Wave buoy calibration system and control method thereof

Abstract

The application discloses a wave buoy calibration system and a control method thereof. The wave buoy calibration system comprises a mounting device for mounting a wave buoy to be calibrated; a driving device connected with the mounting device, used for driving the mounting device to move in a first direction, a second direction and a third direction to simulate waves, the first direction, the second direction and the third direction being perpendicular to each other; and a control device electrically connected with the driving device and the wave buoy, used for acquiring wave data and controlling the driving device according to the wave data, so that the driving device drives the mounting device to move in a manner matched with the wave data, and used for acquiring detection data of the wave buoy and determining a calibration result of the wave buoy based on the detection data and the wave data.

Description

Technical Field

[0001] This invention relates to the field of wave buoy calibration technology, and in particular to a wave buoy calibration system and its control method. Background Technology

[0002] Waves are one of the fundamental elements of oceanographic observation. Wave buoys are currently one of the main devices for long-term, timed, and fixed-point wave observation. They float on the sea surface and track the movement of waves. They can measure wave height, wave period, and some can also measure wave direction. Metrological verification of wave buoy measurements to ensure the accuracy and reliability of the measurements is an important measure to guarantee the effectiveness of wave observation.

[0003] Currently, metrology and research institutions both domestically and internationally have developed metrological devices for calibrating wave buoys in laboratories. Some methods involve generating waves in towed tanks, but this method requires significant investment and, due to tank size limitations, produces relatively small wave heights. Furthermore, most calibration methods utilize indoor mechanical devices to simulate simple wave movements (sine waves) of water particles in the ocean. Among these, rotating sine wave simulation calibration devices are widely used because their principles are clear and their simulation of wave characteristic values ​​(mainly wave height and wave period) closely approximates the requirements of ocean wave theory.

[0004] However, existing calibration devices can only simulate simple fluctuations and cannot simulate the real marine environment, which affects the accuracy of calibration. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention provides a wave buoy calibration system and its control method.

[0006] According to a first aspect of the present invention, a wave buoy testing system is provided, the wave buoy testing system comprising: Installation device for installing wave buoys to be tested; A driving device, connected to the mounting device, is used to drive the mounting device to move along a first direction, a second direction, and a third direction to simulate waves, wherein the first direction, the second direction, and the third direction are perpendicular to each other; A control device, electrically connected to both the drive device and the wave buoy, is used to acquire wave data and control the drive device according to the wave data so that the drive device drives the installation device to move in a manner matching the wave data, and to acquire detection data of the wave buoy and determine the verification result of the wave buoy based on the detection data and the wave data. The installation device includes a first housing and a second housing disposed within the first housing. The inner surface of the first housing is provided with a plurality of annular grooves, the axes of which intersect at the same sphere center. The second housing forms a cavity for accommodating the wave buoy. Two opposing support columns are fixed on the outer surface of the second housing, and the support columns are adapted to the annular grooves. The first housing is provided with a plurality of electromagnets, which are distributed on different side walls of the first housing. The second housing is provided with a plurality of magnetic attraction parts, and a magnetic shielding layer is provided on the inner surface of the second housing. Each of the electromagnets is electrically connected to the control device, which controls the magnitude and direction of the magnetic force applied by each electromagnet to the magnetic attraction part.

[0007] In some embodiments of the present invention, the driving device includes: A first support platform, which is parallel to the first direction and the second direction, and perpendicular to the third direction; A first lifting device is disposed below the first support platform. The first lifting device includes a first drive shaft and a second drive shaft connected to the first support platform. The first drive shaft and the second drive shaft are used to drive the first support platform to lift. A second lifting device is disposed above the first support platform. The second lifting device includes a third drive shaft and a fourth drive shaft connected to the first support platform. The third drive shaft and the fourth drive shaft are used to drive the first support platform to lift. In the projection onto a plane parallel to the first support platform, there is a first line connecting the center of the first drive shaft and the center of the second drive shaft, and a second line connecting the center of the third drive shaft and the center of the fourth drive shaft. The intersection of the first line and the second line falls on the center of the first support platform.

[0008] In some embodiments of the present invention, the first lifting device further includes a first drive motor, a first transmission shaft and a first conveyor belt, wherein the first conveyor belt is sequentially wound around the motor shaft of the first drive motor, the first drive shaft, the first transmission shaft and the second drive shaft; The second lifting device further includes a second drive motor, a second transmission shaft, and a second conveyor belt, wherein the second conveyor belt is sequentially wound around the motor shaft of the second drive motor, the third drive shaft, the second transmission shaft, and the fourth drive shaft; In the projection onto a plane parallel to the first support platform, the first drive motor, the second drive motor, the first transmission shaft, and the second transmission shaft are located outside the first support platform.

