Automatic reset equipment for offshore wave collection module

Abstract

The invention discloses automatic resetting equipment for an offshore wave acquisition module, which is characterized in that a sealed floating body shell adopts a tumbler type structure, the bottom of the sealed floating body shell is a lower shell, and the upper part of the sealed floating body shell is an upper shell adopting a cone frustum structure; the eccentric gravity reset mechanism comprises a driving motor, a transmission gear set and an eccentric balancing weight based on PID control, the eccentric balancing weight is installed at the bottom of the sealed cabin through an annular sliding rail, and a PID attitude control algorithm is preset in the central control unit. The central control unit controls the driving motor to rotate according to inclination angle data fed back by the attitude sensing and collecting unit, the eccentric balancing weight is driven to move to a specific phase and generate reverse restoring torque, and active restoring torque generated by the eccentric gravity resetting mechanism and buoyancy restoring torque of the sealing floating body shell act synergistically. The stability and efficiency of the wave energy conversion system are improved, the maintenance cost is reduced, and the safety risk is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of ocean monitoring and ocean engineering equipment, and particularly relates to a marine wave collecting module automatic resetting equipment. BACKGROUND

[0002] Ocean wave energy, as a clean and renewable energy source, has great development potential. The development of wave energy conversion technology is of great significance for achieving energy diversification and reducing dependence on fossil fuels. In a wave energy conversion system, the wave collecting module is one of the core components, which is responsible for converting the kinetic energy of waves into mechanical or electrical energy.

[0003] The complexity and variability of the marine environment pose challenges to the stable operation of the wave collecting module. The wave collecting module may deviate or tilt during operation due to wave impact, equipment aging, installation errors, etc. This deviation or tilt not only affects the efficiency of energy conversion, but also may cause damage to the equipment and increase maintenance costs.

[0004] Currently, the resetting of the wave collecting module mainly relies on manual operation or simple mechanical structures. In the case of frequent changes in waves, manual operation or simple mechanical structures are difficult to respond quickly, resulting in delayed module resetting. Simple mechanical structures may not accurately reset the module to the optimal working position, affecting the efficiency of energy conversion. In harsh marine environments, frequent manual intervention or mechanical failures increase maintenance costs and workload, and manual operation also poses a significant safety risk. SUMMARY

[0005] The purpose of the present application is to solve the problems in the prior art and provide a marine wave collecting module automatic resetting equipment. By integrating sensors, intelligent control systems and actuators, the state of the wave collecting module can be monitored in real time, and automatic resetting operations can be performed, thereby improving the stability and efficiency of the wave energy conversion system, reducing maintenance costs, and reducing safety risks.

[0006] Technical Solution: This invention provides an automatic reset device for a marine wave acquisition module, comprising a streamlined, low-resistance sealed floating hull, an attitude sensing and acquisition unit, an eccentric gravity reset mechanism, a central control unit utilizing a Kalman filter algorithm, and a power management system. The sealed floating hull adopts a self-righting structure, with a lower hull at the bottom containing a sealed compartment, and an upper hull with a truncated cone structure. The attitude sensing and acquisition unit includes a nine-axis inertial measurement unit, comprising a three-axis accelerometer, a three-axis gyroscope, and a three-axis magnetometer, used to calculate wave height, wave direction, and the roll and pitch angles of the floating hull. The attitude sensing and acquisition unit acquires wave data and... The real-time attitude monitoring equipment's eccentric gravity reset mechanism includes a drive motor, a transmission gear set, and an eccentric counterweight based on PID control. The eccentric counterweight is installed at the bottom of the sealed compartment via a ring slide rail. The central control unit has a pre-set PID attitude control algorithm to calculate the target angle of the counterweight required to restore the float to its vertical equilibrium position. The power management system supplies power to each unit. The central control unit controls the drive motor to rotate based on the tilt angle data fed back by the attitude sensing and acquisition unit, which moves the eccentric counterweight to a specific phase and generates a reverse restoring torque. The active restoring torque generated by the eccentric gravity reset mechanism works in conjunction with the buoyancy restoring torque of the sealed float shell itself to jointly resist the overturning torque of wind and waves.

[0007] A further improvement of the present invention is that the wall thickness of the lower outer shell is greater than that of the upper outer shell, and the density of the lower outer shell is greater than that of the upper outer shell.

[0008] A further improvement of the present invention is that the outer shell of the sealed float is made of a high-strength corrosion-resistant polymer.

[0009] A further improvement of the present invention is that the drive motor is a high-torque stepper motor or a servo motor.

[0010] A further improvement of the present invention is that the eccentric counterweight is a high-density lead alloy sector block.

