CN109835438B - An elevating submersible device - Google Patents

Abstract

The invention discloses a lift-type submersible mark device. The present invention includes a communication buoy, a submersible buoy system and an anchor. The submersible mark system includes a main floating body, an underwater winch and a control cabin, a battery cabin and various sensors. The underwater winch includes a Keslav cable, a motor, a winch counterweight, and a winch. The motor is connected to the winch, and the rotation of the motor drives the winch to rotate; the winch consists of two areas with different radii. The winch counterweight is connected to the winch at the end of a Keslav cable with a smaller radius of the winch, and is free to sink due to gravity. Communication The buoy is connected to the other end of the Keslav cable with a large radius of the winch, and it floats naturally under the influence of buoyancy. The invention controls the communication buoy to move back and forth between the sea level and the submersible buoy by using the underwater winch to collect and release the cable, and the communication buoy transmits data in real time when the communication buoy is at the sea level. The operating cost of the submersible system.

Description

An elevating submersible device

technical field

The invention belongs to the field of marine environment monitoring, and mainly relates to a lift-type submersible mark mechanical structure and a satellite data transmission device.

Background technique

The ocean occupies about 71% of the total surface area and contains abundant and valuable resources. Through ocean observation technology, it can not only help us discover and understand the marine environment and ecosystem, and promote human beings to have a deeper understanding of themselves, but also provide human beings with a large number of living and production materials.

With the development of economy and the advancement of science and technology, human beings have an increasing demand for marine resources. The marine environment plays an important role in the fields of oil and gas exploitation, marine fishery, marine disaster warning and climate prediction. In order to better monitor and obtain marine environment and resources, countries around the world have successively proposed and formulated corresponding marine development strategies to elevate marine development to a national level.

Modern marine inspection equipment mainly includes submersible buoys, buoys, underwater robots, underwater gliders and Argos.

The main body of the buoy is located above the sea level. By using mooring devices to fix the buoy in the designated area, the marine environment can be observed for a long time. Because the buoys are located on the surface of the ocean, the data they collect can be quickly radioed back to shore, meaning they are extremely vulnerable to weather, currents, ships, and even damage.

The submersible beacon is a lurking observer that is connected to the anchor through an acoustic or timed release, and is fixed to a designated area. It is not affected by the ocean surface, but the data acquisition process is complicated and requires hydroacoustic equipment. The underwater acoustic releaser is controlled to release the anchor, and the entire submersible mark returns to the sea by buoyancy and collects its data after manual recovery. The acquisition cycle is long, and the data cannot be acquired in real time, resulting in poor timeliness; the submersible mark using marine cables to transmit data can It can effectively solve the problem of real-time data transmission, but its cable layout is complicated and the corresponding cost is high, so it is only suitable for coastal areas.

The underwater robot is a multi-disciplinary system with flexible, controllable and safe observation methods, but it is not suitable for long-term unattended environments. Argo buoy is a self-lifting device that can collect data such as temperature and salinity at a depth of 0-2000 meters at the same time. By changing its own volume to change the buoyancy, it can control the ascent or dive. While ascending or diving, it can control the ocean profile at the same time. Observation can effectively obtain ocean profile data. After rising to sea level, the sensor data is transmitted back to the shore base through satellites. However, it has no mooring device and is a drift-type observation device. Its trajectory depends on ocean currents, so it cannot observe specific areas.

Patent CN201510243938.0 discloses a timing satellite communication submersible. The system/device includes a plastic-coated steel cable arranged vertically, and a first inductive coupling temperature salt chain and a second inductive coupling temperature The salt chain, the main buoy, and the deep-sea current and temperature and salt measurement unit, the main buoy is equipped with an acoustic Doppler current profiler, a satellite communication buoy, a timing release device and a data and control electronic warehouse; the submersible buoy measuring instruments pass through Cables and data are connected to the control electronics compartment. In the present invention, one or more satellite communication buoys are installed on the main buoy of the submersible buoy, and the observation data of the submersible buoy instrument are transmitted to the satellite communication buoy in real time by means of cabled or cableless underwater. When the set time is reached, The satellite communication buoy automatically rises to the water surface, and sends the stored data back to the shore station through satellite, which can not only ensure the timely acquisition of ocean observation data, but also understand the working status of the submersible buoy. s help.