[0009] In some embodiments of the present invention, in the projection in a plane parallel to the first support platform, there is a third line connecting the center of the motor shaft of the first drive motor and the center of the first transmission shaft, and the intersection of the first line and the third line falls at the center of the first support platform; there is a fourth line connecting the center of the motor shaft of the second drive motor and the center of the second transmission shaft, and the intersection of the second line and the fourth line falls at the center of the first support platform.

[0010] In some embodiments of the present invention, the driving device further includes: The third drive motor is mounted on the first support platform; A first ball screw, the screw of the first ball screw is connected to the motor shaft of the third drive motor, the nut of the first ball screw is connected to the second support platform, and the axis of the first ball screw extends along the first direction. The fourth drive motor is mounted on the second support platform; The second ball screw is connected to the motor shaft of the fourth drive motor, and the nut of the second ball screw is connected to the mounting device.

[0011] According to a second aspect of the present invention, a control method for a wave buoy testing system is provided, applied to the wave buoy testing system as described above, the control method for the wave buoy testing system comprising: Obtain wave data; The drive device is controlled according to the wave data so that the drive device drives the mounting device to move in a manner that matches the wave data; Acquire the detection data of the wave buoy; The calibration result of the wave buoy is determined based on the detection data and the wave data.

[0012] In some embodiments of the present invention, acquiring wave data includes: Acquire wave video data; Based on the wave video data, wave trajectory tracking data of at least one wave is determined, and the wave trajectory tracking data is used as the wave data.

[0013] In some embodiments of the present invention, the wave video data includes floats of a predetermined color and having a regular shape, wherein the predetermined color is different from the wave color; The determination of wave trajectory tracking data for at least one wave based on the wave video data includes: Determine the trajectory of the buoy in the wave video data; Based on the size of the float and the trajectory of the float, the wave trajectory tracking data is generated.

[0014] In some embodiments of the present invention, controlling the drive device according to the wave data includes: Based on the wave trajectory tracking data, the motion coordinate sequence of the installation device is determined; The driving device is controlled to operate based on the motion coordinate sequence.

[0015] The wave buoy calibration system provided by this invention has at least the following advantages: In the wave buoy calibration system provided by this invention, the driving device is connected to the installation device for installing the wave buoy to be calibrated, thereby driving the installation device and the wave buoy inside the installation device to move. The control device can drive the wave buoy inside the installation device to move in a manner that matches the wave data according to the acquired wave data. In this way, by flexibly setting the wave data, various different marine environments can be simulated for the wave buoy, and accurate calibration of the wave buoy can be achieved. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 A perspective view of a wave buoy verification system provided as an exemplary embodiment of the present invention; Figure 2 A perspective view of a wave buoy verification system provided as an exemplary embodiment of the present invention from another viewpoint; Figure 3 A partial structural diagram of the wave buoy calibration system provided in an exemplary embodiment of the present invention at the first lifting device and the second lifting device; Figure 4 A top view of a wave buoy calibration system provided in an exemplary embodiment of the present invention at the first drive motor; Figure 5 A top view of a wave buoy calibration system provided in an exemplary embodiment of the present invention at the first lifting device; Figure 6 A schematic diagram of the structure of the wave buoy calibration system provided in an exemplary embodiment of the present invention at the connection between the first support platform and the second support platform; Figure 7A schematic diagram of the structure of the wave buoy calibration system provided in an exemplary embodiment of the present invention at the connection between the drive device and the installation device; Figure 8 A schematic diagram of the internal structure of the installation device for a wave buoy calibration system provided in an exemplary embodiment of the present invention; Figure 9 yes Figure 7 Cross-sectional view at point AA; Figure 10 A flowchart of a control method for a wave buoy calibration system provided as an exemplary embodiment of the present invention.

[0018] The following labels are shown in the attached diagram: 100. Drive unit; 100a. First support platform; 100b. Second support platform; 100c. Third support platform; 110. First lifting device; 111. First drive motor; 112. First drive shaft; 113. Second drive shaft; 114. First transmission shaft; 115. First conveyor belt; 120. Second lifting device; 121. Second drive motor; 122. Third drive shaft; 123. Fourth drive shaft; 124. Second transmission shaft; 125. Second conveyor belt; 131. Third drive motor; 132. First ball screw; 141. Fourth drive motor; 142. Second ball screw; 200. Installation device; 210. First housing; 211. Annular groove; 212. Electromagnet; 220. Second housing; 221. Support column; 222. Magnetic suction part; 300. Wave buoy. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the protection scope of the present invention.

