CN103661895A - Water-jet-propelled deep-sea glider - Google Patents

Water-jet-propelled deep-sea glider Download PDF

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Publication number
CN103661895A
CN103661895A CN201310634020.XA CN201310634020A CN103661895A CN 103661895 A CN103661895 A CN 103661895A CN 201310634020 A CN201310634020 A CN 201310634020A CN 103661895 A CN103661895 A CN 103661895A
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pressure shell
segment
moldeed depth
aerodone
waterjet propulsion
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CN103661895B (en
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李宝仁
傅晓云
杨钢
杜经民
高磊
高隆隆
李璇
李罡
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Huazhong University of Science and Technology
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Huazhong University of Science and Technology
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Abstract

The invention discloses a water-jet-propelled deep-sea glider comprising a housing, gliding wings, a tail, a battery pack, a navigation control center, a center-of-mass regulating device, a buoyancy regulating device, a jet propulsion device, a satellite communication antenna, a load rejecter, and an observation meter. The gliding wing and the tail are arranged on the outside of the housing. The battery pack, the navigation control center, the center-of-mass regulating device, the buoyancy regulating device, the jet propulsion device, the satellite communication antenna, the load rejecter and the observation meter are disposed inside the housing. The housing comprises a pressure-resistant housing and a non-pressure-resistant housing. The pressure-resistant housing includes a front segment and a rear segment and is in a cylindrical structure. The gliding wings are fixedly mounted on two sides of the outside of the non-pressure-resistant housing and provide the water-jet-propelled deep-sea glider with lift. The tail is fixedly mounted at the rear of the rear segment of the non-pressure-resistant housing and is used for stable navigation. The battery pack is used as a mas regulating block for center-of-mass regulation and integrated to the center-of-mass regulating device. The water-jet-propelled deep-sea glider has the advantages of low power consumption, long sailing schedule, wide range, low noise and high concealment.

Description

A kind of waterjet propulsion moldeed depth sea aerodone
Technical field
The invention belongs to submarine navigation device field, more specifically, relate to a kind of waterjet propulsion moldeed depth sea aerodone.
Background technology
Underwater glider maneuverability, can be on a large scale, carry out under-water operation under the large degree of depth and complicated marine environment.By configuring advanced sensor, navigation control system, this type of underwater glider has path planning, and attitude adjustment, keeps away the various control functions such as barrier, is suitable for very much marine scientific research and Military Operational Requirement.When needing data transmission or accepting ground staff's instruction, aerodone emerges, and by the Big Dipper communication system of installing on tail fin, completes information exchange task.
Underwater glider can long-term follow and research marine life.Research marine biodiversity, Population Genetics and the impact on fishery thereof are another the important animal nutritions that guarantees ocean and industry sustainable development thereof.Owing to having broken away from screw propeller or driving engine, underwater glider can rely on little energy undisturbedly in water " glide ", thereby near observing the various marine animals such as whale, follows the tracks of soundlessly them leaving alone in halobiontic situation.In addition, underwater glider flying power is strong, can carry out long term investigation to marine life, grasps life habit and the existence rule of various biologies, has completed the inefficient under-water operation of conventional AUV.
Underwater glider can be used as the Important Platform of exploration of ocean resources.The mankind did not stop the exploration of ocean a moment yet, countries in the world utilize the Marine High-technology at twentieth century end to carry out resource exploration to ocean, the reserves that deep-sea rich in natural resources kind and land thereof cannot be compared have been found successively, such as polymetallic nodules, cobalt bearing crust, hydrothermal solution sulfide, gas hydrate and abyssopelagic organism gene etc.Aerodone is equipped with after various physics, chemical sensor, in navigation process, constantly pick-up transducers is collected important information, and by dipper system by communication to ground researchist for your guidance, determine kind and the storage content of marine resources, for the exploitation of resource points the direction.
Underwater glider can be used for the measurement of ocean water body environment.By carrying seawater sampling instrument, television camera, seawater conductivity water temperature and depth/water temperature/degree of depth/contain oxygen analyzer etc., underwater glider can gather the distributed data on room and time such as sea temperature, salinity, density.Because the navigation direction of aerodone is oblique, there is the speed of horizontal and vertical direction simultaneously, can complete the measurement of horizontal survey and vertical section, grasp the water body data in whole marine site.Research, the forecast of the Information Availability Yu Haiyang phenomenon that underwater glider collects.
Underwater glider can be used for the measurement of submarine geomorphy.Aerodone keel depth is large, can dive to marine bottom, utilize fine resolution, high-precision sonar detection system, can carry out meticulous large area deep-sea landforms and measure, contribute to measure sea bed landform.The tsunami in the Indian Ocean disaster several years ago occurring of take is example, and tsunami analogue measurement contributes to tsunami prediction, and tsunami analogue measurement depends on that scientist surveys and draws the ability of sea bed landform to a great extent.If understood the landform shape of sea bed, the mankind just capable prediction tsunami may somewhere occur, and reach the object of forecast and mitigation.
Underwater glider is the autonomous scope of a kind of underwater, has the features such as low-power consumption, long voyage schedule, oceangoing voyage journey, low noise, highly concealed type, and Foreign Underwater aerodone technology is blocked China, and product is strictly embargoed China.China's aerodone technical study is at the early-stage; greatly develop deep-sea aerodone technology by effectively shorten and Foreign Advanced Lerel between gap; fill the domestic gaps, break foreign technology and block, to promoting the far-reaching extra large marine environmental monitoring ability of China, safeguarding that national marine is significant safely.
