Beidou intelligent ocean detection equipment

Abstract

A Beidou intelligent ocean detection device comprises a snorkeling device and a water surface buoy. The water surface buoy comprises a floating platform and a water surface power supply module; the snorkeling device comprises an upper shell and a lower shell, a closed containing space is formed between the upper shell and the lower shell, a first platform is arranged in the upper shell, a second platform is arranged in the lower shell, a steering engine and a transmission lead screw are arranged on the first platform, the steering engine is connected with the transmission lead screw, and the transmission lead screw is connected with the second platform. The transmission lead screw is in threaded connection with the second platform, and a floating ball is arranged at the top end of the upper shell. A battery pack, a second main control board, a second wireless communication module and a second Beidou positioning module are arranged in the accommodating space, and the second wireless communication module and the second Beidou positioning module are connected with the second main control board; and an umbilical cable is connected between the snorkeling device and the water surface buoy. The snorkeling device can be kept at a depth position after reaching a 100-meter target position underwater from the sea surface at a constant speed or acceleration, and the posture of the snorkeling device is adjusted in real time and kept at a vertical posture without rollover.

Description

Technical Field

[0001] This application relates to the field of marine exploration equipment technology, and in particular to a Beidou intelligent marine exploration equipment. Background Technology

[0002] To address the maritime crisis and the increasing demand for marine meteorological and hydrological support, it is imperative to conduct experimental research on the marine environmental detection capabilities of miniature buoys. To obtain profile data such as ocean temperature, depth, and sea surface currents, the detection equipment must possess excellent snorkeling, communication, and environmental awareness capabilities. Currently, most existing marine detection equipment is surface-based, lacking diving and snorkeling capabilities, resulting in incomplete data. Snorkeling devices are prone to capsizing and cannot maintain an upright position for extended periods. Furthermore, existing marine detection equipment lacks intelligent and automated technologies.

[0003] Existing technology also includes a type of marine exploration device with snorkeling capabilities, which achieves autonomous snorkeling by changing its buoyancy and is powered by batteries. However, the ocean is a complex environment; fish schools, ocean currents, and waves are unpredictable. When used in the ocean, the exploration device is prone to uncontrolled flipping, affecting data acquisition. After completing data acquisition, the buoy needs to surface to transmit the data, making uninterrupted information collection difficult. Furthermore, the device is also prone to being difficult to retrieve; if not retrieved in time, it loses contact after several hours to tens of hours of operation, resulting in high exploration costs. In summary, the aforementioned marine exploration devices in existing technologies need to surface and be retrieved shortly after deployment, making long-term operation difficult. Summary of the Invention

[0004] To address the shortcomings of existing snorkeling devices, such as being prone to tipping over and having difficulty maintaining an upright position for extended periods, and to improve the long-term operational capability of marine exploration devices, this application provides a Beidou intelligent marine exploration buoy.

[0005] The technical solution of this application is as follows: A Beidou intelligent marine exploration equipment, including a snorkeling device and a surface buoy, wherein the snorkeling device operates underwater and the surface buoy operates on the water surface;

[0006] The surface buoy includes a floating platform and a surface power module, the power module including a battery and a solar power generation module;

[0007] The snorkeling device includes an upper shell and a lower shell, with the lower shell inserted into the upper shell. A closed accommodating space exists between the upper and lower shells. A first platform is located within the upper shell, and a second platform is located within the lower shell. A servo motor and a transmission screw are located on the first platform. The servo motor is connected to the transmission screw, and the transmission screw is threadedly connected to the second platform. A float is located at the top of the upper shell. A battery pack, a second main control board, a second wireless communication module, and a second BeiDou positioning module are located within the accommodating space. The second wireless communication module and the second BeiDou positioning module are connected to the second main control board, and the servo motor is connected to the second main control board.

[0008] An umbilical cable connects the snorkeling device to the surface buoy.

[0009] Furthermore, the floating platform is equipped with a control box, which contains a first main control board, a first wireless communication module, a first Beidou positioning module, and a communication gateway. The first wireless communication module is used to communicate with a separately set cloud, terminal, or data center, and the communication gateway is used to communicate with a second wireless communication module.

[0010] Furthermore, a marine environment detection sensor is installed below the floating platform, and a marine atmospheric environment detection sensor is installed above the floating platform. Both the marine environment detection sensor and the marine atmospheric environment detection sensor are connected to the first main control board through a communication gateway.

[0011] Furthermore, the control box is mounted on the top of the floating platform via a bracket, and a counterweight unit is provided at the bottom of the floating platform.

[0012] Furthermore, the counterweight unit includes a counterweight block and a sliding rod disposed on the counterweight block. The surface buoy has a hole for the sliding rod to pass through. The floating platform is provided with a rotating disk. The sliding rod passes through the rotating disk and is threadedly connected to the rotating disk. The floating platform is provided with a motor, and the motor is equipped with an encoder. The motor is connected to the rotating disk through a worm gear to drive the rotating disk to rotate.

[0013] Furthermore, the height of the counterweight is controlled by the first main control board, and the control method is as follows:

[0014] S11: Obtain wind speed data through marine atmospheric environment detection sensors;

[0015] S12: Compare the wind speed data obtained in step S11 with the preset value. When it exceeds the preset downward threshold, control the motor to rotate in the forward direction to drive the counterweight to move downward; when it is lower than the preset upward threshold, control the motor to rotate in the reverse direction to drive the counterweight to move upward.

[0016] S13: Collect encoder data and convert it into the movement amount of the counterweight. When controlling the movement of the counterweight in step S12, stop when the movement amount of the counterweight reaches the preset value.

[0017] In step S12, both the downward shift threshold and the upward shift threshold contain multiple values.

