CN209938881U - Ocean wave buoy based on six-dimensional acceleration sensor - Google Patents
Ocean wave buoy based on six-dimensional acceleration sensor Download PDFInfo
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Abstract
The utility model discloses an ocean wave buoy based on six-dimensional acceleration sensor, including the buoy body, sensor system, control system, the built-in control system who combines wave acceleration information in the buoy body, wind speed information, wind direction information, the azimuth information that the electronic compass sent, handle the wave characteristic and the meteorological data of ocean wave buoy position respectively, with calculate the main wave to, the wave height, the wave cycle, actual wind direction, actual wind speed, and the main wave that will calculate to, the wave height, the wave cycle, actual wind direction, actual wind speed passes through communication module and sends to user side monitoring system. The utility model discloses can solve the technological problem and the limitation of prior art that survey ocean wave, can fix a point, regularly, in succession, accurately survey wave characteristics such as wave height, wave cycle and wave direction of sea wave and meteorological elements such as wind speed, wind direction.
Description
Technical Field
The utility model relates to a hydrology, ocean technical field particularly relate to an ocean wave buoy based on six-dimensional acceleration sensor.
Background
The observation and research of offshore waves have very important functions on ocean development, transportation, national economic construction, national defense construction and marine ship activities. At present, coastal areas are continuously suffering from various marine disasters, and offshore marine disasters cause a plurality of people to suffer from disasters and huge economic losses.
Typical ocean wave monitoring devices at present include SZF type wave buoys, OSB-W4 type wave buoys, SBF3-1 type wave buoys, and the like. However, the existing acceleration type wave monitoring usually adopts an acceleration-displacement integration method of a hardware circuit, so that the integration effect on a wave acceleration signal with strong randomness is not ideal, and a large integration error occurs. And the research is focused on the development of the wave processing software of the PC-end platform, and a wave data processing system suitable for an airborne embedded platform is not reported yet. For the PC end platform wave processing mode, once the communication between the ocean wave monitoring equipment and the PC end platform is disconnected, the data of the ocean wave monitoring equipment can be only temporarily stored, the communication is waited for to be recovered, and then the data are sent to the PC end to be processed continuously, so that the efficiency is low, and errors are easy to occur. In addition, most ocean observation stations in China already have the forecasting and monitoring capability of ocean waves, but ocean wave observation equipment mainly depends on import from abroad, the import is high in cost, imported ocean wave buoys are inconvenient to sell and maintain, and the national ocean forcing strategy forces the ocean observation equipment to be in a state of being in a domestic process.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a ocean wave buoy based on six-dimensional acceleration sensor can solve the technological problem and the limitation of prior art that go on observing ocean wave, can fix a point, regularly, in succession, accurately observe wave characteristics such as wave height, wave cycle and wave direction of sea wave and meteorological elements such as wind speed, wind direction, and it has the significance to national defense, ocean observation research.
To achieve the above objective, with reference to fig. 1, the present invention provides a ocean wave buoy based on six-dimensional acceleration sensor, which comprises a buoy body, a sensor system, and a control system.
The buoy body comprises a support, a navigation mark lamp, a GPS positioning antenna, a plurality of solar cell panels and a floating body, wherein the navigation mark lamp, the GPS positioning antenna and the solar cell panels are fixed on the support, the control box and the storage battery pack are arranged in the floating body, and the support is fixed on the upper surface of the floating body through a fastening part.
The sensor system comprises a parallel piezoelectric type six-dimensional acceleration sensor, a wind speed sensor, a wind direction sensor and a signal processing module.
And the wind speed sensor and the wind direction sensor are fixed at the top end of the bracket and are respectively used for acquiring wind speed information and wind direction information of the position of the ocean wave buoy.
The parallel piezoelectric six-dimensional acceleration sensor and the signal processing module are arranged in the control box and are electrically connected with each other.
The parallel piezoelectric type six-dimensional acceleration sensor is used for collecting wave acceleration information of a position where the ocean wave buoy is located, the acceleration sensor outputs a charge quantity signal, and the signal processing module is used for converting the collected charge quantity into a corresponding voltage signal.
The control system is arranged in the control box and comprises an FPGA processor, an A/D converter, a communication module, an electronic compass and an SD memory card.
The solar cell panel is electrically connected with the storage battery pack through the inverter voltage reduction module, and the storage battery pack is electrically connected with the FPGA processor, the A/D converter and the signal processing module.
The solar panel generates electricity to provide 220V alternating current voltage, the alternating current voltage is converted into 12V direct current power supply through the inverter voltage reduction module and stored in the storage battery pack, and the storage battery pack serves as a power supply system of the ocean wave buoy and supplies power to the FPGA processor, the A/D converter, the signal processing module and the like.
The data output end of the signal processing module, the output ends of the wind speed sensor and the wind direction sensor are respectively and electrically connected with the FPGA processor through the A/D converters, and the signal processing module, the wind speed sensor and the wind direction sensor respectively send wave acceleration information, wind speed information and wind direction information to the A/D converters, and the wave acceleration information, the wind speed information and the wind direction information are converted into formats by the A/D converters and then sent to the FPGA processor.
And the SD memory card is electrically connected with the FPGA processor through a serial peripheral interface.
The communication module and the GPS positioning antenna are electrically connected with the FPGA processor through serial ports, and the GPS positioning antenna is used for detecting the position information of the position where the ocean wave buoy is located and sending the detected position information to the FPGA processor.
The electronic compass is connected with the FPGA processor through an integrated circuit bus and is used for detecting azimuth angle information of the ocean wave buoy in real time and sending the detected azimuth angle information to the FPGA processor.
The FPGA processor is used for respectively processing wave characteristics and meteorological data of the position of the ocean wave buoy by combining wave acceleration information, wind speed information, wind direction information and azimuth angle information sent by the electronic compass so as to calculate the main wave direction, wave height, wave period, actual wind direction and actual wind speed of the position of the ocean wave buoy, and sending the calculated main wave direction, wave height, wave period, actual wind direction and actual wind speed of the position of the ocean wave buoy to a user side monitoring system through a communication module and storing the calculation result to an SD memory card and/or a read only memory.
The user side monitoring system comprises a terminal server provided with monitoring software, and a communication link is established between the terminal server and the FPGA processor through a communication module.
The utility model provides an ocean wave buoy based on six-dimensional acceleration sensor, including buoy body, sensor system, control system, four parts of user side monitoring system.
The buoy body is a flying saucer type buoy mechanical structure, is made of stainless steel materials, is waterproof, antirust, impact-resistant and long in service life, and is provided with devices such as a storage battery, a solar panel, a GPS positioning antenna, a control box, a dome cover and a beacon light. Data processing hardware facilities such as parallel piezoelectric six-dimensional acceleration sensor, signal processing module and control system are installed in the control box, and the control box is placed in sealed ya keli box, and is waterproof dustproof. The buoy body can maintain the stable working state of the ocean wave buoy in the sea by means of reasonably designing the structure of the buoy body, using heavy objects such as a storage battery and the like as a balancing weight and the like.
The sensor system comprises a parallel piezoelectric type six-dimensional acceleration sensor, a wind speed sensor, a wind direction sensor and a signal processing module which are respectively used for collecting wave acceleration information, wind speed information and wind direction information, wherein the piezoelectric type six-dimensional acceleration sensor comprises a 12 elastic ball hinge, piezoelectric ceramics, 1 inertia mass block (made of common steel for example), a pre-tightening column, a locking plate, an auxiliary plate, a shell and the like, and the signal processing module converts a charge quantity signal output by the parallel piezoelectric type six-dimensional acceleration sensor into a voltage signal to realize the collection of the wave acceleration information.
The control system comprises an FPGA processor, an A/D converter, a GPS module and a GPRS module and is used for processing and transmitting the wave characteristics and meteorological data acquired by the sensor system, and the processing process does not depend on a user side monitoring system.
The client monitoring system utilizes QT software and Web server Boa to compile and realize the extraction, display and storage of received data, and monitors ocean wave characteristics and meteorological data on line.
Based on the aforesaid ocean wave buoy based on six-dimensional acceleration sensor, the utility model discloses still mention a wave statistical method based on six-dimensional acceleration sensor's ocean wave buoy, its characterized in that, wave statistical method includes:
and a wind speed sensor and a wind direction sensor are adopted to acquire wind speed information and wind direction information of the position of the ocean wave buoy.
And (3) carrying out interference elimination processing on the collected wind speed information and wind direction information by adopting a meteorological data fitting algorithm so as to obtain the actual wind speed and the actual wind direction of the position of the ocean wave buoy.
The parallel piezoelectric type six-dimensional acceleration sensor is adopted to collect wave acceleration information, the acceleration sensor is a charge quantity signal, the charge quantity is converted into a voltage signal through a signal processing module, and the wave acceleration signal is obtained after decoupling of a dynamic model.
And sequentially carrying out first-order integral processing, first-order polynomial fitting data trend removing item processing, second-order integral processing and second-order polynomial fitting data trend removing item processing on the wave acceleration signal so as to calculate the displacement signal.
And performing error removal processing on the displacement signals, and combining position information fed back by the GPS positioning antenna to obtain an effective displacement sequence.
And correcting wave direction information contained in the effective displacement sequence by adopting azimuth angle information of the ocean wave buoy acquired by the electronic compass to acquire a main wave direction.
And calculating the wave height and the wave period by adopting a zero crossing method and combining the effective displacement sequence.
The utility model discloses a meteorological data fitting algorithm, for example disturbance wind field modeling, mutual filtering, standardized processing and experience algorithm mark etc. have reduced the disturbance that the buoy carrier receives the disturbance wind field that ocean wave motion brought and ocean buoy's level and external interference such as up-and-down motion, acquire more accurate actual wind direction and actual wind speed.
Additionally, the utility model discloses a high detection accuracy's parallelly connected piezoelectric type six-dimensional acceleration sensor is in order to gather wave acceleration information, and the azimuth information of the ocean wave buoy that position information, the electron compass that reunion GPS positioning antenna feedbacks acquires corrects the wave acceleration information of collection to acquire more accurate main wave direction, wave height, wave cycle information.
The use method of ocean wave buoy based on six-dimensional acceleration sensor include:
And 2, throwing the built buoy platform to a measurement area.
And 3, starting the buoy to work.
And 4, the user knows various data of ocean waves and weather through the visual display interface and the remote WEB terminal.
Above the technical scheme of the utility model, compare with current, its beneficial effect who is showing lies in:
1) the utility model discloses a parallelly connected piezoelectric type six-dimensional acceleration sensor and decoupling zero algorithm thereof have realized the high accuracy collection of wave acceleration information.
2) The utility model discloses a wave statistical algorithm that fuses parallelly connected piezoelectric type six-dimensional acceleration sensor and electron compass data collection has improved the precision of wave characteristic monitoring.
3) The utility model discloses utilize FPGA to realize decoupling zero algorithm, acceleration-displacement integral and wave statistical algorithm, can accurately detect wave characteristics such as wave height, wave cycle and wave direction.
4) The utility model discloses a meteorological data fitting algorithm of software and hardware joint correction meteorological data has reduced the disturbance external interferences such as disturbance wind field and ocean buoy's level and up-and-down motion that the buoy carrier brought by ocean wave motion.
5) Self-power supply is realized by adopting a solar cell panel and a storage battery.
6) The data processing process is completed in the ocean wave buoy, and the calculated wave characteristic data and the meteorological data are directly sent to the user side monitoring system to be displayed, so that the data processing efficiency is improved, and the data loss and the error rate are reduced.
It should be understood that all combinations of the foregoing concepts and additional concepts described in greater detail below can be considered as part of the inventive subject matter of the present disclosure unless such concepts are mutually inconsistent. In addition, all combinations of claimed subject matter are considered a part of the inventive subject matter of this disclosure.
The foregoing and other aspects, embodiments and features of the present teachings can be more fully understood from the following description taken in conjunction with the accompanying drawings. Additional aspects of the present invention, such as features and/or advantages of exemplary embodiments, will be apparent from the description which follows, or may be learned by practice of the specific embodiments in accordance with the teachings of the present invention.
Drawings
The drawings are not intended to be drawn to scale. In the drawings, each identical or nearly identical component that is illustrated in various figures may be represented by a like numeral. For purposes of clarity, not every component may be labeled in every drawing. Embodiments of various aspects of the present invention will now be described, by way of example, with reference to the accompanying drawings, in which:
fig. 1 is a schematic structural diagram of the ocean wave buoy based on six-dimensional acceleration sensor of the present invention.
Fig. 2 is a schematic diagram of a principle model of the parallel piezoelectric six-dimensional acceleration sensor of the present invention.
Fig. 3 is a schematic structural diagram of the parallel piezoelectric six-dimensional acceleration sensor of the present invention.
Fig. 4 is a schematic diagram of an interface circuit of the wind speed sensor and the wind direction sensor of the present invention.
Fig. 5 is a schematic structural diagram of the signal processing module of the present invention.
Fig. 6 is a circuit structure diagram of one of the signal processing modules according to the present invention.
Fig. 7 is a schematic diagram of the working principle of the control system of the present invention.
Fig. 8 is a schematic diagram of the wave data processing method of the present invention.
Fig. 9 is a flowchart of a decoupling method of the parallel piezoelectric six-dimensional acceleration sensor of the present invention.
Fig. 10 is a flow chart of the acceleration-displacement integration algorithm of the present invention.
Fig. 11 is a flow chart of the wave characteristic statistical method of the present invention.
Fig. 12 is a circuit structure diagram of one of the GPRS modules according to the present invention.
Detailed Description
For a better understanding of the technical content of the present invention, specific embodiments are described below in conjunction with the accompanying drawings.
With reference to fig. 1, the present invention provides an ocean wave buoy based on six-dimensional acceleration sensor, which comprises a buoy body, a sensor system and a control system.
The buoy body comprises a support, a navigation mark lamp 40, a GPS positioning antenna, a plurality of solar cell panels 30, a floating body, a control box 60 and a storage battery pack 50, wherein the navigation mark lamp 40, the GPS positioning antenna and the solar cell panels 30 are fixed on the support, the control box 60 and the storage battery pack 50 are arranged in the floating body, and the support is fixed on the upper surface of the floating body through a fastening part.
Preferably, the housing 211 of the bracket and the floating body is made of stainless steel, preventing water from entering and preventing the ocean wave buoy from being rusted in seawater, and meanwhile, because the density of the stainless steel is higher, the weight of the buoy body made of the stainless steel is higher, and the tilting risk of the ocean wave buoy is reduced.
In some examples, the buoy body further comprises a first housing box 23, a second housing box 24 disposed within the buoy body.
The floating body includes a first floating body portion 21 in an inverted circular truncated cone shape and a second floating body portion 22 in a cylindrical shape, the first floating body portion 21 is mounted above the second floating body portion 22, and an axial center line of the first floating body portion 21 and an axial center line of the second floating body portion 22 are overlapped.
The first accommodation box 23 is cylindrical and fixed inside the first float portion 21, and the axial center line of the first accommodation box 23 and the axial center line of the first float portion 21 overlap.
The control box 60 is fixed in the first housing box 23 with its center of gravity on the axial center line of the first housing box 23.
The second container box 24 is cylindrical and fixed inside the second floating body portion 22, and the axial center line of the second container box 24 and the axial center line of the second floating body portion 22 overlap.
Preferably, first holding box 23 and second holding box 24 are acrylic plate rectangular boxes with ventilation holes, more preferably, transparent acrylic materials are selected for use in the first holding box 23 and second holding box 24, and the user can observe the conditions in the box from the outer side conveniently.
The battery pack 50 is fixed in the second housing box 24 with its center of gravity on the axial center line of the second housing box 24.
Because battery pack 50 has a relatively large weight, battery pack 50 can also serve as a counterweight in this configuration to help the float maintain a steady state.
The bracket is mounted above the floating body and includes a first support 11, a second support 12, and a dome 13.
The first supporting part 11 is arranged on the upper surface of the floating body and comprises a supporting column, a top platform, a bottom platform and a plurality of supporting plates.
The support column is vertically installed on the upper surface of the floating body, the bottom platform is fixed at one end, close to the floating body, of the support column, the top platform is fixed at one end, far away from the floating body, of the support column, the top platform and the bottom platform are parallel to the upper surface of the floating body, and in the vertical direction, the projection of the bottom platform completely covers the projection of the top platform. The top platform is configured in a flat top fashion to facilitate placement of devices such as a GPS positioning antenna and beacon light 40.
The supporting plates are uniformly distributed between the top platform and the bottom platform, and two ends of the supporting plates are respectively connected with the top platform and the bottom platform.
The plurality of solar cell panels 30 are fixed on the support plate in a one-to-one correspondence.
The support plate is designed to be inclined so as to facilitate better sunlight collection of the solar cell panel 30.
Preferably, the cross sections of the top platform and the bottom platform are circular, the radius of the top platform is smaller than that of the bottom platform, and the centers of the top platform and the bottom platform are located on the axial central line of the first floating body part 21.
The dome 13 is detachably attached to the upper surface of the floating body, and the dome 13 completely covers the first support 11. The second support part 12 and the devices inside the floating body can be taken in and out and maintained by opening the dome cover 13.
The second support portion 12 includes a first support bar, a second support bar, and two inclined support bars.
The first support rod is vertically arranged on the upper surface of the first floating body part 21, the second support rod is vertically arranged at one end, far away from the upper surface of the floating body, of the first support rod, and the two inclined support rods are oppositely fixed between the first support rod and the second support rod as reinforcing members so as to reinforce the connection stability of the first support rod and the second support rod.
The sensor system comprises a parallel piezoelectric type six-dimensional acceleration sensor, a wind speed sensor 70, a wind direction sensor 80 and a signal processing module.
The wind speed sensor 70 and the wind direction sensor 80 are fixed at the top end of the bracket and are respectively used for acquiring wind speed information and wind direction information of the position of the ocean wave buoy.
Preferably, the wind speed sensor 70 and the wind direction sensor 80 are respectively fixed at two ends of the second support rod, and the distance between the two is greater than or equal to 45cm, so that the measurement accuracy is prevented from being influenced by too close distance when wind speed and wind direction elements are collected.
The wind speed sensor 70 and the wind direction sensor 80 can be selected from a voltage output type HS-FS01 wind speed sensor 70 and a SY-FX2 wind direction sensor 80.
Fig. 4 is a schematic diagram of an interface circuit of the wind speed sensor 70 and the wind direction sensor 80 according to the present invention. The wind speed sensor 70 and the wind direction sensor 80 are both output by four-wire interfaces, namely a power supply positive wire, a power supply negative wire, a voltage signal wire and a current signal wire, wherein a power supply wire and a ground wire are combined before a lap circuit, the voltage signal wire is respectively reserved, and the current signal wire is abandoned.
The parallel piezoelectric six-dimensional acceleration sensor and the signal processing module are arranged inside the control box 60, and the parallel piezoelectric six-dimensional acceleration sensor and the signal processing module are electrically connected with each other.
The parallel piezoelectric type six-dimensional acceleration sensor is used for collecting wave acceleration information of a position where the ocean wave buoy is located, the acceleration sensor outputs a charge quantity signal, and the signal processing module is used for converting the collected charge quantity into a corresponding voltage signal.
With reference to fig. 2 and fig. 3, the present invention provides an example of one of the parallel piezoelectric six-dimensional acceleration sensors.
The parallel piezoelectric six-dimensional acceleration sensor comprises a shell 211 with a containing cavity, an inertial mass 212, 6 locking plates 213, 6 pre-tightening columns 214, 6 composite hinges 218, 12 piezoelectric ceramics, 12 spherical hinges 219 and 6 positioning nuts 216.
The housing 211 is a square, 6 sides of the housing are respectively provided with a sub-plate 211a, the locking plates 213 correspond to the sub-plates 211a one by one, and the locking plates 213 are mounted on one side of the sub-plate 211a far away from the housing 211 through the pre-tightening columns 214.
The positioning nut 216 is arranged at the midpoint of 6 edges corresponding to two diagonal points of the inertial mass 212, the inertial mass 212 is installed at the right center of the accommodating cavity through the positioning nut 216, and each subplate 211a is parallel to the side face of the nearest inertial mass 212.
The 6 composite hinges 218 are respectively installed at the middle points of the other 6 edges of the inertial mass 212, and each composite hinge 218 comprises two hinge sidewalls perpendicular to each other, and each hinge sidewall is attached to one of the side surfaces of the inertial mass 212.
The 12 spherical hinges 219 are divided into 6 spherical hinge 219 groups, each spherical hinge 219 group includes 2 mutually perpendicular spherical hinges 219, the spherical hinge 219 groups correspond to the composite hinges 218 one by one, and two ends of the spherical hinges 219 are respectively and vertically installed on the adjacent hinge side walls and the adjacent subplate 211 a.
The piezoelectric ceramics are in one-to-one correspondence with the ball hinges 219 and are connected in series between the ball hinges 219 and the corresponding composite hinges 218.
Preferably, the structural size of the parallel piezoelectric six-dimensional acceleration sensor is as follows: the side length of the inertial mass 212 is 60mm, the length of an inner large hinge of the spherical hinge 219 is 64mm, the length of an outer hinge of the spherical hinge 219 is 20mm, and the side length of the shell 211 is 146 mm.
The composite hinge 218 is fixedly connected to the midpoint of the edge of the mass block, one end of the piezoelectric ceramic is connected in series with the elastic ball hinge 219, and the other end of the piezoelectric ceramic and the other piezoelectric ceramic share the same composite elastic ball hinge 219. The ball hinge 219 is fixedly connected to the sub-plate 211a of the housing 211, and the position of the sub-plate 211a is adjusted and fixed by the pre-tightening column 214 and the locking plate 213. The inertial mass 212 compresses or stretches each branched chain under the action of inertial force, the piezoelectric ceramic is subjected to corresponding axial force, and polarization charges are generated at two ends of the piezoelectric ceramic. The deformation of the branched chain is inversely calculated according to the piezoelectric theory, the motion quantity of the inertial mass block 212 relative to the shell 211 is calculated according to the kinematics theory of the parallel structure, and the motion quantity of the mass block relative to an inertial coordinate system is calculated to obtain the acceleration information.
Referring to fig. 5, the signal processing module includes a charge converter, a first buffer, a filter, a second buffer, and an amplifier, which are electrically connected in sequence.
And the input end of the charge converter is electrically connected with the output end of the parallel piezoelectric type six-dimensional acceleration sensor.
And the output end of the amplifier is the data output end of the signal processing module.
Fig. 6 is a circuit structure diagram of one of the signal processing modules, and the signal processing module converts the electric charge output by the six-dimensional acceleration sensor into a voltage signal to acquire a wave acceleration signal.
In fig. 6, (a) is a schematic circuit diagram of the charge converter, (b) is a schematic circuit diagram of the amplifier, and (c) is a schematic circuit diagram of the filter.
The control system is arranged in the control box 60 and comprises an FPGA processor, an A/D converter, a communication module, a power supply module, an electronic compass and an SD memory card.
The solar panel generates electricity to provide 220V alternating current voltage, the alternating current voltage is converted into 12V direct current power supply through the inverter voltage reduction module and stored in the storage battery pack, and the storage battery pack serves as a power supply system of the ocean wave buoy and supplies power to the FPGA processor, the A/D converter, the signal processing module and the like.
The data output end of the signal processing module, the output ends of the wind speed sensor 70 and the wind direction sensor 80 are respectively and electrically connected with the FPGA processor through the A/D converters, and the signal processing module, the wind speed sensor 70 and the wind direction sensor 80 respectively send wave acceleration information, wind speed information and wind direction information to the A/D converters, and the wave acceleration information, the wind speed information and the wind direction information are sent to the FPGA processor after being converted into formats by the A/D converters.
And the SD memory card is electrically connected with the FPGA processor through a serial peripheral interface.
The communication module and the GPS positioning antenna are electrically connected with the FPGA processor through serial ports, and the GPS positioning antenna is used for detecting the position information of the position where the ocean wave buoy is located and sending the detected position information to the FPGA processor.
The electronic compass is connected with the FPGA processor through an integrated circuit bus and is used for detecting azimuth angle information of the ocean wave buoy in real time and sending the detected azimuth angle information to the FPGA processor.
The FPGA processor is used for respectively processing wave characteristics and meteorological data of the position of the ocean wave buoy by combining wave acceleration information, wind speed information, wind direction information and azimuth angle information sent by the electronic compass so as to calculate the main wave direction, wave height, wave period, actual wind direction and actual wind speed of the position of the ocean wave buoy, and sending the calculated main wave direction, wave height, wave period, actual wind direction and actual wind speed of the position of the ocean wave buoy to a user side monitoring system through a communication module and storing the calculation result to an SD memory card and/or a read only memory.
Preferably, the communication module comprises one or more of a GPRS communication module, a GPS communication module and a Beidou satellite communication device.
For example, the GPRS communication module scheme is used to implement real-time data transmission, the frequency interval for uploading the wave feature data to the PC client is about 23 minutes, and the GPRS module circuit diagram is shown in fig. 12.
Ocean wave buoy based on aforementioned six-dimensional acceleration sensor, the utility model discloses still mention a wave statistical method based on six-dimensional acceleration sensor's ocean wave buoy, wave statistical method includes:
s1: and a wind speed sensor 70 and a wind direction sensor are adopted to collect wind speed information and wind direction information of the position of the ocean wave buoy.
S2: and (3) carrying out interference elimination processing on the collected wind speed information and wind direction information by adopting a meteorological data fitting algorithm so as to obtain the actual wind speed and the actual wind direction of the position of the ocean wave buoy.
S3: the parallel piezoelectric type six-dimensional acceleration sensor is adopted to collect wave acceleration information, the acceleration sensor outputs a charge quantity signal, the charge quantity is converted into a voltage signal through the signal processing module, and the wave acceleration signal is obtained through decoupling of the dynamic model.
S4: and sequentially carrying out first-order integral processing, first-order polynomial fitting data trend removing item processing, second-order integral processing and second-order polynomial fitting data trend removing item processing on the wave acceleration signal so as to calculate the displacement signal.
S5: and performing error removal processing on the displacement signals, and combining position information fed back by the GPS positioning antenna to obtain an effective displacement sequence.
S6: and correcting wave direction information contained in the effective displacement sequence by adopting azimuth angle information of the ocean wave buoy acquired by the electronic compass to acquire a main wave direction.
S7: and calculating the wave height and the wave period by adopting a zero crossing method and combining the effective displacement sequence.
The control system comprises an FPGA processor, an A/D converter, a GPS module, an electronic compass and the like, a schematic block diagram of the control system is shown in figure 7, acceleration decoupling, acceleration-displacement integration, wave characteristic and meteorological data processing and meteorological data fitting are achieved, an overall block diagram of a wave data processing method is shown in figure 8, an acceleration decoupling method is shown in figure 9, an acceleration-displacement integration algorithm flow is shown in figure 10, and a wave characteristic statistical method is shown in figure 11.
Measurement of wave height and wave period: when the buoy body makes heave movement along with the change of the wave surface, the acceleration sensor arranged in the buoy outputs a continuous change signal reflecting the acceleration of the wave surface heave movement, the signal is processed by a secondary integration circuit to obtain a voltage signal corresponding to the change of the wave surface heave movement height, and various characteristic values of the wave height and wave periods corresponding to the characteristic values can be obtained after the signal is subjected to analog-to-digital conversion and calculation processing.
For the measurement of wave direction: because external interference factors are more and the buoy carrier is in a moving state all the time, the measured wave direction error is larger. And performing correction processing on the angle measured by the electronic compass and the measured angle, and performing fusion calculation on the attitude data acquired by the acceleration sensor and the electronic compass by using a Kalman filtering method.
The meteorological data is processed as follows: the method realizes accurate monitoring of wind direction and wind speed of the oceanographic buoy through software and hardware combined correction, and mainly designs an algorithm from two aspects: the method comprises the following steps of firstly, hardware correction and secondly software correction, wherein the hardware correction is mainly used for correcting the measurement data of the sensor through the layout design of the sensor, and the software correction is calibrated by disturbance wind field modeling, interactive filtering, standardized processing and empirical algorithm.
The user side monitoring system comprises a terminal server provided with monitoring software, and a communication link is established between the terminal server and the FPGA processor through a communication module.
The user side monitoring system completes the design of application programs of the monitoring terminal and the network terminal by utilizing Qt software and the Web server Boa, and realizes the functions of data receiving, real-time display, storage and query. The monitoring software receives data by using the bare computer STM32F103VET6, and the data is analyzed according to a preset data format through a serial port. And a terminal interface program runs on an ARM development system, and a boot code uboot, a Linux kernel and a yaffs file system are transplanted according to actual onboard equipment. The network terminal software monitoring system consists of five functional pages, namely a login page, a home page, a real-time data display page, a historical data query page and an instruction for use. And inputting the start-stop time in the time frame of the historical data query page, and skipping to the historical data query result page.
The user side monitoring system can realize real-time transmission and online monitoring by utilizing a Beidou and GPRS module complementary communication scheme. The Beidou satellite navigation system has limited message communication length each time and has an interval between two times of communication, so that a 'position splicing-LZW' dual compression mechanism proposed by Riming and Times and Haoyuan of China oceanic university is adopted to effectively compress data, and the data is subpackaged and sent according to different actual conditions.
The communication system has two modes of operation: a control mode and a monitoring mode. Under the control mode, the system is used for transmitting buoy state control information sent by a shore station system; under the monitoring mode, the buoy is accurately positioned and time-calibrated, and ocean monitoring data collected by a sensor on the ocean buoy is transmitted.
In some examples, the float further comprises two hoists and two anchors.
The two hoisting parts are symmetrically arranged on two outer side surfaces of the floating body close to the upper surface.
The two anchoring parts are symmetrically arranged on two outer side surfaces of the floating body close to the lower surface.
At least one through hole is arranged on the hoisting part and the anchoring part.
The through hole of the hoisting part is used for conveniently and vertically throwing the crane when throwing the buoy, and the through hole of the anchoring part is used for connecting the anchor chain and fixing the anchor chain in water. The middle of the floating body is a sealed hollow body which is placed on the water surface to generate buoyancy. The lower part of the floating body is arranged to be cylindrical and used for playing a role of stable placement when not put in.
