CN108163164A - A kind of submarine navigation device based on Maxwell effect - Google Patents
A kind of submarine navigation device based on Maxwell effect Download PDFInfo
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- CN108163164A CN108163164A CN201711372209.0A CN201711372209A CN108163164A CN 108163164 A CN108163164 A CN 108163164A CN 201711372209 A CN201711372209 A CN 201711372209A CN 108163164 A CN108163164 A CN 108163164A
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- converter
- water tank
- piston
- water
- navigation device
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
Abstract
The invention discloses a kind of submarine navigation device based on Maxwell effect, including body, buoyancy regulating system, navigation and control system, measurement and communication system, electric power system and drive system；Wherein buoyancy regulating system includes the first water tank, the second water tank, the first converter, the second converter and permanent magnet；Submarine navigation device provided by the invention based on Maxwell effect, buoyancy adjustment is carried out using the electromagnetic induction effect in Maxwell effect, power output is only used as by electromagnetic induction effect, carry out the water inlet and draining of the water tank of flexible modulation internal body, the operational configuration for adjusting aircraft can be realized, it is simple in structure, breach the complexity of traditional aircraft buoyancy regulating device；The flexibility of aircraft is also improved simultaneously, reduces energy consumption, can realize prolonged underwater exploration operation.
Description
Technical field
The present invention relates to submarine navigation device technical field, more particularly to a kind of underwater navigation based on Maxwell effect
Device.
Background technology
Maxwell's electromagnetic theory (Maxwell's theory of electromagnetism) is by Maxwell's base
In the empirical law of electricity and magnetics (including：Coulomb's law, Ampere's law, Biot-Savart law, Faraday's electromagnetic induction law) it is total
The equation that knot analysis obtains.The equation is further analyzed and summarized Ampere's law：It is proposed that magnetic field can be swashed by conduction electric current
Hair, can also be excited, the magnetic field of formation is all rotational field, and the line of magnetic induction is closed line by the displacement current of changing electric field.
In recent years, with the attention of the propulsion of marine resources development and various countries to maritime rights and interests, submarine navigation device AUV
(Autonomous underwater vehicle) has outstanding meaning.Although existing part aircraft can be completed greatly
It is latent deep, it navigates by water over long distances, the problems such as high, positioning accuracy is poor, cruise duration is short and accident rate is high but generally existing consumes energy.China
It is relatively backward in the research of AUV heave system regions, mostly using the external side for changing pressure based on hydraulic systems such as plunger pumps
Formula realizes heave process, and the oil sac formula that the common seawater pump type buoyancy regulating system for having USN to develop and Japan develop is floated
Power adjusts system.Meanwhile the submarine navigation device developed at present generally has apparatus structure complicated, consumes energy more, precision controlling is poor,
The shortcomings of data transmission is difficult；Therefore, AUV is carrying out depth latent greatly, low-power consumption, high reliability, repeatable offer high-precision buoyancy
Etc. also have greatly research space.
To sum up, existing submarine navigation device, there are the shortcomings that apparatus structure is complicated, energy consumption is high, control accuracy is low.
Invention content
The object of the present invention is to provide a kind of submarine navigation device based on Maxwell effect, to solve the above-mentioned prior art
There are the problem of, have simple in structure, energy consumption is low, the advantages of control accuracy and high flexibility.
To achieve the above object, the present invention provides following schemes：
The present invention provides a kind of submarine navigation device based on Maxwell effect, including body, buoyancy regulating system, navigation
With control system, measurement and communication system, electric power system and drive system；
The buoyancy regulating system includes the first water tank, the second water tank, the first converter, the second converter and permanent magnet,
First water tank and second water tank are respectively arranged at the head end and tail end of the internal body, and first converter is set
The tail end of first water tank is placed in, second converter is set to the head end of second water tank, first converter
Electromagnetic coil is both provided with second converter inside, the permanent magnet is set to first converter and described second
Between converter, first water tank is connected by the first water inlet with the engine body exterior, is set inside first water tank
There is first piston, the first piston is connect by first connecting rod mechanism with first converter, the first converter energy
Enough the first piston is driven to move by the first connecting rod mechanism, the movement of the first piston can change described first
Moisture storage capacity inside water tank；Second water tank is connected by the second water inlet with the engine body exterior, in second water tank
Portion is provided with second piston, and the second piston is connect by second connecting rod mechanism with second converter, described second turn
Parallel operation can drive the second piston to move by the second connecting rod mechanism, and the second piston movement can change described
Moisture storage capacity inside second water tank；
The navigation is used to carry out aircraft underwater navigation and behaviour control with control system, and the measurement is with communication
System is collected for Seawater Information and human-computer interaction, and the electric power system is used to provide the energy, the driving system to entire aircraft
It unites that aircraft is driven to move.
