Lifting communication floating body based on subsurface buoy system and lifting control method thereof

Abstract

The invention provides a lifting communication floating body based on a subsurface buoy system and a lifting control method thereof, and belongs to the technical field of ocean equipment, the lifting communication floating body based on the subsurface buoy system comprises an air bag and a buoyancy adjusting cabin, and the lower end of the air bag is connected with the buoyancy adjusting cabin; a pneumatic control system and a seawater hydraulic control system are arranged in the buoyancy adjusting cabin; a first pressure sensor is mounted above the buoyancy adjusting cabin; in the invention, two control schemes of the pneumatic control system and the seawater hydraulic control system are arranged, and the pneumatic control system has the advantages of large adjusting amount and convenience in material taking, so that the pneumatic system is selected to adjust the buoyancy of the communication floating body on the sea surface; the underwater control performance of the system can be improved by adjusting the underwater buoyancy in combination with a seawater hydraulic control system; wherein the pneumatic control system adjusts the net buoyancy of the system through the drainage volume change caused by the volume change of the pneumatic control system, and the seawater hydraulic control system adjusts the net buoyancy of the system by sucking and discharging seawater to cause the weight change of the system.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of marine equipment, and particularly relates to a lifting communication float based on a subsurface buoy system and a lifting control method thereof. BACKGROUND

[0002] Marine exploration has important significance in scientific research, energy exploration, ecological protection, and technology development. Current marine exploration methods include satellite remote sensing, manned submersibles, underwater autonomous robots, tethered robots, buoys, and subsurface buoys. Among them, subsurface buoys, as a method of marine observation, can achieve long-term continuous observation, have the characteristics of wide coverage, timely data transmission and reception, strong adaptability, and diverse functions, and are widely used. As a key component of subsurface buoy link data transmission, the communication float is often affected or damaged by passing ships. In order to prolong the in-situ working time of the subsurface buoy and enhance the safety and reliability of the subsurface buoy system, the communication float needs to be designed to be concealed.

[0003] In the patent document with the publication number CN112208706B, a real-time subsurface buoy communication float and a motion control method are disclosed. The real-time subsurface buoy communication float includes a float electronic cabin, both sides of which are provided with angle-adjustable airfoils, the bottom of the float electronic cabin is provided with a protruding portion, the protruding portion is symmetrically provided with a propeller, the top of the float electronic cabin is provided with a fixed support, the top of the fixed support is provided with a solar cell panel, the inside of the fixed support is further provided with a control motor, the control motor drives the solar cell panel to realize synchronous contraction and folding, and the inside of the float electronic cabin is provided with a main control module, a power module, a storage module, a satellite communication module, a GPS module, and a sensor module. Although this scheme can realize lifting control of the communication float, the system and structure are complex, and the power consumption is high.

[0004] Other solutions have their own advantages, but also have certain defects. The timed satellite communication subsurface buoy discards the communication float scheme and transmits information through the communication float, but the number of installable communication floats is limited and the communication frequency is low. The satellite communication subsurface buoy based on an underwater winch can realize lifting of the communication float through the winch, but its structure is complex and long-term working reliability needs to be improved. The scheme of transmitting data through an underwater glider as an intermediary has strong maneuverability, but the cost is high. These defects make the subsurface buoy observation data have certain deficiencies in long-term stable real-time transmission.

[0005] Therefore, it is necessary to invent a lifting communication float based on a subsurface buoy system and a lifting control method thereof. SUMMARY

[0006] In order to solve the above technical problems, the present application provides a lifting communication float based on a subsurface buoy system and a lifting control method thereof.