[0020] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0021] Waves are one of the fundamental elements of oceanographic observation. Wave buoys are currently one of the main devices for long-term, timed, and fixed-point wave observation. They float on the sea surface and track the movement of waves. They can measure wave height, wave period, and some can also measure wave direction. Metrological verification of wave buoy measurements to ensure the accuracy and reliability of the measurements is an important measure to guarantee the effectiveness of wave observation.

[0022] Currently, metrology and research institutions both domestically and internationally have developed metrological devices for calibrating wave buoys in laboratories. Some methods involve generating waves in towed tanks, but this method requires significant investment and, due to tank size limitations, produces relatively small wave heights. Furthermore, most calibration methods utilize indoor mechanical devices to simulate simple wave movements (sine waves) of water particles in the ocean. Among these, rotating sine wave simulation calibration devices are widely used because their principles are clear and their simulation of wave characteristic values ​​(mainly wave height and wave period) closely approximates the requirements of ocean wave theory.

[0023] However, existing calibration devices can only simulate simple fluctuations and cannot simulate the real marine environment, which affects the accuracy of calibration.

[0024] Based on this, an exemplary embodiment of the present invention provides a wave buoy calibration system. The driving device is connected to the installation device on which the wave buoy to be calibrated is installed, thereby driving the installation device and the wave buoy within the installation device to move. The control device can drive the wave buoy within the installation device to move in a manner that matches the acquired wave data. In this way, by flexibly setting the wave data, various different marine environments can be simulated for the wave buoy, thereby achieving accurate calibration of the wave buoy.

[0025] An exemplary embodiment of the present invention provides a wave buoy calibration system, such as... Figures 1 to 3 As shown, the wave buoy calibration system includes a mounting device 200, a drive device 100, and a control device. The mounting device 200 is used to mount the wave buoy 300 to be calibrated (see...). Figure 8 The mounting device 200 can be, for example, a frame structure, to which the wave buoy 300 to be inspected is detachably fixed. For example, the wave buoy 300 to be inspected is fixed to the frame structure by fasteners, or, for another example, the wave buoy 300 to be inspected is snapped onto the frame structure by clips. The wave buoy 300 can also be movably mounted on the frame structure, thereby further improving the mobility of the wave buoy 300.

[0026] The drive device 100 is connected to the mounting device 200 and is used to drive the mounting device 200 along a first direction ( Figure 2The first (x-direction), second (y-direction), and third (z-direction) directions are shown in the diagram to simulate wave motion. These directions are mutually perpendicular, allowing the drive device 100 to move the installation device 200 in three-dimensional space to simulate the movement of the wave buoy 300 within the installation device 200 in a marine environment. The drive device 100 can be, for example, a robotic arm that moves the installation device 200 along the first, second, and third directions. Alternatively, the drive device 100 can be three electrically driven tracks extending along the first, second, and third directions respectively, each driving the installation device 200 in one of the three directions.

[0027] The control device is electrically connected to the drive device 100 and the wave buoy 300. It is used to acquire wave data and control the drive device 100 according to the wave data so that the drive device 100 drives the mounting device 200 to move in a manner that matches the wave data. It is also used to acquire the detection data of the wave buoy 300 and determine the verification result of the wave buoy 300 based on the detection data and the wave data.

[0028] The wave data can be, for example, a pre-defined function relationship, where the function relationship is between time and location coordinates, for example: X=F1(t); Y=F2(t); Z = F3(t).

[0029] Where X, Y, and Z are the center coordinates of the wave buoy 300 inside the installation device 200, and t is time.

[0030] According to the functional relationship, the control device controls the drive device 100 to drive the installation device 200 and the wave buoy 300 on it to move, so that the wave buoy 300 moves according to the path represented by the functional relationship. In this way, the movement of the wave buoy 300 can be made closer to the movement in the marine environment by setting the functional relationship.

[0031] In the wave buoy calibration system provided in this embodiment, the driving device is connected to the installation device on which the wave buoy to be calibrated is installed, thereby driving the installation device and the wave buoy inside the installation device to move. The control device can drive the wave buoy inside the installation device to move in a manner that matches the wave data according to the acquired wave data. In this way, by flexibly setting the wave data, various different marine environments can be simulated for the wave buoy, and accurate calibration of the wave buoy can be achieved.

[0032] In one embodiment, such as Figure 1 and Figure 2As shown, the drive device 100 includes a first support platform 100a, a first lifting device 110, and a second lifting device 120. The first support platform 100a is parallel to a first direction and a second direction, and perpendicular to a third direction; for example, the first support platform 100a is parallel to a horizontal plane. The first lifting device 110 is disposed below the first support platform 100a and includes a first drive shaft 112 and a second drive shaft 113 connected to the first support platform 100a. The first drive shaft 112 and the second drive shaft 113 are used to drive the first support platform 100a to move up and down. The second lifting device 120 is disposed above the first support platform 100a and includes a third drive shaft 122 and a fourth drive shaft 123 connected to the first support platform 100a. The third drive shaft 122 and the fourth drive shaft 123 are used to drive the first support platform 100a to move up and down. The first lifting device 110 and the second lifting device 120 work together to lift the first support platform 100a. The mounting device 200 and the wave buoy 300 on it are mounted on the first support platform 100a. The first lifting device 110 and the second lifting device 120 jointly bear the weight of the mounting device 200 and the wave buoy 300, thereby effectively reducing the load on the first lifting device 110 and the second lifting device 120, thus ensuring the movement accuracy of the first lifting device 110 and the second lifting device 120.

[0033] like Figure 4 and Figure 5 As shown, in the projection in the plane parallel to the first support platform 100a, there is a first line connecting the center of the first drive shaft 112 and the center of the second drive shaft 113, and a second line connecting the center of the third drive shaft 122 and the center of the fourth drive shaft 123. The intersection of the first line and the second line falls at the center of the first support platform 100a.

[0034] In this embodiment, by connecting the center of the first drive shaft to the center of the second drive shaft and the center of the third drive shaft to the center of the fourth drive shaft, the force on the first support platform is made more balanced.

[0035] The first drive shaft 112 and the second drive shaft 113 can be connected to a first cylinder or a first linear motor, and the first drive shaft 112 and the second drive shaft 113 can be driven to move synchronously by the first cylinder or the first linear motor. In one embodiment, the first lifting device 110 further includes a first drive motor 111, a first transmission shaft 114 and a first conveyor belt 115, the first conveyor belt 115 being sequentially wound around the motor shaft of the first drive motor 111, the first drive shaft 112, the first transmission shaft 114 and the second drive shaft 113. For example, the first conveyor belt 115 is provided with a first toothed structure, and the outer peripheral surfaces of the motor shaft of the first drive motor 111, the first drive shaft 112, the first transmission shaft 114, and the second drive shaft 113 are all provided with a second toothed structure that meshes with the first toothed structure. In this way, when the motor shaft of the first drive motor 111 rotates, it can drive the first drive shaft 112, the first transmission shaft 114, and the second drive shaft 113 to rotate synchronously through the first conveyor belt 115. The rotation of the first drive shaft 112 and the second drive shaft 113 drives the lifting and lowering of the first support platform 100a. For example, the first drive shaft 112 and the second drive shaft 113 are both threaded with a first nut, and the first nut is fixedly connected to the first support platform 100a.

[0036] The third drive shaft 122 and the fourth drive shaft 123 can be connected to the second cylinder or the second linear motor, and the third drive shaft 122 and the fourth drive shaft 123 can be driven to move synchronously by the second cylinder or the second linear motor. In one embodiment, the second lifting device 120 further includes a second drive motor 121, a second transmission shaft 124 and a second conveyor belt 125, the second conveyor belt 125 being sequentially wound around the motor shaft of the second drive motor 121, the third drive shaft 122, the second transmission shaft 124 and the fourth drive shaft 123. For example, the second conveyor belt 125 is provided with a third toothed structure, and the outer peripheral surfaces of the motor shaft of the second drive motor 121, the third drive shaft 122, the second transmission shaft 124, and the fourth drive shaft 123 are all provided with a fourth toothed structure that meshes with the third toothed structure. In this way, when the motor shaft of the second drive motor 121 rotates, it can drive the third drive shaft 122, the second transmission shaft 124, and the fourth drive shaft 123 to rotate synchronously through the second conveyor belt 125. The rotation of the third drive shaft 122 and the fourth drive shaft 123 drives the lifting and lowering of the first support platform 100a. For example, the third drive shaft 122 and the fourth drive shaft 123 are both threaded with a second nut, and the second nut is fixedly connected to the first support platform 100a.

[0037] like Figure 5As shown, in the projection onto a plane parallel to the first support platform 100a, the first drive motor 111, the second drive motor 121, the first transmission shaft 114, and the second transmission shaft 124 are located outside the first support platform 100a. Thus, the first drive motor 111 and the second drive motor 121 are not within the stroke range of the first support platform 100a, meaning they do not obstruct the movement path of the first support platform 100a, thereby effectively increasing the stroke range of the first support platform 100a. The first transmission shaft 114 and the second transmission shaft 124 are also located outside the first support platform 100a, ensuring the symmetrical arrangement of the motor shaft of the first drive motor 111, the first transmission shaft 114, the first drive shaft 112, and the second drive shaft 113, thereby ensuring the force balance of the motor shaft of the first drive motor 111, the first transmission shaft 114, the first drive shaft 112, and the second drive shaft 113.

[0038] For example, such as Figure 4 As shown, in the projection onto a plane parallel to the first support platform 100a, a third line connects the center of the motor shaft of the first drive motor 111 and the center of the first transmission shaft 114, and the intersection of the first and third lines falls at the center of the first support platform 100a. A fourth line connects the center of the motor shaft of the second drive motor 121 and the center of the second transmission shaft 124, and the intersection of the second and fourth lines falls at the center of the first support platform 100a, thereby further improving the force balance.

[0039] In one embodiment, such as Figure 1 and Figure 6 As shown, the drive device 100 also includes a third drive motor 131, a first ball screw 132, a fourth drive motor 141, and a second ball screw 142. The third drive motor 131 is mounted on the first support platform 100a. The lead screw of the first ball screw 132 is connected to the motor shaft of the third drive motor 131. The nut of the first ball screw 132 is connected to the second support platform 100b. The axis of the first ball screw 132 extends along a first direction. Thus, the third drive motor 131 drives the lead screw of the first ball screw 132 to rotate, thereby causing the nut of the first ball screw 132 and the second support platform 100b thereon to move along the first direction. The fourth drive motor 141 is mounted on the second support platform 100b. The lead screw of the second ball screw 142 is connected to the motor shaft of the fourth drive motor 141. The nut of the second ball screw 142 is connected to the mounting device 200. For example, the nut of the second ball screw 142 is connected to the mounting device 200 via the third support platform 100c. Thus, the fourth drive motor 141 drives the screw of the second ball screw 142 to rotate, thereby causing the nut of the second ball screw 142 and its mounting device 200 to move in the second direction.

[0040] In one embodiment, such as Figure 1,as well as Figures 7 to 9 As shown, the installation device 200 includes a first housing 210 and a second housing 220 disposed within the first housing 210. The inner surface of the first housing 210 is provided with a plurality of annular grooves 211, the axes of which intersect at the same sphere center. The second housing 220 forms a cavity for accommodating the wave buoy 300. Two opposing support columns 221 are fixed on the outer surface of the second housing 220. The support columns 221 are adapted to the annular grooves 211. Thus, the two support columns 221 of the second housing 220 can move along the annular grooves 211, and the two support columns 221 can also rotate around their own axes, thereby realizing the free rotation of the second housing 220 and the wave buoy 300 inside it, to simulate the rotational motion of the wave buoy 300 on the sea surface affected by waves, wind and other factors.

[0041] See Figure 8 and Figure 9 The first housing 210 is equipped with multiple electromagnets 212, which are distributed on different side walls of the first housing 210. For example, the first housing 210 is hexahedral, and at least one electromagnet 212 is provided on each face of the hexahedron. The second housing 220 is equipped with multiple magnetic attraction parts 222. The multiple electromagnets 212 are electrically connected to a control device. The control device is used to control the magnitude and direction of the magnetic force applied by each electromagnet 212 to the magnetic attraction parts 222, thereby causing the rotation of the second housing 220 and the wave buoy 300 inside it. A magnetic shielding layer is provided on the inner surface of the second housing 220. The magnetic shielding layer can effectively shield the magnetic field and prevent the electromagnets 212 and the magnetic attraction parts 222 from affecting the devices of the wave buoy 300 and thus affecting the accuracy of the detection results of the wave buoy 300.

[0042] An exemplary embodiment of the present invention also provides a control method for a wave buoy testing system, which can be applied, for example, to the wave buoy testing system described above. Figure 10 As shown, the control method of the wave buoy calibration system includes the following steps: S100, Obtain wave data.

[0043] In this step, wave data can characterize wave features, such as wave height and wave period. Wave data can be descriptive information about wave motion; as mentioned earlier, wave data can be a pre-defined functional relationship used to describe wave motion. Wave data can also be a time series of wave changes over time, consisting of discrete point values.

[0044] S200: Control the drive device according to the wave data so that the drive device drives the mounting device to move in a manner that matches the wave data.

[0045] In this step, based on wave data, the drive device and the wave buoy on it are controlled to move along a trajectory that matches the wave data, thereby simulating the movement of the installation device and the wave buoy on it in the marine environment.

[0046] S300: Acquire detection data from wave buoys.

[0047] In this step, during the motion of the wave buoy, detection data of the wave buoy is collected. The detection data includes, for example, wave height and wave period determined by the wave buoy.

[0048] S400. Determine the verification results of the wave buoy based on the detection data and wave data.

[0049] In this step, since the driving device drives the wave buoy's movement according to wave data, it is unnecessary to detect the wave buoy's motion standard value during its movement. The calibration result of the wave buoy can be determined simply by comparing the detected data with the wave data. For example, the detected data includes the detected wave height, and the wave data includes the reference wave height. The difference between the detected wave height and the reference wave height, divided by the reference wave height, is used as the percentage to determine the wave buoy's calibration result.

[0050] In this embodiment, various different marine environments can be simulated for the wave buoy by flexibly setting wave data, thereby achieving accurate verification of the wave buoy.

[0051] In one embodiment, as shown in the figure, step S100 specifically includes the following steps: S110, Obtain wave video data.

[0052] In this step, the wave video data can be wave video data collected by shooting the sea surface with mobile equipment such as drones, or wave video data captured by fixed cameras set up in certain sea areas.

[0053] S120. Based on wave video data, determine wave trajectory tracking data of at least one wave, and use the wave trajectory tracking data as wave data.

[0054] In this step, at least one wave in the wave video data can be tracked using an image recognition algorithm to determine the trajectory of that wave in the video data, and wave data can be obtained based on the determined trajectory. For example, the wave video data can be input into an image analysis model such as YOLO, which can identify the wave region and track the position of the wave region to obtain wave data.

[0055] In this embodiment, wave data is determined by capturing wave video data, which enables the wave data to more accurately simulate the actual marine environment, enrich the detection data of wave buoys, and improve the verification accuracy of wave buoys.

[0056] In one embodiment, when capturing wave video data, several tracer floats of a predetermined color (e.g., high-brightness orange or red) and with regular geometric shapes (e.g., spheres or cubes) are deployed on the sea surface. The predetermined color has a significant color difference from the seawater color. This ensures that the wave video data includes the aforementioned floats with the predetermined color and regular shapes. Step S120 specifically includes the following steps: S121. Determine the trajectory of the buoy in the wave video data.

[0057] In this step, because the float's color differs from the wave's color, it's easier to pinpoint the area where the float is located within the wave video data. Based on the float's positional changes across frames in the wave video data, its trajectory can be determined. For example, the control device (or its connected host computer) runs an image recognition algorithm (e.g., a target detection model based on YOLOv5 or YOLOv8) to process the wave video data frame by frame. First, image enhancement processing is performed on the video frames, including histogram equalization and Gaussian filtering for noise reduction. Then, a trained target detection model is used to identify the pixel coordinates of the tracer float in each frame. Finally, a Kalman filter algorithm is used to smooth the identified pixel coordinate sequence, eliminating false detections, thereby determining the continuous motion trajectory of the tracer float in the image coordinate system.

[0058] S122. Based on the size and trajectory of the float, generate wave trajectory tracking data.

[0059] Since the size of the float is known, the actual distance the float moves can be determined based on the proportion of the float in the wave video data image, and thus the actual size of the wave, such as the actual wave height and wave speed.

[0060] For example, the above wave trajectory tracking data can be generated using an image recognition model and a large language model. The image recognition model extracts features from the wave video data frame by frame to obtain image feature information for each frame. This image feature information is then input into the large language model, along with guiding statements such as, "The red float in the image is a cube 10cm long, 8cm wide, and 3cm high. Based on the input video, determine the float's trajectory, and based on the float's trajectory and dimensions, determine the wave's trajectory."

