An underwater reciprocating observation platform with throw-off type buoyancy adjustment

Abstract

The application discloses a kind of underwater reciprocating observation platforms of throw load type buoyancy adjustment, belong to underwater survey technical field, comprising: shell, with located upper float block cabin and located lower weight block cabin;Float block cabin, multiple float blocks with throw load are provided in it;Weight block cabin, multiple weight blocks with throw load are provided in it;Throw load device, with driving device, linkage structure can be moved up and down under the drive of the driving device, and for throw load float block float block throw load structure and for throw load weight block weight block throw load structure;The linkage structure is connected between block throw load structure and weight block throw load structure, drives the float block throw load structure and weight block throw load structure action, realize the weight and float block are alternately thrown out.The equipment floats and sinks by the throw load of float block and weight block, break oil consumption oil bottleneck, realize lightweight and long endurance.After float block and weight block throw load, directly separate from equipment, will not cause additional load, the volume and weight of equipment can be accurately controlled.

Description

Technical Field

[0001] This invention belongs to the field of underwater surveying technology, specifically relating to an underwater reciprocating observation platform with jettisoned buoyancy adjustment. Background Technology

[0002] Underwater cableless observation platforms are core equipment for conducting marine environmental profiling, hydrological parameter monitoring, and resource exploration. Their power drive directly determines the observation duration, operating depth, and endurance. Currently, there are two main technical solutions for achieving reciprocating motion of underwater cableless observation platforms for profiling:

[0003] The first method uses propellers to control the ascent, descent, and movement of the mobile observation platform. While this propeller-controlled method allows for precise three-dimensional positioning control, it cannot meet the needs of long-term profile observation. Each propeller movement relies on battery power, requiring more batteries to extend the range. However, batteries have inherent limitations in pressure and corrosion resistance, necessitating the use of pressure-resistant and corrosion-resistant sealed metal chambers for protection. The addition of batteries and chambers leads to a non-linear increase in the overall weight of the equipment. To maintain zero buoyancy, additional buoyancy materials are needed to offset the weight increase, which in turn significantly increases the equipment's size, further exacerbating water resistance during movement. To overcome water resistance and maintain speed, battery capacity must be further increased, creating a vicious cycle of "increased battery weight - increased buoyancy materials - increased size - increased water resistance - further increased battery demand," ultimately leading to the typical "fuel consumption bottleneck" in the aircraft industry.

[0004] The second method involves controlling the buoyancy of the observation platform by changing the volume of the oil bladder. This is currently the mainstream technology for long-term profiling platforms and is widely used in equipment such as Argos buoys and underwater gliders. The principle is that through the coordinated action of air pumps and oil pumps, oil from the internal oil bladder is pumped into the external oil bladder, increasing the displaced volume and thus increasing buoyancy, allowing the platform to rise. Conversely, oil from the external oil bladder is pumped back into the internal oil bladder, reducing the displaced volume and thus decreasing buoyancy, allowing the platform to descend. Once the oil bladder volume is adjusted, the drive system can stop operating, and the platform naturally floats and sinks due to the buoyancy difference, significantly reducing energy consumption compared to propeller-driven systems. However, this method still does not overcome the "oil-to-oil" bottleneck. The weight and volume of the oil bladder, air pump, and oil pump increase with operational demands, leading to a vicious cycle of increased equipment load and energy consumption. Meanwhile, the solution faces technical challenges under ultra-high pressure conditions. The underwater pressure increases linearly with the increase of the observed water depth, which puts forward an exponential increase in the external discharge pressure of the air pump and oil pump. This not only significantly increases the design and manufacturing cost of the equipment, but also significantly reduces the reliability of deep-water operations and limits the maximum operating water depth of the equipment.

[0005] The information disclosed in this background section is only intended to enhance the understanding of the background technology of this application, and therefore may include prior art that is not known to those skilled in the art. Summary of the Invention

[0006] To address the aforementioned problems in the prior art, this invention proposes a jettison-type buoyancy-adjustable underwater reciprocating observation platform. Alternating jettison enables reciprocating profile observation, improving observation efficiency and data integrity. By alternately jettisoning buoys and weights to provide buoyancy and sinking power, it breaks through the fuel consumption bottleneck and achieves lightweight design and long endurance.

[0007] To achieve the above-mentioned objectives, the present invention employs the following technical solution:

[0008] A jettison-type buoyancy-adjustable underwater reciprocating observation platform includes:

[0009] The outer shell has a floating block compartment at the top and a heavy block compartment at the bottom;

[0010] The float compartment contains multiple buoys that can be jettisoned and has an upper opening for jettisoning the buoys;

[0011] The heavy block compartment contains multiple heavy blocks that can be jettisoned and has a lower opening for jettisoning the heavy blocks.

[0012] A throwing device, comprising a driving device, a linkage structure that can move up and down under the drive of the driving device, a float throwing structure for throwing floats and a heavy block throwing structure for throwing heavy blocks.

[0013] The linkage structure connects the block throwing structure and the heavy block throwing structure, driving the floating block throwing structure and the heavy block throwing structure to move, so that the heavy block and the floating block are thrown out alternately.

[0014] In some embodiments of this application, the linkage structure moves upward or downward, causing the float throwing structure and the heavy block throwing structure to move simultaneously, so that the float or heavy block is thrown out; by alternately throwing out multiple heavy blocks and floats, the gravity and buoyancy of the underwater reciprocating observation platform are changed, so as to achieve reciprocating diving and surfacing.

[0015] In some embodiments of this application, the float release structure is located at the upper end of the float compartment and is used to lock or unlock the uppermost float in the float compartment; the heavy block release structure is located at the lower end of the heavy block compartment and is used to lock or unlock the lowermost float in the heavy block compartment.

[0016] In some embodiments of this application, the uppermost float in the float compartment has a first upper locked state and a second upper locked state locked by the float throwing structure, as well as an upper throwing state that is unlocked; the lowermost heavy block in the heavy block compartment has a first lower locked state and a second lower locked state locked by the heavy block throwing structure, as well as a lower throwing state that is unlocked; when the linkage structure moves up and down, it drives the float throwing structure and the heavy block throwing structure to move simultaneously, so as to realize the alternating throwing of the heavy block and the float.

[0017] In some embodiments of this application, the float throwing structure has a first locking post and a second locking post that can be retracted and locked to the float. The second locking post and the first locking post are spaced apart vertically and retract alternately. The float has a first upper locked state locked by the first locking post and a second upper locked state locked by the second locking post.

