CN108674617A - Underwater intelligent floating instrument device and its control system - Google Patents
Underwater intelligent floating instrument device and its control system Download PDFInfo
- Publication number
- CN108674617A CN108674617A CN201810403942.2A CN201810403942A CN108674617A CN 108674617 A CN108674617 A CN 108674617A CN 201810403942 A CN201810403942 A CN 201810403942A CN 108674617 A CN108674617 A CN 108674617A
- Authority
- CN
- China
- Prior art keywords
- module
- control
- observation
- instrument device
- zhao
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000007667 floating Methods 0.000 title claims abstract description 156
- 230000007246 mechanism Effects 0.000 claims abstract description 121
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 40
- 230000001105 regulatory effect Effects 0.000 claims abstract description 37
- 230000033001 locomotion Effects 0.000 claims abstract description 33
- 238000005259 measurement Methods 0.000 claims description 57
- 230000005484 gravity Effects 0.000 claims description 40
- 230000033228 biological regulation Effects 0.000 claims description 38
- 238000004891 communication Methods 0.000 claims description 37
- 238000001514 detection method Methods 0.000 claims description 26
- 238000010248 power generation Methods 0.000 claims description 20
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 18
- 239000002775 capsule Substances 0.000 claims description 18
- 229910052744 lithium Inorganic materials 0.000 claims description 18
- 238000006073 displacement reaction Methods 0.000 claims description 12
- 241000459479 Capsula Species 0.000 claims description 7
- 230000004308 accommodation Effects 0.000 claims description 6
- 230000001419 dependent effect Effects 0.000 claims description 6
- 239000007788 liquid Substances 0.000 claims description 6
- 230000008447 perception Effects 0.000 claims description 5
- 230000004071 biological effect Effects 0.000 claims 1
- 238000000465 moulding Methods 0.000 claims 1
- 230000007774 longterm Effects 0.000 abstract description 5
- 230000006870 function Effects 0.000 description 33
- 239000003921 oil Substances 0.000 description 32
- 238000000034 method Methods 0.000 description 20
- 238000012544 monitoring process Methods 0.000 description 17
- 230000008859 change Effects 0.000 description 11
- 230000008569 process Effects 0.000 description 10
- 238000013461 design Methods 0.000 description 8
- 230000000694 effects Effects 0.000 description 8
- 239000002828 fuel tank Substances 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 238000005265 energy consumption Methods 0.000 description 7
- 238000005086 pumping Methods 0.000 description 7
- 238000007726 management method Methods 0.000 description 6
- 238000012545 processing Methods 0.000 description 6
- 238000009790 rate-determining step (RDS) Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 5
- 229910001069 Ti alloy Inorganic materials 0.000 description 4
- 239000010720 hydraulic oil Substances 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 3
- 230000008901 benefit Effects 0.000 description 3
- 230000007613 environmental effect Effects 0.000 description 3
- 230000004927 fusion Effects 0.000 description 3
- 229910052760 oxygen Inorganic materials 0.000 description 3
- 239000001301 oxygen Substances 0.000 description 3
- 230000005855 radiation Effects 0.000 description 3
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 2
- 229920000049 Carbon (fiber) Polymers 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 229910052799 carbon Inorganic materials 0.000 description 2
- 239000004917 carbon fiber Substances 0.000 description 2
- 239000005446 dissolved organic matter Substances 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 210000002683 foot Anatomy 0.000 description 2
- 230000010365 information processing Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 239000002245 particle Substances 0.000 description 2
- 230000008844 regulatory mechanism Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 238000013519 translation Methods 0.000 description 2
- 238000010792 warming Methods 0.000 description 2
- VEXZGXHMUGYJMC-UHFFFAOYSA-M Chloride anion Chemical compound [Cl-] VEXZGXHMUGYJMC-UHFFFAOYSA-M 0.000 description 1
- SOZVEOGRIFZGRO-UHFFFAOYSA-N [Li].ClS(Cl)=O Chemical compound [Li].ClS(Cl)=O SOZVEOGRIFZGRO-UHFFFAOYSA-N 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000005888 antibody-dependent cellular phagocytosis Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000013480 data collection Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000001727 in vivo Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000002356 laser light scattering Methods 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- NMJORVOYSJLJGU-UHFFFAOYSA-N methane clathrate Chemical compound C.C.C.C.O.O.O.O.O.O.O.O.O.O.O.O.O.O.O.O.O.O.O.O.O.O.O NMJORVOYSJLJGU-UHFFFAOYSA-N 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 239000000178 monomer Substances 0.000 description 1
- 230000020477 pH reduction Effects 0.000 description 1
- 230000000704 physical effect Effects 0.000 description 1
- 230000010287 polarization Effects 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000001141 propulsive effect Effects 0.000 description 1
- 238000003908 quality control method Methods 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 239000013535 sea water Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 230000004083 survival effect Effects 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
- 238000009966 trimming Methods 0.000 description 1
- 238000004260 weight control Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
-
- 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
-
- 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
- B63G8/26—Trimming equipment
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Testing Or Calibration Of Command Recording Devices (AREA)
Abstract
The present invention provides a kind of underwater intelligent floating instrument devices, including Zhao Cang mechanisms, regulating mechanism, control observation mechanism；The regulating mechanism, control observation mechanism are arranged in Zhao Cang mechanisms；Zhao Cang mechanisms can be driven to realize that floatings, dive, longitudinal profile slip into, horizontal section any one of slides or various motion by regulating mechanism.Underwater intelligent floating instrument device provided by the invention further includes wing components (6)；The wing components (6) include wing telescoping mechanism (601), horizontal wings (602)；The Zhao Cang mechanisms, including pressure-resistant cabin (19)；Pressure-resistant cabin (19) side is provided with horizontal wings holding tank；The problem to be solved in the present invention is for the current oceanographic observation armament-related work time is short, working range is narrow, can not it is long-term, continuously navigated by water according to desired trajectory and finely observe this technological difficulties, provide a kind of underwater intelligent floating instrument device and corresponding control system.
Description
Technical field
The present invention relates to a kind of oceanographic observation instruments, and in particular, to a kind of underwater intelligent floating instrument device and its control
System processed.
Background technology
Deep-sea ocean are the important adjusters of Earth climate system, but are also to recognize extremely limited weather system group at present
Point.Deep-sea ocean possess huge resource and the energy, and the variation of different time scales has entire ball ecological environment, weather
Far-reaching influence.
1) it is more than 90% heat surplus and the CO of mankind's activity discharge that deep-sea ocean, which absorb entire weather system,2,
Therefore, deep-sea ocean play the dual role that carbon converges with heat sink in Earth climate system, this fundamentally reduces entrance
The net radiation of earth system, to slow down the rate of global warming.
2) on the other hand, deep-sea ocean are to heat and CO2Absorption, result in marine physics, Biogeochemistry environment
And the great variety of the ecosystem, including extreme weather events it is frequent generation, sea level rise, Ocean acidification, ocean lack
Oxygen and living marine resources, sea bed gas hydrate change in resources etc..
Therefore, the variation of deep-sea ocean physics-Biogeochemistry-ecosystem processes and interaction mechanism are disclosed,
The spatial-temporal distribution characteristic and mechanism that understanding global warming influences deep-sea oceanic environment, for prediction deep-sea oceanic environment and weather
Variation, holding deep-sea Ocean resources and changing has great scientific meaning.To meet long-continued to deep-sea ocean, high space-time
The multidisciplinary synthesis of coverage rate is observed, and realizes " transparency " of the variation of deep-sea ocean, all kinds of ocean mobile observation platforms or observation
Class intelligence floating instrument device is applied and is given birth to.
Include mainly using the technology of Yu Haiyang mobile observation platform at present：ROV, AUV, Glider, Argo buoy etc..
ROV is connected by umbilical cables with the PC control platform on the water surface, and machine is realized by high-power vector propeller
The dive of people is floated and comprehensive accurate movement all around.Robot can carry underwater camera and various kinds of sensors, sensor
The information such as the data of acquisition and video can be sent to console by umbilical cables, to realize underwater robot real time monitoring,
Observation to the ambient enviroment of work.In addition the underwater operation equipment of carrying, such as manipulator, sample devices realization can also be passed through
To submarine target to the accurate operation of target.Certainly, entire observation and operation process are required for manually being operated or being intervened.
AUV is underwater robot of new generation, under being realized by included floating force driving system or propeller Powered Propulsion
It is latent to float, and accurate autonomous navigation is realized by propulsion system, it can be achieved to adopt ocean environment parameter during navigation
Collection.Due to its plug-in propeller, the mobility that when work is observed is higher；And its control relies on microprocessor, cooperation each
Class navigation module and sensor are, it can be achieved that full autonomous navigation, therefore as completing the important tool of various subsea tasks.In addition,
The features such as there is AUV scope of activities not limited by cable, good concealment, therefore its application range is wider.For example, civil field,
It can be used for pipeline installation, seabed investigation, data collection etc.；Military domain then can be used for scouting, mine-laying, clearance, help latent and lifesaving
Deng.The advantages that due to cableless underwater robot, so from the mid-1960s, industrial quarters and the military start to untethered underwater
People takes up.
There are floating force driving system and form regulation system inside Underwater Glider, passes through floating force driving system reality
Now to the Buoyance adjustment of aerodone, moved to realize the dive of aerodone and float.Coordinate form regulation system, passes through change
The front and back position of whole center of gravity realizes the adjusting to aerodone pitch angle, to realize that the underwater saw-toothed profile of aerodone moves road
Line.Since it obtains propulsive force using net buoyancy and attitude angle adjustment, energy consumption is minimum, only in adjustment net buoyancy and attitude angle
When consume a small amount of energy, therefore have the characteristics that efficient, endurance is big (up to thousands of kilometers).Although the boat of underwater glider
Scanning frequency degree is slower, but its manufacturing cost and maintenance cost are low, reusable and the features such as can largely launch, when meeting long
Between, the needs explored of a wide range of and low noise ocean.
Argo buoys and aerodone operation principle are similar with structure, only have the vertical and straight movement in vertical section due to it,
Therefore its internal only floating force driving system, by floating force driving system to Buoyance adjustment, to realize the dive of Argo buoys
It is moved with floating.The energy consumption of Argo buoys is lower, only a small amount of energy is consumed in Buoyance adjustment, therefore have low noise, efficiently
With macrocyclic movement and observing capacity, have great importance to the observation of marine vertical section.
In summary, the oceans such as ROV, AUV, Glider, Argo buoy mobile observation equipment can all be realized to marine environment
The observation or operation of parameter, but the function of realizing is all more single, and this few class equipment only has certain in some aspects in other words
Advantage, for that can meet comprehensive accurate surveying but also reach the comprehensive observation of long period and large scale range observation mission
Index, currently the oceanographic observation equipment of ripe application is also helpless；And the related mobile observation for meeting this kind of requirement is flat
Platform has not been reported.
In the prior art, underwater mobile observation platform includes mainly：Unmanned remotely controlled submersible vehicle (Remote Operated
Vehicle, abbreviation ROV) and autonomous underwater vehicle (Autonomous Underwater Vehicle, abbreviation AUV).
Wherein, because ROV need to mount umbilical cables, ROV submerged depths and job area, and the operation and control of ROV are limited
Have to rely on it is artificial, therefore cannot achieve long period, large scale range unmanned measurement function.
