CN103287558A - Flounder-type underwater glider - Google Patents
Flounder-type underwater glider Download PDFInfo
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- CN103287558A CN103287558A CN2013102000143A CN201310200014A CN103287558A CN 103287558 A CN103287558 A CN 103287558A CN 2013102000143 A CN2013102000143 A CN 2013102000143A CN 201310200014 A CN201310200014 A CN 201310200014A CN 103287558 A CN103287558 A CN 103287558A
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Abstract
The invention discloses a flounder-type underwater glider. An electronic cabin comprises a pressure-resisting cabin, a gravity and gravity center adjustment mechanism, a control system and a lithium battery unit. The inside of the pressure-resist cabin is partitioned into a central area, a middle circular area and an outer circular area. The lithium battery unit is arranged in the middle circular area. The control system includes an overwater control system and an underwater control system which are connected in a wireless manner. The underwater control system and the electronic part of surveying equipment are arranged in the middle circular area uniformly. The gravity and gravity center adjustment mechanism comprises four water bag pump units in same structure, and the four water bag pump units are distributed in the outer circular area symmetrically. The flounder-type underwater glider has the advantages of low cost, low noise, high endurance and high flexibility; the gravity and posture of the glider can be adjusted to realize zigzag or spiral trajectory through controlling the four water bag pump units distributed symmetrically. The flounder-type underwater glider can carry a plurality of underwater scientific-investigation and survey devices simultaneously, continuous data collection in extensive sea areas can be completed automatically, and the data can be transmitted back in real time.
Description
Technical field
The present invention relates to the underwater glider technical field, specifically is a kind of flounder type underwater glider.
Background technology
Underwater glider (Underwater Glider) is a kind of novel autonomous underwater research vehicle (Autonomous Underwater Vehicle:AUV).Adopt the buoyancy-driven mode, finish the navigation of zig-zag or spiral rotary track under water, possess advantages such as energy consumption is low, efficient is high, endurance big (can reach thousands of kilometers), cost is low, maintenance cost is low, be widely used in long-time, oceanographic survey on a large scale.In addition, because actuating units such as no propelling units, aerodone navigation noise is extremely low, and militarily using value is very big.
At present, the underwater glider that ripe model in four is arranged in the world, be respectively: the Spray Glider of Scripps marine laboratory (Scripps Institution of Oceanography:SIO) development, the Sea Glider of University of Washington (University of Washington:UW) development, Slocum Electric Glider and the Slocum Thermal Glider of weber research group (Webb Research Corp) development.Spray Glider adopts the aerodynamic housing of elongated low resistance, and antenna is built in the all-wing aircraft, further to reduce resistance, 1500 meters of maximum diving depths.The design objective of Sea61ider is can be thousand kilometers of ocean Air China line numbers that can be wide, time length can reach 6 months, maximum diving depth is 1000 meters, the luffing angle scope can be by 10 degree to 75 degree, antenna is installed on the afterbody stock, when emerging, does not need the buoyant device of assisting, antenna just can exceed the water surface, successfully obtains GPS location and communication.Slocum type underwater glider is divided into electricity-driven (battery) and thermal gradient energy driving (thermal) two classes, this two classes underwater glider is identical at aspects such as exterior design, attitude control, navigation communications, and just there is difference in the drive energy at aerodone.What the former used is the capsule pump configuration of a syringe shape, is operated in 200 meters degree of depth, and the latter is operated in 1500 meters degree of depth.Electricity-driven Slocum is long 1.8 meters, it with the speed operation of about 0.5m/s in 200 meters dark marine sites.Degree of dip is controlled by the mobile battery bag, and power brick is arranged on the leading portion of housing equally.Slocum has the fixing wing, the swept-back, and avoiding the winding of sea grass etc., long 1 meter of exhibition, wing panel is flat.It also has a vertical tail vane.Afterbody is equipped with GPS and communication antenna.In addition, Japan and France have also all developed the underwater glider of ALBAC by name and STERNE in succession, and the development of visible underwater glider is rapidly.Above-mentioned underwater glider is aircraft or torpedo profile without exception, by regulating gravity and center of gravity is prolonged sawtooth or helical trajectory slides.Line of travel can be realized by regulating wing or tail vane.The advantage of this Design Mode is that the working direction resistance is little, yet radius of turn is big, the rotating mechanism design is complicated, turn to control accuracy poor.