[0061] Since the image coordinate system is two-dimensional planar coordinates, while wave motion is three-dimensional spatial motion, monocular visual ranging or binocular visual reconstruction is required. In this embodiment, the known physical dimensions (e.g., diameter D) of the tracing buoy are used as a scale reference. According to the pinhole imaging principle, the pixel diameter d of the buoy in the image is inversely proportional to the actual distance Z from the buoy to the camera: Z=f D / d Where f is the focal length of the camera (in pixels). Combining the camera's intrinsic and extrinsic parameter matrices (pre-calibrated using the Zhang Zhengyou calibration method), the pixel coordinates and depth information Z in the image coordinate system are converted into three-dimensional spatial coordinates (Xw, Yw, Zw) in the world coordinate system. This generates a wave trajectory tracking data sequence Pwave={(x1,y1,z1,t1),(x2,y2,z2,t2),...} containing a timestamp t and three-dimensional position information. This data sequence accurately reflects the wave height, period, and direction characteristics of the waves in the target sea area. In one embodiment, step S200 specifically includes: S210. Determine the motion coordinate sequence of the installation device based on the wave trajectory tracking data.

[0062] In this step, since the wave trajectory tracking data Pwave is based on the world coordinate system (ocean environment) while the drive device 100 is based on the machine coordinate system (equipment environment), coordinate mapping is required. The control device pre-stores a coordinate transformation matrix M, which contains translation vectors and rotation matrices, used to convert the world coordinate system to the machine coordinate system of the drive device. The control device multiplies each three-dimensional spatial coordinate point in the wave trajectory tracking data Pwave by the coordinate transformation matrix M to obtain the target motion coordinate sequence Ptarget={Q1,Q2,Q3,...} of the installation device 200 in the machine coordinate system, where Qi=(xi′,yi′,zi′). Simultaneously, to ensure smooth motion, the control device performs interpolation processing on the target motion coordinate sequence Ptarget (e.g., using cubic spline interpolation), generating a high-density motion control point sequence based on the control frequency (e.g., 1kHz) of each servo motor in the drive device 100.

[0063] S220: Controls the action of the drive device based on the motion coordinate sequence.

[0064] In this step, the drive device can be controlled to drive the installation device to each position point in the motion coordinate sequence in sequence, thereby simulating the motion of the wave buoy in the marine environment.

[0065] The control device decomposes the motion control point sequence into control commands for each axis: For the third direction (Z-axis, lifting direction): the control device adjusts the speed and angle of the first drive motor 111 and the second drive motor 121 according to the z′ coordinate sequence using a PID control algorithm. Specifically, it calculates the deviation e(t) between the target position and the actual position, outputs a control quantity u(t) to the motor driver, and drives the first lifting device 110 and the second lifting device 120 to move synchronously, realizing the lifting of the mounting device 200. For the first direction (X-axis) and the second direction (Y-axis): the control device controls the third drive motor 131 and the fourth drive motor 141 respectively according to the x′ and y′ coordinate sequences. Specifically, the control device sends a pulse signal to the third drive motor 131 to drive the first ball screw 132 to rotate, causing the second support platform 100b to move along the first direction; and sends a pulse signal to the fourth drive motor 141 to drive the second ball screw 142 to rotate, causing the mounting device 200 to move along the second direction. Through the interpolation algorithm of three-axis linkage, the installation device 200 moves strictly along the trajectory defined by the target motion coordinate sequence Ptarget, thereby driving the wave buoy 300 to reproduce the motion posture of real ocean waves.

[0066] In addition, to simulate the torque effect of waves on the buoy, the control device calculates the required overturning moment based on the instantaneous slope or angular velocity data of the waves. The control device adjusts the current of the electromagnets 212 at different positions on the first housing 210. For example, when simulating a wave tilting to the left, the attraction force of the left electromagnet is increased or the attraction force of the right electromagnet is decreased, using the magnetic difference to drive the second housing 220 to rotate around the support column 221, thereby simulating the roll or pitch motion of the wave buoy 300 to test the wave buoy's anti-interference capability.

[0067] The above-described contents can be implemented individually or in various combinations, and these variations are all within the protection scope of this invention.

[0068] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element.