[0011] A further improvement of the present invention is that the attitude sensing and acquisition unit is rigidly fixed at the internal center position of the sealed floating body shell.

[0012] A further improvement of the present invention is that the lower outer shell adopts a hemispherical structure.

[0013] A further improvement of the present invention is that a communication positioning antenna is provided on the top of the upper outer casing.

[0014] A further improvement of the present invention is that the central control unit is electrically connected to the attitude sensing and acquisition unit and the eccentric gravity reset mechanism, respectively.

[0015] Compared with existing technologies, the automatic reset equipment for a marine wave acquisition module provided by this invention achieves at least the following beneficial effects: 1. By integrating a high-precision nine-axis inertial measurement unit and intelligent control algorithm, the system can monitor the attitude of the floating body in real time and immediately trigger the reset mechanism when an unstable trend is detected, achieving millisecond-level response, which is significantly better than manual reset or simple mechanical reset methods.

[0016] 2. By adopting PID control algorithm and Kalman filtering technology, combined with eccentric gravity reset mechanism, the optimal counterweight position can be accurately calculated to achieve maximum restoring torque, ensuring that the float quickly and smoothly returns to the vertical balance position.

[0017] 3. The sealed float shell is made of high-strength corrosion-resistant polymer material, with a self-stable, tumbler-like structure design, a weighted bottom, and a streamlined shape, providing excellent impact resistance, corrosion resistance, and self-stabilizing performance.

[0018] 4. Built-in power management system can intelligently allocate power according to the system working mode, and enter a low power consumption mode when not in a reset state, extending the service life of the equipment in an unattended marine environment.

[0019] 5. The active restoring torque generated by the eccentric gravity reset mechanism works in synergy with the buoyancy restoring torque of the float itself to resist the capsizing torque of wind and waves, greatly improving the system's survivability in extreme sea conditions.

[0020] 6. The system adopts a modular design for each unit, which facilitates installation, replacement and upgrade, and has good engineering applicability and scalability. Attached Figure Description

[0021] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments of the invention and, together with their description, serve to explain the principles of the invention.

[0022] Figure 1 This is a schematic diagram of the structure of an automatic reset device for a marine wave acquisition module according to the present invention; Figure 2 This is a flowchart of the reset process of the present invention.

[0023] The components are as follows: 1-lower outer shell; 2-eccentric gravity reset mechanism; 3-power management system; 4-central control unit; 5-attitude perception and acquisition unit; 6-communication and positioning antenna; 7-upper outer shell; 8-eccentric counterweight; 9-circular slide rail; 10-sealed chamber. Detailed Implementation

[0024] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention.

[0025] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the invention or its application or use.

[0026] Techniques, methods, and apparatus known to those skilled in the art may not be discussed in detail; however, where appropriate, such techniques, methods, and apparatus should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0027] See the attached instruction manual. Figure 1 An automatic reset device for a marine wave acquisition module includes a streamlined, low-resistance sealed floating shell, an attitude sensing and acquisition unit 5, an eccentric gravity reset mechanism 2, a central control unit 4 utilizing a Kalman filter algorithm, and a power management system 3. The sealed floating shell adopts a self-righting structure. The bottom of the sealed floating shell 1 is a lower shell 1, which contains a sealed compartment 10. The upper part of the sealed floating shell 1 is an upper shell 7 with a truncated cone structure. The attitude sensing and acquisition unit 5 includes a nine-axis inertial measurement unit, which includes a three-axis accelerometer, a three-axis gyroscope, and a three-axis magnetometer, used to calculate wave height, wave direction, and the roll and pitch angles of the floating body. The attitude sensing and acquisition unit 5 acquires wave data and monitors the wave. The eccentric gravity reset mechanism 2 includes a drive motor, a transmission gear set, and an eccentric counterweight 8 based on PID control. The eccentric counterweight 8 is installed at the bottom of the sealed chamber 10 via an annular slide rail 9. The central control unit 4 is pre-loaded with a PID attitude control algorithm to calculate the target angle of the counterweight required to restore the float to the vertical equilibrium position. The power management system 3 supplies power to each unit. The central control unit 4 controls the drive motor to rotate and move the eccentric counterweight 8 to a specific phase and generate a reverse restoring torque based on the tilt angle data fed back by the attitude sensing and acquisition unit 5. The active restoring torque generated by the eccentric gravity reset mechanism 2 works in conjunction with the buoyancy restoring torque of the sealed float shell to jointly resist the overturning torque of wind and waves.

