Simulated six-degree-of-freedom real sea condition random wave detection system suitable for wave buoy or wave sensor

Abstract

The utility model discloses a simulation six-degree-of-freedom real sea condition random wave detection system suitable for a wave buoy or a wave sensor. The simulation six-degree-of-freedom real sea condition random wave detection system is composed of the following parts: a wave direction reproduction mechanism which simulates a real sea condition sea surface motion attitude, places the wave buoy or the wave sensor and provides the motion attitude of the wave buoy or the wave sensor; the horizontal rotation driving mechanism is used for driving the wave direction reproduction mechanism to horizontally rotate; the laser ranging mechanism is used for calculating the wave height of the wave direction reproduction mechanism; the photoelectric period measuring mechanism is used for calculating the wave period of the wave direction reproduction mechanism; the wave direction angle measuring mechanism is used for measuring the wave direction of the wave direction reproduction mechanism; the bottom plate mechanism provides a detection platform for the whole system; the overall angle measuring mechanism is used for indicating the azimuth angle of the bottom plate mechanism; the land wheel mechanism horizontally moves the whole system and adjusts the bottom plate mechanism to be in a horizontal posture; and the control unit is used for controlling six-degree-of-freedom actions of the wave direction reproduction mechanism, respectively acquiring data of each mechanism and acquiring wave direction, wave height and wave period numerical values. According to the utility model, all-parameter detection and calibration can be realized, and high-quality reproduction and magnitude transmission of wave direction parameters can be realized.

Description

Technical Field

[0001] The utility model relates to the technical field of real sea condition complex wave detection, in particular to a simulated six-degree-of-freedom real sea condition random wave detection system suitable for wave buoys or wave sensors. Background Art

[0002] Waves are one of the basic elements of ocean hydrological observations. The three elements of waves are wave direction, wave height and wave period. Obtaining accurate and reliable wave observation values ​​is of great scientific and practical need.

[0003] There are two main ways to obtain wave data: manual visual observation and instrument measurement. Manual visual observation refers to the observer visually observing and evaluating the sea conditions and wave appearance characteristics, and judging the wave field values ​​such as wave direction, wave height and wave period; instrument measurement refers to the use of wave buoy instruments to observe waves. The wave buoy measurement technologies mainly include gravity acceleration type, pressure type, acoustic type, etc. Hundreds of wave buoys have been deployed in my country's coastal waters to monitor the wave field data in my country's waters at all times.

[0004] In order to ensure the accuracy and reliability of the observed wave field data, the wave buoy or sensor needs to be calibrated and tested regularly (usually once a year).

[0005] The National Center for Marine Standards and Metrology established a double-ring truss wave buoy calibration device in 2004, which can detect wave buoys or wave sensors with a diameter of (0.5-1.0) m and a mass of less than 180 kg. During the test, the wave buoy or wave sensor is first installed on the fixture at one end of the truss, and then the dynamic balance of the truss is adjusted, that is, the appropriate amount of balance weight is fixed to the other end of the truss, so that when the truss opens the brake components, is in a free state, and rotates to any position, the wave buoy or wave sensor and the balance weight remain balanced around the rotation center. Then the control system controls the truss to rotate at a specified speed to complete the detection work, which can complete the wave height and wave period detection tasks. However, since the mechanical truss is installed with a fixed base, it cannot rotate in the direction, that is, it is impossible to detect the wave direction parameters.

[0006] At present, there are three main types of wave direction detection technologies for wave buoys or wave sensors that have been developed at home and abroad: the first is a wave buoy wave height and wave period calibration device as disclosed in Chinese Patent Publication No. CN104215263A. This patent uses a rotary method to complete the detection of wave buoy wave height and wave period parameters, but its mechanical truss is installed on a fixed base and cannot rotate. It can only change the rotation direction by forward or reverse transmission to simulate two wave directions that differ by 180°. The wave direction simulation capability is extremely low and its practicality is extremely low. The second type is a wave buoy or sensor detection system and method based on a lead screw and a linear guide as disclosed in Chinese Patent Publication No. CN113008209A, a symmetrical double-sided driven vertical lifting wave buoy calibration device as disclosed in CN113175944A, an indoor offshore spherical buoy calibration device as disclosed in CN113375695A, a wave / tide test and calibration system device and its application as disclosed in CN102829799A, and a wave direction calibration device for a wave buoy as disclosed in CN104236585A. These patents all use vertical guides and power mechanisms to achieve vertical lifting sinusoidal motion of wave buoys and sensors. However, these methods have the disadvantages of single wave direction simulation capability, limited vertical motion displacement, and easy electromagnetic interference of electrical components with wave direction values, and are unable to provide the wave direction motion process of random or quasi-random complex waves in real sea conditions. The third type is a wave direction calibration device for a wave buoy as disclosed in Chinese Patent Publication No. CN108981747A. This patent uses a pulley to transmit power multiple times. It can only swing horizontally but not rise and fall vertically. It can only simulate sinusoidal motion of waves. It is mainly used to test the wave direction of a wave buoy based on a three-axis acceleration sensor and related principles. This method has defects such as a single sensor (for three-axis acceleration sensors and related principles) and motion posture distortion (providing wave direction without wave height). There is a large gap between scientific needs and actual needs.

[0007] Foreign patents include the Stand for calibration of buoy gauges and level gauges disclosed by Russian Patent Publication No. RU2739141C1, the Waverider buoy accelerometer calibration testing device disclosed by U.S. Patent Publication No. US4158956A, and the Calibration device for wave height of ocean disclosed by Korean Patent Publication No. KR20170139468A. These patented technologies use a vertical spring stretching method or a seesaw-like method to drive the buoy or sensor to simulate sinusoidal motion or simple harmonic motion. They also have technical defects such as only being able to simulate wave direction in one dimension, the wave direction value being easily electromagnetically interfered by electrical components, and being unable to provide the actual random or quasi-random complex wave direction motion process in the sea conditions.

[0008] Some of the inventions in the above-mentioned public documents have similar contents and methods. Some of them install the wave buoy on an immovable rotating wave simulation device, and the rotating wave simulation device drives the wave buoy to realize sinusoidal motion; some of them use a controller to control the rotation of the motor to drive the connecting part (wire rope or screw) to move, simulating the ups and downs of the sea surface, thereby realizing the lifting and lowering movement of the wave buoy or wave sensor connected to the connecting part (wire rope or screw); some of them adopt a seesaw-like method, with a wave buoy installed on one side of the seesaw and a counterweight loaded on the other side to simulate the lifting and lowering movement of waves.

[0009] The above detection technologies play a certain role in ensuring the accuracy of wave parameter values, but there are also certain problems, as follows:

[0010] (1) The current wave detection methods cannot achieve high-precision, high-fidelity random or quasi-random wave direction simulation functions, and lack the ability to reproduce six-degree-of-freedom waves in real sea conditions. There is still a large gap between the actual detection requirements of "accurate, precise and complete measurement" of wave parameters.