[0018] Furthermore, a signaling device is provided on the top of the floating platform, which is a signal light and / or an inflatable airbag, and the signal light is connected to the first main control board.

[0019] Furthermore, the top of the upper housing is provided with an outer cover, and the outer cover contains a Beidou positioning module antenna and a wireless communication module antenna;

[0020] The bottom of the lower housing is provided with an outer cover, and a water pressure sensor is provided inside the outer cover. The water pressure sensor is connected to the second main control board.

[0021] The second main control board is equipped with a pressure sensor.

[0022] Furthermore, the transmission screw is equipped with a magnetic bead, and the first platform is equipped with at least one Hall sensor whose position corresponds to the magnetic bead. When the transmission screw rotates, it drives the magnetic bead to periodically pass through the Hall sensor. The Hall sensor is connected to the second main control board.

[0023] The snorkeling device is equipped with an attitude sensor, which is connected to the second main control board.

[0024] Furthermore, the transmission lead screw is equipped with a magnetic bead module, the magnetic bead is embedded in the magnetic bead module, the first platform is equipped with an L-shaped bracket, and the Hall sensor is mounted on the L-shaped bracket;

[0025] The Hall sensors are arranged in groups, with each group consisting of two Hall sensors connected at their top ends; the magnetic beads are arranged in groups, with each group consisting of two magnetic beads with opposite polarities.

[0026] Furthermore, the magnetic bead module contains multiple sets of magnetic beads, which are arranged at equal angular intervals on the magnetic bead module, and a set of Hall sensors is installed on the L-shaped bracket.

[0027] Furthermore, the snorkeling device is equipped with a six-axis gyroscope attitude sensor. To improve the dynamic characteristics of the snorkeling device and reduce hysteresis response and error drift propagation, an improved discrete PID control algorithm is used. Based on the buoyancy data obtained from the attitude sensor, the algorithm dynamically provides the current position and speed of the snorkeling device in real time, controls the servo output of the snorkeling device in real time, and automatically adjusts the attitude of the snorkeling device. It can achieve uniform or accelerated ascent and descent from the sea surface to a depth of 100 meters underwater, maintaining a vertical position and preventing tilting during movement, thereby improving the stability and accuracy of the system's position and attitude output. The specific steps are as follows;

[0028] S14: Obtain angular velocity and angular acceleration data using a six-axis gyroscope sensor to derive the overall motion state equation of the snorkeling device, as shown in the following formula:

[0029]

[0030]

[0031]

[0032]

[0033] In the formula It represents the angular velocity output values ​​of the gyroscope in three directions at time i. These are the angular acceleration output values ​​of the gyroscope in the three directions at time i. In processing, the angular velocity and angular acceleration output data from the gyroscope are treated as a single set of data. The overall state of the system at time i is considered to be X(i), and we have:

[0034]

[0035] Then the overall state equation of the system can be obtained:

[0036]

[0037] In the formula and These are matrices:

[0038]

[0039]

[0040] S15: A discrete PID controller is used to calculate the output control quantity of the servo motor. PID calculations are performed on the snorkeling device's state to obtain more accurate control values, eliminating deviations between the overall state of the snorkeling device and the control objective. The formula is as follows:

[0041]

[0042]

[0043] .

[0044] Furthermore, the movement of the transmission screw is detected by a Hall sensor and then converted into the buoyancy of the snorkeling device. The method is as follows:

[0045] S21: When the servo motor is working, it counts the Hall voltage output by the Hall sensor to obtain the Hall voltage count number n;

[0046] S22: Convert the Hall voltage count n into the movement Q of the transmission screw.

[0047]

[0048] Where H is the number of groups of magnetic beads in the magnetic bead module;

[0049] S23: Calculate the buoyancy of the snorkeling device:

[0050]

[0051] in, is the minimum buoyancy value of the snorkeling device, is the design value; s is the pitch of the transmission screw, and A is the cross-sectional area of ​​the snorkeling device;

[0052] S24: Use a six-axis gyroscope to acquire attitude and position data of the snorkeling device, including velocity and acceleration, and combine it with buoyancy data to provide real-time dynamic control output.

[0053] Furthermore, to improve system stability, the output control quantity of the servo motor calculated by the PID controller in S15 is further corrected using the following method: The value is discretely sampled over time, where T is the calculation period. The buoyancy change is correlated with the attitude of the snorkeling device to further correct the output value of the servo motor control adjustment. The formula is as follows:

[0054] The numerical values ​​are discretely sampled over time, where T is the calculation period. Using the velocity and acceleration values ​​calculated from the buoyancy table, the output values ​​for servo control can be obtained, as shown in the following formula:

[0055]

[0056] In the formula, It is the difference between the gyroscope output and the buoyancy calculated from the buoyancy table. It is the difference between the previous sampling period. It is the differential angle difference. In multiple tests of the snorkeling device control, The output scaling factor was determined to be 0.42 based on data analysis from multiple snorkeling tests. If there are changes in conditions such as sensor replacement, this scaling factor needs to be re-tested and measured.

[0057] The output obtained by using the improved discrete PID algorithm described above is used to control the servo motor. It can intelligently and automatically realize the functions of uniform speed descent, ascent, and depth maintenance of the snorkeling device according to the instructions, and no rollover accident occurs during the entire control process.

[0058] In summary, the beneficial effects of this application are as follows:

[0059] 1. The detection equipment in this application comprises two parts: a snorkeling device and a surface buoy. The snorkeling device adjusts its size by rotating a transmission screw via a servo motor, thereby adjusting its buoyancy to achieve autonomous snorkeling in the water. It does not require other equipment or accessories to control sinking or surfacing, and has excellent snorkeling capabilities, which is beneficial for marine environmental detection. The surface buoy operates on the water surface and can provide power support and data relay services for the snorkeling device. This allows the snorkeling device to transmit data without surfacing, which is beneficial for long-term operation to collect more comprehensive marine environmental data.

