A buoy wave direction calibration device simulating a marine environment

Abstract

This application proposes a buoy wave direction calibration device for simulating a marine environment, comprising: a first simulation mechanism with flight capability; a carrier suspended below the first simulation mechanism, wherein the first simulation mechanism in flight can drive the carrier to simulate wave motion; and a second simulation mechanism disposed on the carrier, the second simulation mechanism having a flipping function relative to the carrier to simulate the flipping motion of the buoy component in the marine environment; wherein, according to the flight altitude change of the first simulation mechanism, the second simulation mechanism can dynamically adjust the pitch angle of the buoy component; this solves the technical problem in the prior art that higher wave direction calibration operations cannot be carried out due to structural limitations, dynamically adjusts the flight altitude according to actual needs, and can simulate wave environments at different altitudes without increasing the overall size of the equipment, effectively overcoming the defects of large fixed calibration devices such as large footprint, high construction cost, and inconvenience in disassembly and transportation.

Description

Technical Field

[0001] This application relates to the technical field of buoy calibration equipment, and more particularly to a buoy wave direction calibration device that simulates a marine environment. Background Technology

[0002] Wave direction, a key parameter in wave observation, describes the direction of wave propagation and plays an irreplaceable role in marine scientific research and practical engineering applications. Accurate wave direction data is crucial for constructing high-precision numerical prediction models of waves, significantly improving early warning capabilities for extreme marine events such as storm surges and tsunamis. In marine engineering, wave direction information directly affects the stress analysis and safety factor setting of structures in the design and safety assessment of major infrastructure projects such as offshore wind power platforms, cross-sea bridges, and port terminals, serving as the foundation for feasibility studies and durability assessments. Furthermore, in the separation of wind waves and swells, wave direction data helps identify the propagation characteristics of wave systems from different sources, thereby improving the accuracy of sea state analysis. Therefore, wave direction data obtained using wave buoys must possess a high degree of authenticity and reliability. Significant deviations between measured values ​​and the true wave direction can not only distort scientific research conclusions but also potentially lead to safety hazards in engineering practice, causing significant economic losses and even casualties. Thus, obtaining more accurate and reliable wave direction observation data is one of the core requirements in the current development of marine monitoring technology.

[0003] Currently, to ensure the accuracy of wave buoy measurement data, calibration is typically required before or periodically after deployment, with wave direction calibration being particularly critical. Existing buoy calibration devices mostly employ simulated dynamic motion in the ocean environment to achieve calibration. These devices generally use mechanical drive systems (such as servo motors and hydraulic mechanisms) to drive the buoy, simulating the swaying, undulating, and rotating motions generated by waves in the real ocean, thereby reproducing complex sea conditions under different wave directions, wave heights, and periods. By precisely controlling the simulated wave direction input in a controlled environment and comparing it with the buoy's output measurements, the measurement accuracy can be evaluated and parameters corrected. Such calibration systems are typically equipped with attitude sensors, motion control platforms, and data acquisition systems to achieve accurate simulation of the buoy's free motion, ensuring the repeatability and scientific rigor of the calibration process.

[0004] However, existing buoy calibration devices still have significant technical shortcomings, making it difficult to meet the demands of high-precision wave direction calibration. To improve calibration accuracy, especially when simulating high wave heights or extreme sea states, the buoy needs to be raised to a sufficient height corresponding to the target wave direction to accurately reproduce the vertical motion trajectory between wave crests and troughs. This requires the calibration device to have a sufficiently large vertical motion stroke, with its structural height at least reaching or exceeding the maximum height of the simulated wave direction. However, limited by existing mechanical structure designs (such as column-type or gantry-type frames), pursuing higher calibration heights often requires a significant increase in the overall structural size, resulting in a large space requirement, stringent installation site requirements, and a significant increase in construction and maintenance costs. Simultaneously, as the height increases, structural stability decreases, making it prone to vibration and displacement, affecting the accuracy of motion simulation. Furthermore, large, fixed structures are inconvenient to disassemble and move, making it difficult to adapt to the needs of different laboratory or field calibration scenarios, severely restricting the widespread application of high-precision wave direction calibration technology. Summary of the Invention

