CN-121973890-A - Ocean submerged buoy system and control method thereof

CN121973890ACN 121973890 ACN121973890 ACN 121973890ACN-121973890-A

Abstract

The invention belongs to the technical field of ocean engineering and discloses an ocean submerged buoy system and a control method thereof, wherein the ocean submerged buoy system comprises a communication buoy and a submerged buoy, the submerged buoy is electrically connected with the communication buoy through a communication cable, a buoy retraction device is arranged on the submerged buoy, and the buoy retraction device is connected with the communication buoy through a connection cable; the communication buoy is provided with a first position and a second position, the buoy retraction device is used for switching the communication buoy between the first position and the second position by retracting the connecting cable, the communication buoy is positioned on the ocean water surface when in the first position, and the communication buoy is positioned outside the ocean internal submerged buoy when in the second position. The ocean submerged buoy system physically separates the submerged buoy from the communication buoy, the submerged buoy is always kept at the underwater safety depth, the micro communication buoy is released to the water surface for short-time communication only when needed, and is immediately recovered after communication is finished, so that the contradiction between concealment and communication capability is solved, and the survivability and the task period of the system are improved.

Inventors

CAO JIANXUN
WANG JIN
Wang Mouye
YANG SHENGHUI
CAO KANG
Liu Chenshen
CHEN SIYUAN
WEN YINING
HUANG YAOSEN
TANG BIN

Assignees

中电科海洋信息技术研究院有限公司
中国电子科技集团有限公司电子科学研究院

Dates

Publication Date: 20260505
Application Date: 20251231

Claims (10)

1. The ocean submerged buoy system is characterized by comprising a communication buoy and a submerged buoy, wherein the submerged buoy is electrically connected with the communication buoy through a communication cable, a buoy retraction device is arranged on the submerged buoy, and the buoy retraction device is connected with the communication buoy through a connection cable; The communication buoy is provided with a first position and a second position, the buoy retraction device is used for achieving switching of the communication buoy between the first position and the second position through retraction of the connecting cable, the communication buoy is located on the ocean water surface when in the first position, and the communication buoy is located on the outside of the ocean inside when in the second position.
2. The marine submerged buoy system of claim 1, wherein the buoy retraction device comprises a miniature winch, a driving motor and an electric control lock catch, wherein the connecting cable is wound on the miniature winch, the driving motor is used for driving the miniature winch to rotate so as to realize retraction operation of the connecting cable, and the electric control lock catch is used for realizing locking of the connecting cable.
3. The marine submerged buoy system according to claim 1, wherein the submerged buoy comprises a closed cabin, a magnetic sensor and an acoustic sensor are arranged outside the closed cabin, an attitude sensor and a central control processor are arranged inside the closed cabin, signal output ends of the magnetic sensor, the acoustic sensor and the attitude sensor are electrically connected with signal input ends of the central control processor, and signal output ends of the central control processor are electrically connected with a control end of the buoy retraction device.
4. The marine submerged buoy system of claim 3, wherein the distance between the magnetic sensor and the magnetic element inside the closed cabin is 1-5 meters.
5. The marine submerged buoy system of any one of claims 1-4, wherein an anchor block is provided below the submerged buoy, the anchor block being connected to the submerged buoy by a mooring line, a floating ball being provided on the mooring line between the anchor block and the submerged buoy.
6. A control method of a marine submerged buoy system, characterized in that the control method is based on a marine submerged buoy system according to any one of claims 1-5, the control method comprising: Determining a hierarchical environment background model, wherein the hierarchical environment background model stores background reference values of all characteristic channels in a layered manner according to sea state grades, and the hierarchical environment background model stores triggering thresholds corresponding to each sea state grade; Determining the sea condition grade of the marine submerged buoy system in a patrol state according to an attitude sensor, and determining an initial trigger threshold value and an initial acoustic background reference value in the patrol state by combining the hierarchical environment background model; If the initial acoustic confidence coefficient exceeds the initial triggering threshold value, determining a sea condition grade of the ocean submerged buoy system in a triggering state according to a gesture sensor, and determining a current triggering threshold value, a current acoustic background reference value and a current magnetic background reference value in the triggering state by combining the hierarchical environment background model; the magnetic sensor acquires the magnetic characteristic signal in the triggering state, and determines the current magnetic confidence coefficient according to the magnetic characteristic signal in the triggering state and the current magnetic background reference value; and determining comprehensive confidence according to the current acoustic confidence and the current magnetic confidence, and determining whether to trigger the communication buoy to float up or not according to the comprehensive confidence.
7. The method of claim 6, wherein the acoustic sensor further comprises, before acquiring the acoustic signature in the inspection state: the ocean submerged buoy system is in a dormant state, a clock of the ocean submerged buoy system operates, and the clock wakes up the acoustic sensor according to preset interval time.
8. The method of claim 6, wherein the acoustic sensor has a lower sampling accuracy in the inspection state than in the trigger state.
9. The method of claim 6, wherein if the integrated confidence level is greater than a preset confidence level threshold and a hysteresis policy and persistence condition are satisfied, the communication buoy is controlled to float, wherein the hysteresis policy and persistence condition are: continuously evaluating the comprehensive confidence level at fixed time intervals delta t; If it is Not less than Tu, wherein, For the comprehensive confidence level, tu is an upper threshold, and the event is judged to be in a true state; If it is Td is less than or equal to Td, wherein Td is a lower threshold, and Tu > Td, then determining that the event is a release state; If Td < < Tu, the last event determination state is kept unchanged; And when the comprehensive confidence degrees obtained in the P times are all determined to be established as the event, the communication buoy floats upwards.
10. The method of claim 9, wherein the condition of the communication buoy floating further comprises: The communication buoy satisfies an ascent constraint set that includes at least one of sea conditions, energy conditions, and communication conditions.

