CN208393605U - Underwater intelligent floating instrument device and its control system - Google Patents
Underwater intelligent floating instrument device and its control system Download PDFInfo
- Publication number
- CN208393605U CN208393605U CN201820630703.6U CN201820630703U CN208393605U CN 208393605 U CN208393605 U CN 208393605U CN 201820630703 U CN201820630703 U CN 201820630703U CN 208393605 U CN208393605 U CN 208393605U
- Authority
- CN
- China
- Prior art keywords
- observation
- instrument device
- pressure
- zhao
- floating instrument
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Testing Or Calibration Of Command Recording Devices (AREA)
Abstract
The utility model provides a kind of underwater intelligent floating instrument device, including Zhao Cang mechanism, regulating mechanism, control observation mechanism；The regulating mechanism, control observation mechanism are arranged in Zhao Cang mechanism；Zhao Cang mechanism can be driven to realize that floatings, dive, longitudinal profile slip into, horizontal section any one of slides or various motion by regulating mechanism.Underwater intelligent floating instrument device provided by the utility model further includes wing components (6)；The wing components (6) include wing telescoping mechanism (601), horizontal wings (602)；The Zhao Cang mechanism, including pressure-resistant cabin (19)；Pressure-resistant cabin (19) side is provided with horizontal wings holding tank；Problem to be solved in the utility model is for the current oceanographic observation armament-related work time is short, working range is narrow, can not it is long-term, continuously navigated by water according to desired trajectory and finely observe this technological difficulties, provide a kind of underwater intelligent floating instrument device and corresponding working method.
Description
Technical field
The utility model relates to a kind of oceanographic observation instruments, and in particular, to a kind of underwater intelligent floating instrument device.
Background technique
Deep-sea ocean are the important adjusters of Earth climate system, but are also to recognize extremely limited weather system group at present
Point.Deep-sea ocean possess huge resource and the energy, and the variation of different time scales has entire ball ecological environment, weather
Far-reaching influence.
1) it is more than 90% heat surplus and the CO of mankind's activity discharge that deep-sea ocean, which absorb entire weather system,2,
Therefore, deep-sea ocean play the dual role that carbon converges with heat sink in Earth climate system, this fundamentally reduces entrance
The net radiation of earth system, to slow down the rate of global warming.
2) on the other hand, deep-sea ocean are to heat and CO2Absorption, result in marine physics, Biogeochemistry environment
And the great variety of the ecosystem, including extreme weather events it is frequent generation, sea level rise, Ocean acidification, ocean lack
Oxygen and living marine resources, sea bed gas hydrate change in resources etc..
Therefore, the variation of deep-sea ocean physics-Biogeochemistry-ecosystem processes and interaction mechanism are disclosed,
The spatial-temporal distribution characteristic and mechanism that understanding global warming influences deep-sea oceanic environment, for prediction deep-sea oceanic environment and weather
Variation, holding deep-sea Ocean resources and changing has great scientific meaning.To meet long-continued to deep-sea ocean, high space-time
The multidisciplinary synthesis of coverage rate is observed, and realizes " transparency " of the variation of deep-sea ocean, all kinds of ocean mobile observation platforms or observation
Class intelligence floating instrument device is applied and is given birth to.
ROV, AUV, Glider, Argo buoy etc. is specifically included that using the technology of Yu Haiyang mobile observation platform at present.
ROV is connected by umbilical cables with the PC control platform on the water surface, realizes machine by high-power vector propeller
The dive of people is floated and comprehensive accurate movement all around.Robot can carry underwater camera and various kinds of sensors, sensor
The information such as the data of acquisition and video can be sent to console by umbilical cables, thus realize the real time monitoring of underwater robot,
Observation to the ambient enviroment of work.In addition it can also be realized by the underwater operation equipment of carrying, such as manipulator, sample devices
To submarine target to the accurate operation of target.Certainly, entire observation and operation process require manually to be operated or intervened.
AUV is underwater robot of new generation, under being realized by included floating force driving system or propeller Powered Propulsion
It is latent to float, and accurate autonomous navigation is realized by propulsion system, it can be achieved to adopt ocean environment parameter during navigation
Collection.Due to its plug-in propeller, the mobility that when work is observed is higher；And its control relies on microprocessor, cooperation is each
Class navigation module and sensor become the important tool for completing various subsea tasks, it can be achieved that full autonomous navigation.In addition,
The features such as there is AUV scope of activities not limited by cable, good concealment, therefore its application range is wider.For example, civil field,
It can be used for pipeline installation, submarine survey, data collection etc.；Military domain then can be used for scouting, mine-laying, clearance, help latent and lifesaving
Deng.The advantages that due to cableless underwater robot, so industry and the military start to untethered underwater from the mid-1960s
People takes up.
There are floating force driving system and form regulation system inside Underwater Glider, passes through floating force driving system reality
Now to the Buoyance adjustment of aerodone, to realize the dive of aerodone and movement of floating.Cooperate form regulation system, passes through change
The front-rear position of whole center of gravity realizes the adjusting to aerodone pitch angle, to realize aerodone underwater saw-toothed profile movement road
Line.Since it obtains propulsive force using net buoyancy and attitude angle adjustment, energy consumption is minimum, only in adjustment net buoyancy and attitude angle
When consume a small amount of energy, therefore have the characteristics that high-efficient, endurance is big (up to thousands of kilometers).Although the boat of underwater glider
Scanning frequency degree is slower, but its manufacturing cost and maintenance cost are low, reusable and the features such as can largely launch, when meeting long
Between, the needs explored of a wide range of and low noise ocean.
Argo buoy and aerodone working principle are similar with structure, only have the vertical motion in vertical section due to it,
Therefore its internal only floating force driving system, by floating force driving system to Buoyance adjustment, to realize the dive of Argo buoy
It is moved with floating.The energy consumption of Argo buoy is lower, only a small amount of energy is consumed in Buoyance adjustment, therefore have low noise, efficiently
With macrocyclic movement and observing capacity, have great importance to the observation of marine vertical section.
In summary, the oceans such as ROV, AUV, Glider, Argo buoy mobile observation equipment can all be realized to marine environment
The observation or operation of parameter, but the function of realizing is all more single, and this few class equipment only has certain in some aspects in other words
Advantage, for being not only able to satisfy comprehensive accurate surveying but also the comprehensive observation of long period and large scale range observation mission can be reached
Index, currently the oceanographic observation equipment of mature application is also helpless；And the related mobile observation for meeting this kind of requirement is flat
Platform has not been reported.
In the prior art, underwater mobile observation platform specifically includes that unmanned remotely controlled submersible vehicle (Remote Operated
Vehicle, abbreviation ROV) and autonomous underwater vehicle (Autonomous Underwater Vehicle, abbreviation AUV).
Wherein, because ROV need to mount umbilical cables, ROV submerged depth and job area, and the operation and control of ROV are limited
It must rely on manually, therefore cannot achieve the unmanned measurement function of long period, large scale range.
AUV has stronger anti-current ability, and flexible operation can realize precise acquisition and measurement in small range sea area.But because
The plug-in propeller of AUV, energy consumption is larger, greatly limits AUV duty cycle and working range.
Certainly, in addition to the aircraft of above-mentioned two quasi-representative, there are also underwater glider (Underwater Glider) and Argo
Buoy (Array for real-time geostrophic oceanography).
Wherein, Argo buoy can be only done rectilinear profiling observation, and observation scope is limited.And its horizontal direction is vulnerable to ocean
The influence of ocean current generates " drifting with the tide " motion artifacts, therefore it can not be navigated by water according to desired trajectory, limits its fining
Observing capacity.