There is AUV stronger anti-current ability, flexible operation can realize precise acquisition and measurement in small range marine site.But because
The plug-in propellers of AUV, energy consumption is larger, greatly limits AUV work periods and working range.
Certainly, in addition to the aircraft of above-mentioned two quasi-representative, also underwater glider (Underwater Glider) and Argo
Buoy (Array for real-time geostrophic oceanography).
Wherein, Argo buoys can be only done rectilinear profiling observation, and observation scope is limited.And its horizontal direction is easily by ocean
The influence of ocean current generates " drifting with the tide " motion artifacts, therefore it can not be navigated by water according to desired trajectory, limits its fining
Observing capacity.
And Underwater Glider utilize buoyancy adjustment module and pose adjustment module, it can be achieved that in larger marine site
Profiling observation, and have lower motion artifacts and longer observation cycle.But its working method limits its work
Path is only section zig-zag path, causes the mobility of observation low and cannot achieve the ocean weather station observation to target, therefore,
The requirement that current mankind observes ocean generalization, three-dimensional, precision can not be met.
Traditional oceanographic observation means, generally use fixes mooring arrangement and Sea Surface Ship carries out sampling observation.Fixed mooring
Although varying information measurement can be carried out, the observation of space scale variation cannot be solved the problems, such as.It is observed as traditional core
Platform, although Sea Surface Ship can observe ocean characteristic, there are operating cost costlinesses and the lasting observing capacity of shortage etc. to lack
Point.Satellite can efficiently complete sea surface observation, but lack the detectivity of the vertical scale in ocean.
Existing underwater mobile observation platform includes mainly：ROV, AUV, Glider, Argo buoy etc..
ROV is limited by lash ship, cannot achieve the continuous observation demand of global range.And the operating cost of ROV and AUV
Height, technical sophistication need huge on-site technical support team, it is difficult to adapt to a wide range of prolonged observation and require.
Although full automatic navigation control may be implemented in AUV, but because it needs plug-in propeller as power source, determine its energy
Consumption is higher.Therefore, it is only applicable to the fining observation detection of small-scale ocean, it is difficult to meet long voyage and large scale range
Marine environment measures.
Glider observation devices are only applicable to point, the sampling observation of face high-resolution, since movement and trajectory model are single, only
It can realize the zigzag traces observation of vertical section, mobility and flexibility are relatively low, it is difficult to which adapting to diversified flexible observation needs
It asks.
Although Argo buoys are towards World Oceans, it can only realize that vertical section is observed, and follow Current Movement.Lack
Mobility makes it be difficult to realize sample observation to the three-dimension high-resolution of medium and small scale process.
Invention content
For the defects in the prior art, the object of the present invention is to provide a kind of underwater intelligent floating instrument device and its controls
System processed.
According to a kind of underwater intelligent floating instrument device provided by the invention, including Zhao Cang mechanisms, regulating mechanism, control sight
Survey mechanism；
The regulating mechanism, control observation mechanism are arranged in Zhao Cang mechanisms；
In regulating mechanism can drive Zhao Cang mechanisms realization floating, dive, longitudinal profile slips into, horizontal section slides
It is any or appoint various motion.
Preferably, further include wing components；
The wing components include wing telescoping mechanism, horizontal wings；
The Zhao Cang mechanisms, including pressure-resistant cabin；
The pressure-resistant cabin side is provided with horizontal wings holding tank；
When longitudinal profile slips into, the wing telescoping mechanism driving horizontal wings are retracted in horizontal wings holding tank,
And can make the oral area of horizontal wings holding tank with horizontal wings in the same plane；
When horizontal section slides, the wing telescoping mechanism driving horizontal wings are stretched out out of horizontal wings holding tank；
The regulating mechanism includes buoyancy regulating system, attitude regulation system；
The buoyancy regulating system is connected by head ball end cap with attitude regulation system；
The buoyancy regulating system includes the capsule portion filled with liquid；
The capsule portion includes external capsule, capsula interna；
It detaches or promotes between external capsule, capsula interna by liquid and realize that capsule portion volume changes, and then drive underwater intelligence
It can floating instrument device progress dive, floating；
The attitude regulation system includes mass block；
The mass block is located at the centroid position of underwater intelligent floating instrument device；
The center of gravity of the mass block is biased relative to central axes to be arranged；
The displacement of mass block center of gravity when the mass block is around axial-rotation enables to the center of gravity of Zhao Cang mechanisms entirety to move on to
Or remove the central axes of Zhao Cang mechanisms；
The displacement of mass block center of gravity, enables to Zhao Cang mechanisms whole when the mass block is axially move closer to or far from stern
The center of gravity of body is axially moveable.
Preferably, the control observation mechanism includes energy resource system；
The energy resource system includes battery means, power generation mechanism；
The battery means include lithium battery group；
The power generation mechanism includes thermal gradient energy Power Generation Section, wave-energy power generation portion；
By fore body to stern direction, the lithium battery group, thermal gradient energy Power Generation Section and wave-energy power generation portion are set gradually；
The quantity of the lithium battery group is multiple；
Multiple lithium battery groups are connected by series connection and/or parallel way；
The control observation mechanism, further includes electronic compartment；
The electronic compartment is located at the inside of wing components；
The electronic compartment includes contexture by self portion, navigation control unit and load cell control unit；
By fore body to stern direction, the navigation control unit, load cell control unit and contexture by self portion are set successively
It sets；
The pressure-resistant cabin includes pressure-resistant front deck, pressure-resistant middle deck, pressure-resistant rear deck and compressive end cap；
By fore body to stern direction, the pressure resistance front deck, pressure-resistant middle deck and pressure-resistant rear deck are set gradually；
The pressure resistance front deck, pressure-resistant middle deck and pressure-resistant rear deck are connected with each other by compressive end cap；
The quantity of the compressive end cap is multiple.
Preferably, the Zhao Cang mechanisms, further include shell；
The shell includes fore body, middle part and stern；
The fore body, stern are respectively arranged with front kuppe, tail portion kuppe；
The front kuppe, tail portion kuppe have default molded line；
The default molded line of the front kuppe is obtained by following equation：
The default molded line of the tail portion kuppe is obtained by following equation：
In formula：
D0For profile diameter；
LeFor entrance length；
LrFor run length；
neFor entrance ellipse index；
nrFor flow section parabolic linear index；
x1For the independent variable in the default curved dies of front kuppe under rectangular coordinate system XOY, x1Value range 0
And LeBetween；
x2For the independent variable in the default curved dies of rectangular coordinate system XOY lower tail kuppes, x2Value range 0
And LrBetween；
y1For the dependent variable in the default curved dies of front kuppe under angular coordinate system XOY；
y2For the dependent variable in the default curved dies of angular coordinate system XOY lower tail kuppes；
The Zhao Cang mechanisms, further include load cabin；
Load cell accommodation space is provided in the load cabin；
Load cell is mounted in load cell accommodation space；
The Zhao Cang mechanisms further include tail portion cabin；
The control observation mechanism further includes throwing loading system, observation sensor component；
The throwing loading system, observation sensor component are arranged in the cabin of tail portion；
The side in the tail portion cabin is provided with tail vane；
The observation sensor component includes marine physics property observation instrument, the life of Marine Chemistry property observation instrument ocean
Any of this three of physical property matter observation instrument appoints multiple；
The load cell includes marine physics property observation instrument, Marine Chemistry property observation instrument marine organisms property
Any of this three of matter observation instrument appoints multiple.
Preferably, the quality of the mass block is 20kg or more；
A diameter of 240mm or less of mass block；
The rotation angle of mass block is 40 ° or more.
The present invention also provides a kind of control systems of underwater intelligent floating instrument device, including following module：
Sensor assembly：Acquire ocean environment parameter and temperature of the ocean parameter；
Communication and locating module：Realize data communication and the positioning of itself water surface；
Motion module：Realize the steering of tail vane, attitude regulation system pitch angle adjust, wing telescoping mechanism it is flexible, floating
The floating of draught control system and dive；
Energy module：The energy is provided to motion module；
Control module：Control the sensor assembly, communication and locating module, energy module and motion module.
Preferably, further include following module：
Safety detection module：Monitor sensor assembly and system mode；
Operational configuration sensing module：Ocean environment parameter and temperature of the ocean parameter, perception boat are acquired according to sensor assembly
Row state and the ocean environment parameter for influencing navigation；
The safety detection module, operational configuration sensing module constitute safety detection and state aware module；
Emergency Device module：Control emergency self-saving equipment；
The safety detection is manipulated with state aware module, Emergency Device module by control module.
Preferably, the control module includes following submodule：
Contexture by self submodule：It drafts from main task；
Navigate by water control submodule：The power supply unit of sensor assembly, energy module is controlled, and receives, feed back from communication
With the instruction of locating module；
Load cell control submodule：Control load cell, observation sensor component；
Power supply unit constitutes mass block；
Under the control of the control module, when energy module blocks electric current by attitude regulation system, only buoyancy tune
Section system works, and wing telescoping mechanism controlled level wing is retracted in horizontal wings holding tank, and power supply unit, which remains stationary as, to be made
The center of gravity for obtaining mass block is maintained on the central axes of Zhao Cang mechanisms, is denoted as longitudinal profile measurement pattern；
Under the control of the control module, when energy module is connected to electric current by attitude regulation system, buoyancy adjustment
System, the work of attitude regulation system in parallel, wing telescoping mechanism controlled level wing are stretched out out of horizontal wings holding tank, power supply
Unit rotation makes the center of gravity of mass block remove the central axes of Zhao Cang mechanisms, is denoted as lateral local measurement pattern；
The control module is instructed according to the pattern switching received from communication antenna, to the longitudinal profile measurement pattern and
Mutual switching control between lateral local measurement pattern.
Preferably, the control system of above-mentioned underwater intelligent floating instrument device is controlled.
Preferably, further include control platform, the control platform includes the control of above-mentioned underwater intelligent floating instrument device
System processed.
Compared with prior art, the present invention has following advantageous effect：
1, the problem to be solved in the present invention is for the current oceanographic observation armament-related work time is short, working range is narrow, nothing
Method is long-term, is continuously navigated by water according to desired trajectory and finely observes this technological difficulties, and a kind of underwater intelligent floating sight is provided
Survey device and corresponding working method.
2, provided by the invention to provide a kind of underwater intelligent floating instrument device and overcoming above-mentioned existing various types of water
The shortcomings that lower mobile observation platform and limitation propose that one kind having longitudinal profile and measures and lateral two kinds of pattern of local measurement gliding
The underwater intelligence floating instrument device of operating mode, to realize long-time, the measurement of large-scale longitudinal profile and level
The laterally part in face such as accurately measures at the multitasks, can be met to the long-term, continuous of deep-sea Multiscal process with lower cost
Observation requirements.For expanding the space-time coverage area and monitoring scale of oceanographic observation, ocean three-dimensional, transparence and accurate are realized
Change detection, has important scientific research meaning.
3, the present invention realizes a kind of underwater intelligence floating instrument device, has longitudinal profile and measures and laterally part
The shortcomings that measuring gliding two kinds of operating modes of pattern, overcoming existing various types of underwater mobile observation platform and limitation are realized
The long-time of marine environment, large-scale longitudinal profile are measured and the functions such as the laterally part of horizontal plane accurately measures.
