CN110065604B

CN110065604B - Control method of sailing equipment under constant water level with current

Info

Publication number: CN110065604B
Application number: CN201910282218.3A
Authority: CN
Inventors: 江文胜; 生小萱; 毛新燕; 宋大雷; 侯人瑜; 孙伟成
Original assignee: Ocean University of China
Current assignee: Ocean University of China
Priority date: 2019-04-09
Filing date: 2019-04-09
Publication date: 2021-10-22
Anticipated expiration: 2039-04-09
Also published as: CN110065604A

Abstract

The application belongs to the field of underwater navigation equipment, and discloses a control method of the underwater navigation equipment, which comprises the following steps: determining the connection state of a tilt switch in a first tilt switch group in an underwater height-fixing component of the underwater navigation equipment, and controlling the underwater navigation equipment to ascend or descend according to the connection state, wherein the underwater height-fixing component comprises one or more tilt switch groups, one or more weights and a flexible cable, the tilt switch groups and the weights are arranged on the flexible cable, and the tilt switch groups comprise one or more tilt switches.

Description

Control method of sailing equipment under constant water level with current

Technical Field

The application relates to the field of underwater navigation equipment, for example to a control method of underwater navigation equipment with water level determined along with water flow.

Background

The condition of marine environmental quality is closely related to marine power factors, and in offshore shallow sea areas, periodically fluctuating tide motion is the most important power factor. When the astronomical tidal wave passes from the ocean into the offshore, the nonlinear effect is enhanced significantly as the water depth becomes shallower. This generates, on the one hand, high-frequency harmonics of the astronomical partial tide, which causes asymmetry in the tide level and flow, and, on the other hand, produces a (quasi-) steady flow of zero frequency, i.e. a tidal residual flow.

For substances dissolved or suspended in seawater, including fresh water, nutritive salts, plankton, pollutants, etc., the tidal residual flow can characterize the net transport effect of periodic tidal currents on them. The direction of the tidal residual flow directly determines the direction of transport of the suspended matter by the tide, while the magnitude of the tidal residual flow represents the net transport capacity of the tidal flow. Therefore, the research on the residual tidal current can help people to find the migration rule of pollutants and understand the biogeochemical process in the sea area, thereby playing an important reference role in the site selection of sewage outlets, the formulation of relevant policies and marine management. In an offshore strong tide system, tide asymmetry and tide residual flow are basic kinetic mechanisms of offshore environment problems, and have important practical significance and scientific significance for the research of the problems.

Related underwater gliders mostly adopt buoyancy driving equipment to realize the floating and submerging of the underwater gliders. When the equipment needs to perform the height-fixing observation function, sensors such as an altimeter and the like need to be used for real-time detection and judgment.

In the process of implementing the embodiments of the present disclosure, it is found that the related technologies have at least the following technical problems: when the related underwater glider with the height-fixed observation function carries out height-fixed observation, sensors such as an altimeter and the like need to be detected and judged in real time, so that the overall cost of the underwater glider is higher.

Disclosure of Invention

The embodiment of the invention provides a control method of underwater navigation equipment, which aims to solve the problem that when the height of an existing related underwater glider with a fixed-height observation function is observed, sensors such as an altimeter and the like need to be detected and judged in real time, so that the overall cost of the underwater glider is high. The following presents a simplified summary in order to provide a basic understanding of some aspects of the disclosed embodiments. This summary is not an extensive overview and is intended to neither identify key/critical elements nor delineate the scope of such embodiments. Its sole purpose is to present some concepts in a simplified form as a prelude to the more detailed description that is presented later.

According to a first aspect of embodiments of the present invention, there is provided a control method of an underwater navigation apparatus.

In some optional embodiments, the method for controlling an underwater navigation apparatus includes: determining the connection state of a tilt switch in a first tilt switch group in an underwater height-fixing component of the underwater navigation equipment, and controlling the underwater navigation equipment to ascend or descend according to the connection state, wherein the underwater height-fixing component comprises one or more tilt switch groups, one or more weights and a flexible cable, the tilt switch groups and the weights are arranged on the flexible cable, and the tilt switch groups comprise one or more tilt switches. According to the control method of the underwater navigation equipment provided by the embodiment of the disclosure, the floating or submerging of the underwater navigation equipment is controlled through the change of the angle of the tilt switch in the tilt switch group in the height fixing component, the height fixing component has a simple structure, and the cost of the underwater navigation equipment in the height fixing observation is reduced.

According to a second aspect of the embodiments of the present invention, there is provided a control apparatus for an underwater navigation device.

