CN112027038A

CN112027038A - Umbrella rib type underwater vehicle depth and attitude adjusting device and control method thereof

Info

Publication number: CN112027038A
Application number: CN202010821385.3A
Authority: CN
Inventors: 于蕾
Original assignee: Tianjin University
Current assignee: Tianjin University
Priority date: 2020-08-14
Filing date: 2020-08-14
Publication date: 2020-12-04

Abstract

The invention discloses a device for adjusting the depth and the attitude of an umbrella rib type underwater vehicle, which comprises a buoyancy adjusting system A, an information acquisition and control system B and a battery pack; the buoyancy adjusting system A comprises a head end adjusting subsystem and a tail end adjusting subsystem, wherein the head end adjusting subsystem and the tail end adjusting subsystem comprise a spindle stepping motor, a main gear and six groups of buoyancy adjusting units; the buoyancy adjusting unit comprises a buoyancy adjusting cabin, a push rod, a conversion cylinder, a relay shaft limiter, a coupling type electromagnetic clutch, a branch gear and a transition gear; the information acquisition and control system B comprises a depth meter, a thermohaline depth gauge, an inertia measuring instrument, a displacement sensor, a processor and a control assembly; the control method comprises the following steps: submerging the underwater vehicle; floating the underwater vehicle; and adjusting the transverse inclination posture of the underwater vehicle. The invention adjusts the buoyancy state by changing the water discharge volume, changes the position of the floating center to realize the adjustment of the longitudinal and transverse inclination postures of the underwater vehicle, and is suitable for the large-range depth adjustment and high-precision buoyancy compensation of the underwater vehicle.

Description

Umbrella rib type underwater vehicle depth and attitude adjusting device and control method thereof

Technical Field

The invention relates to the field of motion of underwater submergence vehicles, in particular to an umbrella rib type underwater submergence vehicle depth and attitude adjusting device and a control method thereof.

Background

The underwater vehicle has increasingly wide application in the fields of marine resource detection, underwater environment monitoring, lifesaving salvage and the like, and has become a hot spot of research in various countries in the world. When an underwater task is executed, the submergence depth of the underwater vehicle needs to be changed irregularly, and when the operating water depth is changed greatly, environmental parameters such as salinity and temperature of seawater can be changed, so that the density of the seawater is changed, and the buoyancy and gravity of the submergence vehicle are unbalanced. In addition, due to the variable fluid environment interference in the ocean and the requirements of the tasks performed by the underwater vehicle, the underwater vehicle needs to adjust the self attitude irregularly.

The power consumption of the traditional power submergence and upward floating devices, such as a channel propeller and the like, is relatively high; the adjusting range of the buoyancy adjusting device without power devices, such as a high-pressure oil pump type buoyancy adjusting device, a piston type buoyancy adjusting device and the like is small, or the buoyancy adjusting device is suitable for buoyancy compensation, or the depth adjusting speed is slow, but the buoyancy adjusting device does not have the posture adjusting function.

Disclosure of Invention

The invention aims to overcome the defects in the prior art, and provides an umbrella rib type underwater vehicle depth and posture adjusting device suitable for large-range depth adjustment and high-precision buoyancy compensation of a submersible vehicle and a control method thereof.

The purpose of the invention can be realized by the following technical scheme.

The invention relates to a depth and posture adjusting device of an umbrella rib type underwater vehicle, which comprises a buoyancy adjusting system A, an information acquisition and control system B and a battery pack;

the buoyancy adjusting system A comprises a head end adjusting subsystem and a tail end adjusting subsystem, wherein the head end adjusting subsystem and the tail end adjusting subsystem respectively comprise a main shaft stepping motor, a main gear and six groups of buoyancy adjusting units, each main shaft stepping motor and the underwater vehicle are arranged along a coaxial line, and a main gear is arranged on each main shaft stepping motor; each group of buoyancy adjusting units consists of a buoyancy adjusting cabin, a push rod, a conversion cylinder, a relay shaft limiter, a coupling type electromagnetic clutch, a branch gear and a transition gear; each buoyancy adjusting cabin is of a piston cylinder structure consisting of a cylinder barrel and a movable piston, the cylinder barrel is arranged on the inner wall of the underwater vehicle and is communicated with the external water environment of the underwater vehicle, one end of each push rod is hinged with the movable piston, and the other end of each push rod is hinged with the conversion cylinder; the conversion cylinder is composed of a ball screw and a ball nut, a relay shaft limiter is arranged on the ball screw, one end of the ball screw is matched with the ball nut, the other end of the ball screw is connected to a branch gear through a coupling type electromagnetic clutch, and the branch gear is meshed with a main gear through a transition gear;

the information acquisition and control system B comprises a depth meter, a thermohaline depth gauge, an inertial measurement instrument, a displacement sensor, a processor and a control assembly, and the battery pack supplies power to the processor and the control assembly respectively; the depth meter, the thermohaline depth meter and the inertia measuring instrument are arranged at the positions close to the middle part of the outer wall of the underwater vehicle, and a displacement sensor is arranged in each buoyancy adjusting cabin; the depth meter, the thermohaline depth gauge, the inertia measuring instrument, the displacement sensor, the control assembly, the relay shaft limiter and the coupling type electromagnetic clutch are respectively and electrically connected with the processor;

the depth meter, the thermohaline depth gauge, the inertia measuring instrument and the displacement sensor respectively acquire position depth, attitude and buoyancy state information of the underwater vehicle and transmit the information to the processor, the processor forms a buoyancy adjusting instruction according to task requirements and transmits the buoyancy adjusting instruction to the control assembly, and the control assembly controls the opening and closing of the relay shaft limiter and the coupling type electromagnetic clutch and the rotation of the main shaft stepping motor according to the buoyancy adjusting instruction; the main gear is driven to rotate by the main shaft stepping motor, the ball screw is driven to rotate by a specified angle through the branch gear and the coupling type electromagnetic clutch, the ball nut is driven to move, the displacement of the ball nut is transmitted to the moving piston through the push rod, the buoyancy adjusting cabin is driven to suck and discharge water, and therefore buoyancy adjustment of the underwater vehicle is achieved.

The head end adjusting subsystem and the tail end adjusting subsystem are oppositely arranged at the head end and the tail end of the underwater vehicle, six groups of buoyancy adjusting units of each subsystem are distributed on the inner wall of the underwater vehicle at equal intervals along the annular direction, and the buoyancy adjusting units of the two subsystems are in one-to-one correspondence in the axial direction; the head end adjusting subsystem and the tail end adjusting subsystem are respectively provided with one of six groups of buoyancy adjusting units arranged at the top of the underwater vehicle, one group is arranged at the bottom of the underwater vehicle, and four groups are equally arranged at the left side and the right side of the underwater vehicle.

Each main gear and each main shaft stepping motor are arranged on a fixed support located on the central axis of the underwater vehicle, and the main shafts of the two main shaft stepping motors are arranged towards the middle cross section of the underwater vehicle.

The push rod is hinged with a ball nut of the conversion cylinder.

A strip-shaped mounting table for mounting a displacement sensor is arranged between the cylinder barrel of each buoyancy adjusting cabin and the movable piston, the displacement sensor is movably connected with the movable piston, and a sealing ring is arranged at the contact section.

The relay shaft limiter is composed of a gear, a rotation resisting piece, a soft spring and a shell, wherein the gear is fixed on a ball screw, the rotation resisting piece is limited between gear teeth through the soft spring fixedly connected to the inner wall of the shell, an electromagnetic coil is wound inside the shell, a control assembly is connected to the coil, the rotation resisting piece is sucked away when the shell is powered on, the gear can rotate freely, the rotation resisting piece continues to be meshed with the gear when the shell is powered off, and the rotation of the gear and the ball screw is limited.