[0018] In some embodiments of this application, the up-and-down movement of the linkage structure can drive the alternating extension and retraction of the first locking pin and the second locking pin; when the second locking pin retracts, the first locking pin extends, and the uppermost float in the float chamber is unlocked and thrown upward; the next float becomes the uppermost float in the float chamber and is locked by the first locking pin in the first locked state.

[0019] In some embodiments of this application, a radially protruding float locking protrusion is provided on the float, and the float locking protrusion cooperates with the first upper locking post and the second upper locking post to lock the float.

[0020] In some embodiments of this application, the float throwing structure further includes an upper mounting base and an upper hinge plate hinged to the upper mounting base. The first upper locking pin and the second upper locking pin are radially extendable and retractable on the upper mounting base. The up-and-down movement of the linkage structure can drive the upper hinge plate to swing, and the swing of the upper hinge plate can drive the alternating extension and retraction of the first upper locking pin and the second upper locking pin.

[0021] In some embodiments of this application, the upper hinge plate has a first upper pushing claw extending downward for pushing the first upper locking pin to extend and retract, and a second upper pushing claw extending upward for pushing the second upper locking pin to extend and retract. The upper hinge plate is provided with two upper hinge portions disposed inside and outside and respectively hinged to the upper mounting base and the linkage structure.

[0022] In some embodiments of this application, a first upper pushing groove is provided on the first upper pushing claw, and a first upper pushing rod is provided on the first upper locking pin within the first upper pushing groove, the first upper pushing rod being movably located within the first upper pushing groove; a second upper pushing groove is provided on the second upper pushing claw, and a second upper pushing rod is provided on the second upper locking pin within the second upper pushing groove, the second upper pushing rod being movably located within the second upper pushing groove.

[0023] In some embodiments of this application, the first upper locking pin, the second upper locking pin, and the upper hinge plate are matched to form an upper locking assembly. Multiple upper locking assemblies are provided in the circumferential direction of the upper mounting base, and the floating block locking protrusion is arranged in a circumferential ring.

[0024] In some embodiments of this application, the weight-throwing structure has a first lower locking post and a second lower locking post that can be retracted and locked to the weight. The first lower locking post and the second lower locking post are spaced apart vertically and retract alternately. The weight has a first lower locking state locked by the first lower locking post and a second lower locking state locked by the second lower locking post.

[0025] In some embodiments of this application, the up-and-down movement of the linkage structure can drive the alternating extension and retraction of the first lower locking column and the second lower locking column; when the second lower locking column retracts, the first lower locking column extends, and the lowest weight in the weight compartment is unlocked and thrown downwards; the next weight becomes the lowest weight in the weight compartment and is locked by the first lower locking column in the first lower locking state.

[0026] In some embodiments of this application, a radially protruding weight locking protrusion is provided on the weight block, and the weight locking protrusion cooperates with the first lower locking post and the second lower locking post to lock the weight block.

[0027] In some embodiments of this application, the heavy block throwing structure further includes a lower mounting base and a lower hinge plate hinged to the lower mounting base. The first lower locking pin and the second lower locking pin are radially extendable and retractable on the lower mounting base. The linkage structure can drive the swing of the lower hinge plate, and the lower hinge plate can push the first lower locking pin and the second lower locking pin to extend and retract alternately.

[0028] In some embodiments of this application, the lower hinge plate has a first lower pushing claw extending upward for pushing the first upper locking pin to extend and retract, and a second lower pushing claw extending downward for pushing the second lower locking pin to extend and retract. The lower hinge plate is provided with two lower hinge portions disposed inside and outside and respectively hinged to the lower mounting base and the linkage structure.

[0029] In some embodiments of this application, the first lower pushing claw has a first lower pushing groove, and the first lower locking pin has a first lower pushing rod located within the first lower pushing groove, the first lower pushing rod being movably located within the first lower pushing groove. The second lower pushing claw has a second lower pushing groove, and the second lower locking pin has a second lower pushing rod located within the second lower pushing groove, the second lower pushing rod being movably located within the second lower pushing groove.

[0030] In some embodiments of this application, the first lower locking pin, the second lower locking pin, and the lower hinge plate are matched to form a lower locking assembly. Multiple lower locking assemblies are provided in the circumferential direction of the lower mounting base, and the weight locking protrusion is arranged in a circumferential ring.

[0031] In some embodiments of this application, the linkage structure has a lower linkage plate located above the heavy block compartment, an upper linkage plate located below the float compartment, a linkage rod connecting the upper and lower linkage plates, a lower connecting rod connecting the lower linkage plate and the heavy block throwing structure, and an upper connecting part connecting the upper linkage plate and the float throwing structure.

[0032] In some embodiments of this application, the upper connecting part has a connecting cylinder that is fitted with the float chamber and an upper connecting rod fixed to the upper part of the connecting cylinder, the upper connecting rod being connected to the float throwing structure.

[0033] In some embodiments of this application, an electronic compartment is provided in the middle of the outer shell, the drive device is located inside the electronic compartment, and a transmission structure is provided between the drive device and the linkage structure. The transmission structure has a transmission rod that extends out of the electronic compartment and is fixed to the linkage structure.

[0034] In some embodiments of this application, the transmission structure further includes a transmission plate hinged within the electronic compartment, one end of the transmission plate being connected to the drive device, the other end of the transmission plate being hinged within the electronic compartment, and a first sliding hole connected to the transmission rod being formed on the transmission plate.

[0035] In some embodiments of this application, the driving device drives the transmission plate to rotate and move, the transmission plate drives the transmission rod to move up and down, thereby driving the linkage structure to move up and down.

[0036] In some embodiments of this application, the lower linkage plate is movable up and down between the electronic compartment and the heavy block compartment, and the upper linkage plate is movable up and down between the electronic compartment and the floating block compartment.

[0037] Compared with existing technologies, the advantages and positive effects of this invention are as follows: the floating and sinking of the equipment is achieved through the jetting of buoys and weights, breaking the bottleneck of fuel consumption and achieving lightweight design and long endurance. After jettisoning, the buoys and weights detach directly from the equipment, without creating additional load, allowing for precise control of the equipment's size and weight, significantly improving lightweight design. The working principle and reliability of the jetting device are unaffected by water pressure, easily adapting to the needs of ultra-deepwater profiling observation and greatly expanding the equipment's operating depth range. The jettison device achieves alternating jetting of buoys and weights through a linkage structure: when jettisoning a weight, the equipment's weight decreases, buoyancy exceeds gravity, and it naturally floats up to complete the ascending section profiling observation; when jettisoning a buoy, the equipment's weight increases, gravity exceeds buoyancy, and it naturally dives down to complete the diving section profiling observation. This design enables the equipment to float and sink multiple times within a specified water depth range without additional power intervention, significantly improving the frequency and efficiency of profiling observation.

