CN100443369C - Deep-sea solar diving device - Google Patents
Deep-sea solar diving device Download PDFInfo
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- CN100443369C CN100443369C CNB2007100419797A CN200710041979A CN100443369C CN 100443369 C CN100443369 C CN 100443369C CN B2007100419797 A CNB2007100419797 A CN B2007100419797A CN 200710041979 A CN200710041979 A CN 200710041979A CN 100443369 C CN100443369 C CN 100443369C
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Abstract
The invention is about a deep-sea solar energy diving instrument. It includes: the diving instrument body, the glider vane or solar panel, the main thruster and the vertical stable empennage; the glider vane or the solar panel are installed on the diving instrument back; the main thruster is set in the middle vertical axis of the diving instrument; it also includes the permeable shell out of the main body, which has the flotage adjusting system, the barycenter adjusting system and the pressure capsule, the velometer, the depth gauge, the sonar responder near to the head, the altimeter near to the bow and the sonar transducer near to the tail part. The solar energy is the main driving mode and the big angle gliding technology driven by the flotage is the assistant driving mode. So it has the low energy cost, long endurance time and wide work field to improve it's investigate ability in deep sea.
Description
Technical field
What the present invention relates to is a kind of submersible of field of ocean engineering, particularly a kind of deep-sea solar diving device (DSV).
Background technology
Autonomous underwater robot (being called for short AUV) technology has been widely used in oceanographic survey.But still there is the problem of 3 aspects in conventional AUV, limit its field of application in oceanographic survey, be that conventional AUV carries that finite energy can't be supported to navigate by water for a long time, for a long time location navigation exists cumulative departure to need to revise, and can't carry out the real time information exchange with remote platform on a large scale.This make conventional AUV task execution time usually can only with hour or day calculate.At this three aspects problem, the present development in the world the special AUV system of two classes, i.e. underwater glider and solar power AUV.Underwater glider adopts the buoyancy-driven mode.Different with the impeller driven of conventional AUV, buoyancy-driven does not have external propelling unit, but the center of gravity by regulating submersible to be changing attitude, and cooperates buoyancy adjustment to produce the propulsive force of motion.This type of drive can realize very low route speed when guaranteeing high propulsion coefficient, therefore obtain high cruise duration and voyage.This driving noise is low, and is little to the interference of external environment condition.But the weak point of underwater glider is its path of motion must be zigzag, the speed of a ship or plane is very low, and maneuverability is poor, does not possess the fixed high and plane maneuverability of depthkeeping, and can not carry the navigation of large-scale instrument and support fair speed, so its task mainly is confined to the investigation of water body section.
Literature search through prior art is found, Solar-Powered Autonomous UnderwaterVehicle Development, (solar power unmanned submersible's progress) was published in I nProceedings of the Thirteenth International Symposium on Unmanned UntetheredSubmersible Technology in 2003, show actual in the world at present SAUV and the SAUV2 type that U.S. AUVS (Autonomous Undersea SystemsInstitute) only arranged that uses in (the 13 international unmanned submersible technical forum meeting collection).Its weight 200kg, speed 1-3kn.This system carries lithium ion battery and solar panel simultaneously, can obtain energy from the sun.SAUV dive in common evening is worked, floating charge on daytime, and this and glider similarly regularly floats, the ability that provides SAUV regularly to carry out the GPS correction and carry out information exchange with remote platform.SAUV has the unexistent horizontal surface maneuverability of underwater glider, and field of application is more extensive; It carries the ability of instrument and the speed of a ship or plane that can realize, and is also strong more than glider.The major limitation that existing SAUV faces is the restriction of its working depth.It must go up floating charge in the cycle.For big degree of depth survey tasks, can consume a lot of energy, form big energy burden, also can consume the more time, reduced charging or production time.SAUV is that pure propelling unit mode drives what adopt aspect the motion realization, and state of kinematic motion is benchmark with the horizontal motion, therefore can not effectively overcome above-mentioned contradiction.