[0060] 2. The structure of this application is simple. The snorkeling device can change buoyancy through a simple structure. The surface buoy is supported by a bracket to make the control box higher than the floating platform. The counterweight with a sliding rod is kept away from the floating platform, which is conducive to stabilizing the snorkeling device with a smaller counterweight. It is easy to miniaturize the product and overcomes the problems of traditional detection equipment being large, heavy, difficult to lay out and having a long cycle. The gyroscope six-axis sensor is used in conjunction with a suitable discrete PID control algorithm to realize the motion attitude control of the snorkeling device, achieving automatic diving, surfacing and depth maintenance effects, and solving the problem of easy rollover during movement.

[0061] 3. Both the snorkeling device and the surface buoy in this application are equipped with marine environmental detection sensors, which detect underwater and surface data respectively. The detection data is comprehensive and the functions are clearly defined. There is no need to make the snorkeling device float up, so the snorkeling device does not need to be frequently adjusted in size, thus reducing the risk of water ingress. Attached Figure Description

[0062] Figure 1 This is a schematic diagram of the hardware composition of the detection equipment in this application;

[0063] Figure 2 This is a schematic diagram of the structure of the surface buoy in this application. Figure 1 ;

[0064] Figure 3 This is a schematic diagram of the structure of the surface buoy in this application. Figure 2 ;

[0065] Figure 4 This is a schematic diagram illustrating the driving principle of the slide bar in this application;

[0066] Figure 5 This is a schematic diagram of the external shape of the snorkeling device in this application;

[0067] Figure 6 This is a schematic diagram of the internal structure of the detection device in this application. Figure 1 ;

[0068] Figure 7 The internal structure of the detection device in this application Figure 2 ;

[0069] Figure 8 This is a structural diagram of the water pressure module cover in this application;

[0070] Figure 9 This is a structural diagram of the lower cover of the water pressure module in this application;

[0071] Figure 10 This is a schematic diagram of the battery model in this application;

[0072] Figure 11 This is a schematic diagram showing the positions of the magnetic bead and Hall sensor in the servo module of this application;

[0073] Figure 12 This is a schematic diagram showing the installation of the Hall sensor in the servo module of this application;

[0074] Figure 13 This is a side view of the mounting position of the magnetic bead in the servo module of this application;

[0075] Figure 14 This is a top view of the mounting position of the magnetic bead in the servo module of this application;

[0076] Figure 15 This is a schematic diagram of the printed circuit board in the servo module of this application;

[0077] Figure 16 This is a circuit diagram of the printed circuit board in the servo module of this application;

[0078] Figure 17 This is a circuit diagram of the processing chip in the second main control board of this application;

[0079] Figure 18 This is a circuit diagram of the adapter P7 in the second main control board of this application;

[0080] Figure 19 This is a schematic diagram of the attitude angle of the attitude sensor module in this application;

[0081] Figure 20 This is a schematic diagram illustrating the working principle of this application.

[0082] Figure 21 This is a flowchart of the PID control process in this application.

[0083] In the diagram, 1. Top cover; 2. Upper shell; 3. Lower shell; 4. Bottom cover; 5. Wireless communication module antenna; 6. Beidou positioning module antenna; 7. Beidou positioning module; 8. Servo motor; 9. Wireless communication module; 10. Hall sensor; 11. Magnetic bead; 12. Drive screw; 13. Limiting sleeve; 14. Main control board; 15. Battery pack; 16. Water pressure sensor; 17. Guide rod; 18. Water pressure module top cover; 19. Water pressure module bottom cover; 20. Buoy; 21. Battery; 22. Float; 23. Connecting rod; 101. Floating platform; 102. Bracket; 103. Control box; 104. Counterweight; 105. Sliding rod; 106. Rotating disk; 107. Worm gear; 108. Motor; 110. Magnetic bead module. Detailed Implementation

[0084] The specific embodiments of this application are described in detail below with reference to the accompanying drawings.

[0085] refer to Figure 1-21 The Beidou intelligent marine exploration equipment described in this embodiment includes a snorkeling device and a surface buoy. The snorkeling device operates underwater, and the surface buoy operates on the water surface.

[0086] The surface buoy includes a floating platform 101 and a surface power module, which includes a battery and a solar power generation module. A control box 103 is installed on the floating platform. The control box contains a first main control board, a first wireless communication module, a first Beidou positioning module, and a communication gateway. The first wireless communication module is used to communicate with a separately located cloud, terminal, or data center. The communication gateway is used to communicate with a second wireless communication module.

[0087] The battery in the surface power module is housed in the control box, while the photovoltaic panel in the solar power module is located on top of the control box. The solar power module converts solar energy into electrical energy to charge the battery.

[0088] The control box 103 is mounted on the top of the floating platform 101 via a bracket 102, which keeps the control box a distance away from the floating platform and thus away from the water surface.

[0089] A counterweight unit is provided at the bottom of the floating platform 101. The counterweight unit includes a counterweight block 104 and a sliding rod 105 disposed on the counterweight block 104. The floating platform 101 has a hole for the sliding rod to pass through. A rotating disk 106 is provided on the floating platform. The sliding rod 105 passes through the rotating disk and is threadedly connected to the rotating disk. A motor 108 is provided on the floating platform, and an encoder is configured on the motor. The motor is connected to the rotating disk through a worm gear 107 to drive the rotating disk to rotate. The motor is controlled by a first main control board. When the motor is working, it drives the rotating disk to rotate through the worm gear, thereby controlling the raising and lowering of the counterweight block and changing the center of gravity position of the surface buoy. For surface buoys, the lower the center of gravity, the more stable they are; the higher the center of gravity, the shallower their submersion depth, which is beneficial for dragging on the water surface.