And Underwater Glider utilizes buoyancy adjustment module and pose adjustment module, it can be achieved that in larger sea area
Profiling observation, and have lower motion artifacts and longer observation cycle.But its working method limits its work
Path is only section zig-zag path, causes the mobility of observation low and cannot achieve the ocean weather station observation to target, therefore,
It is not able to satisfy the requirement that current mankind observes ocean generalization, three-dimensional, precision.
Traditional oceanographic observation means, generally use fixed mooring arrangement and Sea Surface Ship carries out sampling observation.Fixed mooring
Although varying information measurement can be carried out, the observation problem of space scale variation not can solve.It is observed as traditional core
Platform continues observing capacity etc. there are operating cost valuableness and shortage and lacks although Sea Surface Ship can observe ocean characteristic
Point.Satellite can efficiently complete sea surface observation, but lack the detectivity of the vertical scale in ocean.
Existing underwater mobile observation platform specifically includes that ROV, AUV, Glider, Argo buoy etc..
ROV is limited by lash ship, cannot achieve the continuous observation demand of global range.And the operating cost of ROV and AUV
Height, technology is complicated, needs huge on-site technical support team, it is difficult to adapt to a wide range of prolonged observation and require.
Although full automatic navigation control may be implemented in AUV, but because it needs plug-in propeller as power source, determine its energy
It consumes higher.Therefore, it is only applicable to the fining observation detection of small-scale ocean, it is difficult to meet long voyage and large scale range
Marine environment measurement.
Glider observation device is only applicable to point, the sampling observation of face high-resolution, since movement and trajectory model are single, only
It is able to achieve the zigzag traces observation of vertical section, mobility and flexibility are lower, it is difficult to which adapting to diversified flexible observation needs
It asks.
Although Argo buoy is towards World Oceans, it can only realize that vertical section is observed, and follow Current Movement.Lack
Mobility makes it be difficult to realize the three-dimension high-resolution sampling observation to medium and small scale process.
Utility model content
For the defects in the prior art, the purpose of the utility model is to provide a kind of underwater intelligent floating instrument device and
Its control system.
According to a kind of underwater intelligent floating instrument device provided by the utility model, including Zhao Cang mechanism, regulating mechanism, control
Sampling mechanism processed；
The regulating mechanism, control observation mechanism are arranged in Zhao Cang mechanism；
In regulating mechanism can drive Zhao Cang mechanism realization floating, dive, longitudinal profile slips into, horizontal section slides
It is any or appoint various motion.
It preferably, further include wing components；
The wing components include wing telescoping mechanism, horizontal wings；
The Zhao Cang mechanism, including pressure-resistant cabin；
The pressure-resistant cabin side is provided with horizontal wings holding tank；
When longitudinal profile slips into, the wing telescoping mechanism driving horizontal wings are retracted in horizontal wings holding tank,
And the oral area and horizontal wings that can make horizontal wings holding tank are in the same plane；
When horizontal section slides, the wing telescoping mechanism driving horizontal wings are stretched out out of horizontal wings holding tank；
The regulating mechanism includes buoyancy regulating system, attitude regulation system；
The buoyancy regulating system is connected by head ball end cap with attitude regulation system；
The buoyancy regulating system includes the capsule portion filled with liquid；
The capsule portion includes external capsule, capsula interna；
It detaches or promotes between external capsule, capsula interna by liquid and realize that capsule portion volume changes, and then drive underwater intelligence
It can floating instrument device progress dive, floating；
The attitude regulation system includes mass block；
The mass block is located at the centroid position of underwater intelligent floating instrument device；
The center of gravity of the mass block is biased relative to central axes to be arranged；
The displacement of mass block center of gravity when the mass block is around axial-rotation enables to the center of gravity of Zhao Cang mechanism entirety to move on to
Or remove the central axes of Zhao Cang mechanism；
The displacement of mass block center of gravity, enables to Zhao Cang mechanism whole when the mass block is axially move closer to or far from stern
The center of gravity of body is axially moveable.
Preferably, the control observation mechanism includes energy resource system；
The energy resource system includes battery means, power generation mechanism；
The battery means include lithium battery group；
The power generation mechanism includes thermal gradient energy Power Generation Section, wave-energy power generation portion；
By fore body to stern direction, the lithium battery group, thermal gradient energy Power Generation Section and wave-energy power generation portion are set gradually；
The quantity of the lithium battery group is multiple；
Multiple lithium battery groups pass through series connection and/or parallel way connection；
The control observation mechanism, further includes electronic compartment；
The electronic compartment is located at the inside of wing components；
The electronic compartment includes contexture by self portion, navigation control unit and load cell control unit；
By fore body to stern direction, the navigation control unit, load cell control unit and contexture by self portion are successively set
It sets；
The pressure-resistant cabin includes pressure-resistant front deck, pressure-resistant middle deck, pressure-resistant rear deck and compressive end cap；
By fore body to stern direction, the pressure resistance front deck, pressure-resistant middle deck and pressure-resistant rear deck are set gradually；
The pressure resistance front deck, pressure-resistant middle deck and pressure-resistant rear deck are connected with each other by compressive end cap；
The quantity of the compressive end cap is multiple.
Preferably, the Zhao Cang mechanism, further includes shell；
The shell includes fore body, middle part and stern；
The fore body, stern are respectively arranged with front pod, tail portion pod；
The front pod, tail portion pod have default molded line；
The Zhao Cang mechanism, further includes load cabin；
Load cell accommodation space is provided in the load cabin；
Load cell is mounted in load cell accommodation space；
The Zhao Cang mechanism further includes tail portion cabin；
The control observation mechanism further includes throwing loading system, observation sensor component；
The throwing loading system, observation sensor component are arranged in the cabin of tail portion；
The side in the tail portion cabin is provided with tail vane；
The observation sensor component includes marine physics property observation instrument, the life of Marine Chemistry property observation instrument ocean
Any of this three of physical property matter observation instrument；
The load cell includes marine physics property observation instrument, Marine Chemistry property observation instrument marine organisms property
Any of this three of matter observation instrument.
Preferably, the quality of the mass block is 20kg or more；
The diameter of the mass block is 240mm or less；
The rotation angle of the mass block is 40 ゜ or more.
The utility model additionally provides a kind of control system of underwater intelligent floating instrument device, including above-mentioned underwater intelligence
It can floating instrument device.
Compared with prior art, the utility model have it is following the utility model has the advantages that
1, problem to be solved in the utility model is for the current oceanographic observation armament-related work time is short, working range is narrow
It is narrow, can not it is long-term, continuously navigated by water according to desired trajectory and finely observe this technological difficulties, it is floating to provide a kind of underwater intelligent
Dynamic observation device and corresponding working method.
2, it is provided by the utility model provide a kind of underwater intelligent floating instrument device overcome it is above-mentioned existing various
The shortcomings that class underwater mobile observation platform and limitation propose that one kind has a longitudinal profile measurement and lateral local measurement glides mode
The underwater intelligence floating instrument device of two kinds of operating modes, thus realize for a long time, large-scale longitudinal profile measurement and
The laterally part of horizontal plane such as accurately measures at the multitasks, can be met with lower cost to deep-sea Multiscal process it is long-term,
Continuous observation demand.For expand oceanographic observation space-time coverage area and monitoring scale, realize ocean three-dimensional, transparence and
Precision detection, has important scientific research meaning.
3, the utility model realizes a kind of underwater intelligence floating instrument device, has longitudinal profile measurement and transverse direction
Local measurement glides two kinds of operating modes of mode, the shortcomings that overcoming existing various types of underwater mobile observation platform and limitation,
The laterally part for realizing the long-time to marine environment, the measurement of large-scale longitudinal profile and horizontal plane such as accurately measures at the function
Energy.
