CN104527953A - Circular-disc-shaped underwater glider and working method thereof - Google Patents
Circular-disc-shaped underwater glider and working method thereof Download PDFInfo
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- CN104527953A CN104527953A CN201510039107.1A CN201510039107A CN104527953A CN 104527953 A CN104527953 A CN 104527953A CN 201510039107 A CN201510039107 A CN 201510039107A CN 104527953 A CN104527953 A CN 104527953A
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Abstract
The invention discloses a circular-disc-shaped underwater glider and a working method thereof. The glider comprises a circular-disc-shaped shell, a pressure-resisting shell, a control system, a communication navigation system, a driving system, a sensor system, an energy source system and an external port. The circular-disc-shaped shell made of a buoyancy material covers the pressure-resisting shell and greater buoyancy is provided for the circular-disc-shaped underwater glider, so that effective load is improved. The pressure-resisting shell structure design scheme combining the pressure-resisting shell and a pressure-resisting hollow ring is adopted so that the utilization rate of the inner space of the circular-disc-shaped underwater glider is improved; meanwhile, the quantity of sealing nodes of internal equipment is greatly reduced, more equipment is prevented from being exposed in a deep sea complicated underwater environment, and thus the whole reliability is improved. A gravity center adjusting system is arranged in the pressure-resisting hollow ring, and a force arm and a moment, generated by a slide block, are relatively great; and the posture control efficiency is improved and the inner space of the circular-disc-shaped underwater glider is sufficiently utilized.
Description
Technical field
The present invention relates to a kind of submarine navigation device technology, particularly a kind of disc-shaped underwater glider and method of work thereof.
Background technology
Underwater glider is a kind of underwater robot.Because it utilizes net buoyancy and attitude angle adjustment to obtain propulsive force, energy resource consumption is minimum, only consumes a small amount of energy when adjusting net buoyancy and attitude angle, and has that efficiency is high, the feature of endurance large (can reach thousands of kilometer).Although the route speed of underwater glider is comparatively slow, its manufacturing cost and maintenance cost low, reusable and the feature such as can to throw in a large number, to meet for a long time, the needs explored of ocean on a large scale.In addition, because unpowered propelling noise is extremely low when underwater glider glides, this important feature makes it militarily also have very large using value.
The design concept of underwater glider is that American scientist puts forward, from last century the nineties so far, many moneys underwater glider has been had to emerge, research direction is mainly launched around targets such as deep water, long voyage, drive energies, achieve the achievement attracted people's attention, have matured product to be applied in marine monitoring on a large scale and other maritime technology field of researchs.Japan and France also have developed the underwater glider of ALBAC and STERNE by name all in succession, and the development of visible underwater glider is very rapidly abroad.And at home, about starting late of underwater glider research, but Ye Youduojia scientific research institutions and enterprise get involved in this field simultaneously, as Shenyang Inst of Automation, Chinese Academy of Sciences, University Of Tianjin's robot and automotive technology research institute, Zhejiang University, Chinese Marine University, middle ship heavy industry the 702nd research institute etc.
Owing to using merely buoyancy-driven mode, underwater glider generally can only do serration and the navigation of spiral rotary track under water, and radius of turn is large, the very flexible of manipulation, its flight tracking control and positioning precision low, motion control is required higher closely have object to move to be difficult to realize.Disc-shaped underwater glider can realize 360 degree of turning functions of 0 speed of a ship or plane 0 radius of turn, and the short range adapting to any direction is motor-driven, improves the manoevreability of underwater glider, makes it application and expands the long-term fixed point monitoring aspect of specifying waters further to.
But, the configuration design of underwater glider becomes disc-shaped, larger difference is there is with the Torpedo Shape of traditional submarine navigation device, existing design plan effectively utilizing inner space, guarantee compressive resistance, improve system reliability, reduce maintenance requirement etc. in there is more problem, need and be optimized design targetedly, play the performance advantage of disc-shaped underwater glider more.
Summary of the invention
For solving the problems referred to above that prior art exists, the present invention will design that a kind of roudnel inner space can make full use of, compressive resistance is high, reliability is high, reduce disc-shaped underwater glider and the method for work thereof of maintenance requirement.
To achieve these goals, technical scheme of the present invention is as follows:
A kind of disc-shaped underwater glider, is characterized in that: comprise disc-shaped shell, pneumatic shell, control system, communication and navigation system, drive system, sensing system, energy resource system and external-connected port;
Described pneumatic shell comprises pressurized spherical shell and withstand voltage cavity ring;
Described drive system comprises buoyancy regulating system and center of gravity control system;
Described buoyancy regulating system is made up of electric displacement of reservoir oil pump module, oil pipe and oil sac; Described oil sac comprises interior oil sac and outer oil sac, and described interior oil sac is arranged in described pneumatic shell;
Described disc-shaped enclosure center forms spherical hollow space, installs described pressurized spherical shell; Form annular cavity with the center of described disc-shaped shell for the center of circle, described withstand voltage cavity ring is installed;
The internal diameter of described withstand voltage cavity ring is greater than the external diameter of described spherical hollow space;
Between described spherical hollow space and described annular cavity, arrange oil sac cavity, described outer oil sac is installed; Described interior oil sac and outer oil sac are communicated with by oil pipe with displacement of reservoir oil pump module electric in pneumatic shell respectively;
Described center of gravity control system is made up of slide block module a and slide block module b; Described slide block module a is identical with slide block module b structure, forms by motor, gear, tooth bar and slide block.
Energy resource system of the present invention comprises energy storage battery and solar panel; Described solar panel is arranged on the upper surface of disc-shaped shell;
Described sensing system comprises hydraulic pressure sensor, electronic compass, obliquity sensor and acceleration pick-up;
Described communication and navigation system comprises communication antenna, navigation positioning module and communication module;
Described external-connected port is connected with control system and energy resource system by cable;
Described disc-shaped shell is made up of upper body and lower case;
Be watertight space in described pneumatic shell, inner installation described control system, communication and navigation system, drive system, sensing system and energy resource system;
Arrange cylindrical cavity at the boundary position of described disc-shaped shell, described communication antenna is installed.
Disc-shaped shell of the present invention is made up of buoyant material, surface anti-seepage layer and anti-collision ring; The density of the buoyant material of described disc-shaped shell is less than the density of water.
Pressurized spherical shell of the present invention is made up of two hemispherical Shells, and two hemispherical Shells pass through Flange joint; Described pneumatic shell comprises individual or multiple withstand voltage cavity ring, and each withstand voltage cavity ring forms individual or multiple toroidal cavity.
Slide block module a of the present invention and slide block module b is arranged in withstand voltage cavity ring, and each slide block module is made up of motor, gear, ring-type tooth bar, slide block; Described slide block is made up of individual or multiple metal weight.
Electric displacement of reservoir oil pump module of the present invention is arranged in withstand voltage cavity ring or pressurized spherical shell.
Communication and navigation system of the present invention adopts Beidou satellite communication navigationsystem, comprises embedded big-dipper satellite antenna, satellite navigation locating module and short message communication module; Communication and navigation system acceptance Beidou satellite system signal, and by Beidou satellite system to command centre's return data, realize the communication of big-dipper satellite short message and navigation locating function.
The embedded embedded OS of control system of the present invention, is responsible for navigation control, data acquisition control and management, navigator fix and communication control, power management, path planning and trouble diagnosing.
A method of work for disc-shaped underwater glider, is characterized in that: comprise the following steps:
A, connect external-connected port charge, carry out control system, communication and navigation system, drive system, sensing system, energy resource system debugging and detect operation;
The connection of B, cut-out external-connected port, sealing external-connected port;
C, disc-shaped underwater glider rendered to and specifies waters, and start control system, communication and navigation system, drive system, sensing system and the energy resource system on disc-shaped underwater glider;
D, the instruction of ground command center is accepted by communication and navigation system, formulate motion path, instruction is sent to the buoyancy regulating system of drive system and center of gravity control system by control system, the electric displacement of reservoir oil pump module of buoyancy regulating system accepts the instruction of control system, fluid in outer oil sac is extracted in interior oil sac by oil pipe, outer oil sac reduces, buoyancy reduces, disc-shaped underwater glider sinks, anti-collision ring in center of gravity control system receives the instruction of control system, driven wheel rotates, drive ring-type racks turn, and drive the slide block annularly rail moving be fixed thereon, controlled motion attitude and direction, and then control disc-shaped underwater glider in water according to the downward gliding of assigned direction,
E, disc-shaped underwater glider arrive assigned address, and control system sends instruction to drive system, and fluid is extracted into outer oil sac from interior oil sac by electric displacement of reservoir oil pump module, outer oil sac expands and becomes large, buoyancy is increased to equal with gravity, and disc-shaped underwater glider suspends in water, and carries out the data acquisition in water;
After F, disc-shaped underwater glider complete underwater work task, control system sends instruction to drive system, and fluid is extracted into outer oil sac from interior oil sac by electric displacement of reservoir oil pump module, and outer oil sac expands further and becomes large, and buoyancy increases, and disc-shaped underwater glider floats and moves; After the anti-collision ring of center of gravity adjustment module receives instruction, start and be with movable slider to move, regulating athletic posture and the direction of disc-shaped underwater glider, and then controlling disc-shaped underwater glider in water according to assigned direction upwards gliding;
On G, disc-shaped underwater glider after floatation surface, the data obtained and the status information of self are sent to ground command center by the short message communication module of communication and navigation system, start solar panel to charge to energy storage battery, accept next step action order of command centre.
Compared with prior art, the present invention has following beneficial effect:
1, the disc-shaped shell that the present invention adopts buoyant material to make wraps up inner pneumatic shell structure, for disc-shaped underwater glider provides larger buoyancy, improves capacity weight; Without the need to the isostructural mounting bracket of fixing pneumatic shell, enormously simplify inner structure, and effectively control setting accuracy; That reduces the rear equipment of work capacity and the task difficulty of later maintenance, particularly maintenance reinstalls debugging efforts.
2, the present invention adopts the pressure shell structural design scheme that pressurized spherical shell and withstand voltage cavity ring combine, be conducive to the degree of utilization improving disc-shaped underwater glider inner space, greatly reduce the sealing number of nodes of internal unit simultaneously, avoid more equipment to be exposed to the underwater environment of deep-sea complexity, improve overall reliability; In addition, no matter be spherical shell structure, or small bore hollow annular construction, its compressive strength is higher.
3, the present invention adopts two groups of motors, gear, ring-type tooth bar, slide block to form center of gravity control system, and be arranged in withstand voltage cavity ring, the arm of force that slide block produces and moment are comparatively large, improve gesture stability efficiency, are fully used in the inner space of disc-shaped underwater glider;
4, buoyancy regulating system of the present invention adopts motor to drive oil pump, the version that oil sac is communicated with oil pump by oil pipe, and relevant device is arranged lower to the internal space requirements of disc-shaped underwater glider, can make full use of inner space.
5, the multiple watertight space in pneumatic shell of the present invention and the non-watertight space in disc-shaped shell can install the EM equipment module of difference in functionality respectively, each space forms relatively single function, be conducive to realizing modular design, production, advantageously in later maintenance.
Accompanying drawing explanation
The present invention has 4, accompanying drawing, wherein:
Fig. 1 is disc-shaped underwater glider overall structure exploded view.
Fig. 2 is pneumatic shell cavity ring and center of gravity adjustment module exploded view.
Fig. 3 is pneumatic shell cavity ring and buoyancy adjustment module exploded view.
Fig. 4 is disc-shaped underwater glider control circuit schematic diagram.
In figure: 1, solar panel, 2, upper body, 3, lower case, 4, withstand voltage cavity ring, 5, pressurized spherical shell, 6, anti-collision ring, 7, motor, 8, hydraulic pressure sensor, 9, slide block module a, 10, slide block module b, 11, gear, 12, ring-type tooth bar, 13, control system, 14, electronic compass, 15, obliquity sensor, 16, acceleration pick-up, 17, navigation positioning module, 18, energy storage battery, 19, communication module, 20, satellite antenna, 21, electricity displacement of reservoir oil pump module, 22, drive system, 23, communication and navigation system, 24, sensing system, 25, energy resource system, 26, outer oil sac, 27, interior oil sac, 28, metal weight.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is further described.As Figure 1-4, a kind of disc-shaped underwater glider, comprises disc-shaped shell, pneumatic shell, control system 13, communication and navigation system 23, drive system 22, sensing system 24, energy resource system 25 and external-connected port; Described energy resource system 25 comprises energy storage battery 18 and solar panel 1; Described solar panel 1 is arranged on the upper surface of disc-shaped shell; Described sensing system 24 comprises hydraulic pressure sensor 8, electronic compass 14, obliquity sensor 15 and acceleration pick-up 16; Described communication and navigation system 23 comprises communication antenna, navigation positioning module 17 and communication module 19; Described external-connected port is connected with control system 13 and energy resource system 25 by cable; Described drive system 22 comprises buoyancy regulating system and center of gravity control system; Described buoyancy regulating system is made up of electric displacement of reservoir oil pump module 21, oil pipe and oil sac; Described oil sac comprises interior oil sac 27 and outer oil sac 26, and interior oil sac 27 is arranged in pneumatic shell; Described pneumatic shell comprises pressurized spherical shell 5 and withstand voltage cavity ring 4; Described disc-shaped shell is made up of upper body 2 and lower case 3, adopts bolt to connect between upper body 2 and lower case 3; Disc-shaped enclosure center forms spherical hollow space, installs pressurized spherical shell 5; Form annular cavity with the center of disc-shaped shell for the center of circle, withstand voltage cavity ring 4 is installed; The internal diameter of withstand voltage cavity ring 4 is greater than spherical hollow space external diameter; Arrange cylindrical cavity at the boundary position of disc-shaped shell, communication antenna is installed; Between spherical hollow space and annular cavity, arrange oil sac cavity, outer oil sac 26 is installed; Be watertight space in described pneumatic shell, inner installation control system 13, communication and navigation system 23, drive system 22, sensing system 24 and energy resource system 25; Described interior oil sac 27 and outer oil sac 26 are communicated with by oil pipe with displacement of reservoir oil pump module 21 electric in pneumatic shell respectively; Described center of gravity control system is made up of slide block module a9 and slide block module b10; Described slide block module a9 is identical with slide block module b10 structure, forms by anti-collision ring 7, gear 11, tooth bar and slide block;
Disc-shaped shell of the present invention is made up of buoyant material, surface anti-seepage layer and anti-collision ring 6; The density of the buoyant material of described disc-shaped shell is less than the density of water; Described disc shaped shell surface is impervious barrier, and its material is polyureas; The edge of described disc shaped shell is anti-collision ring 6, and its material is rubber.
Pressurized spherical shell 5 of the present invention is made up of two hemispherical Shells, and two hemispherical Shells pass through Flange joint; Described pneumatic shell comprises 1 or multiple withstand voltage cavity ring 4, and each withstand voltage cavity ring 4 forms 1 or multiple toroidal cavity; Described withstand voltage cavity ring 4 cross-sectional plane is circular, and be made up of two semi-circular shape shells, two semi-circular shape shells pass through Flange joint.
Slide block module a9 of the present invention and slide block module b10 is arranged in withstand voltage cavity ring 4, and each slide block module is made up of anti-collision ring 7, gear 11, ring-type tooth bar 12, slide block; Described slide block is made up of 1 or multiple metal weight 28.
Electric displacement of reservoir oil pump module 21 of the present invention is arranged in withstand voltage cavity ring 4 or pressurized spherical shell 5.
The material of oil sac of the present invention is oil proof rubber.
Communication and navigation system 23 of the present invention adopts Beidou satellite communication navigationsystem, comprises embedded big-dipper satellite antenna 20, satellite navigation locating module 17 and short message communication module 19; Communication and navigation system 23 receives Beidou satellite system signal, and by Beidou satellite system to command centre's return data, realizes the communication of big-dipper satellite short message and navigation locating function.
The embedded embedded OS of control system 13 of the present invention, is responsible for navigation control, data acquisition control and management, navigator fix and communication control, power management, path planning and trouble diagnosing.
A method of work for disc-shaped underwater glider, comprises the following steps:
A, connect external-connected port charge, carry out control system 13, communication and navigation system 23, drive system 22, sensing system 24, energy resource system 25 debugging and detect operation;
The connection of B, cut-out external-connected port, sealing external-connected port;
C, disc-shaped underwater glider rendered to and specifies waters, and start control system 13, communication and navigation system 23, drive system 22, sensing system 24 and the energy resource system 25 on disc-shaped underwater glider;
D, the instruction of ground command center is accepted by communication and navigation system 23, formulate motion path, instruction is sent to the buoyancy regulating system of drive system 22 and center of gravity control system by control system 13, the electric displacement of reservoir oil pump module 21 of buoyancy regulating system accepts the instruction of control system 13, fluid in outer oil sac 26 is extracted in interior oil sac 27 by oil pipe, outer oil sac 26 reduces, buoyancy reduces, disc-shaped underwater glider sinks, anti-collision ring 7 in center of gravity control system receives the instruction of control system 13, driven wheel 11 rotates, ring-type tooth bar 12 is driven to rotate, and drive the slide block annularly rail moving be fixed thereon, controlled motion attitude and direction, and then control disc-shaped underwater glider in water according to the downward gliding of assigned direction,
E, disc-shaped underwater glider arrive assigned address, control system 13 sends instruction to drive system 22, fluid is extracted into outer oil sac 26 from interior oil sac 27 by electricity displacement of reservoir oil pump module 21, outer oil sac 26 expands and becomes large, buoyancy is increased to equal with gravity, disc-shaped underwater glider suspends in water, and carries out the data acquisition in water;
After F, disc-shaped underwater glider complete underwater work task, control system 13 sends instruction to drive system 22, and fluid is extracted into outer oil sac 26 from interior oil sac 27 by electric displacement of reservoir oil pump module 21, and outer oil sac 26 expands further and becomes large, buoyancy increases, and disc-shaped underwater glider floats and moves; After the anti-collision ring 7 of center of gravity adjustment module receives instruction, start and be with movable slider to move, regulating athletic posture and the direction of disc-shaped underwater glider, and then controlling disc-shaped underwater glider in water according to assigned direction upwards gliding;
On G, disc-shaped underwater glider after floatation surface, the data obtained and the status information of self are sent to ground command center by the short message communication module 19 of communication and navigation system 23, start solar panel 1 pair of energy storage battery 18 to charge, accept next step action order of command centre.
Claims (9)
1. a disc-shaped underwater glider, is characterized in that: comprise disc-shaped shell, pneumatic shell, control system (13), communication and navigation system (23), drive system (22), sensing system (24), energy resource system (25) and external-connected port;
Described pneumatic shell comprises pressurized spherical shell (5) and withstand voltage cavity ring (4);
Described drive system (22) comprises buoyancy regulating system and center of gravity control system;
Described buoyancy regulating system is made up of electric displacement of reservoir oil pump module (21), oil pipe and oil sac; Described oil sac comprises interior oil sac (27) and outer oil sac (26), and described interior oil sac (27) is arranged in described pneumatic shell;
Described disc-shaped enclosure center forms spherical hollow space, installs described pressurized spherical shell (5); Form annular cavity with the center of described disc-shaped shell for the center of circle, described withstand voltage cavity ring (4) is installed;
The internal diameter of described withstand voltage cavity ring (4) is greater than the external diameter of described spherical hollow space;
Between described spherical hollow space and described annular cavity, arrange oil sac cavity, described outer oil sac (26) is installed; Described interior oil sac (27) and outer oil sac (26) are communicated with by oil pipe with displacement of reservoir oil pump module (21) electric in pneumatic shell respectively;
Described center of gravity control system is made up of slide block module a (9) and slide block module b (10); Described slide block module a (9) is identical with slide block module b (10) structure, forms by motor (7), gear (11), tooth bar and slide block.
2. a kind of disc-shaped underwater glider according to claim 1, is characterized in that: described energy resource system (25) comprises energy storage battery (18) and solar panel (1); Described solar panel (1) is arranged on the upper surface of disc-shaped shell;
Described sensing system (24) comprises hydraulic pressure sensor (8), electronic compass (14), obliquity sensor (15) and acceleration pick-up (16);
Described communication and navigation system (23) comprises communication antenna, navigation positioning module (17) and communication module (19);
Described external-connected port is connected with control system (13) and energy resource system (25) by cable;
Described disc-shaped shell is made up of upper body (2) and lower case (3);
Be watertight space in described pneumatic shell, the described control system of inner installation (13), communication and navigation system (23), drive system (22), sensing system (24) and energy resource system (25);
Arrange cylindrical cavity at the boundary position of described disc-shaped shell, described communication antenna is installed.
