CN110641624A - Autonomous navigation storm flow monitoring buoy - Google Patents
Autonomous navigation storm flow monitoring buoy Download PDFInfo
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- CN110641624A CN110641624A CN201911020117.5A CN201911020117A CN110641624A CN 110641624 A CN110641624 A CN 110641624A CN 201911020117 A CN201911020117 A CN 201911020117A CN 110641624 A CN110641624 A CN 110641624A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B22/00—Buoys
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C13/00—Surveying specially adapted to open water, e.g. sea, lake, river or canal
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B22/00—Buoys
- B63B2022/006—Buoys specially adapted for measuring or watch purposes
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- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Hydrology & Water Resources (AREA)
- Ocean & Marine Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Mechanical Engineering (AREA)
- Combustion & Propulsion (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Testing Or Calibration Of Command Recording Devices (AREA)
- Indicating Or Recording The Presence, Absence, Or Direction Of Movement (AREA)
Abstract
The invention provides an autonomous navigation storm flow monitoring buoy which comprises a platform module, an autonomous cruise module, a measurement module, a data storage and processing module and an energy support module, wherein the platform module is used for storing and processing the data; the system comprises an autonomous cruise module, a measurement module, a data storage and processing module and an energy support module, wherein the autonomous cruise module, the measurement module, the data storage and processing module and the energy support module are all arranged on a platform module, data collected by the measurement module are transmitted to the data storage and processing module, the data storage and processing module is connected with the autonomous cruise module, and the energy support module is respectively connected with the measurement module and the data storage and processing module. The autonomous navigation wave monitoring buoy provided by the invention has power, does not need a mooring system, can realize measurement along with a ship, saves a large amount of laying and installation cost, can be autonomously recovered and recycled, and avoids generating marine garbage.
Description
Technical Field
The invention relates to a storm surge monitoring buoy, in particular to an autonomous navigation storm surge monitoring buoy, and belongs to the technical field of oceans.
Background
The ocean wind, wave and current observation plays an irreplaceable role in aspects of navigation safety evaluation and energy consumption optimization in ship operation and maintenance, ship test navigation test guarantee, platform offshore operation decision, ocean environment forecast and the like. The existing ocean wave current observation technology mainly comprises two types of technical equipment represented by mooring buoys and microwave radar remote sensing.
The measurement precision and the measurable sea area range are key indexes of the ocean storm flow observation equipment. The existing observation equipment has certain defects in the aspects of measurement precision or measurable sea area range indexes. For a mooring buoy, the method belongs to a contact type measuring means, and has the advantages of high measuring precision and the defect that the observation can be only carried out on ocean storm currents at one point on the sea. If observation of a large sea area needs to be realized, a large number of buoys need to be distributed. The increase in the number of mooring buoys not only requires an increase in the cost of purchasing the buoy system, but also an equal increase in the cost of deploying the buoys offshore. Due to the high cost of offshore operations, the buoy is directly discarded once the power supply is exhausted after being put into use for several years. The resource waste is caused, and simultaneously, the marine garbage is generated. The microwave radar remote sensing has the advantages that the ocean storm flow observation in a large range can be realized, and the defect is that the measurement precision is low.
Therefore, the existing ocean wave current observation equipment has the following defects:
1. the traditional mooring buoy has high measurement accuracy, but has a small measurement range, and cannot realize measurement along with a ship.
2. The microwave radar has a large remote sensing measurement range, but the measurement precision is low.
In order to overcome the defects, the invention provides an autonomous navigation storm flow monitoring buoy. The invention aims to realize large-range sea area storm flow observation on the basis of high-precision measurement.
Disclosure of Invention
The invention aims to provide an autonomous sailing storm flow monitoring buoy for realizing high-precision ocean storm flow observation, realizing large-range observation on a target sea area, realizing observation of sea area wind speed, sea wave height and wave direction, and ocean flow speed and direction along with a ship to serve the test requirements of a ship test.
The purpose of the invention is realized as follows:
an autonomous navigation storm flow monitoring buoy comprises a platform module, an autonomous cruise module, a measurement module, a data storage and processing module and an energy support module; the system comprises an autonomous cruise module, a measurement module, a data storage and processing module and an energy support module, wherein the autonomous cruise module, the measurement module, the data storage and processing module and the energy support module are all arranged on a platform module, data collected by the measurement module are transmitted to the data storage and processing module, the data storage and processing module is connected with the autonomous cruise module, and the energy support module is respectively connected with the measurement module and the data storage and processing module.
The invention also includes such features:
the autonomous cruise module comprises a navigation and track planning module, a propulsion submodule and an operation submodule;
the measurement module includes: the device comprises a wind speed measuring submodule, a ship body platform motion measuring submodule and an ocean current measuring submodule;
the energy support module includes: the storage battery submodule and the solar power generation submodule;
the ship body platform motion measurement submodule comprises an angular displacement sensor unit, an acceleration sensor unit and a data acquisition unit;
the ocean current measuring submodule comprises an acoustic Doppler current profiler unit and a data acquisition unit.
Compared with the prior art, the invention has the beneficial effects that:
1. compared with the traditional mooring buoy, the autonomous navigation wave monitoring buoy provided by the invention can realize the observation of wind, wave and current in a large-scale sea area according to a preset route;
2. the autonomous navigation wave monitoring buoy provided by the invention does not need a mooring system, saves a large amount of laying and installing cost, can be recycled through navigation control, realizes reutilization and avoids the generation of marine garbage;
3. the observation of sea area wind speed, sea wave height and wave direction, ocean flow velocity and flow direction along with the ship can be realized, and the high-precision ocean environment data observation is realized for ship test;
4. compared with the defect of the microwave radar measurement equipment in observation precision, the autonomous navigation wave monitoring buoy provided by the invention can realize high-precision ocean storm flow observation;
5. the autonomous navigation wave monitoring buoy provided by the invention can realize high-precision measurement of wind speed, wave height and wave direction of sea waves and ocean flow velocity and flow direction in a large range of sea areas under the condition of low investment cost, and provides a correction means for an ocean environment microwave remote sensing technology.
Drawings
FIG. 1 is a schematic diagram of the overall structure of an autonomous navigation wave flow monitoring buoy provided by the invention;
fig. 2 is a system composition of an autonomous navigation wave flow monitoring buoy provided by the invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
An autonomous navigation storm flow monitoring buoy (1) is a ship platform module 1 and is used for carrying an autonomous cruise module 2, a measurement module 3, a data storage and processing module 4 and an energy support module 5. Meanwhile, the device is used for converting wave excitation into rolling, pitching and heaving motion displacement and acceleration of the ship platform. (2) The autonomous cruise module 2 is used for realizing autonomous navigation of the buoy according to a preset sea area airline, and the autonomous cruise module 2 specifically comprises: (2.1) a navigation and track planning module 6, which is used for monitoring the real-time positioning of the buoy navigation position, the buoy track planning, sending out a buoy navigation control instruction and controlling a propulsion submodule 7 and an operation submodule 8 to work; (2.2) the propulsion submodule 7 generates matched thrust according to the navigation control instruction and uses the thrust as power for buoy navigation; and (2.3) the operating submodule 8 operates the heading of the buoy according to the navigation control instruction, and performs real-time correction on the buoy track to realize autonomous navigation of the buoy according to a preset track. (3) Measurement module 3 for ocean wind speed, hull platform motion, ocean current velocity of flow measure, measurement module 3 specifically includes: (3.1) a wind speed measuring submodule 9 which comprises an anemoscope 10 and a data acquisition unit 11 and is used for acquiring the sea wind speed and the wind direction; and (3.2) the ship hull platform motion measuring submodule 12 comprises an angular displacement sensor unit 13, an acceleration sensor unit 14 and a data acquisition unit 15. The angular displacement sensor unit 13 is used for collecting the roll and pitch angular displacement information of the buoy hull platform module 1 in real time. The acceleration sensor unit 14 is used for acquiring roll, pitch and heave acceleration information of the buoy hull platform module 1 in real time. (3.3) the ocean current measuring submodule 16 comprises an acoustic Doppler current profiler unit 17 and a data acquisition unit 18, and is used for acquiring the ocean current in real time; (4) and the data storage and processing module 4 is used for the measurement module to collect the wind speed, the movement of the ship platform and the storage of the flow speed data information, and resolving the wave height and wave direction of the sea waves based on the movement information of the ship platform and resolving the flow direction of the sea waves based on the multi-point flow speed. (5) And the energy support module 5 is used for providing energy support for autonomous cruising of the buoy and data acquisition and processing. The energy support module 5 specifically includes: (5.1) a storage battery submodule 19 for providing energy for autonomous navigation of the buoy and working of the sensor; and (5.2) the solar power generation sub-module 20 is used for monitoring a solar power generation device arranged on a deck on the buoy hull platform module 1 and converting solar energy into electric energy, so that partial clean energy is provided for the buoy, and the cruising ability of the buoy is improved. A carrying platform in the form of a ship body is adopted. The buoy navigation function is realized by installing a propelling device; the buoy course control is realized through an operating device (a rudder or double propellers); and planning and correcting the buoy route through a navigation terminal system. The observation of the ocean wind speed, the wave height and the wave direction of the ocean waves and the observation of the speed and the flow direction of the ocean currents are realized through the following steps: (1) according to the requirement of a marine observation task, arranging a buoy in a target sea area, and setting a task instruction comprising a buoy route, a navigation speed and data acquisition parameters; (2) when the storm flow monitoring buoy receives a task instruction, sailing along a preset air route, and simultaneously, continuously acquiring ocean wind speed, ship platform roll angular displacement, pitch angular displacement, roll acceleration, pitch acceleration, heave acceleration and ocean current flow velocity measurement by a measurement module 3 carried by a ship platform module 1; (3) when the measuring module 3 starts to collect data, the data storage and processing module 4 stores the data collected by the measuring module 3 in real time and calculates the data. And resolving the wave height and wave direction of the sea waves according to the information of the roll angular displacement, the pitch angular displacement, the roll acceleration, the pitch acceleration and the heave acceleration of the hull platform. Resolving the flow direction of the sea waves according to the multi-point flow velocity; (4) and obtaining the data of wind speed, wave height and direction of sea waves, and flow velocity and direction of sea current on the observation route through the measuring module 3 and the data storage and processing module 4. The data is stored locally on the buoy, and simultaneously, the data is transmitted back to a shore-based data center or a working mother ship through a satellite communication terminal.
The invention provides an autonomous navigation storm monitoring buoy, the general structure composition of which is shown in figure 1, comprising: the device comprises a ship body platform module 1, an autonomous cruising module 2, a measuring module 3, a data storage and processing module 4 and an energy support module 5.
Wherein, the autonomous cruise module 2 specifically comprises: a navigation and track planning module 6, a propulsion submodule 7 and an operation submodule 8; the measurement module 3 specifically includes: the wind speed measuring submodule 9, the ship body platform motion measuring submodule 12 and the ocean current measuring submodule 16; the energy support module 5 specifically includes: a storage battery submodule 19 and a solar power generation submodule 20.
The ship hull platform motion measuring submodule 12 comprises: an angular displacement sensor unit 13, an acceleration sensor unit 14 and a data acquisition unit 15; the ocean current measuring submodule 16 comprises an acoustic Doppler current profiler unit 17 and a data acquisition unit 18.
Fig. 2 shows implementation steps of the autonomous navigation wind, wave height and direction, and current speed and direction of the buoy provided by the invention for performing ocean wind speed, wave height and direction, and the following steps:
according to the ocean observation task requirement, arranging a buoy in a target sea area, and setting a task instruction comprising buoy routes, navigational speed and data acquisition parameters;
step (2) when the storm flow monitoring buoy receives a task instruction, sailing along a preset air route, and simultaneously, continuously acquiring ocean wind speed, ship platform roll angular displacement, pitch angular displacement, roll acceleration, pitch acceleration, heave acceleration and ocean current flow velocity measurement by a measurement module 3 carried by a ship platform module 1;
and (3) when the measurement module 3 starts to collect data, the data storage and processing module 4 stores the data collected by the measurement module 3 in real time and calculates the data. And resolving the wave height and wave direction of the sea waves according to the information of the roll angular displacement, the pitch angular displacement, the roll acceleration, the pitch acceleration and the heave acceleration of the hull platform. Resolving the flow direction of the sea waves according to the multi-point flow velocity;
and (4) acquiring data of wind speed, wave height and direction of sea waves, and flow speed and direction of sea currents on the observation route through the measuring module 3 and the data storage and processing module 4. The data is stored locally on the buoy, and simultaneously, the data is transmitted back to a shore-based data center or a working mother ship through a satellite communication terminal.
The above description is only a preferred embodiment of the autonomous navigation wave and current monitoring buoy provided by the present invention, and does not limit the application form of the present invention. The present invention is not limited to the scope of the embodiments, and all of the creation, change and modification of the invention using the technical spirit and concept of the present invention are within the technical scope of the present invention.
In summary, the following steps: the invention provides an autonomous navigation storm monitoring buoy, which comprises: the device comprises a ship body platform module 1, an autonomous cruising module 2, a measuring module 3, a data storage and processing module 4 and an energy support module 5. The autonomous cruise module 2 specifically includes: a navigation and track planning module 6, a propulsion submodule 7 and an operation submodule 8; the measurement module 3 specifically includes: the wind speed measuring submodule 9, the ship body platform motion measuring submodule 12 and the ocean current measuring submodule 16; the energy support module 5 specifically includes: a storage battery submodule 19 and a solar power generation submodule 20. The ship hull platform motion measuring submodule 12 comprises: an angular displacement sensor unit 13, an acceleration sensor unit 14 and a data acquisition unit 15; the ocean current measuring submodule 16 comprises an acoustic Doppler current profiler unit 17 and a data acquisition unit 18. The autonomous navigation wind and wave current monitoring buoy provided by the invention has an autonomous cruising function, and realizes autonomous and high-precision observation of ocean wind speed, wave height and wave direction, and ocean current speed and flow speed in a large-range sea area according to set task instructions (course, navigational speed and data acquisition parameters). The autonomous navigation wave monitoring buoy provided by the invention has power, does not need a mooring system, can realize measurement along with a ship, saves a large amount of laying and installation cost, can be autonomously recovered and recycled, and avoids generating marine garbage.
Claims (7)
1. An autonomous navigation storm flow monitoring buoy is characterized by comprising a platform module, an autonomous cruise module, a measurement module, a data storage and processing module and an energy support module; the system comprises an autonomous cruise module, a measurement module, a data storage and processing module and an energy support module, wherein the autonomous cruise module, the measurement module, the data storage and processing module and the energy support module are all arranged on a platform module, data collected by the measurement module are transmitted to the data storage and processing module, the data storage and processing module is connected with the autonomous cruise module, and the energy support module is respectively connected with the measurement module and the data storage and processing module.
2. The autonomous navigation storm flow monitoring buoy of claim 1, wherein the autonomous cruise module comprises a navigation and trajectory planning module, a propulsion submodule, and a maneuvering submodule.
3. The autonomous navigation storm monitoring buoy of claim 1 or 2, wherein said measurement module comprises: the device comprises a wind speed measuring submodule, a ship body platform motion measuring submodule and an ocean current measuring submodule.
4. The autonomous navigation storm monitoring buoy of claim 1 or 2, wherein said energy support module comprises: the storage battery submodule and the solar power generation submodule.
5. The autonomous navigation storm monitoring buoy of claim 3, wherein said energy support module comprises: the storage battery submodule and the solar power generation submodule.
6. The autonomous navigation storm flow monitoring buoy of claim 3, wherein the hull platform motion measurement submodule comprises an angular displacement sensor unit, an acceleration sensor unit and a data acquisition unit.
7. The autonomous navigation storm flow monitoring buoy of claim 3, wherein the ocean current measurement submodule comprises an acoustic Doppler current profiler unit and a data acquisition unit.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911020117.5A CN110641624A (en) | 2019-10-25 | 2019-10-25 | Autonomous navigation storm flow monitoring buoy |
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| CN201911020117.5A CN110641624A (en) | 2019-10-25 | 2019-10-25 | Autonomous navigation storm flow monitoring buoy |
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| CN111332415A (en) * | 2020-03-28 | 2020-06-26 | 哈尔滨工程大学 | Autonomous cruise energy-saving water quality monitoring ship and monitoring method |
| CN114313107A (en) * | 2021-12-31 | 2022-04-12 | 林秉 | Energy-concerving and environment-protective ocean monitoring buoy |
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Application publication date: 20200103 |