CN210063332U - Environmental monitoring underwater glider for offshore culture area - Google Patents
Environmental monitoring underwater glider for offshore culture area Download PDFInfo
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- CN210063332U CN210063332U CN201920436219.4U CN201920436219U CN210063332U CN 210063332 U CN210063332 U CN 210063332U CN 201920436219 U CN201920436219 U CN 201920436219U CN 210063332 U CN210063332 U CN 210063332U
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Abstract
The utility model provides an underwater glider for environmental monitoring in offshore culture areas, which comprises a cabin and tail wings; the outer structure of the engine room is spherical, a head wet cabin and a tail wet cabin are respectively arranged at the head end and the tail end of the engine room, a middle pressure-resistant dry cabin is connected between the head wet cabin and the tail wet cabin, and the middle pressure-resistant dry cabin is mutually isolated from the head wet cabin and the tail wet cabin; a buoyancy adjusting mechanism is arranged at the front part in the cabin, and a two-degree-of-freedom posture adjusting mechanism and a control system unit are sequentially arranged in the middle pressure-resistant dry cabin from front to back; the tail wing comprises a wing plate and a fixed shaft, the fixed shaft is arranged at the tail part of the cabin, and the wing plate is arranged on the fixed shaft. The utility model provides an coastal waters culture zone environmental monitoring glider under water has independently, nimble advantage.
Description
Technical Field
The utility model relates to a waters ecological environment monitoring field such as ocean, lake, plant, more specifically says so, designs an coastal waters farming district environmental monitoring glider under water.
Background
In recent years, with the rapid development of fishery, the demand for monitoring ecological information of water area environment is increasing. At present, most of the ecological environment information of the water area is acquired through the sensors arranged at fixed points, however, the sensors arranged at fixed points are difficult to arrange and difficult to maintain, and the acquired water area information is not comprehensive. The underwater glider has the characteristics of high efficiency, flexibility, long operation time and the like, and is suitable for monitoring the ecological environment of a water area. However, the underwater environment in the offshore cultivation area is complex, and usually there are underwater structures and underwater plants for carrying or protecting the underwater cultivation, and these factors are not favorable for the operation of the glider.
The invention patent CN104813975A discloses an underwater unmanned aquaculture robot, which is characterized in that an underwater robot and an above-water remote control station are connected through a cable, and underwater conditions are fed back by using a camera to realize above-water remote control. The invention patent CN102963514 discloses a portable underwater marine environment monitoring glider which controls sinking and floating by changing buoyancy and adjusts the posture by changing the position of the gravity center, so that the portable underwater marine environment monitoring glider has the advantage of long autonomous operation time, wings arranged in a sweepback mode can prevent aquatic plants from being wound, but larger wingspans can not effectively avoid the hanging and collision of artificial underwater structures and are not beneficial to operation in a culture area with complex environment, the utility model CN103287558A discloses a butterfly-shaped underwater glider which adjusts the buoyancy and the posture by four built-in water bags distributed symmetrically and realizes the flexible adjustment of the movement direction, then, the layout mode of a posture adjusting mechanism is difficult to realize the movement of a larger attack angle, and the structure arranged vertically in a water falling mode can not be effectively slipped.
Therefore, for the situation of offshore culture areas, how to combine the suspension collision avoidance layout and the large attack angle movement capability of the underwater robot with a convenient sensor layout mode to expand the application field and improve the observation capability of the underwater robot becomes a problem concerned by the current aircraft in the research and development of novel marine culture fields.
SUMMERY OF THE UTILITY MODEL
The utility model relates to a overcome not enough among the prior art, provide an independent, nimble coastal waters cultivation district environmental monitoring glider under water.
The utility model aims at realizing through the following technical scheme:
an underwater glider for environmental monitoring in an offshore culture area comprises a cabin and tail wings;
the outer structure of the engine room is spherical, a head wet cabin and a tail wet cabin are respectively arranged at the head end and the tail end of the engine room, a middle pressure-resistant dry cabin is connected between the head wet cabin and the tail wet cabin, and the middle pressure-resistant dry cabin is mutually isolated from the head wet cabin and the tail wet cabin; a buoyancy adjusting mechanism is arranged at the front part in the cabin, and a two-degree-of-freedom posture adjusting mechanism and a control system unit are sequentially arranged in the middle pressure-resistant dry cabin from front to back; the tail wing comprises a wing plate and a fixed shaft, the fixed shaft is arranged at the tail part of the cabin, and the wing plate is arranged on the fixed shaft.
Preferably, the wing plates are four, and are fixedly arranged on the fixed shaft in a mutually perpendicular crossing manner.
The head wet cabin comprises a head guide cover, and the head guide cover is connected with the middle pressure-resistant dry cabin through axially arranged screws.
The tail wet cabin comprises a tail wet cabin air guide sleeve, and the tail wet cabin air guide sleeve is connected with the middle pressure-resistant dry cabin through axially arranged screws.
The wet cabin is a space which is not sealed, and water can enter the wet cabin, so that the water exists in the head wet cabin and the tail wet cabin. And the middle pressure-resistant dry cabin is free of water.
An underwater camera is arranged in the glider head wet cabin, and a through hole is formed in a shell of the head wet cabin corresponding to the camera and used for the camera to extend out.
Preferably, 4 underwater cameras arranged at a set angle are arranged in the head wet chamber.
Further, the tail end of the fixed shaft is connected with a machine body tail support, and at least one water quality probe is hung on the machine body tail support: temperature, salinity, PH value, chlorophyll, oxygen solubility, ammonia nitrogen, sulfide, nitrite sensors and other hydrological ecological probes.
An internal support is fixedly connected in the middle pressure-resistant dry cabin, and the buoyancy adjusting mechanism, the posture adjusting mechanism and the control system unit are all arranged on the internal support.
Further, the buoyancy adjusting mechanism is arranged at the head part of the glider and comprises an outer oil bag, an inner oil bag, a gear pump, an electromagnetic valve and a pipeline. The gear pump and the electromagnetic valve are connected with the outer oil bag and the inner oil bag through flexible pipelines.
The gear pump is a bidirectional pump, the electromagnetic valve is a normally closed valve, and the gear pump and the outer oil bag and the connection structure of the inner oil bag can be as follows: the oil can be transferred from the outer oil bag to the inner oil bag, and also from the inner oil bag to the outer oil bag.
The solenoid valve is opened, and the gear pump moves to a direction, and when outside oil pocket oil transportation, glider buoyancy grow, gear pump reverse operation, when inside oil pocket oil transportation, glider buoyancy diminishes.
The outer oil bag is arranged in the head wet cabin, and the inner oil bag, the gear pump and the electromagnetic valve are all arranged in the middle pressure-resistant dry cabin.
The inner oil sac is a torus and is supported and fixed by an oil sac supporting frame, magnetic markers are pasted at the upper end and the lower end of the inner oil sac, magnetic induction elements are arranged at corresponding positions on the oil sac supporting frame, the magnetic markers and the magnetic induction elements form a position switch, and whether the change of the section of the inner oil sac reaches a limit value or not is fed back by the magnetic induction elements fixed on the oil sac supporting frame.
Preferably, the supporting and fixing structure of the annular inner oil sac and the oil sac supporting frame is as follows: the maximum circumference and the minimum circumference of the inner oil bag are provided with protruding fins, and the fins are clamped by the oil bag support frame, so that the inner oil bag is fixed, and the central position of the inner oil bag is basically unchanged.
The two-degree-of-freedom posture adjusting mechanism is connected with the inner support arranged in the cabin through a bearing and is arranged at the center of the body of the glider.
The two-degree-of-freedom posture adjusting mechanism comprises a posture adjusting block, a linear transmission mechanism and a rotating mechanism, wherein the linear transmission mechanism and the rotating mechanism are respectively connected with the posture adjusting block, so that the posture adjusting block can move and rotate.
Specifically, the attitude adjusting block is arranged on a middle optical axis in a penetrating manner, the middle optical axis passes through the diameter of the spherical cabin, and the linear transmission mechanism is as follows: the posture adjusting block is provided with a screw rod nut which is screwed on a screw rod parallel to the middle optical axis, the screw rod is rotatably fixed on a posture adjusting frame, the screw rod is connected with an output shaft of a gear box, an input shaft of the gear box is connected with a driving motor, and the gear box and the driving motor are arranged on the posture adjusting frame; the posture adjusting frame is rotatably arranged on the middle optical axis; the rotating mechanism comprises a gear transmission mechanism arranged between the middle optical axis and the posture adjusting frame.
Specifically, the gear transmission mechanism comprises a central gear fixed on the intermediate optical axis, a circumferential gear meshed with the central gear, a gear shaft on the circumferential gear fixed on the attitude adjusting frame, a worm gear arranged on the gear shaft, and a worm driving motor connected with a worm meshed with the worm gear and the worm arranged on the attitude adjusting frame.
The control system unit is fixed on the inner support and comprises a power supply module, a motor driving module, a communication module, a data acquisition module and a data processing module. And each module is connected with a corresponding motor, an electromagnetic valve and the like in the buoyancy regulating mechanism and the posture regulating mechanism through cables, and drives and controls the action of each mechanism.
The control system unit further comprises an abnormity alarm module, the abnormity alarm module comprises a pressure sensor and an information processing unit, the pressure sensor is in contact with the external environment, and the abnormity alarm module judges whether the glider passively leaves the water surface or not according to the feedback value of the pressure sensor. The pressure sensor is arranged on the outer surface of the glider.
The middle pressure-resistant dry cabin consists of a front pressure-resistant shell and a rear pressure-resistant shell, and the front pressure-resistant shell and the rear pressure-resistant shell are hermetically connected.
Preferably, sealing grooves are formed in the interfaces of the front pressure casing and the rear pressure casing, a middle sealing member is inserted into the two sealing grooves, so that the middle pressure-resistant dry chamber is isolated from the outside, and the connection structure of the front pressure casing and the rear pressure casing is as follows: the front pressure-resistant casing and the rear pressure-resistant casing are connected by being fixedly connected with an internal support arranged in the middle pressure-resistant dry chamber.
Preferably, the front and rear pressure casings and the inner bracket are fastened by screws, respectively.
The empennage is connected with the tail wet cabin air guide sleeve.
Preferably, the tail wing is provided with a sweep angle of 45 degrees, so that the underwater structure or underwater plants are prevented from being hung and collided.
Preferably, the tail is made of a carbon fiber material.
This glider still is equipped with the antenna, the antenna with the fin links to each other, the antenna includes wireless communication antenna and GPS location antenna.
The utility model provides an underwater glider has compatible the advantage of the flexible flexibility of underwater autonomous navigation ware and the long advantage of autonomous underwater glider continuous operation time, has wider application range, can satisfy under the environment in inland waters and coastal waters plant, provides long-term, real-time, online ecological environment monitoring data's operation requirement.
The invention is further illustrated by the following figures and examples.
Drawings
Fig. 1 is a schematic structural view of an underwater glider provided by the present invention;
FIG. 2 is a schematic structural view of a buoyancy adjusting mechanism in an underwater glider according to the present invention;
fig. 3 is a schematic structural view of an attitude adjusting mechanism in an underwater glider according to the present invention;
fig. 4 is the utility model provides a structural schematic diagram that underwater camera arranged in glider under water.
In the figure, 1 is a head part air guide sleeve, 2 is a head part wet cabin, 3 is an outer oil bag, 4 is a buoyancy adjusting mechanism, 5 is an inner support, 6 is a front pressure-resistant shell, 7 is a middle pressure-resistant dry cabin, 8 is a middle sealing element, 9 is a rear pressure-resistant shell, 10 is a two-degree-of-freedom posture adjusting mechanism, 11 is a water quality probe, 12 is a tail air guide sleeve, 13 is a control system unit, 14 is a fastening screw, 15 is a tail wing, 16 is an inner oil bag, 17 is a gear pump, 18 is an electromagnetic valve, 19 is a pipeline, 20 is a magnetic marker, 21 is a magnetic induction element, 22 is an oil bag support frame, 23 is a middle optical axis, 24 is a screw rod, 25 is a posture adjusting block, 25a screw rod nut, 26 is a central gear, 27 is a gear box, 28 is a worm gear, 29 is a driving motor, 30 is an antenna, and 31 is.
Detailed Description
The embodiment provides an offshore culture area environment monitoring underwater glider which is composed of a cabin and tail wings 15. As shown in fig. 1, the external structure of the cabin is spherical, the cabin is composed of three parts, a head wet cabin 2 and a tail wet cabin 11 are arranged at the head end and the tail end, and a middle pressure-resistant dry cabin 7 is arranged in the middle; the head wet cabin comprises a head guide cover 1, and the head guide cover 1 is connected with the middle pressure-resistant dry cabin 7 through axially arranged screws. The tail wet cabin comprises a tail wet cabin air guide sleeve 12, and the tail air guide sleeve 12 is connected with the middle pressure-resistant dry cabin 7 through axially arranged screws.
The wet cabins at the head part and the tail part are spaces without sealing treatment, and water can enter the wet cabins, so the wet cabins are called wet cabins, and the water exists in the wet cabins at the head part and the tail part. While the inside of the dry chamber is free of water. The dry compartment is sealed and isolated from the wet compartment.
The intermediate pressure-resistant dry compartment 7 is composed of a front pressure-resistant casing 6 and a rear pressure-resistant casing 9, the front pressure-resistant casing 6 and the rear pressure-resistant casing 9 being sealingly connected. The specific sealing connection structure is as follows: the sealing grooves are formed in the interfaces of the front pressure casing 6 and the rear pressure casing 9, and a middle sealing element 8 is inserted into the two sealing grooves simultaneously, so that the middle pressure-resistant dry chamber 7 is isolated from the outside, and the connection structure of the front pressure casing 6 and the rear pressure casing 9 is as follows: an inner support 5 is provided in the intermediate pressure-resistant dry chamber 7, and the front pressure-resistant casing 6 and the rear pressure-resistant casing 9 are connected to each other by fastening screws 14 to the inner support 5 in the intermediate pressure-resistant dry chamber 7.
The tail wing 15 is fixed on the tail of the glider and is fixedly connected with the tail wet cabin air guide sleeve 12.
A buoyancy adjusting mechanism 4 is arranged at the front part in the cabin, and a two-degree-of-freedom posture adjusting mechanism 10 and a control system unit 13 are sequentially arranged in the middle pressure-resistant dry cabin 7 from front to back;
as shown in fig. 2, the buoyancy adjusting mechanism 4 is disposed at the head of the glider, and includes an outer oil bag 3, an inner oil bag 16, a gear pump 17, a solenoid valve 18, and a pipe 19. The gear pump 17 and the solenoid valve 18 are connected to the outer oil bag 3 and the inner oil bag 16 via flexible lines 19.
The gear pump 17 is a bidirectional pump, the electromagnetic valve 18 is a normally closed valve, and the connection structure of the gear pump 17 with the outer oil bag 3 and the inner oil bag 16 is as follows: oil can be transferred from the outer oil bag 3 to the inner oil bag 16, and also from the inner oil bag 16 to the outer oil bag 3.
The electromagnetic valve 18 is opened, the gear pump 17 runs in one direction, when the oil is transported to the outer oil bag 3, the buoyancy of the glider is increased along with the increase of the volume of the outer oil bag 3, and at the moment, the volume of the inner oil bag 16 is decreased; when the gear pump 17 is operated in the reverse direction and oil is supplied to the inner oil bladder 16, the volume of the outer oil bladder 3 is reduced, the volume of the inner oil bladder 16 is increased, and the buoyancy of the glider is reduced. The outer oil bag 3 is arranged in the head wet cabin 2, so that the space in the head wet cabin 2 can be fully utilized; an internal oil sac 16, a gear pump 17 and an electromagnetic valve 18 are all arranged in the intermediate pressure-resistant dry chamber 7.
The respective components of the buoyancy adjusting mechanism 4 provided in the intermediate pressure-resistant dry chamber 7 are arranged such that: an oil bag support frame 22 is arranged in the middle pressure-resistant dry cabin 7, and the oil bag support frame 22 can be arranged on the inner bracket 5 or can be independently fixed on the inner wall of the front pressure-resistant shell of the cabin. Interior oil pocket 16 is the tourus, supports to fix in the frame of oil pocket support frame 22, and the support fixed knot who oil pocket 16 and oil pocket support frame in the tourus constructs to be: the inner oil bag 16 has protruding fins (not shown) at the maximum circumference and the minimum circumference, and the oil bag support frame 22 clamps the fins, thereby fixing the inner oil bag 16 to the oil bag support frame 22 and ensuring that the center position of the inner oil bag 16 is substantially constant. Magnetic markers 20 are adhered to the upper end and the lower end of the inner oil bag 16, a magnetic induction element 21 is arranged at a corresponding position on the oil bag support frame, and in the embodiment shown in fig. 2, the magnetic induction element 21 is arranged on the oil bag support frame 22 and is located at the middle position of the outer circumference of the inner oil bag. Whether the change of the section of the inner oil bag 16 reaches a limit value or not can be fed back through the magnetic induction element 21 fixed on the oil bag support frame 22.
The magnetic marker 20 and the magnetic induction element 21 form a position switch, when the liquid in the inner oil bag 16 is less, the magnetic marker 20 thereon is close to the magnetic induction element 21, and the magnetic induction element 21 can feed back a signal. When the inner oil bag 16 is filled with liquid, the magnetic markers 20 attached to the upper and lower sides of the inner oil bag 16 abut against the limit positions on the upper and lower frame bars of the oil bag support frame 22, and at this time, the magnetic markers 20 are far away from the magnetic induction element 21 so that no feedback signal exists. When the volume of the inner oil bag 16 is reduced, the magnetic markers 20 on the upper side and the lower side and the magnetic induction element reach the set distance range, the magnetic induction element starts to have signals, when the signals of the magnetic induction element 21 are strongest, the upper magnetic marker and the lower magnetic marker are close to the magnetic induction element 21, and the volume of the inner oil bag 16 is minimum. And the volume of the outer oil bag 3 is the largest at this time, namely the buoyancy of the underwater glider is the largest. The buoyancy adjusting mechanism adjusts the buoyancy by displaying the volume of the outer oil bag 3 through the inner oil bag 16 and displaying the buoyancy.
The activation or non-activation and rotation direction of the gear pump 17 are controlled by the control system unit and the feedback information of the position switch formed by the magnetic marker 20 and the magnetic induction element 21.
As shown in fig. 3, the two-degree-of-freedom attitude adjusting mechanism 10 is connected to the inner frame 5 through a bearing and is disposed at the center of the body of the glider.
The two-degree-of-freedom attitude adjusting mechanism comprises an attitude adjusting block 25, a linear transmission mechanism and a rotating mechanism which are respectively connected with the attitude adjusting block, so that the attitude adjusting block can move and rotate to realize two-degree-of-freedom attitude adjustment.
The posture adjusting block 25 is arranged on one middle optical axis 23 in a penetrating mode, a bearing is arranged between the posture adjusting block 25 and the middle optical axis 23, and the middle optical axis 23 is arranged on the inner support 5 through the diameter of the spherical cabin.
The linear transmission mechanism is a screw mechanism, a screw nut 25a is arranged on the posture adjusting block 25 and is screwed on a screw rod 24 parallel to the middle optical axis 23, the screw rod 24 is rotatably fixed on a posture adjusting frame 25b, the screw rod 24 is connected with an output shaft of a gear box 27, the input shaft of the gear box is connected with a driving motor, and the gear box 27 and the driving motor are arranged on the posture adjusting frame 25 b; the posture adjustment frame 25b is rotatably provided on the intermediate optical axis 23 through a bearing. The driving motor is started to drive the screw rod 24 to rotate, so that the screw rod nut 25a can axially move along the screw rod 24, and then the posture adjusting block 25 fixedly connected with the screw rod nut 25a can axially move along the middle optical axis 23 to adjust one degree of freedom.
The rotating mechanism is a gear transmission mechanism and comprises a gear transmission mechanism arranged between the middle optical axis 23 and the posture adjusting frame. As shown in fig. 3, the gear transmission mechanism includes a central gear 26 fixed on the central optical axis 23, a peripheral gear 26a meshed with the central gear 26, a gear shaft on the peripheral gear 26a fixed on the posture adjustment frame 25b, a worm gear provided on the gear shaft, a worm engaged with the worm gear and a worm drive motor 29 connected to the worm, the worm drive motor 29 provided on the posture adjustment frame 25b drives the peripheral gear 26a to rotate around the central gear 26 through a worm gear 28, that is, drives another degree of freedom adjustment of rotation of the posture adjustment block 25.
The two-degree-of-freedom posture adjusting mechanism has two degrees of freedom of moving along the middle optical axis and rotating around the middle optical axis. The vertical relative position of the buoyancy center and the center of gravity of the glider is changed when the glider rotates around the middle optical axis, so that the pitching state of the head of the glider is changed, and the left-right relative position of the buoyancy center and the center of gravity of the glider is changed when the glider moves along the middle optical axis, so that the yawing state of the mechanism of the glider is changed. Because the whole glider is spherical, the posture adjusting mechanism can adjust the glider body to reach a large gliding angle, and the pitching angle can reach plus or minus 90 degrees to the maximum extent.
The control system unit 13 is fixed on the inner support 5, and the control system unit 16 comprises a power supply module, a motor driving module, a communication module, a data acquisition module and a data processing module. Each module is connected with a corresponding motor, an electromagnetic valve and the like in the buoyancy adjusting mechanism 4 and the posture adjusting mechanism 10 through cables, and drives and controls the action of each mechanism.
The control system unit also comprises an abnormity alarm module, the abnormity alarm module comprises a pressure sensor and an information processing unit which are in contact with the external environment, and the module judges whether the glider passively leaves the water surface or not according to the feedback value of the pressure sensor. The pressure sensors are arranged on the outer surface of the present glider (not shown in the figures).
The tail wing 15 includes a wing plate and a fixed shaft provided at the tail end of the nacelle, and the wing plate is mounted on the fixed shaft. As shown in fig. 1, the wing plates are four, and are fixed and arranged on the fixed shaft so as to intersect each other perpendicularly. The end connection of fixed axle an organism afterbody support, carry quality of water probe 11 on this organism afterbody support, this quality of water probe 11 can include following at least one hydrology ecological probe: temperature, salinity, PH value, chlorophyll, oxygen solubility, ammonia nitrogen, sulfide, nitrite sensors and the like.
Still be equipped with the camera under water on the glider, as the embodiment shown in figure 4, 4 camera 31 under water are installed to the inside of 2 in the header wet chamber, and four cameras are the certain angle and arrange, and it has the through-hole to open on the casing of the header wet chamber that the camera corresponds, supplies the camera to pop out.
The empennage is provided with a sweepback angle of 45 degrees, so that underwater structures or underwater plants are prevented from being hung and touched, and the empennage is made of carbon fiber materials.
The glider is further provided with an antenna 30, the antenna 30 is connected with the empennage, and the antenna 30 comprises a wireless communication antenna and a GPS positioning antenna.
Claims (10)
1. An underwater glider for environmental monitoring in an offshore culture area is characterized by comprising a cabin and tail wings;
the outer structure of the engine room is spherical, a head wet cabin and a tail wet cabin are respectively arranged at the head end and the tail end of the engine room, a middle pressure-resistant dry cabin is connected between the head wet cabin and the tail wet cabin, and the middle pressure-resistant dry cabin is mutually isolated from the head wet cabin and the tail wet cabin; a buoyancy adjusting mechanism is arranged at the front part in the cabin, and a two-degree-of-freedom posture adjusting mechanism and a control system unit are sequentially arranged in the middle pressure-resistant dry cabin from front to back; the tail wing comprises a wing plate and a fixed shaft, the fixed shaft is arranged at the tail part of the cabin, and the wing plate is arranged on the fixed shaft.
2. The offshore farm environment monitoring underwater glider of claim 1, wherein: the head wet cabin comprises a head guide cover, and the head guide cover is connected with the middle pressure-resistant cabin through axially arranged screws; and/or the presence of a gas in the gas,
the tail wet cabin comprises a tail wet cabin air guide sleeve, and the tail wet cabin air guide sleeve is connected with the middle pressure-resistant dry cabin through axially arranged screws; and/or the presence of a gas in the gas,
the pressure-resistant dry cabin consists of a front pressure-resistant shell and a rear pressure-resistant shell, and the front pressure-resistant shell and the rear pressure-resistant shell are hermetically connected; and/or the presence of a gas in the gas,
the tail end of the fixed shaft is connected with a machine body tail support, and at least one water quality probe is hung on the machine body tail support: temperature, salinity, PH value, chlorophyll, oxygen solubility, ammonia nitrogen, sulfide and nitrite sensors; and/or the presence of a gas in the gas,
the four wing plates are crossed and vertically and fixedly arranged on the fixed shaft; and/or the presence of a gas in the gas,
the tail wing is provided with a sweep angle of 45 degrees; and/or the presence of a gas in the gas,
the tail wing is made of carbon fiber materials; and/or the presence of a gas in the gas,
an underwater camera is arranged in the glider head wet cabin, and a through hole is formed in a shell of the head wet cabin corresponding to the camera and used for the camera to extend out; and/or the presence of a gas in the gas,
the tail wing is provided with a tail wing, and the tail wing is connected with the antenna.
3. The offshore farm environment monitoring underwater glider of claim 1, wherein: an inner support is fixedly connected in the middle pressure-resistant cabin, and the buoyancy adjusting mechanism, the posture adjusting mechanism and the control system unit are all arranged on the inner support.
4. The offshore farm environment monitoring underwater glider according to claim 1 or 3, wherein: the buoyancy adjusting mechanism is arranged at the head part of the glider and comprises an outer oil bag, an inner oil bag, a gear pump, an electromagnetic valve and a pipeline; the gear pump and the electromagnetic valve are connected with the outer oil bag and the inner oil bag through flexible pipelines; and/or the presence of a gas in the gas,
the two-degree-of-freedom posture adjusting mechanism is connected with an internal support arranged in the engine room through a bearing and is arranged at the center of the body of the glider; and/or the presence of a gas in the gas,
the control system unit is fixed on the internal support and comprises a power supply module, a motor driving module, a communication module, a data acquisition module and a data processing module; and each module is connected with a corresponding motor and a corresponding electromagnetic valve in the buoyancy regulating mechanism and the posture regulating mechanism through cables to drive and control the actions of each mechanism.
5. The offshore farm environment monitoring underwater glider of claim 4, wherein: the gear pump is a bidirectional pump, the electromagnetic valve is a normally closed valve, and the gear pump is connected with the outer oil bag and the inner oil bag in a structure that: the oil can be conveyed from the outer oil bag to the inner oil bag and also can be conveyed from the inner oil bag to the outer oil bag; and/or the presence of a gas in the gas,
the outer oil bag is arranged in the head wet cabin, and the inner oil bag, the gear pump and the electromagnetic valve are all arranged in the middle pressure-resistant cabin; and/or the presence of a gas in the gas,
the two-degree-of-freedom posture adjusting mechanism comprises a posture adjusting block, a linear transmission mechanism and a rotating mechanism, and the linear transmission mechanism and the rotating mechanism are respectively connected with the posture adjusting block, so that the posture adjusting block can move and rotate; and/or the presence of a gas in the gas,
the control system unit further comprises an abnormity alarm module, the abnormity alarm module comprises a pressure sensor and an information processing unit, the pressure sensor is in contact with the external environment, and the abnormity alarm module judges whether the glider passively leaves the water surface or not according to a feedback value of the pressure sensor; the pressure sensor is arranged on the outer surface of the glider.
6. The offshore farm environment monitoring underwater glider of claim 4, wherein: the inner oil sac is a torus and is supported and fixed by an oil sac supporting frame, magnetic markers are pasted at the upper end and the lower end of the inner oil sac, magnetic induction elements are arranged at corresponding positions on the oil sac supporting frame, the magnetic markers and the magnetic induction elements form a position switch, and whether the change of the section of the inner oil sac reaches a limit value or not is fed back by the magnetic induction elements fixed on the oil sac supporting frame.
7. The offshore farm environment monitoring underwater glider of claim 6, wherein: the annular inner oil bag is provided with protruding fins at the maximum circumference and the minimum circumference, and the fins are clamped by the oil bag supporting frame, so that the inner oil bag is fixed, and the central position of the inner oil bag is ensured to be unchanged.
8. The offshore farm environment monitoring underwater glider of claim 5, wherein: the posture adjusting block is arranged on a middle optical axis in a penetrating mode, the middle optical axis passes through the diameter of the spherical engine room, and the linear transmission mechanism comprises: the posture adjusting block is provided with a screw rod nut which is screwed on a screw rod parallel to the middle optical axis, the screw rod is rotatably fixed on a posture adjusting frame, the screw rod is connected with an output shaft of a gear box, an input shaft of the gear box is connected with a driving motor, and the gear box and the driving motor are arranged on the posture adjusting frame; the posture adjusting frame is rotatably arranged on the middle optical axis; the rotating mechanism comprises a gear transmission mechanism arranged between the middle optical axis and the posture adjusting frame.
9. The offshore farm environment monitoring underwater glider of claim 8, wherein: the gear transmission mechanism comprises a central gear fixed on the middle optical axis, a circumferential gear meshed with the central gear, a gear shaft on the circumferential gear fixed on the attitude adjusting frame, a worm wheel arranged on the gear shaft, and a worm driving motor connected with a worm meshed with the worm wheel and the worm.
10. The offshore farm environment monitoring underwater glider of claim 2, wherein: the seal groove has been seted up on the interface of preceding pressure casing and back pressure casing, and a middle sealing member is inserted simultaneously and is established two in the seal groove for middle pressure-resistant storehouse is isolated with external, preceding pressure casing is with the connection structure of back pressure casing: the front pressure-resistant shell and the rear pressure-resistant shell are connected by being fixedly connected with an internal support arranged in the pressure-resistant dry cabin; and/or the presence of a gas in the gas,
the front pressure-resistant shell and the rear pressure-resistant shell are respectively fastened with the internal bracket through screws; and/or the presence of a gas in the gas,
the tail wing is connected with the tail wet cabin air guide sleeve; and/or the presence of a gas in the gas,
the antenna comprises a wireless communication antenna and a GPS positioning antenna; and/or the presence of a gas in the gas,
4 underwater cameras of the device in the head wet cabin are arranged at a set angle.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111762304A (en) * | 2019-04-01 | 2020-10-13 | 北海燕航慧程智能科技有限公司 | Environmental monitoring underwater glider for offshore culture area |
| CN116424040A (en) * | 2023-03-30 | 2023-07-14 | 湖北工业大学 | Amphibious exploration robot with water wheels |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111762304A (en) * | 2019-04-01 | 2020-10-13 | 北海燕航慧程智能科技有限公司 | Environmental monitoring underwater glider for offshore culture area |
| CN116424040A (en) * | 2023-03-30 | 2023-07-14 | 湖北工业大学 | Amphibious exploration robot with water wheels |
| CN116424040B (en) * | 2023-03-30 | 2024-01-26 | 湖北工业大学 | Amphibious exploration robot with water wheels |
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