Preferably, there are two the first water tank settings, two first water tanks are symmetrically disposed on the body head end
Both sides, the lateral wall head ends of two first water tanks are respectively provided with that there are one first water inlet, two first water tanks
The internal first piston is connect by a first connecting rod mechanism with first converter；Second water tank
There are two settings, and two second water tanks claim to be set to the body tail end both sides, the lateral wall of two second water tanks
Tail end is respectively provided with there are one second water inlet, and the second piston inside two second water tanks passes through described the
Two link mechanisms are connect with the second converter.
Preferably, first converter is set in first converter rack with converter slideway, and described the
One converter rack head end is provided with a rotary electric machine being connect with the first converter head end；First converter is
One hollow cylinder is circumferentially evenly arranged with four cylindrical the first sliding grooves on the side wall of first converter, wherein three
The first sliding groove is set to the first converter head end, and a remaining the first sliding groove is set to first converter
Tail end is respectively connected with two conversion sliding slots being set up in parallel between four the first sliding grooves.
Preferably, the first connecting rod mechanism includes First piston bar and the first telescopic rod, wherein, the First piston bar
One end is connect with the first piston, and the First piston bar other end is hinged with described first telescopic rod one end, and described first
The telescopic rod other end is connected with the first roller ball, and first roller ball is disposed therein in a first sliding groove,
A fulcrum is provided in the middle part of first telescopic rod.
Preferably, second converter is set in second converter rack with converter slideway, and described the
Two converters are a hollow cylinder, and being circumferentially evenly arranged with two cylinders second on the side wall of second converter slides
Slot.
Preferably, the second connecting rod mechanism includes second piston bar and the second telescopic rod, wherein, the second piston bar
One end is connect with the second piston, and the second piston bar other end is hinged with described second telescopic rod one end, and described second
The telescopic rod other end is connected with the second roller ball, and second roller ball is disposed therein in a second sliding slot,
Another fulcrum is provided in the middle part of second telescopic rod.
Preferably, the first piston coordinates with the first water tank transition, the second piston and second water tank
Transition coordinates, and water proof rubber piston lantern ring, first water tank are arranged on the first piston and in the second piston
It is the stainless steel water tank that is internally provided with rubber sleeve with second water tank.
Preferably, the permanent magnet is set at the center of the body, first converter and second conversion
Device is symmetrical arranged about the permanent magnet, the cylinder type neodymium iron boron permanent magnetism that the permanent magnet carries Ni-P alloy layers for one piece
Iron, the electromagnetic coil are the band of the hollow interior for being set to first converter and the hollow interior of second converter
There are the HS-04 electromagnetism air core coils of FERRITE CORE.
Preferably, the navigation and set-up of control system are in the internal body head end, the navigation and control system packet
Navigation system and control system are included, the navigation system is set as inertial navigation system, and the control system is microcontroller, described
Control system respectively with the navigation system, the buoyancy regulating system, it is described measurement with communication system, the electric power system and
The drive system is connected by conducting wire；The measurement is set to navigation and control system head end, the measurement with communication system
Include sensor and underwater sound communication system with communication system, wherein, the sensor is exposed to the engine body exterior, the underwater sound
Communication system includes core processor and the underwater sound Modem module being connected with each other with the core processor, VHF modules, man-machine
Interactive module, SD card memory module and GPS positioning module.
Preferably, the electric power system includes being internally provided with two battery cases of battery, two battery case settings
In the permanent magnet both sides, the battery is hydrogen-oxygen fuel cell；The drive system is set to the body tail portion, the drive
Dynamic system includes sequentially connected motor, retarder and propeller.
The present invention achieves following advantageous effects relative to the prior art：
Submarine navigation device provided by the invention based on Maxwell effect, utilizes the electromagnetic induction in Maxwell effect
Effect carry out buoyancy adjustment, power output is only used as by electromagnetic induction effect, come flexible modulation internal body water tank into
Water and draining, you can realize the operational configuration for adjusting aircraft, it is simple in structure, breach traditional aircraft buoyancy regulating device
Complexity；The flexibility of aircraft is also improved simultaneously, reduces energy consumption, can realize prolonged underwater exploration operation.
Description of the drawings
It in order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the present invention
Example, for those of ordinary skill in the art, without having to pay creative labor, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the structure diagram of the submarine navigation device based on Maxwell effect in the present invention；
Fig. 2 is the structure diagram of buoyancy regulating system in the present invention；
Fig. 3 is the cylindrical side deployed configuration schematic diagram of the first converter in the present invention；
Fig. 4 is the cylindrical side deployed configuration schematic diagram of the second converter in the present invention；
In figure：1- bodies, 2- buoyancy regulating systems, 3- navigation are measured with control system, 4- is with communication system, 5- power supplies
System, 6- drive systems, the first water tanks of 7-, the second water tanks of 8-, the first converters of 9-, the second converters of 10-, 11- permanent magnets, 12-
First water inlet, 13- first pistons, 14- first connecting rods mechanism, the second water inlets of 15-, 16- second pistons, 17- second connecting rods
Mechanism, the first converter racks of 18-, 19- rotary electric machines, 20- the first sliding grooves, 21- conversions sliding slot, 22- First piston bars, 23-
First telescopic rod, 24- fulcrums, the first roller balls of 25-, the second converter racks of 26-, 27- second sliding slots, 28- second piston bars,
The second telescopic rods of 29-, the second roller balls of 30-, 31- motor, 32- retarders, 33- propellers.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment shall fall within the protection scope of the present invention.
The object of the present invention is to provide a kind of submarine navigation device based on Maxwell effect, to solve prior art presence
The problem of.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, it is below in conjunction with the accompanying drawings and specific real
Applying mode, the present invention is described in further detail.
The present embodiment provides a kind of submarine navigation devices based on Maxwell effect, as shown in Figs 1-4, including body 1, float
Draught control system 2, navigation and control system 3, measurement and communication system 4, electric power system 5 and drive system 6；
In the present embodiment, buoyancy regulating system 2 includes the first water tank 7, the second water tank 8, the conversion of the first converter 9, second
Device 10 and permanent magnet 11, the first water tank 7 and the second water tank 8 are respectively arranged at head end and tail end inside body 1, the first converter
9 are set to the tail end of the first water tank 7, and the second converter 10 is set to the head end of the second water tank 8, the first converter 9 and second turn
Electromagnetic coil is both provided with inside parallel operation 10, permanent magnet 11 is set between the first converter 9 and the second converter 10, the first water
Case 7 is connected by the first water inlet 12 with 1 outside of body, and the first water tank 7 is internally provided with first piston 13, and first piston 13 is logical
It crosses first connecting rod mechanism 14 to connect with the first converter 9, the first converter 9 can drive first to live by first connecting rod mechanism 14
13 movement of plug, the movement of first piston 13 can change the moisture storage capacity inside the first water tank 7；Second water tank 8 passes through the second water inlet
Mouth 15 is connected with 1 outside of body, and the second water tank 8 is internally provided with second piston 16, and second piston 16 passes through second connecting rod mechanism
17 connect with the second converter 10, and the second converter 10 can drive second piston 16 to move by second connecting rod mechanism 17, the
Two pistons, 16 movement can change the moisture storage capacity inside the second water tank 8.
The first water tank 7 in the present embodiment is specifically configured to two, and two the first water tanks 7 are symmetrically disposed on 1 head end of body
Both sides, the lateral wall head ends of two the first water tanks 7 are respectively provided with there are one the first water inlet 12 connected with 1 outside of body, two
First piston 13 inside first water tank 7 is connect by first connecting rod mechanism 14 with the first converter 9；
Wherein, specifically the first converter 9 is set in first converter rack 18 with converter slideway, outside
The first converter 9 can reciprocatingly slide along the converter slideway in the first converter rack 18 under the action of power, the first conversion
18 head end of device stent is provided with a rotary electric machine 19 being connect with 9 head end of the first converter, and rotary electric machine 19 can drive first
Converter 9 rotates；First converter 9 is a hollow cylinder, and four circles are circumferentially evenly arranged on the side wall of the first converter 9
Cylindricality the first sliding groove 20 (refers to attached drawing 3), wherein three the first sliding grooves 20 are set to 9 head end of the first converter, residue one the
One sliding slot 20 is set to 9 tail end of the first converter, is set to the first sliding groove 20 of tail end and three 20 phases of the first sliding groove of head end
The distance of a poor track length, also, two conversion sliding slots 21 being set up in parallel are respectively connected between four the first sliding grooves 20；
First connecting rod mechanism 14 include 22 and first telescopic rod 23 of First piston bar, wherein, 22 one end of First piston bar with
First piston 13 connects, and 22 other end of First piston bar is hinged with 23 one end of the first telescopic rod, and 23 other end of the first telescopic rod is lived
Dynamic to be connected with the first roller ball 25,23 middle part of the first telescopic rod is provided with a fulcrum 24, and the setting of fulcrum 24 makes the first telescopic rod
23 form lever construction, and the first roller ball 25 is connected in one of the first sliding groove 20, ensure the first roller ball 25 first
In sliding slot 20 can reciprocating rolling, and do not fall out.
Corresponding with the first water tank 7 in the present embodiment, there are two the second water tank 8 is also provided with, two the second water tanks 8 are right
Title is set to 1 tail end both sides of body, and the lateral wall tail ends of two the second water tanks 8 is respectively provided with there are one the second water inlet 15, two
Second piston 16 inside second water tank 8 is connect by second connecting rod mechanism 17 with the second converter 10.
Wherein, the second converter 10 is set in second converter rack 26 with converter slideway, second turn
Parallel operation 10 is a hollow cylinder, and two cylindrical second sliding slots 27 are circumferentially evenly arranged on the side wall of the second converter 10
(referring to attached drawing 4)；
Second connecting rod mechanism 17 include 28 and second telescopic rod 29 of second piston bar, wherein, 28 one end of second piston bar with
Second piston 16 connects, and 28 other end of second piston bar is hinged with 29 one end of the second telescopic rod, and 29 other end of the second telescopic rod is lived
Dynamic to be connected with the second roller ball 30,29 middle part of the second telescopic rod is provided with another fulcrum 24, and the setting of fulcrum 24 makes second to stretch
Bar 29 forms lever construction, and the second roller ball 30 is connected in one of second sliding slot 27, ensures the second roller ball 30 the
In two sliding slots 27 can reciprocating rolling, and do not fall out.
In the present embodiment, in order to ensure the sealing water proofing property of body 1,13 and first water tank of first piston, 7 transition coordinates, the
Two pistons 16 and 8 transition of the second water tank coordinate, and water proof rubber piston bush is arranged on first piston 13 and in second piston 16
Ring, the first water tank 7 and the second water tank 8 are then the stainless steel water tank for being internally provided with rubber sleeve；Meanwhile in order to ensure body 1
Water proofing property is sealed, in addition to the part for needing to contact with extraneous waters, the rest part of body 1 use rubber seal on body 1
It is sealed.
In the present embodiment, permanent magnet 11 is set at the center of body 1, in order to ensure the first converter 9 and the second conversion
The power of device 10 is uniformly distributed, and the first converter 9 and the second converter 10 are symmetrical arranged about permanent magnet 11；Specifically, permanent magnetism
The cylinder type neodymium iron boron permanent magnet that iron 11 carries Ni-P alloy layers for one piece, opposite, electromagnetic coil is then to be set to first
The HS-04 electromagnetism air core coils with FERRITE CORE of the hollow interior of converter 9 and the hollow interior of the second converter 10.
In addition, in the present embodiment, the first telescopic rod 23 and the second telescopic rod 29 are made of steel alloy；First converter
9 and second converter 10 be 4340 material of Ni-Cr-Mo quenched and tempered steel.
In the present embodiment, navigation is used to carry out aircraft underwater navigation and behaviour control, navigation and control with control system 3
System 3 processed is set to 1 inside head end of body, and navigation includes navigation system and control system, navigation system setting with control system 3
For inertial navigation system, control system is microcontroller, and control system is respectively with navigation system, buoyancy regulating system 2, measurement with leading to
News system 4, electric power system 5 are connected with drive system 6 by conducting wire, and control system specifically can be to navigation system, buoyancy adjustment
System 2 measures and communication system 4, electric power system 5 and the progress behaviour control of drive system 6；Wherein, inertial navigation system is preferred
To be based on DSP fiber-optic gyroscope strapdown formula inertial navigation systems, microcontroller is preferably AT90CAN128 microcontrollers.
Measure with communication system 4 for Seawater Information collect and human-computer interaction, measure with communication system 4 be set to navigation with
3 head end of control system measures and includes sensor and underwater sound communication system with communication system 4, wherein, sensor is exposed to body 1
Outside, sensor are CTD sensors, have the function of detection, processing, caching, transmission, when aircraft sinks to desired depth
Afterwards, it is connected by control system control CTD sensor circuits, CTD sensors will be acquired nearly waters seawater data, cache,
It is exported later to underwater acoustic communication part.Underwater sound communication system includes core processor and the underwater sound being connected with each other with core processor
Modem module, VHF modules, human-computer interaction module, SD card memory module and GPS positioning module；Specifically, underwater sound communication system
Using based on embedded underwater sound Sensor Network and VHF communication network gateway, the data acquired by CTD sensors are input to the underwater sound
The modulated demodulator processes of Modem module are carried out data transmission by VHF modules, are carried out at the same time storage, if there is data transmission
Failure then retransfers, and deletes storage data after data transmission success；Wherein, core processor AM3505-Sitara, water
Sound Modem module is AquaSeNTAMN-OFDM-13A OFDM modems, VHF modules are KYL-668 wireless data sendings electricity
Platform, GPS positioning module are the Big Dipper 2 generation navigation module UM220, ensure have human-computer interaction and GPS positioning while data transmission
Function.
Electric power system 5 for give entire aircraft provide the energy, two battery cases including being internally provided with battery, two
Battery case is set to 11 both sides of permanent magnet, and battery is hydrogen-oxygen fuel cell；Drive system 6 drives for aircraft to be driven to move
System 6 is set to 1 tail portion of body, and drive system 6 includes sequentially connected motor 31, retarder 32 and propeller 33, wherein
Motor 31 uses T300 propulsion electric machines.
By taking the first water tank 7,14 and first converter 9 of first connecting rod mechanism as an example, the buoyancy in the present embodiment is illustrated
The operation principle of regulating system 2：The hollow interior of first converter 9 is provided with electromagnetic coil, and the tail end of the first converter 9 is opposite
Permanent magnet 11 is provided with, due to galvanomagnetic-effect, is produced between meeting and permanent magnet 11 when the electromagnetic coil energization in the first converter 9
A certain size raw electromagnetic repulsive force or attraction；When between electromagnetic coil and permanent magnet 11 being repulsive force, electromagnetic coil
The first converter 9 is driven to be slided along the converter slideway inside the first converter rack 18 to 1 head end of body, first connecting rod machine
The connecting pin of the first telescopic rod 23 and the first converter 9 in structure 14 is slided under the action of converter to 1 head end of body, due to
First telescopic rod 23 is provided with the lever construction of fulcrum 24, the first telescopic rod 23 and 22 connecting pin of First piston bar for middle part to machine
1 tail end of body moves, and then causes First piston bar 22 that first piston 13 is driven to move away from the first water inlet to 7 tail end of the first water tank
Mouth 12, so as to which the first water tank 7 be made to be into water state；Similarly, when between electromagnetic coil and permanent magnet 11 being attraction, electromagnetic wire
Circle drives the first converter 9 to be slided along the converter slideway inside the first converter rack 18 to 1 tail end of body, first connecting rod
First telescopic rod 23 and 9 connecting pin of the first converter are slided under the action of the first converter 9 to 1 tail end of body in mechanism 14,
First telescopic rod 23 is moved with 22 connecting pin of First piston bar to 1 head end of body, and then First piston bar 22 is caused to drive first
Piston 13 moves close to the first water inlet 12 to 7 head end of the first water tank, so as to which the first water tank 7 be made to be hull-borne.The present embodiment
In, the principle of the second water tank 8, the water inlet of 17 and second converter 10 of second connecting rod mechanism and hull-borne is same as described above, into
And it repeats no more.
The submarine navigation device based on Maxwell effect now provided based on above-described embodiment, to the different operating of aircraft
State is described in detail:
When aircraft realizes floating working condition using buoyancy regulating system 2：When aircraft is located at floating above the water surface,
Buoyancy is more than gravity, it shall be guaranteed that two the first water tanks 7 and two the second water tanks 8 are anhydrous state, then opposite two the
One piston 13 and two second pistons 16 should all be respectively placed at the first water inlet 12 and the second water inlet 15；First conversion at this time
9 and second converter 10 of device moves (i.e. to close to 11 direction of permanent magnet：At this time in the first converter 9 and the second converter 10
Electromagnetic coil is passed through electric current so that the first converter 9 and the second converter 10 attract each other with permanent magnet 11)；At this point, for
The state of first water tank 7, the power of the first converter 9 is transmitted through the first telescopic rod 23 so that First piston bar 22 pushes first to live
Plug 13 rests on 7 head end of the first water tank, blocks the first water inlet 12, ensures that the first water tank 7 is not intake；Similarly, for the second water
The state of case 8, the power of the second converter 10 is transmitted through the second telescopic rod 29 so that second piston bar 28 pushes second piston 16
8 tail end of the second water tank is rested on, blocks the second water inlet 15, the second water tank 8 is not intake；Aircraft is generally in floating state.
When aircraft realizes sinking working condition using buoyancy regulating system 2：When aircraft is located at sinking below the water surface,
Buoyancy is less than gravity, it shall be guaranteed that and two the first water tanks 7 and two the second water tanks 8 adjust water according to the demand of submergence depth,
To ensure that two the first water tanks 7 and two the second water tanks 8 are full water state, then two first pistons 13 are in the first water tank 7
Tail end is in 8 head end of the second water tank far from the second water inlet 15 far from the first water inlet 12, two second pistons 16；At this point, the
One converter 9 and the second converter 10 move (i.e. to far from 11 direction of permanent magnet：First converter 9 and the second conversion at this time
Electromagnetic coil is passed through electric current and so that the first converter 9 and the second converter 10 are mutually exclusive with permanent magnet 11 in device 10)；This
When, for the state of the first water tank 7, the power of the first converter 9 is transmitted through the first telescopic rod 23 so that First piston bar 22 is drawn
Dynamic first piston 13 rests on 7 tail end of the first water tank, far from the first water inlet 12, ensures 7 full water of the first water tank；Similarly, for
The state of second water tank 8, the power of the second converter 10 is transmitted through the second telescopic rod 29 so that second piston bar 28 pulls second
Piston 16 rests on 8 head end of the second water tank, far from the second water inlet 15, ensures 8 full water of the second water tank；Aircraft is under
Heavy state.
In order to improve aircraft subsidence velocity, the posture of aircraft integral sinking need to be adjusted (i.e.：The body 1 of aircraft with
Horizontal plane shape has a certain degree), both ensure that tilting certain sinking angle is also required to so that the longitudinal movement of body 1 is transformed into water
Flat movement increases the tradding limit of aircraft while reducing resistance；The working condition of buoyancy regulating system 2 is as follows at this time：
Based on above-mentioned navigation requirement, can controlling two the first water tanks 7, two the second water tanks 8 are partially filled with water full of water.
At this point, control system controls the size and Orientation of solenoid current in the first converter 9 and the second converter 10；Size of current
The size of control magnetic force influences the first converter 9 and the second converter 10 and advances in converter slideway and retreat amplitude, electric current
Direction then changes the direction of motion of the first converter 9 and the second converter 10；If ensureing two the first water tanks 7 full of water, first
Converter 9 should be acted on far from permanent magnet 11 by repulsive force until first piston 13 reaches 7 end of the first water tank；Two the second water tanks
8 are partially filled with water, and control system controls current direction in the electromagnetic coil of the second converter 10 so that the second converter 10 by
Repulsive force far from permanent magnet 11, intake, while controls size of current in electromagnetic coil by the second water tank 8 so that the second converter 10
It moves in a certain range, second piston 16 is only partially filled with water not completely to 8 head end of the second water tank, the second water tank 8；It protects
Card, two the first water tanks 7 are full of water, two 8 part water-fillings of the second water tank, final body 1 due to the heavy-tailed end of head end gently with level
Certain angle is presented in face, advances in sinking.
In addition, when controlling the inflow of some water tank compared with other water tanks less, in the case of force unbalance, aircraft
A upward Ang Jiao can be generated here；Therefore, in concrete operations, the water-filling state of two the first water tanks 7 can be controlled
It with two 8 water-filling states of the second water tank, is freely combined, it is a variety of different that the result of independent assortment can so that aircraft is formed
Athletic posture, concrete operations are as follows：For two the first water tanks 7, control system control rotary electric machine 19 rotates the first converter
9, the first roller ball 25 of the first telescopic rod 23 passes through the conversion sliding slot 21 between the first sliding groove 20 in the rotation of the first converter 9
Slot is changed in realization；First roller ball 25 of both sides can be respectively arranged at three the first sliding grooves 20 positioned at 9 head end of the first converter
Among two of which, at this point, the first water tank 7 of 1 both sides of body is intake simultaneously, control system controls two first water tanks 7 water inlet journey
Degree；When rotating the first converter 9, make 1 both sides of body the first roller ball 25 one of them be located at the of 9 tail end of the first converter
When in one sliding slot 20, since the first sliding groove 20 of tail end falls than three the first sliding grooves 20 of head end the length of the latter slot, both sides
The first water tank 7 it is different when intake, the first water tank 7 that the first roller ball 25 is located at the side in tail end the first sliding groove 20 is intake and is prolonged
(there is 7 water-filling of the first water tank of side, the first water tank 7 of opposite side not water-filling late；Or the feelings of side water-filling fewer than opposite side
Condition), both sides flooding time is inconsistent to cause 7 water inlet degree of the first water tank different, so as to form different navigation postures；For two
A second water tank 8, control system can control size of current and direction in 10 electromagnetic coil of the second converter simultaneously, control the second water
The water inlet degree of case 8.
When aircraft, which is based on above-mentioned different navigation attitude regulations, sinks to designated depth, control system opens measurement and communication
System 4 carries out waters data collection and is sent to underwater node and water surface base station.
It is identical with above-mentioned Principles of Regulation when needing to realize floating using buoyancy regulating system 2 when aircraft backhaul, by controlling
System processed controls the first converter 9 and the second converter 10 and rotary electric machine 19, changes four tank drains states and realizes difference
Posture floats.
Based on the embodiment above, the underwater navigation provided by the invention based on Maxwell effect does not need to use rudder
Direction is controlled, only relies on the mutual cooperation of four water tanks of buoyancy regulating system, you can realizes the different driving posture of aircraft
It keeps the navigation of certain orientation and can realize turning.
The principle of the present invention and embodiment are expounded invention applies specific case, above example is said
The bright method and its core concept for being merely used to help understand the present invention；Meanwhile for those of ordinary skill in the art, foundation
The thought of the present invention, in specific embodiments and applications there will be changes.To sum up, the content of the present specification should not manage
It solves as limitation of the present invention.
Claims (10)
1. a kind of submarine navigation device based on Maxwell effect, it is characterised in that：Including body, buoyancy regulating system, navigation
With control system, measurement and communication system, electric power system and drive system；
The buoyancy regulating system includes the first water tank, the second water tank, the first converter, the second converter and permanent magnet, described
First water tank and second water tank are respectively arranged at the head end and tail end of the internal body, and first converter is set to
The tail end of first water tank, second converter are set to the head end of second water tank, first converter and institute
It states the second converter inside and is both provided with electromagnetic coil, the permanent magnet is set to first converter and second conversion
Between device, first water tank is connected by the first water inlet with the engine body exterior, and first water tank is internally provided with
One piston, the first piston are connect by first connecting rod mechanism with first converter, and first converter can lead to
It crosses the first connecting rod mechanism and drives the first piston movement, the movement of the first piston can change first water tank
Internal moisture storage capacity；Second water tank is connected by the second water inlet with the engine body exterior, is set inside second water tank
Second piston is equipped with, the second piston is connect by second connecting rod mechanism with second converter, second converter
The second piston can be driven to move by the second connecting rod mechanism, the second piston movement can change described second
Moisture storage capacity inside water tank；
The navigation is used to carry out aircraft underwater navigation and behaviour control with control system, and the measurement is used with communication system
It is collected in Seawater Information and human-computer interaction, the electric power system is used to provide the energy to entire aircraft, the drive system is used
In driving aircraft movement.
2. the submarine navigation device according to claim 1 based on Maxwell effect, it is characterised in that：First water tank
There are two settings, and two first water tanks are symmetrically disposed on the body head end both sides, the outside of two first water tanks
Wall head end is respectively provided with there are one first water inlet, and the first piston inside two first water tanks passes through one
The first connecting rod mechanism is connect with first converter；There are two the second water tank settings, two second water tanks
Title is set to the body tail end both sides, and the lateral wall tail ends of two second water tanks is respectively provided with that there are one the described second water inlets
Mouthful, the second piston inside two second water tanks is connected by the second connecting rod mechanism and the second converter
It connects.
3. the submarine navigation device according to claim 2 based on Maxwell effect, it is characterised in that：First conversion
Device is set in first converter rack with converter slideway, and the first converter rack head end is provided with one and institute
State a rotary electric machine of the first converter head end connection；First converter be a hollow cylinder, first converter
Side wall on be circumferentially evenly arranged with four cylindrical the first sliding grooves, wherein three the first sliding grooves are set to described first turn
Parallel operation head end, a remaining the first sliding groove are set to the first converter tail end, between four the first sliding grooves
It is connected with two conversion sliding slots being set up in parallel.
4. the submarine navigation device according to claim 3 based on Maxwell effect, it is characterised in that：The first connecting rod
Mechanism includes First piston bar and the first telescopic rod, wherein, described First piston bar one end is connect with the first piston, described
The First piston bar other end is hinged with described first telescopic rod one end, and the first telescopic rod other end is connected with the first rolling
Dynamic ball, first roller ball are disposed therein in a first sliding groove, and one is provided in the middle part of first telescopic rod
Point.
5. the submarine navigation device according to claim 4 based on Maxwell effect, it is characterised in that：Second conversion
Device is set in second converter rack with converter slideway, and second converter is a hollow cylinder, described
Two cylindrical second sliding slots are circumferentially evenly arranged on the side wall of second converter.
