CN112224366B - Zero-power hovering system and method for small underwater equipment - Google Patents
Zero-power hovering system and method for small underwater equipment Download PDFInfo
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- CN112224366B CN112224366B CN202011244039.XA CN202011244039A CN112224366B CN 112224366 B CN112224366 B CN 112224366B CN 202011244039 A CN202011244039 A CN 202011244039A CN 112224366 B CN112224366 B CN 112224366B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
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- Engineering & Computer Science (AREA)
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Abstract
The invention discloses a zero-power hovering system of small underwater equipment, which comprises a watertight bin, a lifting controller and a water electrolysis module, wherein the bottom of the watertight bin is provided with a water through port, the top of the watertight bin is provided with an air release port, the lifting controller comprises an attitude angle sensor, a single chip microcomputer, an electromagnetic valve control loop and an air release electromagnetic valve, the air release electromagnetic valve is arranged at the air release port at the top of the watertight bin, and electronic circuits of the hovering system are all arranged in the watertight bin by adopting sealing parts. The single chip microcomputer of the hovering system adjusts air pressure in the watertight bin by controlling the air bleeding electromagnetic valve and the water electrolysis module, changes water level in the watertight bin, and achieves hovering indirectly through buoyancy.
Description
Technical Field
The invention relates to the technical field of underwater buoyancy driving devices, in particular to a zero-power hovering system and a zero-power hovering method for small underwater equipment.
Background
In order to improve the economic output of a unit water area, a plurality of fish and tortoise polyculture modes are generally adopted, and different types of fish schools live in different water depths. The high-density three-dimensional multi-layer aquaculture mode puts higher requirements on improving the living environment of fishes. Various high-tech means of full-automatic regular feeding, oxygenation and sterilization are all based on real-time monitoring of fish schools and optimal decision making after collecting fish school health data. The existing monitoring installation mode is commonly provided with two modes of fixed upright post installation and underwater robot. The upright post is fixed, the monitoring range is too narrow, too many monitoring points need to be distributed and controlled, and the ever-increasing monitoring requirements are difficult to meet. The existing underwater robot equipment generally adopts a mode of propellers in the up-down direction to realize the floating, sinking and hovering of the equipment. The biggest drawback of this approach is that even in a hovering state, there is a large power consumption, resulting in a weak cruising ability of the underwater robot apparatus.
The working mode of the underwater hovering monitoring robot is studied, the monitoring robot is considered to have motion requirements in six directions including front-floating and sinking, rear-floating and left-right directions, the motion state time is very short, and the monitoring robot can hover in a static state for a long time after generally reaching a target position and height, so that the endurance time of the underwater hovering monitoring robot can be greatly prolonged only by reducing the power consumption of the underwater robot when hovering. Therefore, the idea of adopting the zero-power underwater hovering system is provided, and the underwater hovering monitoring robot hovering in the mode does not consume power when the underwater hovering monitoring robot maintains hovering, so that precious power resources of small equipment can be all used for the camera sensor and the control system. Therefore, the cruising requirement of the underwater hovering monitoring robot for several days or even tens of days is met and solved.
Disclosure of Invention
In order to solve the above problems in the prior art, the present invention provides a zero-power hovering system and method for small underwater devices.
The technical scheme for solving the technical problems is as follows:
a zero-power hovering system of small underwater equipment comprises a watertight bin, a water electrolysis module and a lifting controller, wherein the water electrolysis module is arranged in the watertight bin and used for generating gas, and the lifting controller is used for controlling the movement of the watertight bin; the bottom of the watertight bin is provided with a water through port, and the top of the watertight bin is provided with an air release port; the lifting controller comprises a lifting control circuit board module and a lifting control execution module, the lifting control circuit board module comprises an attitude angle sensor, a single chip microcomputer and an electromagnetic valve control loop, and the lifting control execution module comprises a deflation electromagnetic valve for controlling the opening and closing of the deflation port; the attitude angle sensor transmits real-time motion attitude data of the hovering system to the single chip microcomputer, and the single chip microcomputer controls the deflation electromagnetic valve to be opened and closed through an electromagnetic valve control loop; the water electrolysis module comprises a water electrolysis circuit board module and an inert metal electrode; the single chip microcomputer controls the inert metal electrode to work to generate gas through the water electrolysis circuit board module; the lifting control circuit board module and the water electrolysis circuit board module are hermetically arranged at the inner top of the watertight bin; the air discharge electromagnetic valve is arranged at an air discharge port at the top of the watertight bin; the inert metal electrode is arranged at the inner bottom of the watertight bin.