[0028] The wall thickness of the lower outer shell 1 is greater than that of the upper outer shell 7, and the density of the lower outer shell 1 is greater than that of the upper outer shell 7; the material of the sealed floating body shell is a high-strength corrosion-resistant polymer; the drive motor is a high-torque stepper motor or servo motor; the eccentric counterweight 8 is a high-density lead alloy sector block; the attitude sensing and acquisition unit 5 is rigidly fixed at the internal center position of the sealed floating body shell; the lower outer shell 1 adopts a hemispherical structure; the top of the upper outer shell 7 is equipped with a communication positioning antenna 6; the central control unit 4 is electrically connected to the attitude sensing and acquisition unit 5 and the eccentric gravity reset mechanism 2 respectively.

[0029] The reset steps of this invention are as follows: Step 1, State Awareness and Data Acquisition: The foundation of the system is the accurate and real-time acquisition of the floating body's attitude information. The nine-axis inertial measurement unit in attitude perception and acquisition unit 5 serves as the system's sensing module, acquiring three-axis acceleration, three-axis angular velocity, and three-axis magnetic field data at high frequency.

[0030] However, raw IMU data contains various errors. For example, accelerometers are affected by strong impacts and vibrations in dynamic wave environments, gyroscopes exhibit drift errors, and magnetometers are susceptible to interference from electronic devices. To obtain stable and reliable attitude estimation, the central control unit 4 utilizes a Kalman filter algorithm. As an optimal estimation algorithm, this algorithm can reliably and dynamically fuse the absolute orientation reference provided by the accelerometer under long-term static conditions with the precise instantaneous angular velocity provided by the gyroscope under short-term dynamic conditions. This effectively filters out high-frequency noise and corrects gyroscope drift, ultimately outputting high-precision real-time roll angle φ and pitch angle θ. This data processing process forms the reliable basis for all subsequent control decisions.

[0031] Step 2, Anomaly Detection: The central control unit 4 continuously monitors the filtered and calculated roll angle φ and pitch angle θ. The system presets an attitude instability threshold. This threshold is set based on the static stability curve of the float itself and the relative position of the center of buoyancy and the center of gravity, and is close to the critical point where the float loses its self-correcting ability and is about to completely flip.

[0032] Normal operating mode: When both |φ| and |θ| are less than this threshold, the system determines that the floating body is in a stable or controllable oscillating state. At this time, the system mainly performs wave data acquisition and routine communication tasks, while the eccentric gravity reset mechanism 2 can be in standby or minor adjustment state to optimize daily attitude.

[0033] Emergency Reset Mode: Once the system detects that either |φ| or |θ| exceeds the set threshold, the "reset mode" is immediately triggered. This indicates that the buoy is in a critical state of imminent capsizing. The system will suspend non-essential background tasks, prioritize computing resources for reset control, and may increase the execution frequency of the control algorithm.

[0034] Step 3, control the algorithm and calculate the target position: Once in reset mode, the core task is to calculate the target angle of the eccentric counterweight that will generate the maximum restoring torque for the float.

[0035] This invention includes a pre-defined PID attitude control algorithm. The controller takes the current tilt state as input. Its control objective is to right the floating body, that is, to bring the tilt angle to zero.

[0036] Tilt direction determination: The controller first determines the resultant direction vector of the float's tilt based on φ and θ. For example, if the float tilts to the right front, the restoring torque needs to be applied to the left rear.

[0037] Target phase calculation: The position that the eccentric counterweight 8 needs to move to is exactly the opposite phase to the current tilt direction. Specifically, the target angle α target It can be represented as: The core of this calculation is to ensure that the projection direction of the gravity vector of the counterweight on the horizontal plane is exactly opposite to the tilt direction of the buoy, thereby using gravity to generate the maximum reverse restoring torque.

[0038] Through this calculation, the eccentric counterweight 8 is moved to the "downhill" position of the buoy's tilt, so that its gravity vector produces the maximum horizontal distance from the vertical axis of the buoy.

[0039] PID control: The controller calculates the error between the current position and the target position and uses a PID algorithm to dynamically output a control signal. The proportional term provides a fast response proportional to the error; the integral term accumulates historical errors to eliminate steady-state errors; the derivative term predicts trends based on the rate of change of error, suppresses overshoot, and makes the counterweight move more smoothly. The final output is a conditioned pulse signal or analog voltage / bus command.

[0040] Step 4, Active Reset: Once the central control unit 4 calculates the target angle that the counterweight needs to reach, it sends a command to the eccentric gravity reset mechanism 2. The high-torque drive motor in the mechanism immediately starts, and through the transmission gear set, it precisely and quickly drives the high-density lead alloy counterweight along the annular slide rail installed at the bottom of the sealed chamber to the designated target position.

