Marine telemetering wave height instrument and wave measurement method

Abstract

The invention discloses an ocean telemetering wave height meter and a wave measurement method, the ocean telemetering wave height meter comprises a wave buoy system and a shipborne measurement and control system, the wave buoy system is provided with a buoy, an acceleration sensing measurement unit and a three-axis holder self-stabilizing device, and the acceleration sensing measurement unit is arranged on the buoy through the three-axis holder self-stabilizing device; the plane where the acceleration sensing and measuring unit is located is always kept perpendicular to the horizontal plane through the three-axis holder self-stabilizing device, the acceleration sensing and measuring unit is used for measuring acceleration signals in the vertical direction of the wave buoy and transmitting the acceleration signals to the shipborne measuring and controlling system, and the shipborne measuring and controlling system is provided with a man-machine interaction interface. And the man-machine interaction interface is used for converting the obtained acceleration signal into displacement through quadratic integration to obtain a characteristic value H1 and a period T1 of the wave buoy and displaying the characteristic value H1 and the period T1. The plane where the accelerometer is located is kept perpendicular to the horizontal plane all the time through the three-axis holder, the principle is simple, implementation is convenient, and marine navigation safety and development and detection of marine resources are further guaranteed.

Description

TECHNICAL FIELD

[0001] The present application relates to a kind of ocean telemetry wave height instrument and wave measurement method, belong to ocean wave condition measurement technical field. BACKGROUND

[0002] Ocean wave data as the most important object of marine environmental monitoring, wave condition especially height, period measurement technology is used in the deepening of wave research with multiple means.In many wave measurement methods, wave buoy is considered to be the most direct and accurate device.

[0003] The existing Chinese patent with publication number CN 100416275C discloses an "acceleration sensor", which fixes the acceleration sensor on the bearing of the balance ring, and the balance ring is located at the center of the sensor outer cavity, and the sensor inner cavity is also kept at the central part of the balance ring, so that the balance ring keeps a balanced free state, and the acceleration sensor always keeps horizontal, and then the wave parameters are calculated according to the motion acceleration of the measuring buoy.

[0004] The Chinese patent with publication number CN 101813476B discloses a "offshore wave parameter three-dimensional real-time monitoring system", which obtains Cartesian coordinates by using a GPS sensor measurement unit, obtains three-direction accelerations by using an acceleration sensor, and uses roll, pitch and yaw sensors to collect three attitude angles, and then transmits the data to a computer on the shore in the form of electromagnetic waves, and obtains the dynamic parameters of the sea waves through complementary correction and statistical processing.

[0005] However, with the increase of the number of uses and the loss of mechanical life, the response speed of the mechanical balance ring type buoy becomes slower and slower, resulting in a decrease in measurement accuracy; the GPS sensor measurement unit and the acceleration sensor measurement unit type buoy convert the acceleration in the vertical direction to secondary integral, which will affect the measurement accuracy, and the post-processing operation is complicated and not convenient for field workers to use.

[0006] Therefore, there is a need in the art to develop a set of ocean telemetry wave height instrument with high precision, reliable performance, fast response speed, simple operation and not affected by mechanical life. SUMMARY

[0007] The technical problem to be solved by the present application is how to provide a set of ocean telemetry wave height instrument with high precision, reliable performance, fast response speed, simple operation and not affected by mechanical life.

[0008] In order to solve the above technical problems and achieve the above technical effects, the present application is realized by the following technical scheme: In a first aspect, the present invention provides an ocean remote wave height meter, comprising a wave buoy system and a shipborne measurement and control system. The wave buoy system includes a buoy, an acceleration sensing measurement unit, and a three-axis gimbal self-stabilizing device. The acceleration sensing measurement unit is placed on the buoy via the three-axis gimbal self-stabilizing device, and the plane on which the acceleration sensing measurement unit is located is always kept perpendicular to the horizontal plane via the three-axis gimbal self-stabilizing device. The acceleration sensing measurement unit is used to measure the vertical acceleration signal of the wave buoy and transmit it to the shipborne measurement and control system. The shipborne measurement and control system has a human-machine interface, which is used to convert the obtained acceleration signal into displacement by double integration to obtain and display the characteristic value H1 and period T1 of the wave buoy.

[0009] Preferably, the three-axis gimbal self-stabilizing device includes a gimbal base, a robotic arm base, a translation axis, a roll axis, a pitch axis, and a self-stabilizing platform. The gimbal base is used to connect the buoy. The robotic arm base is mounted on the gimbal base. The translation axis is mounted on the robotic arm base. The translation axis is powered by a first arm body and connected to the roll axis. The roll axis is powered by a second arm body and connected to the pitch axis. The pitch axis is powered by the self-stabilizing platform. Each of the translation axis, roll axis, and pitch axis is equipped with a gyroscope and an adjustment motor. The acceleration sensing and measurement unit is fixedly connected to the self-stabilizing platform.

[0010] Furthermore, the three-axis gimbal self-stabilization device also includes a self-starting switch, which is installed on the gimbal base and electrically connected to the adjustment motors in the translation axis, roll axis and pitch axis respectively.

[0011] Furthermore, the wave buoy system also includes a sampling module, a control processor, a wireless module, and a power module mounted on the buoy. The sampling module is electrically connected to the control processor and the acceleration sensing measurement unit, respectively. The sampling module is used to collect the vertical acceleration and GPS signals from the acceleration sensing measurement unit and transmit them to the control processor. The wireless module is electrically connected to the control processor and the shipborne measurement and control system, respectively. It is used to perform real-time control and timed acquisition of acceleration signals and positions in the wave buoy system, and transmit the data to the shipborne measurement and control system through the wireless module. The control processor is also electrically connected to the self-starting switch to control and maintain the balance of the acceleration sensing measurement unit. The power module is the overall power supply unit for the wave buoy system.

[0012] Furthermore, the wave buoy system also includes a wind speed and direction module installed on the buoy, which is electrically connected to the sampling module and the power module.

[0013] Furthermore, the wave buoy system also includes a dual-axis inclinometer module mounted on the buoy, which is electrically connected to the sampling module and the power supply module.

[0014] Furthermore, the wave buoy system also includes a GPS module mounted on the buoy. The GPS module is electrically connected to the control processor and is used to measure the instantaneous position of the wave buoy. The GPS module is powered by the power module.

[0015] Furthermore, the shipborne measurement and control system also includes a shipborne controller, a second wireless module, and a second power supply module. The second wireless module is electrically connected to the shipborne controller and the first wireless module, respectively, and is used for data transmission between the wave buoy system and the shipborne measurement and control system and the control system. The shipborne controller is used for data processing and numerical analysis, and performs statistical processing on the information collected by the acceleration sensing measurement unit of the wave buoy to obtain the dynamic parameters of the waves.

[0016] Preferably, the acceleration sensing and measurement unit is an ultra-low frequency accelerometer.

[0017] Secondly, the present invention provides a method for measuring ocean waves, using any of the above-mentioned ocean telemetry wave height instruments to detect wave conditions.

[0018] The marine remote sensing wave height instrument and wave measurement method provided by this invention have the following advantages: This invention utilizes a three-axis gimbal self-stabilizing device to keep the plane of the acceleration sensing measurement unit perpendicular to the horizontal plane at all times. The obtained acceleration signal is converted into displacement by double integration, and the characteristic value H1 and period T1 of the wave buoy are obtained by signal processing software. It has high precision, reliable performance, fast response speed, is not affected by mechanical life, and is simple and easy to implement, and has high engineering practical value. Attached Figure Description

[0019] Figure 1 A structural block diagram of a marine remote wave height meter provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of the three-axis gimbal self-stabilizing device provided in an embodiment of the present invention.

[0020] In the picture: 1-Wave buoy system; 11-Acceleration sensing and measurement unit; 12-Three-axis gimbal self-stabilizing device; 121-Gimbal base; 122-Robotic arm base; 123-Translation axis; 124-Roll axis; 125-Pitch axis; 126-Self-stabilizing platform; 127-Self-starting switch; 13-Sampling module; 14-Control processor; 15-Wireless module one; 16-Power module one; 17-Wind speed and direction module; 18-Dual-axis inclinometer module; 19-GPS module; 2-Shipborne measurement and control system; 21-Human-machine interface; 22-Shipborne controller; 23-Wireless module two; 24-Power module two; 3-Arm body one; 4-Arm body two. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] Reference Figure 1 This application provides a marine remote wave height instrument, including a wave buoy system 1 and a shipborne measurement and control system 2; The wave buoy system 1 includes a buoy, an acceleration sensing and measurement unit 11, and a three-axis gimbal stabilization device 12. The acceleration sensing and measurement unit 11 is placed on the buoy via the three-axis gimbal stabilization device 12. The plane on which the acceleration sensing and measurement unit 11 is located is always kept perpendicular to the horizontal plane via the three-axis gimbal stabilization device 12. The acceleration sensing and measurement unit 11 is used to measure the vertical acceleration signal of the wave buoy and transmit it to the shipborne measurement and control system 2. The shipborne measurement and control system 2 has a human-machine interface 21. The human-machine interface is pre-set with signal processing software to convert the obtained acceleration signal into displacement through a second integral, thereby obtaining the characteristic value H1 and period T1 of the wave buoy and displaying the dynamic parameters. In this embodiment, the acceleration sensing and measurement unit 11 adopts an ultra-low frequency accelerometer.