Description

Ocean submerged buoy system and control method thereof Technical Field The invention relates to the technical field of ocean engineering, in particular to an ocean submerged buoy system and a control method thereof. Background The communication buoy floating on the sea surface for a long time has high exposure degree, is easy to be interfered by sea conditions and human beings, the self-contained submerged buoy needs to recover and retrieve data, has poor timeliness of the data and full risk of damage, and the lifting or standby buoy scheme can realize stage ascending, but has room for improvement in the aspects of water surface exposure time, energy consumption management, single-channel false alarm, floating triggering stability and the like. Disclosure of Invention In view of the foregoing deficiencies or inadequacies of the prior art, it would be desirable to provide a marine submerged buoy system for offshore operations, observation or facility support. The embodiment of the application provides a marine submerged buoy system, which comprises a communication buoy and a submerged buoy, wherein the submerged buoy is electrically connected with the communication buoy through a communication cable, a buoy retraction device is arranged on the submerged buoy, and the buoy retraction device is connected with the communication buoy through a connection cable; The communication buoy is provided with a first position and a second position, the buoy retraction device is used for achieving switching of the communication buoy between the first position and the second position through retraction of the connecting cable, the communication buoy is located on the ocean water surface when in the first position, and the communication buoy is located on the outside of the ocean inside when in the second position. In some embodiments, the buoy retraction device comprises a micro winch, a driving motor and an electric control lock catch, wherein the connecting cable is wound on the micro winch, the driving motor is used for driving the micro winch to rotate so as to realize retraction operation of the connecting cable, and the electric control lock catch is used for realizing locking of the connecting cable. In some embodiments, the submerged buoy comprises a closed cabin, a magnetic sensor and an acoustic sensor are arranged outside the closed cabin, an attitude sensor and a central control processor are arranged inside the closed cabin, signal output ends of the magnetic sensor, the acoustic sensor and the attitude sensor are electrically connected with signal input ends of the central control processor, and signal output ends of the central control processor are electrically connected with control ends of the buoy retraction device. In some embodiments, the distance between the magnetic sensor and the magnetic element inside the closed cabin is 1-5 meters. In some embodiments, an anchor block is arranged below the submerged buoy, the anchor block is connected with the submerged buoy through a mooring cable, and a floating ball is arranged on the mooring cable between the anchor block and the submerged buoy. In still another aspect of the embodiments of the present application, a control method of a marine submerged buoy system is provided, where the control method is based on the marine submerged buoy system according to any embodiment of the present application, and the control method includes: Determining a hierarchical environment background model, wherein the hierarchical environment background model stores background reference values of all characteristic channels in a layered manner according to sea state grades, and the hierarchical environment background model stores triggering thresholds corresponding to each sea state grade; Determining the sea condition grade of the marine submerged buoy system in a patrol state according to an attitude sensor, and determining an initial trigger threshold value and an initial acoustic background reference value in the patrol state by combining the hierarchical environment background model; If the initial acoustic confidence coefficient exceeds the initial triggering threshold value, determining the sea state grade of the ocean submerged buoy system in a triggering state according to an attitude sensor, and combining the grading environment background model to determine a current triggering threshold value, a current acoustic background reference value and a current magnetic background reference value in the triggering state; and determining comprehensive confidence according to the current acoustic confidence and the current magnetic confidence, and determining whether to trigger the communication buoy to float up or not according to the comprehensive confidence. In some embodiments, before the acoustic sensor acquires the acoustic characteristic signal in the inspection state, the method further includes: the ocean submerged buoy system is in a dormant state, a clock of the o