6. the submarine navigation device according to claim 5 based on Maxwell effect, it is characterised in that：The second connecting rod
Mechanism includes second piston bar and the second telescopic rod, wherein, described second piston bar one end is connect with the second piston, described
The second piston bar other end is hinged with described second telescopic rod one end, and the second telescopic rod other end is connected with the second rolling
Dynamic ball, second roller ball are disposed therein in a second sliding slot, are provided in the middle part of second telescopic rod another
Fulcrum.
7. the submarine navigation device according to claim 6 based on Maxwell effect, it is characterised in that：The first piston
Coordinate with the first water tank transition, the second piston and the second water tank transition coordinate, on the first piston and institute
It states and water proof rubber piston lantern ring is arranged in second piston, first water tank and second water tank is are internally provided with rubber
The stainless steel water tank of gum cover.
8. the submarine navigation device according to claim 7 based on Maxwell effect, it is characterised in that：The permanent magnet is set
It is placed at the center of the body, first converter and second converter are symmetrical arranged about the permanent magnet, institute
The cylinder type neodymium iron boron permanent magnet that permanent magnet carries Ni-P alloy layers for one piece is stated, the electromagnetic coil is is set to described the
The HS-04 electromagnetism tubular wires with FERRITE CORE of the hollow interior of one converter and the hollow interior of second converter
Circle.
9. the submarine navigation device according to claim 1 based on Maxwell effect, it is characterised in that：The navigation and control
System processed is set to the internal body head end, and the navigation includes navigation system and control system with control system, described to lead
Boat system is set as inertial navigation system, and the control system is microcontroller, the control system respectively with the navigation system,
The buoyancy regulating system, the measurement are connect with communication system, the electric power system and the drive system by conducting wire；Institute
It states measurement and is set to navigation and control system head end with communication system, the measurement includes sensor with communication system and the underwater sound leads to
Letter system, wherein, the sensor is exposed to the engine body exterior, the underwater sound communication system include core processor and with institute
Underwater sound Modem module, VHF modules, human-computer interaction module, SD card memory module and the GPS for stating core processor interconnection determine
Position module.
10. the submarine navigation device according to claim 1 based on Maxwell effect, it is characterised in that：The power supply system
System includes two battery cases for being internally provided with battery, and two battery cases are set to the permanent magnet both sides, the battery
For hydrogen-oxygen fuel cell；The drive system is set to the body tail portion, and the drive system includes sequentially connected electronic
Machine, retarder and propeller.
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| CN201711372209.0A CN108163164B (en) | 2017-12-19 | 2017-12-19 | A kind of submarine navigation device based on Maxwell effect |
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| CN201711372209.0A CN108163164B (en) | 2017-12-19 | 2017-12-19 | A kind of submarine navigation device based on Maxwell effect |
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| CN110316343A (en) * | 2019-07-19 | 2019-10-11 | 中国地质科学院 | A kind of buoyancy regulating device |
| CN111669228A (en) * | 2020-05-29 | 2020-09-15 | 中国科学院声学研究所东海研究站 | UUV cluster ad hoc network method and system based on underwater acoustic communication |
| CN112027038A (en) * | 2020-08-14 | 2020-12-04 | 天津大学 | Umbrella rib type underwater vehicle depth and attitude adjusting device and control method thereof |
| CN113071637A (en) * | 2021-04-16 | 2021-07-06 | 中国船舶科学研究中心 | Posture adjusting system of submersible with multiple pressure-resistant bodies |
| CN113581431A (en) * | 2021-08-30 | 2021-11-02 | 喻昕蕾 | Floating and diving regulator for regulating gravity center and specific gravity and underwater smart roaming vehicle |
| CN113665750A (en) * | 2021-09-06 | 2021-11-19 | 中国海洋大学 | Aircraft |
| CN113859494A (en) * | 2021-11-09 | 2021-12-31 | 武汉理工大学 | Aircraft capable of converting postures |
| CN115610625A (en) * | 2022-10-09 | 2023-01-17 | 桂林电子科技大学 | Underwater turnover type diving and floating robot |
| CN110316343B (en) * | 2019-07-19 | 2024-04-30 | 中国地质科学院 | Buoyancy adjusting device |
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| CN113859494B (en) * | 2021-11-09 | 2022-06-28 | 武汉理工大学 | Aircraft capable of converting attitude |
| CN115610625A (en) * | 2022-10-09 | 2023-01-17 | 桂林电子科技大学 | Underwater turnover type diving and floating robot |
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