CN110065604A - With the control method for flowing fixed high underwater navigation equipment - Google Patents
With the control method for flowing fixed high underwater navigation equipment Download PDFInfo
- Publication number
- CN110065604A CN110065604A CN201910282218.3A CN201910282218A CN110065604A CN 110065604 A CN110065604 A CN 110065604A CN 201910282218 A CN201910282218 A CN 201910282218A CN 110065604 A CN110065604 A CN 110065604A
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- China
- Prior art keywords
- tilt switch
- underwater navigation
- navigation equipment
- switch group
- connection status
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B39/00—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude
- B63B39/12—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude for indicating draught or load
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- 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
Abstract
The application belongs to underwater navigation apparatus field, a kind of control method of underwater navigation equipment is disclosed, comprise determining that the connection status of tilt switch in the first tilt switch group in the high component fixed under water of the underwater navigation equipment, according to the connection status, control the underwater navigation equipment floating or dive, wherein, the described high component fixed under water includes, one or more tilt switch groups, one or more weights, and flexible cable, the tilt switch group and weight are arranged on the flexible cable, the tilt switch group includes one or more tilt switch.
Description
Technical field
This application involves underwater navigation apparatus fields, such as are related to a kind of with the controlling party for flowing fixed high underwater navigation equipment
Method.
Background technique
The situation of marine environmental quality and drive marine factor are closely related, in Nearshore Shallow Sea sea area, periodical fluctuation
Tide movement is most important kinetic factor.When astronomical tidal wave is passed to coastal waters from ocean, since the depth of water shoals, nonlinear interaction increases
It is strong obvious.This aspect can generate the high-frequency harmonic of astronomical partial tide, cause the asymmetry of tidal level and trend, on the other hand can generate
(standard) Steady Flow of one zero-frequency, i.e. Residual current.
For the substance being dissolved or suspended in seawater, including fresh water, nutritive salt, planktonic organism, pollutant etc., more than damp cause
Stream can characterize periodic trend to their net transport effects.The direction of Residual current directly determines tide to the defeated of suspended matter
Direction is transported, and the size of Residual current then represents the net transport capability of trend.Therefore the research for Residual current, Ke Yibang
The migration rule we have found that pollutant is helped, the biogeochemical process in sea area is understood, thus the addressing to sewage draining exit, phase
It closes policy making and important reference role is played in marine management.In the strong tidal system system in coastal waters, tide is asymmetric and tide causes
Residual current is the basic motive mechanism of paralic environment problem, is studied it with important practical significance and scientific meaning.
Relevant underwater glider mostly uses buoyancy-driven equipment, realizes the floating and dive of underwater glider.Work as equipment
When needing to carry out high observing function surely, sensors real-time detection and the judgements such as altimeter need to be used.
During realizing the embodiment of the present disclosure, it is found that relevant technology at least has the following technical problems: relevant
Underwater glider with surely high observing function needs to be measured in real time the sensors such as altimeter when carrying out fixed high observation
And judgement, so that the overall cost of underwater glider is higher.
Summary of the invention
The embodiment of the invention provides a kind of control methods of underwater navigation equipment, existing relevant with fixed to solve
The underwater glider of high observing function when carrying out fixed high observation needs that the sensors such as altimeter are measured in real time and are sentenced
It is disconnected, so that the higher problem of the overall cost of underwater glider.In order to some aspects of the embodiment to disclosure have one it is basic
Understanding, simple summary is shown below.The summarized section is not extensive overview, nor to determine that key/critical forms
Element or the protection scope for describing these embodiments.Its sole purpose is that some concepts are presented with simple form, in this, as
The preamble of following detailed description.
According to a first aspect of the embodiments of the present invention, a kind of control method of underwater navigation equipment is provided.
In some optional embodiments, the control method of a kind of underwater navigation equipment, comprising: determine the underwater boat
The connection status of tilt switch in the first tilt switch group in the high component fixed under water of row equipment, according to the connection status,
Control the underwater navigation equipment floating or dive, wherein the high component fixed under water includes one or more tilt switch
Group, one or more weights and flexible cable, the tilt switch group and weight are arranged on the flexible cable, described
Tilt switch group includes one or more tilt switch.The control method for the underwater navigation equipment that the embodiment of the present disclosure provides is led to
Cross the variation of the angle of the tilt switch in the tilt switch group in fixed high component, control underwater navigation equipment floating or under
Latent, fixed high element structure herein is simple, reduces cost of the underwater navigation equipment when carrying out fixed high observation.
According to a second aspect of the embodiments of the present invention, a kind of control device of underwater navigation equipment is provided.
In some optional embodiments, the control device of a kind of underwater navigation equipment, comprising: first unit is matched
It is set to the connection status of tilt switch in the first tilt switch group in the high component fixed under water for determining the underwater navigation equipment,
Second unit is configured as controlling the underwater navigation equipment floating or dive, wherein described according to the connection status
Fixed high component includes one or more tilt switch groups under water, one or more weights and flexible cable, the tilt switch
Group and weight are arranged on the flexible cable, and the tilt switch group includes one or more tilt switch.
The technical solution that the embodiment of the present disclosure provides can include the following benefits:
The embodiment of the present disclosure provides a kind of control method of underwater navigation equipment, passes through the tilt switch in surely high component
The variation of the angle of tilt switch in group controls the floating or dive of underwater navigation equipment, fixed high element structure letter herein
It is single, reduce cost of the underwater navigation equipment when carrying out fixed high observation.