[0023] Reference Figure 1 and Figure 2The three-axis gimbal self-stabilizing device 12 includes a gimbal base 121, a robotic arm base 122, a translation axis 123, a roll axis 124, a pitch axis 125, and a self-stabilizing platform 126. The gimbal base 121 is used to connect the buoy. The robotic arm base 122 is bolted to the gimbal base 121. The translation axis 123 is mounted on the robotic arm base 122. The translation axis 123 is powered to the roll axis 124 through the first arm 3. The roll axis 124 is powered to the pitch axis 125 through the second arm 4. The pitch axis 125 is powered to the self-stabilizing platform 126. A gyroscope and an adjustment motor are integrated into the translation axis 123, the roll axis 124, and the pitch axis 125. The acceleration sensing and measurement unit 11 is fixedly connected to the self-stabilizing platform 126. In this embodiment, the application of the translation axis 123, the roll axis 124, and the pitch axis 125 with gyroscopes and adjustment motors is existing technology and will not be described in detail.

[0024] Furthermore, the three-axis gimbal self-stabilization device 12 also includes a self-starting switch 127, which is installed on the gimbal base 121 and electrically connected to the adjustment motors in the translation axis 123, roll axis 124 and pitch axis 125 respectively, for intelligent adjustment of the operation of the adjustment motors in the translation axis 123, roll axis 124 and pitch axis 125.

[0025] Reference Figure 1 The wave buoy system 1 also includes a sampling module 13, a control processor 14, a wireless module 15, and a power module 16 installed on the buoy; The sampling module 13 is electrically connected to the control processor 14 and the acceleration sensing measurement unit 11, respectively. The sampling module 13 is used to collect the vertical acceleration and GPS signals of the acceleration sensing measurement unit 11 and transmit them to the control processor 14. The wireless module 15 is electrically connected to the control processor 14 and the shipborne measurement and control system 2, respectively. It is used to perform real-time control and timed acquisition of acceleration signals and positions in the wave buoy system 1, and transmit the data to the shipborne measurement and control system 2 through the wireless module 15. The control processor 14 is also electrically connected to the self-starting switch 127 to control and maintain the balance of the acceleration sensing measurement unit 11. The power supply module 16 is the overall power supply unit for the wave buoy system 1.

[0026] Specifically, when the buoy is in the waves, the gyroscopes of the translation axis 123, roll axis 124 and pitch axis 125 will sense the attitude changes of the acceleration sensing measurement unit 11 in real time and transmit them to the control processor 14. The control chip feeds back control signals through the control algorithm and sends them to the self-starting switch 127 to control the movement of the adjustment motors in the pitch, roll and translation axes 123 to compensate for the balance of the self-stabilizing platform 126.

[0027] Reference Figure 1In a further embodiment, the wave buoy system 1 also includes a wind speed and direction module 17, a dual-axis inclinometer module 18, and a GPS module 19 installed on the buoy. The wind speed and direction module 17 and the dual-axis inclinometer module 18 are electrically connected to the sampling module 13 and the power supply module 16, used to monitor real-time wind speed, wind direction, pitch, and roll data at the wave location of the buoy. The GPS module 19 is electrically connected to the control processor 14 to measure the instantaneous position of the wave buoy, i.e., its heading and position data. It can also quickly locate the buoy's position after the test. The GPS module 19 is powered by the power supply module 16. In this embodiment, the application of the wind speed and direction module 17, the dual-axis inclinometer module 18, and the GPS module 19 is prior art and will not be described in detail.

[0028] Reference Figure 1 The shipborne measurement and control system 2 also includes a shipborne controller 22, a second wireless module 23, and a second power supply module 24. The second wireless module 23 is electrically connected to the shipborne controller 22 and the first wireless module 15, respectively, and is used to transmit the vertical acceleration, pitch, roll, heading, and position (latitude and longitude) data of the wave buoy measured by the wave buoy system 1 to the shipborne controller 22 of the shipborne measurement and control system 2 via wireless transmission. The shipborne controller 22 is used for data processing and numerical analysis, and performs statistical processing on the information collected by the acceleration sensing measurement unit 11 of the wave buoy to obtain the dynamic parameters of the sea waves.

[0029] This invention provides a method for measuring ocean waves. Wave conditions are detected using any of the aforementioned ocean telemetry wave height meters. A three-axis gimbal stabilizer 12 and an acceleration sensor measurement unit 11 are placed within the same wave buoy. The three-axis gimbal stabilizer 12 ensures that the plane containing the acceleration sensor measurement unit 11 remains perpendicular to the horizontal plane. An ultra-low frequency accelerometer is used to measure the vertical acceleration of the wave buoy. The obtained acceleration signal is converted into displacement through a second integral, and the characteristic value H1 and period T1 of the wave buoy are obtained by signal processing software. A GPS module 19 is used to measure the instantaneous position of the wave buoy, enabling rapid location of the buoy's position after the experiment.

[0030] The principle is simple and clear, and it is easy to implement. It provides a necessary means and reliable guarantee for the monitoring of the marine environment, and further ensures the safety of maritime navigation and the exploration and development of marine resources.

[0031] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any form or substance. It should be noted that those skilled in the art can make various improvements and additions without departing from the present invention, and these improvements and additions should also be considered within the scope of protection of the present invention. Any modifications, alterations, and equivalent changes made by those skilled in the art based on the above-disclosed technical content without departing from the spirit and scope of the present invention are equivalent embodiments of the present invention. Furthermore, any modifications, alterations, and evolutions made to the above embodiments based on the essential technology of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A marine remote wave height meter, characterized in that, The system includes a wave buoy system and a shipborne measurement and control system. The wave buoy system has a buoy, an acceleration sensing and measurement unit, and a three-axis gimbal stabilization device. The acceleration sensing and measurement unit is placed on the buoy through the three-axis gimbal stabilization device. The plane on which the acceleration sensing and measurement unit is located is always kept perpendicular to the horizontal plane through the three-axis gimbal stabilization device. The acceleration sensing and measurement unit is used to measure the vertical acceleration signal of the wave buoy and transmit it to the shipborne measurement and control system. The shipborne measurement and control system has a human-machine interface. The human-machine interface is used to convert the obtained acceleration signal into displacement by double integration to obtain the characteristic value H1 and period T1 of the wave buoy and display them.

2. The marine remote wave height instrument as described in claim 1, characterized in that, The three-axis gimbal self-stabilizing device includes a gimbal base, a robotic arm base, a translation axis, a roll axis, a pitch axis, and a self-stabilizing platform. The gimbal base is used to connect the buoy. The robotic arm base is mounted on the gimbal base. The translation axis is mounted on the robotic arm base. The translation axis is powered by the first arm body and connected to the roll axis. The roll axis is powered by the second arm body and connected to the pitch axis. The pitch axis is powered by the self-stabilizing platform. Each of the translation axis, roll axis, and pitch axis is equipped with a gyroscope and an adjustment motor. The acceleration sensing and measurement unit is fixedly connected to the self-stabilizing platform.

3. The marine remote wave height instrument as described in claim 2, characterized in that, The three-axis gimbal self-stabilization device also includes a self-starting switch, which is installed on the gimbal base and electrically connected to the adjustment motors in the translation axis, roll axis and pitch axis respectively.

4. The marine remote wave height instrument as described in claim 3, characterized in that, The wave buoy system also includes a sampling module, a control processor, a wireless module, and a power module mounted on the buoy. The sampling module is electrically connected to the control processor and the acceleration sensing measurement unit, respectively. The sampling module is used to collect the vertical acceleration and GPS signals from the acceleration sensing measurement unit and transmit them to the control processor. The wireless module is electrically connected to the control processor and the shipborne measurement and control system, respectively. It is used to perform real-time control and timed acquisition of acceleration signals and positions in the wave buoy system, and transmit the data to the shipborne measurement and control system through the wireless module. The control processor is also electrically connected to the self-starting switch to control and maintain the balance of the acceleration sensing measurement unit. The power module is the overall power supply unit for the wave buoy system.

5. The marine remote wave height instrument as described in claim 4, characterized in that, The wave buoy system also includes a wind speed and direction module installed on the buoy, which is electrically connected to the sampling module and the power supply module.

6. The marine remote wave height instrument as described in claim 4, characterized in that, The wave buoy system also includes a dual-axis inclinometer module mounted on the buoy, which is electrically connected to the sampling module and the power supply module.

7. The marine remote wave height instrument as described in claim 4, characterized in that, The wave buoy system also includes a GPS module installed on the buoy. The GPS module is electrically connected to the control processor and is used to measure the instantaneous position of the wave buoy. The GPS module is powered by the power module.

8. The marine remote wave height instrument as described in claim 4, characterized in that, The shipborne measurement and control system also includes a shipborne controller, a second wireless module, and a second power supply module. The second wireless module is electrically connected to the shipborne controller and the first wireless module, respectively, and is used for data transmission between the wave buoy system and the shipborne measurement and control system and the control system. The shipborne controller is used for data processing and numerical analysis, and performs statistical processing on the information collected by the acceleration sensing measurement unit of the wave buoy to obtain the dynamic parameters of the waves.

9. The marine remote wave height instrument as described in any one of claims 1-8, characterized in that, The acceleration sensing and measurement unit is an ultra-low frequency accelerometer.

10. A method for measuring ocean waves, characterized in that, Wave condition detection is performed using a marine telemetry wave height instrument as described in any one of claims 1-8.

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