[0011] (2) When the vertical lifting method or seesaw method is used to simulate the wave direction, the electromagnetic interference generated by the electrical components is serious, which can easily interfere with the wave buoy or sensor being tested, thereby introducing erroneous wave direction values. This is one of the difficulties in detecting magnetic wave direction buoys or sensors.

[0012] (3) It is not possible to conduct wave spectrum response and directional spectrum response analysis on the wave buoy and wave sensor, and the performance evaluation technology is not comprehensive.

[0013] (4)) New wave measurement technologies such as GNSS (Global Navigation Satellite System) buoys and acoustic buoys are constantly being innovated and changing with each passing day, which puts forward new and higher requirements for wave buoy or wave sensor detection methods. Utility Model Content

[0014] The utility model aims at the problems existing in the prior art and provides a six-degree-of-freedom real sea condition random wave detection system for a wave buoy or a wave sensor suitable for measuring wave direction by acceleration, magnetism and satellite positioning.

[0015] The technical solution adopted by the utility model is: a six-degree-of-freedom real sea condition random wave detection system suitable for wave buoys or wave sensors, which consists of the following parts:

[0016] A wave direction reproducing mechanism (35) for simulating the motion posture of the sea surface in real sea conditions, placing wave buoys or wave sensors and providing their motion posture;

[0017] The wave direction reproduction mechanism (35) comprises a mechanical truss (19), a truss rotation center axis (29), an axis sleeve (17), a support seat (15), a bracket (13), a buoy or sensor radial axis (22), a buoy or sensor slider (23), a counterweight radial axis (20), a counterweight installation axis (31), a counterweight block (32), a truss rotation driven wheel (16), a belt (14), a truss rotation driving wheel (12), a truss rotation motor (11), a fixed gear (30), a moving gear (24), a chain (28), a buoy or sensor placement platform (27), and a capillary wave simulation platform (25). The mechanical truss (19) is fixed on the truss rotation center axis (29), and the truss rotation center axis (29) can rotate. The truss is installed in the shaft sleeve (17), the truss rotation center axis (29) rotates, and the shaft sleeve (17) is stationary. The shaft sleeve (17) is installed on the support seat (15), and the support seat is installed on the bracket (13); the buoy or sensor radial axis (22) and the counterweight radial axis (20) are located on the same radial line of the mechanical truss (19) and are respectively located on both sides of the center of the mechanical truss (19); the buoy or sensor radial axis (22) is connected to a buoy or sensor slider (23); the buoy or sensor radial axis (22) is driven to rotate by a variable wave height drive motor (34); the counterweight installation axis (31) is connected to the counterweight radial axis (20), and the counterweight block (32) is installed on the counterweight installation axis (31);

[0018] One end of the truss rotation center axis (29) is connected to the truss rotation driven wheel (16), the truss rotation driven wheel (16) is connected to the truss rotation driving wheel (12) through a belt (14), and the truss rotation driving wheel (12) is connected to the output shaft of the truss rotation motor (11);

[0019] The fixed gear (30) is mounted on the shaft sleeve (17) and is always in a stationary state. The fixed gear (30) is connected to the movable gear (24) via a chain (28). The supporting shaft of the movable gear (24) is connected to the buoy or sensor slider (23), and is also connected to the buoy or sensor placement platform (27). A capillary wave simulation platform (25) is placed on the buoy or sensor placement platform (27). The capillary wave simulation platform (25) is used to simulate mm-level and cm-level waves. A wave buoy or wave sensor is placed on the capillary wave simulation platform (25). The sensor (26) realizes the wave buoy or wave sensor (26) to perform six-degree-of-freedom motion of three-dimensional translation and three-axis rotation of variable wave height; when the mechanical truss (19) rotates, the fixed gear (30) remains stationary, the chain (28) is wound around the fixed gear (30) to move, and drives the buoy or sensor placement platform (27) connected to the moving gear (24), so that the buoy or sensor placement platform (27) and the mechanical truss (19) rotate in opposite directions and at the same angular velocity, so that the wave buoy or wave sensor (26) to be detected is always in a vertical upward posture;

[0020] A horizontal rotation driving mechanism (4) for driving the wave direction reproduction mechanism (35) to rotate horizontally;

[0021] A laser distance measuring mechanism for calculating the wave height of the wave direction reproducing mechanism (35);

[0022] A photoelectric period measuring mechanism for calculating the wave period of the wave direction reproducing mechanism (35);

[0023] A wave direction angle measuring mechanism (9) for measuring the wave direction of the wave direction reproducing mechanism (35);

[0024] A bottom plate mechanism (2) for providing a detection platform for the entire wave detection system;

[0025] An integral angle measuring mechanism (7) for indicating the azimuth angle of the base plate mechanism (2);

[0026] A ground wheel mechanism (1) for horizontally moving the entire wave detection system and adjusting the bottom plate mechanism (2) to be in a horizontal posture;

[0027] A control unit (33) is respectively connected to a wave direction reproduction mechanism (35), a horizontal rotation drive mechanism (4), a laser distance measurement mechanism, a photoelectric period measurement mechanism, a wave direction angle measurement mechanism (9), an overall angle measurement mechanism (7), a capillary wave simulation platform (25) and a ground wheel mechanism (1), wherein the control unit is used to control the three-dimensional spatial six-degree-of-freedom motion of the wave direction reproduction mechanism (35) to achieve micro-wave height superposition posture simulation, and to respectively collect data from the laser distance measurement mechanism, the photoelectric period measurement mechanism, the wave direction angle measurement mechanism (9) and the capillary wave simulation platform (25) and obtain standard values ​​of wave direction, wave height and wave period of three-dimensional random waves.

[0028] Furthermore, the horizontal rotation drive mechanism (4) is placed on the base plate mechanism, and comprises a horizontal rotation drive motor (10), a motor support, a horizontal rotation small wheel, a horizontal rotation large wheel (3), a large wheel shaft (5) and a level indicator (6); the horizontal rotation drive motor (10) is mounted on the motor support, the motor support is fixed on the base plate mechanism (2), the output shaft of the horizontal rotation drive motor (10) is connected to the horizontal rotation small wheel, the horizontal rotation small wheel is meshed with the horizontal rotation large wheel (3), the horizontal rotation large wheel (3) is mounted on the base plate mechanism (2) through the large wheel shaft (5) and is connected to the bottom of the bracket (13) located above it, and the level indicator is used to indicate the horizontal state of the base plate mechanism (2).

[0029] Furthermore, the wave direction angle measuring mechanism (9) is connected to the large wheel shaft (5), and the wave direction angle measuring mechanism (9) comprises a rotary encoder and a collection module, wherein the rotary encoder is used to measure the horizontal rotation angle of the wave direction reproduction mechanism (35), and the rotary encoder and the collection module are electrically connected.

[0030] Furthermore, the overall angle measurement mechanism (7) is installed on the upper surface of the base plate mechanism (2) and is used to measure the angle difference between the reference direction of the base plate mechanism (2) and the magnetic north direction.

