CN108344403A - A kind of localization sink-float self monitor and profile survey glider - Google Patents
A kind of localization sink-float self monitor and profile survey glider Download PDFInfo
- Publication number
- CN108344403A CN108344403A CN201711407494.5A CN201711407494A CN108344403A CN 108344403 A CN108344403 A CN 108344403A CN 201711407494 A CN201711407494 A CN 201711407494A CN 108344403 A CN108344403 A CN 108344403A
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- glider
- localization
- sink
- control
- profile survey
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C13/00—Surveying specially adapted to open water, e.g. sea, lake, river or canal
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- General Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Hydrology & Water Resources (AREA)
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Testing Or Calibration Of Command Recording Devices (AREA)
Abstract
The invention discloses a kind of localization sink-float self monitors and profile survey glider, include mainly agent structure, Zuo Di mechanisms, plunger pump and pressure sensor, horizontal displacement correction mechanism, master control/signal processing module, electric energy supply and power management module, measurement sensor, satellite communication module, underwater sound communication module, plunger pump machanism changes oil sac volume, adjusts buoyancy.Navigation to seabed sits base ring cooperation control system and stablizes seat bottom, and more gliders carry out data sharing and Collaborative Control by underwater sound communication network module.Present invention design can pass through boat-carrying Quick distributor, recycling can be salvaged, it can carry out profile survey, movement locus adjustment can be realized during gliding, it can carry out sitting bottom or the hidden monitoring of fixed point suspension, underwater sound communication networking can be carried out, realize long-term, continuous and stereoscopic monitoring, it is expansible to carry other sensors, realize Function Extension.
Description
Technical field
The present invention relates to marine technology fields, and in particular to a kind of localization sink-float self monitor and profile survey glider.
Background technology
Marine environmental monitoring is the basis of scientific research of seas and development of resources, recognizes ocean, monitoring forecast sea to us
Foreign environment, monitoring sea traffic, understanding marine organisms, utilization marine resources etc. are of great significance；Obtain specified sea areas
The target signature informations such as enemy's submarine, underwater detectoscope, to enriching my army's oceanographic intelligence information, realizing that regional early warning system has
Significance.Mainly there are buoy/submerged buoy system, gliding currently used for the equipment of marine environmental monitoring and oceanographic intelligence acquisition of information
Machine, seabed fixed observer system, oceanographic research ship, underwater movable platform, profiler etc., but existing equipment cannot be simultaneous simultaneously
It cares for and flexibly lays the functions such as use, data transmits in time, drift displacement correction, more networkings monitor.
Invention content
It is an object of the invention to overcome the shortcomings of the prior art, and a kind of localization sink-float self monitor is provided and is cutd open
Planar survey glider.
The purpose of the present invention is by following technical solution to complete：This localization sink-float self monitor and profile survey
Glider includes mainly agent structure, Zuo Di mechanisms, plunger pump and pressure sensor, horizontal displacement correction mechanism, master control/letter
Number processing module, electric energy supply and power management module, measurement sensor, satellite communication module, underwater sound communication module, plunger pump
Mechanism changes oil sac volume, adjusts buoyancy, realizes water-bed, water surface up-and-down movement, center of gravity regulating system adjustment navigation posture
Adjustment, position offset caused by automatic modifying factor ocean current impact can carry out ocean background noise and the deep section of temperature during navigation
It measures.Navigation to seabed sits base ring cooperation control system and stablizes seat bottom, and autonomous exploration and target information record can be carried out after sitting bottom,
Also can be according to control command, suspend work near constant depth, can emerge immediately after detecting sensitive information, by defending
Star communication sends data to receiving station.More gliders carry out data sharing by underwater sound communication network module and collaboration is controlled
System, localization sink-float self monitor are equipped with antenna, hydrophone, circuit board, temperature sensor, sound with profile survey glider head
Learn Modem, attitude transducer.
The agent structure is made of seal cavity, kuppe, flank, empennage, and agent structure is processed using duralumin material,
Using the processing of the acoustic window materials such as PC, carbon fiber, there is agent structure external attached body hydrodynamic characteristic, seal cavity to have deep water
Voltage endurance.
The Zuo Di mechanisms are made of seat base ring, altimeter, emergency trip mechanism, are sat base ring and are processed by duralumin, with empennage
Cooperation carries out structural support, and intensity and size meet stable bottom of sitting and require.Start after sitting bottom function, available height meter is surveyed in real time
Glider is measured away from seabed distance, there is deceleration when close to seabed, reduces the impact of glider and seabed, when seat basic skill or training makees
It will not topple over because of the impact of ocean current, sit base ring and designed using loop configuration, silt adherency can be effectively reduced, it can under case of emergency
Pao Zaizuodi mechanisms realize emergency ascent.
The plunger pump and pressure sensor are by displacement sensor, decelerating motor and brake, limit switch, bearing, rolling
Ballscrew, plunger case, plunger, pressure sensor, variable-volume oil sac composition.Buoyancy adjustment is carried out by changing oil sac volume,
It realizes that up-and-down movement of the glider in seabed, sea, plunger pump use ball screw arrangement and self-locking device, can prevent big
Hydraulic oil leakage and recoil, realization accurately control buoyancy adjustment under depth conditions.
The horizontal displacement correction mechanism is by center of gravity regulating system and battery, control circuit, axial movement motor, radial fortune
Dynamic motor, attitude transducer composition, center of gravity regulating system are the integrated design with battery, are grouped by two independent scallops
At.When the glider emerges, own location information is obtained by satellite communication module, sea is estimated by surface driftage
Stream information；Pass through displacement parameter during three-dimensional attitude sensor perception gliding, estimation ocean current letter during gliding in water
Breath；Integrated treatment is carried out to location information, Ocean current information, movable information etc., control parameter is provided for displacement correction motion algorithm.
Horizontal displacement correction mechanism has three degree of freedom, can complete glider pitch angle according to parameter input, roll angle is adjusted, cooperation
Yaw angle control algolithm realizes displacement correction.
Master control/the signal processing module is the control axis of glider, including gliding control, group-net communication control
System, suspension/seat bottom control, satellite communication control, emergency self-saving control integrate the signal processings such as profile survey and autonomous detection and calculate
Method, using low-power consumption design on hardware and software method.
The satellite communication module is divided into control section and antenna part, integrates the positioning of a Big Dipper generation and short message communication work(
Can, Big Dipper dual-mode antenna, GPS receiving antenna are carried out Integrated design by Beidou II, GPS positioning function, antenna part, and appearance is
Spherical shape, volume are not more than 300ml, and tolerance hydraulic pressure is not less than 2000 meters.
The underwater sound communication module is using small size, high efficiency overflow ring type transceiver energy converter, using incoherent place
Frequency hopping frequency shift keying (FH-FSK) communication system of reason combines error-correcting code technique, using clustering network topology structure, network quilt
One or more clusters are divided into, leader cluster node is mainly responsible for forwarding, coordination and the management of data between cluster.Since leader cluster node can be with people
It is independently elected for setting or network, clustering structure has very strong survivability, while the network topology structure has very
Good extendibility, network size are unrestricted, it can be achieved that multiple devices monitoring data, control instruction, working condition, location information
Deng shared.
Beneficial effects of the present invention are：
1, the equipment can salvage recycling by boat-carrying Quick distributor after working life.
2, the equipment can be moved back and forth in the water-bed, water surface, carry out profile survey, obtain Ocean environment information.
3, the equipment can realize movement locus adjustment during gliding, realize and work near fixed marine site position.
4, the equipment can carry out sitting bottom or fixed point suspends hidden monitoring, detect the alarm that can emerge immediately after target,
It can be used as a kind of effective realization rate of early warning system under regional water.
5, multiple devices can carry out underwater sound communication networking, realize long-term, continuous and stereoscopic monitoring.
6, the equipment platform is expansible carries other sensors, realizes Function Extension.
Description of the drawings
Fig. 1 is the composition schematic diagram of the present invention.
Fig. 2 is the operation principle schematic diagram of the present invention.
Fig. 3 is the cycling schematic diagram of the present invention.
Reference sign：Antenna 1, kuppe 2, hydrophone 3, circuit board 4, seal cavity 5, center of gravity regulating system and electricity
Pond 6, empennage 7 sit base ring 8, temperature sensor 9, acoustics Modem10, attitude transducer 11, flank 12, plunger pump and pressure biography
Sensor 13, altimeter 14, satellite communication 1-1, satellite 1-2, grounded receiving station 1-3, data processing centre 1-4, suspension work 1-
5, target 1-6, underwater sound communication 1-7, sit basic skill or training make 1-8, surface drift 2-1, dive measure 2-2, sit bottom 2-3, float correct with
Measure 2-4.
Specific implementation mode
Detailed introduction is done to the present invention below in conjunction with attached drawing：
As shown in the picture, this localization sink-float self monitor and profile survey glider, include mainly agent structure, sit bottom
Mechanism, plunger pump and pressure sensor 13, horizontal displacement correction mechanism, master control/signal processing module, electric energy supply and power supply pipe
Module, measurement sensor, satellite communication module, underwater sound communication module are managed, plunger pump machanism changes oil sac volume, adjusts buoyancy,
Realize that water-bed, water surface up-and-down movement, center of gravity regulating system adjustment navigation pose adjustment, automatic modifying factor ocean current impact cause
Position offset, ocean background noise and the deep profile survey of temperature can be carried out during navigation.The cooperation control of base ring 8 is sat in navigation to seabed
System processed, which is stablized, sits bottom, and autonomous exploration and target information record can be carried out after sitting bottom, also can be according to control command, in constant depth
Neighbouring suspension work, can emerge after detecting sensitive information, receiving station is sent data to by satellite communication immediately.It is more
Platform glider carries out data sharing and Collaborative Control, localization sink-float self monitor and profile survey by underwater sound communication network module
Glider head is equipped with antenna 1, hydrophone 3, circuit board 4, temperature sensor 9, acoustics Modem10, attitude transducer 11.
The agent structure is made of seal cavity 5, kuppe 2, flank 12, empennage 7, and agent structure uses duralumin material
Processing, using the processing of the acoustic window materials such as PC, carbon fiber, there is agent structure external attached body hydrodynamic characteristic, seal cavity 5 to have
There is deep water overpressure resistant characteristic.
The Zuo Di mechanisms are made of seat base ring 8, altimeter 14, emergency trip mechanism, are sat base ring 8 and are processed by duralumin, with
Empennage cooperation carries out structural support, and intensity and size meet stable bottom of sitting and require.Start after sitting bottom function, available height meter 14
Glider is measured in real time away from seabed distance, and there is deceleration when close to seabed, reduce the impact of glider and seabed, sit bottom
It will not topple over because of the impact of ocean current when work, sit base ring 8 and designed using loop configuration, silt adherency can be effectively reduced, met an urgent need
In the case of can Pao Zaizuodi mechanisms, realize emergency ascent.
The plunger pump and pressure sensor 13 by displacement sensor, decelerating motor and brake, limit switch, bearing,
Ball-screw, plunger case, plunger, pressure sensor, variable-volume oil sac composition.Buoyancy tune is carried out by changing oil sac volume
Section realizes that up-and-down movement of the glider in seabed, sea, plunger pump use ball screw arrangement and self-locking device, can prevent
Only hydraulic oil leakage and recoil, realization accurately control buoyancy adjustment under big depth conditions.
The horizontal displacement correction mechanism is by center of gravity regulating system and battery 6, control circuit, axial movement motor, radial direction
Motion motor, attitude transducer composition, center of gravity regulating system is the integrated design with battery 6, by two independent sector portions
Composition.When the glider emerges, own location information is obtained by satellite communication module, is estimated by surface driftage
Ocean current information；Pass through displacement parameter during the perception gliding of three-dimensional attitude sensor 11, estimation sea during gliding in water
Stream information；Integrated treatment is carried out to location information, Ocean current information, movable information etc., control is provided for displacement correction motion algorithm
Parameter.Horizontal displacement correction mechanism has three degree of freedom, and glider pitch angle, roll angle tune can be completed according to parameter input
Section coordinates yaw angle control algolithm, realizes displacement correction.
Master control/the signal processing module is the control axis of glider, including gliding control, group-net communication control
System, suspension/seat bottom control, satellite communication control, emergency self-saving control integrate the signal processings such as profile survey and autonomous detection and calculate
Method, using low-power consumption design on hardware and software method.
The satellite communication module is divided into control section and antenna part, integrates the positioning of a Big Dipper generation and short message communication work(
Can, Big Dipper dual-mode antenna, GPS receiving antenna are carried out Integrated design by Beidou II, GPS positioning function, antenna part, and appearance is
Spherical shape, volume are not more than 300ml, and tolerance hydraulic pressure is not less than 2000 meters.
The underwater sound communication module is using small size, high efficiency overflow ring type transceiver energy converter, using incoherent place
Frequency hopping frequency shift keying (FH-FSK) communication system of reason combines error-correcting code technique, using clustering network topology structure, network quilt
One or more clusters are divided into, leader cluster node is mainly responsible for forwarding, coordination and the management of data between cluster.Since leader cluster node can be with people
It is independently elected for setting or network, clustering structure has very strong survivability, while the network topology structure has very
Good extendibility, network size are unrestricted, it can be achieved that multiple devices monitoring data, control instruction, working condition, location information
Deng shared.
As shown in Figure 1, at the top of glider, kuppe 2 is processed using PC acoustic window materials, hydrophobic processing is done on surface, is led to
It crosses screw and is fixedly mounted on upper end cover edge, watertight, 2 shape of kuppe are not ellipse in kuppe 2, effectively reduce gliding
The fluid resistance of device during the motion.
Outside upper end cover, inside kuppe 2, installation satellite communication antena 1, underwater sound communication transmitting-receiving energy converter, measurement hydrophone 3
And temperature sensor 9, wherein satellite antenna 1 pass through kuppe.
Cavity inside middle portion is hermetic unit, and cavity uses duralumin material, and anti-corrosion and hydrophobic processing, inside cavity are done in surface
Satellite communication circuit, underwater sound communication circuit, master control/signal processing circuit, attitude transducer 11 and master are installed respectively from top to bottom
Control battery pack etc.；Installation plunger pump and displacement correction module in the middle part of cavity, plunger pump are mounted on cavity central axes, pressure sensing
Device is mounted on plunger pump bottom, and displacement correction module is wrapped in outside plunger case, can radially, be axially moved and complete gliding and think highly of
The heart is adjusted, and changes posture in water, internal crosslinking cable is in displacement correcting module edge cabling.
Outside arrangement carbon fiber flank 12, is fixed by anchor ear in the middle part of cavity, and anchor ear is locked by screw with cavity,
It prevents from rotating, flank 12 glides for glider, divertical motion provides lift.
Cavity bottom installation lower kuppe, altimeter 14, sits base ring 8 and emergency trip mechanism etc. at carbon fiber empennage 7, real
Existing glider reliably sits bottom, and empennage 7 is for improving gliding stability.
Variable-volume oil sac is installed, enters water electrode inside the outer kuppe of bottom end cover etc..
As shown in Fig. 2, after equipment is laid, warm deep section can be carried out during gliding and ocean background noise section is surveyed
Amount can also carry out seat basic skill or training and make 1-8 or fixed point suspension work 1-5, can emerge immediately after detecting target, floating was glided
Cheng Zhongke carries out navigation attitude adjustment, and equipment is made to be back to initial release position, realizes that fixed marine site nearby works, passes through after emerging
Satellite communication 1-1 sends data to central station 1-4, also can multiple devices be carried out group by underwater sound communication
Net realizes that profile monitoring data, control instruction, working condition, location information etc. are shared, is marine environmental monitoring and oceanographic intelligence
A kind of effective means of acquisition of information.
It is understood that it will be understood by those skilled in the art that being subject to technical scheme of the present invention and inventive concept
The protection domain of appended claims of the invention should all be belonged to replacement or change.
Claims (8)
1. a kind of localization sink-float self monitor and profile survey glider, it is characterised in that：Include mainly agent structure, sit bottom machine
Structure, plunger pump and pressure sensor (13), horizontal displacement correction mechanism, master control/signal processing module, electric energy supply and power supply pipe
Module, measurement sensor, satellite communication module, underwater sound communication module are managed, plunger pump machanism changes oil sac volume, and center of gravity adjusts system
System adjustment navigation pose adjustment, seat base ring (8) cooperation control system, which is stablized, sits bottom, and more gliders pass through underwater sound communication module group
Net carries out data sharing and Collaborative Control, this localization sink-float self monitor and profile survey glider head be equipped with antenna (1),
Hydrophone (3), circuit board (4), temperature sensor (9), acoustics Modem (10), attitude transducer (11).
2. localization sink-float self monitor according to claim 1 and profile survey glider, it is characterised in that：The main body
Structure is made of seal cavity (5), kuppe (2), flank (12), empennage (7), and agent structure has hydrodynamic characteristic, close
Sealing cavity (5) has deep water overpressure resistant characteristic.
3. localization sink-float self monitor according to claim 1 and profile survey glider, it is characterised in that：The seat bottom
Mechanism is made of seat base ring (8), altimeter (14), emergency trip mechanism, sits base ring (8) intensity and size meets stable bottom of sitting and wants
It asks, sits base ring (8) and designed using loop configuration.
4. localization sink-float self monitor according to claim 1 and profile survey glider, it is characterised in that：The plunger
Pump and pressure sensor (13) are by displacement sensor, decelerating motor and brake, limit switch, bearing, ball-screw, plunger
Cylinder, plunger, pressure sensor, variable-volume oil sac composition.
5. localization sink-float self monitor according to claim 1 and profile survey glider, it is characterised in that：The level
Displacement correction mechanism is passed by center of gravity regulating system and battery (6), control circuit, axial movement motor, radial motion motor, posture
Sensor forms, and center of gravity regulating system is the integrated design with battery (6), and center of gravity regulating system is independent by two with battery (6)
Sector portion forms, and horizontal displacement correction mechanism has three degree of freedom.
6. localization sink-float self monitor according to claim 1 and profile survey glider, it is characterised in that：The master
Control/signal processing module is the control axis of glider, including gliding control, group-net communication control, suspension/seat bottom control
System, satellite communication control, emergency self-saving control integrate profile survey and autonomous detection signal processing algorithm, hard using low-power consumption
Part and software design approach.
7. localization sink-float self monitor according to claim 1 and profile survey glider, it is characterised in that：The satellite
Communication module is divided into control section and antenna part, integrates the positioning of a Big Dipper generation and short message communication function, Beidou II, GPS
Big Dipper dual-mode antenna, GPS receiving antenna are carried out Integrated design by positioning function, antenna part, and appearance is spherical shape, and volume is not more than
300ml, tolerance hydraulic pressure are not less than 2000 meters.
8. localization sink-float self monitor according to claim 1 and profile survey glider, it is characterised in that：The underwater sound
Communication module is using small size, high efficiency overflow ring type transceiver energy converter, using the frequency hopping frequency shift keying of incoherent processing
Communication system combines error-correcting code technique, and using clustering network topology structure, network is divided into one or more clusters, leader cluster node
It is mainly responsible for forwarding, coordination and the management of data between cluster.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711407494.5A CN108344403A (en) | 2017-12-22 | 2017-12-22 | A kind of localization sink-float self monitor and profile survey glider |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711407494.5A CN108344403A (en) | 2017-12-22 | 2017-12-22 | A kind of localization sink-float self monitor and profile survey glider |
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| CN108344403A true CN108344403A (en) | 2018-07-31 |
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ID=62962340
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| CN201711407494.5A Pending CN108344403A (en) | 2017-12-22 | 2017-12-22 | A kind of localization sink-float self monitor and profile survey glider |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109374922A (en) * | 2018-11-30 | 2019-02-22 | 中国海洋大学 | One kind being used for the vertical stable flow velocity profile survey buoy of wave glider pull-type |
| CN109374108A (en) * | 2018-10-30 | 2019-02-22 | 中国船舶重工集团公司第七〇九研究所 | A kind of underwater acoustic measurement device suitable for the open lake surface of big depth |
| CN109733574A (en) * | 2019-01-25 | 2019-05-10 | 哈尔滨工程大学 | A kind of self-tolerant acoustic information detection system based on underwater glider |
| CN110244598A (en) * | 2019-05-10 | 2019-09-17 | 中国船舶重工集团公司第七一五研究所 | A kind of sink-float profile buoy control circuit and control method certainly |
| CN111006752A (en) * | 2019-11-20 | 2020-04-14 | 北京百世通管道科技有限公司 | Submarine trace real-time monitoring and intrusion early warning system based on distributed optical fibers |
| CN112158318A (en) * | 2020-08-20 | 2021-01-01 | 浙江大学 | Hybrid bidirectional vertical profiler based on telescopic wings and bidirectional localization method thereof |
| CN114275128A (en) * | 2021-12-28 | 2022-04-05 | 哈尔滨工程大学 | Structure and method for assisting AUV bow bottom seating through special buoyancy equalizing device |
| CN114537626A (en) * | 2020-11-24 | 2022-05-27 | 中国科学院沈阳自动化研究所 | Autonomous bottom-sitting control method for underwater robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109374108A (en) * | 2018-10-30 | 2019-02-22 | 中国船舶重工集团公司第七〇九研究所 | A kind of underwater acoustic measurement device suitable for the open lake surface of big depth |
| CN109374922A (en) * | 2018-11-30 | 2019-02-22 | 中国海洋大学 | One kind being used for the vertical stable flow velocity profile survey buoy of wave glider pull-type |
| CN109733574A (en) * | 2019-01-25 | 2019-05-10 | 哈尔滨工程大学 | A kind of self-tolerant acoustic information detection system based on underwater glider |
| CN110244598A (en) * | 2019-05-10 | 2019-09-17 | 中国船舶重工集团公司第七一五研究所 | A kind of sink-float profile buoy control circuit and control method certainly |
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| CN111006752A (en) * | 2019-11-20 | 2020-04-14 | 北京百世通管道科技有限公司 | Submarine trace real-time monitoring and intrusion early warning system based on distributed optical fibers |
| CN111006752B (en) * | 2019-11-20 | 2024-03-01 | 北京百世通管道科技有限公司 | Submarine trace real-time monitoring and intrusion early warning system based on distributed optical fibers |
| CN112158318A (en) * | 2020-08-20 | 2021-01-01 | 浙江大学 | Hybrid bidirectional vertical profiler based on telescopic wings and bidirectional localization method thereof |
| CN114537626A (en) * | 2020-11-24 | 2022-05-27 | 中国科学院沈阳自动化研究所 | Autonomous bottom-sitting control method for underwater robot |
| CN114537626B (en) * | 2020-11-24 | 2022-12-20 | 中国科学院沈阳自动化研究所 | Autonomous bottom-sitting control method for underwater robot |
| CN114275128A (en) * | 2021-12-28 | 2022-04-05 | 哈尔滨工程大学 | Structure and method for assisting AUV bow bottom seating through special buoyancy equalizing device |
| CN114275128B (en) * | 2021-12-28 | 2023-01-03 | 哈尔滨工程大学 | Structure and method for assisting AUV bow bottom seating through special buoyancy equalizing device |
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Application publication date: 20180731 |