Summary of the invention
The present invention is directed to that the radius of turn that exists in the prior art is big, the rotating mechanism design is complicated, turn to problem such as control accuracy difference, a kind of flounder type underwater glider is provided, built-in water bag by four symmetrical distributions is regulated net buoyancy and center of gravity, realize that stable sliding with the original place changes line of travel under water, can change line of travel in the original place, low in energy consumption, endurance is big, and can carry the continuity oceanographic survey that multiple investigation apparatus is finished wide marine site simultaneously.
The present invention is achieved by the following technical solutions.
A kind of flounder type underwater glider is used for carrying investigation apparatus or sensor, comprises streamlined reefer housing and electronic compartment, and described electronic compartment is arranged at streamlined reefer housing inside;
Described electronic compartment comprises: pressure-resistant cabin, gravity and center of gravity regulating mechanism, control system and lithium cell group, wherein, pressure-resistant cabin inside is divided into central area, territory, Central District and outer region, described lithium cell group is arranged at the central area, control system comprises the water surface control system of mutual wireless connections and control system under water, the electronic section of described control system under water and investigation apparatus is evenly arranged in the territory, Central District, described gravity and center of gravity regulating mechanism comprise the water bag water pump group of 4 same structures, and described 4 water bag water pump groups are symmetrically distributed in the outer region.
Described streamlined reefer housing is whole for imitating the sole configuration design, and its outside face is provided with corrosion and wear and decreases coating.
Strong point length is 100cm before and after the described streamlined reefer housing, and left and right sides the widest part width is 75cm, and the highest point height is 30cm up and down.
Described pressure-resistant cabin integral body is cylindrical tube, comprise barrel and and barrel between the last hatchcover and the following hatchcover that are tightly connected by O type circle, described go up to be equipped with on hatchcover and the following hatchcover for the O type circle of sealing slot and for the underwater electrical connector that is electrically connected inside and outside the electronic compartment; Described down hatchcover is provided with 4 intake-outlets and the testing circuit that leaks, and described 4 intake-outlets are given respectively with 4 water pumps in 4 water bag water pump groups and are connected.
Described barrel and upper and lower hatchcover adopt aluminum alloy or titanium alloy material.
The external diameter of described cylindrical tube is 70cm, highly is 15cm; The diameter of described upper and lower hatchcover is 70cm.
The diameter of described intake-outlet is 0.5cm.
In described each water bag water pump group, water pump adopts the creeping motion type water pump, and water bag adopts the flexible plastic water bag, is linked to each other by conduit between an end of water pump and water bag, and the other end of water pump is connected with intake-outlet.
Described water surface control system comprises water surface control computing machine, water surface operation computing machine, first wireless communication module, antenna and uninterrupted power supply (UPS), and wherein: water surface control computing machine is used for telecommunication and trajectory planning; Water surface operation computing machine is used for man-machine interface demonstration and control command input; First wireless communication module is used for being connected with control system communication under water with antenna, and uninterrupted power supply (UPS) is used for the power supply of sleep control system;
Described control system under water comprises locating module, second wireless communication module, power management module, water pump driver module, data memory module, the detection module that leaks, insulating monitoring module, gyroscope, electronic compass, depth index, altimeter, laser, CTD (conductivity-temperature-depth system), user interface and kernel control module, wherein:
Locating module only after flounder type underwater glider emerges, is selected GPS position fixing system or Big Dipper position fixing system, is used for flounder type underwater glider location, and other times are in dormant state;
Second wireless communication module, only after flounder type underwater glider emerges, communication is connected with antenna with first wireless communication module of water surface control system, and other times are in dormant state;
Power management module is monitored the state of lithium cell group in real time and is sent to kernel control module;
The water pump driver module is used for receiving the instruction of kernel control module and converting 4 water pumps that voltage data sends to 4 water bag water pumps respectively to, drives water pump main story (suction) or counter-rotating (draining);
Data memory module is used for receiving and holding time, position coordinate, control command, motion sensor data, investigation sensing data, state of the system and other user-specific information from kernel control module;
The detection module that leaks is used for gathering the data that are arranged at the testing circuit that leaks on the pressure-resistant cabin, and judges the state that leaks, and sends to core control circuit simultaneously;
Insulation monitoring module provides 8 tunnel ground insulation to detect, and for detection of control system, sensor and the investigation apparatus ground insulation situation with direct supply, and sends to core control circuit;
Gyroscope, electronic compass, depth index, altimeter are respectively applied to detect angular acceleration, direction, the degree of depth and the height of aerodone, and send to core control circuit, as the feedback data of control system to motion control;
Laser for detection of the distance of flounder type underwater glider to the seabed, is avoided the collision of flounder type underwater glider and seabed;
CDT, science investigation sensor is used for the collection of underwater environment temperature, salinity, the degree of depth;
User interface, for investigation apparatus or sensor provide standard vdc (5VDC, 12VDC) and communication interface (RS232, RS485) and data acquisition interface (AD, 1O);
Kernel control module, operation master control program and each module communication in the control system under water.
Described control system under water also comprises the trajectory planning unit; described trajectory planning unit is connected with water pump driver module, locating module and the second wireless communication module data respectively; order planned trajectory according to the automatic planned trajectory of sensing data or artificial input sends to the water pump driver module with program results.
Flounder type underwater glider provided by the invention, solved under the traditional mode that the underwater glider radius of turn is big, the rotating mechanism design is complicated, turned to problem such as control accuracy difference, regulating aerodone gravity by the Total Water of regulating four water bags realizes rising or descending motion, the center of gravity (attitude) of regulating aerodone by the water yield of regulating four water bags respectively realizes the front, rear, left and right lateral attitude flexibly, thereby makes stable the sliding under water with the original place of flounder type underwater glider change line of travel.
The present invention possesses low cost, low noise, big endurance and the high characteristics of motion flexibility ratio.Adopt the buoyancy-driven mode, adjust gravity and the attitude of aerodone by the water bag one water pump combination of four symmetrical distributions in the control cabinet, realize zig-zag or screw-shaped path of motion.Possesses locomitivity equally flexibly in all directions.Control system is developed based on embedded platform, possesses characteristics low in energy consumption, stable performance, specifically comprises: trajectory planning, motion control, satellite positioning, telecommunication, data acquisition, System self-test are surveyed, the data storage function module.Power supply and the communication interface of common sensor are provided, can carry a plurality of equipment of scientific investigation under water simultaneously, finish continuous data collection in the extensive marine site autonomously, and return data in real time.
Description of drawings
By reading the detailed description of non-limiting example being done with reference to the following drawings, it is more obvious that other features, objects and advantages of the present invention will become:
Fig. 1 is integral structure scheme drawing of the present invention;
Fig. 2 is electronic compartment structural representation of the present invention;
Fig. 3 is electronic compartment internal layout of the present invention;
Fig. 4 is water surface control system structured flowchart;
Fig. 5 is control system structured flowchart under water;
Fig. 6 to Fig. 7 is typical motion track scheme drawing of the present invention;
Among the figure: 1 is streamlined reefer housing, and 2 is electronic compartment, and 3 is investigation apparatus or sensor, 4 is barrel, and 5 is O type circle fluting, and 6 is O type circle, 7 is last, following hatchcover, and 8 is underwater electrical connector, zone centered by 9, territory, 10 Central District, 11 is the outer region, 12 is the lithium cell group, 13 are control system under water, 14 is the electronic section of investigation apparatus, and 15 is first water bag, and 16 is second water bag, 17 is the 3rd water bag, 18 is the 4th water bag, and 19 is first water pump, and 20 is second water pump, 21 is the 3rd water pump, 22 is the 4th water pump, and 26 are water surface control computing machine, 27 waters surface operation computing machine, 28 is first wireless communication module, 29 is antenna, and 30 is uninterrupted power supply (UPS), and 31 is locating module, 32 is second wireless communication module, 33 is power management module, and 34 is the water pump driver module, and 35 is data memory module, 36 are the detection module that leaks, 37 is the insulating monitoring module, and 38 is gyroscope, and 39 is electronic compass, 40 is depth index, 41 is altimeter, and 42 is laser, and 43 is CTD (conductivity-temperature-depth system), 44 is user interface, and 45 is kernel control module.