[0090] The height of the counterweight is controlled by the first main control board, and the control method is as follows:

[0091] S11: Obtain wind speed data through marine atmospheric environment detection sensors;

[0092] S12: Compare the wind speed data obtained in step S11 with the preset value. When it exceeds the preset downward threshold, control the motor to rotate in the forward direction to drive the counterweight to move downward; when it is lower than the preset upward threshold, control the motor to rotate in the reverse direction to drive the counterweight to move upward.

[0093] S13: Collect encoder data and convert it into the movement amount of the counterweight. When controlling the movement of the counterweight in step S12, stop when the movement amount of the counterweight reaches the preset value.

[0094] In step S12, both the downward and upward thresholds contain multiple values, forming a stepped value, which controls the wind speed at the height of the counterweight block in a stepped manner.

[0095] In other embodiments of this application, a propulsion module is provided on the floating platform. The propulsion module uses a propeller to provide power to the floating platform and is also controlled by the first main control board. When it is necessary to transfer the buoy on the sea surface, raising the counterweight is beneficial to the movement of the floating platform (if the counterweight is low, the operation of the propulsion module may cause the floating platform to tilt at a large angle, causing the propeller to leave the water surface and affecting propulsion efficiency). In the event of strong winds and waves, the position of the counterweight can be lowered to improve the stability of the floating platform and prevent it from capsizing or splashing on the water surface.

[0096] A signaling device is installed on top of the floating platform, primarily for personnel to detect buoys during retrieval or inspection. The signaling device consists of a signal light and / or an inflatable airbag. The signal light is connected to and controlled by a first main control board. Management personnel can send commands to designated buoys via a control terminal to activate the signal light for easy detection. When using an inflatable airbag, the airbag is typically brightly colored, such as bright green, orange-red, or bright yellow. The inflatable airbag is attached to the floating platform or embedded in its edge.

[0097] A marine environmental detection sensor is installed below the floating platform, and a marine atmospheric environmental detection sensor is installed above the floating platform. The marine environmental detection sensor is one or more of a water temperature sensor, water flow sensor, water pressure sensor, and pH sensor; the marine atmospheric environmental detection sensor is one or more of a wind speed sensor, air pressure sensor, temperature sensor, and humidity sensor. Both the marine environmental detection sensor and the marine atmospheric environmental detection sensor are connected to the first main control board via a communication gateway. The communication gateway can collect multiple detection signals and then output them to the first main control board.

[0098] The snorkeling device includes an upper shell 2 and a lower shell 3, both of which are cylindrical. The lower shell 3 is inserted into the upper shell 2, and there is a closed receiving space between the upper shell 2 and the lower shell 3. A sealing ring is provided on the side of the upper shell that contacts the lower shell 3.

[0099] The space between the upper housing 2 and the lower housing 3 houses a battery pack 15, a second main control board 14, a wireless communication module 9, and a Beidou positioning module 7. The wireless communication module 9 and the Beidou positioning module 7 are connected to the second main control board 14, and the servo motor 8 is also connected to the second main control board 14. The top of the upper housing 2 has an outer cover 1, within which are a Beidou positioning module antenna 6 and a wireless communication module antenna 5. The Beidou positioning module antenna 6 and the wireless communication module antenna 5 are respectively connected to the Beidou positioning module 7 and the wireless communication module 9. The wireless communication module 9 is used for communication and data exchange with the outside world.

[0100] In this embodiment, the heavier battery pack 15 is positioned at a lower location, lowering the buoy's center of gravity and improving its stability. The battery pack 15 is as follows: Figure 10 As shown, it contains a battery 21. In this embodiment, the battery 21 uses 12 lithium batteries 21 (3.6~4.2V), with 6 batteries connected in parallel and then connected in series to form a DC power supply of 7.2~8.4V. The 12 batteries 21 are assembled in the battery box. The battery 21 is Panasonic NCR18650B 3.7V / 4.2V (pointed tip).

[0101] The upper shell 2 is provided with a first platform, and the lower shell 3 is provided with a second platform. The first platform is provided with a servo motor 8 and a transmission screw 12. The servo motor 8 is connected to the transmission screw 12, and the transmission screw 12 is threadedly connected to the second platform. By driving the transmission screw 12 to rotate through the servo motor 8, the distance between the first platform and the second platform is changed, thereby controlling the extension and retraction of the lower shell 3 within the upper shell 2, changing the volume of the buoy itself, thereby changing its buoyancy, and realizing snorkeling control.

[0102] A magnetic bead 11 is mounted on the lead screw 12. At least one Hall sensor 10, positioned corresponding to the magnetic bead 11, is located on the first platform. When the lead screw 12 rotates, it causes the magnetic bead 11 to periodically pass through the Hall sensor 10. The Hall sensor 10 is connected to the second main control board 14. The magnetic bead 11 and the Hall sensor 10 are positioned at the same height. In one embodiment, four Hall sensors 10 are arranged around the lead screw 12 at 90° intervals. By analyzing the data detected by the Hall sensors 10, the rotation angle (number of revolutions) of the lead screw 12 can be obtained, thereby acquiring the specific positional information of the buoy's extension and retraction, and calculating the buoy's volume. This enables the detection of the buoy's own buoyancy, which is beneficial for forming a closed-loop control of the servo motor 8.