Further, the attitude angle sensor comprises a gyroscope, an accelerometer, a geomagnetic sensor and a barometric sensor, and is used for monitoring and solving the real-time altitude position, the orientation angle, the movement direction and the movement speed of the hovering system.
Further, the water electrolysis circuit board module comprises a constant-current constant-voltage control circuit, and the single chip microcomputer controls the inert metal electrode to work through the constant-current constant-voltage control circuit.
Furthermore, the water electrolysis circuit board module also comprises the H-bridge driving circuit, and the singlechip controls the inert metal electrode to work through the constant-current constant-voltage control circuit and the H-bridge driving circuit.
Further, the inert metal electrode is composed of two titanium alloy metal electrodes, and the inert metal electrode is subjected to platinum or iridium electroplating treatment.
Furthermore, two water through openings are formed in the bottom of the watertight bin, and the two water through openings are arranged in the bottom of the watertight bin in tandem.
A zero-power hovering method for small underwater devices, comprising:
setting a reference, measuring the current air pressure through a posture angle sensor when the hovering system floats on the water surface, converting the air pressure and the altitude through an altitude comparison table to obtain the altitude of the current hovering system, and setting the altitude and the current posture of the hovering system as the reference;
sinking, the lifting controller receives a sinking instruction, the single chip microcomputer judges that the hovering system is sinking according to the motion attitude data of the attitude angle sensor, the single chip microcomputer controls the air-release electromagnetic valve to be opened, air in the watertight bin is discharged, the air pressure in the watertight bin is reduced, water enters the watertight bin from the water through port, and when the total buoyancy of the hovering system is smaller than the self weight, the hovering system begins to sink;
the floating is performed, the rising and falling controller receives a floating instruction, the single chip microcomputer judges that the hovering system is in a floating state according to the motion attitude data of the attitude angle sensor, the single chip microcomputer controls the air bleeding electromagnetic valve to be closed, the water electrolysis module is opened, water in the watertight bin is electrolyzed into hydrogen and oxygen, the amount of gas in the watertight bin is increased, the air pressure in the watertight bin is increased, water in the watertight bin is discharged from a water through hole at the bottom, and when the total buoyancy of the hovering system is larger than the weight of the hovering system, the hovering system starts to float;
hovering, when the attitude angle sensor detects that the hovering system reaches the specified depth, the single chip microcomputer adjusts air pressure in the watertight bin through the fine adjustment air bleed solenoid valve and the water electrolysis module, changes the water level in the watertight bin, controls the total buoyancy of the hovering system to be equal to the weight of the hovering system, and achieves hovering.
Further, the single chip microcomputer controls the speed of the inert metal electrode in the electrolytic hydrolysis through a constant-current constant-voltage control circuit in the water electrolysis module.
Further, after the hovering system enters a hovering state, the single chip microcomputer controls the air bleeding electromagnetic valve and the water electrolysis module to be in a closed state.
The invention has the beneficial effects that:
(1) the buoyancy is indirectly used as the power for the hovering system to float upwards and sink upwards, and when the hovering system is in a hovering state, the air exhaust electromagnetic valve of the energy consumption component and the water electrolysis module are both in a closed state, so that the zero-power underwater hovering is realized, and the longer endurance time is realized for the small underwater equipment to hover for a long time underwater.
(2) In the water electrolysis module, the inert metal electrodes and the H-bridge driving circuit are adopted, so that the two inert metal electrodes are always switched between the cathode electrode and the anode electrode continuously, hydrogen embrittlement dissolution caused by the fact that the metal anode electrode loses electrons is avoided, and the service life of the electrodes is prolonged.