It should be understood that above general description and following detailed description be only it is exemplary and explanatory, not
It can the limitation present invention.
Detailed description of the invention
The drawings herein are incorporated into the specification and forms part of this specification, and shows and meets implementation of the invention
Example, and be used to explain the principle of the present invention together with specification.
Fig. 1 is a kind of embodiment of the present disclosure control method of underwater navigation equipment shown according to an exemplary embodiment
Schematic diagram；
Fig. 2 is a kind of embodiment of the present disclosure structural schematic diagram of fixed high component shown according to an exemplary embodiment；
Fig. 3 is a kind of embodiment of the present disclosure structural schematic diagram of tilt switch group shown according to an exemplary embodiment；
Fig. 4 is a kind of embodiment of the present disclosure structural representation of tilt switch unit shown according to an exemplary embodiment
Figure；
Fig. 5 is a kind of embodiment of the present disclosure main view of underwater navigation equipment shown according to an exemplary embodiment；
Fig. 6 is a kind of embodiment of the present disclosure perspective view of underwater navigation equipment shown according to an exemplary embodiment；
Fig. 7 is a kind of embodiment of the present disclosure top view of underwater navigation equipment shown according to an exemplary embodiment；
Fig. 8 is that a kind of embodiment of the present disclosure another structure of underwater navigation equipment shown according to an exemplary embodiment is shown
It is intended to；
Fig. 9 is a kind of showing for the embodiment of the present disclosure fixed high navigation of underwater navigation equipment shown according to an exemplary embodiment
It is intended to；
Figure 10 is the structural schematic diagram for the electronic equipment that the embodiment of the present disclosure provides.
1 tilt switch group, 2 weights, 3 flexible cables, 11 first tilt switch units, 12 second tilt switch units, 111
Shell, 112 ball switch, the pin of 113 ball switch, 4 main casings, 41 upper end covers, 42 lower covers, 421 lower end interfaces, 5 water
Sail, 6 fixed high components, 7 communication antennas, 81 outer oil sacs, oil sac in 82,9 energy modules.
Specific embodiment
The following description and drawings fully show the specific embodiment of this paper, to enable those skilled in the art to reality
Trample them.The part of some embodiments and feature can be included in or replace part and the feature of other embodiments.This
The range of the embodiment of text includes equivalent obtained by the entire scope of claims and all of claims
Object.Herein, term " first ", " second " etc. are used only for distinguishing an element and another element, without requiring
Either imply that there are any actual relationship or sequences between these elements.Actually the first element can also be referred to as second
Element, vice versa.Moreover, the terms "include", "comprise" or any other variant thereof is intended to cover non-exclusive inclusion,
So that the structure, device or the equipment that include a series of elements not only include those elements, but also including not clear
The other element listed, or further include for this structure, device or the intrinsic element of equipment.Do not limiting more
In the case where, the element that is limited by sentence "including a ...", it is not excluded that include the structure of the element, device or
There is also other identical elements in equipment.Each embodiment herein is described in a progressive manner, each embodiment emphasis
What is illustrated is the difference from other embodiments, and the same or similar parts in each embodiment may refer to each other.
Term " longitudinal direction " herein, " transverse direction ", "upper", "lower", "front", "rear", "left", "right", "vertical", " water
It is flat ", "top", "bottom" "inner", the instructions such as "outside" orientation or positional relationship be to be based on the orientation or positional relationship shown in the drawings, only
It is to be described herein with simplified for ease of description, rather than the device or element of indication or suggestion meaning must have specific side
Position is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In description herein, unless separately
There are regulation and restriction, term " installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being mechanically connected or being electrically connected
Connect, the connection being also possible to inside two elements can be directly connected, can also indirectly connected through an intermediary, for
For those skilled in the art, the concrete meaning of above-mentioned term can be understood as the case may be.
Herein, unless otherwise indicated, term " multiple " indicates two or more.
The one aspect of the embodiment of the present disclosure provides a kind of control method of underwater navigation equipment, for example, providing one
The control method of the fixed high navigation of kind underwater navigation equipment.
The control method that the embodiment of the present disclosure provides, as shown in Figure 1, comprising:
S101 determines tilt switch in the first tilt switch group in the high component fixed under water of the underwater navigation equipment
Connection status,
S102 controls the underwater navigation equipment floating or dive according to the connection status.
The control method that the embodiment of the present disclosure provides, can be according to the connection status of tilt switch in surely high component, to control
The floating or dive of underwater navigation equipment.Optionally, the connection status of tilt switch herein may include connection and disconnection two
A state.Such as: when tilt switch is vertical, tilt switch is in connected state, and reading is 1, when tilt switch inclination, inclines
Tiltedly switch is in an off state, and reading is 0.The control method of underwater navigation equipment, Ke Yiwei, when inclining are carried out using tilt switch
Tiltedly switch from when becoming inclination vertically, and the state of tilt switch is gone off by being connected to, and the reading of tilt switch becomes 0 from 1；Or
Person, when tilt switch becomes vertical from inclination, the state of tilt switch becomes being connected to from disconnecting, and the reading of tilt switch is by 0
Becoming 1, the embodiment of the present disclosure is according to the state in which of tilt switch, alternatively, according to the variation of the state of tilt switch, control
The floating or dive of underwater navigation equipment.
