Self-stabilized ocean optical radiation profile continuous measurement device

Abstract

The utility model relates to a self-stabilization type ocean optical radiation profile continuous measuring device, and belongs to the technical field of buoys. According to the device, the overwater optical sensor is kept vertical through the vertical self-stabilization objective table on the water surface floating ball by means of gravity, and the attitude stability of the sea surface optical sensor is easily improved with low layout and low maintenance cost, so that the data measurement quality of the sea surface optical sensor is improved, and an environmental reference is provided for underwater optical data; the free rotation characteristic of the roller module is utilized to reduce the disturbance effect of ocean current, improve the attitude stability of the underwater measurement module and realize accurate measurement of underwater optical profile data; and the influence of shadow on the underwater optical sensor is eliminated by using the telescopic and symmetrically arranged supporting rods. Finally, the problem that the attitude of the measurement device is unstable is solved with easy arrangement and low maintenance cost, the measurement quality of underwater optical radiation profile data is improved, and continuous measurement of underwater data is realized by using a bidirectional control module in the underwater measurement module.

Description

Technical Field

[0001] The utility model relates to the technical field of buoys, in particular to a self-stabilizing ocean optical radiation profile continuous measuring device. Background Art

[0002] With the continuous deepening of marine scientific research, the demand for marine observation is increasing, and the frequency of observation is increasing. When conducting observations, marine optical measurement devices such as buoys usually move the underwater measurement module up and down underwater to complete the continuous measurement of underwater profiles in order to fully obtain underwater optical data information and improve the data collection level. However, when conducting observations, measurement devices such as buoys are often disturbed by sea waves and currents, resulting in unstable measurement posture of the overall measurement device.

[0003] The instability of the measurement posture includes the instability of the underwater measurement module due to the impact of the water flow under the sea surface and the difference in the speed of the water flow at different depths under the sea surface, and the instability of the buoy on the surface due to the influence of the sea surface waves. Among them, the instability of the underwater measurement module will directly affect the accuracy of the underwater profile optical data measurement by the sensor on the underwater measurement module, and the instability of the surface buoy will cause the measurement accuracy of the relevant measurement data above the sea surface, which is the reference data for the underwater profile measurement data, to decrease during the optical measurement process, resulting in measurement errors, which will make it impossible to accurately and synchronously record the reference data above the sea surface, and make the overall optical measurement data lack reference.

[0004] Therefore, in order to avoid the measurement data errors caused by the unstable attitude of the measurement devices such as the ocean optical buoy as much as possible, the existing solutions mainly include: 1) Mechanical enhancement device: by increasing the volume and weight of the float to enhance stability, but this will make the measurement equipment large and heavy, which is not convenient for deployment and maintenance. 2) Software algorithm correction: using data post-processing algorithm to reduce the attitude error, but it cannot provide high-precision data in real time. 3) Electronic attitude stabilization device: using advanced electronic stabilization system to reduce the attitude error, but this will increase the energy consumption of measurement equipment such as buoys, greatly reducing the endurance of the equipment.

[0005] It can be seen that the current methods for solving the posture instability of measuring devices such as ocean optical buoys have various problems in cost, timeliness or energy consumption. Therefore, how to provide an ocean optical measuring device that can reduce the degree of posture instability at a lower deployment and maintenance cost, thereby improving the accuracy of data observation, is a technical problem that needs to be solved at present. Utility Model Content

[0006] In view of the above technical problems, the present utility model provides a self-stabilizing continuous measurement device for ocean optical radiation profiles to solve the problem that the current attitude instability of ocean optical measurement devices cannot be reduced at a relatively low deployment and maintenance cost.

[0007] In a first aspect, the present utility model provides a self-stabilizing continuous measurement device for ocean optical radiation profiles, including: a surface buoy, a steel cable, a gravity hammer, and an underwater measurement module. One end of the steel cable is connected to the surface buoy, and the other end is connected to the gravity hammer. The underwater measurement module is movably assembled on the steel cable;

[0008] A vertical self-stabilizing carrier platform is further provided at the upper end of the surface buoy, and a camera module and an above-water optical sensor are provided on the vertical self-stabilizing carrier platform.

[0009] Optionally, the support frame in the vertical self-stabilizing carrier platform is fixed to the upper end of the surface buoy. The roll bracket in the vertical self-stabilizing carrier platform is connected to the support frame through a roll bearing and a roll bearing fixing piece. The pitch bracket in the vertical self-stabilizing carrier platform is connected to the roll bracket through a pitch bearing and a pitch bearing fixing piece. The above-water optical sensor and the gravity suspension bracket in the vertical self-stabilizing carrier platform are fixed on the pitch bracket, and the gravity suspension bracket is arranged with its center of gravity lower than that of the above-water optical sensor.

[0010] Optionally, the underwater measurement module includes a roller module. The roller module includes an upper roller module provided at the upper end of the underwater measurement module and a lower roller module provided at the lower end of the underwater measurement module. The roller module includes at least one set of transverse roller pairs and at least one set of longitudinal roller pairs. The steel cable is located between the two rollers in each roller pair and is in rolling contact with the rollers, so that the underwater measurement module is movably assembled on the steel cable.

[0011] Optionally, the underwater measurement module is fixed with an underwater optical sensor through a support rod, and the support rod is a telescopic rod.

[0012] Optionally, the underwater optical sensors are an underwater irradiance sensor and an underwater radiance sensor. The support rods for fixing the underwater irradiance sensor and the support rods for fixing the underwater radiance sensor are symmetrically arranged on the underwater measurement module.

[0013] Optionally, the self-stabilizing continuous measurement device for ocean optical radiation profiles further includes an upper damper and a lower damper; the upper damper is fixed to one end of the steel cable close to the surface buoy, the lower damper is fixed to one end of the steel cable close to the gravity hammer, and the underwater measurement module is arranged between the upper damper and the lower damper;

[0014] The underwater measurement module includes a floating block, an upper lever frame, a lower lever frame, and a bidirectional control module. The upper lever frame and the lower lever frame are respectively connected to the bidirectional control module through connecting rods. After the upper lever frame hits the upper damper, the bidirectional control module is switched to the one-way downward movement state. After the lower lever frame hits the lower damper, the bidirectional control module is switched to the bidirectional free movement state.

[0015] The above solution has the following beneficial effects:

[0016] In the self-stabilizing ocean optical radiation profile continuous measurement device of the present utility model, through the vertical self-stabilizing load platform arranged on the water surface floating ball, which can keep the underwater optical sensor vertically self-stabilized by means of gravity, the attitude stability is improved with easy deployment and low maintenance cost, thereby realizing the accurate measurement of optical data on the sea surface. And based on the accurately measured optical data on the sea surface, an environmental reference is provided for the underwater optical data, improving the integrity and interpretability of the data. At the same time, through the roller module that can make the underwater measurement module rotate freely, the disturbance of ocean currents is reduced and the attitude stability of the underwater measurement module is improved, thereby improving the measurement accuracy of underwater optical data. And through the provided support rods that can be telescoped and symmetrically arranged, the measurement influence of shadows on the underwater optical sensor and the measurement error caused by the attitude instability of the sensor due to the center of gravity offset of the underwater measurement module are eliminated, thereby improving the observation quality when the underwater measurement module continuously measures underwater profile data with the help of the bidirectional control module. Finally, the problem of unstable attitude of the buoy system is solved with low deployment and maintenance costs, and the measurement accuracy and reference of optical data are improved. Description of the Drawings

[0017] Figure 1 is the overall structural schematic diagram of a self-stabilizing ocean optical radiation profile continuous measurement device provided in an embodiment of the present utility model;

[0018] Figure 2 is the structural schematic diagram of the vertical self-stabilizing load platform in an embodiment of the present utility model;

[0019] Figure 3 is the internal structural schematic diagram of the roller module in an embodiment of the present utility model;

[0020] Figure 4 is the structural schematic diagram of the underwater measurement module in an embodiment of the present utility model;

[0021] Figure 5 is the internal structural schematic diagram of the underwater measurement module in an embodiment of the present utility model.

[0022] The symbol descriptions are as follows:

[0023] 1. Vertical self-stabilizing load platform; 2. Underwater optical sensor; 3. Camera module; 4. Surface float; 5. Upper damper; 6. Floating block; 7. Steel cable; 8. Underwater measurement module; 9. Underwater irradiance sensor; 10. Support rod; 11. Underwater radiance sensor; 12. Battery compartment; 13. Lower damper; 14. Gravity hammer;

[0024] 201. Support frame; 202. Roll bracket; 203. Roll bearing; 204. Roll bearing fixing piece; 205. Pitch bracket 205; 206. Pitch bearing; 207. Pitch bearing fixing piece; 208. Gravity suspension bracket;

[0025] 301. Lateral roller pair; 302. Longitudinal roller pair;

[0026] 501. Upper lever frame; 502. Lower lever frame; 503. Upper roller module; 504. Lower roller module; 505. Two-way control module; 506. First internal floating block; 507. Second internal floating block; 508. Connecting rod. Detailed implementation mode

[0027] In order to make the technical problems, technical solutions and beneficial effects solved by the present utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments.

[0028] It should be understood that the embodiments described below represent the necessary information for those skilled in the art to implement the embodiments and illustrate the best mode of implementing the embodiments. After reading the following description with reference to the drawings, those skilled in the art will understand the concepts of the present disclosure and will recognize the applications of these concepts that are not specifically mentioned herein. It should be understood that these concepts and applications fall within the scope of the present disclosure and the appended claims.

[0029] It should also be understood that although the terms first, second, etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, the first element may be referred to as the second element, and similarly, the second element may be referred to as the first element, without departing from the scope of the present disclosure. As used herein, the term "and / or" includes any and all combinations of one or more of the related listed items.

[0030] It should also be understood that when an element is referred to as "connected" or "coupled" to another element, it may be directly connected or coupled to the other element, or there may be intermediate elements. In contrast, when an element is referred to as "directly connected" or "directly coupled" to another element, there are no intermediate elements.

[0031] It should also be understood that terms such as "upper", "lower", "left", "right", "front", "rear", "bottom", "middle", "center", "top", etc. may be used herein to describe various elements, and the indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings. This is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, these elements should not be limited by these terms.

[0032] These terms are only used to distinguish one element from another. For example, the first element may be referred to as an "upper" element, and similarly, the second element may be referred to as an "upper" element according to the relative orientation of these elements, without departing from the scope of the present disclosure.

[0033] It is further understood that when the terms "comprise", "include", "comprising" and / or "including" are used herein, they specify the presence of the described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or their groups.

[0034] Unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains. It will be further understood that the terms used herein should be interpreted as having a meaning consistent with their meaning in the context of this specification and the related art, and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

[0035] As Figure 1 shown, in one embodiment, a self-stabilizing marine optical radiation profile continuous measurement device is provided, and its structure includes: a surface float 4, a steel cable 7, a gravity hammer 14, and an underwater measurement module 8. One end of the steel cable 7 is connected to the surface float 4, and the other end is connected to the gravity hammer 14. The underwater measurement module 8 is movably assembled on the steel cable 7;

[0036] And, a vertical self-stabilizing carrier platform 1 is further provided at the upper end of the surface float 4, and a camera module 3 and an underwater optical sensor 2 are provided on the vertical self-stabilizing carrier platform 1.

[0037] Among them, the surface float 4 is placed on the sea surface, and its function is to provide buoyancy to support the entire self-stabilizing marine optical radiation profile continuous measurement device system. The steel cable 7 has a certain strength and flexibility. One end of it is connected to the lower end of the surface float 4, passes through the underwater measurement module 8, and the other end is connected to the gravity hammer 14. The gravity hammer 14 provides the necessary gravity for the entire buoy system to maintain the vertical stability of the underwater measurement module 8 in the underwater part.

[0038] The vertical self-stabilizing load platform 1 provided on the water surface buoy 4 is used to keep itself vertically self-stabilized by means of gravity at all times. Thus, even when the water surface buoy 4 sways up and down or left and right due to the impact of sea waves or ocean currents, the underwater optical sensor 2 thereon can be kept vertically self-stabilized, so that the optical data on the sea surface can be measured in a stable posture, improving the accuracy of data measurement. When observing the underwater light radiation profile data, it can provide an accurate environmental reference for the underwater measurement module, that is, provide an accurate comparison reference, based on the underwater optical profile observation data measured at different depths. In addition, the camera module 3 provided on the vertical self-stabilizing load platform 1 can also record the sky cloud amount synchronously, improving the integrity and interpretability of the data.

[0039] Optionally, the camera module 3 includes a waterproof housing to protect the internal camera from damage. And the water surface data acquisition system for supporting the vertical self-stabilizing load platform 1 to collect water surface data is arranged in the water surface buoy 4. The water surface buoy 4 also includes a battery for powering the water surface data acquisition system. The hardware peripherals of the water surface data acquisition system mainly consist of a GPS positioning module, an attitude sensor, a camera module, an optical sensor, an RTC clock, and a 4G / satellite communication module. The main control chip uploads the collected GPS positioning data, attitude data, spectral data, and captured picture data to the server side through the 4G / satellite communication module.

[0040] In addition, based on the vertical self-stabilizing load platform 1 and the water surface data acquisition system therein set in this embodiment, a Bluetooth transmission module or other types of short-distance data transmission modules can also be added to both the water surface data acquisition system and the underwater data acquisition system set in the underwater measurement module 8. The underwater data acquisition system can transmit the collected underwater optical profile observation data to the water surface data acquisition system after tagging by the RTC clock. The water surface data acquisition system tags the acquired data through its own RTC clock, matches the underwater optical profile observation data and the water surface optical observation data at the same time, and then packages and transmits them to the cloud server through the 4G / satellite communication module for background analysis and use to achieve real-time observation.

[0041] It can be seen that in this utility model, whether it is the water surface data acquisition system or the underwater data acquisition system, both only include the basic and necessary data acquisition and transmission functions, and do not need to set additional control functions for any part of the overall measurement device system or other functions that occupy computing resources, simplifying the circuit design and reducing energy consumption. At the same time, the vertical self-stabilizing load platform 1 realizes the attitude stability of at least the underwater optical sensor 2 provided thereon, improving the accuracy of data measurement.

[0042] As Figure 2 shown, in an embodiment, a specific structure of a vertical self-stabilizing load platform is given. AsFigure 2 As shown, the vertical self-stabilizing load platform includes a support frame 201, a roll bracket 202, a roll bearing 203, a roll bearing fixing piece 204, a pitch bracket 205, a pitch bearing 206, a pitch bearing fixing piece 207, and a gravity suspension bracket 208.

[0043] Among them, the support frame 201 in the vertical self-stabilizing load platform 1 is fixed to the upper end of the water surface floating ball 4. The roll bracket 202 in the vertical self-stabilizing load platform 1 is connected to the support frame 201 through the roll bearing 203 and the roll bearing fixing piece 204. The pitch bracket 205 in the vertical self-stabilizing load platform 1 is connected to the roll bracket 202 through the pitch bearing 206 and the pitch bearing fixing piece 207. The underwater optical sensor 2 and the gravity suspension bracket 208 in the vertical self-stabilizing load platform 1 are fixed to the pitch bracket 205, and the gravity suspension bracket 208 is set to have a center of gravity lower than that of the underwater optical sensor 2.

[0044] The support frame 201 is a support component for supporting the entire structure of the vertical self-stabilizing load platform 1. The pitch bearing 206 and the roll bearing 203 are respectively used to support and realize the rotational movement of the pitch axis and the roll axis, which enables the structure of the vertical self-stabilizing load platform 1 to make adjustments in the horizontal and vertical directions. The pitch bracket 205 and the roll bracket 202 are respectively structural components for fixing the pitch axis and the roll axis to ensure the stability of the pitch axis and the roll axis. The roll bearing fixing piece 204 and the pitch bearing fixing piece 207 are respectively used to fix the roll bearing 203 and the pitch bearing 206 to ensure their firmness and correct position. The gravity suspension bracket 208 is used to provide gravity below the underwater optical sensor 2, that is, the gravity suspension bracket is set to have a center of gravity lower than that of the underwater optical sensor 2. After the gravity acts on the entire vertical self-stabilizing load platform 1 or acts on the pitch bracket 205 and the roll bracket 202, the underwater optical sensor 2 can always maintain a vertical stable state, so as to improve the observation accuracy of the optical data on the sea surface, which is used as the comparison reference data for the underwater observation data, thereby improving the underwater optical observation accuracy. And, in this embodiment, the vertical self-stabilizing load platform 1 does not require additional energy consumption, has a simple structure and a low wind resistance coefficient, and has low deployment and maintenance costs.

[0045] In one embodiment, the underwater measurement module 8 further includes a roller module, and the roller module is as Figure 5 shown, including an upper roller module 503 provided at the upper end of the underwater measurement module 8 and a lower roller module 504 provided at the lower end of the underwater measurement module 8. The structures of the upper roller module 503 and the lower roller module 504 are the same. Through the upper roller module 503 and the lower roller module 504, the underwater measurement module 8 can be integrally moved and assembled on the steel cable 7, so that the underwater measurement module 8 can move along the direction of the steel cable, that is, it can move vertically.

[0046] As Figure 3As shown in the figure, the roller module includes at least one set of transverse roller pairs 301 and at least one set of longitudinal roller pairs 302. The steel cable 7 is located between the two rollers in each roller pair and is in rolling contact with the rollers, so that the underwater measurement module 8 is movably assembled on the steel cable 7.

[0047] Among them, the two rollers in each pair of rollers are arranged in parallel, and the steel cable 7 is located between the two rollers in each pair of rollers. Due to the simultaneous presence of transverse roller pairs and longitudinal roller pairs with different directions, the moving direction of the steel cable 7 can be restricted, so that the steel cable 7 can only move along its own extension direction, which also restricts the underwater measurement module 8 including the roller module to only move along the extension direction of the steel cable 7. In other embodiments, the number of each type of transverse roller pair can also be changed, such as only using one pair of transverse rollers and one pair of longitudinal rollers, or using one pair of transverse rollers and two pairs of longitudinal rollers, etc. It is only necessary to ensure that there is at least one transverse roller pair and at least one longitudinal roller pair with different directions.

[0048] The roller design ensures that the steel cable 7 reduces friction and wear during operation, enables the steel cable 7 to move smoothly and transmit power, improves the moving efficiency and service life of the underwater measurement module 8. The rollers in each roller pair are arranged in parallel, which helps to ensure the straightness and stability of the steel cable 7 when passing through. By using multiple rollers, the contact surface of the steel cable 7 in the entire roller module is wider, which helps to disperse pressure and reduce single-point wear. The surface of each roller can be optionally treated specially or a specific material can be selected to further reduce the friction with the steel cable.

[0049] At the same time, more importantly, the design of the roller pair enables the underwater measurement module 8 to rotate around the steel cable 7 or take the steel cable 7 as the rotation axis. Under the action of the ocean current in the marine environment, that is, under the action of the water flow under the sea surface, the underwater measurement module 8 can adaptively adjust its attitude by rotating to reduce the non-axial force caused by the ocean current, effectively dispersing the load brought by the dynamic change of the ocean current, improving the anti-ocean current performance and its stability, enhancing the overall durability of the structure and reducing the maintenance requirements. At the same time, it can enable the underwater measurement module to obtain more accurate underwater optical observation data in a more stable attitude during the process of moving up and down along the steel cable 7 and measuring under the action of the two-way control module 505 as shown in Figure 5 the figure, improving the observation accuracy.

[0050] As Figure 4 shown in the figure, in one embodiment, the underwater measurement module is fixedly provided with an underwater optical sensor through a support rod 10, and the support rod 10 is a telescopic rod.

[0051] Through the telescopic rod structure of the support rod 10, specifically the telescopic rod that can be fixed by screws so as to be maintained at different lengths, the length of the support rod 10 can be adjusted so that the distance that the underwater optical sensor extends outward from the underwater measurement module 8 can be adjusted. By adjusting the length of the support rod 10 at observation locations with different latitudes, it can be achieved to ensure that the sensor is not in the shadow of the water surface float 4, thereby avoiding the underwater optical data measurement error caused by the shadow of the water surface float 4 and improving the data measurement accuracy.

[0052] Further, in another embodiment, Figure 4 As shown, the underwater optical sensor in the previous embodiment is preferably configured as an underwater irradiance sensor 9 and an underwater radiance sensor 11, and the support rod for fixing the underwater irradiance sensor 9 and the support rod for fixing the underwater radiance sensor 11 are symmetrically arranged on the underwater measurement module 8.

[0053] By setting the underwater irradiance sensor 9 and the underwater radiance sensor 11 on the underwater measurement module 8, the underwater data acquisition system can complete the measurement of the irradiance and radiance of the underwater profile during the up and down movement of the underwater measurement module 8 along the steel cable 7. At the same time, by preferably setting the two support rods of the underwater irradiance sensor 9 and the underwater radiance sensor 11 symmetrically, the consistency and comparability of the data of different water layers measured by the two optical sensors during the up and down movement of the underwater measurement module 8 along the steel cable 7 can be ensured, and the weight balance on both sides of the underwater measurement module 8 can be ensured, thereby improving the ability of the underwater measurement module 8 to maintain a stable posture, and ultimately improving the accuracy of data measurement. In other embodiments, other types of sensors can also be used to complete the observation and acquisition of other data types, and the number of sensors and corresponding support rods can also be changed to meet different observation requirements.

[0054] In addition, in the preferred embodiment, the underwater measurement module 8 also includes floats 6 arranged on both sides and a battery compartment 12 arranged at the lower end, wherein the floats 6 provide buoyancy and stability for the underwater measurement module 8, and the battery compartment 12 provides necessary power supply for the underwater data acquisition system. Therefore, in this embodiment, the underwater data acquisition system is preferably arranged in the battery compartment 12. The hardware peripherals of the underwater data acquisition system are mainly composed of attitude sensors, underwater optical sensors and RTC clocks. After the main control chip collects attitude data and spectral data, that is, light radiation observation data, it is saved in the SD card according to the system's RTC clock information for subsequent data collection.

[0055] In one embodiment, if Figure 1As shown, the self-stabilizing continuous marine optical radiation profile measuring device further includes an upper damper 5 and a lower damper 13; the upper damper 5 is fixed to one end of the steel cable 7 close to the surface float 4, and the lower damper 13 is fixed to one end of the steel cable 7 close to the gravity hammer 14, and the underwater measurement module 8 is arranged between the upper damper 5 and the lower damper 13;

[0056] And, further combined with the attached Figure 5 As shown, the underwater measurement module 8 in this embodiment includes a floating block 12, an upper lever frame 501, a lower lever frame 502 and a two-way control module 505. The upper lever frame 501 and the lower lever frame 502 are respectively connected to the two-way control module 505 through a connecting rod 508. After the upper lever frame 501 hits the upper damper 5, the two-way control module 505 is switched to the one-way downward movement state, and after the lower lever frame 502 hits the lower damper 13, the two-way control module 505 is switched to the two-way free movement state.

[0057] Furthermore, the underwater measurement module 8 in this embodiment further includes a first internal floating block 506 and a second internal floating block 507, whose function is to provide additional buoyancy and stability to ensure that the entire system can operate normally under various wave conditions. Of course, in other embodiments, the underwater measurement module 8 may not include internal floating blocks, and only the floating block 6 provides buoyancy and stability.

[0058] The two-way control module 505 in this embodiment can control the movement state of itself or the entire underwater measurement module 8 where it is located to switch between the one-way downward movement state and the two-way free movement state, so that after the underwater measurement module 8 reaches the top and touches the upper damper 5, it can move downward gradually in one direction, and then after reaching the bottom and touching the lower damper 13, it can move upward gradually in the two-way free movement state. During both the gradual downward movement process and the gradual upward movement process, the self-stabilizing continuous marine optical radiation profile measuring device can successfully measure the underwater profile data.

[0059] In one embodiment, the two-way control module 505 can be set as a pure mechanical structure module. Specifically, it can be set to include a pulley frame with a wider upper part and a narrower lower part, and a pulley is arranged in the pulley frame, which can clamp the steel cable 7 at the narrower lower end and loosen the steel cable 7 at the wider upper end. At the same time, a switching plate that can move up and down relative to the pulley frame and is fixedly connected to the connecting rod 508 is set, and the pulley is also located in the concave frame of the switching plate. After the upper lever frame 501 collides with the upper damper 5, the switching plate moves downward relative to the pulley frame, so that the pulley inside the pulley frame can move to the narrower position where it can clamp the steel cable 7 under the action of gravity and is in the one-way downward movement state, and after the lower lever frame 502 collides with the lower damper 13, the switching plate moves upward relative to the pulley frame, so that the pulley inside the pulley frame cannot move to the narrower position where it can clamp the steel cable 7 and is in the two-way free movement state.

[0060] Thus, the up-and-down movement of the underwater measurement module 8 can be controlled by the bidirectional control module provided by the above mechanical structure, realizing the cyclic switching of the bidirectional control module 505 between the unidirectional downward movement state and the bidirectional free movement state, and finally enabling the self-stabilizing ocean optical radiation profile continuous measurement device to complete the measurement of underwater profile optical data.

[0061] In another embodiment, the bidirectional control module 505 can of course be set as an electric drive structure module. After the upper lever frame 501 collides with the upper damper 5, the connecting rod connected to the upper lever frame 501 drives the state switching switch on the bidirectional control module to switch to the gear corresponding to the unidirectional downward movement state. And after the lower lever frame 502 collides with the lower damper 13, the connecting rod connected to the lower lever frame 502 drives the state switching switch on the bidirectional control module to switch to the gear corresponding to the bidirectional free movement state, realizing the cyclic switching of the bidirectional control module 505 between the unidirectional downward movement state and the bidirectional free movement state. The implementation method of the movement state switching and the driving implementation method of this electric drive structure module can adopt any feasible method in the prior art, which will not be elaborated in this embodiment.

[0062] It should be noted that whether the bidirectional control module 505 is a pure mechanical structure module or an electric drive structure module, in the bidirectional free movement state, the underwater measurement module 8 can move upward and complete the underwater profile data observation only by means of the buoyancy provided by its floating block.

[0063] In this embodiment, the self-stabilizing ocean optical radiation profile continuous measurement device realizes the switching of the underwater measurement module 8 to the correct movement state after reaching the correct position by setting the bidirectional control module in cooperation with the upper and lower dampers, so that the underwater measurement module 8 can successfully realize the continuous measurement of underwater optical profile data.

[0064] The above-described embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A self-stabilizing continuous measurement device for ocean optical radiation profiles, characterized in that Comprising: A surface floating ball, a steel cable, a gravity hammer, and an underwater measurement module. One end of the steel cable is connected to the surface floating ball, and the other end is connected to the gravity hammer. The underwater measurement module is movably assembled on the steel cable. A vertical self-stabilizing load platform is further provided at the upper end of the surface floating ball, and a camera module and an underwater optical sensor are provided on the vertical self-stabilizing load platform.

2. The self-stabilizing continuous ocean optical radiation profile measuring device according to claim 1, characterized in that The support frame in the vertical self-stabilizing load platform is fixed to the upper end of the surface floating ball. The roll bracket in the vertical self-stabilizing load platform is connected to the support frame through a roll bearing and a roll bearing fixing piece. The pitch bracket in the vertical self-stabilizing load platform is connected to the roll bracket through a pitch bearing and a pitch bearing fixing piece. The underwater optical sensor and the gravity suspension bracket in the vertical self-stabilizing load platform are fixed on the pitch bracket, and the gravity suspension bracket is arranged such that its center of gravity is lower than that of the underwater optical sensor.

3. The self-stabilizing continuous marine optical radiation profile measuring device according to claim 1, characterized in that The underwater measurement module includes a roller module. The roller module includes an upper roller module provided at the upper end of the underwater measurement module and a lower roller module provided at the lower end of the underwater measurement module. The roller module includes at least one set of transverse roller pairs and at least one set of longitudinal roller pairs. The steel cable is located between the two rollers in each roller pair and is in rolling contact with the rollers, so that the underwater measurement module is movably assembled on the steel cable.

4. The self-stabilizing continuous marine optical radiation profile measuring device according to claim 1, characterized in that, The underwater measurement module is fixed with an underwater optical sensor through a support rod, and the support rod is a telescopic rod.

5. The self-stabilizing continuous ocean optical radiation profile measuring device according to claim 4, characterized in that The underwater optical sensor is an underwater irradiance sensor and an underwater radiance sensor. The support rod for fixing the underwater irradiance sensor and the support rod for fixing the underwater radiance sensor are symmetrically arranged on the underwater measurement module.

6. The self-stabilizing continuous marine optical radiation profile measurement device according to claim 1, characterized in that The self-stabilizing continuous measurement device for ocean optical radiation profile further includes an upper damper and a lower damper. The upper damper is fixed to one end of the steel cable close to the surface floating ball, and the lower damper is fixed to one end of the steel cable close to the gravity hammer. The underwater measurement module is arranged between the upper damper and the lower damper. The underwater measurement module includes a floating block, an upper lever frame, a lower lever frame, and a bidirectional control module. The upper lever frame and the lower lever frame are respectively connected to the bidirectional control module through connecting rods. When the upper lever frame hits the upper damper, the bidirectional control module switches to a one-way downward movement state. When the lower lever frame hits the lower damper, the bidirectional control module switches to a bidirectional free movement state.

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