4, the intelligent floating instrument device in the present invention can realize that longitudinal profile measures and lateral local measurement gliding mould
It is switched fast, has both realized the Vertical Observation ability of existing Argo buoys, but also with the lateral observing capacity of underwater glider, and
Argo buoys are overcome simultaneously by ocean current drift and underwater glider mobility and the drawbacks of flexibility, realize to vertical plane and
The laterally monitoring of part can meet long-term, continuous observation demand to deep-sea Multiscal process with lower cost.For opening up
The space-time coverage area and monitoring scale for opening up oceanographic observation, realize ocean three-dimensional, transparence and precision detection, have important
Scientific research meaning.
5, the present invention is realized in the intelligent floating instrument device course of work to ocean ring by the way that energy collection module is arranged
The collection and utilization of the border energy, and the energy is applied on the consuming components of device itself, realize intelligent floating instrument device
Energy resource collecting function meets the long-term observation demand of underwater mobile observation platform, is the long period, big of other underwater observation platforms
The observation in scale marine site has certain reference.
6, as expansion, the co-ordination of multiple intelligent floating instrument devices may be implemented in the present invention, can be directed to difference
Marine hydrology, environment and meteorologic phenomena of process etc. carry out Coordinated Observations.The present invention can also be achieved novel intelligent floating and see simultaneously
The Flexible deployment of device is surveyed, i.e., in extreme conditions, realizes emergency mobile deployment that is quick, concentrating, realizes to region ocean
Fining observation requirements.
Description of the drawings
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon：
Fig. 1 is the work overall effect schematic diagram of underwater intelligent floating instrument device provided by the invention.
Fig. 2 is the internal structure schematic diagram of underwater intelligent floating instrument device provided by the invention.
Fig. 3 is the buoyancy adjustment module hydraulic schematic diagram of underwater intelligent floating instrument device provided by the invention.
Fig. 4 is the buoyancy adjustment module hydraulic schematic diagram of underwater intelligent floating instrument device provided by the invention.
Fig. 5 is the whole main structure diagram of underwater intelligent floating instrument device provided by the invention.
Fig. 6 is the whole overlooking structure diagram of underwater intelligent floating instrument device provided by the invention.
Fig. 7 is the entirety perspective view of underwater intelligent floating instrument device provided by the invention.
Fig. 8 is that underwater intelligent floating instrument device provided by the invention removes the whole front view structure signal behind pressure-resistant storehouse
Figure.
Fig. 9 is that underwater intelligent floating instrument device provided by the invention removes the whole plan structure signal behind pressure-resistant storehouse
Figure.
Figure 10 is that underwater intelligent floating instrument device provided by the invention removes the whole three-dimensional structural representation behind pressure-resistant storehouse
Figure.
Figure 11 is the control system module diagram of underwater intelligent floating instrument device provided by the invention.
Figure 12 is that Fuxin and position of centre of gravity of the underwater intelligent floating instrument device provided by the invention in observation mode show
It is intended to.
Figure 13 is the Fuxin and position of centre of gravity signal for inventing the underwater intelligent floating instrument device provided in observation mode
Figure.
As shown in the figure：
Specific implementation mode
With reference to specific embodiment, the present invention is described in detail.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, several changes and improvements can also be made.These belong to the present invention
Protection domain.
As shown in Figures 1 to 10, the present invention provides a kind of underwater intelligent floating instrument devices, including Zhao Cang mechanisms, tune
Save mechanism, control observation mechanism；The regulating mechanism, control observation mechanism are arranged in Zhao Cang mechanisms；Pass through regulating mechanism
Zhao Cang mechanisms can be driven to realize that floatings, dive, longitudinal profile slip into, horizontal section any one of slides or appoint a variety of move
Make.
Underwater intelligent floating instrument device provided by the invention further includes wing components 6；The wing components 6 include machine
Wing telescoping mechanism 601, horizontal wings 602；The Zhao Cang mechanisms, including pressure-resistant cabin 19；19 side of the pressure-resistant cabin is provided with water
Flat wing holding tank；When longitudinal profile slips into, the wing telescoping mechanism 601 drives horizontal wings 602 to be retracted to Horizontal machine
In wing holding tank, and can make the oral area of horizontal wings holding tank with horizontal wings 602 in the same plane；When horizontal section is slided
When row, the wing telescoping mechanism 601 drives horizontal wings 602 to be stretched out out of horizontal wings holding tank；The regulating mechanism packet
Include buoyancy regulating system 3, attitude regulation system 20；The buoyancy regulating system 3 passes through head ball end cap 2 and attitude regulation system
20 are connected；The buoyancy regulating system 3 includes the capsule portion 1 filled with liquid；The capsule portion 1 includes external capsule, capsula interna；Pass through liquid
Body, which is detached or promoted between external capsule, capsula interna, realizes that 1 volume of capsule portion changes, and then drives underwater intelligent floating instrument device
It carries out dive, float；The attitude regulation system 20 includes mass block；The mass block is located at underwater intelligent floating instrument device
Centroid position at；The center of gravity of the mass block is biased relative to central axes to be arranged；Mass block weight when mass block is around axial-rotation
The displacement of the heart enables to the center of gravity of Zhao Cang mechanisms entirety to move on to or remove the central axes of Zhao Cang mechanisms；Mass block is in an axial direction
The displacement of mass block center of gravity, enables to the center of gravity of Zhao Cang mechanisms entirety to be axially moveable when close to or far from stern.It is described
Zhao Cang mechanisms include integrally Zhao Cang mechanisms, regulating mechanism and control observation mechanism.
The control observation mechanism includes energy resource system 21；The energy resource system 21 includes battery means, power generation mechanism；Institute
It includes lithium battery group 2101 to state battery means；The power generation mechanism includes thermal gradient energy Power Generation Section 2102, wave-energy power generation portion 2103；
By fore body to stern direction, the lithium battery group 2101, thermal gradient energy Power Generation Section 2102 and wave-energy power generation portion 2103 are set successively
It sets；The quantity of the lithium battery group 2101 is multiple；Multiple lithium battery groups 2101 are connected by series connection and/or parallel way
It connects；The control observation mechanism further includes electronic compartment 22；The electronic compartment 22 is located at the inside of wing components 6；The electronic compartment
22 include contexture by self portion 2201, navigation control unit 2202 and load cell control unit 2203；By fore body to stern direction,
The navigation control unit 2202, load cell control unit 2203 and contexture by self portion 2201 are set gradually；The pressure-resistant cabin
19 include pressure-resistant front deck 1901, pressure-resistant middle deck 1902, pressure-resistant rear deck 1903 and compressive end cap 1904；By fore body to stern side
To the pressure resistance front deck 1901, pressure-resistant middle deck 1902 and pressure-resistant rear deck 1903 are set gradually；The pressure resistance front deck 1901, resistance to
Pressure middle deck 1902 and pressure-resistant rear deck 1903 are connected with each other by compressive end cap 1904；The quantity of the compressive end cap 1904 is more
It is a.
The Zhao Cang mechanisms further include shell 4；The shell 4 includes fore body, middle part and stern；The fore body, stern
It is respectively arranged with front kuppe 18, tail portion kuppe 2402；The front kuppe 18, tail portion kuppe 2402 have default
Molded line；
The default molded line of the front kuppe 18 is obtained by following equation：
The default molded line of the tail portion kuppe 2402 is obtained by following equation：
In formula：
D0For profile diameter；
LeFor entrance length；
LrFor run length；
neFor entrance ellipse index；
nrFor flow section parabolic linear index；
x1For the independent variable in the default curved dies of front kuppe 18 under rectangular coordinate system XOY, x1Value range exist
0 and LeBetween；
x2For the independent variable in the default curved dies of rectangular coordinate system XOY lower tails kuppe 2402, x2Value range
In 0 and LrBetween；
y1For the dependent variable in the default curved dies of front kuppe 18 under angular coordinate system XOY；
y2For the dependent variable in the default curved dies of angular coordinate system XOY lower tails kuppe 2402；
The x1Value range in 0 and LeBetween, for example, x1It is 0, for example, x1For Le；The x2Value range 0
And LrBetween, for example, x2It is 0, for example, x2For Lr.Preferably, maximum profile diameter D0It is minimum according to relevant resistance for 300mm
Carry out parameter designing.
It is streamlined that the shape of the former dome 18 is preferably spindle, is mounted on underwater intelligent floating instrument device, with
It is referred to as the fore body of floating instrument device down and connect and consolidates with the compressive end cap 1904 of the pressure-resistant front deck 1901 in pressure-resistant cabin 19
It is fixed, to reduce resistance when movement under water, improve sport efficiency.
The Zhao Cang mechanisms further include load cabin 23；Load cell accommodation space is provided in the load cabin 23；It is negative
Set sensor is mounted in load cell accommodation space；The Zhao Cang mechanisms further include tail portion cabin 24；The control observation machine
Structure further includes throwing loading system 2401, observation sensor component 2403；The throwing loading system 2401, observation sensor component 2403
It is arranged in tail portion cabin 24；The side in the tail portion cabin 24 is provided with tail vane 25；The observation sensor component 2403 includes
Any of marine physics property observation instrument, Marine Chemistry property observation instrument marine organisms property observation instrument this three
Or appoint multiple；The load cell includes marine physics property observation instrument, Marine Chemistry property observation instrument marine organisms
Any of this three of property observation instrument appoints multiple.
The quality of the mass block is 20kg or more；A diameter of 240mm or less of mass block；The rotation angle of mass block is
40 ° or more.
The present invention also provides a kind of control systems of underwater intelligent floating instrument device, including following module：Sensor
Module：Acquire ocean environment parameter and temperature of the ocean parameter；Communication and locating module：Realize that data communication and itself water surface are fixed
Position；Motion module：Realize the steering of tail vane 25,20 pitch angle of attitude regulation system adjust, wing telescoping mechanism 601 it is flexible,
The floating of buoyancy regulating system 3 and dive；Energy module：The energy is provided to motion module；Control module：Control the sensor
Module, communication and locating module, energy module and motion module.
The control system of underwater intelligent floating instrument device provided by the invention, further includes following module：Safety detection mould
Block：Monitor sensor assembly and system mode；Operational configuration sensing module：According to sensor assembly acquire ocean environment parameter and
Temperature of the ocean parameter, perception operational configuration and the ocean environment parameter for influencing navigation；The safety detection module, operational configuration sense
Know module composition safety detection and state aware module；Emergency Device module：Control emergency self-saving equipment；The safety detection with
State aware module, Emergency Device module are manipulated by control module.
