A sea tide gauge, a recovery method, a recovery device and a marine surveying system

Abstract

The embodiment of the present application provides a kind of offshore tide gauge, recovery method, recovery device and marine surveying system, comprising: tide gauge body is provided with containing cavity in top portion;Anchor portion is connected with tide gauge body, anchors tide gauge body;Float is connected with tide gauge body, when tide gauge body is in working phase, it is contained in containing cavity, when tide gauge body is in recovery phase, it is floated to sea level;Environmental parameter sensor detects the deployment environmental parameter of tide gauge body;Release execution mechanism is located between float and tide gauge body, and releases gas to float;Acoustic monitor receives acoustic recovery instruction;Controller verifies acoustic recovery instruction and deployment environmental parameter when receiving acoustic recovery instruction;In the case where acoustic recovery instruction and deployment environmental parameter are verified, control release execution mechanism releases gas to float, by the embodiment of the present application, recovery safety, accuracy and success rate can be improved.

Description

Technical Field

[0001] This invention relates to the fields of marine surveying technology and marine engineering equipment technology, and in particular to a marine tide gauge, a method for recovering a marine tide gauge, a device for recovering a marine tide gauge, and a marine surveying system. Background Technology

[0002] Marine tide gauges are crucial equipment for long-term, continuous measurement of seawater tide changes in marine surveying, marine hydrological observation, and channel dredging. Typically, tide gauges need to be placed on the seabed for observations lasting weeks, months, or even longer. However, current deployment methods for marine tide gauges rely on a fixed buoy that floats continuously on the surface to locate the gauge. However, this buoy is constantly exposed to harsh sea conditions and is susceptible to damage and loss due to wind, waves, currents, ship impacts, and fishing net towing, resulting in low safety, accuracy, and success rates. Summary of the Invention

[0003] In view of the above problems, embodiments of the present invention are proposed to provide a marine tide gauge, a marine tide gauge recovery method, a marine tide gauge recovery device, and a marine surveying system that overcome or at least partially solve the above problems.

[0004] To address the aforementioned problems, in the first stage of this invention, an embodiment of the invention discloses a marine tide gauge, comprising: The tide gauge body has a receiving cavity at its top; An anchoring part, connected to the tide gauge body, is used to anchor the tide gauge body; A float, connected to the tide gauge body, is used to be housed in the receiving cavity when the tide gauge body is in the working stage, and to float to the sea surface when the tide gauge body is in the recovery stage. An environmental parameter sensor is used to detect the deployment environment parameters of the tide gauge body; A release actuator, located between the float and the tide gauge body, is used to release gas to the float to increase its buoyancy; Acoustic listener, used to receive acoustic recovery commands; The controller, connected to the acoustic listener, the release actuator, and the environmental parameter sensor, is used to verify the acoustic recovery command and the deployment environmental parameters when the acoustic recovery command is received; and to control the release actuator to release gas to the float if the acoustic recovery command and the deployment environmental parameters pass the verification.

[0005] Optionally, the acoustic recovery command is a narrowband coded acoustic wave command, which carries command data, a dynamic key, a release device identifier, and a data verification code; the controller stores a device verification identifier. The controller is used to, upon receiving the narrowband coded acoustic command, compare the device verification identifier and the release device identifier; if the device verification identifier and the release device identifier are consistent, decrypt the command data based on the dynamic key to generate execution data; perform cyclic redundancy check on the command data to generate a verification code; match the verification code with the data verification code to determine the command matching status; compare the deployment environment parameters with preset seabed environment parameters to determine the environment verification status; and control the release actuator to release gas to the float when the command matching status is passed and the environment verification status is passed.

[0006] Optionally, the controller is further configured to detect the floating state of the float after the release actuator executes the acoustic recovery command, and if the floating state is abnormal, execute the acoustic recovery command again to perform a secondary release.

[0007] Optionally, the float comprises: A buoy is used to be housed in the receiving cavity when the tide gauge body is in the working stage, and to float to the sea level when the tide gauge body is in the recovery stage. The cable is connected at one end to the float and at the other end to the receiving cavity.

[0008] Optionally, the release actuator includes: A gas source, connected to the float, is used to release gas onto the float; A release element, located between the air source and the float, is electrically connected to the controller and is used to connect the air source and the float under the control of the controller.

[0009] Optionally, the release element includes at least one of the following: An electrically detonating pin, located between the gas source and the float, and electrically connected to the controller, is used to isolate the gas source and the float when the tide gauge body is in operation, and to connect the gas source and the float when activated by the controller. A shape memory alloy actuator, located between the air source and the float, and electrically connected to the controller, is used to isolate the air source and the float when the tide gauge body is in operation, and deform under the control of the controller to connect the air source and the float. A micro motor, located between the air source and the float, and electrically connected to the controller, is used to isolate the air source and the float when the tide gauge body is in operation, and to rotate under the control of the controller to connect the air source and the float. An electromagnet, located between the air source and the float, and electrically connected to the controller, is used to isolate the air source and the float when the tide gauge body is in operation, and to connect the air source and the float based on magnetic force under the control of the controller.

[0010] Optionally, it also includes: The battery is connected to the controller, the acoustic listener, the environmental parameter sensor, and the release actuator.

[0011] In a second aspect, embodiments of the present invention disclose a method for recovering a marine tide gauge, wherein the marine tide gauge includes the marine tide gauge described above, and the method includes: Send an acoustic recovery command to the marine tide gauge, the acoustic recovery command being used to control the float of the marine tide gauge to rise to the surface; The recovery location is determined based on the floating body; The marine tide gauge is retrieved based on the stated retrieval location.

[0012] In a third aspect of the present invention, an embodiment of the present invention discloses a marine tide gauge recovery device, comprising: a marine tide gauge as described above.

[0013] In a fourth aspect of the present invention, an embodiment of the present invention discloses a marine mapping system, comprising: a marine tide gauge as described above.

[0014] The embodiments of the present invention have the following advantages: This invention includes a tide gauge body with a receiving cavity at its top; an anchoring part connected to the tide gauge body for anchoring the tide gauge body; a float connected to the tide gauge body for being housed in the receiving cavity when the tide gauge body is in operation and floating to the sea surface when the tide gauge body is in the recovery phase; an environmental parameter sensor for detecting the deployment environment parameters of the tide gauge body; a release actuator located between the float and the tide gauge body for releasing gas to the float to increase its buoyancy; an acoustic listener for receiving acoustic recovery commands; and a controller connected to the acoustic listener, the release actuator, and the environmental parameter sensor for verifying the acoustic recovery command and the deployment environment parameters upon receiving the acoustic recovery command; and controlling the release actuator to release gas to the float if the acoustic recovery command and the deployment environment parameters pass the verification. The float is housed within the containment chamber when the tide gauge is in operation and rises to the sea surface during the retrieval phase. The controller only controls the float to rise after receiving and verifying an acoustic retrieval command, preventing the float from being exposed to the sea surface for extended periods. This avoids positional shifts or loss due to sea conditions such as wind, waves, currents, ship collisions, and fishing net dragging. During retrieval, the float allows for accurate positioning of the tide gauge, improving accuracy and success rate. Furthermore, the controller controls the float's ascent only after verifying the retrieval command, preventing false or malicious triggering and improving command accuracy. Environmental verification is also performed based on deployment parameters; control is only initiated after both the command and environment have passed verification, further reducing false triggering and enhancing retrieval safety. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the appearance of an embodiment of a marine tide gauge according to the present invention; Figure 2 This is a schematic diagram of the structure of an embodiment of a marine tide gauge according to the present invention; Figure 3 This is a schematic diagram of the recovery stage structure of an embodiment of a marine tide gauge according to the present invention; Figure 4 This is a flowchart illustrating the steps of an embodiment of the method for recovering a marine tide gauge according to the present invention; Figure 5 This is a flowchart illustrating the steps of a method for recovering a marine tide gauge according to the present invention.

[0016] Explanation of reference numerals in the attached figures: 100-Tide level gauge body, 200-Anchoring part, 300-Float, 310-Float ball, 320-Cable, 400-Environmental parameter sensor, 500-Release actuator, 600-Acoustic monitor, 700-Controller, 800-Battery. Detailed Implementation

[0017] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0018] Reference Figure 1 A schematic diagram of the appearance of an embodiment of the marine tide gauge of the present invention is shown; see reference Figure 2 A schematic diagram of an embodiment of a marine tide gauge of the present invention is shown; refer to Figure 3 This diagram illustrates the structural schematic of the recovery phase of an embodiment of a marine tide gauge according to the present invention. The marine tide gauge may specifically include the following components: The tide gauge body 100 has a receiving cavity at its top; Anchoring part 200 is connected to the tide gauge body 100 and is used to anchor the tide gauge body 100. The float 300 is connected to the tide gauge body 100 and is used to be housed in the receiving cavity when the tide gauge body 100 is in the working stage, and to float to the sea surface when the tide gauge body 100 is in the recovery stage. An environmental parameter sensor 400 is used to detect the deployment environmental parameters of the tide gauge body 100. Release actuator 500, located between the float 300 and the tide gauge body 100, is used to release gas to the float 300 to increase the buoyancy of the float 300; Acoustic listener 600, used to receive acoustic recovery commands; The controller 700, connected to the acoustic listener 600, the release actuator 500, and the environmental parameter sensor 400, is used to verify the acoustic recovery command and the deployment environmental parameters when the acoustic recovery command is received; and to control the release actuator 500 to release gas to the float 300 if the acoustic recovery command and the deployment environmental parameters are verified to be valid.

[0019] In this embodiment of the invention, a marine tide gauge may include at least a tide gauge body 100, an anchoring part 200, a float 300, an environmental parameter sensor 400, a release actuator 500, and a controller 700. The tide gauge body 100 is the basic component of the marine tide gauge, capable of performing functions such as tide level detection and supporting other components. The anchoring part 200 is connected to the tide gauge body 100. The anchoring part 200 has a certain weight, which allows the tide gauge body 100 to be deployed to the seabed, and after reaching the seabed, it anchors the tide gauge body 100 to the seabed, preventing it from drifting with ocean currents, allowing the tide gauge body 100 to perform tidal current observations at the corresponding seabed location. The anchoring part 200 can be an anchoring weight, which is connected to the bottom or side of the tide gauge body 100 via a metal chain. The top of the tide gauge body 100 is provided with a receiving cavity, the volume of which is larger than that of the uninflated float 300. The float 300 is connected to the tide gauge body 100. When the tide gauge body 100 is in operation, the float 300 is housed in the receiving cavity, meaning it is not exposed to the sea. When the tide gauge body 100 is in the recovery phase, it rises to the sea surface. The float 300 can be activated as needed, and its release is only remotely triggered during recovery, mitigating the risk of long-term exposure and improving reliability. A release actuator 500 is located between the float 300 and the tide gauge body 100 and can be controlled by a controller 700 to determine whether the float 300 rises. Under the control of the controller 700, the release actuator 500 can release gas into the float 300 to increase its buoyancy, causing it to rise. When the release actuator 500 is not activated, the float 300 is not inflated. The float 300 is folded and stored in the receiving cavity. An environmental parameter sensor 400 is connected to the controller 700 and can detect the deployment environment parameters of the tide gauge body 100. These parameters characterize the deployment environment of the tide gauge body 100. These parameters include, but are not limited to, water depth, water pressure, and temperature. Before the release actuator 500 operates, the pre-deployment environment parameters can be checked. If the deployment environment parameters are abnormal, such as in a non-seabed environment, the release actuator 500 should be prohibited from operating to avoid accidental triggering. An acoustic listener 600 is connected to the controller 700 and can be periodically woken up or automatically started. The acoustic listener 600 receives acoustic recovery commands. These commands are acoustic signals, recording information through sound waves. The controller 700 is connected to the acoustic listener 600, the release actuator 500, and the environmental parameter sensor 400. Specifically, the controller 700 is electrically connected to the acoustic listener 600, the release actuator 500, and the environmental parameter sensor 400. The controller 700 interacts with the acoustic listener 600, the release actuator 500, and the environmental parameter sensor 400.The controller 700 and environmental parameter sensor 400 can be woken up when the acoustic listener 600 receives an acoustic recovery command. That is, after receiving the acoustic recovery command, the acoustic listener 600 sends the command to the controller 700 to wake it up. After waking up, the controller 700 triggers the environmental parameter sensor 400 to detect the deployment environment parameters of the tide gauge body 100. The controller 700 can receive the deployment environment parameters. The controller 700 can verify both the acoustic recovery command and the deployment environment parameters separately. Dual verification is used to determine whether the release actuator 500 can be controlled to release gas. If both the acoustic recovery command and the deployment environment parameters pass verification, it indicates a recovery requirement and a normal environment; the release actuator 500 can then be controlled to release gas onto the float 300, causing it to rise. However, if either the acoustic recovery command or the deployment environment parameters fail verification, the release actuator 500 is prohibited from releasing gas onto the float 300 to avoid false triggering.

[0020] In summary, the operation of the marine tide gauge is as follows: During the deployment phase, the marine tide gauge is deployed to the corresponding location. The anchoring unit 200 lowers the tide gauge body 100 to the seabed, and once it reaches the seabed, the anchoring unit 200 anchors the tide gauge body 100. The float 300 is housed within the housing cavity of the tide gauge body 100 and is not directly exposed to the sea surface. After reaching the seabed, the tide gauge body 100 can begin data detection, monitoring seabed tidal data. Meanwhile, the acoustic listener 600 periodically activates to detect the presence of an acoustic wave recovery command. When the acoustic listener 600 detects an acoustic wave recovery command, the marine tide gauge begins recovery, entering the recovery phase. The environmental parameter sensor 400 detects the current deployment environment parameters. The controller 700 verifies the acoustic wave recovery command and the deployment environment parameters. Verifying the acoustic wave recovery command determines whether a genuine recovery operation is underway, avoiding false triggers. Verifying the deployment environment parameters confirms that the tide gauge body 100 is in the marine environment. Once the acoustic recovery command and deployment environmental parameters have been verified, the control release actuator 500 releases gas to the float 300. As gas is released, the buoyancy of the float 300 gradually increases, causing it to detach from the containment chamber and rise to the sea level. Recovery personnel can then determine the location of the tide gauge using the position of the float 300 and retrieve it.

[0021] This embodiment of the invention includes a tide gauge body 100, with a receiving cavity at its top; an anchoring part 200 connected to the tide gauge body 100 for anchoring the tide gauge body 100; a float 300 connected to the tide gauge body 100, for being housed in the receiving cavity when the tide gauge body 100 is in the working phase, and for floating to the sea surface when the tide gauge body 100 is in the recovery phase; an environmental parameter sensor 400 for detecting the deployment environmental parameters of the tide gauge body 100; and a release actuator 500 located between the float 300 and the... Between the tide gauge body 100, gas is released to the float 300 to increase the buoyancy of the float 300; an acoustic listener 600 is used to receive acoustic recovery commands; a controller 700, connected to the acoustic listener 600, the release actuator 500, and the environmental parameter sensor 400, is used to verify the acoustic recovery command and the deployment environmental parameters when the acoustic recovery command is received; and if the acoustic recovery command and the deployment environmental parameters pass the verification, the controller controls the release actuator 500 to release gas to the float 300. When the tide gauge body 100 is in operation, the float 300 is housed within the containment cavity. When the tide gauge body 100 is in the recovery phase, it floats to the sea surface. The controller 700 only controls the float 300 to rise after receiving and verifying an acoustic recovery command, preventing the float 300 from being exposed to the sea surface for extended periods. This avoids positional shifts or loss due to sea conditions such as wind, waves, currents, ship collisions, and fishing net dragging. During recovery, the float 300 can accurately locate the tide gauge body 100 based on its position on the sea surface, thereby improving recovery accuracy and success rate. Furthermore, the controller 700 controls the float 300 to rise only after verifying the recovery command, preventing false or malicious triggering of the command and improving command accuracy. It also performs environmental verification based on deployment environment parameters, controlling the buoy only after both the command and environment have passed verification, further reducing false triggering and improving recovery safety.

[0022] In an optional embodiment of the present invention, the acoustic recovery command is a narrowband coded acoustic wave command, which carries command data, a dynamic key, a release device identifier, and a data verification code; the controller 700 stores a device verification identifier. The controller 700, upon receiving the narrowband coded acoustic command, compares the device verification identifier and the release device identifier; when the device verification identifier and the release device identifier match, it decrypts the command data based on the dynamic key to generate execution data; performs cyclic redundancy check on the command data to generate a verification code; matches the verification code with the data verification code to determine the command matching status; compares the deployment environment parameters with preset seabed environment parameters to determine the environment verification status; and controls the release actuator 500 to release gas to the float 300 when the command matching status is passed and the environment verification status is passed.

[0023] In this embodiment of the invention, the acoustic recovery command can be a narrowband coded acoustic wave command with a frequency range of 10kHz to 50kHz (kilohertz). The narrowband coded acoustic wave command carries command data, a dynamic key, a release device identifier, and a data verification code. The command data is the operation information indicating recovery. The dynamic key is the dynamic password for decrypting the command data, and the release device identifier is the unique identifier of the device to be recovered. The data verification code is a data code used to verify the command. The controller 700 stores a device verification identifier. The device verification identifier is the device identification code stored within the marine tide gauge itself, used to identify the device and distinguish it from other devices.

[0024] When the controller 700 receives a narrowband coded acoustic wave command, it first compares the device verification identifier and the release device identifier to determine if they match. If they match, it indicates that the tide gauge where the controller 700 is located is a tide gauge that needs to be recovered. If they match, it indicates that the tide gauge where the controller 700 is located is not a tide gauge that needs to be recovered, and the subsequent ascent operation is not performed. Authentication prevents false triggering. When the device verification identifier and the release device identifier match, a dynamic key can be used to decrypt the command data and generate execution data. Using a single-use valid dynamic key to decrypt the encrypted command prevents data tampering and improves execution accuracy. However, if the key expires, is incorrect, or is replayed, the dynamic key cannot decrypt the command data to obtain execution data, indicating that the narrowband coded acoustic wave command is invalid and is not executed. Then, a cyclic redundancy check is performed on the command data to generate a verification code; this verification code is then matched with a data check code to determine if they match. When the verification code matches the data check code, the data parsing is correct and execution is possible; the command matching status is determined to be passed. If the verification code and data check code do not match, it indicates a verification failure or command tampering, immediately deeming it illegal and discarding the narrowband coded acoustic command; the command matching status is determined to be failed. Simultaneously, the controller 700 also verifies the deployment environment parameters, comparing them with preset seabed environment parameters to determine the environment verification status. For example, deployment environment parameters include water pressure, water depth, and temperature. If the water pressure is too low, the water depth too shallow, or the temperature abnormal, the environment verification status fails. If the water pressure, water depth, and temperature all meet the requirements, the deployment environment parameters match the preset seabed environment parameters, and the environment verification status is determined to be passed. If the deployment environment parameters do not match the preset seabed environment parameters, the environment verification status fails. When both the command matching status and the environment verification status are passed, the release actuator 500 releases gas to the float 300. If either the command matching status or the environment verification status fails, the release of gas from the actuator 500 to the float 300 is prohibited. Accurate command matching is achieved through triple verification of narrowband coded acoustic commands and verification in conjunction with the deployment environment, preventing false or malicious triggering.

[0025] In addition, before release, the marine tide gauge can perform a self-test. Upon successful self-test, it controls the release actuator 500 to release gas to the float 300. The self-test can include a power supply self-test, checking the battery 800 voltage and power supply circuit continuity; release is prohibited if abnormalities are detected. A drive circuit self-test checks the circuit continuity and load status of the release actuator 500. A communication self-test verifies the normal operation of the acoustic listener 600, environmental parameter sensor 400, controller 700, and feedback link. If any self-test fails, the process stops and a fault code is transmitted.

[0026] In an optional embodiment of the present invention, the controller 700 is further configured to detect the floating state of the float 300 after the release actuator 500 executes the acoustic recovery command, and if the floating state is abnormal, execute the acoustic recovery command again to perform a secondary release.

[0027] In this embodiment of the invention, after the controller 700 controls the release actuator 500, the release actuator 500 executes an acoustic recovery command to inflate the float 300, releasing the constraints on the float 300. Simultaneously, it can detect and provide feedback on the float 300's buoyancy. For example, the buoyancy of the float 300 can be determined by detecting the current, displacement, pressure, and switching status of the release actuator 500. The controller 700 can transmit the buoyancy of the float 300 back to the work vessel or control center via an acoustic link, allowing recovery personnel to intuitively and clearly understand the specific buoyancy process. When the controller 700 detects an abnormal buoyancy state, it can automatically activate a redundant drive channel to execute the acoustic recovery command again for a secondary release, performing a secondary release action and controlling the release actuator 500 to operate again. Control is achieved through dual redundancy triggering, allowing for secondary triggering in case of a single failure, thus improving control reliability.

[0028] Furthermore, if the second trigger still fails, the action can be stopped, the controller 700 records a fault code, enters a safety lock state, prohibits further triggering, and sends back a fault status code. Regardless of whether the execution is successful or not, the execution result and fault type are uploaded in real time via acoustic signals, achieving closed-loop control.

[0029] In an optional embodiment of the present invention, the float 300 includes: The float 310 is used to be housed in the receiving cavity when the tide gauge body 100 is in the working stage, and to float to the sea level when the tide gauge body 100 is in the recovery stage. The cable 320 is connected at one end to the float 310 and at the other end to the receiving cavity.

[0030] In embodiments of the present invention, reference can be made to Figure 3The float 300 includes a buoy 310 and a cable 320. When the tide gauge body 100 is in operation, the buoy 310 is folded and stored in the receiving cavity. When the tide gauge body 100 is in the recovery phase, it floats to the sea surface, allowing for on-demand buoyancy, avoiding prolonged exposure, and improving the reliability and success rate of recovery. The cable 320 is located between the buoy 310 and the receiving cavity, with one end connected to the buoy 310 and the other end connected to the receiving cavity. In other words, the cable 320 connects the buoy 310 and the tide gauge body 100. After the buoy 310 floats, recovery personnel can reach its position and retrieve the tide gauge body 100 via the cable 320, further improving the recovery success rate.

[0031] In an optional embodiment of the present invention, the release actuator 500 includes: A gas source, connected to the float 300, is used to release gas to the float 300. A release device, located between the air source and the float 300, is electrically connected to the controller 700 and is used to connect the air source and the float 300 under the control of the controller 700.

[0032] In this embodiment of the invention, the release actuator 500 includes an air source and a release component. The air source can be a high-pressure air source, connected to the float 300, and releases gas to the float 300 under the control of the controller 700. This increases the buoyancy of the float 300, allowing it to rise to the sea surface. The release component is located between the air source and the float 300 and is electrically connected to the controller 700. The release component can be controlled by the controller 700. Under the control of the controller 700, the air source and the float 300 are connected, causing the float 300 to inflate and detach from the tide gauge body 100 to achieve ascent.

[0033] In an optional embodiment of the present invention, the release member includes at least one of the following: An electrically detonating pin is located between the gas source and the float 300 and is electrically connected to the controller 700. It is used to isolate the gas source and the float 300 when the tide gauge body 100 is in operation, and to connect the gas source and the float 300 when activated by the controller 700. A shape memory alloy actuator is located between the air source and the float 300 and is electrically connected to the controller 700. It is used to isolate the air source and the float 300 when the tide gauge body 100 is in operation, and to deform under the control of the controller 700 to connect the air source and the float 300. A micro motor, located between the air source and the float 300, and electrically connected to the controller 700, is used to isolate the air source and the float 300 when the tide gauge body 100 is in operation, and to rotate under the control of the controller 700 to connect the air source and the float 300. An electromagnet, located between the air source and the float 300, and electrically connected to the controller 700, is used to isolate the air source and the float 300 when the tide gauge body 100 is in operation, and to connect the air source and the float 300 based on magnetic force under the control of the controller 700.

[0034] The release element can be at least one of an electrically detonating pin, a shape memory alloy actuator, a micro motor, and an electromagnet. The float 300 is primarily constrained within the receiving cavity by the mechanical constraints of the electrically detonating pin, the shape memory alloy actuator, the micro motor, and the electromagnet. Under the control of the controller 700, the electrically detonating pin, the shape memory alloy actuator, the micro motor, and the electromagnet operate to release the float 300 and allow it to float upwards.

[0035] The electrically detonating pin is located between the air source and the float 300, and is electrically connected to and controlled by the controller 700. When the tide gauge body 100 is in operation, the electrically detonating pin isolates the air source and the float 300, confining the float 300 within the receiving cavity. Upon activation by the controller 700, it connects the air source and the float 300, allowing the air source to inflate the float 300, causing it to detach from the tide gauge body 100 and float upwards. The shape memory alloy actuator is also located between the air source and the float 300, and is electrically connected to and controlled by the controller 700. When the tide gauge body 100 is in operation, the shape memory alloy actuator isolates the air source and the float 300, confining the float 300 within the receiving cavity. Under the control of the controller 700, it deforms, connecting the air source and the float 300, allowing the air source to inflate the float 300, causing it to detach from the tide gauge body 100 and float upwards. A micro motor is located between the air source and the float 300, and is electrically connected to and controlled by the controller 700. When the tide level meter body 100 is in operation, the micro motor isolates the air source and the float 300, confining the float 300 within the receiving cavity. Under the control of the controller 700, the micro motor rotates, connecting the air source and the float 300, allowing the air source to inflate the float 300, causing it to detach from the tide level meter body 100 and float upwards. An electromagnet is also located between the air source and the float 300, and is electrically connected to and controlled by the controller 700. When the tide level meter body 100 is in operation, the electromagnet isolates the air source and the float 300, confining the float 300 within the receiving cavity. Under the control of the controller 700, the electromagnet generates magnetic force. Based on this magnetic force, it drives the air source to connect with the float 300 through attraction or repulsion, allowing the air source to inflate the float 300, causing it to detach from the tide level meter body 100 and float upwards.

[0036] In an optional embodiment of the present invention, it further includes: The battery 800 is connected to the controller 700, the acoustic listener 600, the environmental parameter sensor 400, and the release actuator 500.

[0037] In this embodiment of the invention, a battery 800 may also be provided in the marine tide gauge. The type and capacity of the battery 800 can be set according to requirements, and this embodiment of the invention does not limit it. For example, the battery 800 can be a high-capacity lithium thionyl chloride battery 800. Each branch of the battery 800 is independently powered, and the battery 800 is connected to the controller 700, the acoustic listener 600, the environmental parameter sensor 400, and the release actuator 500 respectively. That is, the battery 800 can supply power to the controller 700, the acoustic listener 600, the environmental parameter sensor 400, and the release actuator 500 respectively. By powering the controller 700, the acoustic listener 600, the environmental parameter sensor 400, and the release actuator 500 with the battery 800, long-term low-power standby can be supported to realize the function of tide level detection; thus improving the practicality of the marine tide gauge.

[0038] Reference Figure 4 This diagram illustrates a flowchart of an embodiment of a method for recovering a marine tide gauge according to the present invention. The marine tide gauge includes the type described above. The specific components of the marine tide gauge can be referred to in the above embodiment and will not be repeated here. The method for recovering the marine tide gauge specifically includes the following steps: Step 401: Send an acoustic wave recovery command to the marine tide gauge, the acoustic wave recovery command being used to control the float of the marine tide gauge to rise to the surface; When it is necessary to recover a marine tide gauge, an acoustic recovery command can be sent to the surrounding sea area. All marine tide gauges within the area will receive this command. After receiving the command, the tide gauge can verify it. Only tide gauges whose commands have been verified will execute the command to control their floats to rise. Tide gauges whose commands have not been verified will not respond to the command and will continue to operate, monitoring tide level data on the seabed.

[0039] Step 402: Determine the recovery location based on the float; After the float rises to the surface, it drifts on the sea level. By locating the float, the corresponding marine tide gauge can be used to determine the recovery point.

[0040] Step 403: Retrieve the marine tide gauge based on the retrieval location.

[0041] Upon reaching the recovery location, the marine tide gauge will be retrieved.

[0042] To enable those skilled in the art to clearly understand the entire process of the embodiments of the present invention, the deployment, concealment, retrieval triggering, command execution, and retrieval processes of the marine tide gauge are described based on the structure of the aforementioned marine tide gauge. (Refer to...) Figure 5 , S1: During the deployment phase, the tide gauge is connected to the anchoring unit and sunk to the seabed. Specifically, the tide gauge with the anchoring weight 2 attached is sunk to the predetermined seabed position. At this time, the float is constrained within the receiving cavity of the tide gauge body, and the entire tide gauge enters a submerged state.

[0043] S2: During the latent phase, the marine tide gauge operates normally on the seabed, collecting tide data. Furthermore, the marine tide gauge is in an ultra-low power sleep state, only periodically awakened by an acoustic listener to continuously listen for acoustic retrieval commands containing a dedicated encryption key; all other modules are powered off and in sleep mode. S3: Recovery Trigger - Command Execution Phase. When the tide gauge needs to be recovered, the work vessel or control center transmits a narrowband coded acoustic command carrying command data, a dynamic key, a release device identifier, and a data verification code to the sea area where the tide gauge is located. This acoustic recovery command is only valid for sea tide gauges at the target tide level. After receiving the command, the acoustic listener compares the device verification identifier with the release device identifier. If the device verification identifier and the release device identifier match, the command data is decrypted based on the dynamic key to generate execution data. Cyclic redundancy check is performed on the command data to generate a verification code. The verification code is matched with the data verification code to determine the command matching status. The deployment environment parameters are compared with the preset seabed environment parameters to determine the environmental verification status. When both the command matching status and the environmental verification status are passed, the release actuator is controlled to release gas to the float. The float fills with gas, the buoyancy gradually increases, and it pulls the cable to the sea surface, using the float as a recovery positioning marker. S4: Recovery Phase. Recovery personnel locate the marine tide gauge based on the floating buoy. The marine tide gauge is then retrieved, completing its recovery.

[0044] This invention, in its embodiments, sends an acoustic retrieval command to the marine tide gauge, which controls the float of the tide gauge to rise; determines the retrieval position based on the float; and retrieves the marine tide gauge based on the retrieval position. By sending the acoustic retrieval command to the marine tide gauge only when retrieval is needed, and by having the tide gauge rise only when triggered by the acoustic retrieval command, the risk of long-term exposure is avoided, greatly reducing the risk of loss and improving accuracy and success rate. Furthermore, retrieval only requires controlling the float to rise, reducing retrieval costs and difficulty. By quickly and effectively retrieving the marine tide gauge, the tide level observation data stored in the gauge can be used for subsequent processing, expanding the application range of the tide level observation data. Simultaneously, retrieval can be achieved simply by sending an acoustic retrieval command, avoiding the risks of diving operations or complex salvage, thus improving retrieval safety.

[0045] It should be noted that, for the sake of simplicity, the above embodiments are all described as a series of actions. However, those skilled in the art should understand that the embodiments of the present invention are not limited to the described order of actions, because according to the embodiments of the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions involved are not necessarily essential to the embodiments of the present invention.

[0046] This invention also discloses a marine tide gauge recovery device, comprising: the marine tide gauge as described above.

[0047] After a marine tide gauge is deployed and operational, an acoustic retrieval command can be sent to it for recovery. Upon receiving the command, the tide gauge verifies both the command's content and the deployment environment parameters. If both verifications are successful, the buoy is controlled to rise to the surface. Recovery personnel can then determine the recovery location based on the buoy. Once at the recovery location, the personnel retrieve the tide gauge, thus achieving successful recovery.

[0048] This invention discloses a marine mapping system, including: a marine tide gauge as described above.

[0049] The marine mapping system comprises multiple tide gauges deployed in various locations. Continuous observations are conducted using these gauges while they are positioned on the seabed, recording tide level and tidal time data at required intervals to generate raw water level sequences. These raw water level sequences from different tide gauges are then assimilated to determine the tide level observation results. A tidal model for the corresponding sea area is constructed based on these observations. Using the tide level distribution data output by the tidal model, and in conjunction with isobaths and elevation datum standards, tidal charts and seabed topographic maps are created.