The control method that the embodiment of the present disclosure provides can control the cruising height of underwater navigation equipment to be higher than a certain height.
Optionally, in S102, when the connection status of tilt switch in the first tilt switch group is gone off by being connected to, control
Underwater navigation equipment processed floats.
Optionally, the quantity of the tilt switch group in fixed high component on flexible cable can be 1 group, weight on flexible cable
Quantity can be 1, optionally, tilt switch group and weight are all set in the free end of flexible cable.The length of flexible cable
Degree, and, position of the tilt switch group on flexible cable can be set according to the cruising height that submarine navigation device is set.
In control method using the underwater navigation equipment of embodiment of the present disclosure offer, tilt switch can be mercury switch.For example, working as
When the setting cruising height of underwater navigation equipment is higher than 1.5m, in fixed high component, when flexible cable is in linear state, flexible cable
The distance for tilting switching group to the connecting pin of flexible cable on line is 1.5m.Underwater navigation equipment with surely high component is in dive
In the process, the mercury switch on fixed high component is in a vertical state, flexible when the height of underwater navigation equipment dive to 1.5m
Mercury switch on cable bottoms out, and the state of mercury switch changes, and goes off state by connected state, determines underwater boat
The dive of row equipment can pass through the weight in the buoyancy-driven mechanism or flexible cable of underwater navigation equipment to the height of 1.5m
The adjusting for carrying out buoyancy or gravity makes underwater navigation equipment float, so that the cruising height of underwater navigation equipment is higher than
1.5m。
Similar, the control method that the embodiment of the present disclosure provides can control the cruising height of underwater navigation equipment to be lower than certain
One height.
Optionally, in S102, when the connection status of tilt switch in the first tilt switch group becomes connection from disconnecting, control
Underwater navigation equipment dive processed.
For example, in fixed high component, flexible cable is in straight when the setting cruising height of underwater navigation equipment is lower than 0.5m
The distance for tilting switching group to the connecting pin of flexible cable when linear state, on flexible cable is 0.5m.Water with surely high component
Lower navigational equipment is in floating-upward process, and the inclination mercury switch on fixed high component is in heeling condition, when in underwater navigation equipment
Floating to 0.5m height when, the state for tilting mercury switch changes, and becomes connected state from off-state, determines underwater boat
Row equipment has floated up to the height of 0.5m, can pass through the weight in the buoyancy-driven mechanism or flexible cable of underwater navigation equipment
The adjusting for carrying out buoyancy or gravity, makes underwater navigation equipment dive, so that the cruising height of underwater navigation equipment is lower than
0.5m。
The control method that the embodiment of the present disclosure provides, controllable underwater navigation equipment are navigated by water in a certain altitude range.
Optionally, in S102 above-mentioned, when the connection status of tilt switch in the first tilt switch group becomes disconnected from being connected to
When opening, the underwater navigation equipment dive is controlled,
Determine the connection of tilt switch in the second tilt switch group in the high component fixed under water of the underwater navigation equipment
State,
When the connection status of tilt switch in the second tilt switch group is gone off by being connected to, the underwater navigation is controlled
Equipment floats,
When the connection status of tilt switch in the first tilt switch group becomes connection from disconnecting, the underwater navigation is controlled
Equipment dive.
Optionally, the quantity of the tilt switch group in fixed high component on flexible cable can be 2 groups, such as the first tilt switch
Group and the second tilt switch group, the quantity of weight can be 1 on flexible cable, and optionally, weight is located at the first tilt switch
Between group and the second tilt switch group.For example, when between the cruising height of underwater navigation equipment setting 1.0-1.5m, fixed high structure
In part, when flexible cable is in linear state, on flexible cable the first tilt switch group to the connecting pin of flexible cable distance
For 1.5m, the distance of the second tilt switch group to the connecting pin of flexible cable is 1.0m.Underwater navigation with surely high component is set
For during dive, the inclination mercury switch on fixed high component is in a vertical state, when underwater navigation equipment dive to 1.5m
Height when, the first inclination mercury switch on flexible cable bottoms out, the shape of the tilt switch in the first inclination mercury switch group
State changes, and goes off state by connected state, determines the height of underwater navigation equipment dive to 1.5m, controls water
Lower navigational equipment continues dive, and when the height of underwater navigation equipment dive to 1.0m, the inclination in the second tilt switch group is opened
The state of pass changes, and goes off state by connected state, control underwater navigation equipment floats, when the first tilt switch group
In the state of tilt switch when becoming connection from disconnecting, determine that underwater navigation equipment floats up to 1.5m, control underwater navigation is set
Standby dive, completes the circulation of an altitude range.Optionally, each step is suitable in the control method that the embodiment of the present disclosure provides
Sequence be herein write sequence.
The embodiment of the present disclosure provides a kind of underwater navigation equipment.
The underwater navigation equipment that the embodiment of the present disclosure provides, including control module, and, the fixed high structure being connect with control module
Part, wherein fixed high component includes one or more tilt switch groups, one or more weights and flexible cable, tilt switch group
It is arranged on flexible cable with weight.
As shown in Fig. 2, the fixed high component for the underwater navigation equipment that the embodiment of the present disclosure provides includes one or more inclinations
Switching group 1, one or more weights 2 and flexible cable 3.Tilt switch group and weight are arranged on flexible cable.Fig. 2 is aobvious
Show to be the non-working condition for determining high component, for fixed high component in non-working condition, flexible cable can be in bending, fixed high structure
When part is use state, under the action of weight, flexible cable linear state also can be described as vertical state or vertical configuration
State.