[0103] In some other embodiments, the lead screw 12 is provided with a magnetic bead module 110, and the magnetic bead 11 is embedded in the magnetic bead module 110. The magnetic bead module 110 is a cylindrical shape with holes and is fixed to the lead screw 12 by screws. An L-shaped bracket is provided on the first platform, and the Hall sensor is mounted on the L-shaped bracket; the L-shaped bracket is a structural fixing component with an L-shaped cross-section. (Reference) Figure 13-14 The Hall sensors are arranged in groups, with each group including two Hall sensors connected at their top ends; the magnetic beads are also arranged in groups, with each group including two magnetic beads with opposite polarities. Specifically, in one embodiment, the magnetic bead module 110 has multiple groups (such as 2, 3, 4, or 5 groups) of magnetic beads, which are arranged at equal angular intervals on the magnetic bead module 110, and a group of Hall sensors is mounted on the L-shaped bracket.

[0104] On the one hand, in each group of magnetic beads, two beads with opposite polarities are embedded in the bead module, forming a closed-loop magnetic field environment with rising and falling edges. This helps improve the positioning accuracy of the Hall sensor for the magnetic beads, thereby improving the accuracy of servo rotation angle (or circle) measurement. On the other hand, in each group of Hall sensors, the tops of the two Hall sensors in each group are connected to each other. By judging the signals of the two Hall sensors, the positioning accuracy of the magnetic beads can be reduced. For example, when both Hall sensors detect Hall voltage simultaneously, it can be determined that the magnetic bead has passed the Hall sensor, which can further improve the detection accuracy. Moreover, the two Hall sensors, which are set relatively oppositely, can reduce the measurement error caused by the forward and reverse rotation of the servo.

[0105] In this embodiment, the Hall sensor 10 is an A3144E, and the magnetic bead 11 is a 2mm diameter x 2mm thick type. The tops of the two Hall sensors are glued together. The Hall sensors are 2mm apart from the magnetic bead module, and in each group of magnetic beads, the two magnetic beads are 2mm apart.

[0106] The servo motor module consists of a servo motor 8, a lead screw 12, a magnetic bead 11, a Hall sensor 10, and an L-shaped bracket for mounting the Hall sensor 10. (Reference) Figure 15-16 The servo module also includes a printed circuit board. Figure 15 This is a schematic diagram of side A of the printed circuit board (the side opposite to the Hall sensor). Both Hall sensors are mounted on the printed circuit board. The printed circuit board has an adapter P3. Among the two Hall sensors H1 and H2, pin 1 is connected to the positive voltage, pin 2 is grounded, and pin 3 is used as the signal output terminal. Pins 1 and 2 are connected through a 1uF capacitor.

[0107] As an example, the processing chip in the second main control board is an STM32F103RCT6, and its circuit is shown in Figure 17. The second main control board has an adapter P7, and adapter P3 is connected to adapter P7 via a flexible flat cable. (Refer to...) Figure 18 The Hall sensor is powered by a 5V DC voltage. The data from the Hall sensor is connected to pins 41 and 42 of the second main control board processing chip via adapter P7 for data processing. Each time the signal is pulled low, it counts once. The number of rotations can be set to control the number of rotations of the servo motor.

[0108] During the rotation of the servo motor, whenever the Hall sensor passes the magnetic bead, the Hall sensor generates a Hall voltage, and the high voltage at Hall-sensor1 and Hall-sensor2 will be pulled low. The second control board processing chip sets the low voltage response at pins 41 and 42. Each pull-down counts as one count, and the servo motor can be controlled to run and stop by setting the number of rotations. The processing chip can complete the counting function, thereby controlling the operation and stopping of the servo motor.

[0109] The movement of the transmission screw is detected by a Hall effect sensor and then converted into the buoyancy of the snorkeling device. The method is as follows:

[0110] S21: When the servo motor is working, it counts the Hall voltage output by the Hall sensor to obtain the Hall voltage count number n;

[0111] S22: Convert the Hall voltage count n into the movement Q of the transmission screw.

[0112]

[0113] Where H is the number of groups of magnetic beads in the magnetic bead module;

[0114] S23: Calculate the buoyancy of the snorkeling device:

[0115]

[0116] in, is the minimum buoyancy value of the snorkeling device, is the design value; s is the pitch of the transmission screw, and A is the cross-sectional area of ​​the snorkeling device;

[0117] S24: Use a six-axis gyroscope to acquire attitude and position data of the snorkeling device, including velocity and acceleration, and combine it with buoyancy data to provide real-time dynamic control output.

[0118] The snorkeling device is equipped with an attitude sensor, which is connected to the second main control board. Specifically, in this embodiment, the attitude sensor is an ATK-MPU6050 attitude sensor, a six-axis sensor module combining a three-axis gyroscope and a high-performance three-axis accelerometer. Using the INVENSENSE MPU6050 chip as its core, it integrates a three-axis accelerometer and a three-axis gyroscope sensor. It utilizes its built-in digital motion processor hardware acceleration engine to output data calculated and corrected by a software algorithm model to the application via the IIC port. This module features a built-in temperature sensor, a built-in DMP, small size, support for IIC slave address setting and interrupts, compatibility with 3.3 / 5V systems, and ease of use.

[0119] See Figure 21 This application establishes a gyroscope attitude sensor correction algorithm customized for snorkeling devices. Combined with the buoyancy data of the snorkeling device, it dynamically provides the current position and velocity of the device in real time. To improve the dynamic characteristics of the snorkeling device and reduce hysteresis response and error drift propagation, a discrete PID control loop is also introduced to improve the stability and accuracy of the snorkeling device's position and attitude output. The specific control algorithm is as follows:

[0120] S14: By acquiring angular velocity and angular acceleration data through a six-axis gyroscope sensor, and customizing a filter based on the system's buoyancy characteristics to reduce sensor noise errors, the overall motion state equation of the system can be obtained, as shown below:

[0121]

[0122]

[0123]

[0124]

[0125] In the formula It is the angular velocity output value at time i. This is the angular acceleration output value at time i. In processing, the angular velocity and angular acceleration output data from the gyroscope are treated as a set of data. The overall state of the system at time i is considered to be X(i), and we have:

[0126]

[0127] The overall state equation of the system can then be given:

[0128]

[0129] In the formula and These are matrices:

[0130]

[0131]

[0132] S15: Perform PID calculations on the system state to obtain more accurate control values, using both integral and derivative processes, as shown in the following formulas:

[0133]

[0134]

[0135]

[0136] To improve system stability, the following method is used to further correct the output control value of the servo motor calculated by the PID controller in S15. Specifically, the value is discretely sampled over time, where T is the calculation period. The buoyancy change is correlated with the attitude of the snorkeling device to further correct the output value of the servo motor control adjustment. The formula is as follows:

[0137] Discrete sampling of values ​​over time, where T is the calculation period, and incorporating the velocity and acceleration values ​​calculated from the buoyancy of the snorkeling device, the output values ​​for servo control can be obtained, as shown in the following formula:

[0138]

[0139] In the formula, It is the difference between the gyroscope output and the buoyancy value. It is the difference between the previous sampling period. It is the differential angle difference. The output scaling factor was determined to be 0.42 in this system based on the analysis of data from multiple snorkeling tests. If there are changes in conditions such as sensor replacement, this scaling factor needs to be re-tested and determined.

[0140] The gyroscope measurement data includes 3-axis angular pointing and 3-axis acceleration. Since the servo control of the snorkeling device primarily focuses on its surfacing or descent speed and maintaining a vertical attitude, and pays less attention to the horizontal rotation, two PID controllers are used according to the algorithm described above to simplify servo control efficiency. The snorkeling PID controller is responsible for controlling the vertical motion of the snorkeling device. In the PID calculation, the buoyancy of the buoy is used as the vertical motion speed of the gyroscope to avoid the error accumulation problem caused by acceleration integration. The attitude PID controller is used to maintain the vertical attitude of the snorkeling device throughout the process. The basic control flow is as follows: Figure 21 As shown.

[0141] When the snorkeling PID controller is working, buoyancy data is used to perform integral separation operation on the PID controller. That is, when the depth difference between the snorkeling device and the target is greater than 4 meters (at which point the difference between buoyancy and gravity reaches its maximum), the integral quantity in the PID controller is set to 0 to avoid integral accumulation problems. In this state, the servo-controlled hull retraction / expansion reaches its maximum, and the snorkeling device's ascent / descent speed reaches its maximum. When the snorkeling device approaches the target depth, the integral quantity will play its role correctly, allowing the snorkeling device to smoothly and stably decelerate to reach the designated target position.

[0142] The first platform is provided with several guide rods 17 passing through the second platform. The second platform is provided with a limiting sleeve 13. The first platform is provided with a sliding rod passing through the limiting sleeve 13. The sliding rod is provided with a step. By limiting the sliding rod and the sleeve, the volume of the buoy is prevented from shrinking too much, thereby preventing the buoy from sinking too fast and causing it to lose contact or be damaged.

[0143] The top of the upper shell is provided with a float 22, the overall density of which is less than 0.4 g / cm³. 3 An auxiliary attitude sensor enables the snorkeling device to maintain an upright position underwater. A buoy 22 is mounted on the upper shell via a connecting rod 23. This connecting rod 23 creates a distance between the buoy and the upper shell, increasing the torque provided by the buoy to the snorkeling device and making it easier to maintain an upright position. The servo receives data from the gyroscope calculated by a software model algorithm, and intelligent automatic control of the tail rudder is the primary factor in maintaining the snorkeling device's upright position and preventing it from capsizing.

[0144] The structural design of snorkeling devices inherently results in a low center of gravity, enabling them to remain upright underwater. However, when considering prolonged underwater operations, unstable underwater environments, such as schools of fish and ocean currents, must be taken into account. These unstable factors can cause the snorkeling device to tilt or even capsize, and existing devices may not be able to automatically return to an upright position after capsizing. This application utilizes intelligent software-controlled tail rudders and buoys to enable the snorkeling device to automatically reset after tilting or capsizing, which is beneficial for extended underwater operations.

[0145] The lower housing 3 has a lower outer cover 4 at its bottom, and a water pressure sensor 16 is housed inside the lower outer cover 4. The water pressure sensor 16 is connected to the main control board 14. Inside the lower outer cover 4, there is a lower water pressure module cover 19 and a upper water pressure module cover 18 for mounting the water pressure sensor 16. The water pressure sensor 16 needs to be in contact with water, and the lower outer cover 4 protects the water pressure sensor 16 from impact damage. The upper water pressure module cover 18 serves as a carrier for the water pressure sensor 16 and is used to mount the water pressure sensor 16. The upper water pressure module cover 18 is connected to the lower water pressure module cover 19 via a sealing ring and screws.

[0146] The main control board 14 is equipped with a pressure sensor, which is embedded in the main control board 14.

[0147] An umbilical cable is connected between the snorkeling device and the surface buoy. The umbilical cable includes a power line and a data communication line. The data collected by the snorkeling device can be transmitted directly to a remote terminal after the snorkeling device surfaces, or it can be transmitted to the surface buoy via the data communication line when the snorkeling device is not surfaced, and then transmitted to the remote terminal by the second wireless communication module in the surface buoy.

[0148] The control principles of each module in this application are as follows: Figure 20 As shown, the wireless communication module connects to a remote terminal, which remotely controls the equipment and acquires the data output by the equipment. Within the equipment, the main control board controls the servo motors, thereby moving the hull and controlling the device's buoyancy. The main control board also collects positioning data from the Beidou positioning module, water pressure data from the water pressure sensor, internal air pressure data from the air pressure sensor, and output data from the Hall effect sensor. Furthermore, the buoy can carry other sensors to detect other data such as water temperature, flow rate, and flow direction.

[0149] In this embodiment, the servo motor selected is the GXServo 70kg 7.4v high torque servo motor.

[0150] Figure 20 The snorkeling device should descend at a constant speed. Ideally, the device should descend with uniform acceleration to half the depth and then uniform deceleration to the specified depth.

[0151] The ideal working process is as follows:

[0152] Assumptions: The device dives to a depth of H, the total underwater working time is T, the buoyancy of the buoy when it floats is F, the weight of the buoy is G, and the mass is m.

[0153] 1. Calibration: Allow the device to float vertically in the water. At this point: G=F;

[0154] 2. Servo operation: When the device floats on the water surface, the servo starts to rotate clockwise (the shell retracts), the number of rotations of the transmission screw is A, the buoy shell retracts, and the buoyancy of the buoy is F-ΔF.

[0155] 3. Accelerated Descent of the Device: The device begins to descend with an acceleration a, and its speed is V when it reaches point H / 2. The time required is t.

[0156] Therefore: a = ΔF / m; H / 2 = at² / 2; V = at;

[0157] 4. Servo operation: When the device reaches H / 2, the servo starts to rotate counterclockwise (the housing opens up), and the transmission screw rotates 2A times. At this time, the buoyancy of the device is F + ΔF.

[0158] Note: The working revolution count 2A is the decision condition; the servo motor must complete 2A of the workload.

[0159] 5. Device deceleration and descent: The device begins to sink with acceleration a1, and reaches a velocity of V1 at point H in a time of t1.

[0160] Obtain: a1=-△F / m; a1=-a; t1=t; V1=V-a1t1=0;

[0161] 6. The device floats: The device's velocity is 0 at point H. The buoyancy of the device is greater than its weight, and the device begins to accelerate upward until it floats on the water surface.

[0162] Note: The above is an ideal state (not considering vertical seawater flow, which can be eliminated during the test). In reality, we can start the servo motor opening operation at H / 2-H / 20.

[0163] In order to obtain water pressure, water depth, water temperature, positioning information, and internal air pressure information of the device, as mentioned above, as an example, this application uses STM32F103RCT6 (LQFP64-L) as the processing chip of the main control board. Among them, pins 29 and 30 (PB10 and PB11) of the chip serve as input points for TTL data acquisition of the water pressure module; pins 37 and 38 serve as output points for the PWM signal to control the servo motor 8; pins 33 and 34 serve as voltage output points to control the forward and reverse rotation of the servo motor, thereby controlling the forward and reverse rotation of the servo motor by controlling the voltage; pins 41 and 42 serve as input points for the number of rotations of the transmission screw. The Hall effect sensor obtains the rotation status of the screw 12 through the passing magnetic bead 11, and then inputs the rotation count through pins 41 and 42; pins 40, 51, 52, and 53 serve as input points for positioning information data; pins 61 and 62 serve as input points for air pressure information data; pins 46 and 49 serve as input points for embedded data download; pins 43, 44, 58, and 59 serve as output and input points for wireless communication data; and pins 20, 21, 22, 23, and 50 serve as data output points for the storage module.

[0164] To provide the voltage required by each module, MIC5205 (3.3V) and MIC5205 (5V) are used to obtain 3.3V and 5V voltages respectively for use by each module.

[0165] The first and second wireless communication modules use the LORASTAR611prov1.3 wireless star network data transmission module TTL-433, and the wireless communication module antenna uses a lora-433MHz-4dB rod antenna; the Beidou positioning module and its antenna use the BT-574 module and BT-25B antenna; the water pressure sensor uses the MS5837-30BA water pressure sensor; the air pressure sensor uses the barometer BMP180-3.3 module; and the data storage module uses Micro-SD-TF-external solder-surface.

[0166] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several modifications and improvements can be made without departing from the inventive concept of this application, and these all fall within the protection scope of this application.

Claims

1. A BeiDou intelligent marine exploration equipment, characterized in that, It includes a snorkeling device and a surface buoy, wherein the snorkeling device operates underwater and the surface buoy operates on the water surface; The surface buoy includes a floating platform and a surface power module, the power module including a battery and a solar power generation module; The snorkeling device includes an upper shell and a lower shell, with the lower shell inserted into the upper shell. A closed accommodating space exists between the upper and lower shells. A first platform is located within the upper shell, and a second platform is located within the lower shell. A servo motor and a transmission screw are located on the first platform. The servo motor is connected to the transmission screw, and the transmission screw is threadedly connected to the second platform. A float is located at the top of the upper shell. A battery pack, a second main control board, a second wireless communication module, and a second BeiDou positioning module are located within the accommodating space. The second wireless communication module and the second BeiDou positioning module are connected to the second main control board, and the servo motor is connected to the second main control board. An umbilical cable connects the snorkeling device to the surface buoy.

2. The Beidou intelligent marine exploration equipment according to claim 1, characterized in that, The floating platform is equipped with a control box, which contains a first main control board, a first wireless communication module, a first Beidou positioning module, and a communication gateway. The first wireless communication module is used to communicate with a separate cloud, terminal, or data center, and the communication gateway is used to communicate with a second wireless communication module. A marine environment detection sensor is installed below the floating platform, and a marine atmospheric environment detection sensor is installed above the floating platform. Both the marine environment detection sensor and the marine atmospheric environment detection sensor are connected to the first main control board through a communication gateway.

3. The Beidou intelligent marine exploration equipment according to claim 2, characterized in that, The control box is mounted on the top of the floating platform via a bracket, and a counterweight unit is provided at the bottom of the floating platform. The counterweight unit includes a counterweight block and a sliding rod mounted on the counterweight block. The surface buoy has a hole for the sliding rod to pass through. The floating platform has a rotating disk. The sliding rod passes through the rotating disk and is threadedly connected to the rotating disk. The floating platform has a motor with an encoder mounted on it. The motor is connected to the rotating disk via a worm gear to drive the rotating disk to rotate.

4. The Beidou intelligent marine exploration equipment according to claim 3, characterized in that, The height of the counterweight is controlled by the first main control board, and the control method is as follows: S11: Obtain wind speed data through marine atmospheric environment detection sensors; S12: Compare the wind speed data obtained in step S11 with the preset value. When it exceeds the preset downward threshold, control the motor to rotate in the forward direction to drive the counterweight to move downward; when it is lower than the preset upward threshold, control the motor to rotate in the reverse direction to drive the counterweight to move upward. S13: Collect encoder data and convert it into the movement amount of the counterweight. When controlling the movement of the counterweight in step S12, stop when the movement amount of the counterweight reaches the preset value. In step S12, both the downward shift threshold and the upward shift threshold contain multiple values.

5. The Beidou intelligent marine exploration equipment according to claim 2, characterized in that, The floating platform is equipped with a signaling device at the top, which is a signal light and / or an inflatable airbag. The signal light is connected to the first main control board.

6. The Beidou intelligent marine exploration equipment according to claim 1, characterized in that, The top of the upper housing is provided with an outer cover, and the outer cover contains a Beidou positioning module antenna and a wireless communication module antenna. The bottom of the lower housing is provided with an outer cover, and a water pressure sensor is provided inside the outer cover. The water pressure sensor is connected to the second main control board. The second main control board is equipped with a pressure sensor.

7. The Beidou intelligent marine exploration equipment according to claim 1, characterized in that, The transmission screw is equipped with a magnetic bead, and the first platform is equipped with at least one Hall sensor whose position corresponds to the magnetic bead. When the transmission screw rotates, it drives the magnetic bead to periodically pass through the Hall sensor. The Hall sensor is connected to the second main control board. The snorkeling device is equipped with an attitude sensor, which is connected to the second main control board.

8. The Beidou intelligent marine exploration equipment according to claim 7, characterized in that, The transmission lead screw is equipped with a magnetic bead module, and the magnetic bead is embedded in the magnetic bead module. The first platform is equipped with an L-shaped bracket, and the Hall sensor is mounted on the L-shaped bracket. The Hall sensors are arranged in groups, with each group consisting of two Hall sensors connected to each other at their top ends. The magnetic beads are arranged in groups, with each group containing two magnetic beads with opposite polarities.

9. The Beidou intelligent marine exploration equipment according to claim 8, characterized in that, The magnetic bead module contains multiple sets of magnetic beads, which are arranged at equal angular intervals on the module. A set of Hall sensors is mounted on the L-shaped bracket.

10. The Beidou intelligent marine exploration equipment according to claim 7, characterized in that... The attitude sensor inside the snorkeling device is a six-axis gyroscope attitude sensor. An improved discrete PID control algorithm is used to control the output of the snorkeling device's servo motor in real time based on the data obtained from the attitude sensor, automatically adjusting the attitude of the snorkeling device to maintain a vertical position and prevent it from tipping over during movement. The specific steps are as follows. S14: Obtain angular velocity and angular acceleration data using a six-axis gyroscope sensor to derive the overall motion state equation of the snorkeling device, as shown in the following formula: In the formula It represents the angular velocity output values ​​of the gyroscope in three directions at time i. These are the angular acceleration output values ​​of the gyroscope in the three directions at time i. In processing, the angular velocity and angular acceleration output data from the gyroscope are treated as a single set of data. The overall state of the system at time i is considered to be X(i), and we have: Then the overall state equation of the system can be obtained: In the formula and These are matrices: S15: A discrete PID controller is used to calculate the output control quantity of the servo motor. PID calculations are performed on the snorkeling device's state to obtain more accurate control values, eliminating deviations between the overall state of the snorkeling device and the control objective. The formula is as follows: 。 11. The Beidou intelligent marine exploration equipment according to claim 9, characterized in that, The movement of the transmission screw is detected by a Hall sensor and then converted into the buoyancy of the snorkeling device. The specific steps are as follows: S21: When the servo motor is working, it counts the Hall voltage output by the Hall sensor to obtain the Hall voltage count number n; S22: Convert the Hall voltage count n into the movement Q of the transmission screw. Where H is the number of groups of magnetic beads in the magnetic bead module; S23: Calculate the buoyancy of the snorkeling device: in, is the minimum buoyancy value of the snorkeling device, is the design value; s is the pitch of the transmission screw, and A is the cross-sectional area of ​​the snorkeling device; S24: Use a six-axis gyroscope to acquire attitude and position data of the snorkeling device, including velocity and acceleration, and combine it with buoyancy data to provide real-time dynamic control output.

12. The Beidou intelligent marine exploration equipment snorkeling device according to claim 10, characterized in that... To improve system stability, the following method is used to further correct the output control value of the servo motor calculated by the PID controller in S15. Specifically, the value is discretely sampled over time, where T is the calculation period. The buoyancy change is correlated with the attitude of the snorkeling device to further correct the output value of the servo motor control adjustment. The formula is as follows: In the formula, It is the difference between the gyroscope's attitude change and the buoyancy. It is the difference between the previous sampling period. It is the differential angle difference. This is the output scaling factor, with a default value of 0.42.

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