In some optional embodiments, the control device of underwater navigation equipment comprises: a first unit configured to determine a connection state of a tilt switch in a first tilt switch group in an underwater elevation member of the underwater navigation device, and a second unit configured to control the underwater navigation device to ascend or descend according to the connection state, wherein the underwater elevation member includes one or more tilt switch groups, one or more weights, and a flexible cable on which the tilt switch groups and the weights are disposed, the tilt switch groups including one or more tilt switches.

The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects:

the embodiment of the disclosure provides a control method of underwater navigation equipment, which controls the underwater navigation equipment to float or dive through the change of the angle of an inclination switch in an inclination switch group in a height fixing component.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.

FIG. 1 is a schematic diagram of a method of controlling an underwater navigation device according to an exemplary embodiment of the present disclosure;

FIG. 2 is a schematic illustration of a structure of a leveling member shown in accordance with an exemplary embodiment of the present disclosure;

FIG. 3 is a schematic diagram illustrating a tilt switch bank according to an exemplary embodiment of the present disclosure;

FIG. 4 is a schematic diagram illustrating a tilt switch unit according to an exemplary embodiment of the present disclosure;

FIG. 5 is a front view of an underwater navigation device shown in accordance with an exemplary embodiment of the present disclosure;

FIG. 6 is a perspective view of an underwater navigation device shown in accordance with an exemplary embodiment of the present disclosure;

FIG. 7 is a top view of an underwater navigation device shown in accordance with an exemplary embodiment of the present disclosure;

FIG. 8 is another schematic structural diagram of an underwater navigation device shown in accordance with an exemplary embodiment of the present disclosure;

FIG. 9 is a schematic illustration of an underwater navigation device for high navigation in accordance with an exemplary embodiment of the present disclosure;

fig. 10 is a schematic structural diagram of an electronic device provided in an embodiment of the present disclosure.

The device comprises a tilt switch group 1, a weight 2, a flexible cable 3, a first tilt switch unit 11, a second tilt switch unit 12, a shell 111, a ball switch 112, a pin of the ball switch 113, a main shell 4, an upper end cover 41, a lower end cover 42, a lower end interface 421, a water sail 5, a height-fixing component 6, a communication antenna 7, an oil bag outside 81, an oil bag inside 82 and an energy module 9.

Detailed Description

The following description and the drawings sufficiently illustrate specific embodiments herein to enable those skilled in the art to practice them. Portions and features of some embodiments may be included in or substituted for those of others. The scope of the embodiments herein includes the full ambit of the claims, as well as all available equivalents of the claims. The terms "first," "second," and the like, herein are used solely to distinguish one element from another without requiring or implying any actual such relationship or order between such elements. In practice, a first element can also be referred to as a second element, and vice versa. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a structure, apparatus, or device that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such structure, apparatus, or device. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a structure, device or apparatus that comprises the element. The embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.

The terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like herein, as used herein, are defined as orientations or positional relationships based on the orientation or positional relationship shown in the drawings, and are used for convenience in describing and simplifying the description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention. In the description herein, unless otherwise specified and limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may include, for example, mechanical or electrical connections, communications between two elements, direct connections, and indirect connections via intermediary media, where the specific meaning of the terms is understood by those skilled in the art as appropriate.

Herein, the term "plurality" means two or more, unless otherwise specified.

In one aspect of the disclosed embodiments, a method for controlling an underwater navigation apparatus is provided, for example, a method for controlling a level-fixed navigation of an underwater navigation apparatus is provided.

The control method provided by the embodiment of the present disclosure, as shown in fig. 1, includes:

s101, determining the connection state of the tilt switches in the first tilt switch group in the underwater height-fixing component of the underwater navigation equipment,

and S102, controlling the underwater navigation equipment to float up or submerge according to the connection state.

The control method provided by the embodiment of the disclosure can control the floating or submerging of the underwater navigation equipment according to the connection state of the inclination switch in the height-fixing component. Alternatively, the connection state of the tilt switch herein may include both on and off states. For example: when the tilt switch is vertical, the tilt switch is in a connected state and reads 1, and when the tilt switch is tilted, the tilt switch is in a disconnected state and reads 0. The control method of the underwater navigation equipment by adopting the tilt switch can be that when the tilt switch is changed from vertical to tilt, the state of the tilt switch is changed from connection to disconnection, and the reading of the tilt switch is changed from 1 to 0; alternatively, when the tilt switch is changed from tilt to vertical, the state of the tilt switch is changed from off to on, the reading of the tilt switch is changed from 0 to 1, and the embodiment of the present disclosure controls the floating or sinking of the underwater navigation device according to the state of the tilt switch or the change of the state of the tilt switch.