" fixed height " in the embodiment of the present disclosure can be higher than a certain height value, can be lower than a certain height value, can also
To be a certain altitude range.When underwater navigation equipment is run in ocean, height herein can be underwater navigation equipment
Height of the lower surface of main casing or main casing relative to seabed.
The fixed high component that the embodiment of the present disclosure provides, one or more tilt switch groups are provided on flexible cable, are inclined
Oblique switching group is electrically connected with flexible cable.Tilt switch in tilt switch group can be passed its tilt signals by flexible cable
Out, the weight on flexible cable can be used as the counterweight of flexible cable, make surely high component in a state of use, relative to seabed, place
In plumbness.Optionally, the position of switching group can be tilted to fit in the length and flexible cable by adjusting flexible cable
Answer the different height requirements of underwater navigation equipment.
In the fixed high component that the embodiment of the present disclosure provides, it may include multiple tilt switch groups.Optionally, when surely high component packet
When including two or more tilt switch groups, multiple tilt switch group series connection, to realize underwater navigation equipment in different height
Operation.
The embodiment of the present disclosure is not especially limited the length of flexible cable.For example, it may be
50-200cm is perhaps greater than 200cm or is less than 50cm.Optionally, the shape of flexible cable can be fine strip shape
Hawser has stronger suppleness.Specifically, can be depending on demand of the underwater navigation equipment to height.Similar, the present invention
Type, shape to weight, and the quality of single weight are not especially limited, and optionally, the quality of single weight can be
50-200g, the material of weight can be the alloy of single metal or various metals composition；The shape of weight can be sphere, ellipse
Sphere, gengon, are also possible to irregular shape, for example, weight can be spherical lead.Optionally, weight herein may be used also
To be the shell of tilt switch, under the premise of not influencing tilt switch sensibility, weight is made into the shell of tilt switch, with
Realize fixed high and counterweight effect.
Relevant underwater glider mostly uses buoyancy-driven equipment, realizes the floating and dive of underwater glider, and buoyancy drives
Dynamic equipment volume is larger, and inertia is larger, and poor with fluidity, power consumption is larger, can not carry out sitting bottom observation to ocean.Remotely pilotless diving
The technical solution of the types such as device (ROV), mostly use the mode of the driven by energy such as motor driven propeller carry out in water suspend to
Achieve the purpose that depthkeeping, power consumption is big, and is easy to produce the relative velocity of the opposite true flow velocity in ocean, influences other sensors
Observation can generate strong noise to equipment itself, also, upper scheme relatively accurate can not carry out small model to keel depth
The dynamic regulation enclosed, in addition, needing when relevant technology needs equipment to carry out high observing function surely using sensors such as altimeters
Real-time detection and judgement, equipment overall cost increase.In the related technology, there is the skill carried by the similar throwing for increasing and decreasing weight to equipment
Art scheme, although having achieved the purpose that constant depth is observed, flexibility is poor, and controllability is poor, does not have what continuous several times used
Function.
The fixed high component provided using the embodiment of the present disclosure, can be used for the fixed high observation of submarine navigation device, such as cause to tide
The observation of residual current.When carrying out the observation of Residual current using the fixed high component that the embodiment of the present disclosure provides, can to Residual current into
The fixed high observation of row, improves the accuracy of observed result, and, equipment it is small in size, inertia is small, with good fluidity, small power consumption, simultaneously
Improve the duration performance of submarine navigation device.
Optionally, in the fixed high component that the embodiment of the present disclosure provides, tilt switch group includes one or more tilt switch
Unit.
It may include one or more tilt switch units in single tilt switch group.It optionally, can be in single tilt switch
Two or more tilt switch units being mutually redundant are set in group, and optionally, multiple in single tilt switch group incline
Oblique switch unit series connection, improves the accuracy and sensibility of surely high component.As shown in figure 3, including in a tilt switch group
First tilt switch unit 11 and the second tilt switch unit 12.
Optionally, in the fixed high component that the embodiment of the present disclosure provides, tilt switch unit includes shell, and is arranged in shell
Interior one or more tilt switch.
Single tilt switch unit may include one or more tilt switch.Optionally, when single tilt switch unit packet
When including two or more tilt switch, multiple tilt switch be may be provided in a shell, optionally, multiple tilt switch
It is arranged in a crossed manner, the tilt condition of seabed different directions dimension is detected with realizing.For example, tilt switch unit includes first
Tilt switch and the second tilt switch, the first tilt switch and the second tilt switch are arranged in a crossed manner, are tieed up with realizing to different directions
The detection of degree；Optionally, the first tilt switch and the second tilt switch right-angled intersection setting；Optionally, the first tilt switch and
Second tilt switch is arranged in series.Optionally, tilt switch can be mercury switch or ball switch.
When the fixed high component provided using the embodiment of the present disclosure carries out surely high in water, optionally, each tilt switch
The shell 111 of unit passes through the encapsulating of watertight glue, guarantees watertightness.Optionally, due to the effect of ocean cross force, software can be used
Disappear and tremble processing, improves the stability of tilt switch.