[0007] The lifting communication float based on the submerged buoy system includes an air bag and a buoyancy control cabin, wherein the lower end of the air bag is connected to the buoyancy control cabin; a pneumatic control system and a seawater hydraulic control system are provided inside the buoyancy control cabin; and a first pressure sensor is installed above the buoyancy control cabin; The pneumatic control system includes a water outlet detection sensor, a high-pressure gas cylinder, a first damper, a pneumatic two-position two-way solenoid valve, a second pressure sensor, a pneumatic overflow valve, a second damper, a first pneumatic three-position three-way solenoid valve, a pneumatic motor pump group, a first pneumatic one-way valve, a second pneumatic one-way valve, a water-gas separation filter, a second pneumatic three-position three-way solenoid valve, a first pneumatic inlet, a first pneumatic outlet, a second pneumatic outlet and a pneumatic back pressure one-way valve; The seawater hydraulic control system includes a displacement sensor, an inner cylinder, a seawater hydraulic motor pump group, a first hydraulic one-way valve, a seawater filter, a second hydraulic one-way valve, a first hydraulic two-position two-way solenoid valve, a second hydraulic two-position two-way solenoid valve, a first hydraulic inlet and a first hydraulic outlet.

[0008] Preferably, the pneumatic control system is provided with a first damper and a second damper, and the first damper and the second damper structure limit the flow rate of gas discharge so that the gas can pass through at a slow speed during the discharge process, thereby ensuring that the gas pressure can rise slowly and steadily, thereby improving the controllability of the system; a displacement sensor is integrated in the inner cylinder, and the displacement sensor determines the state of adjustment of the seawater hydraulic control system by detecting the piston position.

[0009] Preferably, a spring is provided inside the pneumatic back-pressure one-way valve, and the pneumatic back-pressure one-way valve will open only when the pressure reaches the set pressure of the spring, thereby ensuring that the air pressure in the buoyancy regulation cabin is not too high.

[0010] A method for controlling the lifting of a lifting communication buoy based on a submerged buoy system, using the above-mentioned lifting communication buoy based on a submerged buoy system: When the float is preset, the airbag is filled with air, and the inner cylinder is not filled with seawater; when the float needs to dive after completing its work on the water surface, the first pneumatic three-position three-way solenoid valve works in the right position, and the gas is released from the airbag through the water-gas separation filter and the second pneumatic one-way valve from the second pneumatic outlet under the action of seawater pressure, or under the action of the pneumatic motor pump group, the first pneumatic three-position three-way solenoid valve works in the left position, and the gas is released from the airbag through the first pneumatic one-way valve, the water-gas separation filter, and the second pneumatic one-way valve from the second pneumatic outlet. At the same time, the seawater hydraulic motor pump group and the first hydraulic two-position two-way solenoid valve are opened, and the seawater hydraulic control system sucks seawater from the first hydraulic inlet, through the seawater filter, the second hydraulic one-way valve, and the first hydraulic two-position two-way solenoid valve into the inner cylinder; at this time, the float gradually sinks; When the floating body needs to be hidden underwater, the seawater hydraulic motor pump set works to discharge seawater from the inner cylinder through the first hydraulic one-way valve from the first hydraulic outlet, and through the adjustment of the seawater hydraulic control system, the floating body is maintained within a certain depth range. When the floating body needs to float up underwater, the seawater hydraulic motor pump set works to discharge seawater from the inner cylinder through the first hydraulic one-way valve from the first hydraulic outlet, at this time, the floating body starts to float up; when the floating body floats to the water surface, the water detection sensor detects the water out condition, when the water is completely out, the second pneumatic three-position three-way electromagnetic valve works in the right position, the first pneumatic three-position three-way electromagnetic valve works in the left position, the pneumatic motor pump set works, the gas enters the air bag through the second pneumatic three-position three-way electromagnetic valve, the water-gas separation filter and the first pneumatic three-position three-way electromagnetic valve; when the second pressure sensor detects that the gas pressure reaches the set value, the pneumatic motor pump set stops working, and the first pneumatic three-position three-way electromagnetic valve and the second pneumatic three-position three-way electromagnetic valve are powered off and reset.

[0011] Preferably, when the floating body rises and falls on the water surface due to waves and the like, the water detection sensor detects that the water has overflowed the first pneumatic inlet, the second pneumatic three-position three-way electromagnetic valve switches to the left position, and the pneumatic motor pump set inhales the external air to the internal air of the buoyancy adjusting cabin, avoiding frequent start-stop situation and prolonging the service life; when the gas passes through the water-gas separation filter, the water in the air is separated and stored in the water-gas separation filter for a short time, and is discharged with the gas when the air bag is exhausted.

[0012] Preferably, when the internal pressure of the buoyancy adjusting cabin is low, the gas can enter the internal part of the buoyancy adjusting cabin through the pneumatic overflow valve until the internal pressure of the buoyancy adjusting cabin returns to normal, and the excess gas in the buoyancy adjusting cabin can be released through the pneumatic back pressure one-way valve; at the same time, the first pressure sensor monitors the pressure in the buoyancy adjusting cabin; if the communication floating body encounters special situation underwater and the buoyancy adjusting fails, the pneumatic two-position two-way electromagnetic valve will be opened, at this time, the high-pressure gas in the high-pressure gas cylinder enters the air bag through the first damper and the pneumatic two-position two-way electromagnetic valve, realizing emergency floating up.

[0013] Compared with the prior art, the present application has the following beneficial effects: 1、In the present application, two control schemes of pneumatic control system and seawater hydraulic control system are arranged, when the communication float is on the sea surface, it is easily affected by waves, the communication float will sink up and down, causing the quality of satellite communication to be poor, in order to reduce the subsidence, the net buoyancy on the sea surface needs to be increased, the pneumatic control system has the advantages of large adjustment amount and convenient material selection, so the pneumatic system is selected to adjust the buoyancy of the communication float on the sea surface, but the pneumatic control system is not easy to control when adjusting the buoyancy underwater, the combination of the seawater hydraulic control system for underwater buoyancy adjustment can improve the control performance of the system underwater, wherein the pneumatic control system adjusts the net buoyancy of the system through the displacement change caused by the volume change of the body, and the seawater hydraulic control system adjusts the net buoyancy of the system through the weight change caused by the absorption and discharge of seawater. 2、In the present application, after the system is started, self-checking is first carried out, the power supply function, various circuit modules, sensor data and the like are detected, if different from the preset value, an alarm is issued and the fault type is displayed, waiting for subsequent processing, if there is no abnormality, it enters the working mode, because the pneumatic control system is sensitive to the pressure change in the buoyancy adjusting cabin, after entering the working mode, the internal pressure of the buoyancy adjusting cabin needs to be adjusted, when receiving the diving instruction, the system dives through buoyancy adjustment, then floats in the predetermined depth range, in this process, the system state data is monitored, when receiving the floating instruction, the system floats through buoyancy adjustment, if emergency or unexpected situation such as unable to float is encountered, the system emergency floats through the release of gas of the high-pressure gas cylinder and issues an alarm, avoiding the whole failure of the submersible buoy link; 3、In the present application, the lifting communication float adopts the buoyancy adjustment technology combined with the pneumatic control system and the seawater hydraulic control system, when on the sea surface, the net buoyancy of the communication float is increased through the pneumatic control system, so as to ensure the good posture of the float on the water surface, when underwater, the underwater concealment is realized through the seawater hydraulic control system. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 is the structural schematic diagram of the present application.

[0015] Figure 2 is the structural schematic diagram of the pneumatic control system of the present application.

[0016] Figure 3 is the structural schematic diagram of the seawater hydraulic control system of the present application.

[0017] Figure 4 is the lifting working flowchart of the present application.

[0018] In the drawings: 1 buoyancy adjusting cabin; 2 pneumatic control system; 201 water outlet detection sensor; 202 high-pressure gas cylinder; 203 first damper; 204 pneumatic two-position two-way electromagnetic valve; 205 second pressure sensor; 206 pneumatic overflow valve; 207 second damper; 208 first pneumatic three-position three-way electromagnetic valve; 209 pneumatic motor pump group; 210 first pneumatic check valve; 211 second pneumatic check valve; 212 water-gas separation filter; 213 second pneumatic three-position three-way electromagnetic valve; 214 first pneumatic inlet; 215 first pneumatic outlet; 216 second pneumatic outlet; 217 pneumatic back pressure check valve; 3 seawater hydraulic control system; 301 displacement sensor; 302 inner cylinder; 303 seawater hydraulic motor pump group; 304 first hydraulic check valve; 305 seawater filter; 306 second hydraulic check valve; 307 first hydraulic two-position two-way electromagnetic valve; 308 second hydraulic two-position two-way electromagnetic valve; 309 first hydraulic inlet; 310 first hydraulic outlet; 4 air bag; 5 first pressure sensor. DETAILED DESCRIPTION

[0019] The application will be further described below in conjunction with the drawings: EMBODIMENT As shown in the drawings Figure 1 to the drawings Figure 4 as shown The application provides a lifting communication float based on a submarine system, comprising an air bag 4 and a buoyancy adjusting cabin 1, the lower end of the air bag 4 being connected to the buoyancy adjusting cabin 1; the pneumatic control system 2 and the seawater hydraulic control system 3 are arranged inside the buoyancy adjusting cabin 1; the first pressure sensor 5 is installed above the buoyancy adjusting cabin 1; The pneumatic control system 2 comprises the water outlet detection sensor 201, the high-pressure gas cylinder 202, the first damper 203, the pneumatic two-position two-way electromagnetic valve 204, the second pressure sensor 205, the pneumatic overflow valve 206, the second damper 207, the first pneumatic three-position three-way electromagnetic valve 208, the pneumatic motor pump group 209, the first pneumatic check valve 210, the second pneumatic check valve 211, the water-gas separation filter 212, the second pneumatic three-position three-way electromagnetic valve 213, the first pneumatic inlet 214, the first pneumatic outlet 215, the second pneumatic outlet 216 and the pneumatic back pressure check valve 217; The seawater hydraulic control system 3 comprises the displacement sensor 301, the inner cylinder 302, the seawater hydraulic motor pump group 303, the first hydraulic check valve 304, the seawater filter 305, the second hydraulic check valve 306, the first hydraulic two-position two-way electromagnetic valve 307, the second hydraulic two-position two-way electromagnetic valve 308, the first hydraulic inlet 309 and the first hydraulic outlet 310.

[0020] In the embodiment, the pneumatic control system 2 is provided with the first damper 203 and the second damper 207, and the first damper 203 and the second damper 207 are structured to limit the flow rate of the gas discharge, so that the gas can pass at a slow speed during the discharge process, thereby ensuring that the gas pressure can slowly and smoothly rise, improving the controllability of the system; the displacement sensor 301 is integrated in the inner cylinder 302, and the displacement sensor 301 determines the state of the seawater hydraulic control system 3 by detecting the piston position.

[0021] In the embodiment, the pneumatic back pressure check valve 217 is internally provided with a spring, and only when the pressure reaches the set pressure of the spring, the pneumatic back pressure check valve 217 will be opened, thereby ensuring that the air pressure in the buoyancy adjusting cabin 1 will not be too large.

[0022] The lifting control method of the lifting communication float based on the buoy system uses the lifting communication float based on the buoy system described above, When the float is preset, the gas bag 4 is full of gas, and the inner cylinder 302 is not filled with seawater; when the float needs to dive after completing the work on the water surface, the first pneumatic three-position three-way electromagnetic valve 208 works in the right position, the gas is released from the gas bag 4 under the action of seawater pressure through the water-gas separation filter 212, the second pneumatic check valve 211, and the second pneumatic outlet 216, or under the action of the pneumatic motor pump set 209, the first pneumatic three-position three-way electromagnetic valve 208 works in the left position, the gas is released from the gas bag 4 through the first pneumatic check valve 210, the water-gas separation filter 212, the second pneumatic check valve 211, and the second pneumatic outlet 216, and at the same time, the seawater hydraulic motor pump set 303 and the first hydraulic two-position two-way electromagnetic valve 307 are opened, the seawater hydraulic control system 3 sucks seawater from the first hydraulic inlet 309 through the seawater filter 305, the second hydraulic check valve 306, and the first hydraulic two-position two-way electromagnetic valve 307 into the inner cylinder 302; at this time, the float gradually sinks; When the float needs to be hidden underwater, the seawater hydraulic motor pump set 303 works to discharge part of the seawater from the inner cylinder 302 through the first hydraulic check valve 304 from the first hydraulic outlet 310, and through the adjustment of the seawater hydraulic control system 3, the float is maintained suspended within a certain depth range; When the floating body needs to float up under water, the seawater hydraulic motor pump group 303 works to discharge seawater from the inner cylinder 302 through the first hydraulic one-way valve 304 from the first hydraulic outlet 310, at which time the floating body starts to float up; when the floating body floats to the water surface, the water detection sensor 201 detects the water out condition, and when it is completely out of water, the second pneumatic three-position three-way electromagnetic valve 213 works in the right position, the first pneumatic three-position three-way electromagnetic valve 208 works in the left position, and the pneumatic motor pump group 209 works, with gas entering the air bag 4 from the first pneumatic inlet 214 through the second pneumatic three-position three-way electromagnetic valve 213, the water-gas separation filter 212, and the first pneumatic three-position three-way electromagnetic valve 208; when the second pressure sensor 205 detects that the gas pressure reaches the set value, the pneumatic motor pump group 209 stops working, and the first pneumatic three-position three-way electromagnetic valve 208 and the second pneumatic three-position three-way electromagnetic valve 213 are powered off and reset.

[0023] In this embodiment, when the floating body rises and falls due to waves and the like on the water surface, the water detection sensor 201 detects that water has overflowed the first pneumatic inlet 214, the second pneumatic three-position three-way electromagnetic valve 213 switches to the left position, and the pneumatic motor pump group 209 switches from external air to internal air of the buoyancy adjusting cabin 1 to avoid frequent start-stop situations and prolong the service life; when the gas passes through the water-gas separation filter 212, the water in the air is separated and temporarily stored in the water-gas separation filter 212 and is discharged with the gas when the air bag 4 is discharged.

[0024] In this embodiment, when the internal pressure of the buoyancy adjusting cabin 1 is low, gas can enter the internal space of the buoyancy adjusting cabin 1 through the pneumatic overflow valve 206 until the internal pressure of the buoyancy adjusting cabin 1 returns to normal, and the excess gas in the buoyancy adjusting cabin 1 can be released through the pneumatic back pressure one-way valve 217; at the same time, the first pressure sensor 5 monitors the internal pressure of the buoyancy adjusting cabin 1; if the communication floating body encounters special situations under water and the buoyancy adjustment fails, the pneumatic two-position two-way electromagnetic valve 204 will be opened, at which time the high-pressure gas in the high-pressure gas cylinder 202 enters the air bag 4 through the first damper 203 and the pneumatic two-position two-way electromagnetic valve 204, realizing emergency floating up.

[0025] Working principle In the application, two control schemes of pneumatic control system and seawater hydraulic control system are arranged, when the communication float is on the sea surface, it is easily affected by waves, the communication float will sink up and down, causing the quality of satellite communication to be poor, in order to reduce the sinking, the net buoyancy of the communication float on the sea surface needs to be increased, the pneumatic control system has the advantages of large adjustment amount and convenient material selection, so the pneumatic system is selected to adjust the buoyancy of the communication float on the sea surface, but the pneumatic control system is not easy to control when adjusting the buoyancy underwater, the underwater buoyancy adjustment can be improved by combining the seawater hydraulic control system, wherein the pneumatic control system adjusts the net buoyancy of the system by the displacement change caused by the change of the volume of the system, and the seawater hydraulic control system adjusts the net buoyancy of the system by the weight change caused by the suction and discharge of seawater. After the system is started, self-checking is first performed, the power supply function, each circuit module, sensor data and the like are detected, if different from the preset value, an alarm is sent and the fault type is displayed, waiting for subsequent processing, if there is no abnormality, the system enters the working mode, because the pneumatic control system is sensitive to the pressure change in the buoyancy adjusting cabin, after entering the working mode, the internal pressure of the buoyancy adjusting cabin needs to be adjusted, when receiving the diving instruction, the system dives through buoyancy adjustment, then floats in the predetermined depth range, in this process, the system state data is monitored, when receiving the floating instruction, the system floats through buoyancy adjustment, if an emergency or unexpected situation such as unable to float is encountered, the system emergency floats through the release of gas of the high-pressure gas cylinder and an alarm is sent, avoiding the whole failure of the buoyancy marker link. The lifting communication float adopts the buoyancy adjustment technology of combination of pneumatic control system and seawater hydraulic control system, when on the sea surface, the pneumatic control system is used to increase the net buoyancy of the communication float, ensuring the good posture of the float on the water surface, when underwater, the seawater hydraulic control system is used to realize underwater concealment.

[0026] The technical solutions of the application or the technical solutions inspired by the application can be used to achieve the above technical effects, and fall within the protection scope of the application.

Claims

1. A floating communication buoy based on a submerged buoy system, characterized by: The invention comprises an air bag (4) and a buoyancy regulating cabin (1), wherein the lower end of the air bag (4) is connected to the buoyancy regulating cabin (1); a pneumatic control system (2) and a seawater hydraulic control system (3) are provided inside the buoyancy regulating cabin (1); and a first pressure sensor (5) is installed above the buoyancy regulating cabin (1); The pneumatic control system (2) comprises a water outlet detection sensor (201), a high-pressure gas cylinder (202), a first damper (203), a pneumatic two-position two-way solenoid valve (204), a second pressure sensor (205), a pneumatic overflow valve (206), a second damper (207), a first pneumatic three-position three-way solenoid valve (208), a pneumatic motor pump group (209), a first pneumatic one-way valve (210), a second pneumatic one-way valve (211), a water-gas separation filter (212), a second pneumatic three-position three-way solenoid valve (213), a first pneumatic inlet (214), a first pneumatic outlet (215), a second pneumatic outlet (216), and a pneumatic back-pressure one-way valve (217); The seawater hydraulic control system (3) comprises a displacement sensor (301), an inner cylinder (302), a seawater hydraulic motor pump group (303), a first hydraulic one-way valve (304), a seawater filter (305), a second hydraulic one-way valve (306), a first hydraulic two-position two-way solenoid valve (307), a second hydraulic two-position two-way solenoid valve (308), a first hydraulic inlet (309) and a first hydraulic outlet (310); The pneumatic control system adjusts the net buoyancy of the system by changing the displacement volume caused by its own volume change, and the seawater hydraulic control system adjusts the net buoyancy of the system by changing the system weight caused by absorbing and discharging seawater.

2. The elevating communication buoy based on the submerged buoy system according to claim 1, characterized in that: The pneumatic control system (2) is provided with a first damper (203) and a second damper (207), and the first damper (203) and the second damper (207) structure limit the flow rate of gas discharge, so that the gas can pass through at a slow speed during the discharge process, thereby ensuring that the gas pressure can rise slowly and steadily, thereby improving the controllability of the system.

3. The elevating communication floating body based on the submerged buoy system according to claim 1, characterized in that: A displacement sensor (301) is integrated in the inner cylinder (302), and the displacement sensor (301) determines the adjustment state of the seawater hydraulic control system (3) by detecting the position of the piston.

4. The elevating communication buoy based on the submerged buoy system according to claim 1, characterized in that: A spring is provided inside the pneumatic back-pressure check valve (217). The pneumatic back-pressure check valve (217) will open only when the pressure reaches the set pressure of the spring, thereby ensuring that the air pressure in the buoyancy regulating cabin (1) is not too high.

5. A method for controlling the lifting of a lifting communication buoy based on a submerged buoy system, using the lifting communication buoy based on a submerged buoy system according to any one of claims 1 to 4, characterized in that: When the float is pre-set, the air bag (4) is filled with gas, and the inner cylinder (302) is not filled with seawater; when the float needs to dive after completing its work on the water surface, the first pneumatic three-way three-way solenoid valve (208) works in the right position, and the gas is released from the air bag (4) through the water-gas separation filter (212) and the second pneumatic one-way valve (211) from the second pneumatic outlet (216) under the action of the seawater pressure; or under the action of the pneumatic motor pump group (209), the first pneumatic three-way three-way solenoid valve (208) works in the left position, and the gas is released from the air bag (4) through the first pneumatic one-way valve (211) and the second pneumatic outlet (216). The pneumatic check valve (210), the water-gas separation filter (212), and the second pneumatic check valve (211) are released from the second pneumatic outlet (216), and at the same time, the seawater hydraulic motor pump group (303) and the first hydraulic two-position two-way solenoid valve (307) are opened, and the seawater hydraulic control system (3) draws seawater from the first hydraulic inlet (309), through the seawater filter (305), the second hydraulic check valve (306), and the first hydraulic two-position two-way solenoid valve (307) into the inner cylinder (302); at this time, the floating body gradually sinks; When the floating body needs to be concealed underwater, the seawater hydraulic motor pump group (303) works to discharge part of the seawater from the inner cylinder (302) through the first hydraulic one-way valve (304) from the first hydraulic outlet (310), and through the adjustment of the seawater hydraulic control system (3), the floating body is kept suspended within a certain depth range; When the floating body needs to float up from underwater, the seawater hydraulic motor pump group (303) works to discharge seawater from the inner cylinder (302) through the first hydraulic one-way valve (304) from the first hydraulic outlet (310). At this time, the floating body begins to float up. When the floating body floats to the surface of the water, the water outlet detection sensor (201) detects the water outlet. When the water is completely out of the water, the second pneumatic three-position three-way solenoid valve (213) works in the right position, the first pneumatic three-position three-way solenoid valve (208) works in the left position, and the pneumatic motor The pump group (209) works, and the gas enters the air bag (4) from the first pneumatic inlet (214) through the second pneumatic three-position three-way solenoid valve (213), the water-gas separation filter (212), and the first pneumatic three-position three-way solenoid valve (208); when the second pressure sensor (205) detects that the gas pressure reaches the set value, the pneumatic motor pump group (209) stops working, and the first pneumatic three-position three-way solenoid valve (208) and the second pneumatic three-position three-way solenoid valve (213) are powered off and reset.

6. The method for controlling the lifting of a lifting communication buoy based on a submerged buoy system according to claim 5, characterized in that: When the float rises and falls on the water surface due to the influence of waves, the water outlet detection sensor (201) detects that water has overflowed the first pneumatic inlet (214), and the second pneumatic three-position three-way solenoid valve (213) switches to the left position, and the pneumatic motor pump group (209) sucks air from the outside to the air inside the buoyancy control cabin (1), thereby avoiding frequent starts and stops and extending the service life.

7. The method for controlling the lifting of a lifting communication buoy based on a submerged buoy system according to claim 5, characterized in that: When the gas passes through the water-gas separation filter (212), the moisture in the air is separated and stored in the water-gas separation filter (212) for a short time, and is discharged along with the gas when the air bag (4) is exhausted.

8. The method for controlling the lifting of a lifting communication buoy based on a submerged buoy system according to claim 5, characterized in that: When the internal pressure of the buoyancy regulating cabin (1) is low, gas can enter the interior of the buoyancy regulating cabin (1) through the pneumatic overflow valve (206) until the internal pressure of the buoyancy regulating cabin (1) returns to normal, and the excess gas in the buoyancy regulating cabin (1) can be released through the pneumatic back pressure check valve (217).

9. The method for controlling the lifting of a lifting communication buoy based on a submerged buoy system according to claim 5, characterized in that: The first pressure sensor (5) monitors the pressure in the buoyancy regulating cabin (1).

10. The method for controlling the lifting of a lifting communication buoy based on a submerged buoy system according to claim 5, characterized in that: If the communication float encounters a special situation underwater that causes the buoyancy adjustment to fail, the pneumatic two-position two-way solenoid valve (204) will open. At this time, the high-pressure gas inside the high-pressure gas cylinder (202) enters the airbag (4) through the first damper (203) and the pneumatic two-position two-way solenoid valve (204), achieving emergency buoyancy.

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