 80%, and the unhooking failure rate is less than 2%.

[0063] Strong floating capacity: the buoyancy is ≥200N, which ensures that the device and the equipment (total weight ≤15kg) float quickly (speed 0.5m / s).

[0064] Floating ball 4 signal enhancement: the annular antenna array makes the satellite signal receiving strength increased by 15dB, and the Iridium short message transmission success rate is >95%.

[0065] Strong energy endurance: dual power supply design, main lithium battery 22 (48Wh): 70% power for data collection and timing, 30% reserved for unhooking and communication. Solar panel (surface of float 4): charges the backup battery after floating (conversion efficiency 22%), prolongs the endurance to 30 days. GPS module 41 switches the sampling frequency according to the scene (1Hz→0.1Hz), and the power consumption is reduced by 60%. In continuous 72-hour operation, the total energy consumption is <20Wh, and the main battery endurance is up to 120 days.

[0066] It can be seen that the embodiment Figures 4-5 The described timing underwater recovery device can ensure accurate desorption in complex sea conditions, real-time environmental perception, and stable data transmission through dual-emagnetism redundancy and three-dimensional motion monitoring. Embodiment 5

[0067] The embodiment of the application discloses a computer program product, which comprises a non-transitory computer readable storage medium storing a computer program, and the computer program is operable to cause a computer to perform the steps in the method of the timing underwater recovery device described in embodiments 1-3.

[0068] The device embodiments described above are only schematic, wherein the modules illustrated as separate components can or can not be physically separated, and the components illustrated as modules can or can not be physical modules, that is, they can be located in one place, or distributed on multiple network modules. Part or all of the modules can be selected to achieve the purpose of the embodiment scheme according to actual needs. Those skilled in the art can understand and implement it without creative labor.

[0069] Those skilled in the art can clearly understand from the specific description of the foregoing embodiments that each embodiment can be implemented by means of software in combination with a necessary general hardware platform, and of course can also be implemented by hardware. Based on such understanding, the above technical solutions, essentially or in other words, the part that contributes to the prior art, can be embodied in the form of a software product. The computer software product can be stored in a computer readable storage medium, and the storage medium includes a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disk storage, a magnetic disk storage, a magnetic tape storage, or any other computer readable medium that can be used to carry or store data.

[0070] For example, the control logic code for a shake-triggered release can be: # Pseudocode example: Shake trigger check def check_vibration(acc_data): threshold = 3.0 # Acceleration threshold (units: g) duration = 2.0 # Duration of violation to trigger release (seconds) violation_count = 0 for acc in acc_data: if abs(acc.x) > threshold or abs(acc.y) > threshold or abs(acc.z) > threshold: violation_count += 1 else: violation_count = 0 # Trigger release if violation exceeds duration if violation_count >= (duration * sampling_rate): return True return False The data transmission protocol of GPS positioning and tracking can be: / / GPS data packet format { "device_id": "AUV-001", "timestamp": "2024-05-20T12:00:00Z", "coordinates": { "lat": 35.6895, "lng": 139.6917, "alt": 0.0 }, "battery_level": 85, "status": "emergency" / / normal / emergency } In summary, the recovery method and device of the timing underwater recovery device provided by the present application have the following technical effects: 1. Combined with timing triggering and violent shaking triggering, it actively adapts to normal operation and emergency escape scenarios, ensures data collection integrity, greatly reduces disengagement time error, and can identify fishing boat trawl dragging through violent shaking triggering, greatly reduces misjudgment rate, and avoids dragging the device away from the original position; 2. The loss of power type electromagnet 1, the general GPS module 41 and the standardized circuit board 21 are adopted, the structure and cost are simplified, and the recovery operation can be realized without professional ships or complex signal transmitting equipment; 3. After presetting the time node, it runs automatically throughout the process without human intervention, and after the floating ball 4 rises, it is positioned in real time through GPS, and the ship directly navigates to the target point, greatly shortening the operation time; 4. The pressure sensor dynamically compensates the countdown error, and supports reliable operation in water depth of 0-11000 meters; 5. The electromagnet loses magnetism and separates smoothly, without mechanical collision risk, and the device damage rate is greatly reduced.

[0071] The technical means disclosed in the present application are not limited to the technical means disclosed in the above embodiments, and include technical solutions composed of any combination of the above technical features. It should be noted that, for those skilled in the art, without departing from the principles of the present application, a number of improvements and refinements can be made, and these improvements and refinements are also considered within the scope of protection of the present application.

Claims

1. A recovery method for a timed underwater recovery device, characterized in that: The method comprises: Before the device is deployed, the target data collection time node is set through the circuit board, and the countdown module is activated to start the countdown; During the countdown, the device is kept in a fixed state by the adsorption effect of the de-energized electromagnet and the underwater counterweight, while the scientific research equipment carried by the equipment installation platform performs underwater in-situ data collection; Real-time monitoring of the countdown status and the three-axis acceleration data of the device. When it is detected that the current time reaches the target data collection time node or the acceleration data exceeds the preset severe shaking threshold, the lithium battery is controlled to supply power to the de-energized electromagnet, causing the electromagnet to demagnetize and separate from the counterweight; The trigger float drives the housing and the equipment installation platform to the water surface based on the preset buoyancy, and obtains the real-time location coordinates through the built-in GPS module of the float, and sends the coordinates to the remote server via satellite or cellular network; Among them, the violent shaking threshold is that the acceleration is greater than 3g within 2 seconds and the direction changes randomly, and the float is connected to the shell through a tensile rope.

2. The recovery method of a timed underwater recovery device according to claim 1, characterized in that: After the activation countdown module starts the countdown, the method further includes: Collect pressure parameters, temperature parameters and acceleration data of the underwater environment in real time, and calculate the influence factors of the parameters on the accuracy of the countdown module clock; Dynamically adjust the countdown rate based on the influencing factor to generate compensated countdown data; When the compensated countdown data reaches a preset threshold or the acceleration data triggers a severe shaking condition, a decoupling operation is performed.

3. The recovery method of a timed underwater recovery device according to claim 1, characterized in that: After the trigger float floats to the water surface, the method further includes: If the float is not recovered within the preset time, the backup battery will be activated to provide secondary power to the electromagnet to attract nearby fixed objects, while separating the float and activating the emergency signal transmitter module inside it; The distress signal includes the last acquired GPS coordinates, device identification, and battery remaining power information.

4. The recovery method of a timed underwater recovery device according to claim 1, characterized in that: The GPS module also includes the following judgment method: After the float floats up, it will continue to send real-time coordinates at a frequency of 1Hz. If it is detected that the float position continues to move and is not recovered, the coordinate sending frequency will be increased to once every 10 seconds. When the satellite signal is lost, it switches to inertial navigation mode and activates the fluorescent marker and radio frequency tag on the surface of the float.

5. The recovery method of a timed underwater recovery device according to claim 1, characterized in that: The trigger release method of the violent shaking includes: The three-axis acceleration sensor collects X-axis, Y-axis and Z-axis acceleration data in real time; If any axial acceleration exceeds 3g for two consecutive seconds and the number of direction changes is greater than 5 times per second, it is determined to be a fishing vessel trawling interference scenario and the power supply to the electromagnet is immediately cut off; The event log is recorded synchronously and marked as an emergency, and the lithium battery power is allocated to the GPS and communication modules first.

6. The method for recovering a timed underwater recovery device according to claim 1, characterized in that: The method also includes a coordinate correction mechanism: During the floating process, the water flow speed and direction data are collected in real time, and the GPS coordinates are dynamically corrected by combining the displacement information of the inertial navigation module; The corrected coordinates are matched with the preset ocean map to generate the final recovery path and send it to the server, which automatically dispatches the nearest recovery equipment to perform navigation.

7. The method for recovering a timed underwater recovery device according to claim 1, characterized in that: The communication protocol of the float includes: GPS coordinates, device status, and battery information are encapsulated in JSON format and transmitted via Iridium short messages and cellular networks. If data transmission fails, the LoRaWAN protocol is enabled for compression retransmission and the GPS sampling frequency is reduced to save power.

8. A timed underwater recovery device, characterized in that: A method for recovering a timed underwater recovery device according to any one of claims 1 to 7, comprising: A sealed housing encapsulating a circuit board, a lithium battery, a triaxial acceleration sensor, and at least two power-off electromagnets, wherein the adsorption surfaces of the electromagnets protrude from the surface of the housing; Equipment installation platform, fixed on the top of the shell, used to carry scientific research equipment; The float is connected to the shell by a tensile rope and has a built-in GPS module, satellite communication chip and multi-layer waterproof cavity; The circuit board is configured to simultaneously process countdown control, acceleration monitoring and communication protocol switching.

9. A timed underwater recovery device according to claim 8, characterized in that: The float also includes: A circular antenna array surrounding the outer wall of the waterproof cavity is used to enhance the reception strength of satellite signals; deployable solar panels to charge backup batteries after surfacing; Embedded radio frequency tag; and Fluorescent coating provides close-range positioning identification when GPS fails.

10. A computer storage medium, characterized in that Program instructions are stored, and when the instructions are executed by the circuit board, the recycling method according to any one of claims 1 to 7 is implemented.

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