In other examples, the ocean wave buoy further comprises at least one level transducer 90 for detecting water quality parameters, such as PH, etc., based on external control instructions.
The liquid level transmitters 90 are uniformly distributed in the first floating body part 21 and parallel to the axial center line of the first floating body part 21, and the acquisition ends of the liquid level transmitters 90 penetrate through the end face, close to the second floating body part 22, of the first floating body part 21 and extend to the outer side of the first floating body part 21.
In this disclosure, aspects of the present invention are described with reference to the accompanying drawings, in which a number of illustrative embodiments are shown. Embodiments of the present disclosure are not necessarily defined to include all aspects of the invention. It should be appreciated that the various concepts and embodiments described above, as well as those described in greater detail below, may be implemented in any of numerous ways, as the disclosed concepts and embodiments are not limited to any implementation. Additionally, some aspects of the present disclosure may be used alone or in any suitable combination with other aspects of the present disclosure.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention. The present invention is intended to cover by those skilled in the art various modifications and adaptations of the invention without departing from the spirit and scope of the invention. Therefore, the protection scope of the present invention is subject to the claims.
Claims (10)
1. A six-dimensional acceleration sensor based ocean wave buoy is characterized by comprising a buoy body, a sensor system and a control system;
the buoy body comprises a support, a navigation mark lamp, a GPS positioning antenna, a plurality of solar cell panels, a floating body, a control box and a storage battery pack, wherein the navigation mark lamp, the GPS positioning antenna and the plurality of solar cell panels are fixed on the support;
the sensor system comprises a parallel piezoelectric type six-dimensional acceleration sensor, a wind speed sensor, a wind direction sensor and a signal processing module;
the wind speed sensor and the wind direction sensor are fixed at the top end of the bracket and are respectively used for acquiring wind speed information and wind direction information of the position of the ocean wave buoy;
the parallel piezoelectric six-dimensional acceleration sensor and the signal processing module are arranged in the control box and are electrically connected with each other;
the parallel piezoelectric type six-dimensional acceleration sensor is used for collecting wave acceleration information of the position of the ocean wave buoy, the acceleration sensor outputs a charge quantity signal, and the signal processing module is used for converting the collected charge quantity into a corresponding voltage signal;
the control system is arranged in the control box and comprises an FPGA processor, an A/D converter, a communication module, an electronic compass and an SD memory card;
the solar cell panel is electrically connected with a storage battery pack through an inverter voltage reduction module, and the storage battery pack is electrically connected with the FPGA processor, the A/D converter and the signal processing module;
the data output end of the signal processing module, the output ends of the wind speed sensor and the wind direction sensor are respectively and electrically connected with the FPGA processor through an A/D converter, and the signal processing module, the wind speed sensor and the wind direction sensor respectively send wave acceleration information, wind speed information and wind direction information to the A/D converter, and the wave acceleration information, the wind speed information and the wind direction information are converted into formats by the A/D converter and then sent to the FPGA processor;
the SD memory card is electrically connected with the FPGA processor through a serial peripheral interface;
the communication module and the GPS positioning antenna are electrically connected with the FPGA processor through serial ports, and the GPS positioning antenna is used for detecting the position information of the position where the ocean wave buoy is located and sending the detected position information to the FPGA processor;
the electronic compass is connected with the FPGA processor through an integrated circuit bus and is used for detecting azimuth angle information of the ocean wave buoy in real time and sending the detected azimuth angle information to the FPGA processor;
and the FPGA processor establishes a communication link with the user side monitoring system through the communication module.
2. The six-dimensional acceleration sensor-based sea wave buoy of claim 1, characterized in that the buoy body further comprises a first containment box, a second containment box disposed within the buoy body;
the floating body comprises a first floating body part and a second floating body part, wherein the first floating body part and the second floating body part are connected with each other and are in an inverted circular truncated cone shape, the first floating body part is arranged above the second floating body part, and the axial center line of the first floating body part is overlapped with the axial center line of the second floating body part;
the first accommodating box is cylindrical and is fixed inside the first floating body part, and the shaft center line of the first accommodating box is overlapped with the shaft center line of the first floating body part;
the control box is fixed in the first accommodating box, and the gravity center of the control box is positioned on the axial center line of the first accommodating box;
the second accommodating box is cylindrical and is fixed inside the second floating body part, and the shaft center line of the second accommodating box is overlapped with the shaft center line of the second floating body part;
the storage battery pack is fixed in the second containing box, and the gravity center of the storage battery pack is located on the axial center line of the second containing box.
3. The six-dimensional acceleration sensor based sea wave buoy of claim 1, characterized in that the bracket is mounted above the floating body, comprising a first support, a second support, a dome;
the first supporting part is arranged on the upper surface of the floating body and comprises a supporting column, a top platform, a bottom platform and a plurality of supporting plates;
the supporting column is vertically arranged on the upper surface of the floating body, the bottom platform is fixed at one end, close to the floating body, of the supporting column, the top platform is fixed at one end, far away from the floating body, of the supporting column, the top platform and the bottom platform are both parallel to the upper surface of the floating body, and in the vertical direction, the projection of the bottom platform completely covers the projection of the top platform;
the supporting plates are uniformly distributed between the top platform and the bottom platform, and two ends of the supporting plates are respectively connected with the top platform and the bottom platform;
the plurality of solar panels are fixed on the supporting plate in a one-to-one correspondence manner;
the dome cover is detachably connected to the upper surface of the floating body, and the dome cover completely covers the first supporting part;
the second support part comprises a first support rod, a second support rod and two inclined support rods;
the first support rod is vertically arranged on the upper surface of the first floating body part, the second support rod is vertically arranged at one end, far away from the upper surface of the floating body, of the first support rod, and the two inclined support rods are oppositely fixed between the first support rod and the second support rod.
4. The six-dimensional acceleration sensor-based sea wave buoy of claim 1, wherein the wind speed sensor and the wind direction sensor are respectively fixed at two ends of the second support rod, and the distance between the wind speed sensor and the wind direction sensor is greater than or equal to 45 cm.
5. The six-dimensional acceleration sensor-based sea wave buoy of claim 1, wherein the parallel piezoelectric six-dimensional acceleration sensor comprises a housing with a containing cavity, an inertial mass, 6 locking plates, 6 pre-tightening columns, 6 compound hinges, 12 piezoelectric ceramics, 12 spherical hinges, 6 positioning nuts;
the shell is in a square shape, 6 side surfaces of the shell are respectively provided with an auxiliary plate, the locking plates correspond to the auxiliary plates one by one, and the locking plates are arranged on one side of the auxiliary plates far away from the shell through pre-tightening columns;
the positioning nut is arranged at the midpoint of 6 edges corresponding to two opposite angle points of the inertial mass block, the inertial mass block is arranged at the center of the accommodating cavity through the positioning nut, and each auxiliary plate is parallel to the side face of the closest inertial mass block;
the 6 composite hinges are respectively arranged at the middle points of the other 6 edges of the inertial mass block, each composite hinge comprises two hinge side walls which are perpendicular to each other, and each hinge side wall is attached to one side face of the inertial mass block;
the 12 ball hinges are divided into 6 ball hinge groups, each ball hinge group comprises 2 mutually vertical ball hinges, the ball hinge groups correspond to the composite hinges one by one, and two ends of each ball hinge are respectively and vertically arranged on the side wall of the adjacent hinge and the adjacent auxiliary plate;
the piezoelectric ceramics are in one-to-one correspondence with the spherical hinges and are connected in series between the spherical hinges and the corresponding composite hinges.
6. The six-dimensional acceleration sensor-based sea wave buoy of claim 1, wherein the signal processing module comprises a charge converter, a first buffer, a filter, a second buffer, an amplifier, which are electrically connected in sequence;
the input end of the charge converter is electrically connected with the output end of the parallel piezoelectric type six-dimensional acceleration sensor;
and the output end of the amplifier is the data output end of the signal processing module.
7. The six-dimensional acceleration sensor-based sea wave buoy of claim 1, characterized in that the floating body further comprises two hoists and two anchors;
the two hoisting parts are symmetrically arranged on two outer side surfaces of the floating body close to the upper surface;
the two anchoring parts are symmetrically arranged on two outer side surfaces of the floating body close to the lower surface;
at least one through hole is arranged on the hoisting part and the anchoring part.
8. The six-dimensional acceleration sensor-based sea wave buoy of claim 2, characterized in that the sea wave buoy further comprises at least one liquid level transducer;
the liquid level transmitter is uniformly distributed in the first floating body part and is parallel to the axial center line of the first floating body part, and the acquisition end of the liquid level transmitter penetrates through the end face, close to the second floating body part, of the first floating body part and extends to the outer side of the first floating body part.
9. The six-dimensional acceleration sensor-based ocean wave buoy of claim 1, wherein the communication module comprises one or more of a GPRS communication module, a GPS communication module, and a Beidou satellite communication device.
10. The six-dimensional acceleration sensor-based ocean wave buoy of claim 3, wherein the top platform and the bottom platform are circular in cross section, the radius of the top platform is smaller than the radius of the bottom platform, and the centers of the top platform and the bottom platform are located on the axial centerline of the first buoy body.
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| CN201920483419.5U CN209938881U (en) | 2019-04-11 | 2019-04-11 | Ocean wave buoy based on six-dimensional acceleration sensor |
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| CN201920483419.5U CN209938881U (en) | 2019-04-11 | 2019-04-11 | Ocean wave buoy based on six-dimensional acceleration sensor |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112833863A (en) * | 2020-12-31 | 2021-05-25 | 自然资源部第二海洋研究所 | Method for measuring sea surface altitude change caused by ocean isolated internal waves |
| CN114872833A (en) * | 2022-05-10 | 2022-08-09 | 中国船舶重工集团公司第七一五研究所 | Big dipper location survey wave buoy |
-
2019
- 2019-04-11 CN CN201920483419.5U patent/CN209938881U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112833863A (en) * | 2020-12-31 | 2021-05-25 | 自然资源部第二海洋研究所 | Method for measuring sea surface altitude change caused by ocean isolated internal waves |
| CN114872833A (en) * | 2022-05-10 | 2022-08-09 | 中国船舶重工集团公司第七一五研究所 | Big dipper location survey wave buoy |
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