4, the intelligent floating instrument device in the utility model can realize longitudinal profile measurement and lateral local measurement gliding
Mould is switched fast, and has both realized the Vertical Observation ability of existing Argo buoy, but also with the lateral observation energy of underwater glider
Power, and the drawbacks of Argo buoy is by ocean current drift and underwater glider mobility and flexibility is overcome simultaneously, it realizes to vertical
It faces the monitoring with laterally part directly, long-term, continuous observation demand to deep-sea Multiscal process can be met with lower cost.
For expanding the space-time coverage area and monitoring scale of oceanographic observation, ocean three-dimensional, transparence and precision detection, tool are realized
Standby important scientific research meaning.
5, the utility model is realized in the intelligent floating instrument device course of work to sea by setting energy collection module
The collection and utilization of foreign environmental energy, and the energy is applied on the consuming components of device itself, realize intelligent floating instrument dress
The energy resource collecting function of setting meets the long-term observation demand of underwater mobile observation platform, is the long week of other underwater observation platforms
The observation of phase, large scale sea area have certain reference.
6, as expansion, the co-ordination of multiple intelligent floating instrument devices is may be implemented in the utility model, can be directed to
Marine hydrology, environment and meteorologic phenomena of various process etc. carry out Coordinated Observations.The utility model can also be achieved novel intelligence simultaneously
That is, in extreme conditions the Flexible deployment of energy floating instrument device realizes emergency mobile deployment that is quick, concentrating, realization pair
The fining observation requirements of region ocean.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other spies of the utility model
Sign, objects and advantages will become more apparent upon:
Fig. 1 is the work overall effect schematic diagram of underwater intelligent floating instrument device provided by the utility model.
Fig. 2 is the schematic diagram of internal structure of underwater intelligent floating instrument device provided by the utility model.
Fig. 3 is the buoyancy adjustment module hydraulic schematic diagram of underwater intelligent floating instrument device provided by the utility model.
Fig. 4 is the buoyancy adjustment module hydraulic schematic diagram of underwater intelligent floating instrument device provided by the utility model.
Fig. 5 is the whole schematic view of the front view of underwater intelligent floating instrument device provided by the utility model.
Fig. 6 is the whole overlooking structure diagram of underwater intelligent floating instrument device provided by the utility model.
Fig. 7 is the entirety perspective view of underwater intelligent floating instrument device provided by the utility model.
Fig. 8 is that the whole front view structure behind the pressure-resistant storehouse of underwater intelligent floating instrument device provided by the utility model removal is shown
It is intended to.
Fig. 9 is that the whole plan structure behind the pressure-resistant storehouse of underwater intelligent floating instrument device provided by the utility model removal is shown
It is intended to.
Figure 10 is that underwater intelligent floating instrument device provided by the utility model removes the whole stereochemical structure behind pressure-resistant storehouse
Schematic diagram.
Figure 11 is the control system module diagram of underwater intelligent floating instrument device provided by the utility model.
Figure 12 is Fuxin and center of gravity position of the underwater intelligent floating instrument device provided by the utility model in observation mode
Set schematic diagram.
Figure 13 is Fuxin and position of centre of gravity of the underwater intelligent floating instrument device that provides of utility model in observation mode
Schematic diagram.
It is as shown in the figure:
Specific embodiment
The utility model is described in detail combined with specific embodiments below.Following embodiment will be helpful to this field
Technical staff further understands the utility model, but does not limit the utility model in any form.It should be pointed out that ability
For the those of ordinary skill in domain, without departing from the concept of the premise utility, several changes and improvements can also be made.
These are all within the protection scope of the present invention.
As shown in Figures 1 to 10, the utility model provides a kind of underwater intelligent floating instrument device, including cover cabin machine
Structure, regulating mechanism, control observation mechanism；The regulating mechanism, control observation mechanism are arranged in Zhao Cang mechanism；Pass through adjusting
Mechanism can drive Zhao Cang mechanism to realize that floatings, dive, longitudinal profile slip into, horizontal section any one of slides or times a variety of
Movement.
Underwater intelligent floating instrument device provided by the utility model further includes wing components 6；The wing components 6 wrap
Include wing telescoping mechanism 601, horizontal wings 602；The Zhao Cang mechanism, including pressure-resistant cabin 19；19 side of the pressure-resistant cabin setting
There is horizontal wings holding tank；When longitudinal profile slips into, the wing telescoping mechanism 601 drives horizontal wings 602 to be retracted to water
In flat wing holding tank, and the oral area and horizontal wings 602 that can make horizontal wings holding tank are in the same plane；It is cutd open when laterally
When face is slided, the wing telescoping mechanism 601 drives horizontal wings 602 to stretch out out of horizontal wings holding tank；The adjusting machine
Structure includes buoyancy regulating system 3, attitude regulation system 20；The buoyancy regulating system 3 passes through head ball end cap 2 and attitude regulation
System 20 is connected；The buoyancy regulating system 3 includes the capsule portion 1 filled with liquid；The capsule portion 1 includes external capsule, capsula interna；It is logical
Crossing liquid detaches between external capsule, capsula interna or promotes realization 1 volume of capsule portion to change, and then drives underwater intelligent floating instrument
Device carries out dive, floats；The attitude regulation system 20 includes mass block；The mass block is located at underwater intelligent floating instrument
At the centroid position of device；The center of gravity of the mass block is biased relative to central axes to be arranged；Quality when mass block is around axial-rotation
The displacement of block center of gravity enables to the center of gravity of Zhao Cang mechanism entirety to move on to or remove the central axes of Zhao Cang mechanism；Mass block edge
The displacement of mass block center of gravity, enables to the center of gravity of Zhao Cang mechanism entirety to be axially moveable when axially adjacent to or far from stern.
The Zhao Cang mechanism integrally includes Zhao Cang mechanism, regulating mechanism and control observation mechanism.
The control observation mechanism includes energy resource system 21；The energy resource system 21 includes battery means, power generation mechanism；Institute
Stating battery means includes lithium battery group 2101；The power generation mechanism includes thermal gradient energy Power Generation Section 2102, wave-energy power generation portion 2103；
By fore body to stern direction, the lithium battery group 2101, thermal gradient energy Power Generation Section 2102 and wave-energy power generation portion 2103 are successively set
It sets；The quantity of the lithium battery group 2101 is multiple；Multiple lithium battery groups 2101 are connected by series connection and/or parallel way
It connects；The control observation mechanism further includes electronic compartment 22；The electronic compartment 22 is located at the inside of wing components 6；The electronic compartment
22 include contexture by self portion 2201, navigation control unit 2202 and load cell control unit 2203；By fore body to stern direction,
The navigation control unit 2202, load cell control unit 2203 and contexture by self portion 2201 are set gradually；The pressure-resistant cabin
19 include pressure-resistant front deck 1901, pressure-resistant middle deck 1902, pressure-resistant rear deck 1903 and compressive end cap 1904；By fore body to stern side
To the pressure resistance front deck 1901, pressure-resistant middle deck 1902 and pressure-resistant rear deck 1903 are set gradually；The pressure resistance front deck 1901, resistance to
Pressure middle deck 1902 and pressure-resistant rear deck 1903 are connected with each other by compressive end cap 1904；The quantity of the compressive end cap 1904 is more
It is a.