3. a kind of disc-shaped underwater glider according to claim 1, is characterized in that: described disc-shaped shell is made up of buoyant material, surface anti-seepage layer and anti-collision ring (6); The density of the buoyant material of described disc-shaped shell is less than the density of water.
4. a kind of disc-shaped underwater glider according to claim 1, it is characterized in that: described pressurized spherical shell (5) is made up of two hemispherical Shells, two hemispherical Shells pass through Flange joint; Described pneumatic shell comprises 1 or multiple withstand voltage cavity ring (4), and each withstand voltage cavity ring (4) forms 1 or multiple toroidal cavity.
5. a kind of disc-shaped underwater glider according to claim 1, it is characterized in that: described slide block module a (9) and slide block module b (10) are arranged in withstand voltage cavity ring (4), each slide block module is made up of motor (7), gear (11), ring-type tooth bar (12), slide block; Described slide block is made up of 1 or multiple metal weight (28).
6. a kind of disc-shaped underwater glider according to claim 1, is characterized in that: described electric displacement of reservoir oil pump module (21) is arranged in withstand voltage cavity ring (4) or pressurized spherical shell (5).
7. a kind of disc-shaped underwater glider according to claim 1, it is characterized in that: described communication and navigation system (23) adopts Beidou satellite communication navigationsystem, comprises embedded big-dipper satellite antenna (20), satellite navigation locating module (17) and short message communication module (19); Communication and navigation system (23) receives Beidou satellite system signal, and by Beidou satellite system to command centre's return data, realizes the communication of big-dipper satellite short message and navigation locating function.
8. a kind of disc-shaped underwater glider according to claim 1, it is characterized in that: described control system (13) embedded embedded OS, be responsible for navigation control, data acquisition control and management, navigator fix and communication control, power management, path planning and trouble diagnosing.
9. a method of work for disc-shaped underwater glider, is characterized in that: comprise the following steps:
A, connect external-connected port charge, carry out control system (13), communication and navigation system (23), drive system (22), sensing system (24), energy resource system (25) debugging and detect operation;
The connection of B, cut-out external-connected port, sealing external-connected port;
C, disc-shaped underwater glider rendered to and specifies waters, and start control system (13), communication and navigation system (23), drive system (22), sensing system (24) and the energy resource system (25) on disc-shaped underwater glider;
D, the instruction of ground command center is accepted by communication and navigation system (23), formulate motion path, instruction is sent to the buoyancy regulating system of drive system (22) and center of gravity control system by control system (13), the electric displacement of reservoir oil pump module (21) of buoyancy regulating system accepts the instruction of control system (13), fluid in outer oil sac (26) is extracted in interior oil sac (27) by oil pipe, outer oil sac (26) reduces, buoyancy reduces, disc-shaped underwater glider sinks, anti-collision ring (7) in center of gravity control system receives the instruction of control system (13), driven wheel (11) rotates, ring-type tooth bar (12) is driven to rotate, and drive the slide block annularly rail moving be fixed thereon, controlled motion attitude and direction, and then control disc-shaped underwater glider in water according to the downward gliding of assigned direction,
E, disc-shaped underwater glider arrive assigned address, control system (13) sends instruction to drive system (22), fluid is extracted into outer oil sac (26) from interior oil sac (27) by electricity displacement of reservoir oil pump module (21), outer oil sac (26) expands and becomes large, buoyancy is increased to equal with gravity, disc-shaped underwater glider suspends in water, and carries out the data acquisition in water;
After F, disc-shaped underwater glider complete underwater work task, control system (13) sends instruction to drive system (22), fluid is extracted into outer oil sac (26) from interior oil sac (27) by electricity displacement of reservoir oil pump module (21), outer oil sac (26) expands further and becomes large, buoyancy increases, and disc-shaped underwater glider floats and moves; After the anti-collision ring (7) of center of gravity adjustment module receives instruction, start and be with movable slider to move, regulating athletic posture and the direction of disc-shaped underwater glider, and then controlling disc-shaped underwater glider in water according to assigned direction upwards gliding;
On G, disc-shaped underwater glider after floatation surface, the data obtained and the status information of self are sent to ground command center by the short message communication module (19) of communication and navigation system (23), start solar panel (1) to charge to energy storage battery (18), accept next step action order of command centre.
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