Optionally, in the fixed high component that the embodiment of the present disclosure provides, embodiment as shown in Figure 4 provides one kind and includes
The tilt switch unit of the ball switch of two right-angled intersections setting.Two ball switch 112 are arranged in shell 111, and two
A ball switch passes through the pin 113 of ball switch, and a laterally setting, one longitudinally disposed, and then realizes two balls
The right-angled intersection of switch is arranged.
Optionally, in the fixed high component that the embodiment of the present disclosure provides, fixed high component include be arranged in it is more on flexible cable
A tilt switch group, and, one or more weights, wherein be provided with weight between two neighboring tilt switch group.
In the fixed high component that the embodiment of the present disclosure provides, it may be provided with multiple tilt switch groups on flexible cable, that is, first
Tilt switch group, the second tilt switch group, third tilt switch group ..., N tilt switch group, optionally, on flexible cable
May be provided with multiple weights, that is, the first weight, the second weight, third weight ..., N-1 weight, multiple tilt switch groups
It can be with multiple weights putting in order on flexible cable are as follows: the first tilt switch group, the first weight, the second tilt switch
Group, the second weight, third tilt switch group, third weight ..., N-1 tilt switch group, N-1 weight, N inclination open
Pass group.Optionally, when being provided with N number of tilt switch group on flexible cable, the quantity of weight is N-1 on flexible cable.Example
Such as, when surely high component includes there are three in tilt switch group and two weights, tilt switch group and weight are on flexible cable
It puts in order and is followed successively by the first tilt switch group, the first weight, the second tilt switch group, the second weight, third tilt switch group.
Optionally, the distance between multiple tilt switch groups may be the same or different, can be according to the default fortune of underwater navigation equipment
Row height is determined.Similar, when being provided with multiple weights on flexible cable, the distance between multiple weights can phase
Together, it can also be different.
In the fixed high component that the embodiment of the present disclosure provides, weight can be used as the gravity regulating mechanism of underwater navigation equipment.It is soft
Property cable on weight, on the one hand, can be used as the counterweight of flexible cable, make entirely fixed high component be in straight condition, another party
Face carries out adaptive depth adjustment using the gravity of weight and the buoyancy of underwater navigation equipment, reduces underwater navigation equipment
Electric energy used in buoyancy adjustment improves the cruising ability of underwater navigation equipment.
Optionally, as shown in Fig. 2, the first weight is close to the first tilt switch group, the second weight is close to the second tilt switch
Group.It is to be understood that on flexible cable, the first weight is located at the first tilt switch group and opens with the second inclination " close " herein
Opposite between the group of pass, the first weight is located at close to the position of the first tilt switch group, and similar, the second weight is located at second
Opposite between tilt switch group and third tilt switch group, the second weight is located at close to the position of the second tilt switch group.It can
Choosing, the first weight is contacted with the first tilt switch group, and the second weight is contacted with the second tilt switch group.
The fixed high component that the embodiment of the present disclosure provides, sensibility and accuracy with higher.Optionally, adjusting can be passed through
It is a certain to realize that the cruising height of underwater navigation equipment is higher than in the position of flexible cable for the length and tilt switch group of flexible cable
Height value, alternatively, being lower than a certain height value, alternatively, two neighboring in the length and flexible cable by adjusting flexible cable
The distance between tilt switch group realizes operation of the underwater navigation equipment in a certain altitude range.
Optionally, the underwater navigation equipment that the embodiment of the present disclosure provides includes control module, and, it is connect with control module
Fixed high component, connection herein are electrical connection.
Control module can receive the signal of tilt switch in fixed high component, and be controlled according to the variation of the signal of tilt switch
The cruising height of underwater navigation equipment.
Optionally, the underwater navigation equipment that the embodiment of the present disclosure provides further includes main casing, and control module is set to main casing
Internal portion, fixed high component are set to the outside of main casing.Optionally, main casing can be a containment member, to protect main casing
The components such as the control module in internal portion.Optionally, the fixed link position of high component on a main housing may is that main casing include with
The first end and the second end opposite with first end of antenna connection, fixed high component is connect with second end, for example, being connected to Fig. 8's
At lower end interface 421.
Optionally, fixed high component includes the connecting pin and the free end opposite with connecting pin connected with lower end interface 421, when
When fixed high component includes a weight, weight is set to free end, so that the flexible cable state in a vertical shape of fixed high component.
Optionally, the underwater navigation equipment that the embodiment of the present disclosure provides further include: buoyancy-driven module, communication module, energy
The combination of one or more of source module, sensing module.
As viewed in figures 5-8, the underwater navigation equipment that the embodiment of the present disclosure provides includes: buoyancy-driven mechanism, control and leads to
Interrogate module, energy module 9, main casing 4, water sail 5, fixed high component 6, communication antenna 7, sensing module.
Wherein, buoyancy-driven mechanism includes: oil sac, hydraulic pump, pipeline, solenoid valve.
Oil sac further includes interior oil sac 82 and outer oil sac 81, and the outer upper ends of main casing 4 are arranged in outer oil sac 81, to guarantee
Equipment centre of buoyancy is on the upper side, external to seal with seawater isolation, passes through pipeline, hydraulic pump, solenoid valve connection inside oil sac；Interior oil sac 82 is set
It sets inside main casing 4, equally passes through the connection such as pipeline, hydraulic pump, solenoid valve.Inside and outside oil sac, hydraulic pump, pipeline and solenoid valve
Circuit is formed, by the volume of the inside and outside oil sac of shutdown and control of hydraulic pump and solenoid valve, so that the entirety for changing equipment arranges
The volume of water changes the gross buoyancy of system, realizes the floating and dive campaign of equipment.Hydraulic pump and solenoid valve are also by controller
Control, with realize rotation or switching function.