[0041] The physical essence of this process is the active adjustment of the entire equipment's center of gravity. When the counterweight moves to a "downhill" position in the direction of the float's tilt, its enormous mass generates a powerful restoring torque that returns the device to its original posture. The magnitude of this force depends on two factors: the weight of the counterweight itself and the horizontal distance between the counterweight's center of gravity and the float's centerline. The greater the distance, the greater the "restoring" force.

[0042] At the same time, thanks to its roly-poly-like thick bottom design and inherent buoyancy, the sealed floating body shell also continuously generates a buoyancy restoring torque, attempting to return to a vertical state.

[0043] During the repositioning process, the gravity-restoring torque generated by the counterweight and the buoyancy-restoring torque of the float itself are superimposed to counteract the capsizing torque exerted by the wind and waves. Once the combined force of these two restoring torques exceeds the capsizing force of the waves, the mechanical balance is broken, and the float will begin to rotate around its bottom center of rotation, quickly and forcefully returning from a tilted state to an upright position.

[0044] Step 5, Resume Detection: Once the central control unit 4 confirms via IMU data that the roll and pitch angles have stabilized and returned to safe ranges, the system determines the reset was successful. Subsequently, the system automatically exits "Emergency Reset Mode" and returns to "Normal Operation Mode," continuing its core wave data acquisition and transmission tasks. (Reset flowchart reference) Figure 2 As shown.

[0045] While specific embodiments of the invention have been described in detail by way of examples, those skilled in the art should understand that the examples are for illustrative purposes only and not intended to limit the scope of the invention. Those skilled in the art should understand that modifications can be made to the above embodiments without departing from the scope and spirit of the invention. The scope of the invention is defined by the appended claims.

Claims

1. An automatic reset device for a marine wave acquisition module, characterized in that, The system includes a streamlined, low-resistance sealed floating body shell, an attitude sensing and acquisition unit (5), an eccentric gravity reset mechanism (2), a central control unit (4) using a Kalman filter algorithm, and a power management system (3). The sealed floating body shell adopts a self-righting structure. The bottom of the sealed floating body shell (1) is a lower shell (1), which has a sealed compartment (10). The upper part of the sealed floating body shell (1) is an upper shell (7) with a truncated cone structure. The attitude sensing and acquisition unit (5) includes a nine-axis inertial measurement unit, which includes a three-axis accelerometer, a three-axis gyroscope, and a three-axis magnetometer, used to calculate wave height, wave direction, and the roll and pitch angles of the floating body. The attitude sensing and acquisition unit (5) collects wave data and monitors the real-time attitude of the equipment. The eccentric gravity reset mechanism (2) includes a drive motor, a transmission gear set, and an eccentric counterweight (8) based on PID control. The eccentric counterweight (8) is installed at the bottom of the sealed chamber (10) via a ring slide rail (9). The central control unit (4) is pre-set with a PID attitude control algorithm to calculate the target angle of the counterweight required to restore the float to the vertical equilibrium position. The power management system (3) supplies power to each unit. The central control unit (4) controls the drive motor to rotate and drive the eccentric counterweight (8) to move to a specific phase and generate a reverse restoring torque based on the tilt angle data fed back by the attitude sensing acquisition unit (5). The active restoring torque generated by the eccentric gravity reset mechanism (2) works in conjunction with the buoyancy restoring torque of the sealed float shell to jointly resist the overturning torque of wind and waves.

2. The automatic reset equipment for a marine wave acquisition module according to claim 1, characterized in that, The wall thickness of the lower outer shell (1) is greater than that of the upper outer shell (7), and the density of the lower outer shell (1) is greater than that of the upper outer shell (7).

3. The automatic reset equipment for a marine wave acquisition module according to claim 1, characterized in that, The outer shell of the sealed float is made of a high-strength, corrosion-resistant polymer.

4. The automatic reset equipment for a marine wave acquisition module according to claim 1, characterized in that, The drive motor is a high-torque stepper motor or a servo motor.

5. The automatic reset equipment for a marine wave acquisition module according to claim 1, characterized in that, The eccentric counterweight (8) is a high-density lead alloy sector block.

6. The automatic reset equipment for a marine wave acquisition module according to claim 1, characterized in that, The attitude sensing and acquisition unit (5) is rigidly fixed to the center of the sealed floating body shell.

7. The automatic reset equipment for a marine wave acquisition module according to claim 1, characterized in that, The lower outer shell (1) adopts a hemispherical structure.

8. The automatic reset equipment for a marine wave acquisition module according to claim 1, characterized in that, A communication positioning antenna (6) is provided on the top of the upper outer shell (7).

9. An automatic reset device for a marine wave acquisition module according to any one of claims 1-8, characterized in that, The central control unit (4) is electrically connected to the attitude sensing and acquisition unit (5) and the eccentric gravity reset mechanism (2).

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