CN108100167A - A kind of autonomous protrusive section subsurface buoy - Google Patents
A kind of autonomous protrusive section subsurface buoy Download PDFInfo
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- CN108100167A CN108100167A CN201711131671.1A CN201711131671A CN108100167A CN 108100167 A CN108100167 A CN 108100167A CN 201711131671 A CN201711131671 A CN 201711131671A CN 108100167 A CN108100167 A CN 108100167A
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- 238000004891 communication Methods 0.000 claims description 15
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 9
- 238000009434 installation Methods 0.000 claims description 9
- 229910052744 lithium Inorganic materials 0.000 claims description 9
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- 230000006870 function Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B22/00—Buoys
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- 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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C13/00—Surveying specially adapted to open water, e.g. sea, lake, river or canal
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B22/00—Buoys
- B63B2022/006—Buoys specially adapted for measuring or watch purposes
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Hydrology & Water Resources (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Testing Or Calibration Of Command Recording Devices (AREA)
Abstract
The present invention relates to marine survey technologies, it is desirable to provide a kind of autonomous protrusive section subsurface buoy.Including：Pressure hull, pendulum swing device, buoyancy regulating device, control and the data-storage system of vertical hollow tube-shape；The pendulum wing is streamlined hydrofoil structure, is symmetrically arranged on pressure hull both sides, torsional spring has been arranged in its shaft.Stepper motor, screw pair, piston rod and piston cylinder are set inside pressure hull；External leather bag is fixedly mounted on the outside of bottom end cover, external leather bag is by oil-way pipe with being connected inside piston cylinder and hydraulic oil being perfused；Control is arranged on data-storage system inside pressure hull.The subsurface buoy can carry out buoyancy adjustment with vertical state always in water, moreover it is possible to carry out the autonomous forward travel of wave, there is no the attitude regulation processes of body.There is autonomous advances, real-time, simple in structure, at low cost, can realize that the long-term of ocean environment parameter measures and can realize real-time monitor.
Description
Technical field
The present invention relates to marine survey technology fields, and in particular to a kind of low energy consumption, the autonomous protrusive section of high continuation of the journey
Subsurface buoy.
Background technology
In recent years, with the exploitation of marine resources and the intensification of the research to marine environment, people are for global range
The investigation that ocean carries out is particularly important.From eighties of last century, people start constantly to rely on scientific investigation ship, underwater research vehicle, sea
Bottom robot is constantly visited from floatable section detection buoy, habitata net, the even advanced science and technology such as satellite remote sensing
Marine site in each scopes of Suo Quanqiu, but still there are many long-times in the unknown field of people and enough global ranges
Oceanographic data.
Ocean scientific investigation ship is frequently utilized for the test of various experimental facilities and the data acquisition of specified sea areas, often as other
The lash ship of marine exploration instrument be used in combination with them.Habitata net detects for the long-time of specific region, usual cloth
It puts in littoral sea.Anchor type dan anchor schedules ocean designated position, long-time, automatic, continuous, in situ measurement oceanographic data.
It obtains and periodically transfers data to for a wide range of interior marine information from floatable section detection buoy (Argo buoys) and defend
Star, people can obtain substantial amounts of oceanographic data, it can be divided into according to motion range in the range of subsurface buoy.However it drowns oneself
Floating section detection buoy position and uncontrollable during the motion, but " drifting with the tide ", and these buoys are using the longevity
It can not also be recycled after life.Manned underwater research vehicle can carry various sensors, manipulator, under the control of aquanaut
A variety of highly difficult, complicated tasks are completed under water, this is that other any marine exploration instruments can not all be realized, but its dive
Cost is very high, and the safety guarantee of scientific research personnel also has very big risk.UNMANNED UNDERWATER VEHICLE can be divided into have cable, untethered this two
Kind, there is cable underwater research vehicle to work together with scientific investigation ship or manned underwater research vehicle, investigative range is limited but good operability, energy
Complete the work of many complexity；And the limitation that untethered underwater research vehicle does not have umbilical cables can be worked on a large scale, still
Part work can only be carried out by being limited be subject to size and power supply.
Present marine exploration method develops to diversification, unmanned, long-time, large-scale direction.People, which combine, to be made
It is enriched action with various marine exploration instruments or is assigned specific marine exploration instrument with specific function and mission
To improve work efficiency.In order to more profoundly obtain the marine information data in global range, scientists need more seas
Foreign prospecting tools obtain the information of bigger geographic range, longer time span.
Notification number is that the Chinese patent literature of CN101487704A discloses a kind of submerged buoy for ocean monitoring, including：Housing,
Supporting rack is installed in housing, inside and outside leather bag is connected respectively by air valve stem with the interface of solenoid directional control valve；In supporting rack
There are one stepper motor, the rotation of the output shaft of stepper motor to pass to the feed screw nut being sleeved on leading screw for upper fixation；Described
One end of leading screw is fixed with leading screw rotation preventing device and its other end is connected with piston, and the port of export of hydraulic cylinder is changed with the electromagnetism
It is connected to valve；Sensor, sound communication module in housing are installed, main control computer is installed on mother ship carrier and to described
Sound communication module sends the ultra short base line of positioning signal, and battery pack, microcontroller are connected on supporting rack；Main control computer
Motion control commands are exported to sound communication module, microcontroller while receive the data-signal from microcontroller, microcontroller passes through it
Interface sends a signal to motor, reversal valve.Using the present apparatus can according to preset program or external command dive, depthkeeping, on
It is floating.But the subsurface buoy of the invention can only realize autonomous control floating, lower rice root nematode, it is impossible to realize autonomous advancement function and control system
More complicated, energy consumption is higher.
Notification number is that the Chinese patent literature of CN102167136A discloses a kind of ocean lifting submerged buoy system, in the system
In, buoy is tethered at cable by communication and connects underwater winch；Communication between buoy and underwater winch is tethered on cable close to buoy
The multiple profile survey instruments of part spaced set；Underwater winch is fixed on main floating body；Target detection system and ADCP are all provided with
It puts on main floating body；Anchoring, which is tethered at mechanism, includes the glass floating ball, transponder-releaser and the ballast anchor that are concatenated using anchor chain.In control
The heart controls buoyage timing emersion sea and slips into marine；Target detection system detected event target, when being determined with movable mesh
When mark is into preset range, control centre's control buoyage slips into marine.Buoy is various by what is received at emersion sea
Data are transferred to ground bank station.The invention can realize the real-time Transmission of marine exploration data, but the invention can only realize it is vertical
Nogata to rising, dive moves, it is impossible to the movement of horizontal direction is realized, so search coverage is limited, and the structure of the invention
Complexity, high energy consumption.
The content of the invention
The technical problem to be solved by the present invention is to overcome the deficiencies in the prior art, provide a kind of autonomous advance
Formula section subsurface buoy.
To solve technical problem, solution of the invention is as follows：
A kind of autonomous protrusive section subsurface buoy is provided, includes the pressure hull of vertical hollow tube-shape, both ends are set up separately
Bottom end cover；Further include pendulum swing device, buoyancy regulating device, control and data-storage system；
The pendulum swing device includes the pendulum wing that an at least pair is symmetrically arranged on pressure hull both sides, and the pendulum wing is streamlined hydrofoil
Structure is mounted in by rotation axis and is arranged in the installation position on pressure hull；Torsional spring is arranged in shaft, one end of torsional spring is stuck in
It puts on the wing, the other end is stuck at installation position；
The buoyancy regulating device includes being arranged on stepper motor, screw pair, piston rod and the work inside pressure hull
Plug tube；Wherein, stepper motor with screw pair with key connection, with one end of piston rod, to be threadedly coupled, live by screw pair
Another piston being connected in piston cylinder of stopper rod；External leather bag is fixedly mounted on the outside of bottom end cover, external leather bag leads to
Oil-way pipe is crossed with being connected inside piston cylinder and hydraulic oil being perfused；
It is described control with data-storage system be arranged on pressure hull inside, including by signal wire respectively with memory module,
The master board and be stepper motor and control and data-storage system that GPS receiving antenna module is connected with sensor assembly
The power supply of power supply.
In the present invention, the clip that a circle radially surrounds is equipped on the outside of pressure hull, the installation position is arranged on clip.
In the present invention, seal groove is set respectively on the opposing end surface between pressure hull and upper and lower end cap, in seal groove
The built-in rubber o-ring for being useful for sealing.
In the present invention, rod-shaped communication antenna is equipped in the outer tip end of upper end cover, communication antenna is connected to by signal wire
GPS receiving antenna module.
In the present invention, the power supply includes the mobile power of 5V and the lithium battery group of 24V；The former powers for master board,
The latter is formed by lithium battery serial or parallel connection, is stepper motor and sensor assembly and GPS receiving antenna module for power supply.
Inventive principle describes：
In technical scheme, pressure hull and upper and lower end cap are bearing part, the hollow cavity formed after assembling
Body is used to provide sealing space for mechanical actuating mechanism, control mechanism etc.；Buoyancy regulating device is used to implement the net of entire body
Buoyancy adjustment, external leather bag in the outside of pressure hull directly and contact with sea water, volume with its internal hydraulic pressure oil number and
Variation, floating or sinking so as to fulfill subsurface buoy.The pendulum wing is made with ABS plastic, is answered by streamlined hydrofoil construction and torsional spring
The generation for thrust of marching forward is realized in position effect.Control is arranged in data-storage system in pressure hull, is the entire profile subsurface buoy
System provides power, controlled motion, acquisition and storage data.
Section subsurface buoy is vertically launched into the shallow sea of 0-100m by rope, section subsurface buoy itself adjustment reaches equilibrium-like
After state, up and down motion is realized in water by being constantly changing itself net buoyancy immediately, while the two side-sway wing of section subsurface buoy is therewith
It swings up and down, generates forward thrust.Section subsurface buoy can by various sensors of its own carrying during floating, dive
With data such as collecting temperature, salinity, depth, pressure, and the data collected are stored in control system, when section subsurface buoy
The data collected are finally transferred data into user to satellite launch by satellite after the arrival water surface.
Preferably, the pressure hull selects cylindrical housings, advantage is easy to manufacture, and inner space utilizes
Rate is high, and fluid motion resistance is small.The pressure hull selects material of the nylon as pressure hull, has good comprehensive
Can, it is corrosion-resistant and easy to process.Memory module, GPS receiving antenna module, sensor die are installed inside the pressure hull
The electronic components such as block, master board.It may require that in use and replace power supply, extraction storage data, so in pneumatic shell
Reliable static seal, the method that the present invention is sealed using rubber o-ring are needed between body and upper and lower end cap；O-ring is installed
In corresponding close encapsulation groove, not generate leakage when ensureing and work under water.As further preferred, O-ring choosing
With the specification of line footpath 5.3mm, internal diameter is determined according to pressure hull radial dimension.
Master board is used to control the action of stepper motor, obtains data from sensor assembly and GPS receiving antenna module,
Data are write to memory module；As using example, the adoptable control unit of master board is Arduino UNO R3；Storage
Module is for storing the data obtained from sensor assembly, as the Micro SD cards read-write that Arduino can be used using example
Module and the Micro SD cards of one piece of 2GB.Communication antenna is installed at the center of the pressure hull upper end cover；Pressure hull
Internal GPS receiving antenna module is communicated by communication antenna and satellite, and the data sending that sensor assembly obtains is given
User.Preferably, sensor assembly may include pressure sensor, temperature sensor and depth transducer.
Autonomous protrusive section subsurface buoy of the present invention, it is by the pendulum wing mechanism realization of itself to advance.Subsurface buoy is net
Buoyancy generates forward thrust for when moving forward, downward incoming rotates down the pendulum wing on the pendulum wing；Equally
, when its net buoyancy moves downward to bear, upward incoming is rotated up the pendulum wing, and forward thrust is generated on the pendulum wing.
It is the movement of a cycle one on the other.The pendulum wing of section subsurface buoy is not required any energy to drive and control, and energy only consumes
In buoyancy adjustment, so with powerful cruising ability.Current subsurface buoy is to carry out underwater operation by the movement of ocean current exposure level
, its forward travel drives by outside energy, and affected by environment big, working range is limited.And this section subsurface buoy is in nothing
Under the driving of the outside energies such as ocean current, itself pendulum wing mechanism can also be leaned on to realize autokinetic movement, so can be carried out for a long time, greatly
Marine site marine exploration operation.
Compared with prior art, beneficial effects of the present invention are：
(1) present invention is innovatively proposed detects subsurface buoy structure with the pendulum wing from floatable section, and section subsurface buoy is made to exist
While buoyancy adjustment being carried out in water always with vertical state, moreover it is possible to carry out the autonomous forward travel of wave, be not present in movement
The attitude regulation process of body.
(2) autonomous protrusive section subsurface buoy of the invention, it is excellent with autonomous advance, real-time, simple in structure, at low cost etc.
Point can realize measuring for a long time and realizing monitoring in real time for ocean environment parameter, available for raising marine exploration ability.
(3) electric energy in autonomous protrusive section subsurface buoy motion process is only used for the buoyancy adjustment of itself, passes through itself machine
The characteristics of structure, independently advances while just may be implemented in up and down motion in the case of additional electric energy is not required, and realizes low energy consumption
Under the premise of high continuation of the journey.