The control module includes following submodule：Contexture by self submodule：It drafts from main task；Navigation control submodule
Block：The power supply unit of sensor assembly, energy module is controlled, and receives, feed back the instruction from communication with locating module；Load
Sensor control submodule：Control load cell, observation sensor component 2403；Power supply unit constitutes mass block；Described
Under the control of control module, when energy module blocks electric current by attitude regulation system 20, only buoyancy regulating system 3 works,
601 controlled level wing 602 of wing telescoping mechanism is retracted in horizontal wings holding tank, and power supply unit remains stationary as so that quality
The center of gravity of block is maintained on the central axes of Zhao Cang mechanisms, is denoted as longitudinal profile measurement pattern；Under the control of the control module,
When energy module is connected to electric current by attitude regulation system 20, buoyancy regulating system 3,20 concurrent working of attitude regulation system,
601 controlled level wing 602 of wing telescoping mechanism is stretched out out of horizontal wings holding tank, and power supply unit, which rotates, makes mass block
Center of gravity removes the central axes of Zhao Cang mechanisms, is denoted as lateral local measurement pattern；The control module is according to received from communication antenna
17 pattern switching instruction, the mutual switching control between the longitudinal profile measurement pattern and lateral local measurement pattern.
The control system of observation device provided by the invention, to the control system of above-mentioned underwater intelligent floating instrument device
It is controlled.
Underwater intelligent floating instrument device provided by the invention, further includes control platform, and the control platform includes above-mentioned
Underwater intelligent floating instrument device control system.
The present invention also provides a kind of control methods of underwater intelligent floating instrument device, include the following steps：Sensor
Step：Acquire ocean environment parameter and temperature of the ocean parameter；Communication and positioning step：Realize that data communication and itself water surface are fixed
Position；Movement step：Realize the steering of tail vane 25,20 pitch angle of attitude regulation system adjust, wing telescoping mechanism 601 it is flexible,
The floating of buoyancy regulating system 3 and dive；Energy source step：The energy is provided to movement step；Rate-determining steps：Control the sensor
Step, communication and positioning step, energy source step and movement step.
The control method of underwater intelligent floating instrument device provided by the invention, further includes following steps：Safety detection walks
Suddenly：Monitor sensor step and system mode；Operational configuration perceives step：According to sensor step acquire ocean environment parameter and
Temperature of the ocean parameter, perception operational configuration and the ocean environment parameter for influencing navigation；The safety detection step, operational configuration sense
Know that step constitutes safety detection and state aware step；Emergency Device step：Control emergency self-saving equipment；The safety detection with
State aware step, Emergency Device step are manipulated by rate-determining steps.
The rate-determining steps include following sub-step：Contexture by self sub-step：It drafts from main task；Navigation control sub-step
Suddenly：The power supply unit of control sensor step, energy source step, and receive, feed back the instruction from communication with positioning step；Load
Sensor controls sub-step：Control load cell, observation sensor component 2403；Power supply unit constitutes mass block；Described
Under the control of rate-determining steps, when energy source step blocks electric current by attitude regulation system 20, only buoyancy regulating system 3 works,
601 controlled level wing 602 of wing telescoping mechanism is retracted in horizontal wings holding tank, and power supply unit remains stationary as so that quality
The center of gravity of block is maintained on the central axes of Zhao Cang mechanisms, is denoted as longitudinal profile measurement pattern；
Under the control of the rate-determining steps, when energy source step is connected to electric current by attitude regulation system 20, buoyancy tune
Section system 3,20 concurrent working of attitude regulation system, 601 controlled level wing 602 of wing telescoping mechanism is from horizontal wings holding tank
Interior stretching, power supply unit rotate the central axes so that the center of gravity removal Zhao Cang mechanisms of mass block, are denoted as lateral local measurement pattern；
The rate-determining steps are instructed according to the pattern switching received from communication antenna 17, to the longitudinal profile measurement pattern and lateral office
Mutual switching control between portion's measurement pattern.
The observation sensor component 2403 is preferably CTD sensors 16, i.e. conductivity-temperature-depth system (Conductance
Temperature Depth)；Difference lies in the load passes between the load cell, observation sensor component 2403
Sensor be can permeable waterproof in other words sensor, and observation sensor component 2403 is mounted in pressure-resistant cabin 19
Sensor be waterproof sensor non-water-tight in other words.
Below to the control system of underwater intelligent floating instrument device provided by the invention, underwater intelligent floating instrument device
And its control method is described further, below for being hydraulic oil in capsule portion：
3 major function of buoyancy regulating system is to adjust the quiet buoyancy of entire platform, to realize dive and floating.According to work
Environmental requirement, buoyancy regulating system 2 should be able to be remained able to when external water pressure is 44.41MPa through internal hydraulic system
Change external oil sac, i.e., the size of outer capsule volume, it is desirable that it can be led to floating instrument device main control unit, i.e. control module
Letter, receives to instruct and is simultaneously arranged running parameter, there is volume to adjust, Depth control and depth transfinite defencive function.Wherein, preferably
Ground, the adjusting volume about 3.3L of external oil sac, maximum appearance and size about Ф 240mm.
As shown in Figure 3, Figure 4, there are mainly three types of operating modes, respectively water surface oil pumping, underwater oil pumping for buoyancy regulating system 2
With oil-filled three kinds of operating modes, carry out the quiet buoyancy of adjusting device respectively to drive floating instrument device to sink or float.
As shown in figure 3, in water surface pumping operation pattern：Floating instrument device is in the water surface or the depth of water is less than certain depth
In the case of pump.Solenoid valve 28 is opened, flow standard-sized sheet, while opening motor M2, transfer tube B oil pumping, by hydraulic oil from outer oil
Capsule is pumped into fuel tank, i.e. capsula interna, reduces outer oil sac volume, so that the buoyancy of equipment is less than gravity, gradually sinks.In oil pumping, simultaneously
The hydraulic fluid flow rate into fuel tank is measured by flow sensor, stops when meeting the requirements, equipment can be made to rest on accordingly
Density layer.
Since under water, fuel tank exists oil sac between the two inside floating instrument device case outside floating instrument device
Certain pressure difference is cost-effective, can remove the pump and motor M2 of oil pumping, as shown in Fig. 4, the pressure difference of outer oil sac and fuel tank
Hydraulic oil is set to return to fuel tank, program water surface oil return speed is slower, and the time that the water surface sinks is longer, it is proposed that floating instrument device shell
It is vacuumized in vivo, enhances oil absorption.
Under water in pumping operation pattern：Floating instrument device is pumped in the case that the depth of water is deeper.28 part of solenoid valve
It opens, under the action of the big pressure difference of outer oil sac and fuel tank, the hydraulic oil of outer oil sac passes through solenoid valve 28 and check valve from fuel tank
Into fuel tank, reduce outer oil sac volume, floating instrument device is made gradually to sink, stops after meeting the flow that instruction requires.
In oil-filled operating mode, after buoyancy regulating system 3 receives instruction, opens motor M1 transfer tubes A and filled to outer oil sac
Oil, it is more than gravity to make the buoyancy of floating instrument device, and floating instrument device floats.
The attitude regulation system 3 is mainly used to adjust the posture of floating instrument device totality.According to technology requirement, should make
Attitude regulation system can be switched to lateral local measurement gliding pattern, i.e., lateral local measurement mould from longitudinal profile measurement pattern
Formula requires it that can be communicated with floating instrument device main control unit, receives and instructs and be arranged running parameter, has and changes carrier
The function of Angle of Trim and roll angle, and the angle of the distance and rotation of the translation of moving mass block can be obtained, it is subsequent control
Algorithm provides parameter.Removable mass block in attitude regulation system 20 is preferably 20kg or more, and maximum appearance and size is little
In Ф 240mm, carrier pitch angle when lateral local measurement glides pattern can be made to reach 40 °.
There are mainly three types of patterns for attitude regulation system 20, move forward mass block pattern, move backward quality
Block pattern and gyrating mass block pattern.Be respectively intended to adjustment floating instrument device totality center of gravity longitudinal movement with
Transverse shifting, the final posture for changing body.In longitudinal profile measurement pattern, attitude regulation system 20 for dormant state,
It does not work；When lateral local measurement glides pattern, worked accordingly.
In attitude regulation system preferably, there are two direct current generator, one of motor drives moving mass by leading screw
Block is moved forward and backward, another motor is rotated by gear band kinoplaszm gauge block, passes through straight line and rotation current potential
Meter can read straight-line displacement and the rotation angle of moving mass block, to be controlled to the movement of intelligent floating instrument device
System.
The energy resource system 21 ensures cruising ability, optional lithium battery group to provide required electric energy to entire platform
2101, thermal gradient energy power generator, i.e. thermal gradient energy Power Generation Section 2102 and wave energy generating set, i.e. wave-energy power generation portion 2103.
The battery pack, i.e. lithium battery group 2101 are preferably by ER34615 types lithium thionyl chloride cell as monomer electricity
Pond, to meet the requirement of discharge voltage and electric current, it is preferable that connected by the way of multigroup series connection and parallel connection.Main function is：
The energy is provided for the consuming components in floating instrument device.
The wing components 6 include：Wing telescoping mechanism 601, horizontal wings 602.Main function is：It is flexible using wing
Mechanism 601 realizes the extension and contraction control to horizontal wings 602, can coordinate floating instrument device longitudinal profile measurement pattern and lateral office
The switching of portion's measurement pattern.When floating instrument device is operated in longitudinal profile measurement pattern, wing telescoping mechanism 601 controls institute
It states the realization of horizontal wings 602 to bounce back in pressure-resistant cabin 19, reduces water resistance problem when movement.When floating instrument device is operated in
When lateral local measurement gliding pattern, 601 controlled level wing 602 of wing telescoping mechanism stretching, extension, for intelligent floating instrument device
Advance hydrodynamic force and lift are provided.
The wing telescoping mechanism 601：For the horizontal wings 602 preferably by the design of the tablet wing, shape is ladder
Shape tablet, 602 proximal end width of horizontal wings are 220mm, distal end width 130mm, chord 650mm, 3~5mm of thickness.
All electronics, the circuit of 22 main integrated intelligent mobile observation technology of the electronic compartment.It is controlled for the ease of realizing
System low-power consumption control targe improves the robustness and maintainability of system, and also to the follow-up expansion of Guarantee control system
For exhibition ability to adapt to the target of different specific scientific experiments, the control system of deep-sea intelligence observation platform uses Distributed Design.
Include mainly：Contexture by self portion 2201, navigation control unit 2202 and load cell control unit 2203.Deep-sea intelligence described here
Energy observation platform preferably refers to as shown in Figure 1, the control platform from land.
It is described navigation control unit 2202 major function be：To the control of each execution unit of deep-sea intelligence observation platform,
Power supply unit management, with navigate by water relevant sensor management and come from communication module, i.e. communication and the instruction of locating module connects
Receipts and feedback of status etc..The module is mainly responsible for the navigation control of deep-sea intelligence observation platform.
Load cell control unit 2203：The function of basic load sensor controller 2203, it is flat to deep-sea intelligence observation
Platform science sensor mounted is managed, controls and the realization of the functions such as the record of gathered data and processing.Load passes
2203 major function of sensor control unit have sensor using the execution of planning, the record of sensor gathered data, information processing and
Information fusion, the condition monitoring of sensor and feedback, load cell exception reporting and processing etc..
Contexture by self portion 2201 is mainly used for realizing the autonomous mission planning function of deep-sea intelligence observation platform, includes mainly
Navigation planning and load cell use planning etc..
The load bay section, i.e. 23 major function of load cabin are to be needed to carry the sensing for meeting measurement request according to observation
Device realizes the measurement to the various aspects information such as marine physics, biology, chemistry.The sensor includes that all kinds of observations are intelligently floated
Observation device, such as：Physical oceanography sensor, biochemical sea sensor, microminiature biosensor, medium-sized bio-sensing
Device, macro-organism sensor, acoustics sea sensor etc. can carry out flexible carry according to observation requirements.