[0038] Other features and advantages of the present invention will become clearer after reading the detailed embodiments of the invention in conjunction with the accompanying drawings. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0040] Figure 1 This is a schematic diagram of the structure of an embodiment of a jettison-type buoyancy-adjustable underwater reciprocating observation platform proposed in this invention;

[0041] Figure 2 for Figure 1 A schematic diagram of the structure after removing the outer shell;

[0042] Figure 3 for Figure 2 Enlarged structural diagram of region A in the middle;

[0043] Figure 4 for Figure 3 Exploded structural diagram of a medium-heavy block ejection structure;

[0044] Figure 5 for Figure 2 A schematic diagram of the structure after the middle section has been removed;

[0045] Figure 6 for Figure 5 A magnified structural diagram of region B in the middle;

[0046] Figure 7 for Figure 6A partial exploded structural diagram of the mid-buoy jettisoning structure;

[0047] Figure 8 for Figure 1 A cross-sectional structural diagram;

[0048] Figure 9 for Figure 8 A magnified structural diagram of region C in the middle;

[0049] Figure 10 for Figure 9 A magnified structural diagram of region E in the middle;

[0050] Figure 11 for Figure 10 A schematic diagram of the structure in another state after the upper and middle hinge plates swing;

[0051] Figure 12 for Figure 8 A magnified structural diagram of region D in the middle;

[0052] Figure 13 for Figure 12 A magnified structural diagram of region F in the middle;

[0053] Figure 14 for Figure 13 A schematic diagram of the structure in another state after the lower hinge plate swings;

[0054] Figure 15 for Figure 1 Another cross-sectional view of the structure;

[0055] Figure 16 for Figure 15 A magnified structural diagram of the G region;

[0056] Figure 17 This is a flowchart of the first embodiment of a control method for an underwater reciprocating observation platform with jettisoned buoyancy adjustment proposed in this invention;

[0057] Figure 18 This is a flowchart of a second embodiment of the control method for an underwater reciprocating observation platform with jettisoned buoyancy adjustment proposed in this invention;

[0058] Among them, there is a 100-unit underwater reciprocating observation platform;

[0059] 10. Outer shell; 11. Tray;

[0060] Float compartment 20; Float 21; Float locking protrusion 211; Sealing conduit 25;

[0061] Heavy block compartment 30; Heavy block 31; Heavy block locking convex 311;

[0062] Electronic cabin 40;

[0063] Drive unit 51;

[0064] Linkage structure 52; upper linkage plate 521; lower plate 522; linkage rod 523; lower connecting rod 524; upper connecting part 525; connecting cylinder 5251; upper connecting rod 5252;

[0065] Transmission structure 53; transmission plate 531; transmission rod 532;

[0066] Float release structure 60; First upper locking pin 61; First upper push rod 611; First upper clearance groove 612; Second upper locking pin 62; Second upper push rod 621; Second upper clearance groove 622; Upper hinge plate 63; First upper push claw 631; Second upper push claw 632; First upper push groove 633; ​​Second upper push groove 634; Upper mounting base 64;

[0067] Heavy block throwing structure 70; first lower locking pin 71; first lower pushing rod 711; second lower locking pin 72; second lower pushing rod 721; lower hinge plate 73; first lower pushing claw 731; second lower pushing claw 732; first lower pushing groove 733; second lower pushing groove 734; lower mounting base 74;

[0068] Communication antenna 81; positioning antenna 82; sensor 83; protective cover 84. Detailed Implementation

[0069] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.

[0070] In the description of this invention, it should be noted that the terms "upper," "lower," "left," and "right," etc., indicate the orientation or positional relationship based on the positional relationship shown in the accompanying drawings, with the direction closer to the axis being "inner" and the opposite being "outer." These terms are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation; therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance; features defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0071] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0072] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0073] See Figures 1-18 This is an embodiment of a jettison-type buoyancy-adjustable underwater reciprocating observation platform proposed in this invention. The jettison-type buoyancy-adjustable underwater reciprocating observation platform 100 includes: an outer shell 10, a float chamber 20, a weight chamber 30, an electronics chamber 40, and a jettisoning device. The outer shell 10 contains the upper float chamber 20, the lower weight chamber 30, and the middle electronics chamber 40. The float chamber 20 contains multiple jettisonable floats 21 and has an upper opening for jettisoning the floats 21. The weight chamber 30 contains multiple jettisonable weights 31 and has a lower opening for jettisoning the weights. The jettisoning device includes a drive device 51, a linkage structure 52 that can move up and down under the drive of the drive device 51, a float jettisoning structure 60 for jettisoning the floats 21, and a weight jettisoning structure 70 for jettisoning the weights 31. The linkage structure 52 is connected between the float throwing structure 60 and the heavy block throwing structure 70. The linkage structure 52 drives the float throwing structure 60 and the heavy block throwing structure 70 to move, so that the heavy block 31 and the float 21 are thrown out alternately.

[0074] In this embodiment, the device's buoyancy and sinking are achieved through the jettisoning of float 21 and weight 31, breaking through the fuel consumption bottleneck and achieving lightweight design and long endurance. Float 21 and weight 31 are modularly designed, detaching directly from the device after jettisoning without incurring additional load. The device's size and weight can be precisely controlled, significantly improving lightweight design. The working principle and reliability of the jettisoning device are unaffected by water pressure, easily adapting to ultra-deepwater profiling requirements and greatly expanding the device's operating depth range. The jettisoning device uses a linkage structure 52 to achieve alternating jettisoning of float 21 and weight 31: when jettisoning weight 31, the device's weight decreases, buoyancy exceeds gravity, and it naturally rises to complete the ascending section profiling observation; when jettisoning float 21, the device's weight increases, gravity exceeds buoyancy, and it naturally dives to complete the diving section profiling observation. This design allows for multiple, reciprocating buoyancy and sinking of the device within a specified water depth range without additional power intervention, significantly improving the frequency and efficiency of profiling observations.