Summary of the invention
The objective of the invention is to overcome the deficiencies in the prior art, a kind of deep-sea solar diving device is provided.Utilize solar power to produce electric energy as main type of drive, with the wide-angle glide technology of buoyancy-driven two deep-sea solar diving device DSV that drive as the assistive drive mode, solve the degree of depth bottleneck of existing SAUV technology, under the prerequisite that keeps its original technical advantage, realized that energy consumption is low, cruise duration is long, and the novel sea researching tool that scope of work is wide further promotes its deep-sea expedition ability.
The present invention is achieved through the following technical solutions, the present invention includes: the submersible main body, glide wing solar panel, main thruster and vertical rear-fin stabilizer, glide wing solar panel is installed on submersible main body back, main thruster is arranged in the afterbody of submersible main body in the longitudinal axis, also comprise the exterior permeable shell of submersible main body, in the permeable shell buoyancy regulating system is installed, center of gravity control system and pressure-resistant cabin, described permeable shell is outer to be equipped with knotmeter near head position, depth index, the sonar responser, and altimeter is installed in the position of the close bow in the bottom of permeable shell, position at the close afterbody in the bottom of permeable shell is equipped with sonar projector, glide wing solar panel is arranged at permeable shell top, vertical rear-fin stabilizer is arranged in the vertical symmetry plane of permeable shell afterbody back, at the top of vertical stabilizer global position system GPS/satellite earth antenna is installed, radio antenna.
Described glide wing solar panel is low fluid resistance aerofoil profile with vertical rear-fin stabilizer.
Described main thruster is can rotating shrouded propeller, and there is conduit the outside of screw propeller, is arranged on the middle longitudinal axis of afterbody of submersible main body.
Described permeable shell is the gyro-rotor of length-diameter ratio between 7 to 10, has low fluid resistance profile.
Described buoyancy regulating system comprises: normal pressure liquid tank, high pressure liquid capsule, pump; The normal pressure liquid tank has fixing floating volume, and the high pressure liquid capsule has variable floating volume, and normal pressure liquid tank, pump and high pressure liquid capsule are communicated with, and normal pressure liquid tank and high pressure liquid capsule are symmetrical in submersible profile vertical symmetry plane; The high pressure liquid capsule is positioned at the outer permeable enclosure of pressure-resistant cabin, and all the other normal pressure liquid tanks, pump all are positioned at the position of pressure-resistant cabin near the submersible afterbody.
Described buoyancy regulating system is symmetrical in submersible profile vertical symmetry plane, and the centre of buoyancy of submersible is all the time in this vertical symmetry plane in the buoyancy adjustment process.
Described buoyancy regulating system is regulated the buoyancy of submersible by changing the floating volume of submersible.When floating volume hour, submersible system has minimal negative buoyancy, when floating volume was maximum, submersible system had maximum positive buoyancy, when submersible had the floating volume in certain suitable centre, submersible system had neutral buoyancy.
Described center of gravity control system comprises: the weight of stepping motor, slip and screw mandrel, and the output shaft of motor connects screw mandrel, and screw mandrel links to each other with the weight of slip, is installed in stage casing in the pressure-resistant cabin.
Motion control computing machine, attitude sensor, compass, navigator fix computing system, lithium ion battery group, energy management system, center of gravity control system are installed in the described pressure-resistant cabin; The motion control computing machine is connected with receiving wire, the radio antenna communication apparatus of main thruster, buoyancy regulating system, center of gravity control system, navigator fix computing system, energy management system, attitude sensor, compass, knotmeter, depth index, sonar responser, altimeter, sonar projector sensing equipment and global position system GPS/satellite respectively, realizes the system-wide Comprehensive Control.
Motion control computing machine, buoyancy regulating system, center of gravity control system, lithium ion battery group, attitude sensor, compass are installed in the described pressure-resistant cabin; The motion control computing machine is installed in the position of the front end of pressure-resistant cabin near the submersible capital by adopting pc104 main frame and bonded assembly serial expanded card thereof to form; Attitude sensor, compass be according to the requirement of navigation operations, is installed in before and after the mid point of the middle longitudinal axis of pressure-resistant cabin, is fixed on the pressure-resistant cabin in-to-in fixed support; In the stage casing of pressure-resistant cabin the center of gravity control system is installed; Rear is equipped with buoyancy regulating system; Be provided with the lithium ion battery group in inner remaining space of pressure-resistant cabin, support submersible system work so that can store enough energy.