The specific embodiment
Below embodiments of the invention are elaborated: present embodiment is being to implement under the prerequisite with the technical solution of the present invention, has provided detailed embodiment and concrete operating process.Should be pointed out that to those skilled in the art without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.
Please consult Fig. 1 to Fig. 7 simultaneously.
Present embodiment provides a kind of flounder type underwater glider, is used for carrying investigation apparatus or sensor, comprises streamlined reefer housing and electronic compartment, and described electronic compartment is arranged at streamlined reefer housing inside;
Described electronic compartment comprises: pressure-resistant cabin, gravity and center of gravity regulating mechanism, control system and lithium cell group, wherein, pressure-resistant cabin inside is divided into central area, territory, Central District and outer region, described lithium cell group is arranged at the central area, control system comprises the water surface control system of mutual wireless connections and control system under water, the electronic section of described control system under water and investigation apparatus is evenly arranged in the territory, Central District, described gravity and center of gravity regulating mechanism comprise the water bag water pump group of 4 same structures, and described 4 water bag water pump groups are symmetrically distributed in the outer region.
Further, described streamlined reefer housing is whole for imitating the sole configuration design, and its outside face is provided with corrosion and wear and decreases coating.
Further, strong point length is 100cm before and after the described streamlined reefer housing, and left and right sides the widest part width is 75cm, and the highest point height is 30cm up and down.
Further, described pressure-resistant cabin integral body is cylindrical tube, comprise barrel and and barrel between the last hatchcover and the following hatchcover that are tightly connected by O type circle, described go up to be equipped with on hatchcover and the following hatchcover for the O type circle of sealing slot and for the underwater electrical connector that is electrically connected inside and outside the electronic compartment; Described down hatchcover is provided with 4 intake-outlets and the testing circuit that leaks, and described 4 intake-outlets are given respectively with 4 water pumps in 4 water bag water pump groups and are connected.
Further, described barrel and upper and lower hatchcover adopt aluminum alloy or titanium alloy material.
Further, the external diameter of described cylindrical tube is 70cm, highly is 15cm; The diameter of described upper and lower hatchcover is 70cm.
Further, the diameter of described intake-outlet is 0.5cm.
Further, in each water bag water pump group, water pump adopts the creeping motion type water pump, and water bag adopts the flexible plastic water bag, is linked to each other by conduit between an end of water pump and water bag, and the other end of water pump is connected with intake-outlet.
Further, described water surface control system comprises water surface control computing machine, water surface operation computing machine, first wireless communication module, antenna and uninterrupted power supply (UPS), and wherein: water surface control computing machine is used for telecommunication and trajectory planning; Water surface operation computing machine is used for man-machine interface demonstration and control command input; First wireless communication module is used for being connected with control system communication under water with antenna, and uninterrupted power supply (UPS) is used for the power supply of sleep control system;
Further, described control system under water comprises locating module, second wireless communication module, power management module, water pump driver module, data memory module, the detection module that leaks, insulating monitoring module, gyroscope, electronic compass, depth index, altimeter, laser, CTD (conductivity-temperature-depth system), user interface and kernel control module, wherein:
Locating module only after flounder type underwater glider emerges, is selected GPS position fixing system or Big Dipper position fixing system, is used for flounder type underwater glider location, and other times are in dormant state;
Second wireless communication module, only after flounder type underwater glider emerges, communication is connected with antenna with first wireless communication module of water surface control system, and other times are in dormant state;
Power management module is monitored the state of lithium cell group in real time and is sent to kernel control module;
The water pump driver module is used for receiving the instruction of kernel control module and converting 4 water pumps that voltage data sends to 4 water bag water pumps respectively to, drives water pump main story (suction) or counter-rotating (draining);
Data memory module is used for receiving and holding time, position coordinate, control command, motion sensor data, investigation sensing data, state of the system and other user-specific information from kernel control module;
The detection module that leaks is used for gathering the data that are arranged at the testing circuit that leaks on the pressure-resistant cabin, and judges the state that leaks, and sends to core control circuit simultaneously;
Insulation monitoring module provides 8 tunnel ground insulation to detect, and for detection of control system, sensor and the investigation apparatus ground insulation situation with direct supply, and sends to core control circuit;
Gyroscope, electronic compass, depth index, altimeter are respectively applied to detect angular acceleration, direction, the degree of depth and the height of aerodone, and send to core control circuit, as the feedback data of control system to motion control;
Laser for detection of the distance of flounder type underwater glider to the seabed, is avoided the collision of flounder type underwater glider and seabed;
CDT, science investigation sensor is used for the collection of underwater environment temperature, salinity, the degree of depth;
User interface, for investigation apparatus or sensor provide standard vdc (5VDC, 12VDC) and communication interface (RS232, RS485) and data acquisition interface (AD, 1O);
Kernel control module, operation master control program and each module communication in the control system under water.
Further; described control system under water also comprises the trajectory planning unit; described trajectory planning unit is connected with water pump driver module, locating module and the second wireless communication module data respectively; order planned trajectory according to the automatic planned trajectory of sensing data or artificial input sends to the water pump driver module with program results.
Be specially,
In the present embodiment, described streamlined reefer housing is imitative sole configuration design, possess stream line pattern good, slide the characteristics stable, that displacement of volume is little.Because weight need approximate zero in the water of submersible, namely weight approximates displacement in the air, and the type design that displacement of volume is little can reduce the design value of the air weight of aerodone, and is light, easy to operate.The streamlined reefer housing outside face is coated with the anti-wear coating of boats and ships special anti-corrosion, prevents day illumination aging and marine corrosion, and the wearing and tearing hull collides with when preventing carrying and under-water operation.Orange, red or yellow conspicuous color that painting color is selected is found target when making things convenient for the water surface to reclaim.Electronic compartment is used for reprinting the electronic section of control system and sensor, equipment under water, is required to be dry type pressure-resistant cabin body.Barrel thickness needs to do Strength Calculation according to the withstand voltage rank of projected depth.Adopt density is little, intensity is high aluminum alloy or titanium alloy material processing, anodization is done on the surface, and to prevent marine corrosion, outside face pastes the sacrificial anode spelter, prevents that electronic compartment is by electrolytic corrosion.Electronic compartment adopts O type circle sealing means, and O type circle fluting is opened in the barrel upper end, and O type circle fluting parameter (width, the degree of depth) and O type circle parameter (interface radius, external diameter) design with reference to GB.Upper and lower hatchcover is fixed in barrel by screw one nut.The inside and outside electrical connection by underwater electrical connector of electronic compartment realizes that underwater electrical connector is distributed in upper and lower hatchcover, because the plane is than the more convenient sealing of barrel.Following hatchcover is opened 4 intake-outlets, is respectively applied to four water pump suction water.Electronic compartment inside is divided into three zones: the lithium cell group is arranged in the central area, is the original center of gravity place of aerodone; The electronic section of controlling control system and investigation apparatus is under water arranged in the territory, Central District, needs uniform distribution weight; First water bag, second water bag, the 3rd water bag and the 4th water bag and first water pump that is connected respectively with four water bags, second water pump, the 3rd water pump and the 4th water pump are arranged in the outer region.Except this, following hatchcover is equipped with the testing circuit that leaks.
Flounder type underwater glider control system by water surface control system and under water control system form, adopt wireless telecommunications between the two, as shown in Figure 4.According to communication distance, can select radio station or satellite communication.Water surface control system comprises: water surface control computing machine, water surface operation computing machine, first wireless communication module, antenna and uninterrupted power supply (UPS) are formed.Water surface control computing machine is responsible for telecommunication and trajectory planning.Water surface operation computing machine is responsible for man-machine interface display and control command input.Can adopt ethernet communication between water surface control computing machine and the water surface operation computing machine.Control system comprises satellite positioning module, second wireless communication module, power management module, water pump driver module, data memory module, the detection module that leaks, insulating monitoring module, gyroscope, electronic compass, depth index, altimeter, laser, CTD, user interface and kernel control module under water.Wherein, satellite positioning module can be selected GPS position fixing system or Big Dipper position fixing system.Second wireless communication module adopts radio station module or satellite communication module and the antenna corresponding with water surface control system.Power management module needs real-time monitoring battery state and sends to kernel control module.The water pump driver module is responsible for receiving the instruction of kernel control module and is converted voltage data to and sends to 4 water pumps respectively, drives its main story (suction) or counter-rotating (draining).Data memory module is responsible for receiving and holding time, position coordinate, control command, motion sensor data, investigation sensing data, state of the system and other user-specific information from kernel control module.The detection module that leaks is responsible for gathering the data of testing circuit of leaking, and judges the state that leaks, and sends to core control circuit.Insulation monitoring module is responsible for detecting control system, sensor, the equipment ground insulation situation of direct supply, and sends to core control circuit.Gyroscope, electronic compass, depth index, altimeter are respectively applied to detect angular acceleration, direction, the degree of depth and the height of aerodone, and send to core control circuit, as the feedback data of motion control control system.Laser is avoided the collision of aerodone and seabed for detection of the distance of aerodone to the seabed.CDT is the science investigation sensor that aerodone must be joined, and is used for the collection of temperature, salinity, the degree of depth.User interface for user investigation equipment or sensor provide standard vdc (5VDC, 12VDC) and communication interface (RS232, RS485) data acquisition interface (AD, IO).Kernel control module (45) operation master control program and other module communications.
Gravity and center of gravity regulating mechanism and control system are built in the pressure-resistant cabin, and pressure-resistant cabin is the refluence shell outward, and operative sensor is as in the pressure-resistant cabin, and operative sensor links to each other with pressure-resistant cabin by underwater electrical connector outside pressure-resistant cabin.
Streamlined reefer housing is flounder shape, is anticorrosion non-metallic material, the long 100cm of strong point in front and back, the wide 75cm of left and right sides the widest part, the high 30cm of highest point up and down.
The appearance of streamlined reefer housing sprays anticorrosion, abrasionproof lacquer painting peculiar to vessel, and the lacquer painting color is the conspicuous color of yellow, orange or brown, so that reclaim on the sea.
Pressure-resistant cabin is made up of the cylindrical tube of external diameter 70cm, a high 15cm and the hatchcover of two 70cm diameters, lid is formed, be aluminum alloy or titanium alloy material, the high 15cm of cylinder, external diameter 70cm are linked to each other by 8 CARBURIZING FURNACE FOR STAINLESS FASTENER respectively between hatchcover and the cylindrical tube up and down.
Take O type circle sealing means between upper and lower hatchcover and the cylindrical tube, upper and lower hatchcover is opened O type circle fluting.
Upper and lower hatchcover is arranged the underwater electrical connector socket, realizes being electrically connected between above deck equipment and sensor and control circuit and power supply.
Following hatchcover is opened the entery and delivery port of four diameter 0.5cm, and the water-in and water-out passage of gravity and center of gravity regulating mechanism is provided.
Gravity and center of gravity regulating mechanism are constituted by water bag one water pump of four same structures, and water pump adopts the creeping motion type water pump, and water bag adopts the flexible plastic water bag, are linked to each other by conduit between an end of water pump and water bag, and the other end of peristaltic pump links to each other with intake-outlet.
The combination of four water bag water pumps places four jiaos of the front, rear, left and right of the described pressure-resistant cabin of claim 4 respectively.
Control system comprises under water: trajectory planning unit, water pump driver module, locating module, second wireless communication module, the detection module that leaks, insulation monitoring module, data memory module, user interface.
All there is data exchange the trajectory planning unit with water pump driver module, GPS locating module, second wireless communication module, possesses the order planned trajectory according to the automatic planned trajectory of sensing data or artificial input, and program results is sent to the water pump driver module.
The water pump driver module distributes the turnover water yield of four water pumps according to the trajectory planning target, and sends voltage signal driving pump working.
Locating module, only work after aerodone emerges, other times are in dormant state, and gps data sends to trajectory planning unit and data memory module.
Second wireless communication module, only work after aerodone emerges, be responsible for receiving the control command that the water surface (or land) control center sends, and will send to the water surface (or land) control center after the location information of aerodone, status information, the sensing data packing, and the information of communication success or failure is sent to data record unit.
Second wireless communication module was in dormant state when aerodone was dived beneath the water.
Detection module leaks, testing circuit and data acquisition circuit are formed by leaking, testing circuit sticks in four jiaos of pressure-resistant cabin front, rear, left and right, data acquisition circuit is with 1Hz frequency collection testing result, position, detected value are preserved unit record by data, when detected value surpasses predetermined threshold value, send alarm message to the trajectory planning circuit.