[0075] In some embodiments of this application, the outer shell 10 is cylindrical, and inside the outer shell 10, from top to bottom, are coaxially arranged float compartment 20, electronics compartment 40, and weight compartment 30. Therefore, whether the weight 31 or the float 21 is jettisoned, the center of gravity will not shift vertically after jettisoning, preventing eccentricity and thus avoiding tilting or overturning. The attitude is more stable, thereby avoiding a series of problems caused by tilting or overturning. In order to minimize the impact of the float 21 and weight 31 on the center of gravity and buoyancy of the observation platform after jettisoning, the float and weight should be installed on the central axis of the observation platform and have a symmetrical structure, ensuring the stability of the axial center of gravity and buoyancy position after jettisoning.

[0076] In some embodiments of this application, the drive device 51 pushes the linkage structure 52 to move upward or downward, causing the float release structure and the heavy block release structure to move simultaneously, so that the float 21 or the heavy block 31 is released; the up and down movement of the linkage structure 52 causes the float 21 and the heavy block 31 to be released alternately. By alternately releasing the heavy block 31 and the float 21, the gravity and buoyancy of the observation platform 100 are changed, realizing reciprocating diving and surfacing. The linkage structure 51 can synchronously trigger the movement of the float release structure 60 and the heavy block release structure 70 by moving in a single upward / downward direction, making the stroke controllable and precisely matching the release rhythm of the float 21 and the heavy block 31, ensuring that only a preset number of floats or heavy blocks are released each time, and ensuring the stability of the diving / surfacing speed. Preferably, one float 21 or one heavy block 31 is released each time, and the float 21 and the heavy block 31 should be matched in pairs. Each action of the linkage structure 52 relies solely on the unidirectional thrust of the drive device 51, eliminating the need for complex reversing or reciprocating drive mechanisms and significantly reducing power consumption. Furthermore, once the ballast jettisoning action is completed, the drive device 51 can cease operation, allowing the observation platform 100 to float and sink naturally under gravity or buoyancy, without requiring continuous power supply.

[0077] In some embodiments of this application, the downward movement of the linkage structure 52 can be configured to release either a heavy block 31 or a floating block 21; similarly, the upward movement of the linkage structure 52 can also be configured to release either a heavy block 31 or a floating block 21. Preferably, when the linkage structure 52 moves downward, the floating block release structure 60 and the heavy block release structure 70 operate simultaneously, releasing a heavy block 31. When the equipment's weight is greater than its buoyancy, the observation platform 100 autonomously descends and completes the descent section profile observation. When the linkage structure 52 moves upward, the floating block release structure 60 and the heavy block release structure 70 operate simultaneously, releasing a floating block 21. When the equipment's buoyancy is greater than its weight, the observation platform 100 autonomously ascends and completes the ascent section profile observation. By repeatedly and alternately releasing multiple heavy blocks 31 and floating blocks 21, the equipment can repeatedly rise and fall, completing multiple rounds of profile data acquisition without the need for equipment retrieval. The linkage structure 52 significantly simplifies the internal structure of the equipment, reducing the number of parts and the overall volume.

[0078] In some embodiments of this application, the float release structure 60 is located at the upper end of the float chamber 20, used to lock or unlock the uppermost float in the float chamber 20. Other floats in the float chamber 20 are stacked and blocked by the uppermost float. When releasing the float, the uppermost float 21 is released, and the lower floats 21 will automatically rise to fill the gap under the action of buoyancy, ensuring that the floats are released one by one / group by group in a preset order, avoiding sudden changes in buoyancy caused by multiple floats falling off at the same time, and achieving stable and controllable ascent speed of the equipment; at the same time, by controlling the number of floats released in a single release, the buoyancy increment can be precisely adjusted to adapt to the ascent requirements of different water depths. The heavy block release structure 70 is located at the lower end of the heavy block chamber 30, used to lock or unlock the lowermost float in the heavy block chamber 30; ensuring that the heavy blocks 31 are released in an orderly manner, achieving a smooth decrease in the weight of the equipment, and preventing sudden changes in gravity from causing uncontrolled descent speed.

[0079] In some embodiments of this application, the uppermost float 21 in the float compartment 20 has a first upper locked state and a second upper locked state locked by the float throwing structure 60, as well as an unlocked upper throwing state; the lowermost heavy block 31 in the heavy block compartment 30 has a first lower locked state and a second lower locked state locked by the heavy block throwing structure 70, as well as an unlocked lower throwing state. Each time the linkage structure 52 is activated, the state of the float 21 changes once. By setting both the float and the heavy block to have two locked states, and by setting the float and the heavy block to be in different locked states, the linkage structure 52 can move vertically, causing the float throwing structure 60 and the heavy block throwing structure 70 to move simultaneously, thus achieving the alternating throwing of the heavy block 21 and the float 31. By setting the initial locking states of the float 21 and the weight 31 (e.g., the float is in the second upper locking state and the weight is in the first lower locking state), each time the linkage structure 52 completes an upward or downward movement, it triggers a state switch between the two throwing structures. This ensures that either the float changes from locked to thrown, or the weight changes from locked to thrown, preventing the simultaneous throwing of the float and weight. It also achieves the alternating throwing of the float and weight. The drive device 51 only needs to be powered on when driving the linkage structure 52 to move, and can be powered off after one upward or downward movement. Preferably, the linkage structure 52 moves downward to throw the float 21, and moves upward to throw the weight 31.

[0080] In some embodiments of this application, the float release structure 60 has a first locking post 61 and a second locking post 62 that are retractable and lockable to the float 21. The second locking post 62 and the first locking post 61 are spaced apart vertically, and the first locking post 61 and the second locking post 62 alternately extend and retract under the vertical movement of the linkage structure 52. The float 21 has a first locked state locked by the first locking post 61, a second locked state locked by the second locking post 62, and a released release state.

[0081] In some embodiments of this application, the uppermost float 21 in the float chamber is in a second upper locked state. When the second upper locking pin 62 retracts, the first upper locking pin 61 extends, and the float 21 is released and thrown upwards. The next float becomes the uppermost float in the float chamber 20 and is locked in the first upper locked state by the first upper locking pin 61. A radially protruding float locking protrusion 211 is provided on the float 21. The float locking protrusion 211 cooperates with the first upper locking pin 61 and the second upper locking pin 62 to lock the float 21. The release of floats 21 does not require an additional positioning mechanism, ensuring orderly release of floats one by one.

[0082] In some embodiments of this application, to achieve the alternating extension and retraction of the first locking pin 61 and the second locking pin 62, the float release structure 60 further includes an upper mounting base 64 and an upper hinge plate 63 hinged to the upper mounting base 64. The first locking pin 61 and the second locking pin 62 are radially extendable and retractable on the upper mounting base 64. The up-and-down movement of the linkage structure 52 can drive the upper hinge plate 63 to swing in the inward and outward directions. The swing of the upper hinge plate 63 can drive the alternating extension and retraction of the first locking pin 61 and the second locking pin 62. The float release structure 60 adopts a purely mechanical hinge and extension linkage method, which is not affected by underwater electromagnetic interference, hydraulic / pneumatic leakage, etc. It has stronger adaptability to harsh environments such as salt spray, high pressure, and low temperature, lower maintenance costs, and fewer failure points.

[0083] In some embodiments of this application, the upper hinge plate 63 has a first upper pushing claw 631 extending downward for pushing the first upper locking pin 61 to extend and retract, and a second upper pushing claw 632 extending upward for pushing the second upper locking pin 62 to extend and retract. The upper hinge plate 63 is provided with two upper hinge parts arranged inside and outside, and the two upper hinge parts are respectively hinged to the upper mounting base 64 and the linkage structure 52. The upper hinge plate 53 forms a stable lever-type transmission structure, and the up and down movement of the linkage structure 52 is converted into the inward and outward swing of the upper hinge plate 53 without any extra displacement loss.

[0084] In some embodiments of this application, a first upper pushing groove 633 is formed on the first upper pushing claw 631, and a first upper pushing rod 611 is provided on the first upper locking pin 61 within the first upper pushing groove 633, the first upper pushing rod 611 being movably located within the first upper pushing groove 633. A second upper pushing groove 634 is formed on the second upper pushing claw 632, and a second upper pushing rod 621 is provided on the second upper locking pin 62 within the second upper pushing groove 634, the second upper pushing rod 621 being movably located within the second upper pushing groove 634. When the upper hinge plate 63 swings in and out, the first upper pushing claw 631 and the second upper pushing claw 632 move outward or inward, thereby pushing the first upper pushing groove 633 and the second upper pushing rod 621 to move radially outward or inward, realizing the alternating extension and retraction of the first upper locking pin 61 and the second upper locking pin 62. The push groove is directly opened on the push claw, and the push rod is integrated into the end of the upper locking column. It is an integrated structural design that eliminates the need for additional transmission components such as connecting rods and sliders, greatly simplifying the overall layout of the float throwing structure 60.

[0085] In some embodiments of this application, a first upper clearance groove 612 is provided on the first locking pin 61, a first upper pushing claw 631 extends into the first upper clearance groove 612, and a first upper pushing rod 611 is fixedly disposed within the first upper clearance groove 612. A second upper clearance groove 622 is provided on the second locking pin 62, a second upper pushing claw 632 extends into the second upper clearance groove 622, and a second upper pushing rod 621 is fixedly disposed within the second upper clearance groove 622. The two upper pushing claws extend directly into the clearance grooves of the two locking pins, making the float throwing structure 60 compact, avoiding space waste caused by protruding components; and ensuring high transmission accuracy.

[0086] In other embodiments of this application, the first upper pushing claw 631 pushing the first upper locking pin 61 to extend and retract can be configured with various other mating structures: for example, the first upper pushing claw 631 can be configured to push the inner wall of the first upper clearance groove 612 to achieve the extension and retraction of the first upper locking pin 61; or a first upper pushing rod extending outward is provided on the first upper locking pin 61, and a first upper pushing groove is provided on the first upper locking pin 61 to achieve the pushing of the first upper pushing rod by the first upper pushing groove. Similarly, various mating structures can also be provided between the second upper pushing claw 632 and the second upper locking pin 62.

[0087] In some embodiments of this application, the first locking pin 61, the second locking pin 62 and the upper hinge plate 63 are matched to form an upper locking assembly. Multiple upper locking assemblies are provided in the circumferential direction of the upper mounting base 64. The float locking protrusion 211 is arranged in a circumferential ring to ensure the locking stability of the float 21.

[0088] In some embodiments of this application, the weight-throwing structure 70 has a first lower locking post 71 and a second lower locking post 72 that are retractable and lockable to the weight 31. The first lower locking post 71 and the second lower locking post 72 are spaced apart vertically, and can alternately extend and retract under the movement of the linkage structure 52. The weight 21 has a first lower locking state locked by the first lower locking post 71, a second lower locking state locked by the second lower locking post 72, and a lower throwing state that is unlocked.

[0089] In some embodiments of this application, the up-and-down movement of the linkage structure 52 can drive the alternating extension and retraction of the first lower locking pin 71 and the second lower locking pin 72. The lowest weight 31 within the weight compartment 30 is in a second lower locking state. When the second lower locking pin 72 retracts, the first lower locking pin 71 extends, and the weight is released and thrown downwards; the next weight becomes the lowest weight within the weight compartment 30 and is locked in the first lower locking state by the first lower locking pin 71. A radially protruding weight locking protrusion 311 is provided on the weight 31. The weight locking protrusion 311 cooperates with the first lower locking pin 71 and the second lower locking pin 72 to lock the weight 31.

[0090] In some embodiments of this application, to achieve the alternating extension and retraction of the first lower locking pin 71 and the second lower locking pin 72, the heavy block throwing structure 70 further includes a lower mounting base 74 and a lower hinge plate 73 hinged to the lower mounting base 74. The first lower locking pin 71 and the second lower locking pin 72 are radially extendable and retractable on the lower mounting base 74. The linkage structure 52 can drive the lower hinge plate 73 to swing. The swinging of the lower hinge plate in the inward and outward directions can push the first lower locking pin 71 and the second lower locking pin 72 to extend and retract alternately. The heavy block throwing structure 70 adopts a purely mechanical hinge and extension linkage method, which is not affected by underwater electromagnetic interference, hydraulic / pneumatic leakage, etc.; it has stronger adaptability in harsh environments, lower maintenance costs, and fewer failure points.

[0091] In some embodiments of this application, the lower hinge plate 73 has a first lower pushing claw 731 extending upward for pushing the first upper locking pin 71 to extend and retract, and a second lower pushing claw 732 extending downward for pushing the second lower locking pin 72 to extend and retract. The lower hinge plate 73 is provided with two lower hinge portions disposed inside and outside, and the two lower hinge portions are respectively hinged to the lower mounting base 74 and the linkage structure 52. The up and down movement of the linkage structure 52 can realize the swing of the lower hinge plate 73, thereby pushing the first lower locking pin 71 and the second lower locking pin 72 to extend and retract alternately.