Described glide wing solar panel, its hang gliding and solar panel are same one, both having had conversion of solar energy is electric energy, is stored in the function in the battery pack, also will play the effect of similar wing in gliding simultaneously.
Described main thruster can turn round in horizontal surface, for submersible provides onward impulse, also can be submersible the level required moment of changing course is provided.
Described center of gravity control system can move the submersible center of gravity along the y direction of submersible.The vertical setting range of center of gravity covers and vertical variation range of centre of buoyancy when being wider than buoyancy adjustment, and under the various adjustment state of center of gravity and buoyancy, remains submersible system and have certain stability height.
The lift focus of described submersible profile is positioned at the rear portion of centre of buoyancy and center of gravity, and enough trim static stabilities are provided.
Motion control computing machine of the present invention is such to the control policy of submersible: submersible is regularly by day with the floating sea of going up of the mode of buoyancy-driven, take the solar cell as the charging of lithium ion battery group, and communicate and information transfer with remote platform, GPS locatees correction.After charging is finished, slip into marine arrival working depth, near setting, do motor-drivenly in the horizontal surface to navigate by water in the impeller driven mode in the mode of buoyancy-driven.
It is motor-driven that buoyancy-driven mode operational configuration of the present invention is mainly used in the vertical surface come-up and dive.When submersible needs dive, buoyancy regulating system reduces the floating volume of submersible, make it be in the negative lift state, the center of gravity control system is regulated the submersible center of gravity simultaneously, make submersible produce negative casterangle (come back for just), submersible is set up and is advanced and diving speed under the synergy of negative lift and lift, and reaches stable operational configuration.When submersible arrived set depth, buoyancy regulating system increased the floating volume of submersible, makes it be in the neutral buoyancy state, the center of gravity control system is regulated the submersible center of gravity simultaneously, make submersible not have casterangle, then submersible can carry out the motor-driven operation of horizontal surface with impeller driven at set depth.When submersible floats, buoyancy regulating system increases the floating volume of submersible, make it be in the positive buoyancy state, the center of gravity control system is regulated the submersible center of gravity simultaneously, make submersible produce positive casterangle (come back for just), submersible is set up and is advanced and ascending velocity under the synergy of positive buoyancy and lift, and reaches stable operational configuration.When submersible arrived the sea, buoyancy regulating system made it be in the neutral buoyancy state, and the center of gravity control system is regulated the submersible center of gravity simultaneously, makes submersible not have casterangle, and then submersible can carry out motor-driven operation of horizontal surface and charging with impeller driven on the sea.In the moving process of latent transportation by driving in vertical surface, system only needs to adjust gravity centre distribution in good time, and expenditure of energy is considerably less, has solved solar power AUV change in depth length consuming time, the disadvantage that energy consumption is big, the distant voyage and the long cruise duration of realizing submersible.
When the present invention navigated by water in the impeller driven mode, it was movable part that whole submersible profile has only propelling unit, and buoyancy regulating device adjusting submersible makes it to be in the neutral buoyancy state.At this moment, submersible by the adjusting to center of gravity, changes the spatial attitude on submersible main wing plane by thrust and the interior yawing moment of horizontal surface along y direction that propelling unit produces.By to the jointly controlling of thrust and yawing moment in main wing plane space attitude and the main wing plane, realize the space maneuver of submersible.
The present invention has increased solar cell, can realize high voyage and cruise duration by process of charging repeatedly; Increased center of gravity control system and buoyancy regulating system, can realize the submersible vertical surface motion of automobile of high speed low consumption by the wide-angle gliding mode of buoyancy-driven; Realize high manoevreability by impeller driven.Total system project organization compactness, resistance is little, and is simple and reliable and with low cost.The present invention has set up a cover can really realize the long-time Oceanographic System of the degree of depth greatly, has boundless value of service.
Description of drawings
Fig. 1 is an integral structure diagrammatic side view of the present invention.
Fig. 2 is that integral structure of the present invention is illustrated first view.