Summary of the invention
For above defect or the Improvement requirement of prior art, the invention provides a kind of waterjet propulsion moldeed depth sea aerodone, it has advantages of low-power consumption, long voyage schedule, oceangoing voyage journey, low noise, highly concealed type.
For achieving the above object, according to one aspect of the present invention, a kind of waterjet propulsion moldeed depth sea aerodone is provided, comprise housing, be arranged on hang gliding and the tail fin of outside, and the power brick that is arranged on enclosure interior, Navigation Control center, centroid adjustment device, buoyancy regulating device, hydraulic efficiency jet propulsion system, observation instrument, satellite communication antenna and jettison system, housing is single layer structure, and comprise pressure shell and non-pressure shell, pressure shell is divided into leading portion and back segment, leading portion and back segment are cylindric and curvilinear integrated structure, non-pressure shell is arranged between the leading portion and back segment of pressure shell, and be cylindrical-shaped structure, hang gliding is fixedly mounted on the both sides of non-pressure shell outside, be used to waterjet propulsion moldeed depth sea aerodone that lift is provided, tail fin is fixedly mounted on the afterbody of pressure shell back segment, for steady course, power brick is as the quality adjustment piece of centroid adjustment, and become one with centroid adjustment device, be used to all devices of power supply that need of waterjet propulsion moldeed depth sea aerodone that electric energy is provided, Navigation Control center is fixedly mounted in pressure shell back segment, for receiving the data of each sensor and satellite communication antenna, and data are processed, and to centroid adjustment device and buoyancy regulating device, send command signal according to result, to control mode of operation and the air route of waterjet propulsion moldeed depth sea aerodone, centroid adjustment device is fixedly mounted on the middle front part of pressure shell leading portion, for regulating the navigation attitude of waterjet propulsion moldeed depth sea aerodone, buoyancy regulating device is fixedly mounted on the rear portion of pressure shell leading portion, for regulating the buoyancy size of waterjet propulsion moldeed depth sea aerodone, to realize floating and dive, hydraulic efficiency jet propulsion system is fixedly mounted on the rear portion of pressure shell back segment, be used to waterjet propulsion moldeed depth sea aerodone that high thrust is provided, to realize quick sailing, satellite communication antenna is fixedly mounted on the afterbody of pressure shell back segment, for carrying out communication with navigation satellite, to determine the residing position of aerodone, waterjet propulsion moldeed depth sea, jettison system is fixedly mounted on the lower front of pressure shell back segment, when being used for when waterjet propulsion moldeed depth sea aerodone et out of order or cannot normally floating, throw and carry, make the aerodone emergency ascent of waterjet propulsion moldeed depth sea, observation instrument is fixedly mounted on the below, middle part of pressure shell back segment, be used for gathering marine environmental data.
Preferably, pressure shell is divided into nose curve section, front cylindrical section, middle cylindrical section, rear cylindrical section and afterbody segment of curve, nose curve section, front cylindrical section and middle cylindrical section and head arc covers and front end arc covers form nose capsule section, inside establish power brick, buoyancy regulating device, centroid adjustment device, sealed module section after rear cylindrical section and afterbody segment of curve and rear end arc covers form, inside establish jettison system, hydraulic efficiency jet propulsion system, Navigation Control center, observation instrument and satellite communication antenna, between two sections of sealed module sections, it is non-pressurized interior section, outer hull is non-pressure shell, inside establish oil sac and jettison system, two sections of sealed module sections are carried out mechanical connection by non-pressurized interior section, by watertight cable, carry out inner electrical connection, between the nose curve Duan Yuqian cylindrical section of pressure shell, between front cylindrical section and middle cylindrical section and between rear cylindrical section and afterbody segment of curve, be provided with a plurality of seal rings, sealed module section is carried out mechanical connection by non-pressurized interior section, by watertight cable, carry out inner electrical connection.
Preferably, satellite communication antenna comprises signal receiving part and signal processing part, and signal processing part is fixedly mounted on the postmedian of rear sealed module section, and signal receiving portion is elongated rod shape, and stretches in water through housing.Signal receiving part is connected by cable with signal processing part.
Preferably, jettison system comprises electromagnet, spring, and a piece is carried in spring perch and throwing, throw to carry a piece and be arranged on non-pressurized interior section, the iron core bar by electromagnet is fixed on to throw and carries in cabin, and electromagnet is the inner electromagnet that can intake, the afterbody of iron core bar is provided with spring, and spring is fixedly mounted in spring perch.
Preferably; Navigation Control center comprises controller, magnetic compass, altimeter; depth index, adapter plate; controller and magnetic compass are all fixedly mounted on adapter plate; adapter plate is fixedly mounted on the top of rear end arc covers, and altimeter is fixedly mounted on the head of waterjet propulsion moldeed depth sea aerodone, and depth index is fixedly mounted on the middle part of rear end arc covers; and communicate with seawater, magnetic compass, altimeter and depth index are all electrically connected by cable and controller.
According to another aspect of the present invention, a kind of waterjet propulsion moldeed depth sea aerodone is provided, comprise housing, be arranged on hang gliding and the tail fin of outside, and the power brick that is arranged on enclosure interior, Navigation Control center, centroid adjustment device, buoyancy regulating device, hydraulic efficiency jet propulsion system, satellite communication antenna, jettison system and observation instrument, housing is double-decker, and comprise non-pressure shell and pressure shell, non-pressure shell is arranged at the outside of pressure shell, and be cylindric and curvilinear integrated structure, pressure shell is divided into leading portion and back segment, leading portion and back segment are cylindrical-shaped structure, hang gliding is fixedly mounted on the both sides of non-pressure shell outside, be used to waterjet propulsion moldeed depth sea aerodone that lift is provided, tail fin is fixedly mounted on the afterbody of pressure shell back segment, for steady course, power brick is as the quality adjustment piece of centroid adjustment, and become one with centroid adjustment device, be used to all devices of power supply that need of waterjet propulsion moldeed depth sea aerodone that electric energy is provided, Navigation Control center is fixedly mounted in pressure shell back segment, for receiving the data of each sensor and satellite communication antenna, and data are processed, and to centroid adjustment device and buoyancy regulating device, send command signal according to result, to control mode of operation and the air route of waterjet propulsion moldeed depth sea aerodone, centroid adjustment device is fixedly mounted on the middle front part of pressure shell leading portion, for regulating the navigation attitude of waterjet propulsion moldeed depth sea aerodone, buoyancy regulating device is fixedly mounted on the rear portion of pressure shell leading portion, for regulating the buoyancy size of waterjet propulsion moldeed depth sea aerodone, to realize floating and dive, hydraulic efficiency jet propulsion system is fixedly mounted on the rear portion of pressure shell back segment, be used to waterjet propulsion moldeed depth sea aerodone that high thrust is provided, to realize quick sailing, satellite communication antenna is fixedly mounted on the afterbody of pressure shell back segment, for carrying out communication with navigation satellite, to determine the residing position of aerodone, waterjet propulsion moldeed depth sea, jettison system is fixedly mounted on the lower front of pressure shell back segment, when being used for when waterjet propulsion moldeed depth sea aerodone et out of order or cannot normally floating, throw and carry, make the aerodone emergency ascent of waterjet propulsion moldeed depth sea, observation instrument is fixedly mounted on the below, middle part of pressure shell back segment, be used for gathering marine environmental data.
Preferably, non-pressure shell is divided into nose curve section, cylindrical section, and afterbody segment of curve, nose curve section, cylindrical section, afterbody segment of curve surface is provided with a plurality of inlet openings, and by attaching parts mechanical connection, pressure shell is positioned at non-pressure shell, whole formation sealed module section, and be divided into two sections, in nose capsule section, establish power brick, centroid adjustment device and buoyancy regulating device, in rear sealed module section, establish Navigation Control center, hydraulic efficiency jet propulsion system, observation instrument, satellite communication antenna and jettison system, between nose capsule section and rear sealed module section, leave space to place oil sac, nose capsule section and the non-pressure shell of rear sealed module Duan Junyu are by attaching parts mechanical connection, nose capsule section and rear sealed module section are electrically connected by watertight cable.
Preferably, satellite communication antenna comprises signal receiving part and signal processing part, signal processing part is fixedly mounted on the postmedian of rear sealed module section, signal receiving part is fixedly mounted on tail fin top, receiving side signal is to the direction making progress for the horizontal bench section of housing of the present invention horizontal vertical, and signal receiving part is connected by cable with signal processing part.
Preferably, jettison system comprises electromagnet, spring, and a piece is carried in spring perch and throwing, throw to carry a piece and be arranged on non-pressurized interior section, the iron core bar by electromagnet is fixed on to throw and carries in cabin, and electromagnet is the inner electromagnet that can intake, the afterbody of iron core bar is provided with spring, and spring is fixedly mounted in spring perch.
Preferably, Navigation Control center comprises controller, magnetic compass, altimeter, depth index, gyroscope, inertial navigation system, accelerometer, adapter plate, controller, magnetic compass, gyroscope, inertial navigation system and accelerometer are all fixedly mounted on adapter plate, adapter plate is fixedly mounted on the top of rear end arc covers, altimeter is fixedly mounted on the head of waterjet propulsion moldeed depth sea aerodone, depth index is fixedly mounted on the middle part of rear end arc covers, and communicate with seawater, magnetic compass, altimeter, depth index, gyroscope, inertial navigation system and accelerometer are all electrically connected by cable and controller.
In general, the above technical scheme of conceiving by the present invention compared with prior art, can obtain following beneficial effect:
1. the present invention, when normal work, realizes its glide under water by changing the size of buoyancy and the position of barycenter, and without other propulsions source, hydraulic efficiency jet propulsion system is only opened under specific circumstances, and whole navigation process power consumption is extremely low.
2. the present invention is in the permanent navigation stage, the sampling period of internal sensor and observation instrument 13 adopts adaptive control, when it navigates by water in the metastable region of marine environment, improve its sampling period, to save data storing space and further to reduce energy consumption, when the region of marine environment relative complex is arrived in its navigation, shorten its sampling period, to obtain more detailed marine environment data.
3. when the present invention navigates by water under the state of flat attitude, the voyage in the cycle of gliding can reach thousands of rice, and due to its low-power consumption, the electric weight of battery can support it to carry out the navigation in hundreds of cycles, and total voyage can be up to thousands of kilometers.
4. the present invention is when normal work, and noise only can be sent in its inside when regulating buoyancy and barycenter, and its sound is no more than 20 decibels, and hydraulic efficiency jet propulsion system is only opened under specific circumstances, and whole navigation process noise is very little, on almost not impact of marine life around.
5. the present invention has hydraulic efficiency jet propulsion system, when running into severe underwater environment, starts hydraulic efficiency jet propulsion system, can quick sailing pass through this region, to guarantee the safety of himself and the stability in course.
6. the present invention takes modular design, and inner arbitrary submodule can be dismantled separately, changes and upgrade.
7. the present invention is all encrypted collected data, to guarantee the safety of its data.
Accompanying drawing explanation
Fig. 1 is the integral structure schematic diagram of waterjet propulsion moldeed depth of the present invention sea aerodone.
Fig. 2 is the structural representation of jettison system of the present invention.
The specific embodiment
In order to make object of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.In addition,, in each embodiment of described the present invention, involved technical characterictic just can not combine mutually as long as do not form each other conflict.
As shown in Figure 1, waterjet propulsion moldeed depth of the present invention sea aerodone comprises housing, is arranged on hang gliding 3 and the tail fin 4 of outside and is arranged on enclosure interior power brick 5, Navigation Control center 6, centroid adjustment device 7, buoyancy regulating device 8, hydraulic efficiency jet propulsion system 9, observation instrument 10, satellite communication antenna 11 and jettison system 12.
The material of housing, hang gliding 3 and tail fin 4 is resistant material, such as aluminum alloy, titanium alloy, carbon fiber etc.
In first embodiment of the present invention, housing is single layer structure, and comprise pressure shell 1 and non-pressure shell 2, pressure shell 1 is divided into leading portion and back segment, leading portion and back segment are cylindric and curvilinear integrated structure, non-pressure shell 2 is arranged between the leading portion and back segment of pressure shell 1, and is cylindrical-shaped structure.Housing of the present invention is mainly used in outside rectification and protection inner each device and instrument.
Hang gliding 3 is fixedly mounted on the both sides of non-pressure shell 2 outsides, is used to waterjet propulsion moldeed depth sea aerodone that lift is provided, and in the present embodiment, hang gliding 3 adopts swept wing structure, and cross-sectional profile adopts NACA laminar flow symmetrical airfoil; In another embodiment, hang gliding 3 adopts the straight wing structure of strip shape, and cross-sectional profile adopts tabular aerofoil profile.
Tail fin 4 is fixedly mounted on the afterbody of pressure shell 1 back segment, and for steady course, in the present embodiment, cable-through hole is reserved at the middle part of tail fin 4, for placing the signal receiving part 111 of satellite communication antenna 11.
Power brick 5 is as the quality adjustment piece of centroid adjustment; and become one with centroid adjustment device 6; be used to all devices of power supply that need of waterjet propulsion moldeed depth sea aerodone that electric energy is provided; in the application for a patent for invention of the Chinese Patent Application No. 201310573438.4 that its concrete structure has been submitted on November 15th, 2013 the inventor, disclosed, do not repeated them here.
Navigation Control center 6 is fixedly mounted in pressure shell back segment; for receiving the data of each sensor and satellite communication antenna 11; and data are processed; and to centroid adjustment device 7 and buoyancy regulating device 8, send command signal according to result, to control mode of operation and the air route of waterjet propulsion moldeed depth sea aerodone.
Centroid adjustment device 7 is fixedly mounted on the middle front part of pressure shell leading portion; for regulating the navigation attitude of waterjet propulsion moldeed depth sea aerodone; in the application for a patent for invention of the Chinese Patent Application No. 201310573438.4 that its concrete structure has been submitted on November 15th, 2013 the inventor, disclosed, do not repeated them here.
Buoyancy regulating device 8 is fixedly mounted on the rear portion of pressure shell leading portion; for regulating the buoyancy size of waterjet propulsion moldeed depth sea aerodone; to realize floating and dive; in the application for a patent for invention of the Chinese Patent Application No. 201310571578.8 that its concrete structure has been submitted on November 15th, 2013 the inventor, disclosed, do not repeated them here.
Hydraulic efficiency jet propulsion system 9 is fixedly mounted on the rear portion of pressure shell back segment; be used to waterjet propulsion moldeed depth sea aerodone that high thrust is provided; to realize quick sailing; in the application for a patent for invention of the Chinese Patent Application No. 201310462631.0 that its concrete structure has been submitted on September 30th, 2013 the inventor, disclosed, do not repeated them here.
Observation instrument 10 is fixedly mounted on the below, middle part of pressure shell back segment, for gathering marine environmental data.
Satellite communication antenna 11 is fixedly mounted on the afterbody of pressure shell back segment, for carrying out communication with navigation satellite, to determine the residing position of aerodone, waterjet propulsion moldeed depth sea.
Jettison system 12 is fixedly mounted on the lower front of pressure shell back segment; for when waterjet propulsion moldeed depth sea aerodone et out of order or run into special rugged environment and while causing the extra large aerodone of waterjet propulsion moldeed depth normally to float; jettison system 12 is thrown and is carried, and makes the aerodone emergency ascent of waterjet propulsion moldeed depth sea.
As shown in Figure 1, pressure shell 1 is divided into 5 sections: nose curve section 101, front cylindrical section 102, middle cylindrical section 103, rear cylindrical section 104 and afterbody segment of curve 105.Nose curve section 101, front cylindrical section 102 and middle cylindrical section 103 form nose capsule section with head arc covers 106 and front end arc covers 107, inside establish buoyancy regulating device 8, centroid adjustment device 7, power brick 5 etc.; Sealed module section after rear cylindrical section 104 and afterbody segment of curve 105 form with rear end arc covers 108, inside establishes jettison system 12, hydraulic efficiency jet propulsion system 9, Navigation Control center 6, observation instrument 10 and satellite communication antenna 11; Between two sections of sealed module sections, be non-pressurized interior section, outer hull is non-pressure shell 2, inside establishes oil sac and jettison system 12; Two sections of sealed module sections are carried out mechanical connection by non-pressurized interior section, by watertight cable, carry out inner electrical connection; Between the nose curve Duan Yuqian cylindrical section of pressure shell 1, between front cylindrical section and middle cylindrical section and be provided with a plurality of seal rings between rear cylindrical section and afterbody segment of curve; Sealed module section is carried out mechanical connection by non-pressurized interior section, by watertight cable, carries out inner electrical connection.
Navigation Control center 6 comprises controller 601, magnetic compass 602, altimeter 603; depth index 604,, adapter plate 605; controller 601 and magnetic compass 602 are all fixedly mounted on adapter plate 605; adapter plate 605 is fixedly mounted on the top of rear end arc covers; altimeter is fixedly mounted on the head of waterjet propulsion moldeed depth sea aerodone; depth index is fixedly mounted on the middle part of rear end arc covers; and communicate with seawater, magnetic compass 602, altimeter 603 and depth index 604 are all by cable and controller 601 electrical connections.
In the present embodiment, observation instrument 10 is conductivity-temperature-depth system (CTD).
Satellite communication antenna 11 comprises signal receiving part 111 and signal processing part 112, and signal processing part 112 is fixedly mounted on the postmedian of rear sealed module section, and in the present embodiment, signal receiving portion 111 is elongated rod shape, and stretches in water through housing; In another embodiment, signal receiving part 111 is fixedly mounted on tail fin top, the direction that receiving side signal makes progress to the horizontal bench section of the housing horizontal vertical for waterjet propulsion moldeed depth sea aerodone; Signal receiving part 111 is connected by cable with signal processing part 112.
As shown in Figure 2, jettison system 12 comprises electromagnet 121, spring 122, spring perch 123 and jettison system 12.Throw to carry a piece 124 and be arranged on non-pressurized interior section, the iron core bar by electromagnet 121 is fixed on to throw and carries in cabin, and electromagnet 121 is the inner electromagnet that can intake, and the afterbody of iron core bar is provided with spring 122, and spring 122 is fixedly mounted in spring perch 123.During work, connect and throw live road, electromagnetic actuation, iron core bar is regained jettison system 12 inside, throws a year piece and depart from underwater glider under self gravitation effect, completes to throw to carry action.The material of throwing year piece is corrosion-resistant steel.
In second embodiment of the present invention, housing is double-decker, and comprise non-pressure shell 1 and pressure shell 2, non-pressure shell 1 is arranged at the outside of pressure shell 2, and be cylindric and curvilinear integrated structure, pressure shell 2 is divided into leading portion and back segment, and leading portion and back segment are cylindrical-shaped structure.
Hang gliding 3 is fixedly mounted on the both sides of non-pressure shell 2 outsides, is used to waterjet propulsion moldeed depth sea aerodone that lift is provided, and in the present embodiment, hang gliding 3 adopts swept wing structure, and cross-sectional profile adopts NACA laminar flow symmetrical airfoil; In another embodiment, hang gliding 3 adopts the straight wing structure of strip shape, and cross-sectional profile adopts tabular aerofoil profile.
Tail fin 4 is fixedly mounted on the afterbody of pressure shell 1 back segment, and for steady course, in the present embodiment, cable-through hole is reserved at the middle part of tail fin 4, for placing the signal receiving part 111 of satellite communication antenna 11.
Power brick 5 is as the quality adjustment piece of centroid adjustment; become one with centroid adjustment device 6; the devices of powering for all needs of waterjet propulsion moldeed depth sea aerodone provide electric energy; in the application for a patent for invention of the Chinese Patent Application No. 201310573438.4 that its concrete structure has been submitted on November 15th, 2013 the inventor, disclosed, do not repeated them here.
Navigation Control center 6 is fixedly mounted in pressure shell back segment; for receiving the data of each sensor and satellite communication antenna 11; and data are processed; and to centroid adjustment device 7 and buoyancy regulating device 8, send command signal according to result, to control mode of operation and the air route of waterjet propulsion moldeed depth sea aerodone.
Centroid adjustment device 7 is fixedly mounted on the middle front part of pressure shell leading portion; for regulating the navigation attitude of waterjet propulsion moldeed depth sea aerodone; in the application for a patent for invention of the Chinese Patent Application No. 201310573438.4 that its concrete structure has been submitted on November 15th, 2013 the inventor, disclosed, do not repeated them here.
Buoyancy regulating device 8 is fixedly mounted on the rear portion of pressure shell leading portion; for regulating the buoyancy size of waterjet propulsion moldeed depth sea aerodone; to realize floating and dive; in the application for a patent for invention of the Chinese Patent Application No. 201310571578.8 that its concrete structure has been submitted on November 15th, 2013 the inventor, disclosed, do not repeated them here.
Hydraulic efficiency jet propulsion system 9 is fixedly mounted on the rear portion of pressure shell back segment; be used to waterjet propulsion moldeed depth sea aerodone that high thrust is provided; to realize quick sailing; in the application for a patent for invention of the Chinese Patent Application No. 201310462631.0 that its concrete structure has been submitted on September 30th, 2013 the inventor, disclosed, do not repeated them here.
Observation instrument 10 is fixedly mounted on the below, middle part of pressure shell, for gathering marine environmental data.
Satellite communication antenna 11 is fixedly mounted on the afterbody of pressure shell back segment, for carrying out communication with navigation satellite, to determine the residing position of aerodone, waterjet propulsion moldeed depth sea.
Jettison system 12 is fixedly mounted on the lower front of pressure shell back segment; for when waterjet propulsion moldeed depth sea aerodone et out of order or run into special rugged environment and while causing the extra large aerodone of waterjet propulsion moldeed depth normally to float; jettison system 12 is thrown and is carried, and makes the aerodone emergency ascent of waterjet propulsion moldeed depth sea.
Non-pressure shell 2 is divided into 3 sections: nose curve section, cylindrical section, afterbody segment of curve; Nose curve section, cylindrical section, afterbody segment of curve surface are provided with a plurality of inlet openings, and by attaching parts mechanical connection; Pressure shell 1 is positioned at non-pressure shell 2, whole formation sealed module section, and be divided into two sections: in nose capsule section, establish power brick 5, centroid adjustment device 7 and buoyancy regulating device 8, in rear sealed module section, establish Navigation Control center 6, hydraulic efficiency jet propulsion system 9, observation instrument 10, satellite communication antenna 11 and jettison system 12; Between nose capsule section and rear sealed module section, leave space to place oil sac; The non-pressure shell 2 of nose capsule section and rear sealed module Duan Junyu is by attaching parts mechanical connection, and nose capsule section and rear sealed module section are electrically connected by watertight cable;
Navigation Control center 6 comprises controller 601, magnetic compass 602, altimeter 603, depth index 604, gyroscope 605, inertial navigation system 606, accelerometer 607, adapter plate 608, controller 601, magnetic compass 602, gyroscope 605, inertial navigation system 606 and accelerometer 607 are all fixedly mounted on adapter plate 608, adapter plate 608 is fixedly mounted on the top of rear end arc covers, altimeter is fixedly mounted on the head of waterjet propulsion moldeed depth sea aerodone, depth index is fixedly mounted on the middle part of rear end arc covers, and communicate with seawater, magnetic compass 602, altimeter 603, depth index 604, gyroscope 605, inertial navigation system 606 and accelerometer 607 are all electrically connected to controller 601 by cable.
In the present embodiment, observation instrument 10 is conductivity-temperature-depth system (CTD).
Satellite communication antenna 11 comprises signal receiving part 111 and signal processing part 112, signal processing part 112 is fixedly mounted on the postmedian of rear sealed module section, in the present embodiment, and in the present embodiment, signal receiving portion 111 is elongated rod shape, and stretches in water through housing; In another embodiment; signal receiving part 111 is fixedly mounted on tail fin 4 tops; the direction that receiving side signal makes progress to the horizontal bench section of the housing horizontal vertical for waterjet propulsion moldeed depth sea aerodone, signal receiving part 111 is connected by cable with signal processing part 112.As shown in Figure 2, jettison system 12 comprises electromagnet 121, spring 122, spring perch 123 and jettison system 12.Throw to carry a piece 124 and be arranged on non-pressurized interior section, the iron core bar by electromagnet 121 is fixed on to throw and carries in cabin, and electromagnet 101 is the inner electromagnet that can intake, and the afterbody of iron core bar is provided with spring 122, and spring 122 is fixedly mounted in spring perch 123.During work, connect and throw live road, electromagnetic actuation, iron core bar is regained jettison system 12 inside, throws a year piece and depart from underwater glider under self gravitation effect, completes to throw to carry action.The material of throwing year piece is corrosion-resistant steel.
Principle of work of the present invention is below described.
When waterjet propulsion moldeed depth of the present invention sea aerodone initially lays; carry out carrying out satellite positioning after initialization, now waterjet propulsion moldeed depth sea aerodone has been made into neutrality, and buoyancy is slightly larger than gravity; matter centre of buoyancy square meets the requirement of underwater glider floating on water, and now attitude control system is not worked.
When satellite positioning finishes to proceed to the initial segment gliding in control position, underwater glider is by the glide track motion of planning, now, buoyancy regulating device 8 work, adjusting buoyancy is negative lift, barycenter radiai adjustment mechanism regulates barycenter to depart from the longitudinal axis simultaneously, course is changed, towards predetermined way point direction, centroid position on barycenter axial regulating mechanism control system is axial, change matter centre of buoyancy distance, making aircraft pitch angle is negative sense balance gliding angle, under the combined action of centroid adjustment and buoyancy adjustment, waterjet propulsion moldeed depth sea aerodone produces forward direction downglide motion, arrive the predetermined downslide degree of depth, buoyancy regulating device 8 regulates buoyancy to make underwater glider deceleration dive, until stop motion, now, it is sliding angle in forward balance that barycenter axial regulating mechanism regulates pitch angle, simultaneously, buoyancy regulating device 8 regulates net buoyancy for just, waterjet propulsion moldeed depth sea aerodone produces the gliding making progress forward, cycle repeats said process, the whole gliding track serration that is as the criterion.
Waterjet propulsion moldeed depth sea aerodone is for guaranteeing control position precision, and satellite positioning is carried out in regularly water outlet, and buoyancy regulating device is adjusted to underwater glider net buoyancy just, makes underwater glider floating, during to the water surface, regulates buoyancy to be slightly larger than gravity.Centroid adjustment device regulates underwater glider matter centre of buoyancy distance to make underwater glider in horizontal equilibrium state.
When satellite positioning active correction is carried out in the regular water outlet of underwater glider, it sends self-position information and other take off data arrives remote monitoring center, the new instruction that simultaneously receiving remote monitoring and control centre sends, after glide process in the new instruction that receives of execution.
Those skilled in the art will readily understand; the foregoing is only preferred embodiment of the present invention; not in order to limit the present invention, all any modifications of doing within the spirit and principles in the present invention, be equal to and replace and improvement etc., within all should being included in protection scope of the present invention.

Claims (10)

1. waterjet propulsion moldeed depth sea aerodone; the power brick, Navigation Control center, centroid adjustment device, buoyancy regulating device, hydraulic efficiency jet propulsion system, observation instrument, satellite communication antenna and the jettison system that comprise housing, be arranged on hang gliding and the tail fin of outside and be arranged on enclosure interior; it is characterized in that
Housing is single layer structure, and comprise pressure shell and non-pressure shell, pressure shell is divided into leading portion and back segment, leading portion and back segment are cylindric and curvilinear integrated structure, non-pressure shell is arranged between the leading portion and back segment of pressure shell, and is cylindrical-shaped structure;
Hang gliding is fixedly mounted on the both sides of non-pressure shell outside, is used to waterjet propulsion moldeed depth sea aerodone that lift is provided;
Tail fin is fixedly mounted on the afterbody of pressure shell back segment, for steady course;
Power brick is used as the quality adjustment piece of centroid adjustment, and becomes one with centroid adjustment device, is used to all devices of power supply that need of waterjet propulsion moldeed depth sea aerodone that electric energy is provided;
Navigation Control center is fixedly mounted in pressure shell back segment, for receiving the data of each sensor and satellite communication antenna, and data are processed, and to centroid adjustment device and buoyancy regulating device, send command signal according to result, to control mode of operation and the air route of waterjet propulsion moldeed depth sea aerodone;
Centroid adjustment device is fixedly mounted on the middle front part of pressure shell leading portion, for regulating the navigation attitude of waterjet propulsion moldeed depth sea aerodone;
Buoyancy regulating device is fixedly mounted on the rear portion of pressure shell leading portion, for regulating the buoyancy size of waterjet propulsion moldeed depth sea aerodone, to realize floating and dive;
Hydraulic efficiency jet propulsion system is fixedly mounted on the rear portion of pressure shell back segment, is used to waterjet propulsion moldeed depth sea aerodone that high thrust is provided, to realize quick sailing;
Observation instrument is fixedly mounted on the below, middle part of pressure shell back segment, for gathering marine environmental data.Satellite communication antenna is fixedly mounted on the afterbody of pressure shell back segment, for carrying out communication with navigation satellite, to determine the residing position of aerodone, waterjet propulsion moldeed depth sea;
Jettison system is fixedly mounted on the lower front of pressure shell back segment, for throwing and carry when waterjet propulsion moldeed depth sea aerodone et out of order or cannot normally float time, makes the extra large aerodone emergency ascent of waterjet propulsion moldeed depth.
2. waterjet propulsion moldeed depth according to claim 1 sea aerodone, is characterized in that,
Pressure shell is divided into nose curve section, front cylindrical section, middle cylindrical section, rear cylindrical section and afterbody segment of curve;
Nose curve section, front cylindrical section and middle cylindrical section and head arc covers and front end arc covers form nose capsule section, inside establish buoyancy regulating device, centroid adjustment device and power brick;
Sealed module section after rear cylindrical section and afterbody segment of curve and rear end arc covers form, inside establishes jettison system, hydraulic efficiency jet propulsion system, Navigation Control center, observation instrument and satellite communication antenna;
Between two sections of sealed module sections, be non-pressurized interior section, outer hull is non-pressure shell, inside establishes oil sac and jettison system;
Two sections of sealed module sections are carried out mechanical connection by non-pressurized interior section, by watertight cable, carry out inner electrical connection;
Between the nose curve Duan Yuqian cylindrical section of pressure shell, between front cylindrical section and middle cylindrical section and be provided with a plurality of seal rings between rear cylindrical section and afterbody segment of curve;
Sealed module section is carried out mechanical connection by non-pressurized interior section, by watertight cable, carries out inner electrical connection.
3. waterjet propulsion moldeed depth according to claim 2 sea aerodone, is characterized in that,
Satellite communication antenna comprises signal receiving part and signal processing part;
Signal receiving portion is elongated rod shape, and stretches in water through housing;
Signal processing part is fixedly mounted on the postmedian of rear sealed module section;
Signal receiving part is connected by cable with signal processing part.
4. waterjet propulsion moldeed depth according to claim 2 sea aerodone, is characterized in that,
Jettison system comprises electromagnet, spring, and a piece is carried in spring perch and throwing;
Throw to carry a piece and be arranged on non-pressurized interior section, the iron core bar by electromagnet is fixed on to throw and carries in cabin;
Electromagnet is the inner electromagnet that can intake;
The afterbody of iron core bar is provided with spring;
Spring is fixedly mounted in spring perch.
5. waterjet propulsion moldeed depth according to claim 2 sea aerodone, is characterized in that,
Navigation Control center comprises controller, magnetic compass, altimeter, depth index, adapter plate;
Controller, magnetic compass are all fixedly mounted on adapter plate;
Adapter plate is fixedly mounted on the top of rear end arc covers;
Altimeter is fixedly mounted on the head of waterjet propulsion moldeed depth sea aerodone;
Depth index is fixedly mounted on the middle part of rear end arc covers, and communicates with seawater;
Magnetic compass, altimeter and depth index are all electrically connected to controller by cable.
6. waterjet propulsion moldeed depth sea aerodone; comprise housing, be arranged on hang gliding and the tail fin of outside and be arranged on enclosure interior power brick, Navigation Control center, centroid adjustment device, buoyancy regulating device, hydraulic efficiency jet propulsion system, observation instrument, satellite communication antenna and jettison system and; it is characterized in that
Housing is double-decker, and comprises non-pressure shell and pressure shell, and non-pressure shell is arranged at the outside of pressure shell, and is cylindric and curvilinear integrated structure, and pressure shell is divided into leading portion and back segment, and leading portion and back segment are cylindrical-shaped structure.
Hang gliding is fixedly mounted on the both sides of non-pressure shell outside, is used to waterjet propulsion moldeed depth sea aerodone that lift is provided;
Tail fin is fixedly mounted on the afterbody of pressure shell back segment, for steady course;
Power brick is used as the quality adjustment piece of centroid adjustment, and becomes one with centroid adjustment device, is used to all devices of power supply that need of waterjet propulsion moldeed depth sea aerodone that electric energy is provided;
Navigation Control center is fixedly mounted in pressure shell back segment, for receiving the data of each sensor and satellite communication antenna, and data are processed, and to centroid adjustment device and buoyancy regulating device, send command signal according to result, to control mode of operation and the air route of waterjet propulsion moldeed depth sea aerodone;
Centroid adjustment device is fixedly mounted on the middle front part of pressure shell leading portion, for regulating the navigation attitude of waterjet propulsion moldeed depth sea aerodone;
Buoyancy regulating device is fixedly mounted on the rear portion of pressure shell leading portion, for regulating the buoyancy size of waterjet propulsion moldeed depth sea aerodone, to realize floating and dive;
Hydraulic efficiency jet propulsion system is fixedly mounted on the rear portion of pressure shell back segment, is used to waterjet propulsion moldeed depth sea aerodone that high thrust is provided, to realize quick sailing;
Observation instrument is fixedly mounted on the below, middle part of pressure shell, for gathering marine environmental data; Satellite communication antenna is fixedly mounted on the afterbody of pressure shell back segment, for carrying out communication with navigation satellite, to determine the residing position of aerodone, waterjet propulsion moldeed depth sea;
Jettison system is fixedly mounted on the lower front of pressure shell back segment, for throwing and carry when waterjet propulsion moldeed depth sea aerodone et out of order or cannot normally float time, makes the extra large aerodone emergency ascent of waterjet propulsion moldeed depth.
7. waterjet propulsion moldeed depth according to claim 6 sea aerodone, is characterized in that,
Non-pressure shell is divided into nose curve section, cylindrical section and afterbody segment of curve;
Nose curve section, cylindrical section, afterbody segment of curve surface are provided with a plurality of inlet openings, and by attaching parts mechanical connection;
Pressure shell is positioned at non-pressure shell, whole formation sealed module section, and be divided into two sections:
In nose capsule section, establish power brick, centroid adjustment device and buoyancy regulating device;
In rear sealed module section, establish Navigation Control center, hydraulic efficiency jet propulsion system, observation instrument, satellite communication antenna and jettison system;
Between nose capsule section and rear sealed module section, leave space to place oil sac;
Nose capsule section and the non-pressure shell of rear sealed module Duan Junyu are by attaching parts mechanical connection;
Nose capsule section and rear sealed module section are electrically connected by watertight cable.
8. waterjet propulsion moldeed depth according to claim 7 sea aerodone, is characterized in that,
Satellite communication antenna comprises and signal processing part;
Signal receiving part is fixedly mounted on tail fin top; Signal processing part is fixedly mounted on the postmedian of rear sealed module section;
Signal receiving part is connected by cable with signal processing part.
9. waterjet propulsion moldeed depth according to claim 7 sea aerodone, is characterized in that,
Jettison system comprises electromagnet, spring, and a piece is carried in spring perch and throwing;
Throw to carry a piece and be arranged on non-pressurized interior section, the iron core bar by electromagnet is fixed on to throw and carries in cabin;
Electromagnet is the inner electromagnet that can intake;
The afterbody of iron core bar is provided with spring, and spring is fixedly mounted in spring perch.
10. waterjet propulsion moldeed depth according to claim 7 sea aerodone, is characterized in that,
Navigation Control center comprises controller, magnetic compass, gyroscope, inertial navigation system, accelerometer, altimeter, depth index, adapter plate;
Controller, magnetic compass, gyroscope, inertial navigation system and accelerometer are all fixedly mounted on adapter plate;
Adapter plate is fixedly mounted on the top of rear end arc covers;
Altimeter is fixedly mounted on the head of waterjet propulsion moldeed depth sea aerodone;
Depth index is fixedly mounted on the middle part of rear end arc covers, and communicates with seawater;
Magnetic compass, altimeter, depth index, gyroscope, inertial navigation system and accelerometer are all electrically connected to controller by cable.
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CN106218838A (en) * 2016-07-21 2016-12-14 中北大学 The deep turbulent closure scheme matrix type profile observation system in full sea based on MEMS technology
CN106218838B (en) * 2016-07-21 2018-03-13 中北大学 The deep turbulent closure scheme matrix type profile observation system in full sea based on MEMS technology
CN107656090A (en) * 2017-08-07 2018-02-02 熊学军 Underwater glider ocean current vertical velocity observation procedure
CN108045530A (en) * 2017-12-04 2018-05-18 国网山东省电力公司电力科学研究院 A kind of submarine cable detection underwater robot and operational method
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