WO2022252771A1 - Remotely-deployed intelligent submersible buoy towed by unmanned boat - Google Patents

Remotely-deployed intelligent submersible buoy towed by unmanned boat Download PDF

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Publication number
WO2022252771A1
WO2022252771A1 PCT/CN2022/082408 CN2022082408W WO2022252771A1 WO 2022252771 A1 WO2022252771 A1 WO 2022252771A1 CN 2022082408 W CN2022082408 W CN 2022082408W WO 2022252771 A1 WO2022252771 A1 WO 2022252771A1
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WO
WIPO (PCT)
Prior art keywords
boat
shaped counterweight
counterweight
submersible
shaped
Prior art date
Application number
PCT/CN2022/082408
Other languages
French (fr)
Chinese (zh)
Inventor
王淑青
雷桂斌
仉天宇
谢玲玲
凌征
刘大召
彭银桥
Original Assignee
广东海洋大学
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Filing date
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Application filed by 广东海洋大学 filed Critical 广东海洋大学
Publication of WO2022252771A1 publication Critical patent/WO2022252771A1/en

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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B22/00—Buoys
    • B63B22/04—Fixations or other anchoring arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B22/00—Buoys
    • B63B22/18—Buoys having means to control attitude or position, e.g. reaction surfaces or tether
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
    • B63B2035/008—Unmanned surface vessels, e.g. remotely controlled remotely controlled
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
    • Y02A90/30—Assessment of water resources

Definitions

  • the invention relates to the technical field of high-end ocean observation equipment, in particular to a remote-deployed intelligent submersible buoy towed by an unmanned boat, which is an observation node of a transparent ocean science plan.
  • the submersible buoy can realize long-term continuous measurement of marine elements at the location where the submerged buoy is placed, and is one of the few important devices that can perform fixed-point continuous observation of marine elements.
  • the core equipment of the submersible Acoustic Doppler Velocity Profiler (ADCP) uses an acoustic transducer as a sensor. The transducer emits a pulsed acoustic signal, and the acoustic pulse is reflected by the unevenly distributed sediment particles and plankton in the water body. The transducer receives the signal and calculates the flow velocity by measuring the Doppler frequency shift.
  • ADCP has the characteristics of being able to directly measure the flow velocity profile of the cross-section, without disturbing the flow field, short test duration and large velocity measurement range. At present, it is widely used in the investigation of flow field structure, flow velocity and discharge measurement in oceans and estuaries.
  • Document CN202987464U discloses the basic structure of the 3500-meter submersible mark.
  • the document CN104875849B discloses a multi-scale synchronous observation submersible buoy in the marine dynamic environment.
  • a first temperature-salt chain, a second temperature-salt chain, a microscale fixed-point turbulence meter and a main floating body are arranged on the upper part of the cable.
  • the first temperature-salt chain The second temperature-salt chain and the second temperature-salt chain both include a temperature instrument, a temperature-depth instrument and a temperature-salt depth instrument.
  • the main floating body is located between the first temperature-salt chain and the second temperature-salt chain, and an acoustic Doppler current profiler is installed on the main floating body.
  • a reciprocating micro-scale turbulence profiler is installed in the middle of the cable.
  • the reciprocating micro-scale turbulence profiler is equipped with a temperature, salinity and depth meter, a current meter, a shear probe and a fast temperature probe for observing turbulence.
  • the lower part is provided with a deep-sea current and temperature and salinity measurement unit, and the deep-sea current and temperature and salinity measurement unit includes a thermosalinity depth gauge and a current gauge.
  • the document CN109398711A discloses a method of using a helicopter to release a submersible target with a remote control release hook in a special sea area, which overcomes the problem of iceberg impact encountered in the process of launching the submersible target. But the prior art still has the following defects:
  • the research object of physical oceanography decides to go there to observe the wind and waves.
  • deploying the submersible buoy to observe the typhoon may cause safety accidents of equipment or personnel, which is very dangerous, and sometimes the deployment cannot be completed.
  • the mother ship had to return to Hong Kong to avoid the storm.
  • Cement ships that is, ships made of cement and steel wire or steel bars, including steel mesh cement ships and reinforced concrete ships.
  • the steel wire mesh cement ship is a ship made of steel bars and steel wire mesh tied into a skeleton, and cement is applied inside and outside.
  • a reinforced concrete ship is a ship that uses reinforced concrete as the hull structural material. Cement ship is cheap, easy to obtain materials, simple construction equipment and construction process, low maintenance cost, and can save wood and steel, has corrosion resistance and durability, the main disadvantage is that it is heavy and has poor impact resistance. Use within a certain range.
  • Steel mesh cement boats can be used as agricultural boats, fishing boats and transport ships.
  • Reinforced concrete ships can be used as engineering ships and barges with low requirements for dead weight, fixed berths or less mobile.
  • the object of the present invention is to provide a remote deployment intelligent submarine towed by an unmanned boat, so as to solve the above-mentioned problems in the prior art. .
  • a remote deployment intelligent submersible buoy towed by an unmanned boat includes a satellite communication device, a main floating ball, ADCP, a controller, a stainless steel bracket, a mooring cable, and an instrument chain , acoustic releaser, anchor chain, connecting ring, boat-shaped counterweight, towing rod, towing ring and release device and water inlet device, the main floating ball is respectively provided with the ADCP and the stainless steel
  • the bracket passes through the reserved hole on the main floating ball, the ADCP and the stainless steel bracket are fixed on the main floating ball with nuts, the upper part of the stainless steel bracket is provided with the satellite communication device, and the lower part uses the
  • the mooring cable is connected to the instrument chain, the lower end of the instrument chain is connected to the acoustic releaser, the connecting ring is arranged at the center of the bottom of the boat-shaped counterweight, and the acoustic releaser is connected to the connecting ring through the anchor chain.
  • the boat-shaped counterweight is a prefabricated flat-bottomed hull of reinforced concrete, and the assembled submersible mark is placed in the boat-shaped counterweight during transportation; the bottom of the boat-shaped counterweight is provided with the water inlet device; the The boat-shaped counterweight and the unmanned boat are releasably connected by using the release device, the tow rod and the tow ring; the controller is arranged in the reserved cavity of the main float , the controller connects the satellite communication device, the release device and the water inlet device with signal cables; the controller receives a remote deployment command through the satellite communication device and sends a control signal to control The release device releases the boat-shaped counterweight and controls the water inlet device to inject seawater into the boat-shaped counterweight to complete the remote deployment of the submersible buoy.
  • the water inlet device includes a sealing plate, a rubber sealing gasket, a left electromagnetic releaser and a right electromagnetic releasing device, the rubber sealing gasket is arranged between the sealing plate and the bottom of the boat-shaped counterweight, and the sealing plate presses tightly on the rubber sealing pad, and its two ends are stuck under the left electromagnetic releaser and the right electromagnetic releaser;
  • the boat-shaped counterweight is provided with an array of lower diversion holes, and the sealing plate is provided with The upper diversion hole array, the lower diversion hole array and the upper diversion hole array are arranged alternately, and the controller uses the signal cable to electrically connect the satellite communication device with the left electromagnetic release and The power relay of the electromagnet of the right electromagnetic releaser;
  • the controller receives the deployment instruction from the remote deployment person through the satellite communication device, and generates and sends a control signal to the said controller according to the deployment instruction.
  • the power relays of the electromagnets of the left electromagnetic releaser and the right electromagnetic releaser control the sealing plate from the boat-shaped counterweight.
  • the left electromagnetic release and the right electromagnetic release have the same structure, and both include long bolts, wedge-shaped pads, short bolts, electromagnets, brackets, ferromagnetic disks, corrosion-resistant springs, connecting rods, stops, the signal cable, the long bolts connect the boat counterweight, the wedge block and the bracket as a whole, the short bolts fix the electromagnet on the bracket, the connecting rod and the The stoppers are welded together, the connecting rod passes through the corrosion-resistant spring and the installation hole on the bracket, and is screwed to the ferromagnetic disk, the ferromagnetic disk is facing the electromagnet, and the controller Use the signal cable to connect the power relay of the electromagnet.
  • the water inlet device can also be a plurality of simultaneously opened solenoid valve arrays installed at the lower diversion hole; the controller uses the signal cable to electrically connect the satellite communication device and the boat-shaped distribution The power relay of the solenoid valve array, the controller receives the deployment instruction from the remote deployment person through the satellite communication device, and sends a control signal to the solenoid valve array according to the deployment instruction. The relay is powered on, and the solenoid valve array opens seawater to inject the boat-shaped counterweight.
  • Described releasing device comprises big bolt, disc, triangular block, small spring, connecting rod, big spring, cylindrical pin, sucker type electromagnet, small bolt, frame, rubber pad and triangular spacer, and described big bolt
  • the frame, the rubber pad, the triangular pad and the boat-shaped counterweight are connected as one, or the large bolt connects the frame, the rubber pad, the triangular pad and the The boat is connected as a whole; the suction cup electromagnet is screwed on the frame by the small bolt;
  • the connecting rod passes through the frame and is threadedly connected with the disc, the disc is made of ferromagnetic material, and the large spring on the cylindrical pin sleeve penetrates the connection hole of the frame and the traction
  • the triangular stopper is located above the cylindrical pin and limitedly fits with the cylindrical pin. .
  • the sealing plate is provided with a clip, and the hexagon socket head screw passes through the fixing hole to fix the clip on the sealing plate.
  • the clip is made of elastic plastic, and the mooring cable is stuck in the clip.
  • a heat-insulating sunscreen is arranged on the top of the boat-shaped counterweight, a sealing pad is arranged between the boat-shaped counterweight and the heat-insulated sunscreen, and a heat-insulated sunscreen and the boat-shaped counterweight are bound with A rubber rope, the total breaking force of the rubber rope is less than the net buoyancy of the main floating ball.
  • Fillers are arranged inside the boat-shaped counterweight, and instruments are placed between the fillers.
  • the rubber sealing gasket is embedded with steel wire.
  • a deployment method for remotely deploying intelligent submersible marks towed by an unmanned boat the steps of which are as follows:
  • a thermal insulation sunscreen is arranged on the top of the boat-shaped counterweight
  • the release device, the tow rod, and the tow ring are configured to be releasably connected between the boat-shaped counterweight and the unmanned boat, and the controller uses the signal cable to connect the a power relay for the suction cup solenoid of the release device;
  • the remote deployer uses the intelligent terminal to establish a TCP/IP connection with the autopilot of the unmanned boat, and sets the latitude and longitude coordinates of the submerged mark deployment point in the autopilot of the unmanned boat. After the manned boat tows the ship-shaped counterweight to the deployed sea area, or the remote deployer controls the unmanned boat online to pull the ship-shaped counterweight to the deployed sea area, the remote deployer according to the returned actual measured deployment
  • the remote deployer establishes a TCP/IP connection with the controller through the satellite communication device, and the remote deployer issues a deployment command, and the controller communicates with the controller through the satellite.
  • the device receives the deployment command, sends a control signal according to the deployment command and transmits it to the relay of the release device through the signal cable, turns on the power supply of the suction cup electromagnet, and releases the drawbar;
  • the controller sends a control signal to connect the power relay of the water inlet device, the seawater enters the boat-shaped counterweight, the boat-shaped counterweight sinks, and the main floating ball under its own buoyancy
  • the heat-insulating sunscreen is lifted upwards, the rubber rope is pulled off, the heat-insulated sunscreen is separated from the boat-shaped counterweight, and as the boat-shaped counterweight continues to sink, the mooring cable Continuously pulling out from the clip, the submersible buoy gradually unfolds, and the submersible buoy sinks continuously under the gravity of the boat-shaped counterweight, and finally stops and sits on the hard sediment layer to complete the deployment.
  • the present invention has the following beneficial effects:
  • the ship-shaped counterweight is used as a container to accommodate the submersible mark, and after deployment, it is used as a counterweight to fix the submersible mark.
  • the unmanned boat tows and remotely deploys submarine buoys can realize remote control and deploy submarine buoys to observe typhoons under high sea conditions when typhoons are approaching, obtain observation data under extreme sea conditions, and expand human understanding of extreme ocean conditions. Accurate understanding of the ocean observation at the risk of life in high sea conditions may cause equipment and personnel safety accidents.
  • the water injection in the diversion hole and the side mooring cable ensure the stability of the ship-shaped counterweight posture during the submersible buoy sinking process.
  • Figure 1 is a schematic diagram of the submersible mark before remote deployment
  • Figure 2 is a schematic diagram of the submersible mark after remote deployment
  • Fig. 3 is a structural schematic diagram of the releasing device
  • Fig. 4 is a structural schematic diagram of the electromagnetic release device
  • Fig. 5 is a schematic diagram of a sealing plate
  • Fig. 6 is a schematic diagram of the clip structure
  • Fig. 7 is a schematic diagram of another installation method of the release device.
  • Fig. 8 is a schematic diagram of the submersible mark before the water inlet device is remotely deployed by the solenoid valve array;
  • Fig. 9 is a schematic diagram of the submersible mark after the water inlet device is remotely deployed by the solenoid valve array;
  • Fig. 10 is a schematic diagram of a satellite communication device.
  • heat insulation sunscreen 101 heat insulation sunscreen 101, rubber pad 102, boat-shaped counterweight 103, rubber rope 104, left electromagnetic releaser 105, satellite communication device 106, sealing plate 107, upper diversion hole 108, controller 109, main float 110, signal cable 111, indicator line 112, release device 113, tow bar 114, tow ring 115, unmanned boat 116, external antenna 2 117, additional release device 118, rubber gasket 119, lower diversion hole 120, Acoustic Doppler Current Profiler (ADCP) 121, Connecting Ring 122, Stainless Steel Bracket 123, Anchor Chain 124, Temperature, Salt Depth (CTD) 125, Small Float 126, Acoustic Release 127, Temperature Recorder 128, Barb 129, single-point current meter 130, mooring cable 131, instrument chain 132; right electromagnetic releaser 133, filler 134, sea water 135;
  • ADCP Acoustic Doppler Current Profiler
  • Solenoid valve 801 Solenoid valve 801;
  • Disc-shaped floating body 1001 airtight cabin 1002, bolt 1003, small cotter pin 1004, connection bracket 1005, large pin 1006, satellite communication terminal 1007, external antenna one 1008.
  • a remote deployment smart submarine towed by an unmanned boat includes a satellite communication device 106, a main float 110, ADCP121, a controller 109, a stainless steel bracket 123, an instrument chain 132, Acoustic release device 127, anchor chain 124, connecting ring 122, boat-shaped counterweight 103, draw bar 114, release device 113 and water inlet device, said main floating ball 110 is respectively provided with described ADCP121,
  • the controller 109 is set in the reserved cavity of the main float 110, the stainless steel bracket 123 passes through the reserved hole on the main float 110, and the ADCP and the stainless steel bracket are fixed with nuts
  • the satellite communication device 106 is arranged on the upper part of the stainless steel bracket 123, and the lower part of the stainless steel bracket 123 is connected to the instrument chain 132 by the mooring cable 131, and the lower end of the instrument chain 132 is Connect the acoustic releaser 127, the controller 109 uses the
  • the instrument chain 132 is composed of several instruments selected according to observation needs, such as a single-point current meter 130, a temperature recorder 128, a CTD125, a small floating ball 126 and a dissolved oxygen recorder, and the mooring cable 131 connects them together.
  • Several instruments can also be arranged on the top of the stainless steel support 123 as required, such as a beacon machine, a data recovery instrument and an underwater acoustic communication machine.
  • the boat-shaped counterweight 103 is a prefabricated flat-bottomed hull of reinforced concrete, which accommodates the assembled submersible bid in its interior during the transportation of the submarine bid; It is convenient for it to be stably located on the seabed to fix the submersible mark, and it is provided with barbs 129 to avoid horizontal slippage.
  • the connecting ring 122 is arranged at the center of the bottom of the boat-shaped counterweight 103, the acoustic releaser 127 is connected to the connecting ring 122 through the anchor chain 124, and the acoustic releaser 127 receives its deck unit
  • the encrypted control command opens the lock, the anchor chain 124 is separated from the acoustic releaser 127, the submersible is separated from the boat-shaped counterweight 103, and floats to the sea surface under the net buoyancy of the main buoyancy.
  • the indicator line 112 indicates the direction in which the unmanned boat 116 advances, and the release device 113, the tow bar 114 and the tow ring are used between the boat-shaped counterweight 103 and the unmanned boat 116.
  • 115 is configured as a releasable connection.
  • the release device 113 is arranged on the front part of the boat-shaped counterweight 103, and is connected to the boat-shaped counterweight 103 by using bolts.
  • the unmanned boat 116 used in this solution is a general-purpose unmanned boat, and there is no need to refit the unmanned boat.
  • the release device 113 is rigidly connected to the unmanned boat, the two ends of the boat-shaped counterweight 103 are symmetrically provided with the traction rings 115, and one of the traction rings 115 uses the traction rod 114 is connected on the release device 113, the unmanned boat 116 used in this program is a special unmanned boat, the unmanned boat is refitted, and the release device 113 is installed.
  • the bottom of the boat-shaped counterweight 103 is provided with the water inlet device, which includes the sealing plate 107, the rubber gasket 119, the left electromagnetic release 105 and the right electromagnetic release 133, the sealing
  • the rubber sealing pad 119 is arranged between the plate 107 and the bottom of the boat-shaped counterweight 103, the sealing plate 107 is pressed on the rubber sealing pad 119, and its two ends are stuck on the left electromagnetic release 105 and under the right electromagnetic release device 133;
  • the boat-shaped counterweight 103 is provided with the array of lower guide holes 120, the sealing plate 107 is provided with the array of upper guide holes 108, and the lower guide
  • the array of flow holes 120 and the array of upper flow holes 108 are alternately arranged, and the rubber gasket 119 is embedded with steel wires to strengthen its strength and rigidity, so as to prevent the rubber gasket from flowing from the upper flow holes 108 or the lower flow holes under pressure.
  • the diversion hole 120 overflows, affecting the sealing effect.
  • the positioning pin holes 503 on the sealing plate 107 cooperate with the positioning pins fixed on the boat-shaped counterweight 103.
  • the above-mentioned guide holes 108 are arranged in a staggered manner.
  • the controller 109 uses the signal cable 111 to connect the satellite communication device 106 and the power relay of the electromagnet 404 of the left electromagnetic release 105 and the right electromagnetic release 133 to control the left electromagnetic release.
  • the releaser 105 and the right electromagnetic releaser 133 are powered on or off; the controller 109 receives the deployment instruction sent by the remote deployment person through the satellite communication device 106, and the controller 109 according to the deployment instruction Generate and send control signals to power on the power relays of the electromagnets 404 of the left electromagnetic release 105 and the right electromagnetic release 133 , and control the sealing plate 107 to separate from the boat-shaped counterweight 103 . After the sealing plate 107 and the rubber gasket 119 are separated from the counterweight boat 103 , the seawater 135 flows into the counterweight boat 103 from the lower guide hole 120 .
  • At least four strings are symmetrically arranged front, rear, left, right, left, right, left, and right.
  • the left string 202 and the right string 205 are drawn in FIG. 2, and the four strings are tied and kept
  • the sealing plate 107 is positioned to avoid hitting the acoustic releaser 127 .
  • the anchor chain ring 203 is set on the anchor chain close to the acoustic release device, that is, a buckle of the anchor chain is expanded into the anchor chain ring 203, and on the upper part of the anchor chain ring 203 and the boat-shaped counterweight 103 At least four side tether cables are arranged between them, the left side tether cables 201 and the right side tether cables 204 are shown in Fig. Maintain the posture of the boat-shaped counterweight 103 during the sinking process, and prevent the boat-shaped counterweight 103 from tilting at a large angle.
  • Each side mooring cable contains at least a section of filament made of seawater corrodible material, such as galvanized iron wire with sandpaper to remove the galvanized layer, and placed in seawater, the galvanized iron wire is corroded by seawater. Unable to withstand the pulling force, the technical effect of delaying the disconnection of the side mooring cable is achieved.
  • the side mooring cables can also be ropes made of corrosion-resistant materials.
  • the total breaking force of all side mooring cables is less than the net buoyancy of the submersible. Preferably, the total breaking force is equal to 0.2 to 0.3 times the net buoyancy of the submersible. As shown in FIGS.
  • the water inlet device can also be an array of a plurality of simultaneously opened solenoid valves 801 installed at the lower guide hole 120; the controller 109 uses the signal cable 111 Electrical signals connect the satellite communication device 106 and the power relay of the solenoid valve 801 array, the controller 109 receives the deployment instruction issued by the remote deployment person through the satellite communication device 106, and controls according to the deployment instruction.
  • the device 109 sends a control signal to the relay of the solenoid valve 801 array to turn on the power, and the solenoid valve 801 array opens the seawater and injects the boat-shaped counterweight 103 until the power supply of the solenoid valve 801 is exhausted.
  • the water inlet device can also be a water pump installed on the side of the ship-shaped counterweight 103, the water pump is not shown in the figure, and the controller 109 uses the signal cable 111 to electrically connect the satellite communication device 106 and the The power relay of the water pump, the controller 109 receives the deployment command sent by the remote deployment person through the satellite communication device 106, and according to the deployment command, the controller 109 sends a control signal to power on the relay of the water pump , the water pump turns on seawater to inject into the boat-shaped counterweight 103 .
  • the boat-shaped counterweight 103 is made of steel bars and concrete, the steel bars are preferably made of stainless steel, and the concrete is preferably anti-seepage concrete for shipbuilding.
  • the materials and processes involved in this case need to comply with relevant technical specifications for marine instruments and marine engineering;
  • the boat-shaped counterweights The bottom of 103 is symmetrically arranged with a plurality of lower diversion holes 120;
  • the top of the boat-shaped counterweight 103 is provided with a heat-insulating sunscreen 101 to prevent the instrument from being exposed to the scorching sun;
  • the inner and outer surfaces of the boat-shaped counterweight 103 are provided with waterproof layers, so
  • the waterproof layer is preferably epoxy resin waterproof paint;
  • the filler 134 is laid in the boat-shaped counterweight 103, and the filler 134 is mixed by coarse sand and sawdust; It is integrated with the boat-shaped counterweight 103.
  • controller 109 comprises central processing unit, internal memory, external memory, interface circuit and power supply contained in the water-tight casing, PCB circuit board connects central processing unit, internal memory, external memory and interface circuit, central processing unit, internal memory, external memory
  • the storage and interface circuits are respectively connected to the power supply, and the interface circuit of the controller 109 uses the signal cable 111 to connect to the satellite communication device 106, the ADCP121, the instruments in the instrument chain 132, the acoustic
  • the interface circuit of the release device 127 establishes a data communication link between the controller 109 and the instrument to transmit data and control the instrument to start or stop working; the controller uses the signal cable 111 to connect the release device 113
  • the power relay of the suction cup electromagnet 308 controls the power on or off; the controller 109 uses the signal cable 111 to connect the power relay of the water inlet device to control the power on or off.
  • the hardware of the controller 109 in the program test experiment uses the Cortex-A9 general-purpose development board.
  • the controller 109 software comprises a main program module, a communication module, a release module and a water intake module, and the main program module transfers the communication module to realize that the controller 109 establishes a data connection with the satellite communication device 106, inquires about the received information, and the communication module sends
  • the main program module returns the deployment command received;
  • the main program module calls the release module to send a release control signal to control the release device 113 to release the boat-shaped counterweight 103;
  • the main program module calls the water inlet module to send a water inlet control signal to control the work of the water inlet device.
  • the boat-shaped counterweight 103 is injected, and the water intake module queries the pressure data collected by the CTD to determine whether the boat-shaped counterweight 103 has sunk into the seawater, and returns the result of the water intake to the main program module.
  • the controller 109 accepts the remote deployment command through the satellite communication device 106, sends a control signal to control the release device 113 to release the boat-shaped counterweight 103 and controls the water inlet device to inject seawater into the boat-shaped counterweight 103. The remote deployment of the submersible buoy is completed.
  • the satellite communication device 106 includes a disc-shaped floating body 1001, a sealed cabin 1002, a bolt 1003, a small cotter pin 1004, a connecting bracket 1005, a large pin 1006, a satellite communication terminal 1007, an external antenna 1008 and an external Antenna 2 117 is installed, satellite communication terminal 1007 is set in airtight cabin 1002 , and satellite communication terminal 1007 connects controller 109 , external antenna 1 1008 and external antenna 2 117 using the signal cable 111 .
  • the satellite communication terminal 1007 Before the remote deployment, the satellite communication terminal 1007 is always on and working; after the remote deployment is completed, the controller 109 controls the satellite communication terminal 1007 to shut down according to the pressure data collected by the CTD; after recovering and floating, the controller 109 controls the satellite according to the pressure data collected by the CTD The communication terminal 1007 is turned on.
  • the external antenna 1 1008 is arranged on the top of the airtight cabin 1002, the airtight cabin 1002 is an inverted circular platform, the disk-shaped floating body 1001 is set on the airtight cabin 1002, the connecting bracket 1005 is connected on the airtight cabin 1002 by bolts 1003, and the large pin 1006
  • the connecting bracket 1005 is connected on the airtight cabin 1002 by bolts 1003, and the large pin 1006
  • One 1008 is reliably exposed to the sea and pointed vertically to the sky, and communicates reliably with the mother ship.
  • the small cotter pin 1004 passes through the aperture at the end of the large pin 1006 to prevent the large pin 1006 from slipping off.
  • the heat-insulating sunscreen 101 is provided with heat-insulating aluminum foil, the signal received by the external antenna one 1008 is weakened, and the external antenna two 117 is added on the unmanned boat 116 or the heat-insulated sunscreen 101 to ensure reliable satellite communication signals take over.
  • the second external antenna 117 is connected to the satellite communication terminal 1007 by an inductive coupler. After the second external antenna 117 is separated from the satellite communication terminal 1007, soaking the joint in seawater will not affect the normal operation of the satellite communication terminal 1007.
  • the release device 113 includes a large bolt 301, a disc 302, a triangular block 303, a small spring 304, a connecting rod 305, a large spring 306, a straight pin 307, a suction cup type Electromagnet 308, small bolt 309, frame 310, rubber pad 311 and triangular spacer 312, described large bolt 301 is with described frame 310, described rubber pad 311 and described triangular spacer 312 and described boat shape
  • the weight 103 is connected as one; the controller 109 uses the signal cable 111 to connect the power relay of the suction cup electromagnet 308 to control the operation or stop of the suction cup electromagnet 308; the suction cup electromagnet 308 uses the Small bolts 309 are threaded on the frame 310; one end of the connecting rod 305 is welded to the triangular block 303, the small spring 304 is sleeved on the connecting rod 305, and the connecting rod 305 passes through the
  • the cylindrical pin 307 is sleeved on the large spring 306 and inserted into the connecting hole of the frame 310 and the connecting ring at one end of the drawing rod 114 .
  • the connecting loop of the towing rod 114 is looped on the cylindrical pin 307 , and the cylindrical pin 307 transmits the pulling force received by the towing rod 114 to the frame 310 and then to the boat counterweight 103 .
  • the connecting ring at the other end of the towing rod 114 is connected to the towing ring 115 .
  • the release device 113 can also adopt the connecting device of the tractor and the trailer, and can also adopt the connecting device of the automatic docking of the train. The above is just an example and does not limit the structure of the release device 113 .
  • the large bolt 301 connects the frame 310, the rubber pad 311, the triangular pad 312 and the boat-shaped counterweight 103 as a whole; the traction ring 115 is set On the unmanned boat 116 , the release device 113 , the tow bar 114 and the tow eye 115 are designed as a releasable connection.
  • the large bolt 301 connects the frame 310, the rubber pad 311, the triangular spacer 312 and the unmanned boat 116 as a whole, and the traction ring 115 is set On the boat weight 103 , the release device 113 , said towing rod 114 and the towing ring 115 are designed as a releasable connection.
  • the electromagnetic release device (105, 133) includes a sealing rubber pad 400, a long bolt 401, a wedge-shaped pad 402, a short bolt 403, an electromagnet 404, a bracket 405, and a ferromagnetic disk 406 , a corrosion-resistant spring 407, a connecting rod 408, a block 409 and the signal cable 111, the long bolt 401 connects the boat-shaped counterweight 103, the wedge-shaped spacer 402 and the bracket 405 as one, the A sealing rubber pad 400 is provided between the boat-shaped counterweight 103 and the wedge-shaped pad 402 .
  • the short bolt 403 fixes the electromagnet 404 on the bracket 405, the connecting rod 408 and the stopper 409 are welded together, and the connecting rod 408 passes through the corrosion-resistant spring 407 and the
  • the mounting hole on the bracket 405 is screwed to the ferromagnetic disk 406, the ferromagnetic disk 406 is facing the electromagnet 404, and the power relay of the electromagnet 404 is connected to the controller using the signal cable 111 109 , the controller 109 sends a control signal to the relay to control the power of the electromagnet 404 to be turned on or off.
  • the electromagnet 404 is a sucker-type electromagnet.
  • the corrosion-resistant spring 407 stretches to withstand the stopper 409, and the stopper 409 blocks the sealing plate 107.
  • the sealing plate 107 presses the rubber gasket 119, the upper diversion hole 108 and the lower diversion hole 120 are sealed, and seawater cannot enter the boat-shaped counterweight 103; the electromagnet 404 is in an electrified state, and the The electromagnet 404 attracts the ferromagnetic disk 406, pulls the connecting rod 408 and the stopper 409, the stopper 409 compresses the corrosion-resistant spring 407, and the stopper 409 leaves the sealing plate 107, so The sealing plate 107 and the rubber gasket 119 are separated from the boat-shaped counterweight 103 , and seawater pours into the lower diversion hole 120 and the upper diversion hole 108 into the boat-shaped counterweight 103 .
  • Embodiment 4 The long mooring cables 131 may be entangled with each other, and once entangled together, it is not easy to untie, so it is difficult to realize the remote deployment of submersible buoys; as shown in Figures 5 and 6, the sealing The plate 107 is provided with a clip 501, and the hexagon socket head screw passes through the fixing hole 601 to fix the clip 501 on the sealing plate 107.
  • the clip 501 is made of elastic plastic, and the mooring cable 131 is stuck on the Among the clips 501, when the submersible mark is deployed, the mooring cable 131 is released from the clip 501 under the buoyancy of the main buoyant ball 110, which solves the problem that the mooring cables 131 are too long to be entangled with each other. The problem.
  • Embodiment 5 As shown in FIG. 1 , the rubber pad 102 is arranged between the boat-shaped counterweight 103 and the heat-insulating sunscreen 101 , and on the heat-insulated sunscreen 101 and the boat-shaped counterweight 103 The rubber rope 104 is bound, and the total pull-off force of the rubber rope 104 is smaller than the net buoyancy of the main floating ball 110 .
  • the rubber rope 104 prevents the heat-insulating sunscreen 101 from separating from the boat-shaped counterweight 103 before the submersible mark is laid, preventing waves from entering the boat-shaped counterweight 103; After opening, seawater 135 enters the boat-shaped counterweight 103, the net buoyancy of the main buoyancy ball 110 elongates the rubber rope 104 and slips off, and the heat-insulating sunscreen 101 is separated from the boat-shaped counterweight 103, thereby allowing The submersible unfolds.
  • the heat-insulating sunscreen 101 is made of FRP, and a layer of heat-insulating aluminum foil is pasted on the side facing the sky to reflect solar radiation and reduce the absorption of solar radiation. The surface of the aluminum foil is sprayed with a layer of transparent resin varnish or covered with a layer of transparent protective film to prevent Seawater corrodes heat-insulating aluminum foil.
  • Embodiment 6 a kind of deployment method of the long-distance deployment intelligent submersible mark that unmanned boat tows, its steps are as follows:
  • each instrument the satellite communication device 106, the main buoy 110, the ADCP 121, the controller 109, the stainless steel bracket 123, the instrument chain 132, the acoustic release 127 and the anchor chain 124 are installed in the boat-shaped counterweight 103 after being connected as shown in Figure 1 and Figure 2, and the acoustic release device 127 is connected to the connecting ring 122 through the anchor chain 124;
  • the cable stay 131 is stuck in the clip 501;
  • the remote deployer uses the intelligent terminal to establish a TCP/IP connection with the autopilot of the unmanned boat 116, and sets the latitude and longitude coordinates of the submerged mark deployment point in the autopilot of the unmanned boat 116, so After the unmanned boat 116 tows the boat-shaped counterweight 103 to the deployed sea area, or the remote deployer controls the unmanned boat 116 online to tow the boat-shaped counterweight 103 to the deployed sea area, according to the actual measurement returned
  • the remote deployer establishes a TCP/IP connection with the controller 109 through the satellite communication device 106, and the remote deployer issues a deployment command, and the controller 109
  • the deployment command is received by the satellite communication device 106, and a control signal is sent according to the deployment command, which is transmitted to the relay of the release device 113 through the signal cable 111, and the power supply of the electromagnet is turned on to release the drawbar. See the embodiment for details. 2;
  • the controller sends a control signal to connect the power relay of the water inlet device, seawater enters the boat-shaped counterweight 103, and the boat-shaped counterweight 103 sinks, and the main floating ball 110 is under the action of its own buoyancy Lift up the heat-insulating sunscreen 101, pull off the rubber rope 104, the heat-insulated sunscreen 101 is separated from the boat-shaped counterweight 103, and as the boat-shaped counterweight 103 continues to sink, the mooring cable 131 is continuously pulled out from the clip 501, and the submersible buoy gradually unfolds. The submersible buoy sinks continuously under the gravity of the boat-shaped counterweight 103, and finally stops to complete the deployment. After the submersible buoy sits on the bottom, it is shown in Figure 2.

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  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Testing Or Calibration Of Command Recording Devices (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

A remotely-deployed intelligent submersible buoy towed by an unmanned boat, the submersible buoy comprising a submersible buoy, a boat-shaped counterweight (103), a heat insulation and sun protection plate (101) and an unmanned boat (116). The boat-shaped counterweight (103) is connected to the unmanned boat (116) by means of a traction rod (114), a traction ring (115) and a release device (113). The submersible buoy is arranged in the boat-shaped counterweight (103), the heat insulation and sun protection plate (101) covers the boat-shaped counterweight (103), and the boat-shaped counterweight (103) and the heat insulation and sun protection plate (101) are bound together by means of a rubber rope (104). The submersible buoy is connected to the bottom of the boat-shaped counterweight (103). The bottom of the boat-shaped counterweight (103) is provided with a water inflow device. The submersible buoy is provided with a satellite communication device (106) and a controller (109), wherein the satellite communication device (106) receives a remote command, and the controller (109) controls the running of the unmanned boat (116), the disconnection between the boat-shaped counterweight (103) and the unmanned boat (116), and the water inflow of the boat-shaped counterweight (103). The submersible buoy can realize remote unmanned deployment, is safe and reliable, and saves time and cost.

Description

一种无人艇牵引的远程布放智能潜标A remote deployment smart submersible buoy towed by an unmanned boat 技术领域technical field
本发明涉及海洋观测高端装备技术领域，具体为一种无人艇牵引的远程布放智能潜标，是透明海洋科学计划的观测节点。The invention relates to the technical field of high-end ocean observation equipment, in particular to a remote-deployed intelligent submersible buoy towed by an unmanned boat, which is an observation node of a transparent ocean science plan.
背景技术Background technique
潜标可实现潜标布放点处海洋要素的长期连续测量，是少数可以进行海洋要素定点连续观测的重要设备之一。潜标的核心设备：声学多普勒流速剖面仪(ADCP)是用声波换能器作传感器，换能器发射脉冲声信号，声脉冲通过水体中不均匀分布的泥沙颗粒和浮游生物反射，由换能器接收信号，经测定多普勒频移而测算出流速。ADCP具有能直接测出断面的流速剖面、具有不扰动流场、测验历时短和测速范围大的特点。目前被广泛用于海洋、河口的流场结构调查、流速和流量测验等。文献CN202987464U公开了3500米潜标的基本结构。The submersible buoy can realize long-term continuous measurement of marine elements at the location where the submerged buoy is placed, and is one of the few important devices that can perform fixed-point continuous observation of marine elements. The core equipment of the submersible: Acoustic Doppler Velocity Profiler (ADCP) uses an acoustic transducer as a sensor. The transducer emits a pulsed acoustic signal, and the acoustic pulse is reflected by the unevenly distributed sediment particles and plankton in the water body. The transducer receives the signal and calculates the flow velocity by measuring the Doppler frequency shift. ADCP has the characteristics of being able to directly measure the flow velocity profile of the cross-section, without disturbing the flow field, short test duration and large velocity measurement range. At present, it is widely used in the investigation of flow field structure, flow velocity and discharge measurement in oceans and estuaries. Document CN202987464U discloses the basic structure of the 3500-meter submersible mark.
文献CN104875849B公开了一种海洋动力环境多尺度同步观测潜标，在缆绳的上部设置有第一温盐链、第二温盐链、微尺度定点湍流仪与主浮体，所述第一温盐链与第二温盐链均包括温度仪、温深仪和温盐深仪，主浮***于第一温盐链和第二温盐链之间，主浮体上安装有声学多普勒流速剖面仪，在缆绳的中部设置有往复式微尺度湍流剖面仪，所述往复式微尺度湍流剖面仪上安装有温盐深仪、海流计以及用于观测湍流的剪切探头与快速温度探头，在缆绳的下部设置有深海海流与温盐测量单元，所述深海海流与温盐测量单元包括温盐深仪和海流计。由此可见，潜标的部件越来越多，组装潜标越来越耗时，占 用的船时费越来越高。文献CN109398711A公开了利用直升机在特殊海域使用可遥控的释放钩投放潜标的方法，克服了投放潜标过程中遇到的冰山影响问题。但是现有技术依然存在以下缺陷：The document CN104875849B discloses a multi-scale synchronous observation submersible buoy in the marine dynamic environment. A first temperature-salt chain, a second temperature-salt chain, a microscale fixed-point turbulence meter and a main floating body are arranged on the upper part of the cable. The first temperature-salt chain The second temperature-salt chain and the second temperature-salt chain both include a temperature instrument, a temperature-depth instrument and a temperature-salt depth instrument. The main floating body is located between the first temperature-salt chain and the second temperature-salt chain, and an acoustic Doppler current profiler is installed on the main floating body. A reciprocating micro-scale turbulence profiler is installed in the middle of the cable. The reciprocating micro-scale turbulence profiler is equipped with a temperature, salinity and depth meter, a current meter, a shear probe and a fast temperature probe for observing turbulence. The lower part is provided with a deep-sea current and temperature and salinity measurement unit, and the deep-sea current and temperature and salinity measurement unit includes a thermosalinity depth gauge and a current gauge. It can be seen that there are more and more components in the submersible, and the assembly of the submersible is more and more time-consuming, and the time cost of the ship is getting higher and higher. The document CN109398711A discloses a method of using a helicopter to release a submersible target with a remote control release hook in a special sea area, which overcomes the problem of iceberg impact encountered in the process of launching the submersible target. But the prior art still has the following defects:
1.物理海洋学研究对象决定了哪里有风浪就去那里观测，台风来临之际，迎着台风去布放潜标观测台风，可能造成设备或人员的安全事故，非常危险，有时不能完成布放，母船不得不回港躲避风浪。1. The research object of physical oceanography decides to go there to observe the wind and waves. When the typhoon is approaching, deploying the submersible buoy to observe the typhoon may cause safety accidents of equipment or personnel, which is very dangerous, and sometimes the deployment cannot be completed. , the mother ship had to return to Hong Kong to avoid the storm.
2.南方的海上天气炎热，风浪大，甲板剧烈摇晃，组装潜标困难，影响组装的质量，高海况的时候甚至不能完成组装，在船上组装潜标的差错影响潜标的质量可能造成潜标丢失。2. The sea weather in the south is hot, the wind and waves are strong, the deck shakes violently, it is difficult to assemble the submersible mark, which affects the quality of the assembly, and the assembly cannot even be completed under high sea conditions. The error of assembling the submersible mark on the ship affects the quality of the submersible mark and may cause the submersible mark to be lost.
3.在母船上组装潜标消耗非常昂贵船时费。3. It is very expensive to assemble the submersible buoy on the mother ship.
4.潜标布放的时候，无论是“前标后锚”还是“前锚后标”，仪器和系留缆都会在后甲板上拖行，可能磨损仪器表面防腐层，表面上的划痕降低仪器的耐腐蚀性能，芳纶纤维制造的系留缆在拖行的过程中，其强度可能下降，这些细小的问题很难被发现引起布放者的重视，但这些细小的问题可能造成潜标丢失。4. When the submersible mark is deployed, whether it is "front anchor and rear anchor" or "front anchor and rear mark", the instrument and mooring cable will be dragged on the rear deck, which may wear the anti-corrosion layer on the surface of the instrument and scratches on the surface Reduce the corrosion resistance of the instrument, and the strength of the mooring cable made of aramid fiber may decrease during the towing process. These small problems are difficult to be found and attract the attention of the deployer, but these small problems may cause potential damage. The mark is missing.
水泥船，即以水泥与钢丝或钢筋为主要材质的船舶，包括钢丝网水泥船和钢筋混凝土船。钢丝网水泥船是用钢筋与钢丝网扎成骨架，内外涂抹水泥而成的船舶。钢筋混凝土船，即用钢筋混凝土作为船体结构材料的船。水泥船造价低廉，材料容易获得，建造设备和施工工艺简单，维修保养费用低，且能节约木材和钢材，具有抗腐蚀性和耐久性，主要缺点是自重大，抗冲击性能差，只能在一定范围内使用。钢丝网水泥船可作农船、渔船和运输船舶。钢筋混凝土船可作对自重 要求不高，泊位固定或较少移动的工程船舶和趸船。Cement ships, that is, ships made of cement and steel wire or steel bars, including steel mesh cement ships and reinforced concrete ships. The steel wire mesh cement ship is a ship made of steel bars and steel wire mesh tied into a skeleton, and cement is applied inside and outside. A reinforced concrete ship is a ship that uses reinforced concrete as the hull structural material. Cement ship is cheap, easy to obtain materials, simple construction equipment and construction process, low maintenance cost, and can save wood and steel, has corrosion resistance and durability, the main disadvantage is that it is heavy and has poor impact resistance. Use within a certain range. Steel mesh cement boats can be used as agricultural boats, fishing boats and transport ships. Reinforced concrete ships can be used as engineering ships and barges with low requirements for dead weight, fixed berths or less mobile.
因此，有必要研制水泥材质的船形配重，进一步研究可在高海况远程布放的潜标，解决上述技术难题。Therefore, it is necessary to develop a ship-shaped counterweight made of cement, and to further study submersible buoys that can be deployed remotely in high sea conditions to solve the above technical problems.
发明内容Contents of the invention
本发明的目的在于提供一种无人艇牵引的远程布放智能潜标，以解决上述现有技术存在的问题。。The object of the present invention is to provide a remote deployment intelligent submarine towed by an unmanned boat, so as to solve the above-mentioned problems in the prior art. .
为实现上述目的，本发明公开了如下技术解决方案：一种无人艇牵引的远程布放智能潜标包括卫星通信装置、主浮球、ADCP、控制器、不锈钢支架、系留缆、仪器链、声学释放器、锚链、连接环、船形配重、牵引杆、牵引环和释放装置和进水装置，所述主浮球上分别设置有向上和向下打的所述ADCP、所述不锈钢支架穿过所述主浮球上的预留孔，所述ADCP、所述不锈钢支架使用螺母固定在所述主浮球上，所述不锈钢支架上部设置有所述卫星通信装置，下部使用所述系留缆连接所述仪器链，所述仪器链下端连接所述声学释放器，所述船形配重底部中心位置设置有所述连接环，所述声学释放器通过所述锚链连接所述连接环；所述船形配重为钢筋混凝土预制的平底形船壳，在运输过程中组装好的潜标放置在船形配重中；所述船形配重的底部设置有所述进水装置；所述船形配重和所述无人艇之间使用所述释放装置、所述牵引杆和所述牵引环构造成可释放的连接；所述控制器设置在所述主浮球的预留空腔内，所述控制器使用信号线缆电信号连接所述卫星通信装置、所述释放装置和所述进水装置；所述控制器通过所述卫星通信装置接受远程布放指令，发出控制信号控制所述释放装置释放 所述船形配重和控制所述进水装置实现将海水注入所述船形配重，完成潜标远程布放。In order to achieve the above object, the present invention discloses the following technical solutions: a remote deployment intelligent submersible buoy towed by an unmanned boat includes a satellite communication device, a main floating ball, ADCP, a controller, a stainless steel bracket, a mooring cable, and an instrument chain , acoustic releaser, anchor chain, connecting ring, boat-shaped counterweight, towing rod, towing ring and release device and water inlet device, the main floating ball is respectively provided with the ADCP and the stainless steel The bracket passes through the reserved hole on the main floating ball, the ADCP and the stainless steel bracket are fixed on the main floating ball with nuts, the upper part of the stainless steel bracket is provided with the satellite communication device, and the lower part uses the The mooring cable is connected to the instrument chain, the lower end of the instrument chain is connected to the acoustic releaser, the connecting ring is arranged at the center of the bottom of the boat-shaped counterweight, and the acoustic releaser is connected to the connecting ring through the anchor chain. ring; the boat-shaped counterweight is a prefabricated flat-bottomed hull of reinforced concrete, and the assembled submersible mark is placed in the boat-shaped counterweight during transportation; the bottom of the boat-shaped counterweight is provided with the water inlet device; the The boat-shaped counterweight and the unmanned boat are releasably connected by using the release device, the tow rod and the tow ring; the controller is arranged in the reserved cavity of the main float , the controller connects the satellite communication device, the release device and the water inlet device with signal cables; the controller receives a remote deployment command through the satellite communication device and sends a control signal to control The release device releases the boat-shaped counterweight and controls the water inlet device to inject seawater into the boat-shaped counterweight to complete the remote deployment of the submersible buoy.
所述进水装置包括密封板、橡胶密封垫、左电磁释放器和右电磁释放器，所述密封板与所述船形配重的底部之间设置有所述橡胶密封垫，所述密封板压紧在所述橡胶密封垫上，其两端卡在所述左电磁释放器和所述右电磁释放器之下；所述船形配重上设置有下导流孔阵列，所述密封板上设置有上导流孔阵列，所述下导流孔阵列、所述上导流孔阵列交错布置，所述控制器使用所述信号线缆电信号连接所述卫星通信装置和所述左电磁释放器和所述右电磁释放器的电磁铁的电源继电器；所述控制器通过所述卫星通信装置接收远程布放者发出的布放指令，根据布放指令所述控制器生成和发出控制信号给所述左电磁释放器和所述右电磁释放器的所述电磁铁的电源继电器，控制所述密封板脱离所述船形配重。The water inlet device includes a sealing plate, a rubber sealing gasket, a left electromagnetic releaser and a right electromagnetic releasing device, the rubber sealing gasket is arranged between the sealing plate and the bottom of the boat-shaped counterweight, and the sealing plate presses tightly on the rubber sealing pad, and its two ends are stuck under the left electromagnetic releaser and the right electromagnetic releaser; the boat-shaped counterweight is provided with an array of lower diversion holes, and the sealing plate is provided with The upper diversion hole array, the lower diversion hole array and the upper diversion hole array are arranged alternately, and the controller uses the signal cable to electrically connect the satellite communication device with the left electromagnetic release and The power relay of the electromagnet of the right electromagnetic releaser; the controller receives the deployment instruction from the remote deployment person through the satellite communication device, and generates and sends a control signal to the said controller according to the deployment instruction. The power relays of the electromagnets of the left electromagnetic releaser and the right electromagnetic releaser control the sealing plate from the boat-shaped counterweight.
所述左电磁释放器和所述右电磁释放器结构相同，且均包括长螺栓、楔形垫块、短螺栓、电磁铁、支架、铁磁性盘、耐腐蚀弹簧、连杆、挡块、所述信号线缆，所述长螺栓连接所述船形配重、所述楔形垫块和所述支架为一体，所述短螺栓将所述电磁铁固定在所述支架上，所述连杆和所述挡块焊接在一起，所述连杆穿过所述耐腐蚀弹簧和所述支架上的安装孔，螺纹连接所述铁磁性盘，所述铁磁性盘正对所述电磁铁，所述控制器使用所述信号线缆连接所述电磁铁的电源继电器。The left electromagnetic release and the right electromagnetic release have the same structure, and both include long bolts, wedge-shaped pads, short bolts, electromagnets, brackets, ferromagnetic disks, corrosion-resistant springs, connecting rods, stops, the signal cable, the long bolts connect the boat counterweight, the wedge block and the bracket as a whole, the short bolts fix the electromagnet on the bracket, the connecting rod and the The stoppers are welded together, the connecting rod passes through the corrosion-resistant spring and the installation hole on the bracket, and is screwed to the ferromagnetic disk, the ferromagnetic disk is facing the electromagnet, and the controller Use the signal cable to connect the power relay of the electromagnet.
所述进水装置还可以是安装在所述下导流孔处的多个同时打开的电磁阀阵列；所述控制器使用所述信号线缆电信号连接所述卫星通 信装置和所述船形配重的所述电磁阀阵列的电源继电器，所述控制器通过所述卫星通信装置接收远程布放者发出的布放指令，根据布放指令所述控制器发出控制信号给所述电磁阀阵列的继电器接通电源，所述电磁阀阵列打开海水注入所述船形配重。The water inlet device can also be a plurality of simultaneously opened solenoid valve arrays installed at the lower diversion hole; the controller uses the signal cable to electrically connect the satellite communication device and the boat-shaped distribution The power relay of the solenoid valve array, the controller receives the deployment instruction from the remote deployment person through the satellite communication device, and sends a control signal to the solenoid valve array according to the deployment instruction. The relay is powered on, and the solenoid valve array opens seawater to inject the boat-shaped counterweight.
所述释放装置包括大螺栓、圆盘、三角挡块、小弹簧、连接杆、大弹簧、圆柱销、吸盘式电磁铁、小螺栓、机架、胶垫和三角形垫块，所述大螺栓将所述机架、所述胶垫和所述三角形垫块和所述船形配重连接为一体，或所述大螺栓将所述机架、所述胶垫和所述三角形垫块和所述无人艇连接为一体；所述吸盘式电磁铁使用所述小螺栓螺纹连接在所述机架上；所述连接杆一端焊接所述三角挡块，小弹簧套在所述连接杆上，所述连接杆穿过所述机架与所述圆盘螺纹连接，所述圆盘选用铁磁性材料制成，所述圆柱销套上所述大弹簧穿入所述机架的连接孔和所述牵引杆的连接圈之中，所述三角挡块位于所述圆柱销上方且与所述圆柱销限位配合。。Described releasing device comprises big bolt, disc, triangular block, small spring, connecting rod, big spring, cylindrical pin, sucker type electromagnet, small bolt, frame, rubber pad and triangular spacer, and described big bolt will The frame, the rubber pad, the triangular pad and the boat-shaped counterweight are connected as one, or the large bolt connects the frame, the rubber pad, the triangular pad and the The boat is connected as a whole; the suction cup electromagnet is screwed on the frame by the small bolt; The connecting rod passes through the frame and is threadedly connected with the disc, the disc is made of ferromagnetic material, and the large spring on the cylindrical pin sleeve penetrates the connection hole of the frame and the traction In the connecting ring of the rod, the triangular stopper is located above the cylindrical pin and limitedly fits with the cylindrical pin. .
所述密封板上设置有卡子，内六角螺钉穿过固定孔将所述卡子固定在所述密封板上，所述卡子由弹性塑料制成，所述系留缆卡在所述卡子之中。在所述船形配重的顶部设置有隔热防晒板，在所述船形配重和所述隔热防晒板之间设置密封垫，在所述隔热防晒板和所述船形配重上捆绑有橡胶绳，所述橡胶绳总的拉断力小于所述主浮球的净浮力。所述船形配重内设置填充物，仪器放置在所述填充物之间。所述橡胶密封垫嵌入钢丝。The sealing plate is provided with a clip, and the hexagon socket head screw passes through the fixing hole to fix the clip on the sealing plate. The clip is made of elastic plastic, and the mooring cable is stuck in the clip. A heat-insulating sunscreen is arranged on the top of the boat-shaped counterweight, a sealing pad is arranged between the boat-shaped counterweight and the heat-insulated sunscreen, and a heat-insulated sunscreen and the boat-shaped counterweight are bound with A rubber rope, the total breaking force of the rubber rope is less than the net buoyancy of the main floating ball. Fillers are arranged inside the boat-shaped counterweight, and instruments are placed between the fillers. The rubber sealing gasket is embedded with steel wire.
一种无人艇牵引的远程布放智能潜标的布放方法，其步骤如下：A deployment method for remotely deploying intelligent submersible marks towed by an unmanned boat, the steps of which are as follows:
S1.在实验室出海准备的时候，按观测的海洋要素选定潜标需要挂载的仪器，检查维护设置选定的观测仪器，根据预估的观测环境参数，设计潜标的船形配重、浮球以及净浮力，预制钢筋混凝土的船形配重；S1. When the laboratory is preparing to go to sea, select the instruments to be mounted on the submersible according to the observed ocean elements, check and maintain the selected observation instruments, and design the ship shape counterweight and buoy of the submersible according to the estimated observation environment parameters. Ball and net buoyancy, prefabricated reinforced concrete boat counterweight;
S2.在所述船形配重底部铺设所述橡胶密封垫；将所述密封板卡在所述左电磁释放器、所述右电磁释放器之下；在所述船形配重内铺设所述填充物；S2. Laying the rubber gasket at the bottom of the boat-shaped counterweight; clamping the sealing plate under the left electromagnetic releaser and the right electromagnetic releaser; laying the filling in the boat-shaped counterweight thing;
S3.将潜标各个仪器组装成潜标后，安装在所述船形配重内的所述填充物中，所述声学释放器通过所述锚链连接所述船形配重的所述连接环上；所述系留缆卡在所述卡子之中；S3. After assembling the various instruments of the submersible buoy into a submersible buoy, install them in the filler in the boat-shaped counterweight, and connect the acoustic releaser to the connecting ring of the boat-shaped counterweight through the anchor chain ; The mooring cable is stuck in the clip;
S4.在所述船形配重顶部设置隔热防晒板；S4. A thermal insulation sunscreen is arranged on the top of the boat-shaped counterweight;
S5.使用所述橡胶绳捆扎隔热防晒板和所述船形配重为一体；S5. Use the rubber rope to bind the heat-insulating sunscreen and the boat-shaped counterweight as one;
S6.所述船形配重和所述无人艇之间使用所述释放装置、所述牵引杆、所述牵引环构造成可释放的连接，所述控制器使用所述信号线缆连接所述释放装置的所述吸盘式电磁铁的电源继电器；S6. The release device, the tow rod, and the tow ring are configured to be releasably connected between the boat-shaped counterweight and the unmanned boat, and the controller uses the signal cable to connect the a power relay for the suction cup solenoid of the release device;
S7.远程布放者使用智能终端与所述无人艇的自动驾驶仪建立TCP/IP连接，在所述无人艇的自动驾驶仪中设定潜标布放点的经纬坐标，所述无人艇牵引所述船形配重到达布放海域后，或者远程布放者在线操控所述无人艇牵引所述船形配重到达布放海域后，远程布放者根据回传的实际测量的布放环境信息判定适合布放潜标的时候，远程布放者通过所述卫星通信装置与所述控制器建立TCP/IP连接，远程布放者发出布放指令，所述控制器通过所述卫星通信装置接收布放 指令，根据布放指令发出控制信号经所述信号线缆传输到所述释放装置的继电器，接通所述吸盘式电磁铁的电源，释放所述牵引杆；S7. The remote deployer uses the intelligent terminal to establish a TCP/IP connection with the autopilot of the unmanned boat, and sets the latitude and longitude coordinates of the submerged mark deployment point in the autopilot of the unmanned boat. After the manned boat tows the ship-shaped counterweight to the deployed sea area, or the remote deployer controls the unmanned boat online to pull the ship-shaped counterweight to the deployed sea area, the remote deployer according to the returned actual measured deployment When the release environment information determines that it is suitable to deploy the submersible mark, the remote deployer establishes a TCP/IP connection with the controller through the satellite communication device, and the remote deployer issues a deployment command, and the controller communicates with the controller through the satellite. The device receives the deployment command, sends a control signal according to the deployment command and transmits it to the relay of the release device through the signal cable, turns on the power supply of the suction cup electromagnet, and releases the drawbar;
S8.根据布放指令所述控制器发出控制信号接通所述进水装置的电源继电器，海水进入所述船形配重内，所述船形配重下沉，所述主浮球在自己的浮力作用下向上顶起所述隔热防晒板，拉脱所述橡胶绳，所述隔热防晒板与所述船形配重分离，随着所述船形配重的不断下沉，所述系留缆从所述卡子不断拉出，潜标逐步展开，潜标在所述船形配重的重力作用下不断下沉，最后静止下来坐在所述硬沉积物层上，完成布放。S8. According to the deployment command, the controller sends a control signal to connect the power relay of the water inlet device, the seawater enters the boat-shaped counterweight, the boat-shaped counterweight sinks, and the main floating ball under its own buoyancy Under the action, the heat-insulating sunscreen is lifted upwards, the rubber rope is pulled off, the heat-insulated sunscreen is separated from the boat-shaped counterweight, and as the boat-shaped counterweight continues to sink, the mooring cable Continuously pulling out from the clip, the submersible buoy gradually unfolds, and the submersible buoy sinks continuously under the gravity of the boat-shaped counterweight, and finally stops and sits on the hard sediment layer to complete the deployment.
与现有技术对比，本发明具备以下有益效果：Compared with the prior art, the present invention has the following beneficial effects:
1.在运输过程中船形配重作为容器容纳潜标，布放后作为配重固定潜标。无人艇牵引远程布放潜标可以在台风来临之际的高海况情况下，迎着台风实现远程控制布放潜标观测台风，获得对极端海况下的观测数据，拓展了人类对极端海洋状况的精确认识，避免了在高海况冒着生命危险进行海洋观测可能造成设备和人员的安全事故的发生。1. During the transportation, the ship-shaped counterweight is used as a container to accommodate the submersible mark, and after deployment, it is used as a counterweight to fix the submersible mark. The unmanned boat tows and remotely deploys submarine buoys can realize remote control and deploy submarine buoys to observe typhoons under high sea conditions when typhoons are approaching, obtain observation data under extreme sea conditions, and expand human understanding of extreme ocean conditions. Accurate understanding of the ocean observation at the risk of life in high sea conditions may cause equipment and personnel safety accidents.
2.在温度和湿度可控的洁净实验室检测仪器组装远程布放智能潜标，比在天气炎热、风高浪急、甲板剧烈摇晃的大海上，检测仪器组装潜标质量更有保证，避免在船上组装潜标不易觉察的差错影响潜标的组装质量造成潜标丢失，提高潜标回收率。2. Assembling and deploying smart submersible marks remotely in a clean laboratory with controllable temperature and humidity, the quality of submersible marks assembled by detection instruments is more guaranteed than in the sea where the weather is hot, windy and rough, and the deck is violently shaken. The imperceptible errors in the assembly of submersible marks on the ship affect the assembly quality of submersible marks and cause the loss of submersible marks, which improves the recovery rate of submersible marks.
3.在母船上组装潜标消耗非常昂贵船时费，节省船时费就能节省科研经费。3. Assembling submersible buoys on the mother ship consumes very expensive shipping time, and saving the shipping time can save scientific research funds.
4.远程布放潜标整体入水避免仪器和系留缆在后甲板上拖行，避 免仪器表面防腐层划伤，避免系留缆在拖行的过程中强度下降，减小潜标丢失的几率，提高潜标回收率。4. Long-distance deployment of the submersible mark into the water as a whole prevents the instrument and mooring cable from being towed on the rear deck, avoids scratches on the anti-corrosion layer on the surface of the instrument, avoids the strength of the mooring cable from decreasing during the towing process, and reduces the probability of loss of the submersible mark , improve the recovery rate of latent marks.
5.导流孔注水和侧系缆保证潜标下沉过程中的船形配重姿态稳定。5. The water injection in the diversion hole and the side mooring cable ensure the stability of the ship-shaped counterweight posture during the submersible buoy sinking process.
附图说明Description of drawings
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings required in the embodiments. Obviously, the accompanying drawings in the following description are only some of the present invention. Embodiments, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without paying creative labor.
图1为远程布放前的潜标示意图；Figure 1 is a schematic diagram of the submersible mark before remote deployment;
图2为远程布放后的潜标示意图；Figure 2 is a schematic diagram of the submersible mark after remote deployment;
图3为释放装置结构示意图；Fig. 3 is a structural schematic diagram of the releasing device;
图4为电磁释放器结构示意图；Fig. 4 is a structural schematic diagram of the electromagnetic release device;
图5为密封板示意图；Fig. 5 is a schematic diagram of a sealing plate;
图6为卡子结构示意图；Fig. 6 is a schematic diagram of the clip structure;
图7为释放装置另一种安装方式示意图；Fig. 7 is a schematic diagram of another installation method of the release device;
图8为所述进水装置是电磁阀阵列远程布放前的潜标示意图；Fig. 8 is a schematic diagram of the submersible mark before the water inlet device is remotely deployed by the solenoid valve array;
图9为所述进水装置是电磁阀阵列远程布放后的潜标示意图；Fig. 9 is a schematic diagram of the submersible mark after the water inlet device is remotely deployed by the solenoid valve array;
图10为卫星通信装置示意图。Fig. 10 is a schematic diagram of a satellite communication device.
图中：隔热防晒板101、橡胶垫102、船形配重103、橡胶绳104、左电磁释放器105、卫星通信装置106、密封板107、上导流孔108、 控制器109、主浮球110、信号线缆111、指示线112、释放装置113、牵引杆114、牵引环115、无人艇116、外置天线二117、附加释放装置118、橡胶密封垫119、下导流孔120、声学多普勒流速剖面仪(ADCP)121、连接环122、不锈钢支架123、锚链124、温盐深仪(CTD)125、小浮球126、声学释放器127、温度记录仪128、倒刺129、单点海流计130、系留缆131、仪器链132；右电磁释放器133、填充物134、海水135；In the figure: heat insulation sunscreen 101, rubber pad 102, boat-shaped counterweight 103, rubber rope 104, left electromagnetic releaser 105, satellite communication device 106, sealing plate 107, upper diversion hole 108, controller 109, main float 110, signal cable 111, indicator line 112, release device 113, tow bar 114, tow ring 115, unmanned boat 116, external antenna 2 117, additional release device 118, rubber gasket 119, lower diversion hole 120, Acoustic Doppler Current Profiler (ADCP) 121, Connecting Ring 122, Stainless Steel Bracket 123, Anchor Chain 124, Temperature, Salt Depth (CTD) 125, Small Float 126, Acoustic Release 127, Temperature Recorder 128, Barb 129, single-point current meter 130, mooring cable 131, instrument chain 132; right electromagnetic releaser 133, filler 134, sea water 135;
左侧系缆201、左细绳202、锚链环203、右侧系缆204、右细绳205、软沉积物层206、硬沉积物层207； Left tether 201, left string 202, anchor chain ring 203, right tether 204, right string 205, soft sediment layer 206, hard sediment layer 207;
大螺栓301、圆盘302、三角挡块303、小弹簧304、连接杆305、大弹簧306、圆柱销307、吸盘式电磁铁308、小螺栓309、机架310、胶垫311、三角形垫块312； Large bolt 301, disk 302, triangular block 303, small spring 304, connecting rod 305, large spring 306, cylindrical pin 307, suction cup electromagnet 308, small bolt 309, frame 310, rubber pad 311, triangular spacer 312;
密封胶垫400、长螺栓401、楔形垫块402、短螺栓403、电磁铁404、支架405、铁磁性盘406、耐腐蚀弹簧407、连杆408、挡块409；Sealing rubber pad 400, long bolt 401, wedge-shaped pad 402, short bolt 403, electromagnet 404, bracket 405, ferromagnetic disk 406, corrosion-resistant spring 407, connecting rod 408, stopper 409;
卡子501、锚链孔502、定位销孔503； Clip 501, anchor chain hole 502, positioning pin hole 503;
固定孔601；Fixing hole 601;
电磁阀801； Solenoid valve 801;
圆盘形浮体1001、密封舱1002、螺栓1003、小开口销1004、连接支架1005、大销子1006、卫星通信终端1007、外置天线一1008。Disc-shaped floating body 1001, airtight cabin 1002, bolt 1003, small cotter pin 1004, connection bracket 1005, large pin 1006, satellite communication terminal 1007, external antenna one 1008.
具体实施方式Detailed ways
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部 分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
为使本发明的上述目的、特征和优点能够更加明显易懂，下面结合附图和具体实施方式对本发明作进一步详细的说明。In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.
实施例1：如图1、2所示，一种无人艇牵引的远程布放智能潜标包括卫星通信装置106、主浮球110、ADCP121、控制器109、不锈钢支架123、仪器链132、声学释放器127、锚链124、连接环122、船形配重103、牵引杆114、释放装置113和进水装置，所述主浮球110上分别设置有向上和向下打的所述ADCP121、所述控制器109设置在所述主浮球110的预留空腔内，所述不锈钢支架123穿过所述主浮球110上的预留孔，所述ADCP、所述不锈钢支架使用螺母固定在所述主浮球110上，所述不锈钢支架123上部设置有所述卫星通信装置106，所述不锈钢支架123下部使用所述系留缆131连接所述仪器链132，所述仪器链132下端连接所述声学释放器127，所述控制器109使用所述信号线缆111电信号连接所述卫星通信装置106、所述ADCP121、所述仪器链132中的仪器、所述声学释放器127、所述释放装置113和所述进水装置，为了图线清晰，部分在图1中画出，另一部分在图2画出。所述信号线缆111与各个仪器和继电器的需要断开的连接采用感应耦合器连接，避免接头断开后造成短路损坏电路。Embodiment 1: As shown in Figures 1 and 2, a remote deployment smart submarine towed by an unmanned boat includes a satellite communication device 106, a main float 110, ADCP121, a controller 109, a stainless steel bracket 123, an instrument chain 132, Acoustic release device 127, anchor chain 124, connecting ring 122, boat-shaped counterweight 103, draw bar 114, release device 113 and water inlet device, said main floating ball 110 is respectively provided with described ADCP121, The controller 109 is set in the reserved cavity of the main float 110, the stainless steel bracket 123 passes through the reserved hole on the main float 110, and the ADCP and the stainless steel bracket are fixed with nuts On the main float 110, the satellite communication device 106 is arranged on the upper part of the stainless steel bracket 123, and the lower part of the stainless steel bracket 123 is connected to the instrument chain 132 by the mooring cable 131, and the lower end of the instrument chain 132 is Connect the acoustic releaser 127, the controller 109 uses the signal cable 111 to electrically connect the satellite communication device 106, the ADCP121, the instruments in the instrument chain 132, the acoustic releaser 127, The release device 113 and the water inlet device are partially drawn in FIG. 1 and the other part is drawn in FIG. 2 for clarity of the drawing. The connection between the signal cable 111 and each instrument and relay that needs to be disconnected is connected by an inductive coupler, so as to avoid short circuit damage to the circuit after the connector is disconnected.
所述仪器链132根据观测需要选定若干仪器构成，如单点海流计130、温度记录仪128、CTD125、小浮球126和溶解氧记录仪，所述 系留缆131将其连接在一起，所述不锈钢支架123上部还可以根据需要设置若干仪器，如信标机、数据回收仪和水声通信机。The instrument chain 132 is composed of several instruments selected according to observation needs, such as a single-point current meter 130, a temperature recorder 128, a CTD125, a small floating ball 126 and a dissolved oxygen recorder, and the mooring cable 131 connects them together. Several instruments can also be arranged on the top of the stainless steel support 123 as required, such as a beacon machine, a data recovery instrument and an underwater acoustic communication machine.
所述船形配重103为钢筋混凝土预制的平底形船壳，在潜标运输过程中其内部容纳组装好的潜标；船形配重103被所述无人艇116牵引的时候阻力较小，平底便于其平稳坐落在海底固定潜标，其上设有倒刺129，避免水平滑移。所述船形配重103底部中心位置设置有所述连接环122，所述声学释放器127通过所述锚链124连接在所述连接环122上，所述声学释放器127接收到它的甲板单元的加密的控制指令，打开锁扣，所述锚链124与所述声学释放器127分离，潜标与所述船形配重103分离，在所述主浮球的净浮力作用下上浮到海面。The boat-shaped counterweight 103 is a prefabricated flat-bottomed hull of reinforced concrete, which accommodates the assembled submersible bid in its interior during the transportation of the submarine bid; It is convenient for it to be stably located on the seabed to fix the submersible mark, and it is provided with barbs 129 to avoid horizontal slippage. The connecting ring 122 is arranged at the center of the bottom of the boat-shaped counterweight 103, the acoustic releaser 127 is connected to the connecting ring 122 through the anchor chain 124, and the acoustic releaser 127 receives its deck unit The encrypted control command opens the lock, the anchor chain 124 is separated from the acoustic releaser 127, the submersible is separated from the boat-shaped counterweight 103, and floats to the sea surface under the net buoyancy of the main buoyancy.
所述指示线112指示的是所述无人艇116前进的方向，所述船形配重103和所述无人艇116之间使用所述释放装置113、所述牵引杆114和所述牵引环115构造成可释放的连接。如图1所示，所述释放装置113设置在所述船形配重103的前部，使用螺栓连接在所述船形配重103上，所述牵引杆114一端连接所述释放装置113，另一端连接所述牵引环115，所述牵引环115刚性连接在无人艇上，控制器109使用所述信号线缆111连接所述释放装置113的所述吸盘式电磁铁308的电源继电器。所述船形配重103一端设置有所述释放装置113，另一端设置有附加释放装置118，其作用是所述船形配重103重量和外形对称，所述船形配重103下沉的过程中受力对称。此方案使用的所述无人艇116是通用无人艇，无需对无人艇改装。The indicator line 112 indicates the direction in which the unmanned boat 116 advances, and the release device 113, the tow bar 114 and the tow ring are used between the boat-shaped counterweight 103 and the unmanned boat 116. 115 is configured as a releasable connection. As shown in Figure 1, the release device 113 is arranged on the front part of the boat-shaped counterweight 103, and is connected to the boat-shaped counterweight 103 by using bolts. One end of the tow rod 114 is connected to the release device 113, and the other end Connect the traction ring 115 , the traction ring 115 is rigidly connected to the unmanned boat, and the controller 109 uses the signal cable 111 to connect the power relay of the suction cup electromagnet 308 of the release device 113 . One end of the boat-shaped counterweight 103 is provided with the release device 113, and the other end is provided with an additional release device 118. Its function is that the weight and shape of the boat-shaped counterweight 103 are symmetrical. Force symmetry. The unmanned boat 116 used in this solution is a general-purpose unmanned boat, and there is no need to refit the unmanned boat.
如图7所示，所述释放装置113刚性连接在无人艇上，所述船形 配重103的两端对称设置所述牵引环115，其中之一的所述牵引环115使用所述牵引杆114连接在所述释放装置113上，此方案使用的所述无人艇116是专用无人艇，对无人艇改装，加装所述释放装置113。As shown in Figure 7, the release device 113 is rigidly connected to the unmanned boat, the two ends of the boat-shaped counterweight 103 are symmetrically provided with the traction rings 115, and one of the traction rings 115 uses the traction rod 114 is connected on the release device 113, the unmanned boat 116 used in this program is a special unmanned boat, the unmanned boat is refitted, and the release device 113 is installed.
所述船形配重103的底部设置有所述进水装置，其包括所述密封板107、所述橡胶密封垫119、所述左电磁释放器105和所述右电磁释放器133，所述密封板107与所述船形配重103的底部之间设置有所述橡胶密封垫119，所述密封板107压紧在所述橡胶密封垫119上，其两端卡在所述左电磁释放器105和所述右电磁释放器133之下；所述船形配重103上设置有所述下导流孔120阵列，所述密封板107上设置有所述上导流孔108阵列，所述下导流孔120阵列与所述上导流孔108阵列交错布置，所述橡胶密封垫119嵌入钢丝强化其强度和刚度，避免在压力作用下橡胶密封垫从所述上导流孔108或所述下导流孔120溢出，影响密封效果。如图5所示，所述密封板107上的定位销孔503与固定在所述船形配重103上的定位销配合，定位销图中未画出，保证所述下导流孔120与所述上导流孔108交错布置。The bottom of the boat-shaped counterweight 103 is provided with the water inlet device, which includes the sealing plate 107, the rubber gasket 119, the left electromagnetic release 105 and the right electromagnetic release 133, the sealing The rubber sealing pad 119 is arranged between the plate 107 and the bottom of the boat-shaped counterweight 103, the sealing plate 107 is pressed on the rubber sealing pad 119, and its two ends are stuck on the left electromagnetic release 105 and under the right electromagnetic release device 133; the boat-shaped counterweight 103 is provided with the array of lower guide holes 120, the sealing plate 107 is provided with the array of upper guide holes 108, and the lower guide The array of flow holes 120 and the array of upper flow holes 108 are alternately arranged, and the rubber gasket 119 is embedded with steel wires to strengthen its strength and rigidity, so as to prevent the rubber gasket from flowing from the upper flow holes 108 or the lower flow holes under pressure. The diversion hole 120 overflows, affecting the sealing effect. As shown in Figure 5, the positioning pin holes 503 on the sealing plate 107 cooperate with the positioning pins fixed on the boat-shaped counterweight 103. The above-mentioned guide holes 108 are arranged in a staggered manner.
所述控制器109使用所述信号线缆111电信号连接所述卫星通信装置106和所述左电磁释放器105和所述右电磁释放器133的所述电磁铁404的电源继电器，控制左电磁释放器105和所述右电磁释放器133接通或断开电源；所述控制器109通过所述卫星通信装置106接收远程布放者发出的布放指令，根据布放指令所述控制器109生成和发出控制信号给所述左电磁释放器105和所述右电磁释放器133的所述电磁铁404的电源继电器接通电源，控制所述密封板107脱离所述 船形配重103。所述密封板107和所述橡胶密封垫119与所述船形配重103脱离之后，海水135从所述下导流孔120流入所述船形配重103。The controller 109 uses the signal cable 111 to connect the satellite communication device 106 and the power relay of the electromagnet 404 of the left electromagnetic release 105 and the right electromagnetic release 133 to control the left electromagnetic release. The releaser 105 and the right electromagnetic releaser 133 are powered on or off; the controller 109 receives the deployment instruction sent by the remote deployment person through the satellite communication device 106, and the controller 109 according to the deployment instruction Generate and send control signals to power on the power relays of the electromagnets 404 of the left electromagnetic release 105 and the right electromagnetic release 133 , and control the sealing plate 107 to separate from the boat-shaped counterweight 103 . After the sealing plate 107 and the rubber gasket 119 are separated from the counterweight boat 103 , the seawater 135 flows into the counterweight boat 103 from the lower guide hole 120 .
所述密封板107与所述船形配重103底板之间前后左右至少对称设置四条细绳，图2中画出所述左细绳202和所述右细绳205，四条细绳系住并保持所述密封板107姿态，避免撞击所述声学释放器127。Between the sealing plate 107 and the bottom plate of the boat-shaped counterweight 103, at least four strings are symmetrically arranged front, rear, left, right, left, right, left, and right. The left string 202 and the right string 205 are drawn in FIG. 2, and the four strings are tied and kept The sealing plate 107 is positioned to avoid hitting the acoustic releaser 127 .
在靠近声学释放器的锚链上设置所述锚链环203，也就是将锚链的一扣扩大为所述锚链环203，在所述锚链环203和所述船形配重103的上部之间设置至少四条侧系缆，图2中画出了所述左侧系缆201和所述右侧系缆204，前侧系缆和后侧系缆图中未画出，四条侧系缆保持所述船形配重103在下沉过程中的姿态，避免所述船形配重103大角度倾斜。每根侧系缆至少包含一段海水可以腐蚀的材料制成的细丝，如用砂纸打磨掉镀锌层的镀锌铁丝，布放在海水中，镀锌铁丝被海水腐蚀，回收潜标的时候镀锌铁丝已经不能承受拉力，达到延时断开侧系缆的技术效果。侧系缆还可以是耐腐蚀材料制成的绳子，此时所有侧系缆总的拉断力小于潜标的净浮力，优选的，总的拉断力等于0.2至0.3倍潜标的净浮力。如图8和图9所示，所述进水装置还可以是安装在所述下导流孔120处的多个同时打开的电磁阀801阵列；所述控制器109使用所述信号线缆111电信号连接所述卫星通信装置106和所述电磁阀801阵列的电源继电器，所述控制器109通过所述卫星通信装置106接收远程布放者发出的布放指令，根据布放指令所述控制器109发出控制信号给所述电磁阀801阵列的继电器接通电源，所 述电磁阀801阵列打开海水注入所述船形配重103，直到电磁阀801的电源耗尽，需要足够的电源在潜标触底前使电磁阀801保持打开状态；使用多个同时打开的所述电磁阀801阵列方案代替了所述左细绳202、所述右细绳205、所述左电磁释放器105、所述右电磁释放器133、所述密封板107、所述橡胶密封垫119组成的进水装置了。The anchor chain ring 203 is set on the anchor chain close to the acoustic release device, that is, a buckle of the anchor chain is expanded into the anchor chain ring 203, and on the upper part of the anchor chain ring 203 and the boat-shaped counterweight 103 At least four side tether cables are arranged between them, the left side tether cables 201 and the right side tether cables 204 are shown in Fig. Maintain the posture of the boat-shaped counterweight 103 during the sinking process, and prevent the boat-shaped counterweight 103 from tilting at a large angle. Each side mooring cable contains at least a section of filament made of seawater corrodible material, such as galvanized iron wire with sandpaper to remove the galvanized layer, and placed in seawater, the galvanized iron wire is corroded by seawater. Unable to withstand the pulling force, the technical effect of delaying the disconnection of the side mooring cable is achieved. The side mooring cables can also be ropes made of corrosion-resistant materials. At this time, the total breaking force of all side mooring cables is less than the net buoyancy of the submersible. Preferably, the total breaking force is equal to 0.2 to 0.3 times the net buoyancy of the submersible. As shown in FIGS. 8 and 9 , the water inlet device can also be an array of a plurality of simultaneously opened solenoid valves 801 installed at the lower guide hole 120; the controller 109 uses the signal cable 111 Electrical signals connect the satellite communication device 106 and the power relay of the solenoid valve 801 array, the controller 109 receives the deployment instruction issued by the remote deployment person through the satellite communication device 106, and controls according to the deployment instruction. The device 109 sends a control signal to the relay of the solenoid valve 801 array to turn on the power, and the solenoid valve 801 array opens the seawater and injects the boat-shaped counterweight 103 until the power supply of the solenoid valve 801 is exhausted. Make the solenoid valve 801 open before touching the bottom; use a plurality of simultaneously opened electromagnetic valves 801 array scheme to replace the left string 202, the right string 205, the left electromagnetic release device 105, the The water inlet device that right electromagnetic release device 133, described sealing plate 107, described rubber gasket 119 forms.
所述进水装置还可以是安装在船形配重103的船舷上的水泵，图中未画出水泵，所述控制器109使用所述信号线缆111电信号连接所述卫星通信装置106和所述水泵的电源继电器，所述控制器109通过所述卫星通信装置106接收远程布放者发出的布放指令，根据布放指令所述控制器109发出控制信号给所述水泵的继电器接通电源，所述水泵打开海水注入所述船形配重103。The water inlet device can also be a water pump installed on the side of the ship-shaped counterweight 103, the water pump is not shown in the figure, and the controller 109 uses the signal cable 111 to electrically connect the satellite communication device 106 and the The power relay of the water pump, the controller 109 receives the deployment command sent by the remote deployment person through the satellite communication device 106, and according to the deployment command, the controller 109 sends a control signal to power on the relay of the water pump , the water pump turns on seawater to inject into the boat-shaped counterweight 103 .
所述船形配重103由钢筋和混凝土制成，钢筋优选不锈钢材质，混凝土优选造船的防渗混凝土，本案所涉及的材料和工艺需要遵守海洋仪器和海洋工程的相关技术规范；所述船形配重103底部对称布置有多个所述下导流孔120；所述船形配重103顶部设置有隔热防晒板101，防止烈日曝晒仪器；所述船形配重103的内外表面设置有防水层，所述防水层优选环氧树脂防水涂料；在所述船形配重103内铺设所述填充物134，所述填充物134由粗砂和木屑混合而成；所述橡胶绳104捆扎隔热防晒板101和所述船形配重103为一体。The boat-shaped counterweight 103 is made of steel bars and concrete, the steel bars are preferably made of stainless steel, and the concrete is preferably anti-seepage concrete for shipbuilding. The materials and processes involved in this case need to comply with relevant technical specifications for marine instruments and marine engineering; the boat-shaped counterweights The bottom of 103 is symmetrically arranged with a plurality of lower diversion holes 120; the top of the boat-shaped counterweight 103 is provided with a heat-insulating sunscreen 101 to prevent the instrument from being exposed to the scorching sun; the inner and outer surfaces of the boat-shaped counterweight 103 are provided with waterproof layers, so The waterproof layer is preferably epoxy resin waterproof paint; the filler 134 is laid in the boat-shaped counterweight 103, and the filler 134 is mixed by coarse sand and sawdust; It is integrated with the boat-shaped counterweight 103.
所述控制器109包括容纳在水密封外壳中的中央处理器、内存、外存、接口电路和电源，PCB电路板连接中央处理器、内存、外存和接口电路，中央处理器、内存、外存、接口电路分别连接电源，所述 控制器109的接口电路使用所述信号线缆111电信号连接至所述卫星通信装置106、所述ADCP121、所述仪器链132中的仪器、所述声学释放器127的接口电路，在所述控制器109和仪器之间建立数据通信链路传递数据和控制仪器启动或停止工作；控制器使用所述信号线缆111连接所述释放装置113的所述吸盘式电磁铁308的电源继电器，控制电源的接通或断开；控制器109使用所述信号线缆111连接所述进水装置的电源继电器，控制电源的接通或断开。方案测试实验中控制器109硬件采用Cortex-A9通用开发板。控制器109软件包括主程序模块、通信模块、释放模块和进水模块，主程序模块调用通信模块实现所述控制器109与所述卫星通信装置106建立数据连接，查询接收的信息，通信模块向主程序模块返回收到的布放指令；主程序模块调用释放模块发出释放控制信号控制释放装置113释放船形配重103；主程序模块调用进水模块发出进水控制信号控制进水装置工作，海水注入船形配重103，进水模块查询控CTD采集的压力数据判断船形配重103是否沉入海水之中，向主程序模块返回进水完成的结果。所述控制器109通过所述卫星通信装置106接受远程布放指令，发出控制信号控制所述释放装置113释放所述船形配重103和控制所述进水装置实现将海水注入所述船形配重103，完成潜标远程布放。Described controller 109 comprises central processing unit, internal memory, external memory, interface circuit and power supply contained in the water-tight casing, PCB circuit board connects central processing unit, internal memory, external memory and interface circuit, central processing unit, internal memory, external memory The storage and interface circuits are respectively connected to the power supply, and the interface circuit of the controller 109 uses the signal cable 111 to connect to the satellite communication device 106, the ADCP121, the instruments in the instrument chain 132, the acoustic The interface circuit of the release device 127 establishes a data communication link between the controller 109 and the instrument to transmit data and control the instrument to start or stop working; the controller uses the signal cable 111 to connect the release device 113 The power relay of the suction cup electromagnet 308 controls the power on or off; the controller 109 uses the signal cable 111 to connect the power relay of the water inlet device to control the power on or off. The hardware of the controller 109 in the program test experiment uses the Cortex-A9 general-purpose development board. The controller 109 software comprises a main program module, a communication module, a release module and a water intake module, and the main program module transfers the communication module to realize that the controller 109 establishes a data connection with the satellite communication device 106, inquires about the received information, and the communication module sends The main program module returns the deployment command received; the main program module calls the release module to send a release control signal to control the release device 113 to release the boat-shaped counterweight 103; the main program module calls the water inlet module to send a water inlet control signal to control the work of the water inlet device. The boat-shaped counterweight 103 is injected, and the water intake module queries the pressure data collected by the CTD to determine whether the boat-shaped counterweight 103 has sunk into the seawater, and returns the result of the water intake to the main program module. The controller 109 accepts the remote deployment command through the satellite communication device 106, sends a control signal to control the release device 113 to release the boat-shaped counterweight 103 and controls the water inlet device to inject seawater into the boat-shaped counterweight 103. The remote deployment of the submersible buoy is completed.
如图10所示，卫星通信装置106包括圆盘形浮体1001、密封舱1002、螺栓1003、小开口销1004、连接支架1005、大销子1006、卫星通信终端1007、外置天线一1008和外置天线二117，卫星通信终端1007设置在密封舱1002内，卫星通信终端1007使用所述信号线 缆111连接控制器109、外置天线一1008和外置天线二117。远程布放前，卫星通信终端1007一直开机工作；完成远程布放后，控制器109根据CTD采集的压力数据控制卫星通信终端1007关机；回收上浮后，控制器109根据CTD采集的压力数据控制卫星通信终端1007开机。外置天线一1008设置在密封舱1002的顶部，密封舱1002为倒置的圆台，圆盘形浮体1001套在密封舱1002上，连接支架1005使用螺栓1003连接在密封舱1002上，大销子1006穿过连接支架1005下端的联接孔与不锈钢支架123上的联接孔，大销子1006、连接支架1005和不锈钢支架123构成活动的连接，在潜标回收的时候，保证卫星通信装置的外置天线一1008可靠露出海面垂直指向天空，与母船可靠通信。小开口销1004穿过大销子1006端部的小孔，防止大销子1006滑脱。As shown in Figure 10, the satellite communication device 106 includes a disc-shaped floating body 1001, a sealed cabin 1002, a bolt 1003, a small cotter pin 1004, a connecting bracket 1005, a large pin 1006, a satellite communication terminal 1007, an external antenna 1008 and an external Antenna 2 117 is installed, satellite communication terminal 1007 is set in airtight cabin 1002 , and satellite communication terminal 1007 connects controller 109 , external antenna 1 1008 and external antenna 2 117 using the signal cable 111 . Before the remote deployment, the satellite communication terminal 1007 is always on and working; after the remote deployment is completed, the controller 109 controls the satellite communication terminal 1007 to shut down according to the pressure data collected by the CTD; after recovering and floating, the controller 109 controls the satellite according to the pressure data collected by the CTD The communication terminal 1007 is turned on. The external antenna 1 1008 is arranged on the top of the airtight cabin 1002, the airtight cabin 1002 is an inverted circular platform, the disk-shaped floating body 1001 is set on the airtight cabin 1002, the connecting bracket 1005 is connected on the airtight cabin 1002 by bolts 1003, and the large pin 1006 Through the connecting hole at the lower end of the connecting bracket 1005 and the connecting hole on the stainless steel bracket 123, the large pin 1006, the connecting bracket 1005 and the stainless steel bracket 123 form a movable connection, and when the submerged mark is recovered, the external antenna of the satellite communication device is ensured. One 1008 is reliably exposed to the sea and pointed vertically to the sky, and communicates reliably with the mother ship. The small cotter pin 1004 passes through the aperture at the end of the large pin 1006 to prevent the large pin 1006 from slipping off.
由于隔热防晒板101设置有隔热铝箔，外置天线一1008接收的信号被减弱，在无人艇116上或隔热防晒板101上增设所述外置天线二117，保证卫星通信信号可靠接收。所述外置天线二117与卫星通信终端1007采用感应耦合器连接，外置天线二117与卫星通信终端1007分离后接头浸泡在海水中不会影响卫星通信终端1007正常工作。Since the heat-insulating sunscreen 101 is provided with heat-insulating aluminum foil, the signal received by the external antenna one 1008 is weakened, and the external antenna two 117 is added on the unmanned boat 116 or the heat-insulated sunscreen 101 to ensure reliable satellite communication signals take over. The second external antenna 117 is connected to the satellite communication terminal 1007 by an inductive coupler. After the second external antenna 117 is separated from the satellite communication terminal 1007, soaking the joint in seawater will not affect the normal operation of the satellite communication terminal 1007.
实施例2：如图1和图3所示，所述释放装置113包括大螺栓301、圆盘302、三角挡块303、小弹簧304、连接杆305、大弹簧306、圆柱销307、吸盘式电磁铁308、小螺栓309、机架310、胶垫311和三角形垫块312，所述大螺栓301将所述机架310、所述胶垫311和所述三角形垫块312和所述船形配重103连接为一体；所述控制器109 使用所述信号线缆111连接所述吸盘式电磁铁308的电源继电器，控制吸盘式电磁铁308工作或停止；所述吸盘式电磁铁308使用所述小螺栓309螺纹连接在所述机架310上；所述连接杆305一端焊接所述三角挡块303，小弹簧304套在所述连接杆305上，所述连接杆305穿过所述机架310与所述圆盘302螺纹连接，所述圆盘302选用铁磁性材料制成，本申请中暴露在海水中的零件都选用耐腐蚀防附着的材料。所述圆柱销307套上所述大弹簧306穿入所述机架310的连接孔和所述牵引杆114一端的连接圈之中。所述牵引杆114的连接圈套在所述圆柱销307上，所述圆柱销307将受到所述牵引杆114的拉力传给所述机架310，再传给所述船形配重103。所述牵引杆114的另一端的连接圈与所述牵引环115连接。所述吸盘式电磁铁308断电状态，在小弹簧304的弹力作用下三角挡块303挡住所述圆柱销307，三角挡块303与所述圆柱销307限位配合。平衡所述大弹簧306的弹力；所述吸盘式电磁铁308通电状态，所述吸盘式电磁铁308吸引所述圆盘302拉动所述连接杆305带动所述三角挡块303向左运动，所述圆柱销307在所述大弹簧306弹力作用下向上运动，所述圆柱销307脱离所述牵引杆114的连接圈，所述牵引杆114与所述船形配重103分离。释放装置113还可以采用牵引车与挂车的连接装置，还可以采用列车自动对接的连接装置。以上只是举例说明，并非限定释放装置113的结构。Embodiment 2: As shown in Figure 1 and Figure 3, the release device 113 includes a large bolt 301, a disc 302, a triangular block 303, a small spring 304, a connecting rod 305, a large spring 306, a straight pin 307, a suction cup type Electromagnet 308, small bolt 309, frame 310, rubber pad 311 and triangular spacer 312, described large bolt 301 is with described frame 310, described rubber pad 311 and described triangular spacer 312 and described boat shape The weight 103 is connected as one; the controller 109 uses the signal cable 111 to connect the power relay of the suction cup electromagnet 308 to control the operation or stop of the suction cup electromagnet 308; the suction cup electromagnet 308 uses the Small bolts 309 are threaded on the frame 310; one end of the connecting rod 305 is welded to the triangular block 303, the small spring 304 is sleeved on the connecting rod 305, and the connecting rod 305 passes through the frame 310 is threadedly connected with the disc 302, and the disc 302 is made of ferromagnetic material, and the parts exposed to seawater in this application are all made of corrosion-resistant and anti-adhesion materials. The cylindrical pin 307 is sleeved on the large spring 306 and inserted into the connecting hole of the frame 310 and the connecting ring at one end of the drawing rod 114 . The connecting loop of the towing rod 114 is looped on the cylindrical pin 307 , and the cylindrical pin 307 transmits the pulling force received by the towing rod 114 to the frame 310 and then to the boat counterweight 103 . The connecting ring at the other end of the towing rod 114 is connected to the towing ring 115 . When the suction cup electromagnet 308 is powered off, the triangular stopper 303 blocks the cylindrical pin 307 under the elastic force of the small spring 304 , and the triangular stopper 303 is limitedly matched with the cylindrical pin 307 . Balance the elastic force of the large spring 306; the suction cup electromagnet 308 is in the energized state, and the suction cup electromagnet 308 attracts the disc 302 and pulls the connecting rod 305 to drive the triangular block 303 to move to the left. The cylindrical pin 307 moves upward under the elastic force of the large spring 306 , the cylindrical pin 307 breaks away from the connecting ring of the traction rod 114 , and the traction rod 114 is separated from the boat-shaped counterweight 103 . The release device 113 can also adopt the connecting device of the tractor and the trailer, and can also adopt the connecting device of the automatic docking of the train. The above is just an example and does not limit the structure of the release device 113 .
如图1和图3所示，所述大螺栓301将所述机架310、所述胶垫311和所述三角形垫块312和所述船形配重103连接为一体；所述牵 引环115设置在无人艇116上，所述释放装置113、所述牵引杆114和牵引环115构造成可释放的连接。如图7和图3所示，所述大螺栓301将所述机架310、所述胶垫311和所述三角形垫块312和所述无人艇116连接为一体，所述牵引环115设置在船形配重103上，释放装置113、所述牵引杆114和牵引环115构造成可释放的连接。As shown in Figures 1 and 3, the large bolt 301 connects the frame 310, the rubber pad 311, the triangular pad 312 and the boat-shaped counterweight 103 as a whole; the traction ring 115 is set On the unmanned boat 116 , the release device 113 , the tow bar 114 and the tow eye 115 are designed as a releasable connection. As shown in Figure 7 and Figure 3, the large bolt 301 connects the frame 310, the rubber pad 311, the triangular spacer 312 and the unmanned boat 116 as a whole, and the traction ring 115 is set On the boat weight 103 , the release device 113 , said towing rod 114 and the towing ring 115 are designed as a releasable connection.
实施例3：如图4所示，所述电磁释放器(105、133)包括密封胶垫400、长螺栓401、楔形垫块402、短螺栓403、电磁铁404、支架405、铁磁性盘406、耐腐蚀弹簧407、连杆408、挡块409和所述信号线缆111，所述长螺栓401连接所述船形配重103、所述楔形垫块402和所述支架405为一体，所述船形配重103与楔形垫块402之间设置有密封胶垫400。所述短螺栓403将所述电磁铁404固定在所述支架405上，所述连杆408和所述挡块409焊接在一起，所述连杆408穿过所述耐腐蚀弹簧407和所述支架405上的安装孔，螺纹连接所述铁磁性盘406，所述铁磁性盘406正对所述电磁铁404，所述电磁铁404的电源继电器使用所述信号线缆111连接所述控制器109，控制器109发出控制信号给继电器，控制电磁铁404的电源接通或断开。所述电磁铁404为吸盘式电磁铁，所述电磁铁404断电状态，所述耐腐蚀弹簧407伸长顶住所述挡块409，所述挡块409挡住所述密封板107，所述密封板107压着所述橡胶密封垫119，所述上导流孔108和所述下导流孔120被密封，海水不能进入所述船形配重103；所述电磁铁404通电状态，所述电磁铁404吸引所述铁磁性盘406，拉动所述连杆408和所述挡块409，所述挡块409压缩所述耐腐蚀弹 簧407，所述挡块409离开所述密封板107，所述密封板107和所述橡胶密封垫119与所述船形配重103分离，海水涌入所述下导流孔120和所述上导流孔108进入所述船形配重103。Embodiment 3: As shown in Figure 4, the electromagnetic release device (105, 133) includes a sealing rubber pad 400, a long bolt 401, a wedge-shaped pad 402, a short bolt 403, an electromagnet 404, a bracket 405, and a ferromagnetic disk 406 , a corrosion-resistant spring 407, a connecting rod 408, a block 409 and the signal cable 111, the long bolt 401 connects the boat-shaped counterweight 103, the wedge-shaped spacer 402 and the bracket 405 as one, the A sealing rubber pad 400 is provided between the boat-shaped counterweight 103 and the wedge-shaped pad 402 . The short bolt 403 fixes the electromagnet 404 on the bracket 405, the connecting rod 408 and the stopper 409 are welded together, and the connecting rod 408 passes through the corrosion-resistant spring 407 and the The mounting hole on the bracket 405 is screwed to the ferromagnetic disk 406, the ferromagnetic disk 406 is facing the electromagnet 404, and the power relay of the electromagnet 404 is connected to the controller using the signal cable 111 109 , the controller 109 sends a control signal to the relay to control the power of the electromagnet 404 to be turned on or off. The electromagnet 404 is a sucker-type electromagnet. When the electromagnet 404 is powered off, the corrosion-resistant spring 407 stretches to withstand the stopper 409, and the stopper 409 blocks the sealing plate 107. The sealing plate 107 presses the rubber gasket 119, the upper diversion hole 108 and the lower diversion hole 120 are sealed, and seawater cannot enter the boat-shaped counterweight 103; the electromagnet 404 is in an electrified state, and the The electromagnet 404 attracts the ferromagnetic disk 406, pulls the connecting rod 408 and the stopper 409, the stopper 409 compresses the corrosion-resistant spring 407, and the stopper 409 leaves the sealing plate 107, so The sealing plate 107 and the rubber gasket 119 are separated from the boat-shaped counterweight 103 , and seawater pours into the lower diversion hole 120 and the upper diversion hole 108 into the boat-shaped counterweight 103 .
实施例4：长长的所述系留缆131可能相互缠绕在一起，一旦缠绕在一起不容易解开，这样就难以实现远程布放潜标；如图5和图6所示，所述密封板107上设置有卡子501，内六角螺钉穿过所述固定孔601将所述卡子501固定在所述密封板107上，所述卡子501由弹性塑料制成，所述系留缆131卡在所述卡子501之中，潜标布放的时候，所述系留缆131在所述主浮球110的浮力作用下从所述卡子501脱出，解决了所述系留缆131太长相互缠绕的问题。Embodiment 4: The long mooring cables 131 may be entangled with each other, and once entangled together, it is not easy to untie, so it is difficult to realize the remote deployment of submersible buoys; as shown in Figures 5 and 6, the sealing The plate 107 is provided with a clip 501, and the hexagon socket head screw passes through the fixing hole 601 to fix the clip 501 on the sealing plate 107. The clip 501 is made of elastic plastic, and the mooring cable 131 is stuck on the Among the clips 501, when the submersible mark is deployed, the mooring cable 131 is released from the clip 501 under the buoyancy of the main buoyant ball 110, which solves the problem that the mooring cables 131 are too long to be entangled with each other. The problem.
实施例5：如图1所示，在所述船形配重103和所述隔热防晒板101之间设置所述橡胶垫102，在所述隔热防晒板101和所述船形配重103上捆绑有所述橡胶绳104，所述橡胶绳104总的拉脱力小于所述主浮球110的净浮力。在潜标布放前所述橡胶绳104避免所述隔热防晒板101和所述船形配重103分开，防止海浪进入所述船形配重103；在潜标布放过程中所述进水装置打开后，海水135进入所述船形配重103，所述主浮球110的净浮力将所述橡胶绳104拉长滑脱，所述隔热防晒板101和所述船形配重103分开，从而让潜标展开。隔热防晒板101由玻璃钢制成，其面向天空一面粘贴一层隔热铝箔，反射太阳辐射，降低太阳辐射的吸收，铝箔表面喷涂一层透明树脂清漆，或覆一层透明的保护膜，防止海水腐蚀隔热铝箔。Embodiment 5: As shown in FIG. 1 , the rubber pad 102 is arranged between the boat-shaped counterweight 103 and the heat-insulating sunscreen 101 , and on the heat-insulated sunscreen 101 and the boat-shaped counterweight 103 The rubber rope 104 is bound, and the total pull-off force of the rubber rope 104 is smaller than the net buoyancy of the main floating ball 110 . The rubber rope 104 prevents the heat-insulating sunscreen 101 from separating from the boat-shaped counterweight 103 before the submersible mark is laid, preventing waves from entering the boat-shaped counterweight 103; After opening, seawater 135 enters the boat-shaped counterweight 103, the net buoyancy of the main buoyancy ball 110 elongates the rubber rope 104 and slips off, and the heat-insulating sunscreen 101 is separated from the boat-shaped counterweight 103, thereby allowing The submersible unfolds. The heat-insulating sunscreen 101 is made of FRP, and a layer of heat-insulating aluminum foil is pasted on the side facing the sky to reflect solar radiation and reduce the absorption of solar radiation. The surface of the aluminum foil is sprayed with a layer of transparent resin varnish or covered with a layer of transparent protective film to prevent Seawater corrodes heat-insulating aluminum foil.
实施例6：一种无人艇牵引的远程布放智能潜标的布放方法，其 步骤如下：Embodiment 6: a kind of deployment method of the long-distance deployment intelligent submersible mark that unmanned boat tows, its steps are as follows:
S1.在实验室出海准备的时候，按观测的海洋要素选定潜标需要挂载的仪器，检查维护设置选定的观测仪器，根据预估的观测环境参数，设计潜标的船形配重、浮球的浮力以及净浮力，预制钢筋混凝土船形配重103；S1. When the laboratory is preparing to go to sea, select the instruments to be mounted on the submersible according to the observed ocean elements, check and maintain the selected observation instruments, and design the ship shape counterweight and buoy of the submersible according to the estimated observation environment parameters. Ball buoyancy and net buoyancy, prefabricated reinforced concrete boat counterweight 103;
S2.首先，在所述船形配重103底部铺设所述橡胶密封垫119，然后将所述密封板107卡在所述左右电磁释放器(105、133)之下，所述控制器109使用所述信号线缆111连接所述左右电磁释放器(105、133)，接着在所述船形配重103内铺设所述填充物134，所述填充物134支撑潜标的仪器，避免运输过程中在风浪的扰动下仪器在所述船形配重103内晃动，所述填充物134由粗砂和木屑混合而成，选用粗砂和木屑避免使用泡沫塑料污染海洋；S2. First, lay the rubber gasket 119 on the bottom of the boat-shaped counterweight 103, then clamp the sealing plate 107 under the left and right electromagnetic releasers (105, 133), and the controller 109 uses the The signal cable 111 is connected to the left and right electromagnetic releasers (105, 133), and then the filler 134 is laid in the boat-shaped counterweight 103, and the filler 134 supports the equipment of the submersible buoy, so as to avoid damage caused by wind and waves during transportation. The instrument shakes in the boat-shaped counterweight 103 under the disturbance, and the filler 134 is formed by mixing coarse sand and wood chips, and the coarse sand and wood chips are selected to avoid using foamed plastics to pollute the ocean;
S3.将潜标各个仪器：所述卫星通信装置106、所述主浮球110、所述ADCP121、所述控制器109、所述不锈钢支架123、所述仪器链132、所述声学释放器127和所述锚链124，按图1和图2所示连接后安装在所述船形配重103内，所述声学释放器127通过所述锚链124连接所述连接环122上；所述系留缆131卡在所述卡子501之中；S3. Submarine each instrument: the satellite communication device 106, the main buoy 110, the ADCP 121, the controller 109, the stainless steel bracket 123, the instrument chain 132, the acoustic release 127 and the anchor chain 124 are installed in the boat-shaped counterweight 103 after being connected as shown in Figure 1 and Figure 2, and the acoustic release device 127 is connected to the connecting ring 122 through the anchor chain 124; The cable stay 131 is stuck in the clip 501;
S4.在所述船形配重103顶部设置隔热防晒板101，防止在海面运输过程中烈日曝晒仪器；S4. Install a heat-insulating sunscreen 101 on the top of the boat-shaped counterweight 103 to prevent the instrument from being exposed to the scorching sun during transportation on the sea surface;
S5.使用所述橡胶绳104将隔热防晒板101和所述船形配重103捆扎在一起，避免隔热防晒板101脱离所述船形配重103；S5. Use the rubber rope 104 to bind the heat-insulating sunscreen 101 and the boat-shaped counterweight 103 together to prevent the heat-insulated sunscreen 101 from breaking away from the boat-shaped counterweight 103;
S6.使用所述牵引杆114连接所述牵引环115和所述释放装置113， 所述释放装置113使用螺栓连接在所述船形配重103上，或所述释放装置113使用螺栓连接在所述无人艇116上；所述控制器109使用所述信号线缆111连接所述释放装置113；S6. Use the tow rod 114 to connect the tow ring 115 and the release device 113, the release device 113 is connected to the boat counterweight 103 with bolts, or the release device 113 is connected to the On the unmanned boat 116; the controller 109 uses the signal cable 111 to connect to the release device 113;
S7.远程布放者使用智能终端与所述无人艇116的自动驾驶仪建立TCP/IP连接，在所述无人艇116的自动驾驶仪中设定潜标布放点的经纬坐标，所述无人艇116牵引所述船形配重103到达布放海域后，或者远程布放者在线操控所述无人艇116牵引所述船形配重103到达布放海域后，根据回传的实际测量的布放环境信息判定适合布放潜标的时候，远程布放者通过所述卫星通信装置106与所述控制器109建立TCP/IP连接，远程布放者发出布放指令，所述控制器109通过所述卫星通信装置106接收布放指令，根据布放指令发出控制信号经所述信号线缆111传输到所述释放装置113的继电器，接通电磁铁的电源释放牵引杆，详情见实施例2；S7. The remote deployer uses the intelligent terminal to establish a TCP/IP connection with the autopilot of the unmanned boat 116, and sets the latitude and longitude coordinates of the submerged mark deployment point in the autopilot of the unmanned boat 116, so After the unmanned boat 116 tows the boat-shaped counterweight 103 to the deployed sea area, or the remote deployer controls the unmanned boat 116 online to tow the boat-shaped counterweight 103 to the deployed sea area, according to the actual measurement returned When the deployment environment information judges that it is suitable for deploying the submerged mark, the remote deployer establishes a TCP/IP connection with the controller 109 through the satellite communication device 106, and the remote deployer issues a deployment command, and the controller 109 The deployment command is received by the satellite communication device 106, and a control signal is sent according to the deployment command, which is transmitted to the relay of the release device 113 through the signal cable 111, and the power supply of the electromagnet is turned on to release the drawbar. See the embodiment for details. 2;
S8.然后控制器发出控制信号接通所述进水装置的电源继电器，海水进入所述船形配重103内，所述船形配重103下沉，所述主浮球110在自己的浮力作用下向上顶起所述隔热防晒板101，拉脱所述橡胶绳104，所述隔热防晒板101与所述船形配重103分离，随着船形配重103不断下沉，所述系留缆131从所述卡子501不断拉出，潜标逐步展开，潜标在船形配重103的重力作用下不断下沉，最后静止下来完成布放，潜标坐底后如图2所示。S8. Then the controller sends a control signal to connect the power relay of the water inlet device, seawater enters the boat-shaped counterweight 103, and the boat-shaped counterweight 103 sinks, and the main floating ball 110 is under the action of its own buoyancy Lift up the heat-insulating sunscreen 101, pull off the rubber rope 104, the heat-insulated sunscreen 101 is separated from the boat-shaped counterweight 103, and as the boat-shaped counterweight 103 continues to sink, the mooring cable 131 is continuously pulled out from the clip 501, and the submersible buoy gradually unfolds. The submersible buoy sinks continuously under the gravity of the boat-shaped counterweight 103, and finally stops to complete the deployment. After the submersible buoy sits on the bottom, it is shown in Figure 2.
在本发明的描述中，需要理解的是，术语“纵向”、“横向”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、 “内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。In describing the present invention, it should be understood that the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", The orientations or positional relationships indicated by "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention, rather than indicating or It should not be construed as limiting the invention by implying that a referenced device or element must have a particular orientation, be constructed, and operate in a particular orientation.
以上所述的实施例仅是对本发明的优选方式进行描述，并非对本发明的范围进行限定，在不脱离本发明设计精神的前提下，本领域普通技术人员对本发明的技术方案做出的各种变形和改进，均应落入本发明权利要求书确定的保护范围内。The above-mentioned embodiments are only to describe the preferred mode of the present invention, not to limit the scope of the present invention. Without departing from the design spirit of the present invention, those skilled in the art may make various Variations and improvements should fall within the scope of protection defined by the claims of the present invention.

Claims (9)

  1. 一种无人艇牵引的远程布放智能潜标，包括主浮球(110)、ADCP(121)、不锈钢支架(123)、系留缆(131)、仪器链(132)、声学释放器(127)、锚链(124)、连接环(122)、船形配重(103)、牵引杆(114)、牵引环(115)和释放装置(113)、进水装置、卫星通信装置(106)和控制器(109)，所述主浮球(110)上分别设置有向上和向下打的所述ADCP(121)，所述不锈钢支架(123)穿过所述主浮球(110)上的预留孔，所述ADCP(121)和所述不锈钢支架(123)固定在所述主浮球(110)上，所述不锈钢支架(123)上部设置有所述卫星通信装置(106)，下部使用所述系留缆(131)连接所述仪器链(132)，所述仪器链(132)下端连接所述声学释放器(127)，所述船形配重(103)底部中心位置设置有所述连接环(122)，所述声学释放器(127)通过所述锚链(124)连接所述连接环(122)；An intelligent submersible buoy for remote deployment towed by an unmanned boat, comprising a main floating ball (110), an ADCP (121), a stainless steel bracket (123), a mooring cable (131), an instrument chain (132), an acoustic release device ( 127), anchor chain (124), connecting ring (122), boat-shaped counterweight (103), towing rod (114), towing ring (115) and release device (113), water inlet device, satellite communication device (106) and the controller (109), the main float (110) is respectively provided with the ADCP (121) for upward and downward movement, and the stainless steel bracket (123) passes through the main float (110) reserved holes, the ADCP (121) and the stainless steel bracket (123) are fixed on the main floating ball (110), and the upper part of the stainless steel bracket (123) is provided with the satellite communication device (106), The lower part uses the mooring cable (131) to connect the instrument chain (132), the lower end of the instrument chain (132) is connected to the acoustic release device (127), and the bottom center of the boat-shaped counterweight (103) is provided with The connecting ring (122), the acoustic releaser (127) is connected to the connecting ring (122) through the anchor chain (124);
    其特征在于：It is characterized by:
    所述船形配重(103)为钢筋混凝土预制的平底形船壳，在运输过程中组装好的潜标放置在所述船形配重(103)中；The boat-shaped counterweight (103) is a prefabricated flat-bottomed hull of reinforced concrete, and the assembled submersible mark is placed in the boat-shaped counterweight (103) during transportation;
    所述船形配重(103)和所述无人艇(116)之间使用所述释放装置(113)、所述牵引杆(114)和所述牵引环(115)构造成可释放的连接；The release device (113), the towing rod (114) and the towing ring (115) are configured to be releasably connected between the boat-shaped counterweight (103) and the unmanned boat (116);
    所述船形配重(103)的底部设置有所述进水装置；The bottom of the boat-shaped counterweight (103) is provided with the water inlet device;
    所述控制器(109)设置在所述主浮球(110)的预留空腔内，所述控制器(109)使用信号线缆(111)电信号连接所述卫星通信装置(106)、所述释放装置(113)和所述进水装置；所述控制器(109)通过所述卫星通信装置(106)接受远程布放指令，发出控制信号控制所述释放装置 (113)释放所述船形配重(103)和控制所述进水装置实现将海水注入所述船形配重(103)，完成潜标远程布放。The controller (109) is arranged in the reserved cavity of the main floating ball (110), and the controller (109) uses a signal cable (111) to connect the satellite communication device (106), The release device (113) and the water inlet device; the controller (109) accepts a remote deployment instruction through the satellite communication device (106), and sends a control signal to control the release device (113) to release the The boat-shaped counterweight (103) and the device for controlling the water inlet realize injecting seawater into the boat-shaped counterweight (103), and complete the remote deployment of the submersible buoy.
  2. 根据权利要求1所述的潜标，其特征在于：所述进水装置包括密封板(107)、橡胶密封垫(119)、左电磁释放器(105)和右电磁释放器(133)，所述密封板(107)与所述船形配重(103)的底部之间设置有所述橡胶密封垫(119)；所述密封板(107)压紧在所述橡胶密封垫(119)上，其两端卡在所述左电磁释放器(105)和所述右电磁释放器(133)之下；所述船形配重(103)底部对称布置有若干个阵列分布的下导流孔(120)，所述密封板(107)上设置有若干个阵列分布的上导流孔(108)，所述下导流孔(120)与所述上导流孔(108)交错布置；在靠近所述声学释放器(127)的锚链(124)上设置锚链环(203)，在所述锚链环(203)和所述船形配重(103)的上部之间设置至少四条侧系缆(201，204)。The submersible buoy according to claim 1, characterized in that: the water inlet device includes a sealing plate (107), a rubber gasket (119), a left electromagnetic release (105) and a right electromagnetic release (133), the The rubber sealing pad (119) is arranged between the sealing plate (107) and the bottom of the boat-shaped counterweight (103); the sealing plate (107) is pressed against the rubber sealing pad (119), Its two ends are stuck under the left electromagnetic releaser (105) and the right electromagnetic releaser (133); the bottom of the boat-shaped counterweight (103) is symmetrically arranged with several lower guide holes (120 ), the sealing plate (107) is provided with several upper diversion holes (108) distributed in an array, and the lower diversion holes (120) and the upper diversion holes (108) are arranged alternately; An anchor chain ring (203) is arranged on the anchor chain (124) of the acoustic releaser (127), and at least four side tether cables are arranged between the anchor chain ring (203) and the upper part of the boat-shaped counterweight (103) (201, 204).
  3. 根据权利要求2所述的潜标，其特征在于：所述左电磁释放器(105)和右电磁释放器(133)结构相同，均包括长螺栓(401)、楔形垫块(402)、短螺栓(403)、电磁铁(404)、支架(405)、铁磁性盘(406)、耐腐蚀弹簧(407)、连杆(408)、挡块(409)和所述信号线缆(111)；所述长螺栓(401)将所述船形配重(103)、所述楔形垫块(402)和所述支架(405)连接，所述短螺栓(403)将所述电磁铁(404)固定在所述支架(405)上，所述连杆(408)和所述挡块(409)焊接在一起；所述连杆(408)穿过所述耐腐蚀弹簧(407)和所述支架(405)上的安装孔，且螺纹连接所述铁磁性盘(406)；所述铁磁性盘(406)正对所述电磁铁(404)，所 述控制器(109)通过所述信号线缆(111)连接所述电磁铁(404)的电源继电器。The submersible buoy according to claim 2, characterized in that: the left electromagnetic release (105) and the right electromagnetic release (133) have the same structure, and both include long bolts (401), wedge-shaped pads (402), short Bolt (403), electromagnet (404), bracket (405), ferromagnetic disc (406), corrosion-resistant spring (407), connecting rod (408), stopper (409) and the signal cable (111) ; The long bolt (401) connects the boat counterweight (103), the wedge block (402) and the support (405), and the short bolt (403) connects the electromagnet (404) fixed on the bracket (405), the connecting rod (408) and the stopper (409) are welded together; the connecting rod (408) passes through the corrosion-resistant spring (407) and the bracket (405) on the mounting hole, and screw the ferromagnetic disk (406); the ferromagnetic disk (406) is facing the electromagnet (404), and the controller (109) passes the signal line A cable (111) connects the power relay of the electromagnet (404).
  4. 根据权利要求1所述的潜标，其特征在于：所述释放装置(113)包括大螺栓(301)、圆盘(302)、三角挡块(303)、小弹簧(304)、连接杆(305)、大弹簧(306)、圆柱销(307)、吸盘式电磁铁(308)、小螺栓(309)、机架(310)、胶垫(311)和三角形垫块(312)；The submersible buoy according to claim 1, characterized in that: the release device (113) includes a large bolt (301), a disc (302), a triangular stopper (303), a small spring (304), a connecting rod ( 305), large spring (306), straight pin (307), suction cup electromagnet (308), small bolt (309), frame (310), glue pad (311) and triangular spacer (312);
    所述大螺栓(301)将所述机架(310)、所述胶垫(311)和所述三角形垫块(312)和所述船形配重(103)连接为一体；或所述大螺栓(301)将所述机架(310)、所述胶垫(311)和所述三角形垫块(312)和所述无人艇(116)连接为一体；所述吸盘式电磁铁(308)使用所述小螺栓(309)螺纹连接在所述机架(310)上；所述连接杆(305)一端焊接所述三角挡块(303)，小弹簧304套在所述连接杆(305)上，所述连接杆(305)穿过所述机架(310)与所述圆盘(302)螺纹连接，所述圆盘(302)选用铁磁性材料制成，所述圆柱销(307)套上所述大弹簧(306)穿入所述机架(310)的连接孔和所述牵引杆(114)的连接圈之中，所述三角挡块(303)位于所述圆柱销(307)上方且与所述圆柱销(307)限位配合。。The large bolt (301) connects the frame (310), the rubber pad (311), the triangular spacer (312) and the boat counterweight (103) as a whole; or the large bolt (301) The frame (310), the rubber pad (311), the triangular spacer (312) and the unmanned boat (116) are connected as one; the suction cup electromagnet (308) Use the small bolt (309) to be threaded on the frame (310); one end of the connecting rod (305) is welded to the triangular block (303), and the small spring 304 is sleeved on the connecting rod (305) Above, the connecting rod (305) passes through the frame (310) and is threadedly connected with the disc (302), the disc (302) is made of ferromagnetic material, and the cylindrical pin (307) Put the big spring (306) into the connecting hole of the frame (310) and the connecting ring of the drawbar (114), and the triangular stopper (303) is positioned on the cylindrical pin (307) ) and limit fit with the cylindrical pin (307). .
  5. 根据权利要求2所述的潜标，其特征在于：所述密封板(107)上设置有卡子(501)，内六角螺钉穿过固定孔(601)将所述卡子(501)固定在所述密封板(107)上，所述卡子(501)由弹性塑料制成，所述系留缆(131)卡在所述卡子(501)之中。The submersible mark according to claim 2, characterized in that: the sealing plate (107) is provided with a clip (501), and the hexagonal socket head screw passes through the fixing hole (601) to fix the clip (501) on the On the sealing plate (107), the clip (501) is made of elastic plastic, and the mooring cable (131) is stuck in the clip (501).
  6. 根据权利要求1所述的潜标，其特征在于：在所述船形配重(103)的顶部设置有隔热防晒板(101)，在所述船形配重(103)和所述 隔热防晒板(101)之间设置橡胶垫(102)，在所述隔热防晒板(101)和所述船形配重(103)上捆绑有橡胶绳(104)，所述橡胶绳(104)总的拉脱力小于所述主浮球(110)的净浮力。The submersible buoy according to claim 1, characterized in that: a heat-insulating sunscreen (101) is arranged on the top of the boat-shaped counterweight (103), and a thermal-insulated sunscreen (101) is provided between the boat-shaped counterweight (103) and the heat-insulated sunscreen A rubber pad (102) is arranged between the boards (101), and a rubber rope (104) is bound on the heat-insulating sunscreen (101) and the boat-shaped counterweight (103), and the rubber rope (104) is generally The pull-off force is less than the net buoyancy of the main float (110).
  7. 根据权利要求1所述的潜标，其特征在于：所述船形配重(103)内设置有填充物(134)，仪器放置在所述填充物(134)之间。The submersible buoy according to claim 1, characterized in that: fillers (134) are arranged in the boat-shaped counterweight (103), and instruments are placed between the fillers (134).
  8. 根据权利要求2所述的潜标，其特征在于：所述橡胶密封垫(119)嵌入钢丝。The submersible buoy according to claim 2, characterized in that: the rubber sealing gasket (119) is embedded with a steel wire.
  9. 根据权利要求1至7任一项所述的潜标的布放方法，其包括下列步骤，其特征在于：The method for laying submerged marks according to any one of claims 1 to 7, comprising the following steps, characterized in that:
    S1.在实验室出海准备的时候，按观测的海洋要素选定潜标需要挂载的仪器，检查维护设置选定的观测仪器，根据预估的观测环境参数，设计潜标的船形配重、浮球以及净浮力，预制钢筋混凝土的所述船形配重(103)；S1. When the laboratory is preparing to go to sea, select the instruments to be mounted on the submersible according to the observed ocean elements, check and maintain the selected observation instruments, and design the ship shape counterweight and buoy of the submersible according to the estimated observation environment parameters. Ball and net buoyancy, the boat-shaped counterweight (103) of prefabricated reinforced concrete;
    S2.在所述船形配重(103)底部铺设橡胶密封垫(119)；将密封板(107)卡在左电磁释放器(105)、右电磁释放器(133)之下；在所述船形配重(103)内铺设填充物(134)；S2. Lay a rubber gasket (119) at the bottom of the boat-shaped counterweight (103); clamp the sealing plate (107) under the left electromagnetic release (105) and the right electromagnetic release (133); Filling (134) is laid in the counterweight (103);
    S3.将潜标各个仪器组装成潜标后，安装在所述船形配重(103)内的所述填充物(134)中，所述声学释放器(127)通过所述锚链(124)与所述船形配重(103)的所述连接环(122)连接；所述系留缆(131)卡在卡子(501)之中；S3. After assembling the various instruments of the submersible buoy into the submersible buoy, install them in the filler (134) in the boat-shaped counterweight (103), and the acoustic release device (127) passes through the anchor chain (124) connected with the connecting ring (122) of the boat-shaped counterweight (103); the mooring cable (131) is stuck in the clip (501);
    S4.在所述船形配重(103)顶部设置隔热防晒板(101)；S4. Arranging a heat-insulating sunscreen (101) on the top of the boat-shaped counterweight (103);
    S5.使用橡胶绳(104)捆扎所述隔热防晒板(101)和所述船形配 重(103)为一体；S5. use rubber rope (104) to bundle described heat-insulating sunscreen (101) and described boat-shaped counterweight (103) as one;
    S6.所述船形配重(103)和所述无人艇(116)之间使用所述释放装置(113)、所述牵引杆(114)、所述牵引环(115)构造成可释放的连接，所述控制器(109)使用所述信号线缆(111)连接所述释放装置(113)的吸盘式电磁铁(308)的电源继电器；S6. The release device (113), the tow bar (114), and the tow ring (115) are configured to be releasable between the boat-shaped counterweight (103) and the unmanned boat (116). connection, the controller (109) uses the signal cable (111) to connect the power supply relay of the suction cup electromagnet (308) of the release device (113);
    S7.远程布放者使用智能终端与所述无人艇(116)的自动驾驶仪建立TCP/IP连接，在所述无人艇(116)的自动驾驶仪中设定潜标布放点的经纬坐标，所述无人艇(116)牵引所述船形配重(103)到达布放海域后，或者远程布放者在线操控所述无人艇(116)牵引所述船形配重(103)到达布放海域后，远程布放者根据回传的实际测量的布放环境信息判定适合布放潜标的时候，远程布放者通过所述卫星通信装置(106)与所述控制器(109)建立TCP/IP连接，远程布放者发出布放指令，所述控制器(109)通过所述卫星通信装置(106)接收布放指令，根据布放指令发出控制信号经所述信号线缆(111)传输到所述释放装置(113)的继电器，接通所述吸盘式电磁铁(308)的电源，释放所述牵引杆(114)；S7. The remote deployer uses the intelligent terminal to establish a TCP/IP connection with the autopilot of the unmanned boat (116), and sets the location of the submerged mark deployment point in the autopilot of the unmanned boat (116). Latitude and longitude coordinates, after the unmanned boat (116) tows the boat-shaped counterweight (103) to the deployment sea area, or the remote deployer controls the unmanned boat (116) online to tow the boat-shaped counterweight (103) After arriving at the deployment sea area, when the remote deployer judges that it is suitable for deploying the submerged mark according to the actually measured deployment environment information sent back, the remote deployer communicates with the controller (109) through the satellite communication device (106) A TCP/IP connection is established, the remote deployer issues a deployment command, the controller (109) receives the deployment command through the satellite communication device (106), and sends a control signal according to the deployment command via the signal cable ( 111) Transmit to the relay of the release device (113), connect the power supply of the suction cup electromagnet (308), and release the traction rod (114);
    S8.根据布放指令所述控制器(109)发出控制信号接通所述进水装置的电源继电器，海水进入所述船形配重(103)内，所述船形配重(103)下沉，所述主浮球(110)在自己的浮力作用下向上顶起所述隔热防晒板(101)，拉脱所述橡胶绳(104)，所述隔热防晒板(101)与所述船形配重(103)分离，随着所述船形配重(103)的不断下沉，所述系留缆(131)从所述卡子(501)不断拉出，潜标逐步展开，潜标在所述船形 配重(103)的重力作用下不断下沉，最后静止下来坐在硬沉积物层(207)上，完成布放。S8. According to the deployment instruction, the controller (109) sends a control signal to connect the power relay of the water inlet device, the seawater enters the boat-shaped counterweight (103), and the boat-shaped counterweight (103) sinks, The main floating ball (110) lifts up the heat-insulation sunscreen (101) under its own buoyancy, pulls off the rubber rope (104), and the heat-insulation sunscreen (101) and the boat-shaped The counterweight (103) is separated, and as the boat-shaped counterweight (103) sinks continuously, the mooring cable (131) is continuously pulled out from the clip (501), and the submersible mark is gradually launched, and the submersible mark is in place. The gravity effect of the boat-shaped counterweight (103) continuously sinks, and finally comes to rest and sits on the hard sediment layer (207) to complete the deployment.
PCT/CN2022/082408 2021-06-01 2022-03-23 Remotely-deployed intelligent submersible buoy towed by unmanned boat WO2022252771A1 (en)

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