Fig. 3 is an integral structure signal tail view of the present invention.
Fig. 4 is an integral structure diagrammatic top view of the present invention.
Fig. 5 is a part-structure scheme drawing in the instrument compartment of the present invention.
Wherein, submersible main body-1, glide wing solar panel-2, main thruster-3, vertical rear-fin stabilizer-4, knotmeter-5, depth index-6, sonar responser-7, altimeter-8, sonar projector-9, global position system GPS/satellite earth antenna-10, wireless communication system-11, motion control computing machine-12, buoyancy regulating system-13, center of gravity control system-14, lithium ion battery group-15, permeable shell-16, pressure-resistant cabin-17, normal pressure liquid tank-18, pump-19, high pressure liquid capsule-20, stepping motor-21, screw mandrel-22, the weight-23 that slides, attitude sensor-24, compass-25.
The specific embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated: present embodiment has provided detailed embodiment and process being to implement under the prerequisite with the technical solution of the present invention, but protection scope of the present invention is not limited to following embodiment.
As shown in Figure 1, present embodiment comprises: submersible main body 1, glide wing solar panel 2, main thruster 3 and vertical rear-fin stabilizer 4, the outside of submersible main body 1 is the permeable shell 16 that rectification is used, and permeable shell 16 inside are center of gravity control system 14, buoyancy regulating system 13 and pressure-resistant cabin 17.Permeable shell 16 is length-diameter ratio gyro-rotors between 7 to 10, has low fluid resistance profile.Glide wing solar panel 2 has low fluid resistance aerofoil profile with vertical rear-fin stabilizer 4.Glide wing solar panel 2 is arranged at permeable shell 16 tops, presents the state of bearing.On submersible main body 1 permeable shell 16, sensor devices such as sonar responser 7, sonar projector 9, altimeter 8, depth index 6, knotmeter 5 are installed.Vertical rear-fin stabilizer 4 is arranged in the vertical symmetry plane on upper strata, back of permeable shell 16 afterbodys, and the receiving wire 10 of global position system GPS/satellite, the antenna 11 of radio communication are installed at the top of stabilizer.Main thruster 3 is arranged in the afterbody of submersible main body 1 in the longitudinal axis.
Lithium ion battery group 15 and center of gravity control system 14 are arranged in the pressure-resistant cabin 17.Center of gravity control system 14 comprises stepping motor 21, slip weight 23 and screw mandrel 22.The output shaft of stepping motor 21 connects screw mandrel 22, and screw mandrel 22 connects slip weight 23.Stepping motor 21 rotatings drive weight 23 and move along the submersible y direction, and the submersible center of gravity is moved forward and backward along y direction.The vertical setting range of center of gravity covers and vertical variation range of centre of buoyancy when being wider than buoyancy adjustment.
Buoyancy regulating system 13 comprises that normal pressure liquid tank 18, high pressure liquid capsule 20, pump 19, normal pressure liquid tank 18 have fixing floating volume, high pressure liquid capsule 20 has variable floating volume, normal pressure liquid tank 18, pump 19 and high pressure liquid capsule 20 are communicated with, and inside is the high specific gravity liquid that is used for buoyancy adjustment.Buoyancy regulating system 13 utilizes pump 19 that high specific gravity liquid is alloted between normal pressure liquid tank 18 and high pressure liquid capsule 20, when liquid is full of normal pressure liquid tank 18, submersible system has minimal negative buoyancy, when liquid is full of high pressure liquid capsule 20 and make it to reach maximum floating volume, submersible system has maximum positive buoyancy, when liquid was distributed in normal pressure liquid tank 19 and the high pressure liquid capsule 20 by proper proportion, submersible system had neutral buoyancy.Normal pressure liquid tank 18 and high pressure liquid capsule 20 are symmetrical in submersible profile vertical symmetry plane, and the centre of buoyancy of submersible is all the time in this vertical symmetry plane in the buoyancy adjustment process.
Under the various adjustment state of center of gravity and buoyancy, remain submersible system and have certain stability height.The lift focus of submersible profile is positioned at the rear portion of centre of buoyancy and center of gravity, and enough trim static stabilities are provided.
Also be provided with sensor devices such as motion control computing machine 12, attitude sensor 24, compass 25 in the pressure-resistant cabin 17.Motion control computing machine 12 connects the communication apparatus such as antenna 11 of sensor device such as main thrusters 3, buoyancy regulating system 13, center of gravity control system 14, navigator fix computing system, energy management system, attitude sensor 24, compass 25, sonar projector 7,9, altimeter 8, depth index 6, knotmeter 5 and global position system GPS/satellite earth antenna 10, radio communication, realizes the system-wide Comprehensive Control.
The control policy of 12 pairs of submersibles of motion control computing machine is such: submersible is regularly by day with the floating sea of going up of the mode of buoyancy-driven, take the solar cell as the charging of lithium ion battery group, and communicate and information transfer with remote platform, GPS locatees correction.After charging is finished, slip into marine arrival working depth, near setting, do motor-drivenly in the horizontal surface to navigate by water in the impeller driven mode in the mode of buoyancy-driven.
It is motor-driven that the buoyancy-driven mode operational configuration of present embodiment is mainly used in the vertical surface come-up and dive.When submersible needs dive, buoyancy regulating system 13 reduces the floating volume of submersible, make it be in the negative lift state, center of gravity control system 14 is regulated the submersible center of gravity simultaneously, make submersible produce negative casterangle (come back for just), submersible is set up and is advanced and diving speed under the synergy of negative lift and lift, and reaches stable operational configuration.When submersible arrives set depth, buoyancy regulating system 13 increases the floating volume of submersible, make it be in the neutral buoyancy state, center of gravity control system 14 is regulated the submersible center of gravity simultaneously, make submersible not have casterangle, then submersible can carry out the motor-driven operation of horizontal surface with impeller driven at set depth.When submersible floats, buoyancy regulating system 13 increases the floating volume of submersible, make it be in the positive buoyancy state, center of gravity control system 14 is regulated the submersible center of gravity simultaneously, make submersible produce positive casterangle (come back for just), submersible is set up and is advanced and ascending velocity under the synergy of positive buoyancy and lift, and reaches stable operational configuration.When submersible arrived the sea, buoyancy regulating system 13 made it be in the neutral buoyancy state, and center of gravity control system 14 is regulated the submersible center of gravity simultaneously, makes submersible not have casterangle, and then submersible can carry out motor-driven operation of horizontal surface and charging with impeller driven on the sea.In the moving process of latent transportation by driving in vertical surface, system only needs to adjust gravity centre distribution in good time, and expenditure of energy is considerably less, has solved solar power AUV change in depth length consuming time, the disadvantage that energy consumption is big, the distant voyage and the long cruise duration of realizing submersible.
When navigating by water with propelling unit 3 type of drive, it is movable part that whole submersible profile has only propelling unit, and buoyancy regulating device adjusting submersible makes it to be in the neutral buoyancy state.At this moment, submersible by the adjusting to center of gravity, changes the spatial attitude on submersible main wing plane by thrust and the interior yawing moment of horizontal surface along y direction that propelling unit 3 produces.By to the jointly controlling of thrust and yawing moment in main wing plane space attitude and the main wing plane, realize the space maneuver of submersible.
Claims (10)
1. a deep-sea solar diving device comprises: submersible main body (1), glide wing solar panel (2), main thruster (3) and vertical rear-fin stabilizer (4); Glide wing solar panel (2) is installed on submersible main body (1) back, main thruster (3) is arranged in the afterbody of submersible main body (1) in the longitudinal axis, it is characterized in that, also comprise the exterior permeable shell of submersible main body (1) (16), buoyancy regulating system (13) is installed in the permeable shell (16), center of gravity control system (14) and pressure-resistant cabin (17), described permeable shell (16) is outer to be equipped with knotmeter (5) near head position, depth index (6), sonar responser (7), and altimeter (8) is installed in the position of the close bow in the bottom of permeable shell (16), position at the close afterbody in the bottom of permeable shell (16) is equipped with sonar projector (9), glide wing solar panel (2) is arranged at permeable shell (16) top, vertical rear-fin stabilizer (4) is arranged in the vertical symmetry plane of permeable shell (16) afterbody back, at the top of vertical stabilizer (4) global position system GPS/satellite earth antenna (10) is installed, radio antenna (11).