[0031] Furthermore, the laser distance measuring mechanism comprises a laser distance measuring host (8) and a laser reflection target. The laser distance measuring host (8) is equipped with a micro motor and can move horizontally on the upper surface of the base plate mechanism (2). The laser reflection target is located on the lower surface of the buoy or sensor placement platform (27). The laser distance measuring host (8) emits a distance measuring laser beam vertically upward, and the distance measuring laser beam irradiates the laser reflection target. The distance measuring laser beam reflected by the laser reflection target then propagates vertically downward to the laser distance measuring host (8), and the peak value and the trough value are obtained through time measurement and calculation.

[0032] Furthermore, the photoelectric period measurement mechanism comprises an infrared light transmitting and receiving device (21) and an infrared light reflecting target, wherein the infrared light transmitting and receiving device (21) is connected to the bracket (13), and the infrared light reflecting target is connected to the mechanical truss (19). The infrared light transmitting and receiving device (21) horizontally transmits a timing infrared light beam, and the timing infrared light beam irradiates the infrared light reflecting target. The timing infrared light beam reflected by the infrared light reflecting target then propagates horizontally to the infrared light transmitting and receiving device (21), and the wave period is obtained through timing calculation.

[0033] Furthermore, the ground wheel mechanism (1) is connected to the lower surface of the base plate mechanism (2) and is used for horizontally moving or fine-tuning the position of the wave detection system in the test site, and for adjusting the base plate mechanism to be in a horizontal posture.

[0034] Furthermore, the fixed gear and the movable gear are mechanical gears with the same number of teeth, the same size and the same shape.

[0035] Furthermore, the capillary wave simulation platform (25) is composed of two groups of linear guides and a tilting swing platform, each group of linear guides includes a guide rail and a slider, the slider is on the upper side of the guide rail and can slide horizontally along the guide rail; the two groups of linear guides are placed crosswise at 90 degrees, the AA group of linear guides can be rotatably placed on the upper surface of the buoy or sensor placement platform (27), the BB group of linear guides are placed on the slider of the AA group of linear guides, the tilting swing platform is placed on the slider of the BB group of linear guides, the tilting swing platform has the function of tilting and swinging, and the wave buoy or wave sensor (26) is placed on the tilting swing platform.

[0036] The advantages and positive effects of the utility model are:

[0037] 1. The utility model is based on multiple sets of motion mechanisms to achieve six degrees of freedom motion of the wave buoy or wave sensor of the real sea condition random wave detection system, the structure is simple, the principle is clear, the function is complete, scientific and feasible, and it is convenient to load and unload, saving a lot of manpower and material resources, and each detection test can greatly reduce the energy consumption.

[0038] 2. The utility model can realize the detection and calibration of all parameters (wave direction, wave height and wave period) of wave buoys or wave sensors, especially realizes the high-quality reproduction and value transfer of wave direction parameters; it can realize sea condition simulation of waves with a maximum wave height of 20m, a minimum wave period of 1s, and all-wave direction waves, it can realize wave simulation with a maximum acceleration of 2.0g, and can perform amplitude-frequency response analysis and evaluation on wave buoys or wave sensors. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a structural schematic diagram of the utility model of a random wave detection system simulating six degrees of freedom real sea conditions;

[0040] Figure 2 is a side view of the wave detection system at the mechanical truss;

[0041] Figure 3 It is a schematic diagram of a wave water particle with six degrees of freedom;

[0042] Figure 4 This is the schematic diagram of the quasi-random wave simulation;

[0043] Figure 5 This is a schematic diagram of a capillary wave simulation platform.

[0044] in:

[0045] 1: Ground wheel mechanism 2: Bottom plate mechanism

[0046] 3: Horizontal rotating large wheel 4: Horizontal rotating drive mechanism

[0047] 5: Big wheel shaft 6: Level indicator

[0048] 7: Overall angle measurement mechanism 8: Laser distance measurement host

[0049] 9: Wave direction angle measurement mechanism 10: Horizontal rotation drive motor

[0050] 11: Truss rotation motor 12: Truss rotation driving wheel

[0051] 13: Bracket 14: Belt

[0052] 15: Support seat 16: Truss rotation driven wheel

[0053] 17: shaft sleeve 18: truss frame

[0054] 19: Mechanical truss 20: Counterweight radial axis

[0055] 21: Infrared light transmitter and receiver 22: buoy or sensor radial axis

[0056] 23: Float or sensor slider 24: Moving gear

[0057] 25: Capillary wave simulation station 26: Wave buoy or wave sensor

[0058] 27: buoy or sensor placement table 28: chain

[0059] 29: Truss rotation center axis 30: Fixed gear

[0060] 31: Counterweight installation shaft 32: Counterweight block

[0061] 33: Control unit 34: Variable wave height drive motor

[0062] 35: Wave-direction recurrence mechanism DETAILED DESCRIPTION

[0063] The following is a detailed description of the six-degree-of-freedom real sea condition random wave detection system and method of the utility model suitable for wave buoys or wave sensors in conjunction with the embodiments and drawings.

[0064] like Figure 1 , Figure 2 , Figure 5 As shown, the embodiment of the utility model is suitable for simulating six-degree-of-freedom real sea condition random wave detection system for wave buoy or wave sensor, which is composed of the following parts:

[0065] A wave direction reproducing mechanism 35 for simulating the motion posture of the sea surface in real sea conditions, placing wave buoys or wave sensors and providing their motion posture;

[0066] A horizontal rotation driving mechanism 4 for driving the wave direction reproduction mechanism 35 to rotate horizontally;

[0067] A laser distance measuring mechanism for calculating the wave height of the wave direction reproducing mechanism 35;

[0068] A photoelectric period measurement mechanism for calculating the wave period of the wave direction reproducing mechanism 35;

[0069] A wave direction angle measuring mechanism 9 for measuring the wave direction of the wave direction reproducing mechanism 35;

[0070] A bottom plate mechanism 2 for providing a detection platform for the entire wave detection system;

[0071] An integral angle measuring mechanism 7 for indicating the azimuth angle of the base mechanism 2;

[0072] A ground wheel mechanism 1 for horizontally moving the entire wave detection system and adjusting the bottom plate mechanism 2 to be in a horizontal posture;

[0073] A control unit 33 is respectively connected to the wave direction reproduction mechanism 35, the horizontal rotation drive mechanism 4, the laser ranging mechanism, the photoelectric period measurement mechanism, the wave direction angle measurement mechanism 9, the overall angle measurement mechanism 7, the capillary wave simulation platform 25 and the ground wheel mechanism 1, and the control unit is used to control the three-dimensional space six-degree-of-freedom movement of the wave direction reproduction mechanism 35 to realize the simulation of the superposition posture of tiny wave heights, and to respectively collect data from the laser ranging mechanism, the photoelectric period measurement mechanism, the wave direction angle measurement mechanism 9 and the capillary wave simulation platform 25 and obtain the standard values ​​of the wave direction, wave height and wave period of the three-dimensional random waves.