(3) Adopt the water electrolysis module to produce gaseous buoyancy that changes the watertight storehouse, the water electrolysis module is small, and the speed control that gaseous produced realizes more easily, and the water electrolysis module does not have the high-temperature high-pressure part, has increased the reliability of whole system, has reduced the design and the manufacturing degree of difficulty of this system of hovering.
(4) The hovering system is simple in structure, reasonable in layout and suitable for water quality of various pH values.
Drawings
FIG. 1 is a schematic structural diagram of the hover system of the present invention;
FIG. 2 is a schematic diagram of the control process of the lift controller of the present invention;
FIG. 3 is a schematic diagram of a PWM modulated H-bridge drive circuit;
description of reference numerals: the device comprises a 1-watertight bin, a 2-air release port, a 3-water through port, a 110-attitude angle sensor, a 120-single chip microcomputer, a 130-electromagnetic valve control loop, a 140-H bridge driving circuit, a 150-constant current and constant voltage control circuit, a 160-air release electromagnetic valve, a 170-inert metal electrode, a 111-gyroscope, a 112-accelerometer, a 113-geomagnetic field sensor and a 114-air pressure sensor.
Detailed Description
The technical solution of the present invention is described in detail below with reference to the accompanying drawings and specific embodiments.
In this embodiment, as shown in fig. 1 and fig. 2, a zero power hovering system suitable for small unmanned underwater devices includes a watertight bin 1, a water electrolysis module disposed inside the watertight bin 1 for generating gas, and a lifting controller for controlling the movement of the watertight bin 1. The top of the watertight bin 1 is provided with an air release port 2, and the bottom of the watertight bin 1 is provided with a water through port 3. The lifting controller comprises a lifting control circuit board module and a lifting control execution module, and the modules are electrically connected. The lifting control circuit board module comprises an attitude angle sensor 110, a single chip microcomputer 120 and an electromagnetic valve control circuit 130, the lifting control execution module comprises an air bleed electromagnetic valve 160, and the single chip microcomputer 120 controls the air bleed electromagnetic valve 160 to open and close through the electromagnetic valve control circuit 130. The water electrolysis module comprises a water electrolysis circuit board module and an inert metal electrode 170, and the single chip microcomputer 120 controls the inert metal electrode 170 to work to generate gas through the water electrolysis circuit board module. The lifting control circuit board module and the water electrolysis circuit board module are hermetically arranged at the inner top of the watertight bin 1, the air release solenoid valve 160 is arranged at the air release port 2 at the top of the watertight bin 1, and the inert metal electrode 170 is arranged at the inner bottom of the watertight bin 1.
In this embodiment, the hovering system further includes a driving power source, the driving power source is hermetically disposed at the bottom of the watertight bin 1, the driving power source is a storage battery, the driving power source of the hovering system of the invention adopts a wireless charging and discharging technology, and the driving power source is electrically connected to the lifting controller. The operation principle of the hovering system of the invention is as follows: the driving power supply supplies power to the lifting controller, the water electrolysis module and the air discharge electromagnetic valve 160 are controlled, the water electrolysis module decomposes water into hydrogen and oxygen, and the water level in the watertight bin 1 is changed by controlling the air pressure in the watertight bin 1, so that the buoyancy of the whole hovering system is changed, and the hovering, lifting and sinking of the hovering system are realized.
In this embodiment, the attitude angle sensor 110 includes a gyroscope 111, an accelerometer 112, a geomagnetic field sensor 113, and a barometric pressure sensor 114, and the attitude angle sensor 110 can rapidly solve the current real-time motion attitude of the module by using a microprocessor and a dynamic solution and kalman dynamic filtering algorithm. Attitude angle sensor 110 measures the dimensions: acceleration/3-dimensional, angular velocity/3-dimensional, magnetic field/3-dimensional, angle/3-dimensional, air pressure/1-dimensional. The current altitude position, orientation angle, movement direction and movement speed of the hovering system can be obtained through the attitude angle sensor 110, and the hovering system can be conveniently controlled to obtain a desired state.
In this embodiment, the attitude angle sensor 110 is an integrated module, which integrates the high-precision gyroscope 111, the accelerometer 112, the geomagnetic field sensor 113, and the barometric pressure sensor 114, and can rapidly solve the real-time motion attitude of the hovering system, including data in various aspects such as a three-dimensional angle, a three-dimensional acceleration, a three-dimensional angular velocity, a magnetic field, and barometric pressure, by using a high-performance microprocessor and an advanced dynamics solution and kalman dynamic filtering algorithm. The attitude angle sensor 110 transmits real-time motion attitude data of the hovering system to the single chip microcomputer 120, and the single chip microcomputer 120 receives state data fed back by the attitude angle sensor 110, adjusts and changes a required state by controlling the air bleed solenoid valve 160 and the water electrolysis module, and sends commands of floating, sinking or hovering of the hovering system.
Specifically, the solution data of the attitude angle sensor 110 is transmitted through the IIC interface of the lifting control circuit board module, and the single chip microcomputer directly obtains the required data. The IIC interface communication protocol is shown in the following table 1:
table 1:
| address | (symbol) | Means of |
| 0x00 | SAVE | Saving current configuration |
| 0x01 | CALSW | Calibration |
| 0x02 | RSW | Returning data content |
| 0x03 | RATE | Back transmission data rate |
| 0x04 | BAUD | Serial port baud rate |
| 0x05 | AXOFFSET | Zero offset of acceleration of X axis |
| 0x06 | AYOFFSET | Zero offset of acceleration of Y axis |
| 0x07 | AZOFFSET | Zero offset of Z-axis acceleration |
| 0x08 | GXOFFSET | Zero offset of X-axis angular velocity |
| 0x09 | GYOFFSET | Zero offset of Y-axis angular velocity |
| 0x0a | GZOFFSET | Zero offset of Z-axis angular velocity |
| 0x0b | HXOFFSET | Zero bias of X-axis magnetic field |
| 0x0c | HYOFFSET | Zero bias of Y-axis magnetic field |
| 0x0d | HZOFFSET | Zero offset of Z-axis magnetic field |
| 0x0e | D0MODE | D0 mode |
| 0x0f | D1MODE | D1 mode |
| 0x10 | D2MODE | D2 mode |
| 0x11 | D3MODE | D3 mode |
| 0x12 | D0PWMH | D0PWM high level width |
| 0x13 | D1PWMH | D1PWM high level width |
| 0x14 | D2PWMH | D2PWM high level width |
| 0x15 | D3PWMH | D3PWM high level width |
| 0x16 | D0PWMT | D0PWM period |
| 0x17 | D1PWMT | D1PWM period |
| 0x18 | D2PWMT | D2PWM period |
| 0x19 | D3PWMT | D3PWM period |
| 0x1a | IICADDR | IIC address |
| 0x1b | LEDOFF | Turning off LED indicator light |
| 0x1c | GPSBAUD | GPS connection baud rate |
In this embodiment, the water electrolysis module includes a water electrolysis circuit board module and an inert metal electrode 170, the water electrolysis circuit board module includes an H-bridge driving circuit 140 and a constant current and constant voltage control circuit 150, and the H-bridge driving circuit 140, the constant current and constant voltage control circuit 150 and the inert metal electrode 170 constitute the water electrolysis module. The H-bridge driving circuit 140 and the constant current and constant voltage control circuit 150 are hermetically arranged at the inner top of the watertight bin 1, and the inert metal electrode 170 is arranged at the inner bottom of the watertight bin 1. Principle of electrolysis of water: two inert electrodes immersed in water are electrified with direct current with certain voltage, and the water is decomposed into hydrogen and oxygen under the action of the direct current.
In this embodiment, the inert metal electrode 170 is composed of two titanium alloy metal electrodes, and is resistant to various acidic and alkaline water qualities. In order to improve the reaction efficiency of water electrolysis, the titanium alloy metal electrode is electroplated, so that a layer of platinum or iridium is plated on the surface of the titanium alloy metal electrode to serve as a catalyst of electrolyzed water, and the reaction rate is improved. In this embodiment, the plating layer on the surface of the titanium alloy metal electrode may be platinum or iridium.
In this embodiment, the H-bridge driving circuit 140: when two inert metal electrodes 170 are connected to a direct current, the electrode connected to a positive voltage is called an anode electrode, the electrode connected to a negative voltage is called a cathode electrode, a current always flows from the anode electrode to the cathode electrode, if the anode electrode and the cathode electrode are kept unchanged, excessive cavities are generated on the anode electrode, and then hydrogen atoms generated after water electrolysis diffuse into the cavities and become hydrogen molecules, so that great pressure is generated, and the inert metal electrodes 170 become brittle or even break, and the reaction is called 'hydrogen embrittlement'. In order to prevent the generation of hydrogen embrittlement, an H-bridge driving circuit 140 is designed to change the direction of the dc voltage, so that both the two inert metal electrodes 170 can be anode electrodes in one time period and become cathode electrodes in the next time period, thereby preventing the generation of excessive holes on one inert metal electrode 170, and preventing the generation of hydrogen embrittlement.
In this embodiment, the constant current and constant voltage control circuit 150: in the water electrolysis module, the speed of water decomposition into hydrogen and oxygen is in direct proportion to the voltage and current applied to the two inert metal electrodes 170, and the higher the voltage, the higher the current, the faster the water electrolysis speed. Therefore, the constant current and voltage control circuit 150 is designed to control the speed of the electro-hydrolysis.
In this embodiment, the two inert metal electrodes 170 are an anode electrode for half of the time and a cathode electrode for half of the time, and lose electrons when serving as the anode electrode, and obtain electrons when serving as the cathode electrode, thereby greatly prolonging the service life of the electrodes. In order to control the speed of the water electrolysis process, an adjustable constant current and constant voltage control circuit 150 is also arranged in the water electrolysis module, and the speed of the gas generated by water electrolysis is controlled by adjusting the current passing through the electrodes.
In this embodiment, fig. 3 is a schematic diagram of a PWM-modulated H-bridge driving circuit, and when it is operated, Q1/Q4 turns on Q2/Q3 and turns off, and current flows from M + to M +, and if Q1/Q4 turns off and Q2/Q3 turns on, current flows from M + to M +. Regardless of the M +/M-current flow, the current always flows to GND through resistor R16. A voltage corresponding to the current is formed on a resistor R16, and the conducting time of Q1/Q2/Q3/Q4 is controlled by adopting a pulse width control mode (PWM), so that the current flowing through a resistor R16 can be controlled, and the voltage CT2 formed on a resistor R16 is changed. When the voltage CT2 is controlled to a constant value, it indicates that the current flowing through the resistor R16 is also a constant value, completing a control process.
In this embodiment, the top of the watertight bin 1 is provided with an air outlet 2, the air outlet solenoid valve 160 is arranged at the air outlet 2, and is controlled by the solenoid valve control circuit 130 to provide an exhaust passage for the air in the watertight bin 1, the bottom of the watertight bin 1 is provided with two normally open water openings 3, and the two water openings 3 are arranged in tandem to keep the balance of water inlet and water outlet. When the air release solenoid valve 160 is opened, the air in the watertight compartment 1 is reduced, the air pressure in the watertight compartment 1 is reduced, and water enters the inside of the watertight compartment 1 through the water passage port 3. The water electrolysis module in the watertight bin 1 decomposes water in the watertight bin 1 into hydrogen and oxygen, and as the gas in the watertight bin 1 increases, the air pressure in the watertight bin 1 increases, and water in the watertight bin 1 is discharged from the water through port 3. The air pressure in the watertight bin 1 is controlled, the water level in the watertight bin 1 is changed, the total buoyancy of the hovering system and the weight of the hovering system are adjusted, and the hovering system floats upwards, sinks or hovers.
In this embodiment, the electronic circuits of the hovering system are all embedded inside the watertight bin 1 by adopting sealing components.
In this embodiment, the lifting controller further includes a low-frequency carrier wireless serial port of 48KHz to 78 KHz.
In this embodiment, the method for implementing floating, sinking and hovering of the hovering system includes:
the method comprises the steps of setting a benchmark, when the hovering system floats on the water surface, measuring current air pressure through a posture angle sensor 110 arranged in a lifting controller, converting the air pressure and an altitude comparison table to obtain the current altitude of the hovering system, and setting the altitude and the current posture of the hovering system as the benchmark by a single chip microcomputer 120.
When a user sets the sinking and floating distances of the hovering system, the maximum value 0 of the floating is set according to the reference, the sinking distance is measured by a negative value, the distance comprises real-time acceleration and duration, and a reference table of reference air pressure and current air pressure is consulted and inquired.
And sinking, assuming that the user needs the hovering system to hover 5 meters below the water surface, the lifting controller receives an external instruction through a 48KHz-78KHz low-frequency carrier wireless serial port, and at the moment, the single chip microcomputer 120 judges that the hovering system is sinking according to the motion attitude data of the attitude angle sensor 110. The single chip microcomputer 120 controls the air release electromagnetic valve 160 to be opened, air in the watertight bin 1 is discharged, air pressure in the watertight bin 1 is reduced, water enters the watertight bin 1 from the water through port 3, when the total buoyancy of the hovering system is smaller than the self weight, the hovering system begins to sink, and the larger the difference value is, the faster the sinking speed is.
In the sinking process, the attitude angle sensor 110 continuously transmits the real-time motion attitude data of the sinking distance and the acceleration to the single chip microcomputer 120, the single chip microcomputer 120 adopts a PID (proportion integration differentiation) regulation algorithm to control the sinking speed, and the sinking speed is slower as the setting of a user is closer.
And floating, assuming that the current state of the hovering system is hovering 5 meters underwater, at the moment, a user sets the hovering system to hover 3 meters underwater, the lifting controller receives an external instruction through a 48KHz-78KHz low-frequency carrier wireless serial port, the single chip microcomputer 120 judges that the hovering system is floating according to the motion attitude data of the attitude angle sensor 110. The singlechip 120 controls the air discharge electromagnetic valve 160 to be closed, and opens the water electrolysis module to electrolyze water in the watertight bin 1 into hydrogen and oxygen. Along with the increase of the gas quantity in the watertight bin 1, the air pressure in the watertight bin 1 is increased, water in the watertight bin 1 is discharged from the water through hole 3 at the bottom, when the total buoyancy of the hovering system is larger than the self weight of the hovering system, the hovering system floats upwards, and the larger the difference value is, the faster the floating speed is.
In the floating process, the attitude angle sensor 110 continuously transmits the real-time movement attitude data of the floating distance and the acceleration to the singlechip 120, the singlechip 120 adopts a PID (proportion integration differentiation) regulation algorithm to control the floating speed, and the sinking speed is slower as the speed is closer to the setting of a user.
Hovering, when the attitude angle sensor 110 detects that the hovering system reaches the depth set by the user, the single chip microcomputer 120 adjusts the air pressure in the watertight bin 1 through the fine adjustment air bleed solenoid valve 160 and the water electrolysis module, changes the water level in the watertight bin 1, and controls the total buoyancy of the hovering system to be equal to the self weight to realize hovering. After the single chip microcomputer 120 determines that the hovering system is at the set hovering position, the air bleeding solenoid valve 160 of the energy consumption component and the water electrolysis module are both in the closed state, and the whole hovering system only works on the single chip microcomputer 120 and the attitude angle sensor 110, which is very low in power consumption.
The position is judged by detecting the air pressure in the watertight bin 1 and the reference air pressure when the equipment floats on the water surface, and the data of the three-dimensional angle, the three-dimensional acceleration, the three-dimensional angular velocity and the magnetic field are assisted to calculate and obtain the data of the underwater depth.
The invention indirectly adopts buoyancy as the power for the floating, sinking and hovering of the hovering system, and when the hovering system is in a hovering state, the power device for adjusting the buoyancy can be completely closed, thereby realizing the underwater hovering with zero power. The long-time duration is realized for the small underwater equipment to hover for a long time underwater.
According to the water electrolysis module, the inert metal electrodes 170 are adopted in the water electrolysis module, the H-bridge driving circuit 140 is adopted, so that the two inert metal electrodes 170 are always switched between the cathode electrode and the anode electrode continuously, hydrogen embrittlement dissolution caused by the fact that the metal anode electrode loses electrons all the time is avoided, and the service life of the electrodes is prolonged.
The buoyancy of the watertight bin 1 is changed by adopting the gas generated by the water electrolysis module, the water electrolysis module is small in size, the speed control of the gas generation is easy to realize, and the water electrolysis module is not provided with high-temperature and high-pressure components, so that the reliability of the whole system is improved, and the design and manufacturing difficulty of the hovering system is reduced.
The hovering system is simple in structure and reasonable in layout, and is suitable for water with various pH values.
Those skilled in the art to which the present invention pertains can also make appropriate alterations and modifications to the above-described embodiments, in light of the above disclosure. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and variations of the present invention should fall within the scope of the claims of the present invention. Furthermore, although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.
Claims (6)
1. A zero-power hovering system of small underwater equipment is characterized in that: comprises a watertight bin, a water electrolysis module which is arranged in the watertight bin and used for generating gas, and a lifting controller which controls the movement of the watertight bin;
the bottom of the watertight bin is provided with a water through port, and the top of the watertight bin is provided with an air release port;
the lifting controller comprises a lifting control circuit board module and a lifting control execution module, the lifting control circuit board module comprises an attitude angle sensor, a single chip microcomputer and an electromagnetic valve control loop, and the lifting control execution module comprises a deflation electromagnetic valve for controlling the opening and closing of the deflation port; the attitude angle sensor transmits real-time motion attitude data of the hovering system to the single chip microcomputer, and the single chip microcomputer controls the deflation electromagnetic valve to be opened and closed through an electromagnetic valve control loop;
the water electrolysis module comprises a water electrolysis circuit board module and an inert metal electrode; the single chip microcomputer controls the inert metal electrode to work to generate gas through the water electrolysis circuit board module;
the lifting control circuit board module and the water electrolysis circuit board module are hermetically arranged at the inner top of the watertight bin; the air discharge electromagnetic valve is arranged at an air discharge port at the top of the watertight bin; the inert metal electrode is arranged at the inner bottom of the watertight bin;
the attitude angle sensor comprises a gyroscope, an accelerometer, a geomagnetic sensor and a pneumatic sensor and is used for monitoring and solving the real-time altitude position, the orientation angle, the movement direction and the movement speed of the hovering system;
the water electrolysis circuit board module comprises a constant-current constant-voltage control circuit, and the single chip microcomputer controls the inert metal electrode to work through the constant-current constant-voltage control circuit;
the water electrolysis circuit board module also comprises an H-bridge driving circuit, and the singlechip controls the inert metal electrode to work through the constant-current constant-voltage control circuit and the H-bridge driving circuit;
the method for realizing floating, sinking and hovering of the zero-power hovering system comprises the following steps:
setting a reference, when the zero-power hovering system floats on the water surface, measuring the current air pressure through a posture angle sensor arranged in a lifting controller, converting the air pressure and the altitude through an air pressure and altitude comparison table to obtain the altitude of the current hovering system, and setting the altitude and the current posture of the hovering system as the reference by a singlechip;
sinking, the lifting controller receives a sinking instruction, the single chip microcomputer judges that the hovering system is sinking according to the motion attitude data of the attitude angle sensor, the single chip microcomputer controls the air-release electromagnetic valve to be opened, air in the watertight bin is discharged, the air pressure in the watertight bin is reduced, water enters the watertight bin from the water through port, and when the total buoyancy of the hovering system is smaller than the self weight, the hovering system begins to sink;
the floating is performed, the rising and falling controller receives a floating instruction, the single chip microcomputer judges that the hovering system is in a floating state according to the motion attitude data of the attitude angle sensor, the single chip microcomputer controls the air bleeding electromagnetic valve to be closed, the water electrolysis module is opened, water in the watertight bin is electrolyzed into hydrogen and oxygen, the amount of gas in the watertight bin is increased, the air pressure in the watertight bin is increased, water in the watertight bin is discharged from a water through hole at the bottom, and when the total buoyancy of the hovering system is larger than the weight of the hovering system, the hovering system starts to float;
hovering, when the attitude angle sensor detects that the hovering system reaches the specified depth, the single chip microcomputer adjusts air pressure in the watertight bin through the fine adjustment air bleed solenoid valve and the water electrolysis module, the water level in the watertight bin is changed, the total buoyancy of the hovering system is controlled to be equal to the weight of the single chip microcomputer, hovering is achieved, after the single chip microcomputer judges that the hovering system is located at the set hovering position, the air bleed solenoid valve of the energy consumption component and the water electrolysis module are both in the closed state, and the whole hovering system only works through the single chip microcomputer and the attitude angle sensor.
2. The zero-power hovering system for small underwater devices according to claim 1, wherein: the inert metal electrode is composed of two titanium alloy metal electrodes, and the inert metal electrode is subjected to platinum or iridium electroplating treatment.
3. The zero-power hovering system for small underwater devices according to claim 1, wherein: the bottom of the watertight bin is provided with two water through ports, and the two water through ports are arranged at the bottom of the watertight bin in tandem.
4. A zero-power hovering method of small underwater equipment is characterized by comprising the following steps: zero-power hovering system applied to small underwater devices according to any of claims 1 to 3, the method comprising:
setting a reference, measuring the current air pressure through a posture angle sensor when the hovering system floats on the water surface, converting the air pressure and the altitude through an altitude comparison table to obtain the altitude of the current hovering system, and setting the altitude and the current posture of the hovering system as the reference;
sinking, the lifting controller receives a sinking instruction, the single chip microcomputer judges that the hovering system is sinking according to the motion attitude data of the attitude angle sensor, the single chip microcomputer controls the air-release electromagnetic valve to be opened, air in the watertight bin is discharged, the air pressure in the watertight bin is reduced, water enters the watertight bin from the water through port, and when the total buoyancy of the hovering system is smaller than the self weight, the hovering system begins to sink;
the floating is performed, the rising and falling controller receives a floating instruction, the single chip microcomputer judges that the hovering system is in a floating state according to the motion attitude data of the attitude angle sensor, the single chip microcomputer controls the air bleeding electromagnetic valve to be closed, the water electrolysis module is opened, water in the watertight bin is electrolyzed into hydrogen and oxygen, the amount of gas in the watertight bin is increased, the air pressure in the watertight bin is increased, water in the watertight bin is discharged from a water through hole at the bottom, and when the total buoyancy of the hovering system is larger than the weight of the hovering system, the hovering system starts to float;
hovering, when the attitude angle sensor detects that the hovering system reaches the specified depth, the single chip microcomputer adjusts air pressure in the watertight bin through the fine adjustment air bleed solenoid valve and the water electrolysis module, changes the water level in the watertight bin, controls the total buoyancy of the hovering system to be equal to the weight of the hovering system, and achieves hovering.
5. The zero-power hovering method for small underwater devices according to claim 4, wherein: the single chip microcomputer controls the speed of the inert metal electrode in an electric hydrolysis mode through a constant-current constant-voltage control circuit in the water electrolysis module.
6. The zero-power hovering method for small underwater devices according to claim 4, wherein: after the hovering system enters a hovering state, the single chip microcomputer controls the air bleeding electromagnetic valve and the water electrolysis module to be in a closed state.
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Denomination of invention: A Zero Power Suspension System and Method for Small Underwater Equipment Effective date of registration: 20231129 Granted publication date: 20220415 Pledgee: Dongguan branch of Bank of Dongguan Co.,Ltd. Pledgor: Dongguan Xiaofu Intelligent Technology Co.,Ltd. Registration number: Y2023980068259 |