2. deep-sea solar diving device as claimed in claim 1 is characterized in that, described glide wing solar panel (2) is low fluid resistance aerofoil profile with vertical rear-fin stabilizer (4).
3. deep-sea solar diving device as claimed in claim 1 is characterized in that, described main thruster (3) is can rotating shrouded propeller, and there is conduit the outside of screw propeller, is arranged on the middle longitudinal axis of afterbody of submersible main body (1).
4. deep-sea solar diving device as claimed in claim 1 is characterized in that, described permeable shell (16) is the gyro-rotor of length-diameter ratio between 7 to 10, has low fluid resistance profile.
5. deep-sea solar diving device as claimed in claim 1, it is characterized in that, described buoyancy regulating system (13) comprising: normal pressure liquid tank (18), high pressure liquid capsule (20), pump (19), normal pressure liquid tank (18) has fixing floating volume, high pressure liquid capsule (20) has variable floating volume, normal pressure liquid tank (18), pump (19) and high pressure liquid capsule (20) are communicated with, and normal pressure liquid tank (18) and high pressure liquid capsule (20) are symmetrical in submersible profile vertical symmetry plane; High pressure liquid capsule (20) is positioned at outer permeable shell (16) inside of pressure-resistant cabin (17), and normal pressure liquid tank (18), pump (19) all are positioned at the position of pressure-resistant cabin near the submersible afterbody.
6. as claim 1 or 5 described deep-sea solar diving devices, it is characterized in that described buoyancy regulating system (13) is symmetrical in submersible profile vertical symmetry plane.
7. deep-sea solar diving device as claimed in claim 1, it is characterized in that, described center of gravity control system (14) comprising: stepping motor (21), the weight (23) and the screw mandrel (22) that slide, the output shaft of motor (21) connects screw mandrel (22), screw mandrel (22) links to each other with the weight (23) that slides, and is installed in the interior stage casing of pressure-resistant cabin (17).
8. deep-sea solar diving device as claimed in claim 1, it is characterized in that, motion control computing machine (12), attitude sensor (24), compass (25), navigator fix computing system, lithium ion battery group (15), energy management system, center of gravity control system (14) are installed in the described pressure-resistant cabin (17); Motion control computing machine (12) is connected with receiving wire (10), radio antenna (11) communication apparatus of main thruster (3), buoyancy regulating system (13), center of gravity control system (14), navigator fix computing system, energy management system, attitude sensor (24), compass (25), knotmeter (5), depth index (6), sonar responser (7), altimeter (8), sonar projector (9) sensing equipment and global position system GPS/satellite respectively.
9. as claim 1 or 8 described deep-sea solar diving devices, it is characterized in that, motion control computing machine (12), buoyancy regulating system (13), center of gravity control system (14), lithium ion battery group (15), attitude sensor (24), compass (25) are installed in the described pressure-resistant cabin (17), and motion control computing machine (12) is installed in the position of the front end of pressure-resistant cabin (17) near the submersible stem; Attitude sensor (24), compass (25) are installed in the mid point front and back of the middle longitudinal axis of pressure-resistant cabin (17), are fixed on pressure-resistant cabin (17) the in-to-in fixed support; In the stage casing of pressure-resistant cabin (17) center of gravity control system (14) is installed, its rear is equipped with buoyancy regulating system (13), is provided with lithium ion battery group (15) in inner remaining space of pressure-resistant cabin (17).
10. deep-sea solar diving device as claimed in claim 9 is characterized in that, described motion control computing machine (12) comprise the pc104 main frame and with pc104 main frame bonded assembly serial expanded card.
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| CNB2007100419797A CN100443369C (en) | 2007-06-14 | 2007-06-14 | Deep-sea solar diving device |
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| CNB2007100419797A CN100443369C (en) | 2007-06-14 | 2007-06-14 | Deep-sea solar diving device |
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| CN100443369C true CN100443369C (en) | 2008-12-17 |
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