The coupling type electromagnetic clutch is directly controlled by the control assembly through a lead, and is connected in an electrified way and disconnected in an off-electricity way.

The purpose of the invention can be realized by the following technical scheme.

The invention relates to a control method of an umbrella rib type underwater vehicle depth and attitude adjusting device, which comprises the following processes:

the first process is as follows: submerging the submergence vehicle from the normal floating state to the specified depth

When the submersible vehicle starts to dive, the control assembly respectively controls the buoyancy adjusting units arranged on the left side and the right side of the submersible vehicle of the head end adjusting subsystem and the tail end adjusting subsystem to enable the buoyancy adjusting cabins to absorb water, then the control assembly controls the buoyancy adjusting cabins of the buoyancy adjusting units arranged at the top and the bottom of the submersible vehicle in the head end adjusting subsystem to absorb water, and simultaneously controls the buoyancy adjusting cabins of the buoyancy adjusting units arranged at the top and the bottom of the submersible vehicle in the tail end adjusting subsystem to drain water, so that the water draining volume of the submersible vehicle is reduced to help the submersible vehicle to dive, the posture of the submersible vehicle is adjusted from horizontal to have a certain longitudinal inclination angle, and the submerged stream facing area is reduced to reduce the resistance; when the underwater vehicle dives to a specified range of the target depth, the active lifting and diving device of the underwater vehicle is closed, and the buoyancy adjusting units which are respectively arranged at the left side and the right side of the underwater vehicle and are respectively controlled by the head end adjusting subsystem and the tail end adjusting subsystem through the control assembly, so that the buoyancy adjusting cabin drains water and the diving speed is reduced; when the underwater vehicle reaches the position near the target depth, the information acquisition and control system B acquires seawater density information and self-drainage information, the buoyancy compensation amount required by the underwater vehicle is obtained through calculation of the processor, and the buoyancy adjustment system A is controlled by the control assembly to perform buoyancy compensation until the buoyancy and gravity of the underwater vehicle are balanced; then the control component controls the buoyancy regulating cabins of the buoyancy regulating units arranged at the top and the bottom of the underwater vehicle in the head end regulating subsystem to discharge water, controls the buoyancy regulating cabins of the buoyancy regulating units arranged at the top and the bottom of the underwater vehicle in the tail end regulating subsystem to absorb water, and adjusts the posture of the underwater vehicle to be horizontal;

and a second process: the underwater vehicle floats to the designated height from the normal floating state

When the underwater vehicle starts to float upwards, the control assembly respectively controls the buoyancy adjusting units arranged on the left side and the right side of the underwater vehicle of the head end adjusting subsystem and the tail end adjusting subsystem to enable the buoyancy adjusting cabins to completely drain water, then the control assembly controls the buoyancy adjusting cabins of the buoyancy adjusting units arranged at the top and the bottom of the underwater vehicle in the head end adjusting subsystem to drain water, and simultaneously controls the buoyancy adjusting cabins of the buoyancy adjusting units arranged at the top and the bottom of the underwater vehicle in the tail end adjusting subsystem to absorb water, so that the water discharging volume of the underwater vehicle is increased to assist in floating upwards, the posture of the underwater vehicle is adjusted from horizontal to have a certain elevation angle, and the floating incident surface is reduced to reduce resistance; when the water surface floats to a certain range of the target height, the active lifting and submerging device of the submergence vehicle is closed, and the buoyancy adjusting units which are respectively arranged at the left side and the right side of the submergence vehicle and are respectively controlled by the control assembly, so that the buoyancy adjusting cabin absorbs water and the floating speed of the buoyancy adjusting cabin is reduced; when the underwater vehicle reaches the target height, the information acquisition and control system B acquires seawater density information and self-drainage information, the buoyancy compensation amount required by the underwater vehicle is obtained through calculation of the processor, and the buoyancy adjustment system A is controlled by the control assembly to perform buoyancy compensation until the buoyancy and gravity of the underwater vehicle are balanced; then the control assembly controls the buoyancy regulating cabins of the buoyancy regulating units arranged at the top and the bottom of the underwater vehicle in the head end regulating subsystem to absorb water, controls the buoyancy regulating cabins of the buoyancy regulating units arranged at the top and the bottom of the underwater vehicle in the tail end regulating subsystem to discharge water, and adjusts the posture of the underwater vehicle to be horizontal;

the third process: adjustment of transverse inclination attitude of underwater vehicle

The processor receives initial transverse inclination angle information of the underwater vehicle collected by the inertial measurement instrument, calculates and obtains transverse inclination adjustment quantity delta omega of the underwater vehicle by combining a target transverse inclination angle, wherein the right side is positive, the left side is negative, all buoyancy adjustment units on the right side of the central axis of the underwater vehicle under the initial posture are marked as 1, and all buoyancy adjustment units on the left side of the central axis are marked as 0;

the control assembly drives the two spindle stepping motors to rotate in the designated direction so as to promote the buoyancy adjusting chambers of the buoyancy adjusting units marked as 1 to adjust, water is sucked when the delta omega is positive, water is discharged when the delta omega is negative, and the control assembly stops when the accumulated adjusting amount reaches 1% of the self mass of the underwater vehicle; then the control component drives the two spindle stepping motors to rotate in the designated direction to drive the buoyancy adjusting chambers of the buoyancy adjusting units marked as 0 to adjust, water is drained when delta omega is positive, water is absorbed when delta omega is negative, and the control component stops when the accumulated adjusting amount reaches 1% of the self mass of the underwater vehicle;

the processor receives dynamic heeling attitude information fed back by the inertia measuring instrument; if the roll angle stops changing before reaching the target value, the processor records the current roll angle as the initial roll angle of the underwater vehicle, and the adjustment is restarted by combining the target value of the roll attitude; when the change of the transverse inclination angle reaches the range of a target value +/-5 degrees, the control assembly controls the buoyancy adjusting cabins of the buoyancy adjusting units marked as 1 to adjust, the delta omega is positive-time water drainage and negative-time water absorption until the accumulated adjusting amount reaches 1 percent of the self mass of the underwater vehicle, then the control assembly controls the buoyancy adjusting cabins of the buoyancy adjusting units marked as 0 to adjust, the delta omega is positive-time water suction and negative-time water drainage until the accumulated adjusting amount reaches 1 percent of the self mass of the underwater vehicle;

the inertial measurement instrument feeds back the heeling attitude information of the underwater vehicle in real time, and when the stable value of the inertial measurement instrument does not reach the accuracy range of the target value, the current stable value is used as the initial state of the underwater vehicle and is adjusted again by combining the target attitude; and when the stable value reaches the target precision range, the adjustment of the transverse inclination attitude of the underwater vehicle is finished.

Compared with the prior art, the technical scheme of the invention has the following beneficial effects:

the buoyancy adjusting system A comprises a front subsystem and a rear subsystem, and 12 groups of buoyancy adjusting units are provided, each unit can be independently controlled by a control assembly, the buoyancy adjusting range of the submersible vehicle is large, the power submersible lifting device can be assisted to perform submersible depth adjustment so as to reduce energy consumption, the accurate buoyancy compensation requirement after the submersible depth is changed can be met, and the adjustment of the longitudinal and transverse inclination angles of the submersible vehicle can be realized through the mutual matching of the buoyancy adjusting units.

The invention realizes the underwater lifting and submerging of the underwater vehicle by accurately adjusting the drainage volume and the posture of the underwater vehicle, takes the floating weight balance of the underwater vehicle as the compensation of the lifting and submerging, and adjusts the longitudinal inclination angle in the lifting and submerging process to reduce the flow area, thereby reducing the resistance to reduce the energy consumption, and in addition, the invention can also carry out the high-precision buoyancy compensation and the adjustment of the transverse inclination posture of the underwater vehicle.

The invention can realize large-scale adjustment of the submergence depth of the submergence device, combines the power submergence and floating device, ensures the submergence depth adjustment speed, reduces the energy consumption, and performs high-precision buoyancy compensation after the depth adjustment is finished; in addition, the device system can also realize the pitch angle control of the underwater vehicle and the active posture adjustment in the working state in the submerging and floating processes, so that the underwater vehicle can conveniently perform multi-angle task operation.

Drawings

FIG. 1 is a schematic view of an umbrella rib type underwater vehicle depth and attitude adjusting device of the invention;

FIG. 2 is a longitudinal cross-sectional view of the buoyancy regulating subsystem of the present invention;

FIG. 3 is a longitudinal perspective view (aft to fore) of the head end buoyancy regulating subsystem of the present invention;

FIG. 4 is a longitudinal perspective view (from head to tail) of the aft buoyancy regulating subsystem of the present invention;

FIG. 5 is a flow chart of buoyancy adjustment instructions;

FIG. 6 is a pitch adjustment instruction flow diagram;

FIG. 7 is a flow chart of the large-range submergence motion of the submergence vehicle;

FIG. 8 is a flow chart of the adjustment of the yaw attitude of the submersible vehicle.

Reference numerals: 1-depth gauge, 2-thermohaline depth gauge, 3-inertial measurement instrument, 4-displacement sensor, 5-processor, 6-head end adjusting subsystem, 7-tail end adjusting subsystem, 8-control component, 9-spindle stepping motor, 10-main gear, 11-battery pack, 12-fixed support; the device comprises an a-buoyancy adjusting cabin, a b-push rod, a c-conversion cylinder, a d-relay shaft limiter, an e-coupling electromagnetic clutch, an f-minute gear, a g-transition gear and an h-sealing ring.

Detailed Description

The invention will be further described with reference to the accompanying drawings.

The invention relates to a device for adjusting the depth and the posture of an umbrella-rib type underwater vehicle, which comprises a buoyancy adjusting system A, an information acquisition and control system B and a battery pack 11.

As shown in fig. 1 to 4, the buoyancy adjustment system a includes a head end adjustment subsystem 6 and a tail end adjustment subsystem 7 which are oppositely arranged at the head end and the tail end of the underwater vehicle, and each of the head end adjustment subsystem 6 and the tail end adjustment subsystem 7 includes a spindle stepping motor 9, a main gear 10, a fixed support 12 and six groups of buoyancy adjustment units. Six groups of buoyancy adjusting units of each subsystem are distributed on the inner wall of the underwater vehicle at equal intervals along the annular direction, and the buoyancy adjusting units of the two subsystems are in one-to-one correspondence in the axial direction; the head end adjusting subsystem 6 and the tail end adjusting subsystem 7 are respectively provided with one group of six buoyancy adjusting units arranged at the top of the underwater vehicle, one group is arranged at the bottom of the underwater vehicle, two groups are arranged at the left side of the underwater vehicle, and the other two groups are arranged at the right side of the underwater vehicle.

Each spindle stepping motor 9 and the underwater vehicle are arranged along the same axis, and a main gear 10 is arranged on the spindle of each spindle stepping motor 9; each main gear 10 and each main shaft stepping motor 9 are arranged on a central axis of the underwater vehicle, fixed support is realized through a fixed support 12 on the central axis, and main shafts of the two main shaft stepping motors 9 are arranged towards the middle cross section of the underwater vehicle.

Each group of buoyancy adjusting units consists of a buoyancy adjusting cabin a, a push rod b, a conversion cylinder c, a relay shaft limiter d, a coupling type electromagnetic clutch e, a branch gear f, a transition gear g and a sealing ring h. Each buoyancy adjusting cabin a is a piston cylinder structure consisting of a cylinder barrel and a movable piston, the cylinder barrel is arranged on the annular inner wall of the underwater vehicle and communicated with the external water environment of the underwater vehicle, and a sealing ring is arranged between the cylinder barrel and the movable piston for connecting and sealing. A strip-shaped mounting platform for mounting a displacement sensor 4 is arranged between the cylinder barrel of each buoyancy adjusting cabin a and the movable piston, the displacement sensor 4 is movably connected with the movable piston, and a sealing ring h is arranged at the contact section.

One end of each push rod b is hinged with the movable piston, and the other end of each push rod b is hinged with the conversion cylinder c; the conversion cylinder c is composed of a ball screw and a ball nut, the push rod b is hinged with the ball nut of the conversion cylinder c, a relay shaft limiter d is installed on the ball screw, one end of the ball screw is matched with the ball nut, the other end of the ball screw is connected to a branch gear f through a coupling type electromagnetic clutch e, and the branch gear f is meshed with the main gear 10 through a transition gear g. The main gear 10 is driven by the spindle stepping motor 9 to rotate, the ball screw is driven by the sub-gear f and the coupling type electromagnetic clutch e to rotate by a specified angle, the ball nut is driven to move, the displacement of the ball nut is transmitted to the movable piston through the push rod b, the buoyancy adjusting cabin is driven to suck and discharge water, and therefore buoyancy adjustment of the underwater vehicle is achieved.

The relay shaft limiter d is composed of a gear, a rotation resisting piece, a soft spring and a shell, the gear is fixed on a ball screw, the rotation resisting piece is limited between gear teeth through the soft spring fixedly connected to the inner wall of the shell, an electromagnetic coil is wound inside the shell, a control assembly 8 is connected to the coil, the rotation resisting piece is sucked away when the shell is powered on, the gear can rotate freely, the rotation resisting piece continues to be meshed with the gear when the shell is powered off, and the rotation of the gear and the ball screw is limited. The coupling type electromagnetic clutch e is directly controlled by the control component 8 through a lead, and is electrified and connected, and is electrically disconnected.

The information acquisition and control system B is composed of a depth meter 1, a thermohaline depth gauge 2, an inertial measurement instrument 3, a displacement sensor 4, a processor 5 and a control component 8, and the battery pack 11 supplies power to the processor 5 and the control component 8 respectively. The depth gauge 1, the thermohaline depth gauge 2 and the inertia measuring instrument 3 are arranged at the position close to the middle part of the outer wall of the underwater vehicle, and a displacement sensor 4 is arranged in each buoyancy adjusting cabin a. The depth meter 1, the thermohaline depth meter 2, the inertia measuring instrument 3, the displacement sensor 4, the control component 8, the relay shaft limiter d and the coupling type electromagnetic clutch e are respectively and electrically connected with the processor 5. The processor 5 is a computer system integrated with a certain algorithm, the buoyancy state and the corresponding adjusting instruction of the underwater vehicle are determined through the acquired information, and the control assembly 8 is an integrated electric control system and controls the opening and closing of the relay shaft limiter d and the coupling type electromagnetic clutch e and the rotation of the spindle stepping motor 9 according to the buoyancy adjusting instruction. The depth meter 1, the thermohaline depth gauge 2, the inertia measuring instrument 3 and the displacement sensor 4 respectively acquire the position depth, the posture and the buoyancy state information of the underwater vehicle and transmit the information to the processor 5, the processor 5 forms a buoyancy adjusting instruction according to task requirements through a certain algorithm and transmits the buoyancy adjusting instruction to the control assembly 8, the control assembly 8 controls the buoyancy adjusting system A to execute the buoyancy adjusting instruction, and the adjusting result is fed back to the processor 5 through the displacement sensor 4.

With reference to fig. 5, 6 and 7, the general process of the invention for the large-range depth adjustment of the underwater vehicle is as follows: after the target depth position is determined, starting the active lifting and submerging device to float upwards or submerge; then, the buoyancy state is changed by adjusting the self-drainage volume of the underwater vehicle, the floating or submerging speed of the underwater vehicle is accelerated, and then the attitude of the underwater vehicle is adjusted to enable the underwater vehicle to have a certain longitudinal inclination angle so as to reduce the incident flow area; when the fact that the underwater vehicle reaches a certain range of the target depth is monitored, the active lifting and submerging device is closed, the buoyancy state of the active lifting and submerging device is adjusted to be recovered to the initial state, and therefore the moving speed of the underwater vehicle is rapidly reduced; through the identification of the external water density and the self drainage state, the buoyancy compensation amount required by the underwater vehicle is obtained through calculation, and the buoyancy compensation is carried out by the adjusting system, so that the underwater vehicle can be stabilized near the target depth position; and then the depth of the active diving device is slowly adjusted to reach a target value.

One of the functions of the umbrella rib type underwater vehicle depth and posture adjusting device is to assist the active lifting and submerging device of the underwater vehicle to complete the large-scale lifting and submerging movement process by adjusting the buoyancy state and the pitching posture of the underwater vehicle. The invention also provides another function of the umbrella rib type underwater vehicle depth and posture adjusting device, namely, the self transverse inclination posture can be adjusted so as to complete various underwater tasks.

The control method of the umbrella rib type underwater vehicle depth and attitude adjusting device comprises the following specific processes:

When diving starts, the head end adjusting subsystem 6 and the tail end adjusting subsystem 7 respectively control the

buoyancy adjusting units

62, 63, 65, 66, 72, 73, 75 and 76 arranged on the left side and the right side of the underwater vehicle through the control assembly 8 to enable the buoyancy adjusting cabin a to absorb water, then the control assembly 8 controls the buoyancy adjusting cabins a of the

buoyancy adjusting units

61 and 64 arranged at the top and the bottom of the underwater vehicle in the head end adjusting subsystem 6 to absorb water, and controls the buoyancy adjusting cabins a of the

buoyancy adjusting units

71 and 74 arranged at the top and the bottom of the underwater vehicle in the tail end adjusting subsystem 7 to drain water, so that the water drainage volume of the underwater vehicle is reduced to help diving, the posture of the underwater vehicle is adjusted to have a certain longitudinal inclination angle from horizontal, and the submerged incident flow area is reduced to reduce resistance. When the underwater vehicle dives to a specified range of the target depth, the active diving lifting device of the underwater vehicle is closed, the

buoyancy adjusting units

62, 63, 65, 66, 72, 73, 75 and 76 which are respectively arranged at the left side and the right side of the underwater vehicle and are respectively controlled by the head end adjusting subsystem 6 and the tail end adjusting subsystem 7 through the control assembly 8, so that the buoyancy adjusting cabin a is drained, and the diving speed is reduced. When the underwater vehicle reaches the position near the target depth, the information acquisition and control system B acquires information such as seawater density and self-drainage quantity, the buoyancy compensation quantity required by the underwater vehicle is obtained through calculation of the processor 5, and the control assembly 8 controls the buoyancy adjustment system A to perform buoyancy compensation until the buoyancy and gravity of the underwater vehicle are balanced. And then the control assembly 8 controls the water drainage of the buoyancy regulating cabins a of the

buoyancy regulating units

61 and 64 arranged at the top and the bottom of the underwater vehicle in the head end regulating subsystem 6, and controls the water absorption of the buoyancy regulating cabins a of the

buoyancy regulating units

71 and 74 arranged at the top and the bottom of the underwater vehicle in the tail end regulating subsystem 7, so as to adjust the posture of the underwater vehicle to be horizontal. The detailed process is as follows:

step 1.1: and starting the active diving device of the underwater vehicle to prepare for diving to the target depth.

Step 1.2: the head end adjusting subsystem 6 and the tail end adjusting subsystem 7 are respectively controlled by the control assembly 8 to absorb water to a certain degree, so that the underwater vehicle is assisted to dive; the specific process is as follows: the processor 5 receives the information provided by the displacement sensor 4 and the diving parameter requirement of the underwater vehicle, calculates and obtains the water absorption volume v1 required by the buoyancy regulating system A, sends a buoyancy regulating instruction to the control component 8, the control component 8 is connected with the respective coupling type electromagnetic clutches e of the head end regulating subsystem 6 and the tail end regulating subsystem 7 which are arranged at the left side and the right side of the underwater vehicle and loosens the respective relay shaft limiter d, then drives the two spindle stepping motors 69 and 79 to rotate in the direction of driving the buoyancy regulating cabin a to absorb water, the displacement sensor 4 feeds the displacement information of each moving piston back to the processor 5 in real time to calculate and obtain the accumulated water absorption volume of the buoyancy regulating system A, when the accumulated water absorption volume reaches v1, the control component 8 controls the two spindle stepping motors 69 and 79 to stop rotating, and the coupling type electromagnetic clutch e and the clasping relay shaft limiter d of the buoyancy adjusting means 62, 63, 65, 66, 72, 73, 75 and 76 are disconnected.

Step 1.3: the buoyancy adjusting system A is controlled by the control assembly 8 to correspondingly suck and discharge water, and the pitch angle of the submarine vehicle is adjusted to reduce the diving resistance. The specific process is as follows: the processor 5 receives buoyancy and attitude information of the underwater vehicle provided by the displacement sensor 4 and the inertia measuring instrument 3, calculates suction and discharge water amount v2 required by the head end adjusting subsystem 6 and the tail end adjusting subsystem 7 by combining a target trim angle of the system, sends a trim adjusting instruction to the control assembly 8, the control assembly 8 is connected with shaft coupling type electromagnetic clutches e of the buoyancy adjusting units 61, 64, 71 and 74 and loosens respective relay shaft limiters d, then drives the two spindle stepping motors 69 and 79 to rotate in a specified direction to drive the buoyancy adjusting cabins a of the buoyancy adjusting units 61 and 64 arranged at the top and the bottom of the underwater vehicle in the head end adjusting subsystem 6 to suck water, the buoyancy adjusting cabins a of the buoyancy adjusting units 71 and 74 arranged at the top and the bottom of the underwater vehicle in the tail end adjusting subsystem 7 to discharge water, and feeds displacement information of the movable piston of the buoyancy adjusting cabins a to the displacement sensor 4 back to the processor 5 in real time, and calculating to obtain the accumulated water absorption of the head end regulator subsystem 6 and the accumulated water discharge of the tail end regulator subsystem 7, and when the accumulated water absorption and the accumulated water discharge respectively reach v2, controlling the two spindle stepping motors 69 and 79 to stop rotating by the control assembly 8, and disconnecting the coupling type electromagnetic clutch e and the holding relay shaft limiter d of the buoyancy regulating unit.

Step 1.4: in the submerging process, the depth meter 1 feeds back real-time depth information of the submerging device to the processor 5, when the submerging device submerges to a specified range near the target depth, the active submerging device is closed, the buoyancy adjusting system A is controlled to drain water, and the submerging device is rapidly prevented from submerging. The specific process is as follows: and (3) executing the same instruction as the step 1.3 by the control assembly 8 until the two

spindle stepping motors

69 and 79 are driven to rotate, controlling the spindle stepping motors to rotate in the direction of driving the buoyancy regulating cabin to drain water, feeding displacement information of each movable piston to the processor 5 in real time by the displacement sensor 4 to calculate the accumulated water drainage amount of the buoyancy regulating system A, and when the accumulated water drainage amount reaches v1, controlling the two

spindle stepping motors

69 and 79 to stop rotating by the control assembly 8 and disconnecting the coupling type electromagnetic clutches e and the holding relay shaft limiter d of each buoyancy regulating unit.

Step 1.5: and (4) near the target depth, carrying out buoyancy compensation on the underwater vehicle. The specific process is as follows: the processor 5 receives seawater density information collected by the thermohaline depth gauge 2 and the drainage condition of each buoyancy regulating cabin a in the buoyancy regulating system A collected by the displacement sensor 4, calculates water absorption or drainage v3 required by buoyancy compensation of the underwater vehicle by combining the self-mass of the underwater vehicle, sends a buoyancy regulating instruction to the control component 8, the control component 8 is connected with the

buoyancy regulating units

62, 63, 65, 66, 72, 73, 75 and 76 and respectively releases the respective relay shaft limiter d, then drives the two

spindle stepping motors

69 and 79 to rotate in a specified direction, the displacement sensor 4 feeds the displacement information of each moving piston back to the processor 5 in real time to calculate the accumulated water absorption and accumulated drainage of the buoyancy regulating system A, and when the accumulated water absorption and accumulated drainage reach v3, the control component 8 controls the two

spindle stepping motors

69, 79 stop rotating, and the coupling type electromagnetic clutch e and the clasping relay stopper d of each buoyancy adjusting unit are disconnected.

Step 1.6: and adjusting the trim attitude of the underwater vehicle to be horizontal. The specific process is as follows: the processor 5 receives buoyancy and attitude information of the underwater vehicle provided by the displacement sensor 4 and the inertial measurement instrument 3, calculates suction and drainage amount v4 required by the head end adjusting subsystem 6 and the tail end adjusting subsystem 7 when trim adjustment is obtained, sends a trim adjustment command to the control assembly 8, the control assembly 8 is connected with the shaft coupling type electromagnetic clutches e of the buoyancy adjusting units 61, 64, 71 and 74 and loosens the relay shaft limiters d, then drives the two spindle stepping motors 69 and 79 to rotate in the specified directions respectively to drive the buoyancy adjusting chambers of the buoyancy adjusting units 61 and 64 of the head end adjusting subsystem 6 installed at the top and the bottom of the underwater vehicle to drain, the tail end adjusting subsystem 7 is installed at the buoyancy adjusting chambers of the buoyancy adjusting units 71 and 74 at the top and the bottom of the underwater vehicle to suck water, the displacement information of the movable pistons of the buoyancy adjusting chambers is fed back to the processor 5 by the displacement sensor 4 in real time, and calculating to obtain the accumulated water discharge of the head end regulating subsystem 6 and the accumulated water suction of the tail end regulating subsystem 7, and when the accumulated water suction and the accumulated water discharge respectively reach v4, controlling the two spindle stepping motors 69 and 79 to stop rotating by the control assembly 8, disconnecting the respective coupling type electromagnetic clutches e of the buoyancy regulating units and tightly holding the relay shaft limiter d.

Step 1.7: and (3) slowly adjusting the depth position of the underwater vehicle by using the active underwater vehicle lifting and submerging device, and closing the active underwater vehicle lifting and submerging device when the underwater vehicle reaches the specified depth according to the real-time depth information fed back by the depth gauge 1. The underwater vehicle completes large-depth submergence.

When the underwater vehicle starts to float upwards, the control assembly 8 respectively controls the

buoyancy adjusting units

62, 63, 65, 66, 72, 73, 75 and 76 of the head end adjusting subsystem 6 and the tail end adjusting subsystem 7 which are respectively arranged at the left side and the right side of the underwater vehicle to enable the buoyancy adjusting cabin a to be completely drained, then the control assembly 8 controls the buoyancy adjusting cabins of the

buoyancy adjusting units

61 and 64 arranged at the top and the bottom of the underwater vehicle in the head end adjusting subsystem 6 to drain water, and simultaneously controls the buoyancy adjusting cabins of the

buoyancy adjusting units

71 and 74 arranged at the top and the bottom of the underwater vehicle in the tail end adjusting subsystem 7 to absorb water, so that the water draining volume of the underwater vehicle is increased to assist the floating upwards, the posture of the underwater vehicle is adjusted to have a certain elevation angle from the horizontal state, and the upward floating incident flow surface is reduced. When the underwater vehicle floats to a certain range of the target height, the active lifting and submerging device of the underwater vehicle is closed, the

buoyancy adjusting units

62, 63, 65, 66, 72, 73, 75 and 76 which are respectively arranged at the left side and the right side of the underwater vehicle and are respectively controlled by the head end adjusting subsystem 6 and the tail end adjusting subsystem 7 through the control assembly 8, so that the buoyancy adjusting cabin a absorbs water, and the floating speed of the buoyancy adjusting cabin is reduced. When the underwater vehicle reaches the target height, the information acquisition and control system B acquires information such as seawater density and self-drainage quantity, the buoyancy compensation quantity required by the underwater vehicle is obtained through calculation of the processor 5, and the control assembly 8 controls the buoyancy adjustment system A to perform buoyancy compensation until the buoyancy and gravity of the underwater vehicle are balanced. And then the control assembly 8 controls the buoyancy regulating chambers of the

buoyancy regulating units

61 and 64 arranged at the top and the bottom of the underwater vehicle in the head end regulating subsystem 6 to suck water, and controls the buoyancy regulating chambers of the

buoyancy regulating units

71 and 74 arranged at the top and the bottom of the underwater vehicle in the tail end regulating subsystem 7 to discharge water, so as to regulate the posture of the underwater vehicle to be horizontal. The detailed process is as follows:

step 2.1: and starting the active diving device of the underwater vehicle to prepare for floating to the target height.

Step 2.2: the buoyancy adjusting system A is controlled by the control assembly 8 to drain water to a certain degree, and the submersible vehicle is assisted to float. The specific process is as follows: the processor 5 receives the information provided by each displacement sensor 4 and the requirement of the floating parameter of the underwater vehicle, calculates the displacement v5 required by the buoyancy adjusting system A, sends a buoyancy adjusting instruction to the control component 8, the control component 8 is connected with the respective shaft-coupling type electromagnetic clutches e of the head end adjusting subsystem 6 and the tail end adjusting subsystem 7 which are respectively arranged at the left side and the right side of the underwater vehicle and loosens the respective relay shaft limiter d, then drives the two main

shaft stepping motors

69 and 79 to rotate in the direction of driving the buoyancy adjusting cabin a to drain, the displacement sensor 4 feeds the displacement information of each movable piston back to the processor 5 in real time to calculate the accumulated displacement of the buoyancy adjusting system A, when the displacement information reaches v5, the control component 8 controls the two main

shaft stepping motors

69 and 79 to stop rotating, and disconnecting the coupling type electromagnetic clutch e and the clasping relay shaft limiter d of the buoyancy regulating unit.

Step 2.3: the buoyancy adjusting system A is controlled by the control assembly 8 to correspondingly suck and discharge water, and the longitudinal inclination angle of the submarine vehicle is adjusted to reduce the floating resistance. The specific process is as follows: the processor 5 receives buoyancy and attitude information of the underwater vehicle provided by each displacement sensor 4 and the inertial measurement instrument 3, calculates suction and drainage water amount v6 required by the head end adjusting subsystem 6 and the tail end adjusting subsystem 7 by combining a target trim angle of the underwater vehicle, sends trim adjusting instructions to the control assembly 8, the control assembly 8 is connected with shaft-coupled electromagnetic clutches e of the buoyancy adjusting units 61, 64, 71 and 74 respectively arranged at the top and the bottom of the underwater vehicle of the head end adjusting subsystem 6 and the tail end adjusting subsystem 7, loosens the relay shaft limiters d respectively, then drives the two spindle stepping motors 69 and 79 to rotate in the specified directions to drive the buoyancy adjusting chambers of the buoyancy adjusting units 61 and 64 arranged at the top and the bottom of the underwater vehicle of the head end adjusting subsystem 6 to drain, and the tail end adjusting subsystem 7 is arranged at the buoyancy adjusting units 71 arranged at the top and the bottom of the underwater vehicle, 74, the displacement sensor 4 feeds back the displacement information of the moving piston of each buoyancy regulation cabin to the processor 5 in real time, the accumulated water discharge of the head end regulation subsystem 6 and the accumulated water absorption of the tail end regulation subsystem 7 are obtained by calculation, when the accumulated water discharge and the accumulated water absorption respectively reach v6, the control component 8 controls the two spindle stepping motors 69 and 79 to stop rotating, and the coupling type electromagnetic clutch e and the holding relay shaft limiter d of each buoyancy regulation unit are disconnected.

Step 2.4: in the floating process, the depth gauge 1 feeds back real-time height information of the underwater vehicle to the processor 5, and when the underwater vehicle floats to a specified range near the target depth, the active underwater vehicle lifting device is closed, the buoyancy adjusting system A is controlled to absorb water, and the underwater vehicle is quickly prevented from floating. The specific process is as follows: and (3) executing the same instruction as the step 2.3 by the control assembly 8 until the two

spindle stepping motors

69 and 79 are driven to rotate, controlling the spindle stepping motors to rotate in the direction of driving the buoyancy regulating cabin to absorb water, feeding displacement information of each movable piston back to the processor 5 in real time by the displacement sensor 4 to calculate the accumulated water absorption amount of the buoyancy regulating system A, and when the accumulated water absorption amount reaches v5, controlling the two

spindle stepping motors

Step 2.5: and (4) near the target height, carrying out buoyancy compensation on the underwater vehicle. The specific process is as follows: the processor 5 receives seawater density information collected by the thermohaline depth gauge 2 and the drainage condition of each buoyancy regulating cabin in the buoyancy regulating system A collected by the displacement sensor 4, calculates water absorption or drainage v7 required by buoyancy compensation of the underwater vehicle by combining the self-mass of the underwater vehicle, sends a buoyancy regulating instruction to the control assembly 8, the control assembly 8 is connected with the

buoyancy regulating units

62, 63, 65, 66, 72, 73, 75 and 76 arranged at the left side and the right side of the underwater vehicle in the head end regulating subsystem 6 and the tail end regulating subsystem 7, releases the respective shaft coupling type electromagnetic clutches e and releases the respective relay shaft limiters d, then drives the two main

shaft stepping motors

69 and 79 to rotate towards the appointed direction, the displacement sensor 4 feeds back the displacement information of each movable piston to the processor in real time to calculate the accumulated water absorption or accumulated drainage of the buoyancy regulating system A, when it reaches v7, the control unit 8 controls the two

spindle stepping motors

69 and 79 to stop rotating, and disconnects the coupling type electromagnetic clutch e and the clasping relay shaft limiter d of each of the buoyancy adjusting units.

Step 2.6: and adjusting the trim attitude of the underwater vehicle to be horizontal. The specific process is as follows: the processor 5 receives buoyancy and attitude information of the underwater vehicle provided by the displacement sensor 4 and the inertial measurement instrument 3, calculates suction and drainage amount v8 required by the head end adjusting subsystem 6 and the tail end adjusting subsystem 7 respectively when trim adjustment is obtained, sends a trim adjusting instruction to the control component 8, the control component 8 is connected with the coupling type electromagnetic clutches e of the buoyancy adjusting units 61, 64, 71 and 74 respectively and releases the relay shaft limiters d respectively, then drives the two spindle stepping motors 69 and 79 to rotate in the specified directions to drive the buoyancy adjusting chambers of the buoyancy adjusting units 61 and 64 arranged at the top and the bottom of the underwater vehicle in the head end adjusting subsystem 6 to suck water, the buoyancy adjusting chambers of the buoyancy adjusting units 71 and 74 arranged at the top and the bottom of the underwater vehicle in the tail end adjusting subsystem 7 to drain water, and the displacement information of the moving pistons of the buoyancy adjusting chambers a is fed back to the processor 5 by the displacement sensor 4 in real time, and calculating to obtain the accumulated water absorption of the head end regulator subsystem 6 and the accumulated water discharge of the tail end regulator subsystem 7, and when the accumulated water absorption and the accumulated water discharge respectively reach v8, controlling the two spindle stepping motors 69 and 79 to stop rotating by the control assembly 8, disconnecting the coupling type electromagnetic clutch e of the buoyancy regulating unit and tightly holding the relay shaft limiter d.

Step 2.7: and (3) slowly adjusting the height position of the underwater vehicle by using the active underwater vehicle lifting and submerging device, and closing the active underwater vehicle lifting and submerging device when the underwater vehicle reaches the specified height according to the real-time depth information fed back by the depth gauge 1. The submerging device can float upwards to a large extent.

With reference to fig. 8, the underwater vehicle of the present invention sucks and drains water by controlling the different buoyancy adjusting units on the left and right sides, and changes the horizontal position of the floating center to adjust the heeling attitude, and the specific process is as follows:

step 3.1: the processor 5 receives the initial transverse inclination angle omega of the underwater vehicle collected by the inertial measurement instrument 3, calculates and obtains a transverse inclination angle adjustment quantity delta omega by combining the target transverse inclination posture of the underwater vehicle, wherein the right side is positive, the left side is negative, all buoyancy adjusting units on the right side of the central axis of the underwater vehicle under the initial posture are marked as 1, and all buoyancy adjusting units on the left side of the central axis are marked as 0.

Step 3.2: the control assembly 8 is connected with and adjusts the respective coupling type electromagnetic clutches e of all the buoyancy adjusting units marked as 1, the respective relay shaft limiter d is loosened, then the two

spindle stepping motors

69 and 79 are respectively driven to rotate towards the specified direction so as to enable the buoyancy adjusting chambers a of the buoyancy adjusting units marked as 1 to adjust (water is absorbed when the delta omega is positive and water is discharged when the delta omega is negative), the processor 5 receives the information fed back by the displacement sensor 4 to calculate the accumulated adjusting quantity, when the accumulated adjusting quantity reaches 1% of the self mass of the underwater vehicle, the control assembly 8 controls the two

spindle stepping motors

69 and 79 to stop rotating, and the respective coupling type electromagnetic clutches e of the buoyancy adjusting units are disconnected and the relay shaft limiter d is tightly held. Then the control component 8 connects and adjusts the respective coupling type electromagnetic clutch e of all the buoyancy adjusting units marked as 0 and releases the respective relay axle limiter d, then the two main

shaft stepping motors

69 and 79 are respectively driven to rotate towards the designated direction so as to enable the buoyancy adjusting cabin a of each buoyancy adjusting unit marked as 0 to adjust (water is drained at the positive time and is absorbed at the negative time) and the processor 5 receives the information fed back by the displacement sensor 4 to calculate the accumulated water draining amount, when the accumulated water draining amount reaches 1% of the self mass of the underwater vehicle, the control component 8 controls the two main

shaft stepping motors

69 and 79 to stop rotating, and the respective coupling type electromagnetic clutch e of all the buoyancy adjusting units marked as 0 is disconnected and the relay axle limiter d is tightly held.

Step 3.3: the processor 5 receives the dynamic heeling attitude information fed back by the inertial measurement unit 3. If the roll angle stops changing before reaching the target value, the processor 5 records the current roll angle as the initial roll angle of the underwater vehicle, returns to the step 3.1, and restarts adjustment by combining the target value of the roll attitude; when the change of the transverse inclination angle reaches the range of the target value +/-5 degrees, the buoyancy adjusting process in the step 3.2 is executed reversely, namely the control assembly 8 controls the buoyancy adjusting cabins a of the buoyancy adjusting units marked as 1 to adjust (water is drained when the delta omega is positive and water is absorbed when the delta omega is negative) until the accumulated adjusting quantity reaches 1 percent of the self-mass of the underwater vehicle, and then the control assembly 8 controls the buoyancy adjusting cabins of the buoyancy adjusting units marked as 0 to adjust (water is drained when the delta omega is positive and water is drained when the delta omega is negative) until the accumulated adjusting quantity reaches 1 percent of the self-mass of the underwater vehicle.

Step 3.4: the inertial measurement instrument 3 feeds back the heeling attitude information of the underwater vehicle in real time, and when the stable value of the inertial measurement instrument does not reach the precision range of the target value, the current stable value is taken as the initial state of the underwater vehicle and returns to the step 3.1 to be adjusted again by combining the target attitude; and when the stable value reaches the target precision range, the adjustment of the transverse inclination attitude of the underwater vehicle is finished.

While the present invention has been described in terms of its functions and operations with reference to the accompanying drawings, it is to be understood that the invention is not limited to the precise functions and operations described above, and that the above-described embodiments are illustrative rather than restrictive, and that various changes may be made therein by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.

Claims

1. An umbrella rib type underwater vehicle depth and posture adjusting device is characterized by comprising a buoyancy adjusting system A, an information acquisition and control system B and a battery pack (11);

the buoyancy adjusting system A comprises a head end adjusting subsystem (6) and a tail end adjusting subsystem (7), wherein the head end adjusting subsystem (6) and the tail end adjusting subsystem (7) respectively comprise a main shaft stepping motor (9), a main gear (10) and six groups of buoyancy adjusting units, each main shaft stepping motor (9) and the underwater vehicle are arranged along a coaxial line, and a main gear (10) is arranged on a main shaft of each main shaft stepping motor (9); each group of buoyancy adjusting units consists of a buoyancy adjusting cabin (a), a push rod (b), a conversion cylinder (c), a relay shaft limiter (d), a coupling type electromagnetic clutch (e), a gear splitting wheel (f) and a transition gear (g); each buoyancy adjusting cabin (a) is of a piston cylinder structure consisting of a cylinder barrel and a movable piston, the cylinder barrel is arranged on the inner wall of the underwater vehicle and is communicated with the external water environment of the underwater vehicle, one end of each push rod (b) is hinged with the movable piston, and the other end of each push rod (b) is hinged with the conversion cylinder (c); the conversion cylinder (c) is composed of a ball screw and a ball nut, a relay shaft limiter (d) is installed on the ball screw, one end of the ball screw is matched with the ball nut, the other end of the ball screw is connected to a branch gear (f) through a coupling type electromagnetic clutch (e), and the branch gear (f) is meshed with the main gear (10) through a transition gear (g);

the information acquisition and control system B comprises a depth meter (1), a thermohaline depth gauge (2), an inertial measurement instrument (3), a displacement sensor (4), a processor (5) and a control assembly (8), wherein the battery pack (11) supplies power to the processor (5) and the control assembly (8) respectively; the depth meter (1), the thermohaline depth gauge (2) and the inertia measuring instrument (3) are arranged at the position below the middle part of the outer wall of the underwater vehicle, and a displacement sensor (4) is arranged in each buoyancy adjusting cabin (a); the depth meter (1), the thermohaline depth gauge (2), the inertia measuring instrument (3), the displacement sensor (4), the control assembly (8), the relay shaft limiter (d) and the coupling type electromagnetic clutch (e) are respectively and electrically connected with the processor (5);

the depth meter (1), the thermohaline depth gauge (2), the inertia measuring instrument (3) and the displacement sensor (4) respectively acquire position depth, posture and buoyancy state information of the underwater vehicle and transmit the position depth, posture and buoyancy state information to the processor (5), the processor (5) forms a buoyancy adjusting instruction according to task requirements and transmits the buoyancy adjusting instruction to the control assembly (8), and the control assembly (8) controls the opening and closing of the relay shaft limiter (d) and the coupling type electromagnetic clutch (e) and the rotation of the spindle stepping motor (9) according to the buoyancy adjusting instruction; a main shaft stepping motor (9) works to drive a main gear (10) to rotate, a ball screw is driven to rotate by a specified angle through a branch gear (f) and a coupling type electromagnetic clutch (e), a ball nut is further driven to move, the displacement of the ball nut is transmitted to a movable piston through a push rod (b), and a buoyancy adjusting cabin (a) is promoted to absorb and discharge water, so that buoyancy adjustment of the underwater vehicle is achieved.

2. The umbrella rib type underwater vehicle depth and posture adjusting device according to claim 1, wherein the head end adjusting subsystem (6) and the tail end adjusting subsystem (7) are oppositely arranged at the head end and the tail end of the underwater vehicle, six groups of buoyancy adjusting units of each subsystem are respectively distributed on the inner wall of the underwater vehicle at equal intervals along the annular direction, and the buoyancy adjusting units of the two subsystems are in one-to-one correspondence in the axial direction; and the head end adjusting subsystem (6) and the tail end adjusting subsystem (7) are respectively provided with one of six groups of buoyancy adjusting units arranged at the top of the underwater vehicle, one group is arranged at the bottom of the underwater vehicle, and the four groups are equally arranged at the left side and the right side of the underwater vehicle.

3. The umbrella rib type underwater vehicle depth and attitude adjusting device according to claim 1, wherein each main gear (10) and the main shaft stepping motor (9) are mounted on a fixed bracket (12) located at the central axis of the vehicle, and the main shafts of the two main shaft stepping motors (9) are arranged toward the middle cross section of the vehicle.

4. The umbrella rib type underwater vehicle depth and attitude adjusting apparatus as claimed in claim 1, wherein the push rod (b) is hinged with a ball nut of the conversion tube (c).

5. The umbrella rib type underwater vehicle depth and posture adjusting device according to claim 1, wherein a strip-shaped mounting table for mounting the displacement sensor (4) is arranged between the cylinder barrel of each buoyancy adjusting cabin (a) and the movable piston, the displacement sensor (4) is movably connected with the movable piston, and a sealing ring (h) is arranged at a contact section.

6. The umbrella rib type underwater vehicle depth and posture adjusting device according to claim 1, wherein the relay shaft limiter (d) is composed of a gear, a rotation blocking piece, a soft spring and a shell, the gear is fixed on a ball screw, the rotation blocking piece is limited between gear teeth through the soft spring fixedly connected to the inner wall of the shell, an electromagnetic coil is wound inside the shell, the coil is externally connected to the control assembly (8), the rotation blocking piece is sucked away when the power is on, the gear can freely rotate, the rotation blocking piece is continuously meshed with the gear when the power is off, and the rotation of the gear and the ball screw is limited.

7. The device for adjusting the depth and attitude of an umbrella-frame-type underwater vehicle as claimed in claim 1, wherein the coupling-type electromagnetic clutch (e) is directly controlled by the control unit (8) through a wire, and is electrically connected and disconnected.

8. A control method of the umbrella frame type underwater vehicle depth and attitude adjusting device of any one of claims 1 to 7, characterized by comprising the following processes:

When the underwater vehicle starts to dive, the control assembly (8) respectively controls the buoyancy adjusting units arranged on the left side and the right side of the underwater vehicle of the head end adjusting subsystem (6) and the tail end adjusting subsystem (7) to enable the buoyancy adjusting cabins (a) to absorb water, then the control assembly (8) controls the buoyancy adjusting cabins (a) of the buoyancy adjusting units arranged at the top and the bottom of the underwater vehicle in the head end adjusting subsystem (6) to absorb water, and controls the buoyancy adjusting cabins (a) of the buoyancy adjusting units arranged at the top and the bottom of the underwater vehicle in the tail end adjusting subsystem (7) to drain water, so that the water drainage volume of the underwater vehicle is reduced to help to dive, the posture of the underwater vehicle is adjusted to be changed from horizontal to have a certain longitudinal inclination angle, and the submerged flow area is reduced to reduce the resistance; when the underwater vehicle dives to a specified range of the target depth, the active lifting and diving device of the underwater vehicle is closed, and the respective buoyancy adjusting units arranged at the left side and the right side of the underwater vehicle of the head end adjusting subsystem (6) and the tail end adjusting subsystem (7) are respectively controlled by the control assembly (8), so that the buoyancy adjusting cabin (a) is drained, and the diving speed is reduced; when the underwater vehicle reaches the position near the target depth, the information acquisition and control system B acquires seawater density information and self-drainage information, the buoyancy compensation amount required by the underwater vehicle is obtained through calculation of the processor (5), and the buoyancy adjustment system A is controlled by the control assembly (8) to perform buoyancy compensation until the buoyancy and gravity of the underwater vehicle are balanced; then the control assembly (8) controls the buoyancy adjusting cabins (a) of the buoyancy adjusting units arranged at the top and the bottom of the underwater vehicle in the head end adjusting subsystem (6) to drain water, and simultaneously controls the buoyancy adjusting cabins (a) of the buoyancy adjusting units arranged at the top and the bottom of the underwater vehicle in the tail end adjusting subsystem (7) to absorb water, so as to adjust the posture of the underwater vehicle to be horizontal;

When the underwater vehicle starts to float upwards, the control assembly (8) respectively controls the buoyancy adjusting units arranged on the left side and the right side of the underwater vehicle of the head end adjusting subsystem (6) and the tail end adjusting subsystem (7) to enable the buoyancy adjusting cabins () to completely drain water, then the control assembly (8) controls the buoyancy adjusting cabins (a) of the buoyancy adjusting units arranged at the top and the bottom of the underwater vehicle in the head end adjusting subsystem (6) to drain water, and controls the buoyancy adjusting cabins (a) of the buoyancy adjusting units arranged at the top and the bottom of the underwater vehicle in the tail end adjusting subsystem (7) to absorb water, so that the posture of the underwater vehicle is adjusted from horizontal to have a certain elevation angle while the drainage volume of the underwater vehicle is increased to assist in floating upwards, and the upward flow surface is reduced to reduce resistance; when the underwater vehicle floats to a certain range of the target height, the active lifting and submerging device of the underwater vehicle is closed, and the respective buoyancy adjusting units arranged at the left side and the right side of the underwater vehicle of the head end adjusting subsystem (6) and the tail end adjusting subsystem (7) are respectively controlled by the control assembly (8), so that the buoyancy adjusting cabin (a) absorbs water and the floating speed of the buoyancy adjusting cabin is reduced; when the underwater vehicle reaches the target height, the information acquisition and control system B acquires seawater density information and self-drainage information, the buoyancy compensation amount required by the underwater vehicle is obtained through calculation of the processor (5), and the buoyancy adjustment system A is controlled by the control assembly (8) to perform buoyancy compensation until the buoyancy and gravity of the underwater vehicle are balanced; then the control assembly (8) controls the buoyancy adjusting cabins (a) of the buoyancy adjusting units arranged at the top and the bottom of the underwater vehicle in the head end adjusting subsystem (6) to absorb water, and controls the buoyancy adjusting cabins (a) of the buoyancy adjusting units arranged at the top and the bottom of the underwater vehicle in the tail end adjusting subsystem (7) to drain water, so that the attitude of the underwater vehicle is adjusted to be horizontal;

The processor (5) receives initial transverse inclination angle information of the underwater vehicle collected by the inertial measurement instrument (3), calculates and obtains transverse inclination adjustment quantity delta omega of the underwater vehicle by combining a target transverse inclination angle, wherein the right side is positive, the left side is negative, all buoyancy adjustment units on the right side of the central axis of the underwater vehicle under the marked initial posture are marked as 1, and all buoyancy adjustment units on the left side of the central axis are marked as 0;

the control component (8) drives the two spindle stepping motors (9) to rotate towards the specified direction so as to promote the buoyancy adjusting cabin (a) of each buoyancy adjusting unit marked as 1 to adjust, water is absorbed when delta omega is positive, water is discharged when delta omega is negative, and the adjustment stops when the accumulated adjustment amount reaches 1% of the self mass of the underwater vehicle; then a control component (8) drives two spindle stepping motors (9) to rotate towards the specified direction to promote the buoyancy adjusting chambers (a) of each buoyancy adjusting unit marked as 0 to adjust, water is drained when delta omega is positive, water is absorbed when delta omega is negative, and the adjustment is stopped when the accumulated adjustment amount reaches 1% of the self mass of the underwater vehicle;

the processor (5) receives dynamic heeling attitude information fed back by the inertia measuring instrument (3); if the roll angle stops changing before reaching the target value, the processor (5) records the current roll angle as the initial roll angle of the underwater vehicle, and the adjustment is restarted by combining the target value of the roll attitude; when the change of the transverse inclination angle reaches the range of a target value +/-5 degrees, the control assembly (8) controls the buoyancy adjusting cabins (a) of the buoyancy adjusting units marked as 1 to adjust, water is drained in a positive time and absorbed in a negative time until the accumulated adjusting amount reaches 1 percent of the self mass of the underwater vehicle, then the control assembly (8) controls the buoyancy adjusting cabins (a) of the buoyancy adjusting units marked as 0 to adjust, water is absorbed in a positive time and absorbed in a negative time, and water is drained in a negative time until the accumulated adjusting amount reaches 1 percent of the self mass of the underwater vehicle;

the inertial measurement instrument (3) feeds back the heeling attitude information of the underwater vehicle in real time, and when the stable value of the inertial measurement instrument does not reach the precision range of the target value, the current stable value is used as the initial state of the underwater vehicle and is adjusted again by combining the target attitude; and when the stable value reaches the target precision range, the adjustment of the transverse inclination attitude of the underwater vehicle is finished.