CN113277048A - Method for automatically setting depth of underwater equipment - Google Patents
Method for automatically setting depth of underwater equipment Download PDFInfo
- Publication number
- CN113277048A CN113277048A CN202110597569.0A CN202110597569A CN113277048A CN 113277048 A CN113277048 A CN 113277048A CN 202110597569 A CN202110597569 A CN 202110597569A CN 113277048 A CN113277048 A CN 113277048A
- Authority
- CN
- China
- Prior art keywords
- underwater equipment
- depth
- power module
- controller
- submergence
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/24—Automatic depth adjustment; Safety equipment for increasing buoyancy, e.g. detachable ballast, floating bodies
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C13/00—Surveying specially adapted to open water, e.g. sea, lake, river or canal
- G01C13/008—Surveying specially adapted to open water, e.g. sea, lake, river or canal measuring depth of open water
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Hydrology & Water Resources (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Testing Or Calibration Of Command Recording Devices (AREA)
Abstract
The invention provides a method for automatically setting depth of underwater equipment, which comprises a power supply module, a depth sensor, a power module and a controller. The method is realized by supplying power through a power module, processing received data h fed back by a depth sensor by a controller, and setting the target submergence depth as h0According to h and h0Whether the sizes of the underwater equipment are equal or not is judged, whether a control signal is generated or not is judged to control the power module, and therefore whether the power module drives the underwater equipment to float upwards or submerge in water is judged, the submerging depth of the underwater equipment in water is monitored in real time, and the underwater equipment submerges to the set depth in water.
Description
Technical Field
The invention relates to the field of underwater equipment, in particular to a method for automatically setting depth of the underwater equipment.
Background
Since humans cannot withstand extreme cold and high pressure in deep sea, underwater equipment has become a major tool for human deep sea development. The depth control is one of the key technologies of the underwater equipment, and can ensure that the underwater equipment is maintained at a specified water depth, overcome the interference of underwater ocean currents and realize the underwater stable hovering operation. The underwater environment is severe, the diving depth of people is limited, and underwater equipment can be used for replacing manual diving. The invention relates to a method for automatically setting the depth of underwater equipment, which is particularly important for solving the problem that the underwater equipment submerges to the set depth by monitoring the submergence depth of the underwater equipment in water in real time.
Disclosure of Invention
The invention aims to provide a method for automatically setting depth of underwater equipment, which is applied to the underwater equipment and can monitor the submergence depth of the underwater equipment in real time to submerge the underwater equipment to the set depth so as to replace manual submergence with the underwater equipment.
In order to solve the problems, the invention adopts the following technical scheme:
a method for automatically setting depth of underwater equipment comprises a power supply module, a depth sensor, a power module and a controller.
The power module is used for supplying power to the depth sensor, the power module and the controller.
The depth sensor is provided with a waterproof shell, the waterproof shell is arranged inside the waterproof shell after sealed waterproof treatment, the waterproof shell is arranged outside the underwater equipment, the depth sensor is in contact with water and used for monitoring the submergence depth h of the underwater equipment, and the data of the submergence depth h is fed back to the controller.
The power module is used as a power device of the underwater equipment and drives the underwater equipment to float up or submerge in water.
The controller is connected with the power module, the depth sensor and the power module and is used for setting the target submergence depth to h0Processing the data h fed back by the depth sensor, and processing h and h0The two data generate control signals to control the power module, so that the power module drives the underwater equipment to float up or submerge in water.
A method for automatic depth setting of underwater equipment, comprising the steps of:
s1, setting the target submergence depth to h by the controller0；
S2, the depth sensor feeds back the data of the submergence depth h of the underwater equipment to the controller;
s3, the controller processes the received data h fed back by the depth sensor according to h and h0Whether the sizes of the underwater equipment are equal or not is judged to judge whether a control signal is generated to control the power module, so that whether the power module drives the underwater equipment to float or submerge in water or not is judged;
when the submergence depth h is equal to the target submergence depth h0When the underwater equipment is in a static state in the vertical direction, the controller does not generate a control signal to control the power module, and the power module does not drive the underwater equipment to float upwards or submerge downwards, so that the underwater equipment is in the static state in the vertical direction;
when the submergence depth h is larger than the target submergence depth h0When the underwater equipment floats upwards, the controller generates a control signal to control the power module, and the power module drives the underwater equipment to float upwards;
when the submergence depth h is less than the target submergence depth h0And the controller generates a control signal to control the power module, and the power module drives the underwater equipment to do diving motion.
Has the advantages that: the invention provides a method for automatically setting depth of underwater equipment, which is realized by supplying power through a power module, processing received data h fed back by a depth sensor by a controller and setting a target submergence depth h as the depth of the underwater equipment0According to h and h0Whether the sizes of the underwater equipment are equal or not is judged, whether a control signal is generated or not is judged to control the power module, and therefore whether the power module drives the underwater equipment to float upwards or submerge in water is judged, the submerging depth of the underwater equipment in water is monitored in real time, and the underwater equipment submerges to the set depth in water.
Drawings
FIG. 1 is a schematic view of a connection structure of a method for automatically setting depth of underwater equipment according to the present invention;
fig. 2 is a flow chart of a method of the present invention for automatic depth setting of underwater equipment.
Detailed Description
The invention provides a method for automatically setting depth of underwater equipment. In order to make the objects, technical solutions and effects of the present invention clearer and clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. It should be understood that the embodiments described herein are only for illustrating the present invention and are not to be construed as limiting the present invention.
Please refer to fig. 1, which is a schematic diagram of a connection structure of an automatic depth setting method for underwater equipment according to the present invention. As shown in the figure, the device comprises a power module 1, a depth sensor 2, a power module 3 and a controller 4; a method of automatically depthkeeping in relation to an underwater apparatus is applied to the underwater apparatus to enable the underwater apparatus to be submerged in water to a set depth.
The power module 1 is used for supplying power to the depth sensor 2, the power module 3 and the controller 4.
The depth sensor 2 is provided with a waterproof shell, the waterproof shell is arranged inside the waterproof shell after sealed waterproof treatment, the waterproof shell is arranged outside the underwater equipment, the depth sensor 2 is in contact with water and used for monitoring the submergence depth h of the underwater equipment, and the data of the submergence depth h is fed back to the controller 4.
The power module 3 is used as a power device of the underwater equipment to drive the underwater equipment to float or submerge in water.
The controller 4 is connected with the power module 1, the depth sensor 2 and the power module 3 and is used for setting the target submergence depth to h0Processing the data h fed back by the depth sensor 2, and processing h and h0The two data generate control signals to control the power module 3, so that the power module 3 drives the underwater equipment to float up or submerge in water.
Referring to fig. 2, it is a flow chart of a method for automatically setting depth of underwater equipment according to the present invention, as shown in the figure, including the following steps:
s1, the controller 4 sets the target submergence depth to h0；
S2, the depth sensor 2 feeds back the data of the submergence depth h of the underwater equipment to the controller 4;
s3, the controller processes the received data h fed back by the depth sensor 2 according to h and h0Whether the sizes of the underwater equipment are equal or not is judged to judge whether a control signal is generated to control the power module 3, so that whether the power module 3 drives the underwater equipment to float or dive in water or not is judged;
when the submergence depth h is equal to the target submergence depth h0When the underwater equipment is in a static state in the vertical direction, the controller 4 does not generate a control signal to control the power module 3, and the power module 3 does not drive the underwater equipment to float upwards or submerge downwards, so that the underwater equipment is in a static state in the vertical direction;
when the submergence depth h is larger than the target submergence depth h0When the underwater equipment is in the floating state, the controller 4 generates a control signal to control the power module 3, and the power module 3 drives the underwater equipment to float;
when the submergence depth h is less than the target submergence depth h0And when the underwater equipment is submerged, the controller 4 generates a control signal to control the power module 3, and the power module 3 drives the underwater equipment to do the submerging motion.
Claims (2)
1. A method for automatically setting depth of underwater equipment is characterized in that,
the device comprises a power module (1), a depth sensor (2), a power module (3) and a controller (4);
the power supply module (1) is used for supplying power to the depth sensor (2), the power module (3) and the controller (4);
the depth sensor (2) is used for monitoring the submergence depth h of the underwater equipment and feeding back the data of the submergence depth h to the controller (4);
the power module (3) is used as a power device of the underwater equipment and drives the underwater equipment to float up or submerge in water;
the controller (4) is connected with the power module (1), the depth sensor (2) and the power module (3) and is used for setting the target submergence depth to h0Processing the data h fed back by the depth sensor (2), and processing h and h0The two data generate control signals to control the power module (3), so that the power module (3) drives the underwater equipment to float up or submerge in water.
2. A method for automatic depth setting in relation to underwater equipment according to claim 1, characterized by the steps of:
s1, setting the target submergence depth h by the controller (4)0；
S2, the depth sensor (2) feeds back the data of the submergence depth h of the underwater equipment to the controller (4);
s3, the controller processes the received data h fed back by the depth sensor (2), and the data h and h are obtained according to the0Whether the sizes of the underwater equipment are equal or not is judged to judge whether a control signal is generated to control the power module (3) or not, so that whether the power module (3) drives the underwater equipment to float up or dive in water or not is judged;
when the submergence depth h is equal to the target submergence depth h0When the underwater equipment moves upwards or downwards, the controller (4) does not generate a control signal to control the power module (3), and the power module (3) does not drive the underwater equipment to float upwards or submerge;
when the submergence depth h is larger than the target submergence depth h0When the underwater equipment is in the floating state, the controller (4) generates a control signal to control the power module (3), and the power module (3) drives the underwater equipment to float;
when the submergence depth h is less than the target submergence depth h0And when the underwater equipment is submerged, the controller (4) generates a control signal to control the power module (3), and the power module (3) drives the underwater equipment to do the submerging motion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110597569.0A CN113277048A (en) | 2021-05-31 | 2021-05-31 | Method for automatically setting depth of underwater equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110597569.0A CN113277048A (en) | 2021-05-31 | 2021-05-31 | Method for automatically setting depth of underwater equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113277048A true CN113277048A (en) | 2021-08-20 |
Family
ID=77282575
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110597569.0A Withdrawn CN113277048A (en) | 2021-05-31 | 2021-05-31 | Method for automatically setting depth of underwater equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113277048A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103412567A (en) * | 2013-04-15 | 2013-11-27 | 上海大学 | Underwater robot depth control device based on linear active disturbance rejection technology and method thereof |
| CN105383654A (en) * | 2015-10-30 | 2016-03-09 | 哈尔滨工程大学 | Depth control device of autonomous underwater vehicle |
| CN108459608A (en) * | 2018-04-12 | 2018-08-28 | 澳门培正中学 | A kind of depth control method and system of underwater detectoscope |
| CN110606181A (en) * | 2019-10-28 | 2019-12-24 | 沈阳 | Underwater robot dive degree of depth self-interacting device |
| CN112027038A (en) * | 2020-08-14 | 2020-12-04 | 天津大学 | Umbrella rib type underwater vehicle depth and attitude adjusting device and control method thereof |
-
2021
- 2021-05-31 CN CN202110597569.0A patent/CN113277048A/en not_active Withdrawn
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103412567A (en) * | 2013-04-15 | 2013-11-27 | 上海大学 | Underwater robot depth control device based on linear active disturbance rejection technology and method thereof |
| CN105383654A (en) * | 2015-10-30 | 2016-03-09 | 哈尔滨工程大学 | Depth control device of autonomous underwater vehicle |
| CN108459608A (en) * | 2018-04-12 | 2018-08-28 | 澳门培正中学 | A kind of depth control method and system of underwater detectoscope |
| CN110606181A (en) * | 2019-10-28 | 2019-12-24 | 沈阳 | Underwater robot dive degree of depth self-interacting device |
| CN112027038A (en) * | 2020-08-14 | 2020-12-04 | 天津大学 | Umbrella rib type underwater vehicle depth and attitude adjusting device and control method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106043632A (en) | Deep-sea unmanned underwater vehicle and application method thereof | |
| CN107585273A (en) | underwater salvage robot | |
| CN108189969A (en) | A kind of deep-sea anchor system submerged buoy system based on satellite communication real-time data transmission | |
| CN206826898U (en) | A kind of emergency set and underwater unmanned vehicle of high speed underwater unmanned vehicle | |
| CN110116794A (en) | For the mini underwater robot and water sampling method of water quality monitoring | |
| CN211468735U (en) | Bionic jellyfish robot | |
| CN206511093U (en) | A kind of antiwind underwater robot | |
| CN108438178A (en) | A kind of glding type manned device for deep water face dam preservation ＆ testing | |
| CN107856826B (en) | A kind of automatic anchor ear device of the electrically driven tank of benthoscope | |
| CN113277048A (en) | Method for automatically setting depth of underwater equipment | |
| JP3209725U (en) | Floating type photographing device | |
| CN108323480A (en) | A kind of submarine fishing robot | |
| CN205916310U (en) | Unmanned submerge ware in deep sea | |
| CN109367741B (en) | Deformable unmanned submarine vehicle and application method thereof | |
| CN211374717U (en) | Water quality on-line monitoring device | |
| CN112683464A (en) | Unmanned ship watertight cabin multi-point cooperative water leakage detection processing device and method | |
| JP5403663B2 (en) | Constant water float | |
| CN109933080B (en) | Underwater robot submerging and surfacing motion control method with buoyancy adjusting function | |
| Kim et al. | A wireless remotely operated vehicle using acoustic communication | |
| CN115743409A (en) | Self-floating and sinking type section observation buoy | |
| CN211581244U (en) | Water quality monitoring and controlling device for sea cucumber culture pond | |
| CN214084704U (en) | Underwater diving equipment for ocean engineering | |
| CN110775199B (en) | Ocean current energy submerged buoy capable of rising and sinking | |
| KR101467283B1 (en) | Horizontality control type seebed mooring apparatus | |
| TW202143834A (en) | Aquaculture system capable of detecting surface environment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20210820 |
|
| WW01 | Invention patent application withdrawn after publication |