Insulation monitoring module, provide 8 tunnel ground insulation to detect, detect the insulation situation of governor circuit and main sensors circuit respectively, detection position and insulation values are sent and are stored in data preservation unit, when surpassing predetermined threshold value, insulation values sends alarm message to the trajectory planning circuit, whether cut off this road power supply by the trajectory planning unit judges, do not influence other equipment, working sensor when any power source is cut off.
Data memory module is responsible for holding time information, the location information of aerodone, attitude information, control command, circuit leak state, circuit state of insulation.
User interface provides independently RS485, RS232, ADC, IO communication interface and 12VDC, 5VDC power interface.
The flounder type underwater glider that present embodiment provides; walk according to serration track or spiral trajectory based on software algorithm; concrete steps are: regulate aerodone gravity by the Total Water of regulating four water bags and realize rising or descending motion, the center of gravity (attitude) of regulating aerodone by the water yield of regulating four water bags respectively realizes the front, rear, left and right lateral attitude flexibly.
Quiet buoyancy: glide is that quiet buoyancy is designed on the occasion of design, namely in the air quality less than displacement.This part positive buoyancy is as the reserve buoyance of aerodone, the buoyancy reserve the when buoyancy reserve of user equipment, Sensor section and hull trim are provided.When no user sensor or equipment, the ballast lead trim of the quiet buoyancy of this part.Quiet buoyancy is required to be zero when descending water at every turn.
Center of gravity: need before each operation to adopt the ballast lead with the aerodone center of gravity be adjusted to the hull geometry center under, make center of gravity be lower than the centre of buoyancy.
Regulating mechanism of buoyancy: the quadruplet regulating mechanism of buoyancy is symmetrically distributed centered by center of gravity, and water gaging such as prestore in the water bag.The water bag maritime interior waters is discharged when receiving the come-up instruction, and water pump sucks water bag with outside seawater when receiving instruction.When receiving when instruction of leaning forward, preceding water bag suction, back water bag draining, displacement is less than water absorbing capacity, and other direction of tilt scheme is analogized.
Track: by four water bag moisture storage capacitys of continuous adjusting, can realize aerodone sliding on sawtooth pattern or screw type track, as shown in Figure 5.
The location: aerodone is at every turn floating to be accepted satellite positioning signal (Big Dipper or GPS) when going up the water surface and upgrades self absolute location, takes inertial navigation location (gyroscope, compass, depth index data fusion) during dive.
Communication: when emerging at every turn by wireless telecommunications (communications satellite or radio station).
Data are preserved: control command, state of the system, state of kinematic motion, investigation result are kept in the interior large-capacity memory card of aerodone electronic compartment in real time, read after being wirelessly transmitted to data terminal or recovery when waiting to emerge.In addition, data terminal is preserved control command and the aerodone data that receive in real time.
User equipment and sensor: smooth, spacious user sensor mounting space is provided, simultaneously can carries more users equipment and sensor, and provide and stablize stabilized power source and enrich data-interface.Can carry sonar battle array Ji Zhen.
More than specific embodiments of the invention are described.It will be appreciated that the present invention is not limited to above-mentioned specific implementations, those skilled in the art can make various distortion or modification within the scope of the claims, and this does not influence flesh and blood of the present invention.
Claims (10)
1. a flounder type underwater glider is used for carrying investigation apparatus or sensor, comprises streamlined reefer housing and electronic compartment, and described electronic compartment is arranged at streamlined reefer housing inside; It is characterized in that, described electronic compartment comprises: pressure-resistant cabin, gravity and center of gravity regulating mechanism, control system and lithium cell group, wherein, pressure-resistant cabin inside is divided into the central area, territory, Central District and outer region, described lithium cell group is arranged at the central area, control system comprises the water surface control system of mutual wireless connections and control system under water, the electronic section of described control system under water and investigation apparatus is evenly arranged in the territory, Central District, described gravity and center of gravity regulating mechanism comprise the water bag water pump group of 4 same structures, and described 4 water bag water pump groups are symmetrically distributed in the outer region.
2. flounder type underwater glider according to claim 1 is characterized in that, described streamlined reefer housing is whole for imitating the sole configuration design, and its outside face is provided with corrosion and wear and decreases coating.
3. flounder type underwater glider according to claim 2 is characterized in that, strong point length is 100cm before and after the described streamlined reefer housing, and left and right sides the widest part width is 75cm, and the highest point height is 30cm up and down.
4. flounder type underwater glider according to claim 1, it is characterized in that, described pressure-resistant cabin integral body is cylindrical tube, comprise barrel and and barrel between the last hatchcover and the following hatchcover that are tightly connected by O type circle, described go up to be equipped with on hatchcover and the following hatchcover for the O type circle of sealing slot and for the underwater electrical connector that is electrically connected inside and outside the electronic compartment; Described down hatchcover is provided with 4 intake-outlets and the testing circuit that leaks, and described 4 intake-outlets are given respectively with 4 water pumps in 4 water bag water pump groups and are connected.
5. flounder type underwater glider according to claim 4 is characterized in that, described barrel and upper and lower hatchcover adopt aluminum alloy or titanium alloy material.
6. according to claim 4 or 5 described flounder type underwater gliders, it is characterized in that the external diameter of described cylindrical tube is 70cm, highly is 15cm; The diameter of described upper and lower hatchcover is 70cm.
7. flounder type underwater glider according to claim 4 is characterized in that, the diameter of described intake-outlet is 0.5cm.
8. according to claim 4 or 7 described flounder type underwater gliders, it is characterized in that, in each water bag water pump group, water pump adopts the creeping motion type water pump, water bag adopts the flexible plastic water bag, is linked to each other by conduit between an end of water pump and water bag, and the other end of water pump is connected with intake-outlet.
9. flounder type underwater glider according to claim 1, it is characterized in that, described water surface control system comprises water surface control computing machine, water surface operation computing machine, first wireless communication module, antenna and uninterrupted power supply (UPS), and wherein: water surface control computing machine is used for telecommunication and trajectory planning; Water surface operation computing machine is used for man-machine interface demonstration and control command input; First wireless communication module is used for being connected with control system communication under water with antenna, and uninterrupted power supply (UPS) is used for the power supply of sleep control system;
Described control system under water comprises locating module, second wireless communication module, power management module, water pump driver module, data memory module, the detection module that leaks, insulating monitoring module, gyroscope, electronic compass, depth index, altimeter, laser, CTD, user interface and kernel control module, wherein:
Locating module only after flounder type underwater glider emerges, is selected GPS position fixing system or Big Dipper position fixing system, is used for flounder type underwater glider location, and other times are in dormant state;
Second wireless communication module, only after flounder type underwater glider emerges, communication is connected with antenna with first wireless communication module of water surface control system, and other times are in dormant state;
Power management module is monitored the state of lithium cell group in real time and is sent to kernel control module;
The water pump driver module is used for receiving the instruction of kernel control module and converting 4 water pumps that voltage data sends to 4 water bag water pumps respectively to, drives water pump main story or counter-rotating;
Data memory module is used for receiving and holding time, position coordinate, control command, motion sensor data, investigation sensing data, state of the system and other user-specific information from kernel control module;
The detection module that leaks is used for gathering the data that are arranged at the testing circuit that leaks on the pressure-resistant cabin, and judges the state that leaks, and sends to core control circuit simultaneously;
Insulation monitoring module provides 8 tunnel ground insulation to detect, and for detection of control system, sensor and the investigation apparatus ground insulation situation with direct supply, and sends to core control circuit;
Gyroscope, electronic compass, depth index, altimeter are respectively applied to detect angular acceleration, direction, the degree of depth and the height of aerodone, and send to core control circuit, as the feedback data of control system to motion control;
Laser for detection of the distance of flounder type underwater glider to the seabed, is avoided the collision of flounder type underwater glider and seabed;
CDT, science investigation sensor is used for the collection of underwater environment temperature, salinity, the degree of depth;
User interface provides vdc and communication interface and the data acquisition interface of standard for investigation apparatus or sensor;
Kernel control module, operation master control program and each module communication in the control system under water.
10. flounder type underwater glider according to claim 9; it is characterized in that; described control system under water also comprises the trajectory planning unit; described trajectory planning unit is connected with water pump driver module, locating module and the second wireless communication module data respectively; order planned trajectory according to the automatic planned trajectory of sensing data or artificial input sends to the water pump driver module with program results.
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