[0074] Among them, the wave direction reproduction mechanism 35 has a fixed radius or variable radius rotation function in a vertical plane, including a mechanical truss 19, a truss rotation center axis 29, a shaft sleeve 17, a support seat 15, a bracket 13, a buoy or sensor radial axis 22, a buoy or sensor slider 23, a counterweight radial axis 20, a counterweight installation axis 31, a counterweight block 32, a truss rotation driven wheel 16, a belt 14, a truss rotation driving wheel 12, a truss rotation motor 11, a fixed gear 30, a moving gear 24, a chain 28, a buoy or sensor placement table 27, and a capillary wave simulation table 25. The mechanical truss 19 is fixed on the truss rotation center axis 29, and the truss rotation center axis 29 is rotatably installed in the shaft sleeve 17. The truss rotation center axis 29 The shaft sleeve 17 is stationary, and the shaft sleeve 17 is mounted on the support seat 15, and the support seat is mounted on the bracket 13. The upper side of the bracket 13 is used to support other mechanisms connected to the shaft sleeve; the buoy or sensor radial axis 22 and the counterweight radial axis 20 are located on the same radial line of the mechanical truss 19 and are respectively located on both sides of the center of the mechanical truss 19. The buoy or sensor radial axis 22 is connected to the buoy or sensor slider 23. The buoy or sensor radial axis 22 is driven to rotate by the variable wave height drive motor 34. The buoy or sensor radial axis 22 drives the buoy or sensor slider 23 to move. The counterweight mounting axis 31 is vertically connected to the counterweight radial axis 20, and the counterweight block 32 is mounted on the counterweight mounting axis 31;

[0075] One end of the truss rotation center axis 29 is connected to the truss rotation driven wheel 16, and the truss rotation driven wheel 16 is connected to the truss rotation driving wheel 12 through a belt 14, and the truss rotation driving wheel 12 is connected to the output shaft of the truss rotation motor 11, and the truss rotation motor 11 is installed on the horizontal rotation large wheel 3 of the horizontal rotation driving mechanism 4;

[0076] The fixed gear 30 is installed on the shaft sleeve 17 and is always in a stationary state. The fixed gear 30 is connected to the moving gear 24 through a chain 28. The supporting shaft of the moving gear 24 is connected to the buoy or sensor slider 23, and is connected to the buoy or sensor placement platform 27. When the buoy or sensor slider 23 moves, it can drive the buoy or sensor placement platform 27 to move along the buoy or sensor radial axis 22. At this time, the length of the chain 28 can be adjusted according to actual conditions to prevent the chain 28 from being separated from the two gears; a capillary wave simulation platform 25 is placed on the buoy or sensor placement platform 27, and the capillary wave simulation platform 25 is used In order to simulate waves at the mm level and cm level, a wave buoy or wave sensor 26 is placed on the capillary wave simulation platform 25, so that the wave buoy or wave sensor 26 can perform six-degree-of-freedom motion of three-dimensional translation and three-axis rotation with variable wave height; when the mechanical truss 19 rotates, the fixed gear 30 is stationary, the chain 28 is wound around the fixed gear 30 to move, and drives the buoy or sensor placement platform 27 connected to the moving gear 24, so that the buoy or sensor placement platform 27 can rotate in the opposite direction to the mechanical truss 19 and at the same angular velocity, so that the wave buoy or wave sensor 26 to be detected is always in a vertical upward posture.

[0077] Since the mass of the buoy or sensor detected each time may be different, or when the buoy or sensor placement platform 27 moves with a variable radius, in order to balance the center of gravity of the mechanical truss and ensure smooth and continuous rotation of the mechanical truss, similar to the weighing principle of a beam balance, it is necessary to appropriately increase or decrease the number of counterweights. The counterweights have four specifications: 5kg, 2kg, 1kg, and 0.5kg.

[0078] The horizontal rotation drive mechanism 4 is placed on the base plate mechanism, providing horizontal rotation motion power for the wave direction reproduction mechanism 35, comprising a horizontal rotation drive motor 10, a motor support, a horizontal rotation small wheel, a horizontal rotation large wheel 3, a large wheel shaft 5 and a level indicator 6. The horizontal rotation drive motor 10 is installed on the motor support, and the motor support is fixed on the base plate mechanism 2. The output shaft of the horizontal rotation drive motor 10 is connected to the horizontal rotation small wheel, and the horizontal rotation small wheel is meshed with the horizontal rotation large wheel 3. The horizontal rotation large wheel 3 is installed on the base plate mechanism 2 through the large wheel shaft 5 and connected to the bottom of the bracket 13 located above it. The level indicator is used to indicate the horizontal state of the base plate mechanism 2. The large wheel shaft 5 passes through the base plate mechanism 2, and the horizontal rotation large wheel 3 rotates around the large wheel shaft 5, which can drive the wave direction reproduction mechanism 35 to rotate 360° horizontally on the upper surface of the base plate mechanism.

[0079] The wave direction angle measuring mechanism 9 is connected to the large wheel shaft 5, and the wave direction angle measuring mechanism 9 includes a rotary encoder and a collection module, wherein the rotary encoder is used to measure the horizontal rotation angle of the wave direction reproduction mechanism 35, and the rotary encoder and the collection module are electrically connected. In actual operation, the collection module continuously collects the angle value of the rotary encoder, and each time the mechanical truss 19 rotates one circle, the collection module obtains an angle value, that is, a wave direction value.

[0080] The overall angle measuring mechanism 7 is installed on the upper surface of the base plate mechanism 2 and is used to measure the angle difference between the reference direction of the base plate mechanism 2 and the magnetic north direction.

[0081] The laser distance measuring mechanism includes a laser distance measuring host 8 and a laser reflection target. The laser distance measuring host 8 has a micro motor and can move horizontally on the upper surface of the bottom plate mechanism 2. The laser reflection target is located on the lower surface of the buoy or sensor placement platform 27. The laser distance measuring host 8 emits a distance measuring laser beam vertically upward, and the distance measuring laser beam irradiates the laser reflection target. The distance measuring laser beam reflected by the laser reflection target then propagates vertically downward to the laser distance measuring host 8, and the peak value and the trough value are obtained through time measurement and calculation. In actual operation, the laser distance measuring host continuously emits distance measuring pulses. Every time the mechanical truss rotates one circle, the laser reflection target connected to the lower surface of the buoy or sensor placement platform 27 will reflect two displacement values: namely, the peak value and the trough value, respectively. The absolute value of the displacement difference between these two displacement values ​​is a wave height value.

[0082] The photoelectric period measurement mechanism includes an infrared light transmitter and receiver 21 and an infrared light reflection target. The infrared light transmitter and receiver 21 is connected to the bracket 13, and the infrared light reflection target is connected to the mechanical truss 19. The infrared light transmitter and receiver 21 horizontally transmits a timing infrared beam, and the timing infrared beam irradiates the infrared light reflection target. The timing infrared beam reflected by the infrared light reflection target is then horizontally propagated to the infrared light transmitter and receiver 21, and the wave period is obtained through timing calculation. In actual operation, the infrared light transmitter and receiver continuously emits timing pulses. Every time the mechanical truss rotates one circle, the infrared light reflection target connected to the mechanical truss will reflect a pulse with a timestamp. The time difference between two consecutive reflected pulses is a wave period.

[0083] The ground wheel mechanism 1 is connected to the lower surface of the base plate mechanism 2, and is used to horizontally move or fine-tune the position of the wave detection system in the test site, and has a height fine-tuning function, and is used to adjust the base plate mechanism to make it in a horizontal posture. The ground wheel mechanism 1 can adopt a combination of a walking wheel and a foot. The specific structures of the walking wheel and the foot are all existing technologies and will not be described one by one here. The horizontal movement is achieved by the walking wheel, and the level of the base plate mechanism is achieved by adjusting the foot.

[0084] The mechanical truss 19 is a circular mechanical frame, and the fixed gear and the movable gear are mechanical gears with the same number of teeth, the same size, and the same shape.

[0085] The capillary wave simulation platform 25 is composed of two groups of linear guides and a tilting swing platform. Each group of linear guides includes a guide rail and a slider. The slider is on the upper side of the guide rail and can slide horizontally along the guide rail. The two groups of linear guides are placed crosswise at 90°. The AA group of linear guides can be rotatably placed on the upper surface of the buoy or sensor placement platform 27, and the BB group of linear guides are placed on the slider of the AA group of linear guides. The tilting swing platform is placed on the slider of the BB group of linear guides. The tilting swing platform has the function of tilting and swinging. The wave buoy or wave sensor 26 is placed on the tilting swing platform.

[0086] The utility model is suitable for a wave buoy or a wave sensor to simulate a six-degree-of-freedom real sea condition random wave detection system. High-strength carbon fiber materials are used to design mechanical structures such as mechanical trusses, support seats, and brackets. Non-magnetic materials are used for components such as the radial axis of the buoy or sensor, fixed gears, moving gears, buoy or sensor placement platforms, chains, counterweights, and horizontal rotating large wheels. The motor and the corresponding frequency conversion driver are fully enclosed for electromagnetic shielding. The whole system does not interfere with the microenvironment of the earth's magnetic field and will not generate electromagnetic interference to the wave buoy or wave sensor to be detected. The six-degree-of-freedom platform is designed to realize the full parameter (wave direction, wave height, and wave period) detection requirements of the wave buoy or wave sensor, and meet the detection work requirements of the wave buoy or wave sensor. The water particle motion trajectory equation is designed to provide real sea condition buoy motion processes such as translation, rotation, and tumbling, which greatly improves the scientific level of wave direction detection and can greatly improve the wave direction parameter detection level of the wave buoy or wave sensor.

[0087] When conducting a wave buoy or wave sensor detection test, firstly, according to the actual sea conditions to be simulated, control parameters such as wave direction, wave height, wave period, capillary wave and motion duration are manually input into the control unit 33, and then the control unit 33 starts to control the horizontal rotation drive motor 10, driving the gears of the horizontal rotation drive mechanism 4 to rotate, and the gear transmission drives the wave direction reproduction mechanism 35 to realize horizontal rotation; at the same time, the control unit 33 starts the truss rotation motor 11 to operate, and the truss rotation driving wheel 12 coaxially connected to the truss rotation motor 11 rotates, Then the truss rotating driven wheel 16 is driven to rotate through the belt 14, and then the mechanical truss 19 coaxially connected to the truss rotating driven wheel 16 is driven to rotate. At this time, the fixed gear 30 connected to the shaft sleeve 17 is stationary, and the chain 28 rotates and moves tooth by tooth on the fixed gear 30. The moving chain 28 drives the moving gear 24 to rotate. The moving direction of the moving gear 24 is opposite to the rotation direction of the mechanical truss 19, and the angular velocity of the moving gear 24 is the same as the angular velocity of the mechanical truss 19, which can ensure that the loading surface of the buoy or sensor placement platform 27 remains in an upward posture. The mechanical truss 19 can provide a large wave height simulation environment with a maximum wave height of 20m. The capillary wave simulation platform 25 mounted on the buoy or sensor placement platform 27 can provide the wave buoy or wave sensor 26 with capillary wave postures of 1cm to 10cm. The capillary wave postures are superimposed on the large wave height environment, which can provide the wave buoy or wave sensor 26 with real three-dimensional, six-degree-of-freedom wave fluctuation motion, complete the wave real sea condition detection work of the wave buoy or wave sensor, especially the wave direction detection work, and obtain the test waveform example.

[0088] like Figure 1 to Figure 5 As shown, the method for detecting the random wave direction of the six-degree-of-freedom real sea condition of the wave buoy or wave sensor comprises the following steps:

[0089] 1) Determine the detection object: The detection object is a wave buoy or a wave sensor.

[0090] 2) Establish a spatial coordinate system: Establish a right-handed spatial rectangular coordinate system OXYZ, select the vertical upward straight line through the center of the bottom large wheel shaft as the Z axis, the positive direction of the Z axis is vertically upward, the intersection of the Z axis and the upper surface of the bottom plate mechanism is point O, and a ray from point O to the point where the overall angle measurement mechanism is located is the X axis. The thumb of the right hand points to the positive direction of the Z axis, and the four fingers of the right hand turn at a right angle of 90 degrees from the positive direction of the X axis to form the positive direction of the Y axis; the coordinates of the geometric center point of the wave buoy or wave sensor are (x t ,y t ,z t ), the starting coordinate is (x 0 ,y 0 ,z 0 ).

[0091] 3) Determine the detection parameters, including wave height, wave period, and wave direction. Given that t is the time, ti is the i-th moment in time t; where,

[0092] like Figure 3 As shown in the figure, wave height H refers to the coordinate point (x t ,y t ,z t ) The vertical displacement from the crest to the trough of the motion trajectory, t i Wave height at the moment

[0093] The wave period T refers to the coordinate point (x t ,y t ,z t ) is the time difference between two consecutive crossings of the horizontal line X axis, such as t i The wave period at time T i =t i -t i-1 ;

[0094] The wave direction θ refers to the coordinate point (x t ,y t ) The angle between the direction of the motion trajectory and the horizontal direction of the geomagnetic north, t i The wave direction of time

[0095] 4) Select a detection waveform, of which there are two types: an ideal linear waveform and a Stokes nonlinear random waveform.

[0096] in,

[0097] The ideal linear waveform detection control model is as follows:

[0098] (4.1) Geometric center of wave buoy or wave sensor (x t ,y t ,z t )Ideal linear waveform detection control model:

[0099] H t =a (t) cos(z 0 -ω t t) (1)

[0100]

[0101] Where, t is time, unit is s; H t is the ideal wave height value of the wave buoy or wave sensor 26 changing with time y, in m; a (t) is the adjustment value of variable wave height drive motor 34, in m; H max To adjust the maximum value, the unit is m; z 0is the initial value of the geometric center of the wave buoy or wave sensor on the Z axis in the coordinate system, in m; ω t is the angular frequency in rad / s.