Control and communication module are mounted on inside main casing 4, comprising: controller, communication module, power management module.Control
Device processed is the control centre of system, for functions such as control command transmission, Communication Controls, with communication module and power management module
Connection.Communication module, which is configured in, realizes that communication signal sends and receives, connecting communication antenna 7, and power management module is mainly real
The functions such as existing pressure stabilizing, power supply, power management, connect energy module 9.
Energy module 9 can be battery, may be provided at 4 lower end of main casing, to guarantee that equipment center of gravity is on the lower side, connection control
Consuming components in system and communication module and system.
Main casing 4 includes pod, intermediate warehouse, end cover.Wherein, the shape of pod can be hemispherical, if
It sets on upper end cover 41, intermediate warehouse can be the cylinder with certain wall thickness, and both ends are respectively arranged with upper end cover 41 and lower end
Lid 42, upper end cover 41 and lower cover 42 form end cover, realize the sealing function of cylinder.Optionally, upper end cover 41 and lower end
It is additionally provided with sealed interface outside lid 42, to install watertight cable, realizes the components such as intermediate bin body internal element and external sensor
Electrical connection.Sealed interface is additionally provided with outside end cover, it is real for installing watertight cable such as the lower end interface 421 in Fig. 8
The electric linkage function of the existing components such as intermediate bin body internal element and external sensor.
Water sail 5 includes water sail bracket and canvas.Water sail 5 can be arranged more sets according to demand, such as 2 sets, 4 sets or more,
As shown in Figure 6 and Figure 7, water sail is in cross.Optionally, water sail bracket is horizontal strip structure, is arranged by anchor ear in intermediate bin
On body, each pair of water sail bracket is oppositely arranged, and centre is for installing canvas.The shape of canvas can be rectangle, underwater for increasing
The resistance of navigational equipment and ocean current, improve underwater navigation equipment with stream ability, realize underwater navigation equipment and ocean current without cunning
De- motor function.The embodiment of the present disclosure does not limit the quantity of water sail, the area of canvas and installation site and angle etc. specifically
Fixed, the feature for the Residual current that can be observed according to actual needs is arranged.
Communication antenna 7 can be column construction, send and receive function for wireless signal, to guarantee reliable communications
Property, generally it is disposed at the top of main casing.
Sensing module, comprising: pressure sensor, acceleration transducer etc..Optionally, pressure sensor is arranged in main casing
The pod of 4 lower ends is connected by watertight cable with controller for detecting the depth value of underwater navigation equipment position.Add
Velocity sensor is used to detect the acceleration value of underwater navigation equipment to calculate movement velocity, while also can detect inclining for equipment
Gradient, optionally, acceleration transducer are mountable to 4 inside of main casing and connect with controller.Optionally, sensing module may be used also
To include thermohaline depth sensor etc., can carry according to actual needs, according to actual measurement needs, be installed on pod inside or
It is external.
The operational configuration for the underwater navigation equipment that the embodiment of the present disclosure provides can be as shown in Figure 9.
The another aspect of the embodiment of the present disclosure provides a kind of control device of underwater navigation equipment, for example, disclosing one
The control device of the fixed high navigation of kind underwater navigation equipment.
The control device that the embodiment of the present disclosure provides, comprising: first unit is configured to determine that the underwater navigation equipment
High component fixed under water in the first tilt switch group in tilt switch connection status, second unit is configured as according to institute
State connection status, control the underwater navigation equipment and float or dive, wherein the high component fixed under water includes, one or
Multiple tilt switch groups, one or more weights and flexible cable, the tilt switch group and weight are arranged at the flexibility
On cable, the tilt switch group includes one or more tilt switch.
Optionally, in control device above-mentioned, second unit, when the connection status of tilt switch in the first tilt switch group
When being gone off by connection, controls the underwater navigation equipment and float.
Optionally, in control device above-mentioned, second unit is configured as when tilt switch in the first tilt switch group
When connection status becomes connection from disconnecting, the underwater navigation equipment dive is controlled.
Optionally, in control device above-mentioned, second unit is configured as when tilt switch in the first tilt switch group
When connection status is gone off by being connected to, the underwater navigation equipment dive is controlled, third unit is configured to determine that the water
The connection status of tilt switch, Unit the 4th are matched in the second tilt switch group in the high component fixed under water of lower navigational equipment
It is set to when the connection status of tilt switch in the second tilt switch group is gone off by being connected to, controls the underwater navigation equipment
It floats, Unit the 5th is configured as the control when the connection status of tilt switch in the first tilt switch group becomes connection from disconnecting
Make the underwater navigation equipment dive, wherein the high component fixed under water includes at least the first tilt switch group and the second inclination
Switching group, and, the distance of the main casing of the first tilt switch group to the underwater navigation equipment is greater than second inclination
Switching group to the underwater navigation equipment main casing distance.
The another aspect of the embodiment of the present disclosure provide it is a kind of include foregoing control device underwater navigation equipment.
The fixed high component mentioned in the embodiment of the present disclosure, underwater navigation equipment, the control method of underwater navigation equipment and
In the control device of underwater navigation equipment, the content of each embodiment can be quoted mutually, not repeated excessively herein.
The embodiment of the present disclosure additionally provides a kind of computer readable storage medium, is stored with computer executable instructions, institute
State the control method that computer executable instructions are arranged to carry out above-mentioned submarine navigation device.
The embodiment of the present disclosure additionally provides a kind of computer program product, and the computer program product includes being stored in meter
Computer program on calculation machine readable storage medium storing program for executing, the computer program include program instruction, when program instruction is by computer
When execution, the computer is made to execute the control method of above-mentioned submarine navigation device.
Above-mentioned computer readable storage medium can be transitory computer readable storage medium, be also possible to non-transient meter
Calculation machine readable storage medium storing program for executing.
The embodiment of the present disclosure additionally provides a kind of electronic equipment, and structure is as shown in Figure 10, which includes:
In at least one processor (processor) 200, Figure 10 by taking a processor 200 as an example；And memory
(memory) 201, it can also include communication interface (Communication Interface) 202 and bus 203.Wherein, it handles
Device 200, communication interface 202, memory 201 can complete mutual communication by bus 203.Communication interface 202 can be used
It is transmitted in information.Processor 200 can call the logical order in memory 201, to execute the underwater navigation of above-described embodiment
The control method of device.
In addition, the logical order in above-mentioned memory 201 can be realized by way of SFU software functional unit and conduct
Independent product when selling or using, can store in a computer readable storage medium.
Memory 201 is used as a kind of computer readable storage medium, can be used for storing software program, journey can be performed in computer
Sequence, such as the corresponding program instruction/module of the method in the embodiment of the present disclosure.Processor 200 is stored in memory 201 by operation
In software program, instruction and module, thereby executing functional application and data processing, i.e., in realization above method embodiment
Submarine navigation device control method.
Memory 201 may include storing program area and storage data area, wherein storing program area can storage program area,
Application program needed at least one function；Storage data area, which can be stored, uses created data etc. according to terminal device.
In addition, memory 201 may include high-speed random access memory, it can also include nonvolatile memory.
The technical solution of the embodiment of the present disclosure can be embodied in the form of software products, which deposits
Storage in one storage medium, including one or more instruction is used so that computer equipment (can be personal computer,
Server or the network equipment etc.) execute embodiment of the present disclosure the method all or part of the steps.And storage above-mentioned is situated between
Matter can be non-transient storage media, comprising: USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), with
Machine accesses a variety of Jie that can store program code such as memory (RAM, Random Access Memory), magnetic or disk
Matter is also possible to transitory memory medium.
Above description and attached drawing sufficiently illustrate embodiment of the disclosure, to enable those skilled in the art to practice
They.Other embodiments may include structure, logic, it is electrical, process and other change.Embodiment only represents
Possible variation.Unless explicitly requested, otherwise individual components and functionality is optional, and the sequence operated can change.
The part of some embodiments and feature can be included in or replace part and the feature of other embodiments.The embodiment of the present disclosure
Range includes the entire scope of claims and all obtainable equivalents of claims.When for the application
When middle, although term " first ", " second " etc. may be used in this application to describe each element, these elements should not be by
To the limitation of these terms.These terms are only used to differentiate an element with another element.For example, not changing description
Meaning in the case where, first element can be called second element, and same, and second element can be called first element,
As long as " first element " that is occurred unanimously renames and " second element " occurred unanimously renames.First
Element and second element are all elements, but can not be identical element.Moreover, word used herein is only used for describing
Embodiment and it is not used in limitation claim.As used in the description in embodiment and claim, unless context
It clearly illustrates, otherwise "one" (a) of singular, "one" (an) and " described " (the) is intended to equally include plural shape
Formula.Similarly, term "and/or" refers to and associated lists comprising one or more as used in this specification
Any and all possible combination.In addition, when in the application, term " includes " (comprise) and its modification " packet
Include " (comprises) and/or feature, entirety, step, operation, element and/or group including the statement such as (comprising) fingers
The presence of part, but it is not excluded for one or more other features, entirety, step, operation, element, component and/or these point
The presence or addition of group.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in the process, method or equipment for including the element.Herein, each embodiment emphasis
What is illustrated can be the difference from other embodiments, and the same or similar parts in each embodiment can refer to each other.It is right
For the method disclosed in embodiment, product etc., if it is corresponding with method part disclosed in embodiment, related place
It may refer to the description of method part.
It will be appreciated by those of skill in the art that unit described in conjunction with the examples disclosed in the embodiments of the present disclosure and
Algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually with hard
Part or software mode execute, and can depend on the specific application and design constraint of technical solution.The technical staff
Described function can be realized using distinct methods to each specific application, but this realization is it is not considered that exceed
The range of the embodiment of the present disclosure.The technical staff can be understood that, for convenience and simplicity of description, foregoing description
The specific work process of system, device and unit, can refer to corresponding processes in the foregoing method embodiment, no longer superfluous herein
It states.
In embodiments disclosed herein, disclosed method, product (including but not limited to device, equipment etc.) can be with
It realizes by another way.For example, the apparatus embodiments described above are merely exemplary, for example, the unit
Divide, can be only a kind of logical function partition, there may be another division manner in actual implementation, for example, multiple units or
Component can be combined or can be integrated into another system, or some features can be ignored or not executed.In addition, shown
Or the mutual coupling, direct-coupling or communication connection discussed can be through some interfaces, device or unit it is indirect
Coupling or communication connection can be electrical property, mechanical or other forms.The unit as illustrated by the separation member can be or
Person, which may not be, to be physically separated, and component shown as a unit may or may not be physical unit
With in one place, or may be distributed over multiple network units.Portion therein can be selected according to the actual needs
Point or whole unit realize the present embodiment.In addition, each functional unit in the embodiments of the present disclosure can integrate at one
In processing unit, it is also possible to each unit and physically exists alone, a list can also be integrated in two or more units
In member.
The flow chart and block diagram in the drawings show system, the method and computer program products according to the embodiment of the present disclosure
Architecture, function and operation in the cards.In this regard, each box in flowchart or block diagram can represent one
A part of module, section or code, a part of the module, section or code include it is one or more for realizing
The executable instruction of defined logic function.In some implementations as replacements, function marked in the box can also be with
Occur different from the sequence marked in attached drawing.For example, two continuous boxes can actually be basically executed in parallel, they
Sometimes it can also execute in the opposite order, this can be depended on the functions involved.Each side in block diagram and or flow chart
The combination of box in frame and block diagram and or flow chart can be based on firmly with the defined function of execution or the dedicated of movement
The system of part is realized, or can be realized using a combination of dedicated hardware and computer instructions.
The invention is not limited to the structures for being described above and being shown in the accompanying drawings, and can not depart from its model
It encloses and carry out various modifications and change.The scope of the present invention is limited only by the attached claims.
Claims (9)
1. a kind of control method of underwater navigation equipment characterized by comprising
Determine the connection status of tilt switch in the first tilt switch group in the high component fixed under water of the underwater navigation equipment,
According to the connection status, the underwater navigation equipment floating or dive are controlled,
Wherein, the high component fixed under water includes one or more tilt switch groups, one or more weights and flexible cable
Line, the tilt switch group and weight are arranged on the flexible cable, and the tilt switch group is inclined including one or more
Tiltedly switch.
2. the method as described in claim 1, which is characterized in that
It is described that the underwater navigation equipment floating or dive are controlled according to the connection status,
When the connection status of tilt switch in the first tilt switch group is gone off by being connected to, the underwater navigation equipment is controlled
It floats.
3. the method as described in claim 1, which is characterized in that
It is described that the underwater navigation equipment floating or dive are controlled according to the connection status,
When the connection status of tilt switch in the first tilt switch group becomes connection from disconnecting, the underwater navigation equipment is controlled
Dive.
4. the method as described in claim 1, which is characterized in that
It is described according to the connection status, control the underwater navigation equipment float or dive in, when in the first tilt switch group
When the connection status of tilt switch is gone off by being connected to, the underwater navigation equipment dive is controlled,
Determine the connection status of tilt switch in the second tilt switch group in the high component fixed under water of the underwater navigation equipment,
When the connection status of tilt switch in the second tilt switch group is gone off by being connected to, the underwater navigation equipment is controlled
It floats,
When the connection status of tilt switch in the first tilt switch group becomes connection from disconnecting, the underwater navigation equipment is controlled
Dive,
Wherein, the high component fixed under water includes at least the first tilt switch group and the second tilt switch group, and, described first inclines
The distance of main casing of the oblique switching group to the underwater navigation equipment is greater than the second tilt switch group to the underwater navigation
The distance of the main casing of equipment.
5. a kind of control device of underwater navigation equipment characterized by comprising
First unit is configured to determine that in the first tilt switch group of the underwater navigation equipment determined in high component under water and inclines
The connection status tiltedly switched,
Second unit is configured as controlling the underwater navigation equipment floating or dive according to the connection status,
Wherein, the high component fixed under water includes one or more tilt switch groups, one or more weights and flexible cable
Line, the tilt switch group and weight are arranged on the flexible cable, and the tilt switch group is inclined including one or more
Tiltedly switch.
6. device as claimed in claim 5, which is characterized in that
The second unit is configured as being gone off when the connection status of tilt switch in the first tilt switch group by being connected to
When, it controls the underwater navigation equipment and floats.
7. device as claimed in claim 5, which is characterized in that
The second unit is configured as becoming being connected to from disconnecting when the connection status of tilt switch in the first tilt switch group
When, control the underwater navigation equipment dive.
8. device as claimed in claim 5, which is characterized in that
The second unit is configured as being gone off when the connection status of tilt switch in the first tilt switch group by being connected to
When, the underwater navigation equipment dive is controlled,
Third unit is configured to determine that in the second tilt switch group of the underwater navigation equipment determined in high component under water and inclines
The connection status tiltedly switched,
Unit the 4th is configured as when the connection status of tilt switch in the second tilt switch group is gone off by being connected to, control
The underwater navigation equipment is made to float,
Unit the 5th is configured as the control when the connection status of tilt switch in the first tilt switch group becomes connection from disconnecting
The underwater navigation equipment dive is made,
Wherein, the high component fixed under water includes at least the first tilt switch group and the second tilt switch group, and, described first inclines
The distance of main casing of the oblique switching group to the underwater navigation equipment is greater than the second tilt switch group to the underwater navigation
The distance of the main casing of equipment.
9. a kind of underwater navigation equipment, which is characterized in that including the device as described in any one of claim 5-8.
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| CN201910282218.3A CN110065604B (en) | 2019-04-09 | 2019-04-09 | Control method of sailing equipment under constant water level with current |
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| CN110065604B (en) | 2021-10-22 |
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