The control method provided by the embodiment of the disclosure can control the sailing height of the underwater sailing equipment to be higher than a certain height.

Optionally, in S102, when the connection state of the tilt switches in the first tilt switch group is changed from on to off, the underwater navigation device is controlled to float.

Optionally, the number of the tilt switch sets on the flexible cable in the height determining member may be 1, and the number of the weights on the flexible cable may be 1, and optionally, both the tilt switch sets and the weights are disposed at the free end of the flexible cable. The length of the flexible cable, and the position of the tilt switch assembly on the flexible cable, can be set according to the ride height set by the underwater vehicle. In the control method of the underwater navigation equipment provided by the embodiment of the disclosure, the tilt switch can be a mercury switch. For example, when the set cruising height of the underwater vehicle is higher than 1.5m, the distance from the tilt switch group to the connection end of the flexible cable on the flexible cable is 1.5m when the flexible cable is in a straight state in the fixed height member. The underwater navigation equipment with the height fixing component is in a vertical state in the submergence process, when the underwater navigation equipment submerges to the height of 1.5m, the mercury switch on the flexible cable touches the bottom, the state of the mercury switch changes and is changed into a disconnection state from a connection state, the underwater navigation equipment is judged to submerge to the height of 1.5m, the buoyancy or gravity can be adjusted through the buoyancy driving mechanism of the underwater navigation equipment or a heavy object on the flexible cable, the underwater navigation equipment floats upwards, and the navigation height of the underwater navigation equipment is higher than 1.5 m.

Similarly, the control method provided by the embodiment of the disclosure can control the sailing height of the underwater sailing equipment to be lower than a certain height.

Optionally, in S102, when the connection state of the tilt switches in the first tilt switch group is changed from off to on, the underwater navigation device is controlled to dive.

For example, when the set cruising height of the underwater vehicle is less than 0.5m, the distance from the tilt switch group to the connection end of the flexible cable on the flexible cable is 0.5m when the flexible cable is in a straight state in the fixed height member. The underwater navigation equipment with the height fixing component is in an inclined state in the floating process, when the underwater navigation equipment floats to the height of 0.5m, the state of the inclined mercury switch changes and is changed from a disconnected state to a connected state, the underwater navigation equipment is judged to float to the height of 0.5m, the buoyancy or gravity can be adjusted through a buoyancy driving mechanism of the underwater navigation equipment or a heavy object on a flexible cable, the underwater navigation equipment is made to dive, and then the navigation height of the underwater navigation equipment is made to be lower than 0.5 m.

The control method provided by the embodiment of the disclosure can control the underwater navigation equipment to navigate within a certain height range.

Alternatively, in the aforementioned S102, when the connection state of the tilt switch in the first tilt switch group is changed from on to off, the underwater vehicle is controlled to dive,

determining a connection state of the tilt switches in the second tilt switch group in the underwater elevation member of the underwater navigation device,

when the connection state of the tilt switches in the second tilt switch group is changed from connection to disconnection, the underwater navigation equipment is controlled to float upwards,

and when the connection state of the tilt switches in the first tilt switch group is changed from disconnection to connection, controlling the underwater navigation equipment to dive.

Optionally, the number of tilt switch groups on the flexible cable in the leveling member may be 2, such as the first tilt switch group and the second tilt switch group, and the number of weights on the flexible cable may be 1, and optionally, the weight is located between the first tilt switch group and the second tilt switch group. For example, when the sailing height of the underwater sailing equipment is set to be 1.0-1.5m, and the flexible cable is in a straight state in the height-fixing member, the distance from the first tilt switch group on the flexible cable to the connecting end of the flexible cable is 1.5m, and the distance from the second tilt switch group to the connecting end of the flexible cable is 1.0 m. When the underwater navigation equipment with the height-fixing member is submerged, the inclined mercury switch on the height-fixing member is in a vertical state, when the underwater navigation equipment submerges to the height of 1.5m, the first inclined mercury switch on the flexible cable touches the bottom, the state of the inclined switch in the first inclined mercury switch group is changed, the connected state is changed into the disconnected state, the underwater navigation equipment is judged to submerge to the height of 1.5m, the underwater navigation equipment is controlled to submerge continuously, when the underwater navigation equipment dives to the height of 1.0m, the state of the tilt switch in the second tilt switch group changes, the connected state is changed into the disconnected state, the underwater navigation equipment is controlled to float upwards, and when the state of the tilt switch in the first tilt switch group is changed from off to on, judging that the underwater navigation equipment floats to 1.5m, controlling the underwater navigation equipment to submerge, and completing a cycle in a height range. Optionally, the order of steps in the control method provided by the embodiment of the present disclosure is a writing order here.