Description of the drawings
Fig. 1 is the integral outer structure diagram of the present invention；
Fig. 2 is the whole interior structure diagram of the present invention；
Fig. 3 is the pressure hull structure diagram of the present invention；
Fig. 4 is the buoyancy regulating device structure diagram of the present invention；
Fig. 5 is the pendulum wing scheme of installation of the present invention.
Reference numeral in figure：1 communication antenna；2 upper end covers；3O shape circles；4 pressure hulls；5 stepper motors；6 feed screw nuts
It is secondary；7 piston rods；8 piston cylinders；9 external leather bags；10 bottom end covers；11 torsional springs；The 12 pendulum wings；13GPS reception antenna modules；14 movements
Power supply；15 sensor assemblies；16 memory modules；17 master boards；18 lithium battery groups；19 clips.
Specific embodiment
The autonomous protrusive section subsurface buoy of the present invention is described in further detail in the following with reference to the drawings and specific embodiments.
As shown in Figs 1-4, autonomous protrusive section subsurface buoy includes the pressure hull 4 of vertical hollow tube-shape, both ends point
If upper end cover 2 and bottom end cover 10；Seal groove is set respectively on opposing end surface between pressure hull 4 and up and down end cap, close
The built-in rubber o-ring 3 for being useful for sealing of sealing groove.Rod-shaped communication antenna 1 is equipped in the outer tip end of upper end cover 2.Pneumatic shell
The outside of body 4 is equipped with the clip 19 that spaced apart two circles radially surround.Pendulum swing device includes being separately mounted to two clips 19
On the pendulum wing 12, the pendulum wing 12 is symmetrically arranged on 4 both sides of pressure hull, and the pendulum wing 12 is streamlined hydrofoil structure, is filled by rotation axis
In installation position on clip 19, torsional spring 11 has been arranged in shaft.One end of torsional spring 11 is stuck on the pendulum wing, and the other end is stuck in card
At installation position on hoop 19.Buoyancy regulating device include be arranged on pressure hull 4 inside stepper motor 5, screw pair 6, work
Stopper rod 7 and piston cylinder 8；Wherein, stepper motor 5 and screw pair 6 are with key connection, one end of screw pair 6 and piston rod 7
To be threadedly coupled, another piston being connected in piston cylinder 8 of piston rod 7；It has been fixedly mounted in 10 outside of bottom end cover outer
Leather bag 9 is put, external leather bag 9 is connected with 8 inside of piston cylinder by oil-way pipe and is filled with hydraulic oil.External leather bag 9 is external straight
Connect and contact with sea water, volume with internal hydraulic pressure oil number and variation, so as to fulfill the sink-float of section subsurface buoy.Control and data
Storage system is arranged on inside pressure hull 4, including master board 17 and is stepper motor 5 and control and data-storage system
The power supply of power supply.Master board 17 by signal wire respectively with memory module 16, GPS receiving antenna module 13 and sensor assembly
15 are connected, and GPS receiving antenna module 13 is connected to communication antenna 1 by signal wire.Mobile power 14 and 24V of the power supply including 5V
Lithium battery group 18；Mobile power 14 is powered for master board, and lithium battery group 18 is formed by lithium battery serial or parallel connection, is stepping electricity
Machine 5, sensor assembly 15 and GPS receiving antenna module 13 are powered.
As shown in figure 5, section subsurface buoy, in neutral buoyancy (or speed be 0 when), the pendulum wing 12 be in horizontality, when floating or
It is when sinking, in the water impact effect bottom wing 12 correspondingly downwards or when being swung up, torsion that torsional spring 11 can be subject to bring
Square makes it not cause excessive pivot angle there are the trend of a reset.
The course of work of the present invention is as follows：
Section subsurface buoy is vertically launched into shallow sea by rope, the depth bounds in shallow sea is 0-100m, and section subsurface buoy is certainly
After body adjustment reaches equilibrium state, itself net buoyancy is constantly changing by buoyancy regulating device so as to realize in water immediately
Lower movement.Specifically, screw pair 6 is driven by stepper motor 5, piston rod 7 is made to move along a straight line in piston cylinder 8, from
And hydraulic oil is made to realize pump drainage between piston cylinder 8 and external leather bag 9, change section subsurface buoy itself net buoyancy so as to real in water
Now move up and down.Simultaneously as the up and down motion drives the two side-sway wings 12 to swing up and down therewith, forward thrust is generated.Section
Subsurface buoy is being floated, can counted during dive by the sensor assembly 15 of its own carrying with collecting temperature, depth, pressure etc.