[0092] In some embodiments of this application, a first lower pushing claw 731 has a first lower pushing groove 733, and a first lower pushing rod 711 is provided on the first lower locking pin 71 within the first lower pushing groove 733, the first lower pushing rod 711 being movably located within the first lower pushing groove 733. A second lower pushing claw 732 has a second lower pushing groove 734, and a second lower pushing rod 721 is provided on the second lower locking pin 72 within the second lower pushing groove 734, the second lower pushing rod 721 being movably located within the second lower pushing groove 734. When the linkage structure 52 moves up and down, it can drive the upper hinge plate 63 of the float throwing structure 60 and the lower hinge plate 73 of the heavy block throwing structure 70 to swing simultaneously, realizing the alternating extension and retraction of the first upper locking pin 61 and the second upper locking pin 62, as well as the alternating extension and retraction of the first lower locking pin 71 and the second lower locking pin 72.

[0093] In some embodiments of this application, the first lower locking pin 71, the second lower locking pin 72 and the lower hinge plate 73 are matched to form a lower locking assembly. Multiple lower locking assemblies are provided in the circumferential direction of the lower mounting base 74, and the weight locking protrusion 311 is arranged in a circumferential ring.

[0094] In some embodiments of this application, the linkage structure 52 includes a lower linkage plate 521 located above the weight compartment 30, an upper linkage plate 522 located below the float compartment 20, a linkage rod 523 connecting the upper linkage plate 521 and the lower linkage plate 522, a lower connecting rod 524 connecting the lower linkage plate 521 and the weight release structure 70, and an upper connecting portion 525 connecting the upper linkage plate 522 and the float release structure 60. A lower gap space is provided between the weight compartment 30 and the electronics compartment 40 for the vertical movement of the lower linkage plate 521, and a lower support column passing through the lower linkage plate 521 is provided between the weight compartment 30 and the electronics compartment 40. An upper gap space is provided between the float compartment 20 and the electronics compartment 40 for the vertical movement of the upper linkage plate 522, and an upper support column passing through the upper linkage plate 522 is provided between the float compartment 20 and the electronics compartment 40. The linkage structure 52 is movable vertically within the outer casing 10.

[0095] In some embodiments of this application, the upper connecting part 525 has a connecting cylinder 5251 fitted to the float chamber 20 and an upper connecting rod 5252 fixed to the upper part of the connecting cylinder 5251. The upper connecting rod 5252 is connected to the float release structure 60. The connecting cylinder 5251 is provided to increase the stability of force transmission.

[0096] In some embodiments of this application, the drive device 51 is located inside the electronic compartment 40, which is sealed and contains a main control board and a battery. A transmission structure 53 is provided between the drive device 51 and the linkage structure 52 to transmit the driving force of the drive device 51 to the linkage structure 52. The transmission structure 53 has a transmission plate 531 hinged inside the electronic compartment 40 and a transmission rod 532 extending out of the electronic compartment 40 and fixed to the linkage structure 52. One end of the transmission plate 531 is connected to the drive device 51, and the other end is hinged inside the electronic compartment 40. A first sliding hole is formed on the transmission plate 531 to connect with the transmission rod 532. The up-and-down movement of the drive device 51 pushes the transmission plate 531 to swing, which in turn pushes the transmission rod 532 to move up and down, thereby driving the linkage structure 52 to move up and down. By setting the transmission plate 531, it is beneficial to increase the torque of the drive device 51, which is beneficial to achieve labor saving, facilitates the setting of a low-power drive device 51, reduces power consumption, and reduces the size of the drive device 51. The drive device 51 is preferably a motor.

[0097] In some embodiments of this application, the observation platform 100 further includes a satellite module and sensor 83 mounted on top. The satellite module has a communication antenna 81 and a positioning antenna 82. A protective cover 84 is provided on top, and a sealed conduit 25 is fitted inside the float compartment 20 for electrical connection between the internal components of the electronics compartment 40 and the top components. When the observation platform surfaces, the communication antenna 81 and the positioning antenna 82 are moved away from the water surface to facilitate data communication. A tray 11 extending radially outward is provided on the top of the outer shell 10 to stabilize the attitude of the observation platform 100 on the water surface. The position of the tray 11 is the position of the observation platform on the water surface after it has stabilized.

[0098] See Figure 17 This is the first embodiment of the control method for the aforementioned underwater reciprocating observation platform.

[0099] A control method for a jettison-type buoyancy-adjustable underwater reciprocating observation platform 100 includes the following steps:

[0100] S10. Place the observation platform 100 on the water surface;

[0101] S20. The drive device 51 pushes the linkage structure 52 to move, which drives the float throwing structure 60 and the heavy block throwing structure 70 to move simultaneously, so that the float 21 in the float compartment 20 is thrown out, causing the observation platform to descend to the bottom of the water or the set depth.

[0102] S30. The drive device 51 pushes the linkage structure 52 to move, which drives the floating block throwing structure 60 and the heavy block throwing structure 70 to move simultaneously, so that the heavy block 31 in the heavy block chamber 30 is thrown out, causing the observation platform 100 to float to the water surface.

[0103] S40. Repeat steps S20 and S30 to achieve multiple dives and ascents of the observation platform 100.