[0050] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0051] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, apparatus, or computer program products. Therefore, embodiments of the present invention can take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects. Furthermore, embodiments of the present invention can take the form of computer program products implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0052] Embodiments of the present invention are described with reference to flowchart illustrations and / or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0053] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing terminal device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0054] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal equipment, causing a series of operational steps to be performed on the computer or other programmable terminal equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable terminal equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0055] Although preferred embodiments of the present invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the embodiments of the present invention.

[0056] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only 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 terminal device 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 terminal device. 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 terminal device that includes said element.

[0057] The present invention has provided a detailed description of a marine tide gauge, a method for recovering a marine tide gauge, a device for recovering a marine tide gauge, and a marine surveying system. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, those skilled in the art will recognize that, based on the ideas of the present invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A marine tide gauge, characterized in that, include: The tide gauge body has a receiving cavity at its top; An anchoring part, connected to the tide gauge body, is used to anchor the tide gauge body; A float, connected to the tide gauge body, is used to be housed in the receiving cavity when the tide gauge body is in the working stage, and to float to the sea surface when the tide gauge body is in the recovery stage. An environmental parameter sensor is used to detect the deployment environment parameters of the tide gauge body; A release actuator, located between the float and the tide gauge body, is used to release gas to the float to increase its buoyancy; Acoustic listener, used to receive acoustic recovery commands; The controller, connected to the acoustic listener, the release actuator, and the environmental parameter sensor, is used to verify the acoustic recovery command and the deployment environmental parameters when the acoustic recovery command is received; and to control the release actuator to release gas to the float if the acoustic recovery command and the deployment environmental parameters pass the verification.

2. The marine tide gauge according to claim 1, characterized in that, The acoustic recovery command is a narrowband coded acoustic wave command, which carries command data, a dynamic key, a release device identifier, and a data verification code; the controller stores a device verification identifier. The controller is used to compare the device verification identifier and the release device identifier when it receives the narrowband coded acoustic wave command; When the device verification identifier and the release device identifier are consistent, the instruction data is decrypted based on the dynamic key to generate execution data; Perform cyclic redundancy check on the instruction data to generate a check code; The code to be verified is matched with the data verification code to determine the command matching status; the deployment environment parameters are compared with the preset seabed environment parameters to determine the environment verification status; when the command matching status is passed and the environment verification status is passed, the release actuator is controlled to release gas to the float.

3. The marine tide gauge according to claim 1, characterized in that, The controller is also configured to detect the floating state of the float after the release actuator executes the acoustic recovery command, and if the floating state is abnormal, execute the acoustic recovery command again to perform a secondary release.

4. The marine tide gauge according to claim 1, characterized in that, The floating body includes: A buoy is used to be housed in the receiving cavity when the tide gauge body is in the working stage, and to float to the sea level when the tide gauge body is in the recovery stage. The cable is connected at one end to the float and at the other end to the receiving cavity.

5. The marine tide gauge according to claim 1, characterized in that, The release actuator includes: A gas source, connected to the float, is used to release gas onto the float; A release element, located between the air source and the float, is electrically connected to the controller and is used to connect the air source and the float under the control of the controller.

6. The marine tide gauge according to claim 5, characterized in that, The release element includes at least one of the following: An electrically detonating pin, located between the gas source and the float, and electrically connected to the controller, is used to isolate the gas source and the float when the tide gauge body is in operation, and to connect the gas source and the float when activated by the controller. A shape memory alloy actuator, located between the air source and the float, and electrically connected to the controller, is used to isolate the air source and the float when the tide gauge body is in operation, and deform under the control of the controller to connect the air source and the float. A micro motor, located between the air source and the float, and electrically connected to the controller, is used to isolate the air source and the float when the tide gauge body is in operation, and to rotate under the control of the controller to connect the air source and the float. An electromagnet, located between the air source and the float, and electrically connected to the controller, is used to isolate the air source and the float when the tide gauge body is in operation, and to connect the air source and the float based on magnetic force under the control of the controller.

7. The marine tide gauge according to claim 1, characterized in that, Also includes: The battery is connected to the controller, the acoustic listener, the environmental parameter sensor, and the release actuator.

8. A method for recovering a marine tide gauge, characterized in that, The marine tide gauge includes the marine tide gauge as described in any one of claims 1-7, and the method includes: Send an acoustic recovery command to the marine tide gauge, the acoustic recovery command being used to control the float of the marine tide gauge to rise to the surface; The recovery location is determined based on the floating body; The marine tide gauge is retrieved based on the stated retrieval location.

9. A marine tide gauge recovery device, characterized in that, include: The marine tide gauge as described in any one of claims 1-7.

10. A marine mapping system, characterized in that, include: The marine tide gauge as described in any one of claims 1-7.

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