[0102] (4.2) The Stokes nonlinear random waveform detection control model is as follows:

[0103] Coordinate point (x t ,y t ,z t )The potential function equation is

[0104]

[0105] Coordinate point (x t ,y t ,z t )The equation of motion is

[0106]

[0107] In the formula, is the geometric center x of the wave buoy or wave sensor t ,y t ,z t The potential energy in joules; η is the geometric center x of the wave buoy or wave sensor t ,y t ,z t Equation of motion; k is the wave number; T is the wave period, in seconds; cosh is the hyperbolic cosine function; sinh is the hyperbolic sine function; h w is to set the simulated water depth, the unit is m; c is the wave speed, the unit is m / s; L is the wavelength, the unit is m.

[0108] 5) According to different detection waveforms, select the corresponding detection process and carry out the detection work. The details are as follows:

[0109] (5.1) Detection of wave height, wave period and wave direction under ideal linear wave posture

[0110] Manually adjust the wave buoy or wave sensor position and set the starting coordinate point (x 0 =0,y 0 =0,z 0 =0), and then the wave simulation setting value is placed in the control unit of the detection system: wave height H s , wave period T s ;

[0111] At each wave height setting value H s , corresponding to 7 wave cycle simulation values, among which the maximum wave cycle T max =25.0s, minimum wave period The simulated values ​​of each wave period are based on Calculated;

[0112] For example, setting the simulated wave height H s =1m, then it corresponds to 7 simulation wave periods T s From small to large, they are 2.6s, 3.0s, 3.7s, 4.7s, 6.4s, 10.3s, and 25.0s. Select T here. s =25.0s, exercise duration T w Set to 1h. s =1m, T s =25.0s, T w = 1h is input into the control unit 33, and the control unit 33 controls the variable wave height drive motor 34 to radially adjust the buoy or sensor placement platform 27 to a radius a (t) =0.5m, the control unit 33 controls the truss rotating motor 11 to rotate, driving the mechanical truss 19 to rotate at an angular velocity Exercise duration T w The limit is 3600s. When the mechanical truss 19 rotates, it drives the wave buoy or wave sensor 26 to perform uniform circular motion in the vertical plane. The control equation of the motion process is H t =2a (t) cos(z 0 -ω t t) = cos(0.251t).

[0113] When the wave buoy or wave sensor 26 moves to the lowest point and the highest point, the laser ranging host 8 will obtain a displacement signal, and obtain the trough value and peak value of the circular motion, that is, the wave trough H min(i) and peak H max(i) , the difference between the peak and the trough is the wave height value H i =H max(i) -H min(i) When the wave direction reproducing mechanism 35 is working, the infrared light transmitting and receiving device 21 is in the pulse counting state. Each time the mechanical truss 19 rotates to the fixed position of the upper zero point, the infrared light reflection target will trigger a timing signal. After i rotations, the upper zero point timing signal t can be obtained. 1 ,t 2 ,…,t i-1 ,t i , i is the i-th moment in time t, the control unit calculates the i-th rotation period T of the mechanical truss i =t i -t i-1 , which is the wave period value.

[0114] Before the wave direction reproducing mechanism 35 works, the overall angle measuring mechanism 7 gives the geographic magnetic north angle, and the orientation of the ground wheel mechanism 1 is adjusted horizontally to make the intersection of the vertical rotation plane of the mechanical truss 19 and the bottom plate mechanism 2 consistent with the geographic magnetic north. At this time, the output value of the wave direction angle measuring mechanism 9 is set to zero to complete the magnetic north initialization work. When the wave direction reproducing mechanism works, the horizontal rotation drive mechanism 4 rotates, driving the wave direction reproducing mechanism 35 to rotate, and the wave direction angle measuring mechanism 9 measures the rotation angle of the wave direction reproducing mechanism. After i rotations, the wave direction data θ can be obtained. 1 ,θ 2 ,…,θ i-1 ,θ i , that is, the wave direction value.

[0115] (5.2) Detection of wave height, wave period and wave direction under Stokes nonlinear random wave state

[0116] like Figure 4 As shown in the figure, Stokes wave is a nonlinear wave, and η is decomposed into the main wave η 1 and capillary wave η 2 The main wave and the capillary wave have wave height, wave period and wave direction, and the wave direction reproduction mechanism 35 performs the main wave η 1 Simulation, capillary wave simulation station 25 completes capillary wave η 2 Simulation; the equation of motion is as follows:

[0117] η=η 1 +η 2 (6)

[0118]

[0119] Manually adjust the position of the wave buoy or wave sensor 26 on the wave direction reproduction mechanism 35 and the posture of the capillary wave simulation platform 25, and set the starting coordinate point x of the wave buoy or wave sensor 26 0 =0,y 0 =0,z 0 = 0, then the wave simulation setting value is placed in the control unit 33: the main wave height Main wave cycle Capillary wave height Capillary wave cycle and wave direction θ s ;

[0120] At each main wave height setting value Corresponding to 7 main wave cycle simulation values, among which the main wave has the largest wave cycle The control unit calculates the corresponding minimum wave period The control unit is based on Calculate the simulated values ​​of each period of the main wave Manually set exercise duration T wη1 The control unit 33 calculates the variable frequency drive signal a11 of the horizontal rotation drive motor 10 (t) and the angle control signal θ 11(t) , the variable frequency drive signal a12 of the truss rotating motor 11 (t) , variable frequency drive signal a13 of variable frequency drive motor 34 (t) , the tilt angle driving signal θ of the capillary wave simulation stage 25 21(t) , the control unit 33 sets T wη1 、a11 (t) ,θ 11(t) 、a12 (t) 、a13 (t) ,θ 21(t) Insert variable frequency drive.

[0121] Then the truss rotation motor 11 in the wave direction reproduction mechanism 35 is started, driving the mechanical truss 19 to start rotating movement. At this time, the fixed gear 30 connected to the shaft sleeve 17 is in a non-rotating state, and the chain 28 rotates and moves tooth by tooth on the fixed gear 30. The chain 28 drives the moving gear 24 to rotate in the opposite direction to the rotation direction of the mechanical truss 19. The rotation angular velocity of the moving gear 24 is the same as the rotation angular velocity of the mechanical truss 19. At this time, the upward posture of the loading surface of the buoy or sensor placement platform 27 remains unchanged, the variable wave height drive motor 34 is started, the rotation radius of the buoy or sensor placement platform 27 changes with the motion equation, and the capillary wave simulation platform 25 placed on the loading surface performs variable wave height two-dimensional motion in the vertical plane.

[0122] The horizontal rotating drive motor 10 is started, driving the horizontal rotating small wheel to rotate in the water surface, and then driving the gear-connected horizontal rotating large wheel 3 to rotate in the horizontal plane, with a rotation speed ratio of 3:1. The wave direction reproduction mechanism 35 connected to the horizontal rotating large wheel 3 also rotates in the horizontal plane. At this time, the capillary wave simulation platform 25 placed on the loading surface of the buoy or sensor placement platform 27 performs three-dimensional motion with variable wave height in the vertical plane.

[0123] The capillary wave simulation platform 25 is started, driving the AA group linear guides placed on the upper surface of the buoy or sensor placement platform 27 and the BB group linear guides cross-placed on the AA group linear guide sliders to perform synchronous horizontal movement, and at the same time drives the tilting and swinging platform of the capillary wave simulation platform 25 to perform tilting and swinging movement. At this time, the wave buoy or wave sensor 26 placed on the tilting and swinging platform performs six-degree-of-freedom movement of variable wave height three-dimensional translation and three-axis rotation, and the movement posture conforms to the movement trajectory of wave water particles in actual sea conditions.

[0124] Main wave η 1 The equation of motion is

[0125] For example, to set the main wave height This corresponds to 7 main wave cycles From small to large, they are 6.4s, 7.3s, 8.5s, 10.2s, 12.7s, 16.8s, and 25.0s. Exercise duration T wη1 Set to 1h. T wη1 =1h=3600s is input to the control unit 33, and the control unit 33 calculates and sets the speed torque a11 of the horizontal rotation drive motor 10 (t) =20N·m and angle control signal The speed torque a12 of the truss rotating motor 11 (t) =10N·m and the speed torque a13 of the variable wave high drive motor 34 (t) =12m, angular frequency of motion Duration wη1 The control unit will be limited to 3600s. wη1 、a11 (t) ,θ 11(t) 、a12 (t) 、a13 (t) The variable frequency drive is then placed, and the buoy or sensor placement platform 27 in the wave direction reproduction mechanism begins to perform a variable wave height circular motion in the vertical plane. 1 The equation of motion is:

[0126]

[0127] The tilting rocking table is responsible for completing the capillary wave η 2 Motion simulation, capillary wave height The setting range is 0 to 10 cm. Capillary wave cycle The setting range is 1.0s to 30.0s. The wave speed c is set in the range of 0.01m / s to 0.05m / s. In this embodiment, c=0.02m / s is selected. Water depth w The setting range is 10m to 100m. In this embodiment, h is selected. w =50m; the wave number k is set in the range of 100 to 1000, and k=500 is selected in this embodiment; the tilting swing table swing angle velocity signal Manual setting c.h w , k, η 2 After that, the control unit calculates the L value, and the control unit calculates a2 through formula (8) (t) Value, angular frequency of motion The control unit will tη2 ,c,L,h w , k is placed in the servo motor of the AA group linear guide or the BB group linear guide to complete the equation Motion simulation;

[0128] When the wave buoy or wave sensor 26 moves to the lowest point and the highest point, the laser ranging host 8 will obtain a displacement signal, and obtain the trough value and the peak value of the circular motion, that is, the wave trough and crest The difference between the peak and the trough is the wave height value. When the wave direction reproducing mechanism 35 is working, the infrared light transmitting and receiving device 21 is in the pulse counting state. Each time the mechanical truss 19 rotates to the fixed position of the upper zero point, the infrared light reflection target will trigger a timing signal. After i rotations, the upper zero point timing signal t can be obtained. 1 ,t 2 ,…,t i-1 ,t i , i is the i-th moment in time t, the control unit calculates the i-th rotation period of the mechanical truss That is, the wave period value.

[0129] Before the wave direction reproducing mechanism 35 works, the overall angle measuring mechanism 7 is observed to give the geographic magnetic north angle, and the orientation of the ground wheel mechanism 1 is adjusted horizontally to achieve that the intersection line of the vertical rotation plane of the mechanical truss 19 and the bottom plate mechanism 2 is consistent with the geographic magnetic north. At this time, the output value of the wave direction angle measuring mechanism 9 is set to zero to complete the magnetic north initialization work. When the wave direction reproducing mechanism works, the horizontal rotation drive mechanism 4 rotates, driving the wave direction reproducing mechanism 35 to rotate, and the wave direction angle measuring mechanism 9 measures the rotation angle of the wave direction reproducing mechanism. After i rotations, the wave direction data θ can be obtained. 1 ,θ 2 ,…,θ i-1 ,θ i , that is, the wave direction value.

[0130] 6) Under the ideal linear wave posture, the movement of the wave buoy or wave sensor during detection is used as a wave signal, and the amplitude-frequency response analysis of the wave buoy or wave sensor value is performed in the frequency domain. Including:

[0131] When testing the wave buoy or wave sensor 26, the control unit 33 performs the wave simulation cycle according to the test time sequence. High-precision wave amplitude with a resolution of 0.1mm corresponding to each wave cycle Discrete sampling, t q For the qth moment in time t, the control unit calculates each wave cycle Corresponding wave frequency Then the discrete data of wave amplitude and wave frequency are f Aq Perform discrete Fourier transform DFT to obtain the corresponding amplitude-frequency function value X H , as shown in formula (9);

[0132]

[0133] In the formula, is the wave amplitude, which is a real signal, that is, the imaginary part is 0. At this time, equation (9) is expanded into equation (10):

[0134]

[0135] Where N is the number of sampling times for the test; u is a natural number; X H Indicates the wave amplitude At different frequencies f Aq Time distribution.

[0136] The use of amplitude-frequency response change analysis to analyze source data has high accuracy, and the analysis results are scientific and credible, making a certain contribution to improving the technical level of performance evaluation of wave buoys or wave sensors.

[0137] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the aforementioned embodiments, ordinary technicians in the field should understand that they can still modify the technical solutions recorded in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the utility model.

Claims

1. A six-degree-of-freedom real sea condition random wave detection system suitable for wave buoys or wave sensors, characterized in that: It consists of the following parts: A wave direction reproducing mechanism (35) for simulating the motion posture of the sea surface in real sea conditions, placing wave buoys or wave sensors and providing their motion posture; The wave direction reproduction mechanism (35) comprises a mechanical truss (19), a truss rotation center axis (29), an axis sleeve (17), a support seat (15), a bracket (13), a buoy or sensor radial axis (22), a buoy or sensor slider (23), a counterweight radial axis (20), a counterweight installation axis (31), a counterweight block (32), a truss rotation driven wheel (16), a belt (14), a truss rotation driving wheel (12), a truss rotation motor (11), a fixed gear (30), a moving gear (24), a chain (28), a buoy or sensor placement platform (27), and a capillary wave simulation platform (25). The mechanical truss (19) is fixed on the truss rotation center axis (29), and the truss rotation center axis (29) can rotate. The truss is installed in the shaft sleeve (17), the truss rotation center axis (29) rotates, and the shaft sleeve (17) is stationary. The shaft sleeve (17) is installed on the support seat (15), and the support seat is installed on the bracket (13); the buoy or sensor radial axis (22) and the counterweight radial axis (20) are located on the same radial line of the mechanical truss (19) and are respectively located on both sides of the center of the mechanical truss (19); the buoy or sensor radial axis (22) is connected to a buoy or sensor slider (23); the buoy or sensor radial axis (22) is driven to rotate by a variable wave height drive motor (34); the counterweight installation axis (31) is connected to the counterweight radial axis (20), and the counterweight block (32) is installed on the counterweight installation axis (31); One end of the truss rotation center axis (29) is connected to the truss rotation driven wheel (16), the truss rotation driven wheel (16) is connected to the truss rotation driving wheel (12) through a belt (14), and the truss rotation driving wheel (12) is connected to the output shaft of the truss rotation motor (11); The fixed gear (30) is mounted on the shaft sleeve (17) and is always in a stationary state. The fixed gear (30) is connected to the movable gear (24) via a chain (28). The supporting shaft of the movable gear (24) is connected to the buoy or sensor slider (23), and is also connected to the buoy or sensor placement platform (27). A capillary wave simulation platform (25) is placed on the buoy or sensor placement platform (27). The capillary wave simulation platform (25) is used to simulate mm-level and cm-level waves. A wave buoy or wave sensor is placed on the capillary wave simulation platform (25). The sensor (26) realizes the wave buoy or wave sensor (26) to perform six-degree-of-freedom motion of three-dimensional translation and three-axis rotation of variable wave height; when the mechanical truss (19) rotates, the fixed gear (30) remains stationary, the chain (28) is wound around the fixed gear (30) to move, and drives the buoy or sensor placement platform (27) connected to the moving gear (24), so that the buoy or sensor placement platform (27) and the mechanical truss (19) rotate in opposite directions and at the same angular velocity, so that the wave buoy or wave sensor (26) to be detected is always in a vertical upward posture; A horizontal rotation driving mechanism (4) for driving the wave direction reproduction mechanism (35) to rotate horizontally; A laser distance measuring mechanism for calculating the wave height of the wave direction reproducing mechanism (35); A photoelectric period measuring mechanism for calculating the wave period of the wave direction reproducing mechanism (35); A wave direction angle measuring mechanism (9) for measuring the wave direction of the wave direction reproducing mechanism (35); A bottom plate mechanism (2) for providing a detection platform for the entire wave detection system; An integral angle measuring mechanism (7) for indicating the azimuth angle of the base plate mechanism (2); A ground wheel mechanism (1) for horizontally moving the entire wave detection system and adjusting the bottom plate mechanism (2) to be in a horizontal posture; A control unit (33) is respectively connected to a wave direction reproduction mechanism (35), a horizontal rotation drive mechanism (4), a laser distance measurement mechanism, a photoelectric period measurement mechanism, a wave direction angle measurement mechanism (9), an overall angle measurement mechanism (7), a capillary wave simulation platform (25) and a ground wheel mechanism (1), wherein the control unit is used to control the three-dimensional spatial six-degree-of-freedom motion of the wave direction reproduction mechanism (35) to achieve micro-wave height superposition posture simulation, and to respectively collect data from the laser distance measurement mechanism, the photoelectric period measurement mechanism, the wave direction angle measurement mechanism (9) and the capillary wave simulation platform (25) and obtain standard values ​​of wave direction, wave height and wave period of three-dimensional random waves.

2. The system for simulating six-degree-of-freedom real sea conditions random wave detection suitable for wave buoys or wave sensors according to claim 1, characterized in that: The horizontal rotation drive mechanism (4) is placed on the base plate mechanism, and comprises a horizontal rotation drive motor (10), a motor support, a horizontal rotation small wheel, a horizontal rotation large wheel (3), a large wheel through shaft (5) and a level indicator (6); the horizontal rotation drive motor (10) is mounted on the motor support, the motor support is fixed on the base plate mechanism (2), the output shaft of the horizontal rotation drive motor (10) is connected to the horizontal rotation small wheel, the horizontal rotation small wheel is meshed with the horizontal rotation large wheel (3), the horizontal rotation large wheel (3) is mounted on the base plate mechanism (2) through the large wheel through shaft (5) and is connected to the bottom of the bracket (13) located above it, and the level indicator is used to indicate the horizontal state of the base plate mechanism (2).

3. The system for simulating six-degree-of-freedom real sea conditions random wave detection suitable for wave buoys or wave sensors according to claim 2, characterized in that: The wave direction angle measuring mechanism (9) is connected to the large wheel shaft (5), and comprises a rotary encoder and a collection module. The rotary encoder is used to measure the horizontal rotation angle of the wave direction reproduction mechanism (35), and the rotary encoder and the collection module are electrically connected.

4. The system for simulating six-degree-of-freedom real sea conditions random wave detection suitable for wave buoys or wave sensors according to claim 1, characterized in that: The overall angle measuring mechanism (7) is mounted on the upper surface of the base plate mechanism (2) and is used to measure the angle difference between the reference direction of the base plate mechanism (2) and the magnetic north direction.

5. The system for simulating six-degree-of-freedom real sea conditions random wave detection suitable for wave buoys or wave sensors according to claim 1, characterized in that: The laser distance measuring mechanism comprises a laser distance measuring host (8) and a laser reflection target. The laser distance measuring host (8) is equipped with a micro motor and can move horizontally on the upper surface of the bottom plate mechanism (2). The laser reflection target is located on the lower surface of the buoy or sensor placement platform (27). The laser distance measuring host (8) emits a distance measuring laser beam vertically upward, and the distance measuring laser beam irradiates the laser reflection target. The distance measuring laser beam reflected by the laser reflection target then propagates vertically downward to the laser distance measuring host (8), and the peak value and the trough value are obtained through time measurement and calculation.

6. The six-degree-of-freedom real sea condition random wave detection system suitable for wave buoys or wave sensors according to claim 1, characterized in that: The photoelectric period measurement mechanism comprises an infrared light transmitting and receiving device (21) and an infrared light reflecting target. The infrared light transmitting and receiving device (21) is connected to a bracket (13), and the infrared light reflecting target is connected to a mechanical truss (19). The infrared light transmitting and receiving device (21) horizontally transmits a time-measuring infrared light beam, and the time-measuring infrared light beam irradiates the infrared light reflecting target. The time-measuring infrared light beam reflected by the infrared light reflecting target then propagates horizontally to the infrared light transmitting and receiving device (21), and a wave period is obtained through time measurement calculation.

7. The six-degree-of-freedom real sea condition random wave detection system suitable for wave buoys or wave sensors according to claim 1, characterized in that: The ground wheel mechanism (1) is connected to the lower surface of the base plate mechanism (2) and is used for horizontally moving or fine-tuning the position of the wave detection system in the test site, and for adjusting the base plate mechanism to be in a horizontal posture.

8. The system for simulating six-degree-of-freedom real sea conditions random wave detection suitable for wave buoys or wave sensors according to claim 1, characterized in that: The fixed gear (30) and the movable gear (24) are mechanical gears with the same number of teeth, the same size and the same shape.

9. The system for simulating six-degree-of-freedom real sea conditions random wave detection suitable for wave buoys or wave sensors according to claim 1, characterized in that: The capillary wave simulation platform (25) is composed of two groups of linear guides and a tilting swing platform, each group of linear guides includes a guide rail and a slider, the slider is on the upper side of the guide rail and can slide horizontally along the guide rail; the two groups of linear guides are placed crosswise at 90 degrees, the AA group of linear guides are rotatably placed on the upper surface of the buoy or sensor placement platform (27), the BB group of linear guides are placed on the slider of the AA group of linear guides, the tilting swing platform is placed on the slider of the BB group of linear guides, the tilting swing platform has the function of tilting and swinging, and the wave buoy or wave sensor (26) is placed on the tilting swing platform.

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