The tail portion bay section, i.e. tail portion cabin 24 include：Throw loading system 2401, tail portion kuppe 2402 and CTD sensors 16.
Effect is：To throw loading system 2401, tail portion kuppe 2402 and various observation class sensors provide installation carrier, while being also logical
The installation of Iflytech's line 17 and fixed offer carrier platform.
The major function for throwing loading system 2401 is when intelligent floating instrument device is abnormal under water or failure
In the case of, it can be by sending instruction of saving oneself.Emergeney ejectioning device, i.e. emergency self-saving equipment carry driving mechanism, throwing load by throwing
Lead is formed with underwater electrical connector three parts.Specific working mode is：Throwing load driving motor drives throwing idling axis to be rotated, and leads to
Crossing Coupling Shaft drives runner and opening wheel to be rotated；It throws load lead to be placed on throwing load bracket, bulb is stuck in opening wheel and turns
In the gap of wheel.Opening wheel forms annular gap with runner, there is notch larger at one, and it is spherical can so that throwing carries bracket top
Part is movable into and out.When notch rotates to vertical following position directly, the thrust for carrying lead in gravity and spring leaf is being thrown
Under effect, it is to complete to throw load action to throw and carry lead whereabouts
The tail portion kuppe 2402 is similar with front kuppe 18, and it is streamlined that shape is similarly spindle, is mounted on intelligence
It the stern of floating instrument device and is connect with the compressive end cap 1904 of the pressure-resistant rear deck 1903 in pressure-resistant cabin 19 and fixed, to subtract
Resistance when small movement under water, improves sport efficiency.
In order to preferably measure the temperature, salinity and depth of seawater, CTD sensors 16 are arranged in the tail portion cabin
In section, position is：Forward part and 2402 sub-fraction of tail portion kuppe is stretched out in the bay section of tail portion.
The communication antenna 17 be major function be realize floating instrument device with monitor surface system data communication and
The function of itself water surface positioning, by communicating the concentration tune that may be implemented to floating instrument device with the data of monitor surface system
It is whole with it is motor-driven.Meet to the measurement demand under different condition.The floating instrument device is due to having longitudinal profile measurement pattern
With lateral local measurement glide pattern, and communicate with locating module only in floating instrument device when on the water surface competence exertion make
With, navigation during be then closed.
The pressure-resistant cabin 19 divides three sections, respectively：Pressure-resistant front deck 1901, pressure-resistant middle deck 1902, pressure-resistant rear deck 1903 and resistance to
Pressure side lid 1904, shape are preferably cylinder hollow-core construction.Floating instrument device operating depth is preferably 4000m, it is contemplated that
1.25 times of safety coefficients, in design, shell is about 50MPa by external water pressure.The weight of pressure-resistance structure accounts for entire deep-sea and intelligently sees
The proportion for surveying platform total weight is very big, and for the intelligence observation platform of deep-sea, the saving of weight (shows as minimum structure weight
Measure displacement ratio) it is a basic demand, it can be converted into the load of bigger, longer voyage (higher endurance), from
It is said in military affairs, shows as concealment and survival ability.So pressure-resistance structure design core principles are：In guarantee structural strength, surely
It is qualitative, under the premise of meeting property indices, stock utilization is improved as possible, reduces its total weight.By calculating to score
Analysis show that the material selection scheme of optimization is the scheme that carbon fibre of composite material T1000GB and titanium alloy T A5 is applied in combination.Tool
Body is that three sections of cylinders use T1000GB carbon fibers, and end cover uses titanium alloy T A5 with connection inserting part.By the rigidity of structure
With strength Calculation and in view of the stress concentration and additional value of wall thickness of part, final carbon fiber winding layer thickness takes 22mm.
The Weight control of overpressure resistant barrel is in 77kg.
Preferably totally 6 sets of the compressive end cap 1904, disc structure is preferably presented in monnolithic case, is separately mounted to described
The front-end and back-end of pressure-resistant front deck 1901, pressure-resistant middle deck 1902 and pressure-resistant rear deck 1903.Effect is：Coordinate the pressure-resistant front deck
1901, pressure-resistant middle deck 1902 and pressure-resistant rear deck 1903 realize that the seal protection to pressure-resistant cabin 19 acts on.In view of compressive end cap
1904 design needs trepanning, therefore tail portion is designed as Flat Lid, facilitates the installation of cabin part and underwater electrical connector.Material is adopted
With titanium alloy T A5, allowable stress 467MPa, thickness can be by can be calculated 42mm.Further, it is contemplated that additional value of wall thickness 3mm, finally
Titanium alloy plate end socket wall thickness design thickness t=45mm.The quality control of two head end covers is in 14kg.
The function of the modules of the control system of underwater intelligent floating instrument device is further described below：
As shown in figure 11, the control system of underwater intelligent floating instrument device provided by the invention, including seven modules：It is low
Energy consumption intelligent control module, i.e. control module, sensor assembly, safety detection and state aware module, communication and locating module,
Motion module, Emergency Device module, energy module.
The connection relation of seven submodules is specific as follows：
The low energy consumption intelligent control module is separately connected sensor assembly, safety detection and state aware module, communication
With locating module, motion module, Emergency Device module, energy module.The energy module is also connected with motion module.
The low energy consumption intelligent control module includes：Contexture by self submodule, navigation control submodule and load-transducing
Device control submodule；The contexture by self submodule：Control contexture by self device；Navigate by water control submodule：Control navigation controller；
Load cell control submodule：Control load cell controller.
The major function of the navigation controller is the control to each execution unit of deep-sea intelligence observation platform, power supply list
Member management, with navigate by water relevant sensor management and command reception from communication module and feedback of status etc..Navigation control
Device is mainly responsible for the navigation control of deep-sea intelligence observation platform.
The function of load cell controller basic load sensor control block, carries deep-sea intelligence observation platform
Science sensor be managed, control and the realization of the functions such as the record of gathered data and processing.Load cell controls
Submodule major function has the execution of sensor use planning, record, information processing and the information of sensor gathered data merge,
The condition monitoring and feedback of sensor, load cell exception reporting and processing etc..
Contexture by self submodule is mainly used for realizing the autonomous mission planning function of deep-sea intelligence observation platform, includes mainly
Navigation planning and load cell use planning etc..Contexture by self submodule is with the following functions：Navigation planning：According to task need
Summation Ocean environment information, air route, way point during contexture by self navigation；Load resource uses planning：Oriented mission continues
The load cell frequency of use of the multiple targets such as boat ability, the contexture by self of use time, use space；Task execution monitor and
Management：During being navigated by water to underwater glider, monitoring includes：1) the overall security management of carrier；2) bearer resource monitors
And configuration；3) navigation planning implementation effect assessment；4) task process record and storage；Environment sensing：By navigating by water sensor, bearing
The processing and fusion of the information such as set sensor perceive Ocean environment information；The optimization of task and weight-normality are drawn：According to task object,
The variation of environmental parameter, meet an urgent need online change task, again planning tasks；Advanced nevigation safety assessment：Pass through a variety of observations
The processing and fusion of data are analyzed and are assessed to the nevigation safety of underwater glider, task accessibility.
The sensor assembly includes：Physical oceanography sensor, biochemical sea sensor, microminiature biosensor,
Medium-sized biosensor, macro-organism sensor, acoustics sea sensor.Sensor assembly is mainly realized to ocean environment parameter
With the acquisition of temperature of the ocean parameter.Physical oceanography sensor assembly includes mainly：CTD, acoustic Doppler fluid velocity profile instrument
(Acoustic Doppler Current Profilers, ADCP), photosynthetically active radiation (Photosynthetically
Active Radiation, PAR) and turbulent flow instrument.Biochemical sea sensor includes mainly：Dissolved oxygen sensor (Dissolved
Oxygen, DO), pH meter, CO2/CH4, chromophoric dissolved organic matter sensor (Characteristics Of Coloured
Dissolved Organic Matter,CDOM).Microminiature biosensor includes：Hall sensor (Chla), frequency/electricity
Press conversion sensor or frequency modulation sensor (FV/FM), holographic microscope system, laser light scattering particle instrument and laser polarization sensor.
Medium-sized biosensor includes：Laser particle instrument and serial underwater camera.Macro-organism sensor includes：Bioacoustics system
System.Acoustics sea sensor includes：Hydrophone.
The safety detection includes with state aware module：Electronic compass, depth gauge, altimeter, voltage detecting, electric current inspection
Survey, temperature detection, leak water detdction and internal pressure detection.
Safety detection module：The ability that the nevigation safety of underwater glider is perceived by single observation data,
Including two aspects：1) Sensor monitoring, including water leakage monitoring, overvoltage/low-voltage monitoring, overcurrent monitoring, collision prevention monitoring,
Depth monitoring etc.；2) system mode detects, including critical processes monitoring, controller execute condition monitoring, system house dog etc..
Operational configuration perceives unit：The data acquisition of related sensor is navigated by water by electronic compass, CTD etc., perception is underwater
The operational configuration of glider and the ocean environment parameter for influencing navigation.
The communication with locating module includes：Radio module, satellite modules, GPS module and big dipper module.
Communication and locating module：It is to realize deep-sea intelligence observation platform and monitor surface system for realizing driving communication component
The function module of data of uniting communication and the positioning of itself water surface.It is controlled including satellite communication link, Radio Communications Link control, water
The control of sound communication link, positioning, i.e. time service control.
The motion module includes：Stern rudder, attitude regulation mechanism, wing telescoping mechanism and Buoyance adjustment mechanism.
Stern rudder：The turning function of intelligent floating instrument device can be realized by the way that stern rudder is arranged.
Attitude regulation mechanism：Attitude regulation is mounted on the middle part of observation platform, is mainly used to adjust the pitch angle of platform.
Wing telescoping mechanism：The stretching, extension to horizontal wings and retraction function can be achieved.When intelligent floating instrument device is vertical
When floating or dive, wing telescoping mechanism controls wing retraction, reduces water resistance；When intelligent floating instrument device lateral glides
When, wing telescoping mechanism controls wing stretching, extension, and the advance for intelligent floating instrument device provides hydrodynamic force.
Buoyance adjustment mechanism：The main big minor adjustment of buoyancy for realizing intelligent floating instrument device, using doing for external oil sac
Method realizes oil sac with hydraulic device the process of oiling and oil suction, to change the displacement of volume of platform.The volume of oil sac
Account for the 1.5% of total displacement of volume.
The Emergency Device module includes：Emergeney ejectioning device, independent current source.
Emergency Device：It is made of the very high independent current source of safety self-saving device and reliability and controller, independently receives sound
The instruction that communication device transmits.Once observation platform is in state of necessity, can be saved oneself instruction by acoustic communication transmission, or according to
Platform is more than that the information independences such as set depth and setting working time start safety self-saving device, and jettisoning Solid Ballast generates foot
Enough positive buoyancy emergency ascents.After floating to sea, beacon is released, and send an SOS.It can be timely by beacon and signal
Recycling observation platform.
The energy module includes：Lithium battery group, marine environment energy collection system.Lithium battery group：Using high power capacity
Lithium/thinly chloride battery.Marine environment energy collection system includes the device realized to thermal gradient energy and wave energy acquisition.
The working method or flow of floating instrument device are described further below：
Underwater intelligent floating instrument device provided by the invention has longitudinal profile and measures and lateral local measurement gliding mould
Two kinds of operating modes of formula.
1) workflow of longitudinal profile measurement pattern or lateral local measurement gliding pattern is specific as follows：
Longitudinal profile measurement pattern：By the way that buoyancy of the realization of buoyancy regulating system 3 to the intelligence floating instrument device is arranged
Adjustment, to realize floating and the dive of package unit.Attitude regulation system 20 is coordinated to realize to the intelligence floating instrument device
Position of centre of gravity adjustment, to realize that package unit floats and posture changing when dive, to realize the intelligence floating instrument
Vertical floating and dive of the device in sectional elevation., it can be achieved that environmental hydrology to ocean longitudinal profile under this kind of pattern
Parameter acquisition, measurement and monitoring.
Specifically, as shown in Figure 12 and Figure 13, when intelligent floating instrument device is operated under longitudinal profile measurement pattern
When, wing telescoping mechanism 601 controls the realization of the horizontal wings 602 and bounces back in pressure-resistant cabin 19；Attitude regulation system 20 is motionless
Make, the battery pack in energy resource system 21, i.e. lithium battery group 2101 is fixed.Multiple battery blocks are provided in the battery pack；
Since the quality of battery block is uneven symmetrical, the distance that centroidal distance indulges center line is assumed to be L.；The offset matter of battery block
The ballast quality by other positions is measured to be balanced so that the center of gravity G of whole device is maintained on vertical center line, i.e. central axes.
With this, to ensure that intelligent floating instrument device is vertical direction in water.
It is floating by controlling when intelligent floating instrument device is operated in longitudinal profile measurement pattern and is in dive working condition
Oil pressure in outer oil sac is entered interior oil sac, reduces the displacement of volume of device entirety by draught control system 3, to make buoyancy be less than weight
Power, the intelligent floating instrument device dive of realization.
When intelligent floating instrument device is operated in longitudinal profile measurement pattern and is in floating working condition, pass through buoyancy tune
Oil in interior oil sac is got to outer oil sac by section system 3, increases the displacement of volume of intelligent floating instrument device, to keep buoyancy big
In gravity, the floating of intelligent floating instrument device is realized.
Lateral local measurement gliding pattern：It is realized to the intelligence floating instrument device by the way that buoyancy regulating system 3 is arranged
Buoyance adjustment, it can be achieved that package unit floating and dive；It is realized to the sight of intelligently floating by the way that attitude regulation system 20 is arranged
The position of centre of gravity adjustment for surveying device, to realize that package unit floats and posture changing when dive, to realize package unit
Has certain attitude angle when floating and dive.The scalable horizontal wings 602 being arranged be embodied as the device floating and under
Latent to provide the hydrodynamic force laterally advanced, tail vane 25 then can adjust its roll posture and realize turning function.In this kind of pattern, it can be achieved that
The acquisition of laterally part, measurement and monitoring to ocean wave parameter.
Specifically, switching to lateral local measurement gliding when intelligent floating instrument device is received by communication antenna 17
When pattern, wing telescoping mechanism 601, which controls the horizontal wings 602 and realizes, to be stretched out of pressure-resistant cabin 19 to both sides, floating for intelligence
The advance of dynamic observation device provides hydrodynamic force and lift.Hereafter, the attitude regulation system 20, which receives, is switched to lateral part
It measures the instruction of gliding pattern and running parameter is set, battery pack rotates 180 °, to make the center of gravity G of intelligent floating instrument device
Transverse movement, making intelligent floating instrument device tool, there are one Trimming Moments, vertically move battery pack again at this time, change carrier trim
Angle and roll angle, and the angle of the distance and rotation of the translation of moving mass block can be calculated, so that intelligent floating instrument is filled
It sets and is switched to lateral local measurement from longitudinal profile measurement pattern and glides pattern, then by adjusting buoyancy regulating system 3, in change
The oil mass of outer oil sac changes the magnitude relationship of the net buoyancy and gravity of a whole set of intelligent floating instrument device, to realize lateral part
Measure the floating under gliding pattern and dive.
There are two types of different working modes, described two different working modes for intelligence floating instrument device tool provided by the invention
Can mutually it switch, described two different working modes are longitudinal profile measurement pattern, lateral local measurement gliding pattern.
When intelligent floating instrument device receives again is switched to longitudinal profile measurement pattern, longitudinal direction described above is repeated
Profile survey pattern so carries out the switch operating of double mode, to realize the continuous cycle operation of intelligent floating instrument device
And parameter acquisition and detection function.
The pattern switching principle design of intelligence floating instrument device provided by the invention：
The longitudinal profile measurement pattern or lateral local measurement gliding pattern needed to have according to intelligent floating instrument device
And the mutual switching of both of which, the present invention in operating mode switching principle design it is as follows：
In longitudinal profile measurement pattern operational process, the position of centre of buoyancy B is as shown below, and the distance away from bottom baseline is b
(m).The center of gravity of intelligent floating instrument device is G1, and the underface in centre of buoyancy, the distance away from baseline is g1, wherein b>g1.B and
G1 is distributed in the vertical center line of intelligent floating instrument device, i.e., on central axes.During longitudinal profile measurement pattern is run, move
Dynamic battery block is fixed.The center of gravity of mobile battery block is G2, apart from bottom baseline g2, since the quality of battery block is not equal
Even symmetrical, the distance that centroidal distance indulges center line is h2 to h1.The offset mass of battery block leans on the ballast matter of other positions
It measures to be balanced so that the center of gravity G1 of entire intelligence floating instrument device is maintained on vertical center line.
When needing to carry out motor pattern switching, i.e.,：When needing to switch to lateral local measurement gliding pattern, at this point, electric
Pond block rotates 180 °, and the center of gravity G1 transverse movements of intelligent floating instrument device, making intelligent floating instrument device tool, there are one trims
Torque vertically moves battery block again at this time, to achieve the purpose that change itself posture.Due to the pattern further of aerodone
When, the variation range of aerodone Angle of Trim should be between ± 60 or even bigger, and this requires the position change amount foots of center of gravity G1
It is enough big so that g1>B, to meet the variation requirement of angle.
One skilled in the art will appreciate that in addition to realizing system provided by the invention in a manner of pure computer readable program code
It, completely can be by the way that method and step be carried out programming in logic come so that the present invention provides and its other than each device, module, unit
System and its each device, module, unit with logic gate, switch, application-specific integrated circuit, programmable logic controller (PLC) and embedding
Enter the form of the controller that declines etc. to realize identical function.So system provided by the invention and its every device, module, list
Member is considered a kind of hardware component, and also may be used for realizing the device of various functions, module, unit to include in it
To be considered as the structure in hardware component；It can also will be considered as realizing the device of various functions, module, unit either real
The software module of existing method can be the structure in hardware component again.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can make a variety of changes or change within the scope of the claims, this not shadow
Ring the substantive content of the present invention.In the absence of conflict, the feature in embodiments herein and embodiment can arbitrary phase
Mutually combination.
Claims (10)
1. a kind of underwater intelligent floating instrument device, which is characterized in that including Zhao Cang mechanisms, regulating mechanism, control observation mechanism；
The regulating mechanism, control observation mechanism are arranged in Zhao Cang mechanisms；
Zhao Cang mechanisms can be driven to realize floatings, dive, times during longitudinal profile slips into, horizontal section slides by regulating mechanism
A kind of or various motion.
2. underwater intelligent floating instrument device according to claim 1, which is characterized in that further include wing components (6)；
The wing components (6) include wing telescoping mechanism (601), horizontal wings (602)；
The Zhao Cang mechanisms, including pressure-resistant cabin (19)；
Pressure-resistant cabin (19) side is provided with horizontal wings holding tank；
When longitudinal profile slips into, wing telescoping mechanism (601) the driving horizontal wings (602) are retracted to horizontal wings receiving
In slot, and can make the oral area of horizontal wings holding tank with horizontal wings (602) in the same plane；
When horizontal section slides, wing telescoping mechanism (601) the driving horizontal wings (602) are out of horizontal wings holding tank
It stretches out；
The regulating mechanism includes buoyancy regulating system (3), attitude regulation system (20)；
The buoyancy regulating system (3) is connected by head ball end cap (2) with attitude regulation system (20)；
The buoyancy regulating system (3) includes the capsule portion (1) filled with liquid；
The capsule portion (1) includes external capsule, capsula interna；
It detaches or promotes between external capsule, capsula interna by liquid and realize that capsule portion (1) volume changes, and then drive underwater intelligent
Floating instrument device carries out dive, floats；
The attitude regulation system (20) includes mass block；
The mass block is located at the centroid position of underwater intelligent floating instrument device；
The center of gravity of the mass block is biased relative to central axes to be arranged；
The displacement of mass block center of gravity when the mass block is around axial-rotation, enable to the center of gravity of Zhao Cang mechanisms entirety move on to or
Remove the central axes of Zhao Cang mechanisms；
The displacement of mass block center of gravity when the mass block is axially move closer to or far from stern, enables to Zhao Cang mechanisms entirety
Center of gravity is axially moveable.
3. underwater intelligent floating instrument device according to claim 1 or 2, which is characterized in that the control observation mechanism
Including energy resource system (21)；
The energy resource system (21) includes battery means, power generation mechanism；
The battery means include lithium battery group (2101)；
The power generation mechanism includes thermal gradient energy Power Generation Section (2102), wave-energy power generation portion (2103)；
By fore body to stern direction, the lithium battery group (2101), thermal gradient energy Power Generation Section (2102) and wave-energy power generation portion
(2103) it sets gradually；
The quantity of the lithium battery group (2101) is multiple；
Multiple lithium battery groups (2101) are connected by series connection and/or parallel way；
The control observation mechanism further includes electronic compartment (22)；
The electronic compartment (22) is located at the inside of wing components (6)；
The electronic compartment (22) includes contexture by self portion (2201), navigation control unit (2202) and load cell control unit
(2203)；
By fore body to stern direction, the navigation control unit (2202), load cell control unit (2203) and contexture by self
Portion (2201) is set gradually；
The pressure-resistant cabin (19) includes pressure-resistant front deck (1901), pressure-resistant middle deck (1902), pressure-resistant rear deck (1903) and resistance to pressure side
It covers (1904)；
By fore body to stern direction, the pressure resistance front deck (1901), pressure-resistant middle deck (1902) and pressure-resistant rear deck (1903) are successively
Setting；
The pressure resistance front deck (1901), pressure-resistant middle deck (1902) and pressure-resistant rear deck (1903) are mutual by compressive end cap (1904)
Connection；
The quantity of the compressive end cap (1904) is multiple.