According to, and the data collected are stored in memory module 16, whole process is supplied by lithium battery group 18 and mobile power 14
Electricity, buoyancy adjustment process and data acquisition are controlled by master board 17.After section subsurface buoy reaches the water surface, it will collect
Data by the GPS receiving antenna module 13 in section subsurface buoy and communication antenna 1 to satellite launch, finally by satellite by number
According to being transferred to user.
It needs to illustrate, the foregoing is merely the preferable implementation examples of the present invention, are not intended to limit the invention, all in the present invention
Within spirit and principle, any modifications, equivalent replacements and improvements are made should all be included in the protection scope of the present invention.
Claims (5)
1. a kind of autonomous protrusive section subsurface buoy, includes the pressure hull of vertical hollow tube-shape, end cap up and down is set up at both ends separately；
It is characterized in that, further include pendulum swing device, buoyancy regulating device, control and data-storage system；
The pendulum swing device includes the pendulum wing that an at least pair is symmetrically arranged on pressure hull both sides, and the pendulum wing is streamlined hydrofoil knot
Structure is mounted in by rotation axis and is arranged in the installation position on pressure hull；Torsional spring is arranged in shaft, one end of torsional spring is stuck in pendulum
On the wing, the other end is stuck at installation position；
The buoyancy regulating device includes being arranged on stepper motor, screw pair, piston rod and the piston cylinder inside pressure hull；
Wherein, stepper motor and screw pair be with key connection, screw pair with one end of piston rod to be threadedly coupled, piston rod
Another piston being connected in piston cylinder；External leather bag is fixedly mounted on the outside of bottom end cover, external leather bag passes through oil circuit
Pipe inside piston cylinder with connecting and hydraulic oil being perfused；
The control is arranged on data-storage system inside pressure hull, including being connect respectively with memory module, GPS by signal wire
The master board and be stepper motor and control and data-storage system power supply that receipts Anneta module is connected with sensor assembly
Power supply.
2. section subsurface buoy according to claim 1, which is characterized in that be equipped with what a circle radially surrounded on the outside of pressure hull
Clip, the installation position are arranged on clip.
3. section subsurface buoy according to claim 1, which is characterized in that the opposite end between pressure hull and upper and lower end cap
Seal groove is set respectively on face, in the built-in rubber o-ring for being useful for sealing of seal groove.
4. section subsurface buoy according to claim 1, which is characterized in that be equipped with rod-shaped communication in the outer tip end of upper end cover
Antenna, communication antenna are connected to GPS receiving antenna module by signal wire.
5. section subsurface buoy according to claim 1, which is characterized in that mobile power and 24V of the power supply including 5V
Lithium battery group；The former powers for master board, and the latter is formed by lithium battery serial or parallel connection, is stepper motor and sensor assembly
With GPS receiving antenna module for power supply.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711131671.1A CN108100167A (en) | 2017-11-15 | 2017-11-15 | A kind of autonomous protrusive section subsurface buoy |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711131671.1A CN108100167A (en) | 2017-11-15 | 2017-11-15 | A kind of autonomous protrusive section subsurface buoy |
Publications (1)
| Publication Number | Publication Date |
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| CN108100167A true CN108100167A (en) | 2018-06-01 |
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| CN201711131671.1A Pending CN108100167A (en) | 2017-11-15 | 2017-11-15 | A kind of autonomous protrusive section subsurface buoy |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108871445A (en) * | 2018-07-05 | 2018-11-23 | 西北工业大学 | A kind of underwater data autonomous recoding devices |
| CN108917727A (en) * | 2018-07-30 | 2018-11-30 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | A kind of marine vertical profile survey device and its working method |
| CN109990913A (en) * | 2019-04-19 | 2019-07-09 | 山东省海洋仪器仪表科技中心 | A kind of adjustable tail fins bottom sediment temperature detection device |
| CN110775199A (en) * | 2019-10-10 | 2020-02-11 | 哈尔滨工程大学 | Heaving sea current energy submerged buoy |
| CN112783179A (en) * | 2020-12-25 | 2021-05-11 | 中国船舶重工集团有限公司第七一0研究所 | Mooring section submerged buoy external hanging type deviation control device |
| CN114313176A (en) * | 2021-11-25 | 2022-04-12 | 宜昌测试技术研究所 | Automatic depth setting instrument |
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