Patent CN201010591392.5 discloses a marine elevating submersible buoy system, in which the buoy is connected to the underwater winch through a communication mooring cable; the part of the communication mooring cable between the buoy and the underwater winch that is close to the buoy is arranged at equal intervals The underwater winch is fixed on the main floating body; the target detection system and ADCP are all set on the main floating body; the mooring and mooring mechanism includes glass floating balls connected in series with anchor chains, transponder releasers and ballast anchors. The control center controls the buoy system to surface and dive into the sea regularly; the target detection system detects moving targets, and when it is determined that there are moving targets entering the preset range, the control center controls the buoy system to dive into the sea. When the buoy surfaced, it transmits various data received to the ground shore station. By using the invention, the real-time transmission of ocean observation data can be realized, and the influence of wind, waves and other factors on the life of the buoy can be avoided.

The above invention patents can well avoid the influence of sea level ocean currents, weather and ships, etc., and realize the monitoring of environmental parameters such as ocean profiles in designated sea areas, and use satellite communication to return the monitoring data. Data can be received in real time, ensuring the timeliness of the data, but there are still some shortcomings:

The above-mentioned institutions all adopt the structure of releasing the communication buoy to the sea level. Due to the long-term observation requirements of the monitoring system, multiple data transmissions are usually required. The above patent provides two solutions: 1. The main body is equipped with multiple communication buoys, and the device is released after transmitting data to one of the communication buoys. After the data transmission is completed, it is automatically destroyed. The data transmission capability provided by this method is determined by the number of communication buoys carried. At the same time, the utilization rate of the communication buoys is not high, and they are destroyed after being used once, and the cost is high. ②The main body is equipped with an underwater winch and is connected to the communication buoy. The underwater winch controls the release and recovery of the communication buoy. In this process, it takes a lot of energy to overcome the underwater buoyancy.

After the work of the submersible mark system is completed, in the process of its recovery, because this type of device is equipped with a number of floating balls and sensors such as inductively coupled temperature and salt chains on the cable, after the anchor seat is released, the entire monitoring chain of the submersible mark floats. The length of the whole chain can reach hundreds of meters. In the process of floating, it is affected by different laminar currents in the ocean and is prone to entanglement, which not only increases the difficulty of salvage and recovery work, but also easily damages the measuring instruments on the cable, and is also vulnerable to damage. Influence of nearby ships.

Therefore, while realizing the real-time data transmission of the submersible buoy, how to reduce the operating cost of the submersible buoy system, reduce the energy consumed by the communication buoy in the underwater profile movement, and simplify the steps for the launch and recovery of the submersible buoy system are the current needs to be solved. one of the technical difficulties.

SUMMARY OF THE INVENTION

In order to solve the above problems, the purpose of the present invention is to provide a submersible buoy mechanical structure and satellite data transmission device that can be raised and lowered, good concealment, and low energy consumption, including a communication buoy, a submersible buoy system and an anchor base.

The communication buoy is equipped with a temperature and salinity instrument CTD, a satellite communication module, a pressure sensor, and a floating body material; the temperature and salinity instrument CTD is fixed on the side of the satellite communication module, and is connected with the satellite communication module through a cable. The pressure sensor is fixed to the bottom of the satellite communication module and is used to detect whether the communication buoy is at sea level. The floating body material is fixed on the upper part of the satellite communication module and is made of hollow glass microbead buoyancy material, which has excellent properties such as low density, corrosion resistance and non-toxicity, and provides the main buoyancy for the communication buoy.

The submersible tender system includes a main frame, a main floating body, an underwater winch, a control cabin, a battery cabin, an acoustic communication machine, a Doppler flow profiler, a dissolved oxygen meter, a turbidity meter and a releaser.

The main frame is made of stainless steel, the main frame is divided into upper and lower layers, and the Doppler flow velocity profiler, the control cabin and the battery cabin are fixed on the upper layer of the main frame. The turbidity meter, the acoustic communication machine, the dissolved oxygen meter, and the underwater winch are fixed on the lower layer of the main frame, and the bottom of the main frame is connected to the releaser through the Keslav cable and is connected to the anchor seat.

The main floating body is spherical as a whole, and the main body of the floating body material in the main floating body is made of hollow glass microbead buoyancy material, which provides greater buoyancy for the main submersible buoy system, and is fixed on the upper part of the main body frame by bolts and nuts to ensure that the center of gravity is in the lower half. part, to make the submersible buoy system float and stabilize, a through hole is arranged in the middle of the main floating body, and the underwater winch cable is connected to the communication buoy through the through hole.

The control cabin is a cylindrical structure, and a watertight joint is arranged on its end cover. The releaser is connected, which is responsible for converting the battery power into the corresponding power and transmitting it to the corresponding sensors, and at the same time receiving the data of each sensor, controlling and maintaining the normal and stable operation of the overall submersible system.

The acoustic communication machine is an acoustic communication module, which is controlled by the control cabin through a cable connection, and is used for reliable wireless data communication with other underwater equipment.

The Doppler flow velocity profiler is used to measure the flow velocity of seawater, and the data is stored in the control cabin through the cable to realize the collection of the flow velocity.

The dissolved oxygen meter is the 4831F measuring device of AANDERAA Company in Norway, which is responsible for measuring the content of oxygen dissolved in seawater, and exchanges data with the control cabin through the RS232 serial port.

The turbidimeter is used to measure the trace amount of insoluble suspended substances in seawater, and the ocean profile is monitored by using the STM turbidimeter of Seapoint in the United States.

The underwater winch includes a Keslav cable, a motor, a winch counterweight, and a winch. The motor is connected to the winch, and the rotation of the motor drives the winch to rotate; the winch is composed of two areas with different radii, the winch counterweight is connected to the end of a Keslav cable with a smaller radius of the winch, and is free to sink under the gravity factor, communication The buoy is connected to the other end of the Keslav cable with a large radius of the winch, and it floats naturally under the influence of buoyancy.

Preferably, all the electrical control components are waterproof, corrosion-resistant and pressure-resistant.

Preferably, the gravity of the anchor base is greater than the total buoyancy of the submersible buoy system and the communication buoy, and the buoyancy of the main buoy is greater than the gravity of the winch counterweight to ensure that the submersible buoy system works in a suspended state.

Preferably, the Kevlar cables are all high-strength zero-buoyancy cables, so as to reduce the influence of the cables on the overall submersible buoy, making the communication buoy more flexible.

Preferably, the upper and lower sides of the underwater winch control unit have two-way screw-type mechanical cable arranging, which can effectively improve the cable arranging efficiency and enhance the stability of the system.

Compared with the prior art, the beneficial effects of the present invention are as follows: this kind of data transmission device effectively solves the problem that the traditional submerged buoy data is difficult to return, and uses the underwater winch to collect and release the cable to control the communication buoy at the sea level and the submerged buoy. The buoy moves back and forth between the buoys, and the communication buoy transmits the data in real time at the sea level, so as to realize the reuse of the communication buoy, reduce the operating cost of the submersible buoy system, and prolong the working cycle of the submersible buoy system; When launching and recovering the submersible buoy system, the underwater winch retracts the communication buoy without considering the cable entanglement caused by the separation of the communication buoy and the submersible buoy body, which brings convenience to the launch and recovery work. The mechanical structure of the elevating submersible buoy can effectively reduce the energy consumption of the underwater winch when retracting and unwinding the cable. The self-balancing structure of the communication buoy and the counterweight block is adopted, and the underwater winch is used to change the way of the self-balancing structure in the underwater position, so that the The communication buoy performs underwater profile movement, which avoids the work done by the traditional underwater winch to overcome its buoyancy when recovering the communication buoy, and effectively reduces energy consumption.

Description of drawings

FIG. 1 is a schematic structural diagram of a lift-type submarine data sending device according to an embodiment of the present invention.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

FIG. 1 is a schematic structural diagram of an elevating submersible buoy data transmitting device according to an example of the present invention, which includes a communication buoy 1, a submersible buoy system 2 and an anchor 3, wherein the communication buoy 1 is equipped with a temperature and salinity instrument CTD11, a satellite communication The module 12, the pressure sensor 13, the floating body material 14; the temperature and salinity instrument CTD11 is fixed on the side of the satellite communication module 12, and is connected to the satellite communication module 12 through a cable. The pressure sensor 13 is fixed on the bottom of the satellite communication module 12 for detecting whether the communication buoy 1 is located at the sea level. The buoyant material 14 is fixed on the upper part of the satellite communication module 12 and is made of hollow glass microbead buoyancy material, which has excellent properties such as low density, corrosion resistance and non-toxicity, and provides the main buoyancy for the communication buoy 1 .

The submersible tender system 2 includes a main frame 21, a main floating body 22, an underwater winch 23, a control cabin 24, a battery cabin 25, an acoustic communication machine 26, a Doppler flow profiler 27, a dissolved oxygen meter 28, and a turbidity meter 29. and releaser 210.

The main frame 21 is made of stainless steel. The main frame 21 is divided into upper and lower layers. The Doppler flow profiler 27 , the control cabin 24 and the battery cabin 25 are fixed on the upper layer of the main frame 21 . The acoustic communicator 26 , the dissolved oxygen meter 28 , the turbidity meter 29 , and the underwater winch 23 are fixed to the lower layer of the main frame 21 .

The main floating body 22 is spherical as a whole, and the main body of the floating body material in the main floating body 22 is made of hollow glass microbead buoyancy material, which provides greater buoyancy for the submersible system 2, and is fixed on the upper part of the main body frame 21 by bolts and nuts to ensure The center of gravity is in the lower half, so that the submersible buoy system 2 floats stably, a through hole is arranged in the middle of the main floating body 22, and the underwater winch cable is connected to the communication buoy 1 through the through hole.

The control cabin 24 is a cylindrical structure, and a watertight joint is arranged on its end cover, and the watertight joint is connected to the underwater winch 23, the battery compartment 25, the acoustic communication machine 26, the Doppler flow velocity profiler 27, the dissolved oxygen meter through the cable. 28. The turbidimeter 29 is connected to the releaser 210, and is responsible for converting the battery power into the corresponding power and transmitting it to the corresponding sensors, and at the same time receiving the data of each sensor, controlling and maintaining the normal and stable operation of the overall submersible system 2.

The acoustic communication machine 26 is an acoustic communication module, which is controlled by the control cabin 24 through a cable connection for reliable wireless data communication with other underwater equipment.

The Doppler flow profiler 27 is used to measure the flow velocity in the sea area, and stores the data to the control cabin 24 through a cable to realize the collection of the flow velocity.

The dissolved oxygen meter 28 is a 4831F measuring device of Norway AANDERAA company, which is responsible for measuring the content of oxygen dissolved in seawater, and exchanges data with the control cabin 24 through the RS232 serial port.

The turbidimeter 29 is used to measure the trace amount of insoluble suspended substances contained in seawater, and the STM turbidimeter of Seapoint in the United States is used to monitor the ocean profile.

The underwater winch 23 includes a Keslav cable 231 , a motor 232 , a winch counterweight 233 , a winch 234 , and a Keslav cable 235 . The motor 232 is connected to the winch 234, and the rotation of the motor 232 drives the winch 234 to rotate; the winch 234 can be divided into two areas with different radii, the end of the Keslav cable 235 connected to the winch counterweight 233 is coiled on the winch 234 in the small radius area, and The end of the Keslav cable 231 connected to the communication buoy 1 is coiled on the winch 234 in the large radius area and naturally rises due to the influence of buoyancy. The communication buoy 1 and the winch counterweight 233 form a self-balancing structure through the winch 234, and the underwater winch 23 controls the winch 234 to rotate to adjust the position of the structure in the water. The winch 234 is provided with two different radius areas, which is beneficial to retract the communication buoy 1. Since the perimeter of the winch with a smaller radius is shorter than that of the larger radius, the distance of the released cable is shorter than that of the retracted cable with a large radius, avoiding the need for recovery. During the communication buoy 1, the winch counterweight 233 bottomed out and broke the self-balancing structure with the communication buoy 1.

The anchor base 3 is composed of cement blocks 31 , the upper end of the Keslav cable 32 is connected to the releaser 210 , and the lower end is connected to the anchor base 3 .

With the above settings, the communication buoy 1, the submersible buoy system 2 and the anchor base 3 are all underwater.

The following briefly describes the workflow of the submerged buoy data sending device.

1. The submersible mark realizes the data acquisition function of the base.

The whole system is put on the seabed, the cement block 31 sinks into the seabed by its own gravity, and the submersible buoy system 2 and the communication buoy 1 are fixed in the designated sea area through the second Keslav cable 32 . The submersible buoy system 2 starts to collect and store environmental data, and at the same time communicates with other equipment through the acoustic communication machine 26 .

2. Data return function.

When the conditions for data transmission are reached, the submersible buoy system 2 releases the communication buoy 1, the control cabin 24 sends a cable release command to the underwater winch 23 through the cable, the motor 232 drives the winch 234 to rotate, and the winch 234 releases the cable end of the communication buoy at the same time. The cable end of the winch counterweight 233 is collected, and the gravity of the winch counterweight 233 and the buoyancy of the communication buoy 1 cancel each other out, so as to achieve a balance and reduce the energy consumption of the underwater winch 23 . After reaching the sea level, the satellite communication module 12 starts to work, and the control cabin 24 starts to transmit data to the satellite communication module 12 through the Kevlar cable 231. After the data transmission is completed, the satellite communication module 12 sends a collection command to the control cabin 24. The winch 23 starts to retract the communication buoy 1, and the winch 234 retracts the cable end of the communication buoy and simultaneously unwinds the cable end of the winch counterweight 233.

3. Specific depth monitoring function

During the process of rising or sinking, the communication buoy 1 can start the temperature and salinity instrument CTD11 to monitor the ocean profile; during the communication between the communication buoy 1 and the satellite, shore-based personnel can send specific depth monitoring instructions to it to control its depth. Oceanographic data were observed and recorded by thermosalt CTD11 at specified depths.

4. Fault alarm function

Due to the complex marine environment, if some irresistible factors cause cable breakage or abnormal communication between the communication buoy 1 and the submersible buoy system 2, the communication buoy 1 will send a fault alarm to the shore-based personnel through its own backup battery.

In this specification, specific examples are used to illustrate the principles and implementations of the present invention, and the descriptions of the above embodiments are only used to help understand the method and the core idea of the present invention; There will be changes in the specific implementation manner and application scope of the idea of the invention. In conclusion, the contents of this specification should not be construed as limiting the present invention.

Claims (5)

1. a lifting type submersible buoy device, comprising a communication buoy, a submersible buoy system and an anchor, it is characterized in that: The communication buoy is equipped with a temperature and salt depth instrument CTD, a satellite communication module, a pressure sensor, and a floating body material; the temperature and salt depth instrument CTD is fixed on the side of the satellite communication module, and is connected with the satellite communication module through a cable; the pressure sensor is fixed on the satellite communication module. The bottom of the satellite communication buoy is used to detect whether the communication buoy is located at sea level; the floating body material is fixed on the upper part of the satellite communication module to provide the main buoyancy for the communication buoy; The submersible tender system includes a main frame, a main floating body, an underwater winch, a control cabin, a battery cabin, an acoustic communication machine, a Doppler flow profiler, a dissolved oxygen meter, a turbidity meter and a releaser; The main frame is divided into upper and lower layers, the Doppler flow profiler, control cabin, and battery compartment are fixed on the upper layer of the main frame; The bottom of the frame is connected to the releaser, which is connected to the anchor seat through the first Keslav cable; The main floating body is spherical as a whole, and is fixed on the upper part of the main frame by bolts and nuts to ensure that the center of gravity is in the lower half, so that the submersible buoy system floats stably. The central part of the main floating body is provided with a through hole through which the underwater winch cable passes through the communication buoy. connected; The underwater winch includes a motor, a winch counterweight, a winch, a second Keslav cable and a third Keslav cable; the motor is connected to the winch, and the rotation of the motor drives the winch to rotate; the winch is composed of two areas with different radii, The winch counterweight is connected to the second Keslav cable end coiled in the area with a small radius of the winch, and is free to sink under the gravity factor, and the communication buoy is connected to the third Keslav cable end coiled in the area with a large winch radius. Buoyancy affects natural ascent. 2 . The lift-type submersible target device according to claim 1 , wherein the floating body material is made of hollow glass microbead buoyancy material. 3 . 3. An elevating submersible mark device according to claim 1, characterized in that: the control cabin is a cylindrical structure, and a watertight joint is arranged on its end cover, and the watertight joint is connected to an underwater winch, a battery through a cable Cabin, acoustic communication machine, Doppler flow profiler, dissolved oxygen meter, turbidity meter and releaser are connected, responsible for converting battery power into corresponding power and transmitting it to corresponding sensors, and at the same time receiving data from each sensor, controlling and maintaining the overall The submersible system works normally and stably. 4. An elevating submarine buoy device according to claim 1, characterized in that: the acoustic communication machine is an acoustic communication module, and the control cabin controls it through a cable connection, and is used to communicate with other underwater equipment. Reliable wireless data communication is carried out between the two devices; the Doppler flow profiler is used to measure the flow velocity of seawater, and the data is stored in the control cabin through the cable to realize the collection of the flow velocity; the dissolved oxygen meter is 4831F of AANDERAA Company of Norway The measuring equipment is responsible for measuring the content of oxygen dissolved in seawater, and exchanges data with the control cabin through the RS232 serial port; the turbidity meter is used to measure the trace amount of insoluble suspended substances in seawater, and the STM turbidity meter from Seapoint in the United States is used for the measurement. Ocean profiles are monitored. 5. An elevating submersible buoy device according to claim 1, characterized in that: the gravity of the anchor base is greater than the total buoyancy of the submersible buoy system and the communication buoy, and the buoyancy of the main buoy is greater than the gravity of the winch counterweight, Ensure that the submersible system works in a suspended state.

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