The disclosed embodiment provides underwater navigation equipment.

The underwater navigation equipment provided by the embodiment of the disclosure comprises a control module and a height-fixing component connected with the control module, wherein the height-fixing component comprises one or more tilt switch groups, one or more weights and a flexible cable, and the tilt switch groups and the weights are arranged on the flexible cable.

As shown in fig. 2, the disclosed embodiment provides a height setting member of an underwater navigation apparatus including one or more tilt switch groups 1, one or more weights 2, and a flexible cable 3. The tilt switch group and the weight are both arranged on the flexible cable. Fig. 2 shows the height-fixing member in a non-use state, the flexible cable may be bent when the height-fixing member is in the non-use state, and the flexible cable may be in a straight state under the action of the weight when the height-fixing member is in the use state, and may also be described as a vertical state or a vertical state.

The "height" in the embodiments of the present disclosure may be higher than a certain height value, may be lower than a certain height value, or may be a certain height range. When the underwater navigation device is operated in the ocean, the height here may be the height of the main housing of the underwater navigation device or the lower surface of the main housing with respect to the ocean bottom.

The height fixing component provided by the embodiment of the disclosure is provided with one or more tilt switch groups on a flexible cable, and the tilt switch groups are electrically connected with the flexible cable. The tilt switches in the tilt switch group can transmit tilt signals of the tilt switches through the flexible cable, and the weight on the flexible cable can be used as a counterweight of the flexible cable, so that the height-fixing member is in a vertical state relative to the sea bottom in a use state. Alternatively, the length of the flexible cable and the position of the tilt switch group on the flexible cable can be adjusted to meet different height requirements of the underwater navigation equipment.

The height-fixing component provided by the embodiment of the disclosure can comprise a plurality of tilt switch groups. Optionally, when the height-fixing member comprises two or more tilt switch sets, a plurality of tilt switch sets are connected in series to realize the operation of the underwater navigation equipment at different heights.

The length of the flexible cable is not particularly limited by the disclosed embodiments. For example, can be

50-200cm, or more than 200cm, or less than 50 cm. Optionally, the flexible cable may be in the shape of a thin strip cable, which has a relatively high degree of flexibility. In particular, the height of the underwater navigation equipment can be determined according to the requirement of the underwater navigation equipment on the height. Similarly, the invention does not limit the kind and shape of the weight and the mass of the single weight in particular, alternatively, the mass of the single weight may be 50-200g, and the material of the weight may be a single metal or an alloy composed of a plurality of metals; the shape of the weight can be a sphere, an ellipsoid, a polyhedron or an irregular shape, for example, the weight can be a spherical lead block. Optionally, the weight can also be a housing of the tilt switch, and on the premise of not affecting the sensitivity of the tilt switch, the weight is made into the housing of the tilt switch, so as to realize the effects of height setting and weight balancing.

Related underwater gliders mostly adopt buoyancy driving equipment to realize floating and submerging of the underwater glider, the buoyancy driving equipment is large in size, large in inertia, poor in following flow property and large in power consumption, and ocean bottom observation cannot be carried out. The technical scheme of the types of remote control unmanned underwater vehicles (ROV) and the like mainly adopts the mode of energy drive such as motor-driven propellers and the like to suspend in water so as to achieve the purpose of depth setting, has large power consumption, is easy to generate relative speed relative to the real flow velocity of ocean, influences the observation of other sensors, can generate strong noise to equipment, cannot dynamically adjust the navigation depth within a small range relatively accurately, in addition, when the related technology needs equipment to perform height setting observation function, the real-time detection and judgment of the sensors such as altimeters and the like are needed, and the whole cost of the equipment is increased. In the related art, a technical scheme of similar load rejection by increasing and decreasing a heavy object to equipment is provided, although the purpose of fixed depth observation is achieved, the flexibility is poor, the adjustability is poor, and the function of continuous multiple use is not provided.

The height-fixing component provided by the embodiment of the disclosure can be used for height-fixing observation of an underwater vehicle, such as observation of tide residual flow. When the height-fixed component provided by the embodiment of the disclosure is adopted to observe the tide residual flow, the height-fixed observation can be carried out on the tide residual flow, the accuracy of an observation result is improved, the size of the device is small, the inertia is small, the flow following performance is good, the power consumption is low, and the cruising performance of the underwater vehicle is improved.

Optionally, in the height fixing member provided in the embodiment of the present disclosure, the tilt switch group includes one or more tilt switch units.

One or more tilt switch units may be included in a single tilt switch bank. Optionally, two or more than two mutually redundant tilt switch units can be arranged in a single tilt switch group, and optionally, a plurality of tilt switch units in the single tilt switch group are connected in series, so that the accuracy and the sensitivity of the height-fixing component are improved. As shown in fig. 3, one tilt switch group includes a first tilt switch unit 11 and a second tilt switch unit 12.

Optionally, in the height determining member provided by the embodiments of the present disclosure, the tilt switch unit includes a housing, and one or more tilt switches disposed in the housing.

A single tilt switch unit may include one or more tilt switches. Optionally, when a single tilt switch unit includes two or more tilt switches, a plurality of tilt switches may be disposed in one housing, and optionally, the plurality of tilt switches are disposed in a crossed manner, so as to detect tilt conditions of different directions and dimensions of the sea bottom. For example, the tilt switch unit comprises a first tilt switch and a second tilt switch, and the first tilt switch and the second tilt switch are arranged in a crossed manner to realize detection of different direction dimensions; optionally, the first tilt switch and the second tilt switch are arranged in a crisscross manner; optionally, the first tilt switch and the second tilt switch are arranged in series. Alternatively, the tilt switch may be a mercury switch or a ball switch.

When the height fixing member provided by the embodiment of the disclosure is used for height fixing in water, optionally, the shell 111 of each tilt switch unit is encapsulated by watertight glue, so that the watertight property is ensured. Optionally, due to the action of the ocean transverse force, software can be adopted for shake elimination, and the stability of the tilt switch is improved.

Alternatively, in the height-fixing member provided in the embodiment of the present disclosure, as shown in fig. 4, a tilt switch unit including two ball switches arranged crosswise is provided. Two ball switches 112 all set up in casing 111, and two ball switches pass through ball switch's pin 113, and a horizontal setting, a vertical setting, and then realized two ball switch's crisscross setting.

Optionally, in the height-fixing member provided by the embodiment of the present disclosure, the height-fixing member includes a plurality of tilt switch sets disposed on the flexible cable, and one or more weights, wherein a weight is disposed between two adjacent tilt switch sets.

In the height fixing member provided by the embodiment of the present disclosure, a plurality of tilt switch groups, that is, a first tilt switch group, a second tilt switch group, a third tilt switch group, … …, and an nth tilt switch group, may be disposed on a flexible cable, and optionally, a plurality of weights, that is, a first weight, a second weight, a third weight, … …, and an nth-1 weight, may be disposed on the flexible cable, and an arrangement order of the plurality of tilt switch groups and the plurality of weights on the flexible cable may be: a first tilt switch group, a first weight, a second tilt switch group, a second weight, a third tilt switch group, a third weight, … …, an N-1 tilt switch group, an N-1 weight, and an N tilt switch group. Optionally, when N tilt switch sets are disposed on the flexible cable, the number of weights on the flexible cable is N-1. For example, when the height-fixing member includes three tilt switch groups and two weights, the tilt switch groups and the weights are arranged on the flexible cable in sequence as a first tilt switch group, a first weight, a second tilt switch group, a second weight, and a third tilt switch group. Optionally, the distances between the plurality of tilt switch groups may be the same or different, and may be determined according to a preset operating height of the underwater navigation device. Similarly, when a plurality of weights are disposed on the flexible cable, the distances between the weights may be the same or different.

In the height fixing component provided by the embodiment of the disclosure, the heavy object can be used as a gravity adjusting mechanism of underwater navigation equipment. The heavy object on the flexible cable can be used as the counter weight of the flexible cable to enable the whole height-fixing component to be in a straightening state, and on the other hand, the gravity of the heavy object and the buoyancy of the underwater navigation equipment can be used for self-adaptive depth adjustment, so that the electric energy used for buoyancy adjustment of the underwater navigation equipment is reduced, and the cruising ability of the underwater navigation equipment is improved.

Alternatively, as shown in fig. 2, the first weight is adjacent to the first tilt switch group and the second weight is adjacent to the second tilt switch group. "close" here is to be understood as: on the flexible cable, a first weight is located between the first tilt switch set and the second tilt switch set, and the first weight is located at a position close to the first tilt switch set in an opposite manner. Optionally, the first weight is in contact with the first tilt switch group, and the second weight is in contact with the second tilt switch group.

The height fixing component provided by the embodiment of the disclosure has higher sensitivity and accuracy. Optionally, the length of the flexible cable and the position of the tilt switch group on the flexible cable can be adjusted to realize that the sailing height of the underwater sailing equipment is higher than a certain height value, or lower than a certain height value, or the length of the flexible cable and the distance between two adjacent tilt switch groups on the flexible cable are adjusted to realize that the underwater sailing equipment runs in a certain height range.

Optionally, the underwater navigation device provided by the embodiment of the present disclosure includes a control module, and a height-fixing member connected to the control module, where the connection is an electrical connection.

The control module can receive signals of the tilt switch in the height fixing component and control the sailing height of the underwater sailing equipment according to the change of the signals of the tilt switch.

Optionally, the underwater navigation device provided by the embodiment of the present disclosure further includes a main housing, the control module is disposed inside the main housing, and the height-fixing member is disposed outside the main housing. Alternatively, the main housing may be a sealing member to protect components such as the control module inside the main housing. Alternatively, the connection position of the height member on the main housing may be: the main housing includes a first end connected to the antenna and a second end opposite the first end, to which the height-determining member is connected, for example, at the lower end interface 421 of fig. 8.

Optionally, the height-fixing member includes a connection end connected to the lower end interface 421 and a free end opposite to the connection end, and when the height-fixing member includes a weight, the weight is disposed at the free end, so that the flexible cable of the height-fixing member is in a vertical state.

Optionally, the underwater navigation device provided by the embodiment of the present disclosure further includes: one or the combination of more than two of the buoyancy driving module, the communication module, the energy module and the sensing module.

As shown in fig. 5 to 8, an embodiment of the present disclosure provides an underwater navigation apparatus including: the device comprises a buoyancy driving mechanism, a control and communication module, an energy module 9, a main shell 4, a water sail 5, a height fixing component 6, a communication antenna 7 and a sensing module.

Wherein, buoyancy actuating mechanism includes: oil bag, hydraulic pump, pipeline, solenoid valve.

The oil bag also comprises an inner oil bag 82 and an outer oil bag 81, the outer oil bag 81 is arranged at the upper end of the outer part of the main shell 4 and used for ensuring that the floating center of the equipment is on the upper side, the outer part is isolated and sealed from seawater, and the inner part of the oil bag is connected through a pipeline, a hydraulic pump and an electromagnetic valve; an internal oil bladder 82 is provided inside the main housing 4, again connected by piping, hydraulic pumps, solenoid valves, etc. The inner oil bag, the outer oil bag, the hydraulic pump, the pipeline and the electromagnetic valve form a loop, and the volume of the inner oil bag and the volume of the outer oil bag are controlled through the turn-off of the hydraulic pump and the electromagnetic valve, so that the volume of the whole water discharge of the equipment is changed, namely the total buoyancy of the system is changed, and the floating and submerging movement of the equipment is realized. The hydraulic pump and the solenoid valve are also controlled by the controller to realize a turning or switching function.

The control and communication module is mounted inside the main housing 4 and comprises: the device comprises a controller, a communication module and a power management module. The controller is a control center of the system, is used for controlling functions of command sending, communication control and the like, and is connected with the communication module and the power management module. The communication module is configured to realize the transmission and the reception of communication signals and is connected with the communication antenna 7, and the power management module mainly realizes the functions of voltage stabilization, power supply, power management and the like and is connected with the energy module 9.

The energy module 9 may be a storage battery, and may be disposed at the lower end of the main housing 4 to ensure that the center of gravity of the device is inclined downward, and to connect the control and communication module and the power consuming components in the system.

The main shell 4 comprises a flow guide cover, a middle cabin body and a sealing end cover. The dome can be hemispherical and is arranged on the upper end cover 41, the intermediate bin body can be a cylinder with a certain wall thickness, the upper end cover 41 and the lower end cover 42 are respectively arranged at two ends of the intermediate bin body, and the upper end cover 41 and the lower end cover 42 form a sealing end cover to realize the sealing function of the cylinder. Optionally, sealing interfaces are further disposed outside the upper end cover 41 and the lower end cover 42 to install watertight cables, so as to electrically connect the internal elements of the intermediate bin body with components such as external sensors. The outside of the sealing end cover is also provided with a sealing interface, such as a lower end interface 421 in fig. 8, for installing a watertight cable to realize the electrical connection function of the internal elements of the intermediate bin body and components such as an external sensor.

The water sail 5 comprises a water sail support and a sail cloth. The water sails 5 can be arranged in a plurality of sets according to requirements, for example, 2 sets, 4 sets or more, and as shown in fig. 6 and 7, the water sails are in a cross shape. Optionally, the water sail support is horizontal strip structure, sets up on the storehouse body in the middle through the staple bolt, and every pair of water sail support sets up relatively, and the centre is used for installing the canvas. The canvas can be rectangular in shape and is used for increasing the resistance of the underwater navigation equipment and ocean currents, improving the current following capacity of the underwater navigation equipment and realizing the non-slippage movement function of the underwater navigation equipment and the ocean currents. The number of the water sails, the area of the canvas, the installation position, the installation angle and the like are not particularly limited, and the water sails can be arranged according to the characteristics of the tide residual flow observed according to actual needs.