[0069] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A wave buoy calibration system, characterized in that, The wave buoy verification system includes: Installation device for installing wave buoys to be tested; A driving device, connected to the mounting device, is used to drive the mounting device to move along a first direction, a second direction, and a third direction to simulate waves, wherein the first direction, the second direction, and the third direction are perpendicular to each other; A control device, electrically connected to both the drive device and the wave buoy, is used to acquire wave data and control the drive device according to the wave data so that the drive device drives the installation device to move in a manner matching the wave data, and to acquire detection data of the wave buoy and determine the verification result of the wave buoy based on the detection data and the wave data. The installation device includes a first housing and a second housing disposed within the first housing. The inner surface of the first housing is provided with a plurality of annular grooves, the axes of which intersect at the same sphere center. The second housing forms a cavity for accommodating the wave buoy. Two opposing support columns are fixed on the outer surface of the second housing, and the support columns are adapted to the annular grooves. The first housing is provided with a plurality of electromagnets, which are distributed on different side walls of the first housing. The second housing is provided with a plurality of magnetic attraction parts, and a magnetic shielding layer is provided on the inner surface of the second housing. Each of the electromagnets is electrically connected to the control device, which is used to control the magnitude and direction of the magnetic force applied by each electromagnet to the magnetic attraction part.

2. The wave buoy calibration system according to claim 1, characterized in that, The driving device includes: A first support platform, which is parallel to the first direction and the second direction, and perpendicular to the third direction; A first lifting device is disposed below the first support platform. The first lifting device includes a first drive shaft and a second drive shaft connected to the first support platform. The first drive shaft and the second drive shaft are used to drive the first support platform to lift. A second lifting device is disposed above the first support platform. The second lifting device includes a third drive shaft and a fourth drive shaft connected to the first support platform. The third drive shaft and the fourth drive shaft are used to drive the first support platform to lift. In the projection onto a plane parallel to the first support platform, there is a first line connecting the center of the first drive shaft and the center of the second drive shaft, and a second line connecting the center of the third drive shaft and the center of the fourth drive shaft. The intersection of the first line and the second line falls on the center of the first support platform.

3. The wave buoy calibration system according to claim 2, characterized in that, The first lifting device further includes a first drive motor, a first transmission shaft, and a first conveyor belt, wherein the first conveyor belt is sequentially wound around the motor shaft of the first drive motor, the first drive shaft, the first transmission shaft, and the second drive shaft; The second lifting device further includes a second drive motor, a second transmission shaft, and a second conveyor belt, wherein the second conveyor belt is sequentially wound around the motor shaft of the second drive motor, the third drive shaft, the second transmission shaft, and the fourth drive shaft; In the projection onto a plane parallel to the first support platform, the first drive motor, the second drive motor, the first transmission shaft, and the second transmission shaft are located outside the first support platform.

4. The wave buoy calibration system according to claim 3, characterized in that, In the projection on a plane parallel to the first support platform, there is a third line connecting the center of the motor shaft of the first drive motor and the center of the first transmission shaft, and the intersection of the first line and the third line falls on the center of the first support platform. There is a fourth line connecting the center of the motor shaft of the second drive motor and the center of the second transmission shaft, and the intersection of the second line and the fourth line falls on the center of the first support platform.

5. The wave buoy calibration system according to claim 2, characterized in that, The drive device further includes: The third drive motor is mounted on the first support platform; A first ball screw, the screw of the first ball screw is connected to the motor shaft of the third drive motor, the nut of the first ball screw is connected to the second support platform, and the axis of the first ball screw extends along the first direction. The fourth drive motor is mounted on the second support platform; The second ball screw is connected to the motor shaft of the fourth drive motor, and the nut of the second ball screw is connected to the mounting device.

6. A control method for a wave buoy calibration system, applied to the wave buoy calibration system as described in any one of claims 1 to 5, characterized in that, The control method of the wave buoy calibration system includes: Obtain wave data; The drive device is controlled according to the wave data so that the drive device drives the mounting device to move in a manner that matches the wave data; Acquire the detection data of the wave buoy; The calibration result of the wave buoy is determined based on the detection data and the wave data.

7. The control method for the wave buoy calibration system according to claim 6, characterized in that, The acquisition of wave data includes: Acquire wave video data; Based on the wave video data, wave trajectory tracking data of at least one wave is determined, and the wave trajectory tracking data is used as the wave data.

8. The control method for the wave buoy calibration system according to claim 7, characterized in that, The wave video data includes floats of a predetermined color and a regular shape, the predetermined color being different from the wave color; The determination of wave trajectory tracking data for at least one wave based on the wave video data includes: Determine the trajectory of the buoy in the wave video data; Based on the size of the float and the trajectory of the float, the wave trajectory tracking data is generated.

9. The control method for the wave buoy calibration system according to claim 8, characterized in that, The step of controlling the drive device based on the wave data includes: Based on the wave trajectory tracking data, the motion coordinate sequence of the installation device is determined; The driving device is controlled to operate based on the motion coordinate sequence.

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