[0104] In this embodiment, the entire control process consists of only four core steps: deployment, buoy throwing and submersion, heavy block throwing and surfacing, and cycling. This eliminates the need for complex sensor feedback calibration, multi-drive collaborative control, or pressure compensation algorithms, thus reducing system complexity and failure rate. The drive device 51 only needs to perform a single action—pushing the linkage structure 52—to simultaneously trigger the actions of the buoy throwing structure 60 and the heavy block throwing structure 70, significantly reducing the number of commands and execution links in the electronic control system, adapting to the needs of long-term unattended underwater observation. Each time the drive device 51 pushes the linkage structure 52, it only triggers the unidirectional throwing of either the buoy 21 or the heavy block 31, preventing simultaneous throwing of both. It can precisely control the change in the equipment's gravity / buoyancy difference: when throwing the buoy 21, the equipment's gravity is greater than its buoyancy, allowing it to submerge at a stable speed; when throwing the heavy block 31, the equipment's buoyancy is greater than its gravity, allowing it to surface at a stable speed. This avoids equipment attitude loss due to sudden changes in buoyancy / gravity, ensuring the accuracy and continuity of sensor data acquisition during profile observation. Repeated execution of steps S20 and S30 drives the equipment to reciprocate multiple times between the water surface and a set depth / bottom, completing multiple rounds of profile data acquisition without the need for equipment retrieval. The acquired hydrological and environmental data time series are more complete, effectively capturing the dynamic changes in underwater parameters and significantly improving the efficiency and data value of marine survey missions. The equipment's buoyancy is powered by the difference in gravity and buoyancy generated after the buoy and weight are jettisoned. The drive unit 51 only operates at the moment of jettisoning and stops operating after jettisoning. The equipment floats and sinks naturally based on its own buoyancy and gravity difference, requiring no continuous power supply, thus significantly extending the equipment's endurance and meeting the needs of long-term profile observations for months or even years. Mechanical jettisoning is unaffected by changes in underwater pressure. The action logic of the drive unit driving the linkage structure and the response efficiency of the jettisoning structure remain stable, eliminating the need to adjust control parameters or add pressure compensation devices for different water depths. Once deployed, the observation platform can automatically complete cyclical observation tasks without human intervention. During later maintenance, it is only necessary to retrieve the equipment to replenish the floats and weights, and to charge or replace the batteries, without the need for complex debugging of the control program or drive system. This reduces the operating and maintenance costs of the equipment and makes it suitable for large-scale, long-term profile monitoring of the ocean.

[0105] In step S10, the initial buoyancy of the observation platform 100 is greater than its gravity, and the observation platform 100 floats on the water surface after deployment. In the initial state, the uppermost float 21 in the float chamber 20 is in the second upper locked state; the lowermost weight 31 in the weight chamber 30 is in the first lower locked state.

[0106] In step S20, the float jettisoning structure 60 is activated, and the uppermost float in the float compartment moves from the second upper locked state to the unlocked upper jettisoning state and is thrown upward; the heavy block jettisoning structure 70 is activated, causing the heavy block 31 to move from the first lower locked state to the second lower locked state.

[0107] In step S20, after the uppermost float 21 in the float chamber 20 is thrown upward, the next float moves upward to become the uppermost float in the float chamber 20 and is locked in the first upper locked state; in step S30, the float throwing structure 60 is activated, causing the float 21 to move from the first upper locked state to the second upper locked state; the heavy block throwing structure 70 is activated, causing the heavy block 30 to move from the second lower locked state to the unlocked lower throwing state and be thrown downward.

[0108] In step S30, the lowest weight 31 in the weight compartment 30 is thrown downwards, and the next weight moves downwards to become the lowest weight in the weight compartment 30, and is locked in the first lower locked state.

[0109] In some embodiments of this application, the float release structure 60 has a first locking post 61 and a second locking post 62 that are retractable and lockable to the float 21. The second locking post 62 and the first locking post 61 are spaced apart vertically, and the first locking post 61 and the second locking post 62 alternately extend and retract under the vertical movement of the linkage structure 52. The float 21 has a first locked state locked by the first locking post 61, a second locked state locked by the second locking post 62, and a released release state.

[0110] In step S20, the float ejection structure 60 is activated, causing the second locking pin 62 to retract and the first locking pin 61 to extend. The uppermost float 21 in the float chamber 20 is unlocked and ejected upwards. The next float becomes the uppermost heavy block in the float chamber 20 and is locked in the first locked state by the extended first locking pin.

[0111] In step S30, the float release structure actuates 60, causing the first locking pin 61 to retract, the float 21 to move upward under the action of buoyancy, and the second locking pin 62 to extend and lock the float 21 in the second upper locked state.

[0112] In some embodiments of this application, in step S20, the driving device 51 pushes the linkage structure 52 downward, causing the second upper locking pin 62 of the float throwing structure 60 to retract and the first upper locking pin 61 to extend, and the uppermost float is thrown out; simultaneously, it causes the first lower locking pin 71 of the heavy block throwing structure 70 to retract and the second lower locking pin 72 to extend, and the lowermost heavy block reaches the second lower locking state. In step S30, the driving device 51 pushes the linkage structure 52 to reverse and reset, that is, pushes the linkage structure 52 downward, causing the first upper locking pin 61 of the float throwing structure 60 to retract and the second upper locking pin 62 to extend, and the float reaches the second upper locking state; simultaneously, it causes the second lower locking pin 72 of the heavy block throwing structure 70 to retract and the first lower locking pin 71 to extend, and the lowermost heavy block 31 is thrown out.

[0113] In step S20, the weight ejection structure 70 is activated, causing the first lower locking pin 71 to retract, and the weight 31 to move downward under the action of gravity. The second lower locking pin 72 extends and locks the weight 31 in the second lower locking state. In step S30, the weight ejection structure 70 is activated, causing the second lower locking pin 72 to retract, and the weight 31 at the bottom of the weight compartment 30 is released from its lock and ejected downward. The first lower locking pin 71 extends. The next weight becomes the bottom weight in the weight compartment 30 and is locked by the first lower locking pin 71 in the first lower locking state.

[0114] See Figure 18 This is the second embodiment of the control method for the above-mentioned underwater reciprocating observation platform. The main difference between this embodiment and the first control method embodiment is that the initial gravity of the observation platform is different when it is deployed. The initial gravity of the observation platform 100 is greater than the buoyancy. The observation platform 100 can adopt the same structure as the first embodiment, which can be achieved by adding a weight in the weight compartment 30.

[0115] In some embodiments of this application, the control method of the observation platform 100 includes the following steps:

[0116] S110. The observation platform 100 is placed in the water. The initial gravity of the observation platform 100 can be set to be greater than the buoyancy, then the observation platform 100 will begin to sink, and the sensor 83 can collect, store and analyze the profile data; when it sinks to the bottom of the water or to a set depth, the observation platform will monitor the data.

[0117] In the initial state, the first locking pin 61 of the float release mechanism 60 is extended, and the uppermost float in the float compartment 20 is in the first upper locked state; the second locking pin 61 of the heavy block release mechanism 70 is extended, and the lowermost heavy block in the heavy block compartment 20 is in the second lower locked state.

[0118] S120. When the buoyancy conditions are met, such as when the system collects enough data or detects special information, the main control board 13 controls the drive device 51 to move, pushing the linkage structure 52 upward, which in turn drives the float throwing mechanism 60 and the heavy block throwing mechanism 70 to move simultaneously, so that the lowest heavy block in the heavy block compartment 30 is thrown out, making the buoyancy of the observation platform greater than its gravity, and it begins to rise. During the ascent, profile data can be collected. Until the observation platform 100 rises to the water surface, the satellite communication module is activated, and the profile observation data and special parameters collected underwater are sent back to the shore station via satellite.

[0119] When the float throwing mechanism 60 and the heavy block throwing mechanism 70 operate simultaneously, the first upper locking pin 61 of the float throwing mechanism 60 retracts, the second upper locking pin 62 extends, and the float 21 moves upward to the second upper locking state. The first lower locking pin 71 of the heavy block throwing mechanism 70 extends, the second upper locking pin 72 retracts, and the lowest heavy block is unlocked and enters the lower throwing state, causing one heavy block 31 to be thrown out; the next heavy block in the heavy block compartment 30 moves downward and is stopped by the first lower locking pin 71, entering the first lower locking state.

[0120] S130. When the sinking conditions are met, the control panel 13 controls the drive device 51 to move, pushing the linkage structure 52 to move downward, which in turn drives the float throwing mechanism 60 and the heavy block throwing mechanism 70 to move simultaneously, so that the lowest heavy block in the heavy block compartment 30 is thrown out, making the buoyancy of the observation platform greater than the gravity, and the platform begins to sink.

[0121] When the float release mechanism 60 and the heavy block release mechanism 70 operate simultaneously, the first locking pin 61 of the float release mechanism 60 extends, and the second locking pin 62 retracts, releasing the uppermost float into the upper release state, causing one float 21 to be released. The next float in the float chamber 20 moves upward and is stopped by the first locking pin 61, entering the first upper locked state. The first lower locking pin 71 of the heavy block release mechanism 70 retracts, and the second locking pin 72 extends, causing the heavy block to move from the first lower locked state to the second lower locked state.

[0122] In some embodiments of this application, the initial buoyancy of the observation platform 100 may be set to be greater than the gravity, so that the observation platform 100 floats on the water surface after being deployed, and releases the first buoy after receiving the release command.

[0123] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions claimed by the present invention.

Claims

1. A jettison-type buoyancy-adjustable underwater reciprocating observation platform, characterized in that, include: The outer shell has a floating block compartment at the top and a heavy block compartment at the bottom; The float compartment contains multiple buoys that can be jettisoned and has an upper opening for jettisoning the buoys; The heavy block compartment contains multiple heavy blocks that can be jettisoned and has a lower opening for jettisoning the heavy blocks. A throwing device, comprising a driving device, a linkage structure that can move up and down under the drive of the driving device, a float throwing structure for throwing floats and a heavy block throwing structure for throwing heavy blocks. The linkage structure drives the floating block ejection structure and the heavy block ejection structure to move, realizing the alternating ejection of the heavy block and the floating block; The float release structure has a retractable first upper locking post and a second upper locking post that can lock the float. The second upper locking post and the first upper locking post are spaced apart vertically and can alternately extend and retract under the action of the linkage structure. The float has a first upper locking state locked by the first upper locking post, a second upper locking state locked by the second upper locking post, and an upper release state that is unlocked. The float has a radially protruding float locking protrusion, which cooperates with the first upper locking post and the second upper locking post to lock the float. The floating block throwing structure also has an upper mounting base and an upper hinge plate hinged to the upper mounting base. The first upper locking pin and the second upper locking pin are radially extendable and retractable on the upper mounting base. The up-and-down movement of the linkage structure can drive the upper hinge plate to swing, and the swing of the upper hinge plate can push the first upper locking pin and the second upper locking pin to alternately extend and retract. The upper hinge plate has a first upper pushing claw extending downward for pushing the first upper locking pin to extend and retract, and a second upper pushing claw extending upward for pushing the second upper locking pin to extend and retract. The upper hinge plate is provided with two upper hinge parts that are disposed inside and outside and are respectively hinged to the upper mounting base and the linkage structure. The weight-throwing structure has a retractable first lower locking post and a second lower locking post that can lock the weight. The first lower locking post and the second lower locking post are spaced apart vertically and can alternately extend and retract under the action of the linkage structure. The weight has a first lower locking state locked by the first lower locking post, a second lower locking state locked by the second lower locking post, and a lower throwing state with the lock released. The weight has a radially protruding weight-throwing protrusion that cooperates with the first lower locking post and the second lower locking post to lock the weight. The heavy block throwing structure also has a lower mounting base and a lower hinge plate hinged to the lower mounting base. The first lower locking pin and the second lower locking pin are radially extendable and retractable on the lower mounting base. The linkage structure can drive the swing of the lower hinge plate, and the lower hinge plate can push the first lower locking pin and the second lower locking pin to extend and retract alternately.

2. The underwater reciprocating observation platform according to claim 1, characterized in that, The linkage structure moves upward or downward, causing the float jetting structure and the heavy block jetting structure to move simultaneously, so that the float or heavy block is thrown out; by alternately jetting multiple heavy blocks and floats, the observation platform can dive and surface multiple times; the float jetting structure is located at the upper end of the float compartment and is used to lock or unlock the uppermost float in the float compartment; the heavy block jetting structure is located at the lower end of the heavy block compartment and is used to lock or unlock the lowermost float in the heavy block compartment.

3. The underwater reciprocating observation platform according to claim 1, characterized in that, A first upper pushing groove is provided on the first upper pushing claw, and a first upper pushing rod is provided on the first upper locking pin, which is located in the first upper pushing groove. The first upper pushing rod is movably located in the first upper pushing groove. A second upper pushing groove is provided on the second upper pushing claw, and a second upper pushing rod is provided on the second upper locking pin, which is located in the second upper pushing groove. The second upper pushing rod is movably located in the second upper pushing groove.

4. The underwater reciprocating observation platform according to any one of claims 1 to 3, characterized in that, The linkage structure includes a lower linkage plate located above the heavy block compartment, an upper linkage plate located below the float compartment, a linkage rod connecting the upper and lower linkage plates, a lower connecting rod connecting the lower linkage plate and the heavy block throwing structure, and an upper connecting part connecting the upper linkage plate and the float throwing structure.

5. The underwater reciprocating observation platform according to any one of claims 1 to 3, characterized in that, An electronic compartment is provided in the middle of the outer shell, and the drive device is located inside the electronic compartment. A transmission structure is provided between the drive device and the linkage structure. The transmission structure has a transmission plate hinged in the electronic compartment and a transmission rod extending out of the electronic compartment and fixed to the linkage structure.

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