4. underwater intelligent floating instrument device according to claim 1, which is characterized in that the Zhao Cang mechanisms further include
Shell (4)；
The shell (4) includes fore body, middle part and stern；
The fore body, stern are respectively arranged with front kuppe (18), tail portion kuppe (2402)；
The front kuppe (18), tail portion kuppe (2402) have default molded line；
The default molded line of the front kuppe (18) is obtained by following equation：
The default molded line of the tail portion kuppe (2402) is obtained by following equation：
In formula：
D0For profile diameter；
LeFor entrance length；
LrFor run length；
neFor entrance ellipse index；
nrFor flow section parabolic linear index；
x1For the independent variable in the default curved dies of front kuppe (18) under rectangular coordinate system XOY, x1Value range 0
And LeBetween；
x2For the independent variable in the default curved dies of rectangular coordinate system XOY lower tails kuppe (2402), x2Value range exist
0 and LrBetween；
y1For the dependent variable in the default curved dies of front kuppe (18) under angular coordinate system XOY；
y2For the dependent variable in the default curved dies of angular coordinate system XOY lower tails kuppe (2402)；
The Zhao Cang mechanisms further include load cabin (23)；
It is provided with load cell accommodation space in the load cabin (23)；
Load cell is mounted in load cell accommodation space；
The Zhao Cang mechanisms further include tail portion cabin (24)；
The control observation mechanism further includes throwing loading system (2401), observation sensor component (2403)；
The throwing loading system (2401), observation sensor component (2403) are arranged in tail portion cabin (24)；
The side of the tail portion cabin (24) is provided with tail vane (25)；
The observation sensor component (2403) includes marine physics property observation instrument, Marine Chemistry property observation instrument ocean
Any of this three of biological property observation instrument appoints multiple；
The load cell includes marine physics property observation instrument, Marine Chemistry property observation instrument marine organisms property view
Any of this three of survey instrument appoints multiple.
5. underwater intelligent floating instrument device according to claim 2, which is characterized in that the quality of the mass block is
20kg or more；
A diameter of 240mm or less of the mass block；
The rotation angle of the mass block is 40 ゜ or more.
6. a kind of control system of underwater intelligent floating instrument device, which is characterized in that including following module：
Sensor assembly：Acquire ocean environment parameter and temperature of the ocean parameter；
Communication and locating module：Realize data communication and the positioning of itself water surface；
Motion module：Realize the steering, the adjusting of attitude regulation system (20) pitch angle, wing telescoping mechanism (601) of tail vane (25)
The flexible, floating of buoyancy regulating system (3) and dive；
Energy module：The energy is provided to motion module；
Control module：Control the sensor assembly, communication and locating module, energy module and motion module.
7. the control system of underwater intelligent floating instrument device according to claim 6, which is characterized in that further include as follows
Module：
Safety detection module：Monitor sensor assembly and system mode；
Operational configuration sensing module：Ocean environment parameter and temperature of the ocean parameter, perception navigation shape are acquired according to sensor assembly
State and the ocean environment parameter for influencing navigation；
The safety detection module, operational configuration sensing module constitute safety detection and state aware module；
Emergency Device module：Control emergency self-saving equipment；
The safety detection is manipulated with state aware module, Emergency Device module by control module.
8. the control system of the underwater intelligent floating instrument device described according to claim 6 or 7, which is characterized in that the control
Molding block includes following submodule：
Contexture by self submodule：It drafts from main task；
Navigate by water control submodule：The power supply unit of sensor assembly, energy module is controlled, and received, fed back from communication and determine
The instruction of position module；
Load cell control submodule：Control load cell, observation sensor component (2403)；
Power supply unit constitutes mass block；
Under the control of the control module, when energy module blocks electric current by attitude regulation system (20), only buoyancy tune
Section system (3) works, and wing telescoping mechanism (601) controlled level wing (602) is retracted in horizontal wings holding tank, power supply list
Member remains stationary as so that the center of gravity of mass block is maintained on the central axes of Zhao Cang mechanisms, is denoted as longitudinal profile measurement pattern；
Under the control of the control module, when energy module is connected to electric current by attitude regulation system (20), buoyancy adjustment
System (3), attitude regulation system (20) concurrent working, wing telescoping mechanism (601) controlled level wing (602) is from horizontal wings
It is stretched out in holding tank, power supply unit rotates the central axes so that the center of gravity removal Zhao Cang mechanisms of mass block, is denoted as laterally part and surveys
Amount pattern；
The control module is instructed according to the pattern switching received from communication antenna (17), to the longitudinal profile measurement pattern and
Mutual switching control between lateral local measurement pattern.
9. the control system of underwater intelligent floating instrument device according to claim 6, which is characterized in that claim
The control system of underwater intelligent floating instrument device described in 1 is controlled.
10. underwater intelligent floating instrument device according to claim 1, further includes control platform, which is characterized in that described
Control platform includes the control system of the underwater intelligent floating instrument device described in claim 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810403942.2A CN108674617A (en) | 2018-04-28 | 2018-04-28 | Underwater intelligent floating instrument device and its control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810403942.2A CN108674617A (en) | 2018-04-28 | 2018-04-28 | Underwater intelligent floating instrument device and its control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108674617A true CN108674617A (en) | 2018-10-19 |
Family
ID=63802646
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810403942.2A Pending CN108674617A (en) | 2018-04-28 | 2018-04-28 | Underwater intelligent floating instrument device and its control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108674617A (en) |
Cited By (32)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109990913A (en) * | 2019-04-19 | 2019-07-09 | 山东省海洋仪器仪表科技中心 | A kind of adjustable tail fins bottom sediment temperature detection device |
| CN110243824A (en) * | 2019-06-25 | 2019-09-17 | 深圳供电局有限公司 | Detection equipment for oil immersed transformer |
| CN110641664A (en) * | 2019-09-21 | 2020-01-03 | 天津大学 | Large heavy-load underwater glider and control method thereof |
| CN110775226A (en) * | 2019-10-22 | 2020-02-11 | 上海交通大学 | Hybrid energy underwater vehicle device |
| CN110901864A (en) * | 2019-11-28 | 2020-03-24 | 天津大学 | Compact and modular ocean temperature difference energy driven buoyancy adjusting device |
| CN111442665A (en) * | 2020-04-26 | 2020-07-24 | 浙江大学 | Comprehensive test platform of temperature difference energy driven underwater monitoring equipment |
| CN111591404A (en) * | 2020-06-01 | 2020-08-28 | 青岛海舟科技有限公司 | Wave glider collision avoidance method |
| CN111619776A (en) * | 2020-06-08 | 2020-09-04 | 天津大学 | Natural environment fluid driven variable configuration double-state long-range marine unmanned aircraft |
| CN111634396A (en) * | 2020-06-05 | 2020-09-08 | 天津大学 | Composite power underwater glider using battery electric energy and ocean temperature difference energy |
| CN111749934A (en) * | 2020-08-25 | 2020-10-09 | 天津大学 | Be applied to multiplexing hydraulic circuit of ocean temperature difference energy driven glider under water |
| CN111907670A (en) * | 2020-07-23 | 2020-11-10 | 天津大学 | Small-size continuous section deep-Yuan exploration type underwater glider |
| CN111924044A (en) * | 2020-08-13 | 2020-11-13 | 中山大学 | Maneuvering ocean observation platform capable of working underwater for long time |
| CN112124538A (en) * | 2020-09-30 | 2020-12-25 | 中国科学院沈阳自动化研究所 | 7000 meter-level deep-Yuan underwater glider |
| CN112158318A (en) * | 2020-08-20 | 2021-01-01 | 浙江大学 | Hybrid bidirectional vertical profiler based on telescopic wings and bidirectional localization method thereof |
| CN112357028A (en) * | 2020-11-16 | 2021-02-12 | 江苏科技大学 | Aircraft for detecting underwater plants |
| CN112556881A (en) * | 2020-12-28 | 2021-03-26 | 山东省科学院海洋仪器仪表研究所 | Self-floating ocean surface layer temperature observation device and observation method |
| CN112747252A (en) * | 2021-01-15 | 2021-05-04 | 青岛科技大学 | System and method for ballasting super tanker by using natural gas hydrate |
| CN112965529A (en) * | 2021-03-31 | 2021-06-15 | 天津大学 | Typhoon observation-oriented marine glider control method |
| RU205389U1 (en) * | 2021-02-28 | 2021-07-13 | Александра Максимовна Бражникова | Autonomous underwater vehicle of "micro" class for monitoring the ecological state of small water bodies |
| CN113126633A (en) * | 2019-12-30 | 2021-07-16 | 中国科学院沈阳自动化研究所 | Zero-attack-angle depth-keeping navigation control method for light long-range AUV (autonomous Underwater vehicle) |
| CN113410605A (en) * | 2021-07-16 | 2021-09-17 | 天津大学 | Foldable antenna device for underwater glider and underwater glider |
| CN113433594A (en) * | 2021-05-18 | 2021-09-24 | 杭州电子科技大学 | Underwater AUV cable searching system based on magnetometer |
| CN113515134A (en) * | 2021-06-24 | 2021-10-19 | 天津海翼科技有限公司 | Underwater robot applied to underwater/water surface detection |
| 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 |
| CN113815819A (en) * | 2021-05-21 | 2021-12-21 | 海南大学 | Multifunctional modularized deep sea environment monitoring type unmanned underwater vehicle |
| CN113922686A (en) * | 2021-08-31 | 2022-01-11 | 北京精密机电控制设备研究所 | Oil immersion pressure-resistant control driver |
| CN114056524A (en) * | 2021-12-07 | 2022-02-18 | 中国海洋大学 | Underwater rotation-preventing tail wing and direct-reading CTD with same |
| CN114204966A (en) * | 2021-11-09 | 2022-03-18 | 中国海洋大学 | Motion control and communication device for anchoring type ocean profile observation platform |
| CN115339601A (en) * | 2022-08-24 | 2022-11-15 | 中国船舶科学研究中心 | Adjustable ballast water tank with unchanged gravity center position |
| CN116424529A (en) * | 2023-06-13 | 2023-07-14 | 青岛哈尔滨工程大学创新发展中心 | Underwater submarine vehicle and control method thereof |
| CN116495150A (en) * | 2023-06-16 | 2023-07-28 | 青岛哈尔滨工程大学创新发展中心 | Underwater submarine vehicle with foldable wing mechanism |
| CN117429591A (en) * | 2023-12-22 | 2024-01-23 | 青岛国数信息科技有限公司 | Underwater expandable active sonar aircraft |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1974318A (en) * | 2006-12-19 | 2007-06-06 | 天津大学 | Mixed submarine navigation device |
| US20090211509A1 (en) * | 2007-02-13 | 2009-08-27 | Input/Output, Inc. | Position controller for a towed array |
| CN102200092A (en) * | 2011-04-07 | 2011-09-28 | 西北工业大学 | Shaking generation device for underwater glider |
| CN102963514A (en) * | 2012-11-26 | 2013-03-13 | 上海交通大学 | Portable submarine ocean environment monitoring glider |
| CN103507929A (en) * | 2013-09-27 | 2014-01-15 | 中国船舶重工集团公司第七一〇研究所 | Combination wing anti-stream-pattern underwater glider |
| CN103832564A (en) * | 2014-03-14 | 2014-06-04 | 中国计量学院 | Shuttle-shaped underwater glider design and control method |
| CN106114783A (en) * | 2016-06-27 | 2016-11-16 | 中国空间技术研究院 | Utilize ocean thermal energy generating and the unmanned submersible's system controlled of gliding that snorkels |
| CN207208415U (en) * | 2017-04-21 | 2018-04-10 | 上海交通大学 | Underwater glider |
| CN208393605U (en) * | 2018-04-28 | 2019-01-18 | 中国海洋大学 | Underwater intelligent floating instrument device and its control system |
-
2018
- 2018-04-28 CN CN201810403942.2A patent/CN108674617A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1974318A (en) * | 2006-12-19 | 2007-06-06 | 天津大学 | Mixed submarine navigation device |
| US20090211509A1 (en) * | 2007-02-13 | 2009-08-27 | Input/Output, Inc. | Position controller for a towed array |
| CN102200092A (en) * | 2011-04-07 | 2011-09-28 | 西北工业大学 | Shaking generation device for underwater glider |
| CN102963514A (en) * | 2012-11-26 | 2013-03-13 | 上海交通大学 | Portable submarine ocean environment monitoring glider |
| CN103507929A (en) * | 2013-09-27 | 2014-01-15 | 中国船舶重工集团公司第七一〇研究所 | Combination wing anti-stream-pattern underwater glider |
| CN103832564A (en) * | 2014-03-14 | 2014-06-04 | 中国计量学院 | Shuttle-shaped underwater glider design and control method |
| CN106114783A (en) * | 2016-06-27 | 2016-11-16 | 中国空间技术研究院 | Utilize ocean thermal energy generating and the unmanned submersible's system controlled of gliding that snorkels |
| CN207208415U (en) * | 2017-04-21 | 2018-04-10 | 上海交通大学 | Underwater glider |
| CN208393605U (en) * | 2018-04-28 | 2019-01-18 | 中国海洋大学 | Underwater intelligent floating instrument device and its control system |
Cited By (46)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109990913A (en) * | 2019-04-19 | 2019-07-09 | 山东省海洋仪器仪表科技中心 | A kind of adjustable tail fins bottom sediment temperature detection device |
| CN110243824A (en) * | 2019-06-25 | 2019-09-17 | 深圳供电局有限公司 | Detection equipment for oil immersed transformer |
| CN110641664A (en) * | 2019-09-21 | 2020-01-03 | 天津大学 | Large heavy-load underwater glider and control method thereof |
| CN110775226A (en) * | 2019-10-22 | 2020-02-11 | 上海交通大学 | Hybrid energy underwater vehicle device |
| CN110775226B (en) * | 2019-10-22 | 2022-04-01 | 上海交通大学 | Hybrid energy underwater vehicle device |
| CN110901864B (en) * | 2019-11-28 | 2020-08-25 | 天津大学 | Compact and modular ocean temperature difference energy driven buoyancy adjusting device |
| CN110901864A (en) * | 2019-11-28 | 2020-03-24 | 天津大学 | Compact and modular ocean temperature difference energy driven buoyancy adjusting device |
| CN113126633A (en) * | 2019-12-30 | 2021-07-16 | 中国科学院沈阳自动化研究所 | Zero-attack-angle depth-keeping navigation control method for light long-range AUV (autonomous Underwater vehicle) |
| CN113126633B (en) * | 2019-12-30 | 2022-05-06 | 中国科学院沈阳自动化研究所 | Zero-attack-angle depth-keeping navigation control method for light long-range AUV (autonomous Underwater vehicle) |
| CN111442665A (en) * | 2020-04-26 | 2020-07-24 | 浙江大学 | Comprehensive test platform of temperature difference energy driven underwater monitoring equipment |
| CN111591404A (en) * | 2020-06-01 | 2020-08-28 | 青岛海舟科技有限公司 | Wave glider collision avoidance method |
| CN111634396A (en) * | 2020-06-05 | 2020-09-08 | 天津大学 | Composite power underwater glider using battery electric energy and ocean temperature difference energy |
| CN111634396B (en) * | 2020-06-05 | 2022-03-04 | 天津大学 | Composite power underwater glider using battery electric energy and ocean temperature difference energy |
| CN111619776A (en) * | 2020-06-08 | 2020-09-04 | 天津大学 | Natural environment fluid driven variable configuration double-state long-range marine unmanned aircraft |
| CN111907670A (en) * | 2020-07-23 | 2020-11-10 | 天津大学 | Small-size continuous section deep-Yuan exploration type underwater glider |
| CN111924044A (en) * | 2020-08-13 | 2020-11-13 | 中山大学 | Maneuvering ocean observation platform capable of working underwater for long time |
| CN112158318A (en) * | 2020-08-20 | 2021-01-01 | 浙江大学 | Hybrid bidirectional vertical profiler based on telescopic wings and bidirectional localization method thereof |
| CN111749934A (en) * | 2020-08-25 | 2020-10-09 | 天津大学 | Be applied to multiplexing hydraulic circuit of ocean temperature difference energy driven glider under water |
| CN112124538A (en) * | 2020-09-30 | 2020-12-25 | 中国科学院沈阳自动化研究所 | 7000 meter-level deep-Yuan underwater glider |
| CN112357028A (en) * | 2020-11-16 | 2021-02-12 | 江苏科技大学 | Aircraft for detecting underwater plants |
| CN112357028B (en) * | 2020-11-16 | 2022-03-11 | 江苏科技大学 | Aircraft for detecting underwater plants |
| CN112556881A (en) * | 2020-12-28 | 2021-03-26 | 山东省科学院海洋仪器仪表研究所 | Self-floating ocean surface layer temperature observation device and observation method |
| CN112747252A (en) * | 2021-01-15 | 2021-05-04 | 青岛科技大学 | System and method for ballasting super tanker by using natural gas hydrate |
| CN112747252B (en) * | 2021-01-15 | 2023-02-21 | 青岛科技大学 | Method for ballasting super tanker by using natural gas hydrate |
| RU205389U1 (en) * | 2021-02-28 | 2021-07-13 | Александра Максимовна Бражникова | Autonomous underwater vehicle of "micro" class for monitoring the ecological state of small water bodies |
| CN112965529A (en) * | 2021-03-31 | 2021-06-15 | 天津大学 | Typhoon observation-oriented marine glider control method |
| CN112965529B (en) * | 2021-03-31 | 2022-03-18 | 天津大学 | Typhoon observation-oriented marine glider control method |
| CN113433594A (en) * | 2021-05-18 | 2021-09-24 | 杭州电子科技大学 | Underwater AUV cable searching system based on magnetometer |
| CN113815819A (en) * | 2021-05-21 | 2021-12-21 | 海南大学 | Multifunctional modularized deep sea environment monitoring type unmanned underwater vehicle |
| CN113515134B (en) * | 2021-06-24 | 2021-12-14 | 天津海翼科技有限公司 | Underwater robot applied to underwater/water surface detection |
| CN113515134A (en) * | 2021-06-24 | 2021-10-19 | 天津海翼科技有限公司 | Underwater robot applied to underwater/water surface detection |
| CN113410605B (en) * | 2021-07-16 | 2022-05-06 | 天津大学 | Foldable antenna device for underwater glider and underwater glider |
| CN113410605A (en) * | 2021-07-16 | 2021-09-17 | 天津大学 | Foldable antenna device for underwater glider and underwater glider |
| CN113581431B (en) * | 2021-08-30 | 2024-05-24 | 上海水琛科技服务有限公司 | Floating and diving regulator for regulating gravity center and specific gravity and underwater smart roaming craft |
| 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 |
| CN113922686A (en) * | 2021-08-31 | 2022-01-11 | 北京精密机电控制设备研究所 | Oil immersion pressure-resistant control driver |
| CN114204966A (en) * | 2021-11-09 | 2022-03-18 | 中国海洋大学 | Motion control and communication device for anchoring type ocean profile observation platform |
| CN114204966B (en) * | 2021-11-09 | 2023-03-14 | 中国海洋大学 | Motion control and communication device for anchoring type ocean profile observation platform |
| CN114056524A (en) * | 2021-12-07 | 2022-02-18 | 中国海洋大学 | Underwater rotation-preventing tail wing and direct-reading CTD with same |
| CN115339601A (en) * | 2022-08-24 | 2022-11-15 | 中国船舶科学研究中心 | Adjustable ballast water tank with unchanged gravity center position |
| CN115339601B (en) * | 2022-08-24 | 2023-05-12 | 中国船舶科学研究中心 | Adjustable ballast water tank with unchanged gravity center position |
| CN116424529A (en) * | 2023-06-13 | 2023-07-14 | 青岛哈尔滨工程大学创新发展中心 | Underwater submarine vehicle and control method thereof |
| CN116424529B (en) * | 2023-06-13 | 2023-09-05 | 青岛哈尔滨工程大学创新发展中心 | Underwater submarine vehicle and control method thereof |
| CN116495150A (en) * | 2023-06-16 | 2023-07-28 | 青岛哈尔滨工程大学创新发展中心 | Underwater submarine vehicle with foldable wing mechanism |
| CN116495150B (en) * | 2023-06-16 | 2023-09-19 | 青岛哈尔滨工程大学创新发展中心 | Underwater submarine vehicle with foldable wing mechanism |
| CN117429591A (en) * | 2023-12-22 | 2024-01-23 | 青岛国数信息科技有限公司 | Underwater expandable active sonar aircraft |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108674617A (en) | Underwater intelligent floating instrument device and its control system | |
| CN208393605U (en) | Underwater intelligent floating instrument device and its control system | |
| CN105644742B (en) | A kind of long-term fixed point vertical section observation type underwater robot | |
| CN105644743B (en) | A kind of long-term ocean weather station observation type underwater robot of three bodies configuration | |
| US9718523B2 (en) | Gliding robotic fish navigation and propulsion | |
| CN100445167C (en) | Hybrid driven under-water self-navigation device | |
| Davis et al. | Autonomous buoyancy-driven underwater gliders | |
| Griffiths | Technology and applications of autonomous underwater vehicles | |
| CN103310610B (en) | Mobile ocean observation net based on intelligent buoy and intelligent submersible vehicle | |
| Eriksen et al. | Seaglider: A long-range autonomous underwater vehicle for oceanographic research | |
| JP6001085B2 (en) | An articulated submarine robot having a combined movement function of walking and swimming, and a submarine exploration system using the same | |
| CN108820173B (en) | The deformation submersible and its working method promoted based on buoyancy-driven with no axial vector | |
| CN103832564B (en) | A kind of design of shuttle shape underwater glider and control method | |
| CN102963514B (en) | Portable underwater marine environmental monitoring aerodone | |
| CN103439971B (en) | A kind of reservoir area underwater topography and water-quality guideline sniffing robot | |
| CN103507929B (en) | Combination wing anti-current type underwater glider | |
| CN203593143U (en) | Wind-solar complementary type unmanned ocean monitoring boat | |
| CN108656885A (en) | Tilting rotor air-sea amphibious robot | |
| CN111252218A (en) | A monitoring sampling underwater robot for ocean or inland river lake | |
| CN110641637B (en) | Ocean observation platform with controllable track based on thermoelectric power generation | |
| CN108241179A (en) | A kind of bionical underwater robot with gliding hybrid propulsion mode | |
| Wood et al. | State of technology in autonomous underwater gliders | |
| CN110576954A (en) | A drag formula system for water horizontal and longitudinal section chemical parameter observation | |
| CN209043886U (en) | A kind of portable multi-function solid water quality detection device | |
| CN109572937A (en) | A kind of deep-sea control buoy |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |