CN113184150A - Large-variable buoyancy adjusting system of cross-interface ocean navigation vehicle - Google Patents
Large-variable buoyancy adjusting system of cross-interface ocean navigation vehicle Download PDFInfo
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- CN113184150A CN113184150A CN202110572285.6A CN202110572285A CN113184150A CN 113184150 A CN113184150 A CN 113184150A CN 202110572285 A CN202110572285 A CN 202110572285A CN 113184150 A CN113184150 A CN 113184150A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/24—Automatic depth adjustment; Safety equipment for increasing buoyancy, e.g. detachable ballast, floating bodies
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
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Abstract
The invention belongs to the technical field of marine unmanned aircrafts, and particularly discloses a large-variable buoyancy regulating system of a cross-interface marine aircraft, which comprises a cabin body, a cabin body cover plate, a liquid ballast device, a gas ballast device and a controller module, wherein the cabin body cover plate is arranged on the cabin body; the buoyancy adjusting system can control the water feeding and draining process of the liquid ballast device and the air discharging and inflating process of the gas ballast device through the controller module, so that the aircraft can submerge and float. Compared with the ballast scheme in the prior art, the buoyancy regulating system has larger water supply and drainage volume, wider range for changing the dead weight and buoyancy of the unmanned aircraft, more flexible water supply and drainage modes, higher submerging and floating speeds of the unmanned aircraft and certain fault-tolerant performance.
Description
Technical Field
The invention relates to the technical field of marine unmanned aircrafts, in particular to a large-variable buoyancy adjusting system of a cross-interface marine aircraft.
Background
With the deep exploration of the ocean by human beings, more and more attention is paid to the ocean unmanned vehicle which can replace human beings to simultaneously carry out operations on the water surface and underwater in dangerous scenes. As a core device for switching between water and underwater states, a buoyancy regulating system of an aircraft plays a crucial role in the operation of the aircraft.
The current methods of adjusting the buoyancy adjustment system applied to marine craft are roughly divided into two categories, namely, changing the self-gravity and changing the displacement volume, but the methods have the following disadvantages:
first, the existing buoyancy regulating systems applied to underwater vehicles on the water surface mostly adopt a single liquid ballast mode, that is, the purposes of floating and submerging are achieved by pressing seawater into or discharging seawater out of a ballast tank to change the self gravity. The range of buoyancy by weight that can be varied by this method is limited by the size of the ballast tank.
Secondly, although the mode of adding the oil bag by using hydraulic oil is also utilized, the displacement volume of the aircraft is changed by filling or discharging the hydraulic oil in the oil bag, and the aim of adjusting the buoyancy is further fulfilled. However, the method has limited buoyancy adjusting range and capacity, is only suitable for buoyancy adjustment of small and light aircrafts, and cannot be applied to aircrafts with larger volume.
Third, most of the existing buoyancy adjusting systems are individually equipped with one of the above devices, and once a failure occurs, the failure cannot be remedied.
Disclosure of Invention
In order to solve the problems in the prior art, the invention aims to provide a large-variable buoyancy regulating system of a cross-interface marine vehicle.
Based on the purpose, the invention adopts the following technical scheme:
in a first aspect, the invention relates to a large variable buoyancy regulating system of a cross-interface ocean vehicle, which comprises a cabin body and a cabin body cover plate, wherein a liquid ballast device, a gas ballast device and a controller module are arranged in the cabin body; the controller module is connected with the liquid ballast device and is used for controlling water inlet and water discharge of the liquid ballast device; the controller module is connected with the gas ballast device and is used for controlling the gas intake and the gas exhaust of the gas ballast device; a first pressure sensor is arranged outside the cabin body.
According to the large variable buoyancy regulating system, preferably, the gas ballast device comprises a high-pressure gas storage tank, a gas pump, a second motor, a first gas bag, a second gas bag and a second normally-open solenoid valve; the gas outlet of the high-pressure gas storage tank is communicated with the gas inlet of the gas pump through a pipeline; the gas outlet of the gas pump is respectively connected with the gas inlet of the first air bag and the gas inlet of the second air bag through pipelines; the gas outlet of the first air bag and the gas outlet of the second air bag are both communicated with the inlet of the second normally-open electromagnetic valve through pipelines; the outlet of the second normally-open type electromagnetic valve is communicated with the external environment through a pipeline; the second motor is connected with the air pump and used for providing power for the air pump; wherein, the high-pressure gas storage tank is used for storing high-pressure buoyancy gas; the first airbag and the second airbag are arranged on two sides in an equipment cabin of the unmanned aircraft, and the displacement volume of the unmanned aircraft is changed by filling gas into the airbags or exhausting the gas in the airbags, so that the buoyancy of the unmanned aircraft is changed; the second motor is used for driving the air pump to operate and providing power for inflating the first air bag and the second air bag.
According to the large variable buoyancy regulating system, preferably, the liquid ballast device comprises a liquid ballast tank, a seawater pump and a first motor; the seawater pump is communicated with a water inlet and a water outlet at the bottom of the liquid ballast tank through a pipeline and is used for controlling the inflow and the discharge of seawater in the liquid ballast tank; the first motor is connected with the seawater pump and used for providing power for the seawater pump; wherein the liquid ballast tank is used for the storage of seawater to regulate the gravity of the aircraft; the first motor is used for driving the seawater pump to operate and providing power for water inlet and drainage of the liquid ballast device.
According to the large variable buoyancy regulating system described above, preferably, the gas ballast device further includes a first normally-open solenoid valve, a fifth solenoid valve, a first check valve, and a sixth solenoid valve; the first normally-open type electromagnetic valve is arranged between the high-pressure air storage tank and the air pump; the fifth electromagnetic valve is arranged between the air pump and the first air bag; the sixth electromagnetic valve is arranged between the air pump and the second air bag; an inlet of the first one-way valve is communicated with an outlet of the second normally-open type electromagnetic valve through a pipeline; wherein the air pump is a unidirectional variable displacement air pump; the first one-way valve is used for preventing seawater backflow when the first air bag and the second air bag are exhausted.
According to the large variable buoyancy regulating system described above, preferably, the liquid ballast apparatus further includes: the electromagnetic valve comprises a first throttle valve, a first normally open type electromagnetic valve, an electromagnetic valve group, a second throttle valve and a filter; an inlet of the first throttling valve is communicated with an inlet and an outlet at the bottom of the liquid ballast tank through a pipeline; an outlet of the first throttling valve is communicated with the first normally open type electromagnetic valve, the electromagnetic valve group, the second throttling valve and the filter in sequence through pipelines; the filter is communicated with a watertight through hole arranged at the bottom of the cabin body through a pipeline; the electromagnetic valve group consists of four electromagnetic valves, namely a first electromagnetic valve, a second electromagnetic valve, a third electromagnetic valve and a fourth electromagnetic valve, wherein the first electromagnetic valve, the second electromagnetic valve, the third electromagnetic valve and the fourth electromagnetic valve are sequentially communicated through a pipeline, and the fourth electromagnetic valve is communicated with the first electromagnetic valve through a pipeline; the first normally open type electromagnetic valve is communicated with a pipeline between the first electromagnetic valve and the second electromagnetic valve through a pipeline; the second throttle valve is communicated with a pipeline between the third electromagnetic valve and the fourth electromagnetic valve through a pipeline; the seawater pump is a one-way variable-displacement seawater pump; the water inlet of the one-way variable-displacement seawater pump is communicated with a pipeline between the first electromagnetic valve and the fourth electromagnetic valve through a water inlet pipeline; the water outlet of the one-way variable-displacement seawater pump is communicated with a pipeline between the second electromagnetic valve and the third electromagnetic valve through a water outlet pipeline; a pressure balance valve is arranged between a water inlet pipeline and a water outlet pipeline of the unidirectional variable displacement seawater pump; wherein, the first throttle valve is used for preventing the liquid ballast flow in the pipeline from being overlarge; the first normally open type electromagnetic valve plays a role of a switch and is switched off emergently when the liquid ballast device breaks down so as to protect the liquid ballast tank; the electromagnetic valve group and the one-way variable displacement seawater pump form a water inlet or outlet loop by controlling the on/off of different electromagnetic valves in the electromagnetic valve group; the first motor is used for driving the one-way variable-displacement seawater pump to operate and providing power for water inlet and drainage of the liquid ballast device; the pressure equalization valve is configured to equalize pressure within the conduit of the liquid ballast.
According to the large variable buoyancy regulating system, preferably, in order to prevent the gas pressure in the liquid ballast tank from being too high, the liquid ballast device further comprises a pressure relief module; the pressure relief module comprises a barometer, a third normally-open electromagnetic valve, a first overflow valve and a second one-way valve, wherein the third normally-open electromagnetic valve, the first overflow valve and the second one-way valve are sequentially communicated with the barometer through a pipeline; the barometer is communicated with the top of the liquid ballast tank through an exhaust pipeline; the second one-way valve is communicated with the outside of the cabin body through a pipeline; the barometer is used for monitoring the air pressure in the liquid ballast tank in real time; the second one-way valve is used for preventing the seawater from flowing back when the pressure is released.
According to the large variable buoyancy regulating system described above, preferably, in order to prevent the gas pressure in the liquid ballast tank from being too low, the liquid ballast apparatus further includes a pressurizing module; the pressurizing module comprises a fourth normally-off electromagnetic valve and a third one-way valve; an inlet of the fourth normally-open type electromagnetic valve is communicated with an outlet of the one-way variable displacement air pump through a pipeline, and an outlet of the fourth normally-open type electromagnetic valve is communicated with an inlet of the third one-way valve through a pipeline; the outlet of the third one-way valve is communicated with the top of the liquid ballast tank through a pipeline; the fourth normally-open electromagnetic valve is used for controlling whether to pressurize and inflate the liquid ballast tank or not; the third check valve is used for preventing the high-pressure gas in the liquid loading chamber from flowing back.
According to the large variable buoyancy regulating system, a liquid level meter is preferably arranged on the liquid ballast tank; a second overflow valve is arranged between the first throttle valve and the first normally open type electromagnetic valve; a fourth one-way valve is arranged on a water outlet pipeline of the one-way variable-displacement seawater pump; a third overflow valve is arranged at the water outlet of the one-way variable-displacement seawater pump; the liquid level meter is used for acquiring liquid level information in the liquid ballast tank in real time; the first throttle valve is used for preventing the liquid ballast flow in the pipeline from being overlarge; the second overflow valve is used for releasing the pressure in the pipeline and preventing the water pressure of the water inlet and the water outlet of the liquid ballast tank from being overlarge; the third overflow valve is used for preventing the fault caused by overhigh pressure of the water outlet of the one-way variable-displacement seawater pump; the fourth check valve is used for preventing the seawater backflow caused by overhigh pressure in the liquid loading cabin.
According to the large variable buoyancy regulating system, preferably, a third throttle valve is arranged between the first normally-open electromagnetic valve and the unidirectional variable displacement air pump; a fifth one-way valve is arranged between the fifth electromagnetic valve and the first air bag; the sixth electromagnetic valve and the second air bag are provided with a sixth one-way valve; a second pressure sensor is arranged on the first air bag; a third pressure sensor is arranged on the second air bag; the third throttle valve is used for preventing the gas flow in the gas outlet pipeline of the high-pressure gas storage tank from being too high; the fifth one-way valve is used for preventing the backflow in the first air bag due to overhigh gas pressure; the sixth one-way valve is used for preventing the second air bag from flowing back due to overhigh gas pressure; the second pressure sensor is used for monitoring the gas pressure in the first air bag in real time; the third pressure sensor is used for monitoring the gas pressure in the second air bag in real time.
In a second aspect, the present invention provides a buoyancy regulating method of the above large variable buoyancy regulating system, where the buoyancy regulating method includes a submerging step and a surfacing step:
the step of diving comprises the following processes:
a1: the controller module controls the liquid ballast device to intake water according to the received diving instruction; simultaneously, controlling the gas ballast device to exhaust;
a2: when the liquid ballast device carries out water inlet and the gas ballast device carries out gas exhaust, the aircraft dives;
the floating step comprises the following processes:
b1: the controller module controls the liquid ballast device to discharge water according to the received floating instruction; simultaneously, controlling the gas ballast device to inflate;
b2: and when the liquid ballast device discharges water and the gas ballast device admits air, the aircraft floats upwards.
According to the buoyancy adjusting method described above, preferably, the process of the liquid ballast device performing water intake includes the steps of:
s1: the controller module opens the second electromagnetic valve and the fourth electromagnetic valve and closes the first electromagnetic valve and the third electromagnetic valve according to the received water inlet instruction to form a water inlet loop;
s2: then, a first motor is switched on, the first motor drives a one-way variable-displacement seawater pump to operate, and seawater sequentially passes through a watertight through hole, a filter, a second throttle valve, a fourth electromagnetic valve, the one-way variable-displacement seawater pump, a second electromagnetic valve, a first normally-open electromagnetic valve and a first throttle valve at the bottom of the cabin body and enters the liquid ballast tank;
s3: observing the water level in the liquid ballast tank in real time by using a liquid level meter, and disconnecting the first motor through the controller module when the water level in the liquid ballast tank reaches a specified water level; closing the second solenoid valve and the fourth solenoid valve;
the gas ballast device gas discharge process comprises the following steps:
p1: the controller module closes the first normally-open electromagnetic valve, the second motor, the fifth electromagnetic valve and the sixth electromagnetic valve according to the received exhaust instruction, and stops introducing gas into the first air bag and the second air bag;
p2: then, opening a second normally-open electromagnetic valve to enable the gas in the first air bag and the second air bag to be discharged through the second normally-open electromagnetic valve and the first one-way valve in sequence; meanwhile, seawater enters the cabin body;
the floating step comprises a water discharging process of the liquid ballast device and an air inlet process of the gas ballast device:
the drainage process of the liquid ballast device comprises the following steps:
q1: the controller module opens the first electromagnetic valve and the third electromagnetic valve and closes the second electromagnetic valve and the fourth electromagnetic valve according to the received drainage instruction to form a drainage loop;
q2: then, a first motor is switched on, the first motor drives a one-way variable-displacement seawater pump to operate, so that seawater in the liquid ballast tank is discharged to the external marine environment through a first throttling valve, a first normally-open electromagnetic valve, a first electromagnetic valve, the one-way variable-displacement seawater pump, a third electromagnetic valve, a second throttling valve, a filter and a watertight through hole at the bottom of the tank body in sequence;
q3: observing the water level in the liquid ballast tank in real time by using a liquid level meter, and disconnecting the first motor through the controller module when the water level in the liquid ballast tank reaches a specified water level; closing the first solenoid valve and the third solenoid valve;
the gas inlet process of the gas ballast device comprises the following steps:
r1: the controller module opens the first normally-open electromagnetic valve, the fifth electromagnetic valve and the sixth electromagnetic valve according to the received air inlet instruction to form an air inlet passage;
r2: then, a second motor is started, so that the gas in the high-pressure gas storage tank sequentially passes through a first normally-open electromagnetic valve, a third throttle valve and a one-way variable displacement gas pump; then the gas enters the first air bag through a fifth electromagnetic valve and a fifth one-way valve respectively; the air enters a second air bag through a sixth electromagnetic valve and a sixth one-way valve;
r3: calculating the internal and external pressure difference of the first air bag and the second air bag in real time according to the first pressure sensor, the second pressure sensor and the third pressure sensor, and adjusting the air input;
r4: the first air bag and the second air bag are expanded to discharge the seawater in the cabin body;
r5: after the first air bag and the second air bag are completely expanded, the fifth electromagnetic valve and the sixth electromagnetic valve are closed firstly; then the second motor is turned off; and finally closing the first normally-open type electromagnetic valve.
According to the buoyancy regulating method described above, preferably, a deflation process of the liquid ballast tank is further included, the deflation process including the steps of:
t1: observing the air pressure at the upper part of the liquid ballast tank in real time according to an air pressure meter;
t2: when the air pressure in the liquid ballast tank is detected to be higher than the specified pressure, the third normally-open electromagnetic valve is opened, and the gas in the liquid ballast tank is discharged to the external environment through the barometer, the third normally-open electromagnetic valve, the first overflow valve and the second one-way valve in sequence;
and T3, observing the air pressure value, and closing the third normally-open electromagnetic valve when the air pressure in the liquid ballast tank reaches the expected pressure.
According to the buoyancy regulating method described above, preferably, an inflation and pressurization process of the liquid ballast tank is further included, the inflation and pressurization process including the steps of:
u1: observing the air pressure at the upper part of the liquid ballast tank in real time according to an air pressure meter;
u2: when the air pressure in the liquid ballast tank is detected to be lower than the specified pressure, opening a fourth normally-open electromagnetic valve;
u3: opening the first normally-open electromagnetic valve, switching on the second motor, and enabling the second motor to drive the one-way variable displacement air pump to pre-rotate, so that the gas in the high-pressure gas storage tank sequentially passes through the first normally-open electromagnetic valve, the third throttle valve, the one-way variable displacement air pump, the fourth normally-open electromagnetic valve and the third one-way valve and enters the liquid ballast tank;
u4: and observing the air pressure value, and closing the second motor, the first normally-open electromagnetic valve and the fourth normally-open electromagnetic valve in sequence when the air pressure in the liquid ballast tank reaches the expected pressure.
Compared with the prior art, the invention has the following positive beneficial effects:
(1) the buoyancy regulating system is a secondary buoyancy regulating system, combines two ballast modes of liquid and gas, controls the introduction and discharge of seawater by using the one-way variable-displacement seawater pump and the electromagnetic valve bank, changes the self weight of the aircraft, and realizes the submergence and floatation of the aircraft; meanwhile, the discharge and the introduction of seawater in the cabin body are controlled by the inflation and the deflation of the air bags, so that the floating and submerging process of the aircraft is realized; the invention combines two ballast modes of liquid and gas, so that the unmanned aircraft has larger water supply and drainage volume, wider range for changing the dead weight and buoyancy of the unmanned aircraft, more flexible water inlet and drainage modes, and higher submerging and floating speeds of the unmanned aircraft.
(2) The pressurizing module and the pressure relief module are arranged in the liquid ballast device, and the liquid ballast tank is pressurized or relieved to prevent the water drainage or water inlet difficulty caused by too low or too high pressure in the liquid ballast tank from influencing the floating and submerging of an aircraft.
(3) The buoyancy adjusting system can effectively adjust the buoyancy of the aircraft and realize quick floating and submerging of the aircraft; the liquid ballast and the gas ballast are combined and relatively independent, when one ballast mode fails, the other ballast mode can still work normally, the floating and submerging effectiveness is guaranteed, and the device has certain fault tolerance performance.
Drawings
FIG. 1 is a view showing the structure of the external appearance of the present invention;
FIG. 2 is a block diagram of a buoyancy regulating system according to embodiment 1 of the present invention;
in the figure, 1 is a tank body, 2 is a tank body cover plate, 3 is a liquid ballast device, 4 is a gas ballast device, 5 is a liquid ballast tank, 6 is a liquid level meter, 7 is a first throttle valve, 8 is a first normally open type electromagnetic valve, 9 is a second overflow valve, 10 is an electromagnetic valve group, 101 is a first electromagnetic valve, 102 is a second electromagnetic valve, 103 is a third electromagnetic valve, 104 is a fourth electromagnetic valve, 11 is a second throttle valve, 12 is a filter, 13 is a one-way variable displacement seawater pump, 14 is a first motor, 15 is a fourth one-way valve, 16 is a pressure balance valve, and 17 is a third overflow valve; 18 is a high-pressure air storage tank, 19 is a second air bag, 20 is a first normally-open type electromagnetic valve, 21 is a third throttle valve, 22 is a one-way variable displacement air pump, 23 is a second motor, 24 is a sixth electromagnetic valve, 25 is a sixth one-way valve, 26 is a third pressure sensor, 27 is a fifth electromagnetic valve, 28 is a fifth one-way valve, 29 is a second pressure sensor, 30 is a first air bag, 31 is a second normally-open type electromagnetic valve, 32 is a first one-way valve, 33 is a third normally-open type electromagnetic valve, 34 is a first overflow valve, 35 is a second one-way valve, 36 is a barometer, 37 is a fourth normally-open type electromagnetic valve, 38 is a third one-way valve, 39 is a controller module, and 40 is a first pressure sensor.
Detailed Description
In order to illustrate the technical solution of the present invention more clearly, the following detailed description of the system for adjusting the buoyancy of a large variable of a cross-interface marine vehicle according to the present invention is given by way of specific examples, without limiting the scope of the invention.
Example 1:
a large variable buoyancy regulating system of a cross-interface ocean vehicle is characterized in that the appearance structure diagram is shown in figure 1, the buoyancy regulating system diagram is shown in figure 2, the appearance structure diagram comprises a cabin body 1 and a cabin body cover plate 2, and the cabin body 1 and the cabin body cover plate 2 form an equipment cabin; the cabin body 1 is provided with a liquid ballast device 3, a gas ballast device 4 and a controller module 39; the controllable elements, sensors and actuators in the liquid ballast 3 and gas ballast 4 are all connected to a controller module 39; the cabin 1 is externally provided with a first pressure sensor 40.
The liquid ballast apparatus 3 includes: the device comprises a liquid ballast tank 5, and a first throttling valve 7, a first normally open type electromagnetic valve 8, an electromagnetic valve group 10, a second throttling valve 11 and a filter 12 which are sequentially communicated with the bottom of the liquid ballast tank 5 through pipelines; the filter 12 is communicated with a watertight through hole arranged at the bottom of the cabin body 1 through a pipeline; the electromagnetic valve group 10 is composed of four electromagnetic valves, namely a first electromagnetic valve 101, a second electromagnetic valve 102, a third electromagnetic valve 103 and a fourth electromagnetic valve 104, wherein the first electromagnetic valve 101, the second electromagnetic valve 102, the third electromagnetic valve 103 and the fourth electromagnetic valve 104 are sequentially communicated through a pipeline, and the fourth electromagnetic valve 104 and the first electromagnetic valve 101 are communicated through a pipeline; the first normally open type solenoid valve 8 is communicated with a pipeline between the first solenoid valve 101 and the second solenoid valve 102 through a pipeline; the second throttle valve 11 is communicated with a pipeline between the third electromagnetic valve 103 and the fourth electromagnetic valve 104 through a pipeline; the liquid ballast device 3 further comprises a one-way variable-displacement seawater pump 13 and a first motor 14, wherein a water inlet of the one-way variable-displacement seawater pump 13 is communicated with a pipeline between the first electromagnetic valve 101 and the fourth electromagnetic valve 104 through a water inlet pipeline; the water outlet of the unidirectional variable displacement seawater pump 13 is communicated with a pipeline between the second electromagnetic valve 102 and the third electromagnetic valve 103 through a water outlet pipeline; a pressure balance valve 16 is arranged between the water inlet pipeline and the water outlet pipeline of the unidirectional variable displacement seawater pump 13; the unidirectional variable displacement seawater pump 13 is connected with a first motor 14; wherein the liquid ballast tank 5 is used for the storage of seawater, thereby regulating the gravity of the aircraft; the first throttle valve 7 is used for preventing the liquid ballast flow in the pipeline from being overlarge; the first normally open type electromagnetic valve 8 functions as a switch and is switched off in an emergency when the liquid ballast device 3 fails, so as to protect the liquid ballast tank 5; by controlling the on-off of different electromagnetic valves in the electromagnetic valve group 10, the electromagnetic valve group 10 and the one-way variable displacement seawater pump 13 form a water inlet or outlet loop; the first motor 14 is used for driving the unidirectional variable-displacement seawater pump 13 to operate and providing power for water intake and drainage of the liquid ballast device 3; the pressure equalization valve 16 is used to equalize the pressure within the piping of the liquid ballast 3.
The gas ballast device 4 comprises a high-pressure gas storage tank 18, and a first normally-open type electromagnetic valve 20, a one-way variable displacement gas pump 22, a fifth electromagnetic valve 27, a first air bag 30, a second normally-open type electromagnetic valve 31 and a first one-way valve 32 which are sequentially connected with the high-pressure gas storage tank 18 through gas pipelines; the gas ballast device 4 further comprises a sixth electromagnetic valve 24 and a second air bag 19; the sixth electromagnetic valve 24 is respectively communicated with the unidirectional variable displacement air pump 22 and the second air bag 19 through pipelines, and the second air bag 19 is communicated with the second normally-open electromagnetic valve 31 through a pipeline; the unidirectional variable displacement air pump 22 is connected with a second motor 23; wherein, the high-pressure gas storage tank 18 is used for storing high-pressure buoyancy gas; the first air bag 30 and the second air bag 19 are arranged on two sides in the equipment cabin of the aircraft, and the displacement volume of the aircraft is changed by filling air into the air bags or exhausting the air in the air bags, so that the buoyancy of the unmanned aircraft is changed; the second motor 23 is used for driving the unidirectional variable displacement air pump 22 to operate and providing power for inflating the first air bag 30 and the second air bag 19; the first check valve 32 is used to prevent the seawater from flowing back when the first and second air bags 30, 19 are deflated.
In order to prevent the gas pressure in the liquid ballast tank 5 from being too high, the liquid ballast device 3 further comprises a pressure relief module; the pressure relief module comprises a barometer 36, and a third normally-open solenoid valve 33, a first overflow valve 34 and a second one-way valve 35 which are sequentially communicated with the barometer 36 through pipelines; the barometer 36 is communicated with the top of the liquid ballast tank 5 through an exhaust pipeline; the second one-way valve 35 is communicated with the outside of the cabin 1 through a pipeline; wherein, the barometer 36 is used for monitoring the air pressure in the liquid ballast tank 5 in real time; the second check valve 35 is used to prevent the seawater from flowing back when the pressure is released.
In order to prevent the gas pressure in the liquid ballast tank 5 from being too low, resulting in too high a water level in the tank, the liquid ballast means 3 further comprises a pressurizing module; the pressurizing module comprises a fourth normally-off solenoid valve 37 and a third check valve 38; the fourth normally-open type electromagnetic valve 37 is respectively communicated with the one-way variable displacement air pump 22 and the third one-way valve 38 through pipelines; the third one-way valve 38 is in communication with the top of the liquid ballast tank 5 via a conduit; wherein, the fourth normally-open solenoid valve 37 is used for controlling whether to pressurize and inflate the liquid ballast tank 5; the third check valve 38 is used to prevent backflow of the high pressure gas in the liquid ballast tank 5.
A liquid level meter 6 is arranged on the liquid ballast tank 5; a second overflow valve 9 is arranged between the first throttle valve 7 and the first normally open type electromagnetic valve 8; a fourth one-way valve 15 is arranged on a water outlet pipeline of the one-way variable-displacement seawater pump 13; a third overflow valve 17 is arranged on the water outlet pipeline of the one-way variable displacement seawater pump 13; the liquid level meter 6 is used for acquiring liquid level information in the liquid ballast tank 5 in real time; the first throttle valve 7 is used for preventing the liquid ballast flow in the pipeline from being overlarge; the second overflow valve 9 is used for releasing the pressure in the pipeline and preventing the water pressure at the water inlet and the water outlet of the liquid ballast tank 5 from being overlarge; the third overflow valve 17 is used for preventing the fault caused by overhigh pressure at the water outlet of the one-way variable displacement seawater pump 13; the fourth check valve 15 is used to prevent backflow of seawater due to excessive pressure in the liquid ballast tank 5.
A third throttle valve 21 is arranged between the first normally-open electromagnetic valve 20 and the unidirectional variable displacement air pump 22; a fifth one-way valve 28 is arranged between the fifth electromagnetic valve 27 and the first air bag 30; the sixth electromagnetic valve 24 and the second air bag 19 are provided with a sixth one-way valve 25; a second pressure sensor 29 is arranged on the first air bag 30; a third pressure sensor 26 is arranged on the second air bag 19; wherein, the third throttle valve 21 is used to prevent the gas flow in the gas outlet pipeline of the high pressure gas storage tank 18 from being too high; the fifth check valve 28 is used to prevent the backflow in the first air bag 30 due to the excessive pressure of the air; the sixth check valve 25 is used to prevent the backflow in the second air bag 19 due to the excessive gas pressure; second pressure sensor 29 is used to monitor the gas pressure in first bladder 30 in real time; the third pressure sensor 26 is used to monitor the gas pressure in the second air bag 19 in real time.
Example 2:
a buoyancy adjustment method of the large variable buoyancy adjustment system according to embodiment 1, the buoyancy adjustment method comprising a submerging step and a surfacing step:
the submergence step comprises a water intake process of the liquid ballast 3 and a gas discharge process of the gas ballast 4:
the water inlet process of the liquid ballast device 3 comprises the following steps:
s1: the controller module 39 opens the second solenoid valve 102 and the fourth solenoid valve 104, and closes the first solenoid valve 101 and the third solenoid valve 103 according to the received water inlet instruction, so as to form a water inlet loop;
s2: then, a first motor 14 is switched on, the first motor 14 drives a one-way variable-displacement seawater pump 13 to operate, so that seawater sequentially passes through a watertight through hole at the bottom of the cabin body 1, a filter 12, a second throttle valve 11, a fourth electromagnetic valve 104, the one-way variable-displacement seawater pump 13, a second electromagnetic valve 102, a first normally-open electromagnetic valve 8 and a first throttle valve 7 to enter the liquid ballast tank 5;
s3: observing the water level in the liquid ballast tank 5 in real time using the level gauge 6, and disconnecting the first motor 14 through the controller module 39 when the water level in the liquid ballast tank 5 reaches a specified level; closing the second solenoid valve 102 and the fourth solenoid valve 104;
the gas ballast means 4 is vented, comprising the steps of:
p1, the controller module 39 closes the first normally open solenoid valve 20, the second motor 23, the fifth solenoid valve 27 and the sixth solenoid valve 24 according to the received exhaust instruction, and stops introducing gas into the first air bag 30 and the second air bag 19;
p2: then, the second normally open type electromagnetic valve 31 is opened, so that the gas in the first air bag 30 and the second air bag 19 is discharged through the second normally open type electromagnetic valve 31 and the first one-way valve 32 in sequence; at the same time, seawater enters the interior of the cabin 1.
The floating step comprises a water discharging process of the liquid ballast device 3 and a gas intake process of the gas ballast device 4:
the process of draining the liquid ballast means 3, comprising the steps of:
q1: the controller module 39 opens the first solenoid valve 101 and the third solenoid valve 103, and closes the second solenoid valve 102 and the fourth solenoid valve 104 according to the received water drainage instruction, so as to form a water drainage loop;
q2: then, the first motor 14 is switched on, the first motor 14 drives the unidirectional variable displacement seawater pump 13 to operate, so that seawater in the liquid ballast tank 5 sequentially passes through the first throttling valve 7, the first normally open type electromagnetic valve 8, the first electromagnetic valve 101, the unidirectional variable displacement seawater pump 13, the third electromagnetic valve 103, the second throttling valve 11, the filter 12 and the watertight through hole at the bottom of the cabin body 1 and is discharged into the external marine environment;
q3: observing the water level in the liquid ballast tank 5 in real time using the level gauge 6, and disconnecting the first motor 14 through the controller module 39 when the water level in the liquid ballast tank 5 reaches a specified level; closing the first solenoid valve 101 and the third solenoid valve 103;
the gas inlet process of the gas ballast device 4 comprises the following steps:
r1: the controller module 39 opens the first normally-open solenoid valve 20, the fifth solenoid valve 27 and the sixth solenoid valve 24 according to the received air inlet instruction to form an air inlet passage;
r2: then, the second motor 23 is turned on, so that the gas in the high-pressure gas storage tank 18 sequentially passes through the first normally-open electromagnetic valve 20, the third throttle valve 21 and the one-way variable displacement air pump 22; then the gas enters the first air bag 30 through the fifth electromagnetic valve 27 and the fifth one-way valve 28 respectively; enters the second air bag 19 through a sixth electromagnetic valve 24 and a sixth one-way valve 25;
r3: calculating the internal and external pressure difference of the first air bag 30 and the second air bag 19 in real time according to the first pressure sensor 40, the second pressure sensor 29 and the third pressure sensor 26, and adjusting the air inflow;
r4: the first air bag and the second air bag are expanded to discharge the seawater in the cabin body 1;
r5: after the first air bag and the second air bag are completely expanded, the fifth electromagnetic valve 27 and the sixth electromagnetic valve 24 are closed firstly; the second motor 23 is then switched off; finally, the first normally open solenoid valve 20 is closed.
The buoyancy regulating method further comprises a deflation process of the liquid ballast tank 5, wherein the deflation process comprises the following steps:
t1: observing the air pressure at the upper part of the liquid ballast tank 5 in real time according to an air pressure meter 36;
t2: when the air pressure in the liquid ballast tank 5 is detected to be higher than the designated pressure, the third normally-open electromagnetic valve 33 is opened, and the air in the liquid ballast tank 5 is discharged to the external environment sequentially through the barometer 36, the third normally-open electromagnetic valve 33, the first overflow valve 34 and the second check valve 35;
t3-observe the barometer 36 value and close the third normally-open solenoid valve 33 when the air pressure in the liquid ballast tank 5 reaches the desired pressure.
The buoyancy regulating method further comprises an inflation and pressurization process of the liquid ballast tank 5, wherein the inflation and pressurization process comprises the following steps:
u1: observing the air pressure at the upper part of the liquid ballast tank 5 in real time according to an air pressure meter 36;
u2: when it is detected that the air pressure in the liquid ballast tank 5 is lower than a prescribed pressure, the fourth normally-open electromagnetic valve 37 is opened;
u3: opening the first normally-open electromagnetic valve 20, switching on the second motor 23, and enabling the second motor 23 to drive the one-way variable displacement air pump 22 to pre-rotate, so that the gas in the high-pressure gas storage tank 18 sequentially passes through the first normally-open electromagnetic valve 20, the third throttle valve 21, the one-way variable displacement air pump 22, the fourth normally-open electromagnetic valve 37 and the third one-way valve 38 and enters the liquid ballast tank 5;
u4: the barometer 36 is observed and when the air pressure in the liquid ballast tank 5 reaches a desired pressure, the second motor 23, the first normally-open solenoid valve 20 and the fourth normally-open solenoid valve 37 are closed in sequence.
Claims (10)
1. A large variable buoyancy regulating system of a cross-interface ocean vehicle comprises a cabin body and a cabin body cover plate, and is characterized in that a liquid ballast device, a gas ballast device and a controller module are arranged in the cabin body; the controller module is connected with the liquid ballast device and is used for controlling water inlet and water discharge of the liquid ballast device; the controller module is connected with the gas ballast device and is used for controlling the gas intake and the gas exhaust of the gas ballast device; a first pressure sensor is arranged outside the cabin body.
2. The large variable buoyancy regulating system according to claim 1, wherein the gas ballast device comprises a high pressure gas tank, a gas pump, a second motor, a first gas bag, a second normally open solenoid valve; the gas outlet of the high-pressure gas storage tank is communicated with the gas inlet of the gas pump through a pipeline; the gas outlet of the gas pump is respectively connected with the gas inlet of the first air bag and the gas inlet of the second air bag through pipelines; the gas outlet of the first air bag and the gas outlet of the second air bag are both communicated with the inlet of the second normally-open electromagnetic valve through pipelines; the outlet of the second normally-open type electromagnetic valve is communicated with the external environment through a pipeline; the second motor is connected with the air pump and used for providing power for the air pump.
3. The large variable buoyancy module system of claim 2, wherein the liquid ballast device comprises a liquid ballast tank, a sea water pump, a first motor; the seawater pump is communicated with a water inlet and a water outlet at the bottom of the liquid ballast tank through a pipeline and is used for controlling the inflow and the discharge of seawater in the liquid ballast tank; the first motor is connected with the seawater pump and used for providing power for the seawater pump.
4. The large variable buoyancy regulating system according to claim 3, wherein the gas ballast device further comprises a first normally open solenoid valve, a fifth solenoid valve, a first check valve, a sixth solenoid valve; the first normally-open type electromagnetic valve is arranged between the high-pressure air storage tank and the air pump; the fifth electromagnetic valve is arranged between the air pump and the first air bag; the sixth electromagnetic valve is arranged between the air pump and the second air bag; an inlet of the first one-way valve is communicated with an outlet of the second normally-open type electromagnetic valve through a pipeline; the air pump is a unidirectional variable displacement air pump.
5. The large variable buoyancy module system of claim 4, wherein the liquid ballast device further comprises: the electromagnetic valve comprises a first throttle valve, a first normally open type electromagnetic valve, an electromagnetic valve group, a second throttle valve and a filter; an inlet of the first throttling valve is communicated with an inlet and an outlet at the bottom of the liquid ballast tank through a pipeline; an outlet of the first throttling valve is communicated with the first normally open type electromagnetic valve, the electromagnetic valve group, the second throttling valve and the filter in sequence through pipelines; the filter is communicated with a watertight through hole arranged at the bottom of the cabin body through a pipeline; the electromagnetic valve group consists of four electromagnetic valves, namely a first electromagnetic valve, a second electromagnetic valve, a third electromagnetic valve and a fourth electromagnetic valve, wherein the first electromagnetic valve, the second electromagnetic valve, the third electromagnetic valve and the fourth electromagnetic valve are sequentially communicated through a pipeline, and the fourth electromagnetic valve is communicated with the first electromagnetic valve through a pipeline; the first normally open type electromagnetic valve is communicated with a pipeline between the first electromagnetic valve and the second electromagnetic valve through a pipeline; the second throttle valve is communicated with a pipeline between the third electromagnetic valve and the fourth electromagnetic valve through a pipeline; the seawater pump is a one-way variable-displacement seawater pump; the water inlet of the one-way variable-displacement seawater pump is communicated with a pipeline between the first electromagnetic valve and the fourth electromagnetic valve through a water inlet pipeline; the water outlet of the one-way variable-displacement seawater pump is communicated with a pipeline between the second electromagnetic valve and the third electromagnetic valve through a water outlet pipeline; a pressure balance valve is arranged between a water inlet pipeline and a water outlet pipeline of the unidirectional variable displacement seawater pump.
6. The large variable buoyancy module system according to claim 5, wherein the liquid ballast device further comprises a pressure relief module; the pressure relief module comprises a barometer, a third normally-open electromagnetic valve, a first overflow valve and a second one-way valve, wherein the third normally-open electromagnetic valve, the first overflow valve and the second one-way valve are sequentially communicated with the barometer through a pipeline; the barometer is communicated with the top of the liquid ballast tank through an exhaust pipeline; the second one-way valve is communicated with the outside of the cabin body through a pipeline.
7. The large variable buoyancy module system according to claim 6, wherein the liquid ballast device further comprises a pressurization module; the pressurizing module comprises a fourth normally-off electromagnetic valve and a third one-way valve; an inlet of the fourth normally-open type electromagnetic valve is communicated with an outlet of the one-way variable displacement air pump through a pipeline, and an outlet of the fourth normally-open type electromagnetic valve is communicated with an inlet of the third one-way valve through a pipeline; the outlet of the third one-way valve is communicated with the top of the liquid ballast tank through a pipeline.
8. The large variable buoyancy regulating system according to claim 7, wherein the liquid ballast tank is provided with a liquid level gauge; a second overflow valve is arranged between the first throttle valve and the first normally open type electromagnetic valve; a fourth one-way valve is arranged on a water outlet pipeline of the one-way variable-displacement seawater pump; and a third overflow valve is arranged at the water outlet of the one-way variable-displacement seawater pump.
9. The large variable buoyancy regulating system according to claim 8, wherein a third throttle valve is provided between the first normally-open solenoid valve and the unidirectional variable displacement air pump; a fifth one-way valve is arranged between the fifth electromagnetic valve and the first air bag; the sixth electromagnetic valve and the second air bag are provided with a sixth one-way valve; a second pressure sensor is arranged on the first air bag; and a third pressure sensor is arranged on the second air bag.
10. A buoyancy regulating method of a large variable buoyancy regulating system according to any one of claims 1 to 9, wherein the buoyancy regulating method comprises a submerging step and a surfacing step:
the submerging step comprises a water inlet process of the liquid ballast device and an exhaust process of the gas ballast device:
the water inlet process of the liquid ballast device comprises the following steps:
s1: the controller module opens the second electromagnetic valve and the fourth electromagnetic valve and closes the first electromagnetic valve and the third electromagnetic valve according to the received water inlet instruction to form a water inlet loop;
s2: then, a first motor is switched on, the first motor drives a one-way variable-displacement seawater pump to operate, and seawater sequentially passes through a watertight through hole, a filter, a second throttle valve, a fourth electromagnetic valve, the one-way variable-displacement seawater pump, a second electromagnetic valve, a first normally-open electromagnetic valve and a first throttle valve at the bottom of the cabin body and enters the liquid ballast tank;
s3: observing the water level in the liquid ballast tank in real time by using a liquid level meter, and disconnecting the first motor through the controller module when the water level in the liquid ballast tank reaches a specified water level; closing the second solenoid valve and the fourth solenoid valve;
the gas ballast device gas discharge process comprises the following steps:
p1: the controller module closes the first normally-open electromagnetic valve, the second motor, the fifth electromagnetic valve and the sixth electromagnetic valve according to the received exhaust instruction, and stops introducing gas into the first air bag and the second air bag;
p2: then, opening a second normally-open electromagnetic valve to enable the gas in the first air bag and the second air bag to be discharged through the second normally-open electromagnetic valve and the first one-way valve in sequence; meanwhile, seawater enters the cabin body;
the floating step comprises a water discharging process of the liquid ballast device and an air inlet process of the gas ballast device:
the drainage process of the liquid ballast device comprises the following steps:
q1: the controller module opens the first electromagnetic valve and the third electromagnetic valve and closes the second electromagnetic valve and the fourth electromagnetic valve according to the received drainage instruction to form a drainage loop;
q2: then, a first motor is switched on, the first motor drives a one-way variable-displacement seawater pump to operate, so that seawater in the liquid ballast tank is discharged to the external marine environment through a first throttling valve, a first normally-open electromagnetic valve, a first electromagnetic valve, the one-way variable-displacement seawater pump, a third electromagnetic valve, a second throttling valve, a filter and a watertight through hole at the bottom of the tank body in sequence;
q3: observing the water level in the liquid ballast tank in real time by using a liquid level meter, and disconnecting the first motor through the controller module when the water level in the liquid ballast tank reaches a specified water level; closing the first solenoid valve and the third solenoid valve;
the gas inlet process of the gas ballast device comprises the following steps:
r1: the controller module opens the first normally-open electromagnetic valve, the fifth electromagnetic valve and the sixth electromagnetic valve according to the received air inlet instruction to form an air inlet passage;
r2: then, a second motor is started, so that the gas in the high-pressure gas storage tank sequentially passes through a first normally-open electromagnetic valve, a third throttle valve and a one-way variable displacement gas pump; then the gas enters the first air bag through a fifth electromagnetic valve and a fifth one-way valve respectively; the air enters a second air bag through a sixth electromagnetic valve and a sixth one-way valve;
r3: calculating the internal and external pressure difference of the first air bag and the second air bag in real time according to the first pressure sensor, the second pressure sensor and the third pressure sensor, and adjusting the air input;
r4: the first air bag and the second air bag are expanded to discharge the seawater in the cabin body;
r5: after the first air bag and the second air bag are completely expanded, the fifth electromagnetic valve and the sixth electromagnetic valve are closed firstly; then the second motor is turned off; and finally closing the first normally-open type electromagnetic valve.
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| CN113184150B (en) | 2023-06-06 |
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