The communication antenna 7 may have a cylindrical structure for transmitting and receiving wireless signals, and is generally disposed at the uppermost end of the main housing to ensure communication reliability.

A sensing module comprising: pressure sensors, acceleration sensors, etc. Optionally, the pressure sensor is disposed on a flow guide cover at the lower end of the main housing 4, and is used for detecting the depth value of the position of the underwater navigation device, and is connected to the controller through a watertight cable. The acceleration sensor is used for detecting the acceleration value of the underwater navigation equipment so as to calculate the movement speed, and simultaneously can also detect the inclination of the equipment, and optionally, the acceleration sensor can be arranged inside the main shell 4 and connected with the controller. Optionally, the sensing module may further include a temperature and salinity depth sensor, and the like, and may be mounted inside or outside the air guide sleeve according to actual requirements and actual measurement needs.

The navigation state of the underwater navigation device provided by the embodiment of the present disclosure may be as shown in fig. 9.

Another aspect of the disclosed embodiments provides a control device for an underwater navigation apparatus, for example, a control device for a fixed-height navigation of an underwater navigation apparatus is disclosed.

The control device that this disclosed embodiment provided includes: a first unit configured to determine a connection state of a tilt switch in a first tilt switch group in an underwater elevation member of the underwater navigation device, and a second unit configured to control the underwater navigation device to ascend or descend according to the connection state, wherein the underwater elevation member includes one or more tilt switch groups, one or more weights, and a flexible cable on which the tilt switch groups and the weights are disposed, the tilt switch groups including one or more tilt switches.

Optionally, in the foregoing control apparatus, the second unit controls the underwater vehicle to float up when the connection state of the tilt switches in the first tilt switch group is changed from on to off.

Optionally, in the foregoing control apparatus, the second unit is configured to control the underwater navigation device to dive when a connection state of the tilt switches in the first tilt switch group is changed from off to on.

Optionally, in the foregoing control apparatus, the second unit is configured to control the underwater navigation device to dive when a connection state of a tilt switch in a first tilt switch group is changed from on to off, the third unit is configured to determine a connection state of a tilt switch in a second tilt switch group in an underwater raising member of the underwater navigation device, the fourth unit is configured to control the underwater navigation device to float when a connection state of a tilt switch in the second tilt switch group is changed from on to off, and the fifth unit is configured to control the underwater navigation device to dive when a connection state of a tilt switch in a first tilt switch group is changed from off to on, wherein the underwater raising member includes at least a first tilt switch group and a second tilt switch group, and a distance from the first tilt switch group to a main housing of the underwater navigation device is greater than a distance from the second tilt switch group to the main housing of the underwater navigation device Distance.

Another aspect of the embodiments of the present disclosure provides an underwater navigation apparatus including the aforementioned control device.

In the height determining member, the underwater navigation device, the control method of the underwater navigation device, and the control apparatus of the underwater navigation device mentioned in the embodiments of the present disclosure, the contents of the embodiments may be cited to each other, and will not be described in detail herein.

The disclosed embodiments also provide a computer-readable storage medium storing computer-executable instructions configured to perform the above-described underwater vehicle control method.

The disclosed embodiments also provide a computer program product comprising a computer program stored on a computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, cause the computer to perform the above described method of controlling an underwater vehicle.

The computer-readable storage medium described above may be a transitory computer-readable storage medium or a non-transitory computer-readable storage medium.

An embodiment of the present disclosure further provides an electronic device, a structure of which is shown in fig. 10, where the electronic device includes:

at least one processor (processor)200, one processor 200 being exemplified in fig. 10; and a memory (memory)201, and may further include a Communication Interface (Communication Interface)202 and a bus 203. The processor 200, the communication interface 202 and the memory 201 can communicate with each other through the bus 203. The communication interface 202 may be used for information transfer. The processor 200 may invoke logic instructions in the memory 201 to perform the underwater vehicle control method of the above embodiment.

In addition, the logic instructions in the memory 201 may be implemented in the form of software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products.

The memory 201 is a computer-readable storage medium, and can be used for storing software programs, computer-executable programs, such as program instructions/modules corresponding to the methods in the embodiments of the present disclosure. The processor 200 executes functional applications and data processing by running software programs, instructions and modules stored in the memory 201, namely, realizes the control method of the underwater vehicle in the above method embodiment.

The memory 201 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal device, and the like. Further, the memory 201 may include a high-speed random access memory, and may also include a nonvolatile memory.

The technical solution of the embodiments of the present disclosure may be embodied in the form of a software product, where the computer software product is stored in a storage medium and includes one or more instructions to enable a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method of the embodiments of the present disclosure. And the aforementioned storage medium may be a non-transitory storage medium comprising: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes, and may also be a transient storage medium.

The above description and drawings sufficiently illustrate embodiments of the disclosure to enable those skilled in the art to practice them. Other embodiments may incorporate structural, logical, electrical, process, and other changes. The examples merely typify possible variations. Individual components and functions are optional unless explicitly required, and the sequence of operations may vary. Portions and features of some embodiments may be included in or substituted for those of others. The scope of the disclosed embodiments includes the full ambit of the claims, as well as all available equivalents of the claims. As used in this application, although the terms "first," "second," etc. may be used in this application to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, unless the meaning of the description changes, so long as all occurrences of the "first element" are renamed consistently and all occurrences of the "second element" are renamed consistently. The first and second elements are both elements, but may not be the same element. Furthermore, the words used in the specification are words of description only and are not intended to limit the claims. As used in the description of the embodiments and the claims, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. Similarly, the term "and/or" as used in this application is meant to encompass any and all possible combinations of one or more of the associated listed. Furthermore, the terms "comprises" and/or "comprising," when used in this application, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method or apparatus that comprises the element. In this document, each embodiment may be described with emphasis on differences from other embodiments, and the same and similar parts between the respective embodiments may be referred to each other. For methods, products, etc. of the embodiment disclosures, reference may be made to the description of the method section for relevance if it corresponds to the method section of the embodiment disclosure.

Those of skill in the art would appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software may depend upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the disclosed embodiments. It can be clearly understood by the skilled person that, for convenience and brevity of description, the specific working processes of the system, the apparatus and the unit described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In the embodiments disclosed herein, the disclosed methods, products (including but not limited to devices, apparatuses, etc.) may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units may be merely a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form. The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to implement the present embodiment. In addition, functional units in the embodiments of the present disclosure may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. Each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The present invention is not limited to the structures that have been described above and shown in the drawings, and various modifications and changes can be made without departing from the scope thereof. The scope of the invention is limited only by the appended claims.

Claims

1. A method of controlling an underwater navigation apparatus, comprising:

determining a connection state of a first tilt switch group in an underwater elevation member of the underwater navigation device and a tilt switch in a second tilt switch group, the first tilt switch group being located at a distance from a main casing of the underwater navigation device greater than a distance from the second tilt switch group to the main casing of the underwater navigation device; the underwater leveling member further includes: one or more weights, and a flexible cable on which the first tilt switch set, the second tilt switch set, and the weights are disposed;

and controlling the underwater navigation equipment to float up or submerge according to the connection state, controlling the underwater navigation equipment to float up when the connection state of the tilt switches in the second tilt switch group is changed from connection to disconnection, and controlling the underwater navigation equipment to submerge when the connection state of the tilt switches in the first tilt switch group is changed from disconnection to connection.

2. The method of claim 1,

controlling the underwater navigation equipment to float up or submerge according to the connection state,

and when the connection state of the tilt switches in the first tilt switch group is changed from connection to disconnection, controlling the underwater navigation equipment to float.

3. A control device for an underwater navigation apparatus, comprising:

a first unit configured to determine a connection state of tilt switches in a first tilt switch group in an underwater elevation member of the underwater navigation device,

a second unit configured to control the underwater navigation device to float up or dive down according to the connection state, and further configured to control the underwater navigation device to float up when the connection state of the tilt switches in the first tilt switch group is changed from on to off,

a third unit configured to determine a connection state of the tilt switches in the second tilt switch group in the underwater elevation member of the underwater navigation device,

a fourth unit configured to control the underwater navigation device to float up when a connection state of the tilt switches in the second tilt switch group is changed from on to off,

a fifth unit configured to control the underwater navigation apparatus to dive when a connection state of the tilt switches in the first tilt switch group is changed from off to on,

wherein the underwater height-fixing member includes at least a first inclination switch group and a second inclination switch group, and a distance from the first inclination switch group to a main casing of the underwater navigation apparatus is greater than a distance from the second inclination switch group to the main casing of the underwater navigation apparatus,

the underwater height-fixing component further comprises one or more weights and a flexible cable, the first tilt switch group, the second tilt switch group and the weights are arranged on the flexible cable, and the first tilt switch group and the second tilt switch group comprise one or more tilt switches.

4. An underwater navigation device, characterized by comprising the apparatus of claim 3.