[0005] This application provides a buoy wave direction calibration device simulating a marine environment to solve the technical problem in the prior art where wave direction calibration cannot be performed beyond the height of the structure due to structural limitations. The technical solution is as follows:

[0006] This application provides a buoy wave direction calibration device for simulating a marine environment, comprising: a first simulation mechanism with a flight function; a carrier suspended below the first simulation mechanism, wherein the first simulation mechanism in flight can drive the carrier to simulate wave motion; and a second simulation mechanism disposed on the carrier, wherein the second simulation mechanism has a flipping function relative to the carrier to simulate the flipping motion of the buoy components in the marine environment.

[0007] The second simulation mechanism can dynamically adjust the pitch angle of the buoy component based on the flight altitude changes of the first simulation mechanism.

[0008] In one embodiment, the carrier includes: a base on which the second simulation mechanism is mounted; and a transfer bracket on which the first simulation mechanism is connected to the base.

[0009] In one embodiment, it further includes: a vibration damping component, wherein the first simulation mechanism and the adapter bracket are connected through the vibration damping component to counteract the vibration generated by the first simulation mechanism.

[0010] In one embodiment, the second simulation mechanism includes: an angle adjustment component mounted on a base for flipping on the base, the angle adjustment component having a first mounting surface that flips therewith and the first mounting surface facing away from the base; and a rotation simulation component mounted on the first mounting surface for rotating on the angle adjustment component.

[0011] In one embodiment, the rotation simulation component has a second mounting surface that rotates therewith, the second mounting surface being opposite to the first mounting surface; the second simulation mechanism further includes a fixing bracket disposed on the second mounting surface for fixing the buoy component.

[0012] In one embodiment, the angle adjustment assembly includes: a support member having a first end and a second end, the first end being connected to a base; a first rotating member rotatably connected to the second end via a hinge shaft, the first rotating member being spaced above the base via the support member, and a first mounting surface being disposed on the first rotating member; and a first servo motor, the output shaft of the first servo motor being synchronously rotatably connected to the hinge shaft to drive the first rotating member to rotate.

[0013] In one embodiment, the rotation simulation component includes: a second servo motor mounted on a first rotating member, with its output shaft located at one end of the motor housing opposite to the first rotating member; and a second rotating member synchronously rotatably connected to the output shaft of the second servo motor to drive the second rotating member to rotate via the second servo motor, wherein a second mounting surface is provided on the side of the second rotating member opposite to the second servo motor.

[0014] In one embodiment, it further includes: a leveling component, mounted on the second rotating member, for assisting the second rotating member in adjusting to a horizontal state.

[0015] In one embodiment, the second simulation mechanism further includes: a direction adjustment component, wherein the base is connected to the angle adjustment component via the direction adjustment component so that the angle adjustment component can be adjusted to the target direction via the direction adjustment component; and two spatial position sensing components, disposed on the angle adjustment component and respectively connected to the angle adjustment component and the direction adjustment component for real-time detection of the flip angle of the angle adjustment component and its direction.

[0016] In one embodiment, the direction adjustment assembly includes: a third servo motor mounted on a base, with its output shaft located at one end of the motor housing away from the base; a third rotating member synchronously rotatably connected to the output shaft of the third servo motor, and a support component of the angle adjustment assembly connected to the third rotating member;

[0017] Specifically, based on the offset angle of the angle adjustment component relative to the target direction detected by the two spatial position sensing components, the third servo motor drives the third rotating component to rotate, so as to return the angle adjustment component to the center.

[0018] Compared with existing technologies, the buoy wave direction calibration device for simulating marine environments proposed in the above technical solution utilizes a first simulation mechanism with flight capabilities. This mechanism can dynamically adjust the flight altitude according to actual needs, accurately simulating wave environments at different altitudes without increasing the overall size of the equipment. It is particularly suitable for simulating extreme sea conditions with wave heights exceeding 10 meters. The device can adjust the pitch angle of the buoy component on the second simulation mechanism in real time according to changes in flight altitude, thus more realistically reproducing the complex motion states in the marine environment. Compared with fixed calibration devices in existing technologies, the design based on a flight prop provides greater flexibility and adaptability, enabling more accurate simulation of wave motion characteristics under various marine conditions and significantly improving the accuracy of wave direction calibration. It not only overcomes the problems of large fixed calibration devices, such as large footprint, high construction costs, and difficulties in disassembly and transportation, but also greatly expands its application scope. It can be easily deployed and used in both laboratory environments and field tests, meeting diverse calibration needs and providing strong technical support for marine scientific research and engineering applications.

[0019] The above overview is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of this application will become readily apparent from the accompanying drawings and the following detailed description. Attached Figure Description

[0020] In the accompanying drawings, unless otherwise specified, the same reference numerals throughout the various drawings denote the same or similar parts or elements. These drawings are not necessarily drawn to scale. It should be understood that these drawings depict only some embodiments disclosed in this application and should not be construed as limiting the scope of this application.

[0021] Figure 1 This is a schematic diagram of the structure of a buoy wave direction calibration device simulating a marine environment in an embodiment of this application;

[0022] Figure 2 This is a schematic diagram of the buoy wave direction calibration device changing pitch shape during flight, as described in this application embodiment.

[0023] Figure label:

[0024] 1. First simulation mechanism; 2. Vibration damping component; 3. Mounting carrier; 4. Direction adjustment component; 5. Angle adjustment component; 6. Rotation simulation component; 7. Leveling component; 8. Spatial position sensing component; 9. Fixed bracket;

[0025] 31. Base; 32. Adapter bracket;

[0026] B1. Buoy components. Detailed Implementation

[0027] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of this application. Therefore, the drawings and description are considered to be exemplary in nature and not restrictive.

[0028] Reference Figure 1 As shown, an embodiment of this application proposes a buoy wave direction calibration device for simulating a marine environment. The buoy wave direction calibration device may include: a first simulation mechanism 1 with a flight function; a carrier 3 suspended below the first simulation mechanism 1, wherein the first simulation mechanism 1 in flight can drive the carrier 3 to simulate wave motion; and a second simulation mechanism disposed on the carrier 3, wherein the second simulation mechanism has a flipping function relative to the carrier 3 for simulating the flipping motion of the buoy component B1 in the marine environment.

[0029] The second simulation mechanism can dynamically adjust the pitch angle of the buoy component B1 based on the flight altitude changes of the first simulation mechanism 1.

[0030] Specifically, in the technical solution adopted in this application, the first simulation mechanism 1 can utilize flight props, such as rotary-wing drones, helicopters, fixed-wing aircraft, hot air balloons, etc., to achieve flight functionality. Since the flight props employ existing technology, their specific structures will not be described in detail. The carrier 3 can be connected to the first simulation mechanism 1 via cables. When the first simulation mechanism 1 is in flight, the carrier 3 can be suspended below it, and during flight, wave motion in the marine environment can be simulated on the carrier 3. A second simulation mechanism is also configured on the carrier 3 to simulate the flipping motion of the buoy component B1 in the marine environment. Before operating the buoy wave direction calibration device, the buoy component B1, which needs to be calibrated, is pre-installed on the second simulation mechanism. When the second simulation mechanism causes the buoy component B1 to flip, the pitch angle of the buoy component B1 can be dynamically adjusted according to the flight altitude changes of the first simulation mechanism 1. By adopting the buoy wave direction calibration device of this application, the height limitations of traditional calibration equipment can be overcome. Calibration operations can be performed in simulated large height differences through the flight function of the first simulation mechanism 1. For example, when performing wave direction calibration at a wave height of 30 meters, traditional calibration equipment needs to be at a height exceeding 30 meters to transport the buoy component B1 to be calibrated to a height of 30 meters for environmental simulation. However, the buoy wave direction calibration device of this application can transport the buoy component B1 to the target height simply by using the flight function of the first simulation mechanism 1, fundamentally avoiding this limitation and effectively improving the upper limit of buoy calibration accuracy.

[0031] Furthermore, refer to Figure 1 As shown, in some embodiments, the carrier 3 includes: a base 31, on which the second simulation mechanism is mounted; and a transfer bracket 32, through which the first simulation mechanism 1 is connected to the base 31.

[0032] Specifically, in the technical solution adopted in this application, in order to enable the mounting carrier 3 to connect to the first simulation mechanism 1 and support the second simulation mechanism, the mounting carrier 3 includes at least: a base 31 and a connecting bracket 32; the base 31 can adopt a plate-like structure to facilitate supporting the second simulation mechanism, the bottom of the connecting bracket 32 ​​is connected to both ends of the base 31, and the cross-section of the mounting carrier 3 forms a triangular structure, such as an isosceles triangle. The top of the connecting bracket 32 ​​can be connected to the first simulation mechanism 1 via a cable. Preferably, a lifting ring is provided at the top of the connecting bracket 32 ​​to facilitate cable connection, thereby forming an installation space for accommodating the second simulation mechanism by the connecting bracket 32 ​​and the base 31. In use, the first simulation mechanism 1 can drive the second simulation mechanism to simulate a marine environment in the air through the mounting carrier 3 during flight.

[0033] Furthermore, refer to Figure 1 As shown, in some embodiments, it further includes: a vibration damping component 2, wherein the first simulation mechanism 1 and the adapter bracket 32 ​​are connected through the vibration damping component 2 to counteract the vibration generated by the first simulation mechanism 1.

[0034] Specifically, in the technical solution adopted in this application, the vibration damping component 2 can be a vibration damping spring connected between the first simulation mechanism 1 and the adapter bracket 32, for example, between the first simulation mechanism 1 and the cable, or between the adapter bracket 32 ​​and the cable. Alternatively, the vibration damping component 2 can be directly disposed on the cable to divide the cable into a first part and a second part, with the first part connected to the first simulation mechanism 1 and the second part connected to the adapter bracket 32. In use, the vibration damping component 2 can counteract the vibration force generated by the first simulation mechanism 1 during flight. Since this vibration force is not transmitted to the second simulation mechanism through the mounting carrier 3, it effectively avoids the vibration generated by the first simulation mechanism 1 from affecting the accuracy of the calibration buoy component B1.

[0035] Furthermore, refer to Figure 1 As shown, in some embodiments, the second simulation mechanism includes: an angle adjustment component 5, mounted on a base 31, for flipping on the base 31, the angle adjustment component 5 having a first mounting surface that flips with it and the first mounting surface facing away from the base 31; and a rotation simulation component 6, mounted on the first mounting surface, for rotating on the angle adjustment component 5.

[0036] Specifically, in the technical solution adopted in this application, in order to further simulate the movement of buoy component B1 in the marine environment, the second simulation mechanism includes: an angle adjustment component 5 and a rotation simulation component 6. The angle adjustment component 5 is used to simulate the pitch angle of buoy component B1 sinking or rising, while the rotation simulation component 6 is used to simulate the free rotation of buoy component B1 in the marine environment. The angle adjustment component 5 is mounted on the base 31 and can be flipped on the base 31. In use, when buoy component B1 is configured on the angle adjustment component 5 through the rotation simulation mechanism, the angle adjustment component 5 can drive buoy component B1 to flip synchronously, thereby simulating the pitch motion formed when buoy component B1 sinks or rises in seawater. The rotation simulation component 6 is mounted on the top surface of the angle adjustment component 5 that can rotate with the device, that is: firstly, it is defined as the first mounting surface. The rotation simulation component 6 can rotate on the angle adjustment component 5 so that when buoy component B1 is mounted on the rotation simulation component 6, the rotation simulation component 6 can drive buoy component B1 to rotate, thereby simulating the random rotation of buoy component B1 when it is impacted by waves.

[0037] Furthermore, refer to Figure 1 As shown, in some embodiments, the rotation simulation component 6 has a second mounting surface that rotates with it, the second mounting surface being opposite to the first mounting surface; the second simulation mechanism further includes: a fixing bracket 9, disposed on the second mounting surface, for fixing the buoy component B1.

[0038] Specifically, in the technical solution adopted in this application, the second mounting surface can be the top surface of the rotation simulation component 6 capable of performing rotational motion. In order to effectively fix the buoy component B1, in this embodiment, a fixing bracket 9 can be installed on the rotation simulation component 6, located at the rotation center of the second mounting surface. In use, the buoy component B1 is installed on the fixing bracket 9, thereby enabling the buoy component B1 to rotate randomly with the rotation simulation component 6, and can also be driven by the angle adjustment component 5 to adjust the pitch angle. Based on random rotation and pitch angle adjustment, when the first simulation mechanism 1 drives the carrier 3 to fly, it can make the simulated environment for the buoy component B1 closer to the real marine environment.

[0039] Furthermore, in some embodiments, the angle adjustment component 5 includes: a support member having a first end and a second end, the first end being connected to the base 31; a first rotating member being rotatably connected to the second end via a hinge shaft, the first rotating member being spaced above the base 31 via the support member, and a first mounting surface being disposed on the first rotating member; and a first servo motor, the output shaft of the first servo motor being synchronously rotatably connected to the hinge shaft to drive the first rotating member to rotate.

[0040] Specifically, in the technical solution adopted in this application, in order to realize the flipping movement of the angle adjustment component 5, the support component can adopt a long strip structure. The upper end of the support component (i.e., the first end) can be connected to the base 31, and the upper end of the support component (i.e., the second end) is connected to the first rotating component through a hinge, thereby forming sufficient flipping space between the first rotating component and the base 31. The first rotating component can be a plate structure so that it can flip around the hinge above the base 31. The output shaft of the first servo motor is synchronously connected to the hinge, and the first rotating component is driven by the first servo motor to flip through the transmission of the hinge. The first servo motor can determine the rotation direction of its output shaft according to the changing flight altitude of the first simulation mechanism 1, so that the first rotating component can drive the buoy component B1 to adjust the pitch angle in real time.

[0041] Furthermore, in some embodiments, the rotation simulation component 6 includes: a second servo motor mounted on the first rotating member, with its output shaft located at one end of the motor housing opposite to the first rotating member; and a second rotating member synchronously rotatably connected to the output shaft of the second servo motor to drive the second rotating member to rotate via the second servo motor, wherein a second mounting surface is provided on the side of the second rotating member opposite to the second servo motor.

[0042] Specifically, in the technical solution adopted in this application, in order to enable the rotation simulation component 6 to perform rotational motion, the rotation simulation component 6 includes: a second servo motor and a second rotating member. The motor housing of the second servo motor is fixedly mounted on the side of the first rotating member away from the support component, i.e., on the first mounting surface, and the output shaft of the second servo motor is oriented towards the end of the motor housing away from the first rotating member. The second rotating member is preferably a circular rotating disk, and the bottom center of the second rotating member is synchronously rotated and connected to the output shaft of the second servo motor, so that the second rotating member is driven to rotate by the second servo motor, and the side of the second rotating member away from the second servo motor is set as the second mounting surface.

[0043] Furthermore, refer to Figure 1 As shown, in some embodiments, it further includes: a leveling component 7, mounted on the second rotating component, for assisting the second rotating component in adjusting to a horizontal state.

[0044] Specifically, in the technical solution adopted in this application, the leveling component 7 can be a spirit level, which can adjust the levelness of the second rotating component as needed when calibrating the buoy component B1, i.e., the XOY plane of the geocentric rectangular coordinate system. In use, before the first simulation mechanism 1 takes off, the leveling component 7 is used to adjust the second rotating component to a near-horizontal state. The leveling component 7 has bubbles in the liquid and a crosshair for marking. When adjusting the second rotating component, the bubbles need to be aligned with their crosshairs, indicating that the second rotating component is now nearly horizontal. This step is a preliminary preparation for simulating the marine environment, so as to accurately record the start time of the simulated wave impact on the buoy component B1.

[0045] Furthermore, refer to Figure 1 As shown, in some embodiments, the second simulation mechanism further includes: a direction adjustment component 4, the base 31 and the angle adjustment component 5 are connected through the direction adjustment component 4 so that the angle adjustment component 5 can be adjusted to the target direction through the direction adjustment component 4; two spatial position sensing components 8 are disposed on the angle adjustment component 5 and are respectively signal connected to the angle adjustment component 5 and the direction adjustment component 4, for real-time detection of the flip angle of the angle adjustment component 5 and its direction.

[0046] Specifically, in the technical solution adopted in this application, the angle adjustment component 5 can be mounted on the base 31 via the direction adjustment component 4. That is, the direction adjustment component 4 is positioned between the base 31 and the angle adjustment component 5, and can adjust the direction pointed to by the angle adjustment component 5 during flight based on the base 31. When the carrier 3 flies in the air with the first simulation mechanism 1, it is prone to uncontrollable rotation, causing the angle adjustment component 5 and the rotation simulation component 6 to rotate with the carrier 3, thus making it impossible to control the direction of the buoy component B1. The direction adjustment component 4 drives the angle adjustment component 5 to rotate to counteract the uncontrolled rotation of the carrier 3. In order to sense the angle of rotation of the angle adjustment component 5 with the carrier 3, two spatial position sensing components 8 can also be configured on the angle adjustment component 5. The two spatial position sensing components 8 are preferably mounted on the first rotating component, so that the two spatial position sensing components 8 can sense the directional change of the angle adjustment component 5 during flight, so as to make corrections through the direction adjustment component 4. The spatial position sensing component 8 can be an existing RTK measuring instrument or electromagnetic wave transmitter and receiver, utilizing GNSS carrier phase differential technology, or by establishing ground-based spatial measurement technology and employing electromagnetic wave ranging or laser ranging technology to obtain the spatial position of the spatial position sensing component 8 in real time, in order to determine whether there is a deviation in the direction of the angle adjustment component 5. In use, the target direction can be set to north-south. When the first simulation mechanism 1 flies northward, the rotation direction of the first rotating component in the angle adjustment component 5 should be based on the north-south direction, that is, the axial direction of the first servo motor and the hinge shaft is east-west. However, when the carrier 3 rotates uncontrollably, an offset angle will occur. The two spatial position sensing components 8 then measure the actual offset angle and use the direction adjustment component 4 to return the angle adjustment component 5 to center.

[0047] In the embodiments of this application, the two spatial position sensing components 8 can also sense the flipping state of the first rotating component in the angle adjustment component 5. Specifically, the two spatial position sensing components 8 are installed on the first rotating component and can flip with the first rotating component. The two spatial position sensing components 8 are connected to the first servo motor signal, so that the angle adjustment component 5 can control the pitch state of the buoy component B1 according to the change of the flight altitude of the first simulation mechanism 1 through the spatial sensing function of the two spatial position sensing components 8.

[0048] Furthermore, in some embodiments, the direction adjustment component 4 includes: a third servo motor, mounted on the base 31, with its output shaft located at the end of the motor housing away from the base 31; a third rotating member, synchronously rotatably connected to the output shaft of the third servo motor, and the support component of the angle adjustment component 5 is connected to the third rotating member;

[0049] Specifically, based on the offset angle of the angle adjustment component 5 relative to the target direction detected by the two spatial position sensing components 8, the third servo motor drives the third rotating component to rotate, so as to return the angle adjustment component 5 to the center.

[0050] Specifically, in the technical solution adopted in this application, in order to enable the direction adjustment component 4 to adjust the direction of the angle adjustment component 5. The direction adjustment component 4 includes a third servo motor and a third rotating component. The motor housing of the third servo motor can be mounted on the base 31. For example, the bottom of the motor housing of the third servo motor is fixed to the top surface of the base 31, and the output shaft of the third servo motor can be located at the end of its motor housing away from the base 31. In order to reduce the distance between the third rotating component and the base 31 and make the rotation of the third rotating component more stable, the motor housing of the third servo motor can also be embedded in the base 31. The third rotating component can adopt the same structure as the second rotating component, that is, a circular rotating disk. The bottom circular position of the third rotating component is synchronously connected to the output shaft of the third servo motor so that the third rotating component is driven to rotate above the base 31 by the third servo motor. Two spatial position sensing components 8 are connected to the third servo motor. Through the spatial sensing function of the two spatial position sensing components 8, the rotation angle of the third rotating component driven by the third servo motor can be controlled to offset the actual offset angle. Thus, the angle adjustment component 5 can be returned to the target direction in real time during the flight of the first simulation mechanism 1.

[0051] In some embodiments, an energy storage component for storing electrical energy is configured in the first simulation mechanism 1, which can provide electrical energy to the first simulation mechanism 1; and the first servo motor, the second servo motor, the third servo motor and the two spatial position sensing components 8 can also obtain electrical energy from the energy storage component for operation.

[0052] This application also provides a calibration method for a buoy wave direction calibration device based on the above-mentioned simulated marine environment. Specifically, when using the simulated marine environment buoy wave direction calibration device of this application, the calibration operation can be performed according to the following steps:

[0053] Step 1: Installation and leveling of buoy component B1;

[0054] Assemble the buoy component B1 into the preset mounting position of the second simulation mechanism, that is: fix the fixed bracket 9 on the second mounting surface; adjust the buoy component B1 to an approximately horizontal state: operate the leveling component 7 of the second simulation mechanism, and by flipping the first rotating component, make the bubble in the leveling component 7 completely aligned with the sight, and complete the horizontal calibration.

[0055] Step 2: Start-up of the simulation device and simulation of wave impact;

[0056] The first simulation mechanism 1 is activated, driving the carrier 3 into a preset flight mode; the rotation simulation component 6 of the second simulation mechanism is activated simultaneously: the component is controlled to continuously drive the buoy component B1 to rotate randomly by 1°-5°, thereby simulating the rotation state of the buoy component B1 when it is subjected to wave impact in a real marine environment.

[0057] Step 3: Adjust the buoy angle based on the flight trajectory;

[0058] Based on the flight trajectory of the carrier 3 driven by the first simulation mechanism 1, the buoy component B1 is flipped and controlled by the angle adjustment component 5, as follows:

[0059] In the Z-axis direction (i.e., the vertical direction) of the geocentric rectangular coordinate system, the first simulation mechanism 1 can fly from south to north;

[0060] When the first simulation mechanism 1 drives the carrier 3 to fly from a relatively high point to a relatively low point, the angle adjustment component 5 drives the buoy component B1 to flip along the top view angle of the flight direction.

[0061] When the first simulation mechanism 1 drives the carrier 3 to fly from a relatively low point to a relatively high point, the angle adjustment component 5 drives the buoy component B1 to rotate along the upward angle of the flight direction.

[0062] Reference Figure 2 As shown, a specific adjustment example is as follows:

[0063] When the buoy component B1 is in position 1, driven by the first simulation mechanism 1, the angle adjustment component 5 maintains it in an approximately horizontal state.

[0064] Buoy component B1 moves from position 1 to position 3: When the position of buoy component B1 moves from position 1 to position 2, the angle adjustment component 5 drives buoy component B1 to rotate 60 degrees clockwise; while when moving from position 2 to position 3, the angle adjustment component 5 drives buoy component B1 to rotate counterclockwise until it reaches position 3 and returns to the initial horizontal state.

[0065] Buoy component B1 moves from position 3 to position 5: when moving from position 3 to position 4, the angle adjustment component 5 drives buoy component B1 to rotate 60° counterclockwise; while when moving from position 4 to position 5, the angle adjustment component 5 drives buoy component B1 to rotate clockwise until it reaches position 5 and returns to its initial horizontal state.

[0066] Through the aforementioned angle adjustment actions, the angle adjustment component 5 can accurately simulate the flipping posture of the buoy component B1 when it sinks or floats in seawater, making the simulation effect closer to the real marine environment.

[0067] Step 4: Real-time orientation calibration of buoy component B1;

[0068] Throughout the entire process of the first simulation mechanism 1 driving the carrier 3 in flight, the second simulation mechanism simultaneously performs the following operations:

[0069] The spatial position sensing component 8 collects the current orientation information of the second simulation mechanism on the carrier 3 in real time; based on the collected orientation information, the orientation adjustment component 4 drives the angle adjustment component 5 to rotate, so as to ensure that the buoy component B1 is always in the preset target orientation.

[0070] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of those different embodiments or examples.

[0071] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0072] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process. Furthermore, the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functionality involved.

[0073] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus or device (such as a computer-based system, a processor-included system or other system that can fetch and execute instructions from, an instruction execution system, apparatus or device).

[0074] It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. All or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware, the program being stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiments.

[0075] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. This storage medium can be a read-only memory, a disk, or an optical disk, etc.

[0076] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various variations or substitutions within the technical scope disclosed in this application, and these should all be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A buoy wave direction calibration device simulating a marine environment, characterized in that, include: The first simulation mechanism has flight capabilities; The carrier is suspended below the first simulation mechanism, and the first simulation mechanism, in flight mode, can drive the carrier to simulate wave motion. as well as, A second simulation mechanism is disposed on the carrier, and the second simulation mechanism has a flipping function relative to the carrier to simulate the flipping motion of the buoy component in the marine environment; The second simulation mechanism can dynamically adjust the pitch angle of the buoy component based on the flight altitude changes of the first simulation mechanism.

2. The buoy wave direction calibration device for simulating a marine environment according to claim 1, characterized in that, The carrier includes: A base on which the second simulation mechanism is mounted; The adapter bracket connects the first simulation mechanism to the base.

3. The buoy wave direction calibration device for simulating a marine environment according to claim 2, characterized in that, Also includes: A vibration damping component is provided, wherein the first simulation mechanism is connected to the adapter bracket via the vibration damping component, and is used to counteract the vibration generated by the first simulation mechanism.

4. The buoy wave direction calibration device for simulating a marine environment according to claim 2, characterized in that, The second simulation mechanism includes: An angle adjustment assembly is mounted on the base for flipping on the base. The angle adjustment assembly has a first mounting surface that flips with it and the first mounting surface faces away from the base. A rotation simulation component is mounted on the first mounting surface for rotating on the angle adjustment component.

5. A buoy wave direction calibration device for simulating a marine environment according to claim 4, characterized in that, The rotation simulation component has a second mounting surface that rotates with it, the second mounting surface being opposite to the first mounting surface; The second simulation mechanism also includes: A fixing bracket is disposed on the second mounting surface for fixing the buoy component.

6. A buoy wave direction calibration device for simulating a marine environment according to claim 4, characterized in that, The angle adjustment component includes: A support component has a first end and a second end, the first end being connected to the base; The first rotating component is rotatably connected to the second end via a hinge shaft. The first rotating component is spaced above the base via the support component, and the first mounting surface is disposed on the first rotating component. A first servo motor, the output shaft of which is synchronously connected to the hinge shaft to drive the first rotating component to rotate.

7. A buoy wave direction calibration device for simulating a marine environment according to claim 6, characterized in that, The rotation simulation component includes: The second servo motor is mounted on the first rotating part, and its output shaft is located at the end of the motor housing away from the first rotating part; The second rotating component is synchronously connected to the output shaft of the second servo motor so that the second rotating component can be driven to rotate by the second servo motor. The second rotating component has a second mounting surface on the side opposite to the second servo motor.

8. A buoy wave direction calibration device for simulating a marine environment according to claim 7, characterized in that, Also includes: A leveling component is installed on the second rotating component to assist the second rotating component in adjusting to a horizontal state.

9. A buoy wave direction calibration device for simulating a marine environment according to any one of claims 4 to 8, characterized in that, The second simulation mechanism also includes: A direction adjustment component is provided, wherein the base is connected to the angle adjustment component via the direction adjustment component, so that the angle adjustment component can be adjusted to a target direction via the direction adjustment component; Two spatial position sensing components are disposed on the angle adjustment component and are respectively signal-connected to the angle adjustment component and the direction adjustment component, for real-time detection of the flip angle of the angle adjustment component and its direction.

10. A buoy wave direction calibration device for simulating a marine environment according to claim 9, characterized in that, The orientation adjustment component includes: A third servo motor is mounted on the base, and its output shaft is located at the end of the motor housing away from the base; The third rotating component is synchronously connected to the output shaft of the third servo motor, and the support component of the angle adjustment assembly is connected to the third rotating component; Specifically, based on the offset angle of the angle adjustment component relative to the target direction detected by the two spatial position sensing components, the third servo motor drives the third rotating component to rotate, so as to return the angle adjustment component to the center position.

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