The Zhao Cang mechanism further includes shell 4；The shell 4 includes fore body, middle part and stern；The fore body, stern
It is respectively arranged with front pod 18, tail portion pod 2402；The front pod 18, tail portion pod 2402 have default
Molded line；
The default molded line of the front pod 18 is obtained by following equation:
The default molded line of the tail portion pod 2402 is obtained by following equation:
In formula:
D0For profile diameter；
LeFor entrance length；
LrFor run length；
neFor entrance ellipse index；
nrFor flow section parabolic linear index；
x1For the independent variable in the default curved dies of front pod 18 under rectangular coordinate system XOY, x1Value range exist
0 and LeBetween；
x2For the independent variable in the default curved dies of rectangular coordinate system XOY lower tail pod 2402, x2Value range
In 0 and LrBetween；
y1For the dependent variable in the default curved dies of front pod 18 under angular coordinate system XOY；
y2For the dependent variable in the default curved dies of angular coordinate system XOY lower tail pod 2402；
The x1Value range in 0 and LeBetween, for example, x1It is 0, for example, x1For Le；The x2Value range 0
And LrBetween, for example, x2It is 0, for example, x2For Lr.Preferably, maximum profile diameter D0It is minimum according to relevant resistance for 300mm
Carry out parameter designing.
It is streamlined that the shape of the former dome 18 is preferably spindle, is mounted on underwater intelligent floating instrument device, with
It is referred to as the fore body of floating instrument device down and connect and consolidates with the compressive end cap 1904 of the pressure-resistant front deck 1901 in pressure-resistant cabin 19
It is fixed, to reduce resistance when movement under water, improve sport efficiency.
The Zhao Cang mechanism further includes load cabin 23；Load cell accommodation space is provided in the load cabin 23；It is negative
Set sensor is mounted in load cell accommodation space；The Zhao Cang mechanism further includes tail portion cabin 24；The control observation machine
Structure further includes throwing loading system 2401, observation sensor component 2403；The throwing loading system 2401, observation sensor component 2403
It is arranged in tail portion cabin 24；The side in the tail portion cabin 24 is provided with tail vane 25；The observation sensor component 2403 includes
Any of marine physics property observation instrument, Marine Chemistry property observation instrument marine organisms property observation instrument this three
Or appoint multiple；The load cell includes marine physics property observation instrument, Marine Chemistry property observation instrument marine organisms
Any of this three of property observation instrument appoints multiple.
The quality of the mass block is 20kg or more；The diameter of mass block is 240mm or less；The rotation angle of mass block is
40 ゜ or more.
The utility model additionally provides a kind of control system of underwater intelligent floating instrument device, including above-mentioned underwater intelligence
It can floating instrument device.
The observation sensor component 2403 is preferably CTD sensor 16, i.e. conductivity-temperature-depth system (Conductance
Temperature Depth)；Difference between the load cell, observation sensor component 2403 is that the load passes
Sensor be can permeable waterproof in other words sensor, and observation sensor component 2403 is mounted in pressure-resistant cabin 19
Sensor be waterproof sensor non-water-tight in other words.
Underwater intelligent floating instrument device provided by the utility model is described further below, below using capsule portion as liquid
For pressure oil:
3 major function of buoyancy regulating system is the quiet buoyancy for adjusting entire platform, to realize dive and floating.According to work
Environmental requirement, buoyancy regulating system 2 should be able to still be able to through internal hydraulic system when external water pressure is 44.41MPa
Change external oil sac, i.e., the size of outer capsule volume, it is desirable that it can be led to floating instrument device main control unit, i.e. control module
Letter, receives to instruct and is simultaneously arranged running parameter, there is volume to adjust, Depth control and depth transfinite defencive function.Wherein, preferably
Ground, the adjusting volume about 3.3L of external oil sac, maximum outer dimension about Ф 240mm.
As shown in Figure 3, Figure 4, there are mainly three types of operating modes, respectively water surface oil pumping, underwater oil pumping for buoyancy regulating system 2
With oil-filled three kinds of operating modes, respectively come adjust the quiet buoyancy of equipment drive floating instrument device sink or float.
As shown in figure 3, in water surface pumping operation mode: floating instrument device is in the water surface or the depth of water lower than certain depth
In the case where pump.Solenoid valve 28 is opened, flow standard-sized sheet, while opening motor M2, transfer tube B oil pumping, by hydraulic oil from outer oil
Capsule is pumped into fuel tank, i.e. capsula interna, reduces outer oil sac volume, so that the buoyancy of equipment is less than gravity, gradually sinks.In oil pumping, simultaneously
Enter the hydraulic fluid flow rate of fuel tank by flow sensor measurement, stopping when meeting the requirements can be such that equipment rests on accordingly
Density layer.
Since under water, fuel tank exists oil sac between the two inside floating instrument device housing outside floating instrument device
Certain pressure difference is save the cost, can remove the pump and motor M2 of oil pumping, as shown in Fig. 4, the pressure difference of outer oil sac and fuel tank
Hydraulic oil is set to return to fuel tank, program water surface oil return speed is slower, and the time that the water surface sinks is longer, it is proposed that floating instrument device shell
It is vacuumized in vivo, enhances oil absorption capacity.
Under water in pumping operation mode: floating instrument device is pumped in the case where the depth of water relatively depth.28 part of solenoid valve
It opens, under the action of the big pressure difference of outer oil sac and fuel tank, the hydraulic oil of outer oil sac passes through solenoid valve 28 and check valve from fuel tank
Into fuel tank, reduce outer oil sac volume, floating instrument device is made gradually to sink, stops after meeting the flow that instruction requires.
In oil-filled operating mode, after buoyancy regulating system 3 receives instruction, opens motor M1 transfer tube A and filled to outer oil sac
Oil, making the buoyancy of floating instrument device is more than gravity, and floating instrument device floats.
The attitude regulation system 3 is mainly used to adjust the posture of floating instrument device totality.According to technical requirements, should make
Attitude regulation system can be switched to lateral local measurement gliding mode, i.e., lateral local measurement mould from longitudinal profile measurement pattern
Formula requires it that can be communicated with floating instrument device main control unit, receives and instructs and be arranged running parameter, has and changes carrier
The function of Angle of Trim and roll angle, and the distance of moving mass block translation and the angle of rotation can be obtained, it is subsequent control
Algorithm provides parameter.Removable mass block in attitude regulation system 20 is preferably 20kg or more, and maximum outer dimension is little
In Ф 240mm, carrier pitch angle when lateral local measurement glides mode can be made to reach 40 °.
There are mainly three types of action modes for attitude regulation system 20, move forward mass block action mode, move backward quality
Block action mode and gyrating mass block action mode.Be respectively intended to adjustment floating instrument device totality center of gravity longitudinal movement with
Transverse shifting, the final posture for changing body.In longitudinal profile measurement pattern, attitude regulation system 20 for dormant state,
It does not work；When lateral local measurement glides mode, worked accordingly.
In attitude regulation system preferably, there are two direct current generator, one of motor drives moving mass by lead screw
Block is moved forward and backward, another motor is rotated by gear band kinoplaszm gauge block, passes through straight line and rotation current potential
Meter can read the straight-line displacement and rotation angle of moving mass block, to control to the movement of intelligent floating instrument device
System.
The energy resource system 21 guarantees cruising ability, optional lithium battery group to provide required electric energy to entire platform
2101, thermal gradient energy power generator, i.e. thermal gradient energy Power Generation Section 2102 and wave energy generating set, i.e. wave-energy power generation portion 2103.
The battery pack, i.e. lithium battery group 2101 are preferably using ER34615 type lithium thionyl chloride cell as monomer electricity
Pond, for the requirement for meeting discharge voltage and electric current, it is preferable that connected by the way of multiple groups series connection and parallel connection.Main function is:
The energy is provided for the consuming components in floating instrument device.
The wing components 6 include: wing telescoping mechanism 601, horizontal wings 602.Main function is: flexible using wing
Mechanism 601 realizes the extension and contraction control to horizontal wings 602, can cooperate floating instrument device longitudinal profile measurement pattern and lateral office
The switching of portion's measurement pattern.When the work of floating instrument device is in longitudinal profile measurement pattern, wing telescoping mechanism 601 controls institute
It states the realization of horizontal wings 602 to bounce back in pressure-resistant cabin 19, reduces water resistance problem when movement.When the work of floating instrument device exists
When lateral local measurement gliding mode, 601 controlled level wing 602 of wing telescoping mechanism stretching, extension, for intelligent floating instrument device
Advance hydrodynamic force and lift are provided.
The wing telescoping mechanism 601: the horizontal wings 602 preferably use the design of the plate wing, and shape is ladder
Shape plate, 602 proximal end width of horizontal wings are 220mm, distal end width 130mm, chord 650mm, 3~5mm of thickness.
All electronics, the circuit of the main integrated intelligent mobile observation technology of the electronic compartment 22.For the ease of realizing control
System low-power consumption controls target, the robustness and maintainability of system is improved, and also to the subsequent expansion of Guarantee control system
For exhibition ability to adapt to the targets of different specific scientific experiments, the control system of deep-sea intelligence observation platform uses Distributed Design.
Specifically include that contexture by self portion 2201, navigation control unit 2202 and load cell control unit 2203.Deep-sea intelligence described here
Energy observation platform preferably refers to as shown in Figure 1, the control platform from land.
The major function of the navigation control unit 2202 is: to the control of each execution unit of deep-sea intelligence observation platform,
Power supply unit management, sensor management relevant to navigation and communication module is come from, i.e. communication and the instruction of locating module connects
Receipts and state feedback etc..The module is mainly responsible for the navigation control of deep-sea intelligence observation platform.
Load cell control unit 2203: the function of basic load sensor controller 2203, it is flat to deep-sea intelligence observation
Platform scientific sensor mounted is managed, controls and acquires the realization of the functions such as record and the processing of data.Load passes
2203 major function of sensor control unit have sensor using the execution of planning, the sensor acquisition record of data, information processing and
Information fusion, the condition monitoring of sensor and feedback, load cell exception reporting and processing etc..
Contexture by self portion 2201 is mainly used for realizing the autonomous mission planning function of deep-sea intelligence observation platform, mainly includes
Navigation planning and load cell use planning etc..
The load bay section, i.e. 23 major function of load cabin are to be needed to carry the sensing for meeting measurement request according to observation
Device realizes the measurement to the various aspects information such as marine physics, biology, chemistry.The sensor includes that all kinds of observations are intelligently floated
Observation device, such as: physical oceanography sensor, biochemical sea sensor, microminiature biosensor, medium-sized bio-sensing
Device, macro-organism sensor, acoustics sea sensor etc. can carry out flexible carry according to observation requirements.
The tail portion bay section, i.e. tail portion cabin 24 include: throwing loading system 2401, tail portion pod 2402 and CTD sensor 16.
Effect is: to throw loading system 2401, tail portion pod 2402 and various observation class sensors provide installation carrier, while being also logical
The installation of Iflytech's line 17 and fixed offer carrier platform.
The major function for throwing loading system 2401 is when intelligent floating instrument device is abnormal under water or failure
In the case where, it can be by sending instruction of saving oneself.Emergeney ejectioning device, i.e. emergency self-saving equipment carry driving mechanism, throwing load by throwing
Lead and underwater electrical connector three parts form.Specific working mode are as follows: throw load driving motor and throwing idling axis is driven to be rotated, lead to
Crossing Coupling Shaft drives runner and opening wheel to be rotated；It throws load lead to be placed on throwing load bracket, bulb is stuck in opening wheel and turns
In the gap of wheel.Opening wheel forms annular gap with runner, there is biggish notch at one, throwing can be made to carry bracket top spherical
Part is movable into and out.When notch rotates to vertical following position directly, lead is carried in the thrust of gravity and spring leaf throwing
Under effect, throwing and carrying lead whereabouts is to complete to throw load movement
The tail portion pod 2402 is similar with front pod 18, and it is streamlined that shape is similarly spindle, is mounted on intelligence
It the stern of floating instrument device and is connect with the compressive end cap 1904 of the pressure-resistant rear deck 1903 in pressure-resistant cabin 19 and fixed, to subtract
Resistance when small movement under water, improves sport efficiency.
In order to preferably measure the temperature, salinity and depth of seawater, CTD sensor 16 is arranged in the tail portion cabin
In section, position are as follows: forward part and stretch out 2402 sub-fraction of tail portion pod in the bay section of tail portion.
The communication antenna 17 be major function be realize floating instrument device with monitor surface system data communication and
The function of itself water surface positioning, by the way that the concentration tune to floating instrument device may be implemented with the data communication of monitor surface system
It is whole with it is motor-driven.Meet to the measurement demand under different condition.The floating instrument device is due to having longitudinal profile measurement pattern
With lateral local measurement glide mode, and communicate with locating module only in floating instrument device when on the water surface competence exertion make
With being then in close state during navigation.
The pressure-resistant cabin 19 divides three sections, is respectively as follows: pressure-resistant front deck 1901, pressure-resistant middle deck 1902, pressure-resistant rear deck 1903 and resistance to
Pressure side lid 1904, shape are preferably cylinder hollow structure.Floating instrument device operating depth is preferably 4000m, it is contemplated that
1.25 times of safety coefficients, in design, shell is about 50MPa by external water pressure.The weight of pressure-resistance structure accounts for entire deep-sea and intelligently sees
The specific gravity for surveying platform total weight is very big, and for the intelligence observation platform of deep-sea, the saving of weight (shows as the smallest structure weight
Measure displacement ratio) it is a basic demand, it can be converted into bigger load, longer voyage (higher endurance), from
It is said in military affairs, shows as concealment and survival ability.So pressure-resistance structure design core principles are: in guarantee structural strength, surely
It is qualitative, under the premise of meeting performance indexes, stock utilization is improved as far as possible, reduces its total weight.By calculating to score
Analysis show that the material selection scheme of optimization is the scheme that carbon fibre of composite material T1000GB and titanium alloy T A5 are applied in combination.Tool
Body is that three sections of cylinders use T1000GB carbon fiber, and end cover and connection inserting part use titanium alloy T A5.By the rigidity of structure
Additional value of wall thickness is neutralized with strength Calculation and in view of the stress collection of part, final carbon fiber winding thickness degree takes 22mm.
The Weight control of overpressure resistant barrel is in 77kg.
Preferably totally 6 sets of the compressive end cap 1904, disc structure is preferably presented in monnolithic case, is separately mounted to described
The front-end and back-end of pressure-resistant front deck 1901, pressure-resistant middle deck 1902 and pressure-resistant rear deck 1903.Effect is: the cooperation pressure-resistant front deck
1901, pressure-resistant middle deck 1902 and pressure-resistant rear deck 1903 realize that the seal protection to pressure-resistant cabin 19 acts on.In view of compressive end cap
1904 design needs aperture, therefore tail portion is designed as Flat Lid, facilitates the installation of cabin part and underwater electrical connector.Material is adopted
With titanium alloy T A5, allowable stress 467MPa, thickness can be by can be calculated 42mm.Further, it is contemplated that additional value of wall thickness 3mm, finally
Titanium alloy plate end socket wall thickness design thickness t=45mm.The quality of two head end covers controls in 14kg.
The function of the modules of the control system of underwater intelligent floating instrument device is further described below:
As shown in figure 11, the control system of underwater intelligent floating instrument device provided by the utility model, including seven moulds
Block: low energy consumption intelligent control module, i.e. control module, sensor module, safety detection and state aware module, communication and positioning
Module, motion module, Emergency Device module, energy module.
The connection relationship of seven submodules is specific as follows:
The low energy consumption intelligent control module is separately connected sensor module, safety detection and state aware module, communication
With locating module, motion module, Emergency Device module, energy module.The energy module is also connected with motion module.
The low energy consumption intelligent control module includes: contexture by self submodule, navigation control submodule and load-transducing
Device control submodule；The contexture by self submodule: control contexture by self device；Navigate by water control submodule: control navigation controller；
Load cell control submodule: control load cell controller.
The major function of the navigation controller is the control to each execution unit of deep-sea intelligence observation platform, power supply list
Member management, sensor management relevant to navigation and command reception from communication module and state are fed back etc..Navigation control
Device is mainly responsible for the navigation control of deep-sea intelligence observation platform.
The function of load cell controller basic load sensor control block, carries deep-sea intelligence observation platform
Scientific sensor be managed, control and acquire the realizations of the functions such as record and the processing of data.Load cell control
Submodule major function has sensor to use the execution of planning, record, information processing and the information of sensor acquisition data merge,
The condition monitoring and feedback of sensor, load cell exception reporting and processing etc..
Contexture by self submodule is mainly used for realizing the autonomous mission planning function of deep-sea intelligence observation platform, mainly includes
Navigation planning and load cell use planning etc..Contexture by self submodule is with the following functions: navigation planning: according to task need
Summation Ocean environment information, air route, way point during contexture by self navigation；Load resource uses planning: oriented mission continues
The contexture by self of the load cell frequency of use of the multiple targets such as boat ability, use time, use space；Task execution monitoring and
Management: during underwater glider navigation, monitoring includes: the overall security management of 1) carrier；2) bearer resource monitors
And configuration；3) navigation planning implementation effect assessment；4) task process record and storage；Environment sensing: it by navigation sensor, bears
The processing and fusion of the information such as set sensor perceive Ocean environment information；The optimization of task and weight-normality are drawn: according to task object,
The variation of environmental parameter, online change task, the again planning tasks of meeting an urgent need；Advanced nevigation safety assessment: pass through a variety of observations
The processing and fusion of data are analyzed and are assessed to the nevigation safety of underwater glider, task accessibility.
The sensor module include: physical oceanography sensor, biochemical sea sensor, microminiature biosensor,
Medium-sized biosensor, macro-organism sensor, acoustics sea sensor.Sensor module is mainly realized to ocean environment parameter
With the acquisition of temperature of the ocean parameter.Physical oceanography sensor module specifically includes that CTD, acoustic Doppler fluid velocity profile instrument
(Acoustic Doppler Current Profilers, ADCP), photosynthetically active radiation (Photosynthetically
Active Radiation, PAR) and turbulent flow instrument.Biochemical sea sensor specifically includes that dissolved oxygen sensor (Dissolved
Oxygen, DO), pH meter, CO2/CH4, chromophoric dissolved organic matter sensor (Characteristics Of Coloured
Dissolved Organic Matter,CDOM).Microminiature biosensor includes: Hall sensor (Chla), frequency/electricity
Press conversion sensor or frequency modulation sensor (FV/FM), holographic microscope system, laser light scattering particle instrument and laser polarization sensor.
Medium-sized biosensor includes: laser particle instrument and serial underwater camera.Macro-organism sensor includes: bioacoustics system
System.Acoustics sea sensor includes: hydrophone.
The safety detection and state aware module include: electronic compass, depth gauge, altimeter, voltage detecting, electric current inspection
Survey, temperature detection, leak water detdction and internal pressure detection.
Safety detection module: the ability perceived by nevigation safety of the single observation data to underwater glider,
Including two aspect: 1) sensor monitor, including water leakage monitoring, overvoltage/low-voltage monitoring, overcurrent monitoring, collision prevention monitor,
Depth monitoring etc.；2) system mode detects, including critical processes monitoring, controller execute condition monitoring, system house dog etc..
Operational configuration sension unit: it is acquired by the data that electronic compass, CTD etc. navigate by water related sensor, perception is underwater
The operational configuration of glider and the ocean environment parameter for influencing navigation.
The communication and locating module include: radio module, satellite modules, GPS module and Beidou module.
Communication and locating module: being to realize deep-sea intelligence observation platform and monitor surface system for realizing driving communication component
The functional module of data communication of uniting and the positioning of itself water surface.It is controlled including satellite communication link, Radio Communications Link control, water
The control of sound communication link, positioning, i.e. time service control.
The motion module includes: stern rudder, attitude regulation mechanism, wing telescoping mechanism and Buoyance adjustment mechanism.
Stern rudder: the turning function of intelligent floating instrument device can be realized by the way that stern rudder is arranged.
Attitude regulation mechanism: attitude regulation is mounted on the middle part of observation platform, is mainly used to adjust the pitch angle of platform.
Wing telescoping mechanism: the stretching, extension and retraction function to horizontal wings can be achieved.When intelligent floating instrument device is vertical
When floating or dive, wing telescoping mechanism controls wing retraction, reduces water resistance；When intelligent floating instrument device lateral glides
When, wing telescoping mechanism controls wing stretching, extension, and the advance for intelligent floating instrument device provides hydrodynamic force.
Buoyance adjustment mechanism: the main big minor adjustment of buoyancy for realizing intelligent floating instrument device, using doing for external oil sac
Method realizes the process of oiling and oil suction with hydraulic device, thus to change the displacement of volume of platform to oil sac.The volume of oil sac
Account for the 1.5% of total displacement of volume.
The Emergency Device module includes: emergeney ejectioning device, independent current source.
Emergency Device: it is made of safety self-saving device and the very high independent current source of reliability and controller, independently receives sound
The instruction that communication device transmits.Once observation platform is in state of necessity, can be saved oneself instruction by acoustic communication transmission, or according to
Platform is more than that the information independences such as set depth and setting working time start safety self-saving device, and jettisoning Solid Ballast generates foot
Enough positive buoyancy emergency ascents.After floating to sea, beacon is released, and send an SOS.It can be timely by beacon and signal
Recycling observation platform.
The energy module includes: lithium battery group, marine environment energy collection system.Lithium battery group: using high capacity
Lithium/thinly chloride battery.Marine environment energy collection system includes the device realized to thermal gradient energy and wave energy acquisition.
The working method or process of floating instrument device are described further below:
Underwater intelligent floating instrument device provided by the utility model, has longitudinal profile measurement and lateral local measurement is sliding
Two kinds of operating modes of Xiang mode.
1) workflow of longitudinal profile measurement pattern or lateral local measurement gliding mode is specific as follows:
Longitudinal profile measurement pattern: the buoyancy to the intelligence floating instrument device is realized by setting buoyancy regulating system 3
Adjustment, to realize the floating and dive of package unit.Attitude regulation system 20 is cooperated to realize to the intelligence floating instrument device
Position of centre of gravity adjustment, to realize that package unit floats and posture changing when dive, to realize the intelligence floating instrument
Vertical floating and dive of the device in sectional elevation., it can be achieved that environmental hydrology to ocean longitudinal profile under this kind of mode
Parameter acquisition, measurement and monitoring.
