Lifting communication float based on a submarine system and its lifting control method

Abstract

The application provides a lifting communication float based on a buoy system and a lifting control method thereof, and belongs to the technical field of marine equipment. The lifting communication float based on the buoy system comprises a gas bag and a buoyancy adjusting cabin. The lower end of the gas bag is connected with the buoyancy adjusting cabin. The buoyancy adjusting cabin is internally provided with a pneumatic control system and a seawater hydraulic control system. The upper portion of the buoyancy adjusting cabin is provided with a first pressure sensor. In the application, the pneumatic control system and the seawater hydraulic control system are provided. 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. The underwater buoyancy adjustment by combining the seawater hydraulic control system can improve the control performance of the system under water. The pneumatic control system adjusts the net buoyancy of the system through the displacement volume change caused by the volume change of the system. The seawater hydraulic control system adjusts the net buoyancy of the system through the weight change caused by the suction and discharge of seawater.

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 submarine marker system comprises a gas bag and a buoyancy adjusting cabin, the lower end of the gas 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, and a first pressure sensor is arranged above the buoyancy adjusting cabin.

[0008] The pneumatic control system comprises a water outlet detection sensor, a high-pressure gas cylinder, a first damper, a pneumatic two-position two-way electromagnetic valve, a second pressure sensor, a pneumatic overflow valve, a second damper, a first pneumatic three-position three-way electromagnetic valve, a pneumatic motor pump group, a first pneumatic check valve, a second pneumatic check valve, a water-gas separation filter, a second pneumatic three-position three-way electromagnetic valve, a first pneumatic inlet, a first pneumatic outlet, a second pneumatic outlet and a pneumatic back pressure check valve.

[0009] The seawater hydraulic control system comprises a displacement sensor, an inner cylinder, a seawater hydraulic motor pump group, a first hydraulic check valve, a seawater filter, a second hydraulic check valve, a first hydraulic two-position two-way electromagnetic valve, a second hydraulic two-position two-way electromagnetic valve, a first hydraulic inlet and a first hydraulic outlet.

[0010] Preferably, the pneumatic control system is provided with the first damper and the second damper, the first damper and the second damper are structured to limit the flow rate of 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, and the controllability of the system is improved; the displacement sensor is integrated in the inner cylinder, and the displacement sensor determines the state of the seawater hydraulic control system by detecting the position of the piston.

[0011] Preferably, the pneumatic back pressure check valve is internally provided with a spring, and the pneumatic back pressure check valve is only opened when the pressure reaches the set pressure of the spring, so as to ensure that the air pressure in the buoyancy adjusting cabin is not too large.

[0012] The lifting control method of the lifting communication float based on the submarine marker system uses the lifting communication float based on the submarine marker system.

[0013] When the float is preset, the gas bag is filled with gas, and the inner cylinder is not filled with seawater; when the float needs to be submerged after completing the work on the water surface, the first pneumatic three-position three-way electromagnetic valve works in the right position, the gas is released from the gas bag through the water-gas separation filter and the second pneumatic check valve from the second pneumatic outlet under the action of seawater pressure, or the first pneumatic three-position three-way electromagnetic valve works in the left position under the action of the pneumatic motor pump group, the gas is released from the gas bag through the first pneumatic check valve, the water-gas separation filter, the second pneumatic check valve and the second pneumatic outlet, and at the same time, the seawater hydraulic motor pump group and the first hydraulic two-position two-way electromagnetic valve are opened, the seawater hydraulic control system sucks seawater from the first hydraulic inlet through the seawater filter, the second hydraulic check valve and the first hydraulic two-position two-way electromagnetic valve into the inner cylinder; at this time, the float gradually sinks.

[0014] When the floating body needs to be hidden underwater, the seawater hydraulic motor pump group 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.

[0015] When the floating body needs to float underwater, the seawater hydraulic motor pump group 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; when the floating body floats to the water surface, the water detection sensor detects the water out condition, when it is completely out of water, 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 group 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 group 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.

[0016] 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 group inhales the air from the outside air to the inside air of the buoyancy adjusting cabin, avoiding frequent start-stop situation and prolonging the working 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.

[0017] Preferably, when the internal pressure of the buoyancy adjusting cabin is low, the gas can enter the internal pressure 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.

[0018] Compared with the prior art, the present application has the following beneficial effects:

[0019] 1、The present application, the pneumatic control system and seawater hydraulic control system two control scheme is set, when the communication float is on the sea surface, it is easy to be affected by the wave, the communication float will sink up and down, resulting in the satellite communication quality is poor;In order to reduce the settlement, it needs to increase its net buoyancy on the sea surface;The pneumatic control system has the advantage of large adjustment amount, and the material is convenient, 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;The pneumatic control system adjusts the net buoyancy of the system by the displacement change caused by the volume change, and the seawater hydraulic control system adjusts the net buoyancy of the system by the weight change caused by the seawater suction and discharge;

[0020] 2、The present application, the system is powered on first self-check, the power supply function, each circuit module, sensor data etc.are detected, if different from the preset value, issue an alarm and display the fault type, wait for subsequent processing, if no abnormality, enter the working mode;Because the pneumatic control system is sensitive to the pressure change in the buoyancy adjusting cabin, the internal pressure of the buoyancy adjusting cabin needs to be adjusted after entering the working mode;When receiving the diving instruction, the system is dived by buoyancy adjustment, then it floats in the predetermined depth range, in this process, the system state data is monitored;When receiving the floating instruction, the system is floated by buoyancy adjustment;If it encounters emergency or unexpected situation such as unable to float, the system emergency floats by releasing gas through high pressure gas cylinder and sends out an alarm, avoiding the whole failure of the submersible buoy link;

[0021] 3、The present application, the lifting communication float adopts the buoyancy adjustment technology combined by pneumatic control system and seawater hydraulic control system, when on the sea surface, the net buoyancy of the communication float is increased by the pneumatic control system, to ensure the good posture of the float on the water surface;When underwater, the underwater concealment is realized by the seawater hydraulic control system. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 It is the structural schematic diagram of the present application.

[0023] Figure 2 It is the structural schematic diagram of the pneumatic control system of the present application.

[0024] Figure 3 It is the structural schematic diagram of the seawater hydraulic control system of the present application.

[0025] Figure 4 It is the lifting work flow chart of the present application.

[0026] In the figure:

[0027] 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

[0028] The application is further described below in conjunction with the accompanying drawings:

[0029] Embodiment:

[0030] As shown in the accompanying drawings Figure 1 to the accompanying drawings Figure 4 as shown

[0031] 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;

[0032] 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;

[0033] 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.

[0034] In this 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 configured to limit the flow rate of the gas discharge, so that the gas can pass slowly 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 position of the piston.

[0035] In this embodiment, the pneumatic back pressure check valve 217 is internally provided with a spring, and the pneumatic back pressure check valve 217 will only open when the pressure reaches the set pressure of the spring, thereby ensuring that the air pressure in the buoyancy adjustment cabin 1 will not be too high.

[0036] 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,

[0037] 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, and 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, and 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, and 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;

[0038] 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;

[0039] 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.

[0040] 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 changes 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.

[0041] 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.

[0042] Working principle

[0043] 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 body, 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;

[0044] 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; since 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, and 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 being unable to float occurs, the system emergency floats through the release of gas from the high-pressure gas cylinder and an alarm is sent, avoiding the whole failure of the submersible marker link;

[0045] 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 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.

[0046] The technical solutions of the application or the technical solutions inspired by the application can be used to design similar technical solutions to achieve the above technical effects, which are within the protection scope of the application.

Claims

1. A lift-communicating float based on a system of submerged markers, characterized in that: The buoyancy adjusting cabin (1) is internally provided with a pneumatic control system (2) and a seawater hydraulic control system (3); a first pressure sensor (5) is installed above the buoyancy adjusting 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 electromagnetic valve (204), a second pressure sensor (205), a pneumatic overflow valve (206), a second damper (207), a first pneumatic three-position three-way electromagnetic valve (208), a pneumatic motor pump group (209), a first pneumatic check valve (210), a second pneumatic check valve (211), a water-gas separation filter (212), a second pneumatic three-position three-way electromagnetic valve (213), a first pneumatic inlet (214), a first pneumatic outlet (215), a second pneumatic outlet (216) and a pneumatic back pressure check 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 check valve (304), a seawater filter (305), a second hydraulic check valve (306), a first hydraulic two-position two-way electromagnetic valve (307), a second hydraulic two-position two-way electromagnetic valve (308), a first hydraulic inlet (309) and a first hydraulic outlet (310); The pneumatic control system adjusts the net buoyancy of the system through the change of the water discharge volume caused by the change of the volume of the system, and the seawater hydraulic control system adjusts the net buoyancy of the system through the change of the weight of the system caused by the suction and discharge of seawater.

2. The submersible system-based lift-communication buoy of claim 1, wherein: The first damper (203) and the second damper (207) are arranged in the pneumatic control system (2), and the structures of the first damper (203) and the second damper (207) limit the flow rate of 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 stably rise, improving the controllability of the system.

3. The submersible system-based lift-communication buoy of claim 1, wherein: 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 position of the piston.

4. The submersible system-based lift-communication buoy of claim 1, wherein: The pneumatic back pressure check valve (217) is internally provided with a spring, and the pneumatic back pressure check valve (217) will only be opened when the pressure reaches the set pressure of the spring, so as to ensure that the air pressure in the buoyancy adjusting cabin (1) will not be too high.

5. A lifting control method of a lifting communication float based on a buoy system, using the lifting communication float based on the buoy system according to any one of claims 1-4, characterized in that: When the floating body is preset, the gas bag (4) is full of gas, and the inner cylinder (302) is not filled with seawater; when the floating body 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, and the gas is released from the gas bag (4) through the water-gas separation filter (212) and the second pneumatic check valve (211) from the second pneumatic outlet (216) under the action of seawater pressure, or under the action of the pneumatic motor pump group (209), the first pneumatic three-position three-way electromagnetic valve (208) works in the left position, and 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), at the same time, the seawater hydraulic motor pump group (303) and the first hydraulic two-position two-way electromagnetic valve (307) are opened, and 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 floating body gradually sinks; When the floating body needs to hide underwater, the seawater hydraulic motor pump group (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 maintain the floating body suspended within a certain depth range through the adjustment of the seawater hydraulic control system (3); When the floating body needs to float underwater, the seawater hydraulic motor pump group (303) works to discharge seawater from the inner cylinder (302) through the first hydraulic check valve (304) from the first hydraulic outlet (310), at this time, the floating body starts to float; 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, the gas enters the gas 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.

6. The lift control method of a lift communication buoy based on a submerged marker system according to claim 5, characterized by: When the floating body rises and falls on the water surface due to wave influence, the water detection sensor (201) detects when water flows over 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) changes the air suction from external air to internal air of the buoyancy adjusting cabin (1), avoiding frequent start-stop situation and prolonging the service life.

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

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

9. The lift control method of a lift communication buoy based on a submerged marker system according to claim 5, characterized by: The first pressure sensor (5) monitors the pressure inside the buoyancy regulating cabin (1).

10. The lift control method of a lift communication buoy based on a submerged marker system according to claim 5, characterized by: If the communication buoy encounters a special situation under water and the buoyancy regulation fails, the pneumatic two-position two-way electromagnetic valve (204) will open, at which time the high-pressure gas inside the high-pressure cylinder (202) enters the air bag (4) through the first damper (203) and the pneumatic two-position two-way electromagnetic valve (204), achieving emergency floating.

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