Specifically, as shown in Figure 12 and Figure 13, when the work of intelligent floating instrument device is under longitudinal profile measurement pattern
When, wing telescoping mechanism 601 controls the realization of horizontal wings 602 and bounces back in pressure-resistant cabin 19；Attitude regulation system 20 is motionless
Make, the battery pack in energy resource system 21, i.e. lithium battery group 2101 is fixed.Multiple battery blocks are provided in the battery pack；
Since the quality of battery block is unevenly symmetrical, the distance that center of gravity distance indulges middle line is assumed to be L.；The offset matter of battery block
Amount is balanced by the ballast quality of other positions, so that the center of gravity G of whole device maintains on vertical middle line, i.e. central axes.
With this, to guarantee that intelligent floating instrument device is vertical direction in water.
The work of intelligent floating instrument device is floating by controlling in longitudinal profile measurement pattern and when being in dive working condition
Oil pressure in outer oil sac is entered interior oil sac, reduces the displacement of volume of device entirety by draught control system 3, so that buoyancy be made to be less than weight
Power, the intelligent floating instrument device dive of realization.
The work of intelligent floating instrument device passes through buoyancy tune in longitudinal profile measurement pattern and when being in floating working condition
Oil in interior oil sac is got to outer oil sac by section system 3, increases the displacement of volume of intelligent floating instrument device, to keep buoyancy big
In gravity, the floating of intelligent floating instrument device is realized.
Lateral local measurement gliding mode: it is realized by setting buoyancy regulating system 3 to the intelligence floating instrument device
Buoyance adjustment, it can be achieved that package unit floating and dive；It realizes intelligently to float to this by setting attitude regulation system 20 and see
The position of centre of gravity adjustment of device is surveyed, to realize that package unit floats and posture changing when dive, to realize package unit
Has certain attitude angle when floating and dive.The scalable horizontal wings 602 being arranged be embodied as the device floating and under
Latent to provide the hydrodynamic force laterally advanced, tail vane 25 then can adjust its roll posture and realize turning function.In this kind of mode, it can be achieved that
The acquisition of laterally part, measurement and monitoring to ocean wave parameter.
Specifically, switching to lateral local measurement gliding when intelligent floating instrument device is received by communication antenna 17
When mode, wing telescoping mechanism 601, which controls the horizontal wings 602 and realizes, to be stretched out of pressure-resistant cabin 19 to two sides, floating for intelligence
The advance of dynamic observation device provides hydrodynamic force and lift.Hereafter, the attitude regulation system 20, which receives, is switched to lateral part
It measures the instruction of gliding mode and running parameter is set, battery pack rotates 180 °, to make the center of gravity G of intelligent floating instrument device
Transverse movement makes intelligent floating instrument device have a Trimming Moment, vertically moves battery pack again at this time, changes carrier trim
Angle and roll angle, and the distance of moving mass block translation and the angle of rotation can be calculated, fill intelligent floating instrument
It sets from longitudinal profile measurement pattern and is switched to lateral local measurement gliding mode, then pass through and adjust buoyancy regulating system 3, in change
The oil mass of outer oil sac changes the net buoyancy of a whole set of intelligent floating instrument device and the size relation of gravity, to realize lateral part
Measure the floating and dive under gliding mode.
There are two types of different working modes, described two different operatings for intelligence floating instrument device tool provided by the utility model
Mode can mutually switch, and described two different working modes are longitudinal profile measurement pattern, lateral local measurement gliding mould
Formula.
When intelligent floating instrument device receives again is switched to longitudinal profile measurement pattern, longitudinal direction described above is repeated
Profile survey mode so carries out the switch operating of double mode, to realize the continuous cycle operation of intelligent floating instrument device
And parameter acquisition and detection function.
The pattern switching principle design of intelligence floating instrument device provided by the utility model:
The longitudinal profile measurement pattern or lateral local measurement gliding mode needed to have according to intelligent floating instrument device
And the mutual switching of both of which, the operating mode switching principle design in the utility model are as follows:
In longitudinal profile measurement pattern operational process, the position of centre of buoyancy B is as shown below, and the distance away from bottom baseline is b
(m).The center of gravity of intelligent floating instrument device is G1, and in the underface of centre of buoyancy, the distance away from baseline is g1, wherein b > g1.B and
G1 is distributed in the vertical middle line of intelligent floating instrument device, i.e., on central axes.During longitudinal profile measurement pattern is run, move
Dynamic battery block is fixed.The center of gravity of mobile battery block is G2, apart from bottom baseline g2, since the quality of battery block is not equal
Even symmetrical, the distance that center of gravity distance indulges middle line is h2 to h1.The offset mass of battery block leans on the ballast matter of other positions
Amount is to be balanced, so that the center of gravity G1 of entire intelligence floating instrument device is maintained on vertical middle line.
When needing to carry out motor pattern switching, it may be assumed that when needing to switch to lateral local measurement gliding mode, at this point, electric
Pond block rotates 180 °, and the center of gravity G1 transverse movement of intelligent floating instrument device makes intelligent floating instrument device have a trim
Torque vertically moves battery block again at this time, to achieve the purpose that change itself posture.Due to the pattern further of aerodone
When, the variation range of aerodone Angle of Trim should be between ± 60, even more greatly, and this requires the position change amount foots of center of gravity G1
It is enough big, so that g1 > b, to meet the variation requirement of angle.
Specific embodiment of the utility model is described above.It is to be appreciated that the utility model not office
It is limited to above-mentioned particular implementation, those skilled in the art can make a variety of changes or modify within the scope of the claims,
This has no effect on the substantive content of the utility model.In the absence of conflict, the spy in embodiments herein and embodiment
Sign can be arbitrarily combined with each other.
Claims (6)
1. a kind of underwater intelligent floating instrument device, which is characterized in that including Zhao Cang mechanism, regulating mechanism, control observation mechanism；
The regulating mechanism, control observation mechanism are arranged in Zhao Cang mechanism；
Zhao Cang mechanism can be driven to realize floatings, dive, times during longitudinal profile slips into, horizontal section slides by regulating mechanism
A kind of or various motion.
2. underwater intelligent floating instrument device according to claim 1, which is characterized in that further include wing components (6)；
The wing components (6) include wing telescoping mechanism (601), horizontal wings (602)；
The Zhao Cang mechanism, including pressure-resistant cabin (19)；
Pressure-resistant cabin (19) side is provided with horizontal wings holding tank；
When longitudinal profile slips into, wing telescoping mechanism (601) driving horizontal wings (602) is retracted to horizontal wings receiving
In slot, and the oral area that can make horizontal wings holding tank and horizontal wings (602) are in the same plane；
When horizontal section slides, wing telescoping mechanism (601) driving horizontal wings (602) is out of horizontal wings holding tank
It stretches out；
The regulating mechanism includes buoyancy regulating system (3), attitude regulation system (20)；
The buoyancy regulating system (3) is connected by head ball end cap (2) with attitude regulation system (20)；
The buoyancy regulating system (3) includes the capsule portion (1) filled with liquid；
The capsule portion (1) includes external capsule, capsula interna；
It detaches or promotes between external capsule, capsula interna by liquid and realize that capsule portion (1) volume changes, and then drive underwater intelligent
Floating instrument device carries out dive, floats；
The attitude regulation system (20) includes mass block；
The mass block is located at the centroid position of underwater intelligent floating instrument device；
The center of gravity of the mass block is biased relative to central axes to be arranged；
The displacement of mass block center of gravity when the mass block is around axial-rotation, enable to the center of gravity of Zhao Cang mechanism entirety move on to or
Remove the central axes of Zhao Cang mechanism；
The displacement of mass block center of gravity when the mass block is axially move closer to or far from stern, enables to Zhao Cang mechanism entirety
Center of gravity is axially moveable.
3. underwater intelligent floating instrument device according to claim 2, which is characterized in that the control observation mechanism includes
Energy resource system (21)；
The energy resource system (21) includes battery means, power generation mechanism；
The battery means include lithium battery group (2101)；
The power generation mechanism includes thermal gradient energy Power Generation Section (2102), wave-energy power generation portion (2103)；
By fore body to stern direction, the lithium battery group (2101), thermal gradient energy Power Generation Section (2102) and wave-energy power generation portion
(2103) it sets gradually；
The quantity of the lithium battery group (2101) is multiple；
Multiple lithium battery groups (2101) are connected by serial or parallel connection mode；
The control observation mechanism further includes electronic compartment (22)；
The electronic compartment (22) is located at the inside of wing components (6)；
The electronic compartment (22) includes contexture by self portion (2201), navigation control unit (2202) and load cell control unit
(2203)；
By fore body to stern direction, the navigation control unit (2202), load cell control unit (2203) and contexture by self
Portion (2201) is set gradually；
The pressure-resistant cabin (19) includes pressure-resistant front deck (1901), pressure-resistant middle deck (1902), pressure-resistant rear deck (1903) and resistance to pressure side
It covers (1904)；
By fore body to stern direction, the pressure resistance front deck (1901), pressure-resistant middle deck (1902) and pressure-resistant rear deck (1903) are successively
Setting；
The pressure resistance front deck (1901), pressure-resistant middle deck (1902) and pressure-resistant rear deck (1903) are mutual by compressive end cap (1904)
Connection；
The quantity of the compressive end cap (1904) is multiple.
4. underwater intelligent floating instrument device according to claim 1, which is characterized in that the Zhao Cang mechanism further includes
Shell (4)；
The shell (4) includes fore body, middle part and stern；
The fore body, stern are respectively arranged with front pod (18), tail portion pod (2402)；
The front pod (18), tail portion pod (2402) have default molded line；
The Zhao Cang mechanism further includes load cabin (23)；
Load cell accommodation space is provided in the load cabin (23)；
Load cell is mounted in load cell accommodation space；
The Zhao Cang mechanism further includes tail portion cabin (24)；
The control observation mechanism further includes throwing loading system (2401), observation sensor component (2403)；
The throwing loading system (2401), observation sensor component (2403) are arranged in tail portion cabin (24)；
The side of the tail portion cabin (24) is provided with tail vane (25)；
The observation sensor component (2403) includes marine physics property observation instrument, Marine Chemistry property observation instrument ocean
Any of this three of biological property observation instrument；
The load cell includes marine physics property observation instrument, Marine Chemistry property observation instrument marine organisms property view
Survey any of this three of instrument.
5. underwater intelligent floating instrument device according to claim 2, which is characterized in that the quality of the mass block is
20kg or more；
The diameter of the mass block is 240mm or less；
The rotation angle of the mass block is 40 ゜ or more.
6. a kind of control system of underwater intelligent floating instrument device, which is characterized in that including any one of claims 1 to 5
The underwater intelligent floating instrument device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820630703.6U CN208393605U (en) | 2018-04-28 | 2018-04-28 | Underwater intelligent floating instrument device and its control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820630703.6U CN208393605U (en) | 2018-04-28 | 2018-04-28 | Underwater intelligent floating instrument device and its control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208393605U true CN208393605U (en) | 2019-01-18 |
Family
ID=65063095
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820630703.6U Expired - Fee Related CN208393605U (en) | 2018-04-28 | 2018-04-28 | Underwater intelligent floating instrument device and its control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208393605U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108674617A (en) * | 2018-04-28 | 2018-10-19 | 中国海洋大学 | Underwater intelligent floating instrument device and its control system |
| CN109878668A (en) * | 2019-03-11 | 2019-06-14 | 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 novel spindle-shaped separate type master and slave type deep sea manned submersible |
| CN110641664A (en) * | 2019-09-21 | 2020-01-03 | 天津大学 | Large heavy-load underwater glider and control method thereof |
| CN111634396A (en) * | 2020-06-05 | 2020-09-08 | 天津大学 | Composite power underwater glider using battery electric energy and ocean temperature difference energy |
| CN113126633A (en) * | 2019-12-30 | 2021-07-16 | 中国科学院沈阳自动化研究所 | Zero-attack-angle depth-keeping navigation control method for light long-range AUV (autonomous Underwater vehicle) |
-
2018
- 2018-04-28 CN CN201820630703.6U patent/CN208393605U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108674617A (en) * | 2018-04-28 | 2018-10-19 | 中国海洋大学 | Underwater intelligent floating instrument device and its control system |
| CN109878668A (en) * | 2019-03-11 | 2019-06-14 | 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 novel spindle-shaped separate type master and slave type deep sea manned submersible |
| CN110641664A (en) * | 2019-09-21 | 2020-01-03 | 天津大学 | Large heavy-load underwater glider and control method thereof |
| CN113126633A (en) * | 2019-12-30 | 2021-07-16 | 中国科学院沈阳自动化研究所 | Zero-attack-angle depth-keeping navigation control method for light long-range AUV (autonomous Underwater vehicle) |
| CN113126633B (en) * | 2019-12-30 | 2022-05-06 | 中国科学院沈阳自动化研究所 | Zero-attack-angle depth-keeping navigation control method for light long-range AUV (autonomous Underwater vehicle) |
| CN111634396A (en) * | 2020-06-05 | 2020-09-08 | 天津大学 | Composite power underwater glider using battery electric energy and ocean temperature difference energy |
| CN111634396B (en) * | 2020-06-05 | 2022-03-04 | 天津大学 | Composite power underwater glider using battery electric energy and ocean temperature difference energy |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108674617A (en) | Underwater intelligent floating instrument device and its control system | |
| CN208393605U (en) | Underwater intelligent floating instrument device and its control system | |
| CN105644742B (en) | A kind of long-term fixed point vertical section observation type underwater robot | |
| CN100445167C (en) | Hybrid driven under-water self-navigation device | |
| CN105644743B (en) | A kind of long-term ocean weather station observation type underwater robot of three bodies configuration | |
| Webb et al. | SLOCUM: An underwater glider propelled by environmental energy | |
| Davis et al. | Autonomous buoyancy-driven underwater gliders | |
| Griffiths | Technology and applications of autonomous underwater vehicles | |
| Eriksen et al. | Seaglider: A long-range autonomous underwater vehicle for oceanographic research | |
| CN103310610B (en) | Mobile ocean observation net based on intelligent buoy and intelligent submersible vehicle | |
| CN103832564B (en) | A kind of design of shuttle shape underwater glider and control method | |
| CN103439971B (en) | A kind of reservoir area underwater topography and water-quality guideline sniffing robot | |
| CN108820173B (en) | The deformation submersible and its working method promoted based on buoyancy-driven with no axial vector | |
| CN106628076B (en) | Rotary wings underwater glider | |
| CN203593143U (en) | Wind-solar complementary type unmanned ocean monitoring boat | |
| CN102632980A (en) | Underwater glider utilizing ocean wave energy and charging method | |
| CN108656885A (en) | Tilting rotor air-sea amphibious robot | |
| CN110641637B (en) | Ocean observation platform with controllable track based on thermoelectric power generation | |
| CN110386238A (en) | A kind of complete extra large depth ARV underwater robot structure | |
| CN108248859A (en) | Captive air-sea is dwelt aircraft systems more | |
| CN101007566A (en) | Hybrid type underwater sailing device | |
| CN1326746C (en) | Underwater self-navigating platform mechanical system | |
| CN103507929A (en) | Combination wing anti-stream-pattern underwater glider | |
| CN108241179A (en) | A kind of bionical underwater robot with gliding hybrid propulsion mode | |
| CN109115979A (en) | Portable multi-function solid water quality detection device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190118 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |