CN115027651B - High-precision integrated buoyancy adjusting system and operation method - Google Patents
High-precision integrated buoyancy adjusting system and operation method Download PDFInfo
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- CN115027651B CN115027651B CN202210736047.9A CN202210736047A CN115027651B CN 115027651 B CN115027651 B CN 115027651B CN 202210736047 A CN202210736047 A CN 202210736047A CN 115027651 B CN115027651 B CN 115027651B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks
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Abstract
The high-precision integrated buoyancy regulating system comprises a water tank, wherein water is injected into the water tank, a water outlet is formed in the center of the bottom of the water tank, a hatch cover is mounted on the top surface of the water tank in a matched mode, a pressure sensor and a controller are arranged in the middle of the inner side of the hatch cover, a flow regulating valve is arranged on the inner side of the hatch cover beside the controller, a one-way valve and a filter are arranged in the hatch cover, one end of the filter is connected with the water inlet, the other end of the filter is connected with the flow regulating valve, one end of the one-way valve is connected with a discharge outlet, and the other end of the one-way valve is connected with a motor water pump set through a drain pipe; the inner sides of the hatch covers outside the controller and the pressure sensor are fixed with a mounting frame through fasteners, and the bottom of the mounting frame is fixed with a motor water pump group; the first watertight plug-in and the second watertight plug-in are further arranged on the outer side of the hatch cover. The adjusting precision is high, the system structure is simplified, and the working reliability is improved.
Description
Technical Field
The invention relates to the technical field of ocean engineering, in particular to a high-precision integrated buoyancy adjusting system applied to an underwater platform and an operation method.
Background
Ocean contains various rich resources, is a hot spot for competition of various countries, and with the continuous understanding of ocean, the exploration and development of human beings on ocean has been extended from light blue to deep blue to Mariana sea ditches. For a clearer understanding of the ocean, better utilization and exploitation of the ocean, various types of underwater observation or operation equipment have been developed in various countries around the world, including various types of manned and unmanned submersible vehicles.
The buoyancy or gravity of the submersible can generate dynamic change in the process of submerging, floating and underwater operation, for example, the different densities of seawater at different depths can lead to different buoyancy when the submersible is submerged at different depths; the pressure of the deep sea environment can cause the pressure-resistant structure of the submersible to be compressed so as to reduce the buoyancy of the pressure-resistant structure; the gravity of the dive can be increased after sampling, and the gravity is reduced after equipment is placed. In order to compensate for the residual buoyancy caused by the above-mentioned changes, a buoyancy adjusting system or a buoyancy adjusting device is generally provided on various kinds of submersible vehicles or underwater work platforms.
The buoyancy regulating system in common mainly configures a buoyancy regulating water tank, a buoyancy regulating water pump group, a buoyancy regulating valve group and a pipeline system, and generally adopts a split type structure, the gravity of equipment is changed by injecting and draining water into the water tank so as to realize buoyancy regulation, a float type or magnetostrictive displacement sensor arranged in the buoyancy regulating water tank can monitor the liquid level, the monitoring of water injection and drainage amount is indirectly realized, but along with the movement of an underwater platform and the change of the gesture, the liquid level in the water tank can be continuously changed and unstable, the flow control cannot meet the high-precision control requirement, and in the prior scheme, the equipment is more, the system is complex and the reliability is low.
In publication number CN10621884a, a water hydraulic buoyancy adjusting device and method are disclosed, which are provided with a buoyancy adjusting water pump group, an adjusting valve and a pipeline in a pressure-resistant cabin, and a second container is provided in the pressure-resistant cabin. The water injection and drainage of the second container is realized mainly by utilizing the conversion of the pump-motor function of the two-way pump, the weight of the second container is changed to realize floating and submerging under the condition of ensuring that the drainage volume of the first container (pressure cabin) is unchanged, and the technical problem which is mainly solved is to provide a high-efficiency buoyancy regulating system capable of utilizing the water depth pressure energy, and the problem which is mainly solved is the efficiency problem. In the scheme, in order to ensure the normal operation of equipment and elements, the system elements are arranged in a dry environment in a cabin, a second container is added, the system is more complicated, the installation and maintenance are inconvenient, and in the scheme, the accurate measurement and control of the water injection and drainage amount cannot be provided, so that the requirement of high-precision buoyancy adjustment of the underwater operation submersible can not be met.
Disclosure of Invention
The applicant provides a high-precision integrated buoyancy adjusting system with reasonable structure and an operation method aiming at the defects in the prior art, so that the adjusting precision can be improved, the system structure is simplified, and the working reliability is improved.
The technical scheme adopted by the invention is as follows:
the utility model provides a high accuracy integral type buoyancy governing system, includes the water tank, the inside injection of water tank has water, the bottom central point of water tank puts and is provided with the water outlet, the top surface cooperation of water tank is installed the hatch board, the inboard intermediate position of hatch board is provided with pressure sensor and controller, and the hatch board inboard of one side of controller is provided with the flow control valve, the inside of hatch board is provided with check valve and filter, the water inlet is connected to the one end of filter, and the other end and the flow control valve of filter are connected, the discharge port is connected to the one end of check valve, and the other end of check valve is connected with motor water pump group through the drain pipe; the inner sides of the hatch covers outside the controller and the pressure sensor are fixed with a mounting frame through fasteners, and the bottom of the mounting frame is fixed with a motor water pump group; the first watertight plug-in and the second watertight plug-in are further arranged on the outer side of the hatch cover.
As a further improvement of the above technical scheme:
the water tank adopts a spherical structure.
The water tank is of a pressure-resistant structure.
The top surface of water tank is the plane, be provided with the seal groove on the plane, install the sealing washer in the seal groove.
The hatch cover is of a disc type structure, and the outer circumferential surface of the hatch cover is in smooth transition with the port outer ring of the water tank.
The hatch cover has the structure that: the integrated type water-tight plug-in device comprises a cover body, wherein the inner side of the cover body is connected with a controller, a flow regulating valve and a pressure sensor into a whole to form an integrated structure, and a first water-tight plug-in device and a second water-tight plug-in device are connected to the outer side of the cover body to form the integrated structure; screw holes are formed in two ends of the cover body, large screws are installed in the screw holes, the cover body is connected with the water tank, spaced counter bores are formed in the inner side of the cover body, small screws are installed in the counter bores, and the installation frame is connected with the cover body.
The section of the installation frame is in a shape like a Chinese character 'ji', and a plurality of spaced through grooves are formed in the installation frame.
And a plug is arranged on the water outlet.
The pressure sensor integrates a temperature sensor.
An operation method of a high-precision integrated buoyancy regulating system comprises the following operation steps:
in the initial state, a certain amount of water is pre-injected into the water cabin;
when the water tank is submerged, the controller controls the flow regulating valve to open, water outside the water tank automatically flows into the water tank through the filter and the flow regulating valve under the action of water pressure, the water quantity in the water tank is gradually increased, the air pressure in the water tank is increased, the pressure sensor collects the air pressure and the temperature in the water tank and feeds the air pressure and the temperature back to the controller, the controller calculates the water quantity injected into the water tank, and when the water injection quantity reaches the requirement, the controller controls the flow regulating valve to close, and the water injection process is completed;
when the water pump floats upwards, the controller controls the motor water pump group to work, absorbs water from the bottom of the water tank and discharges water outside the water tank through the one-way valve, the water quantity in the water tank is reduced, and according to the requirement of the regulating speed, the controller can control the water pump to change the rotating speed, so that the control of accurate flow is realized; when the water in the cabin is discharged, the air pressure in the cabin is reduced, the pressure sensor collects the air pressure and the temperature in the water cabin and feeds back the air pressure and the temperature to the controller, and the controller calculates the discharged water quantity; when the drainage quantity reaches the requirement, the controller controls the motor water pump group to stop working, and the drainage process is completed;
during maintenance, the whole hatch cover can be taken out only by loosening the big screw.
The beneficial effects of the invention are as follows:
the buoyancy regulating elements are arranged in the water tanks by arranging the water tanks with spherical structures and adopting wet environments, the buoyancy regulating elements are arranged in the water tanks, the equipment is an air or low-pressure water environment, and the buoyancy regulating elements do not need to bear large back pressure of external environments. The hatch cover is used as an integrated structure, the system and the structure are simple, the gravity of the water tank is changed by controlling the water injection and the water pump drainage through the flow regulating valve, and the water injection and drainage control precision is higher. The method and the device have the advantages that the accurate control of the water injection and drainage amount is realized by utilizing the characteristics of ideal gas and adopting a mode of controlling the air pressure in the cabin, the scheme avoids the influence of the posture of the water cabin, the fluctuation of the liquid level, the irregular shape of the water cabin and the like on the liquid level measurement precision, and the method and the device can be applied to high-precision measurement of the water quantity in the water cabin under any shape and any posture.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a schematic structural view of the water tank of the present invention.
Fig. 3 is a schematic structural view of the hatch cover according to the present invention.
Wherein: 1. a water tank; 2. a hatch cover; 3. a mounting frame; 4. a drain pipe; 5. a seal ring; 6. a large screw; 7. a small screw;
101. a water outlet; 102. sealing grooves;
201. a one-way valve; 202. a first watertight insert; 203. a second watertight insert; 204. a pressure sensor; 205. a filter; 206. a flow regulating valve; 207. a water filling port; 208. a controller; 209. a cover body; 301. and a motor water pump group.
Detailed Description
The following describes specific embodiments of the present invention with reference to the drawings.
As shown in fig. 1, 2 and 3, the high-precision integrated buoyancy adjusting system of the embodiment comprises a water tank 1, water is injected into the water tank 1, a water outlet 101 is formed in the center of the bottom of the water tank 1, a hatch cover 2 is installed on the top surface of the water tank 1 in a matched mode, a pressure sensor 204 and a controller 208 are arranged in the middle of the inner side of the hatch cover 2, a flow adjusting valve 206 is arranged in the inner side of the hatch cover 2 beside the controller 208, a one-way valve 201 and a filter 205 are arranged in the hatch cover 2, one end of the filter 205 is connected with a water inlet 207, the other end of the filter 205 is connected with the flow adjusting valve 206, one end of the one-way valve 201 is connected with a discharge outlet, and the other end of the one-way valve 201 is connected with a motor water pump set 301 through a water discharge pipe 4; the controller 208 and the inner side of the hatch cover 2 outside the pressure sensor 204 are fixed with a mounting frame 3 through fasteners, and the bottom of the mounting frame 3 is fixed with a motor water pump group 301; a first watertight insert 202 and a second watertight insert 203 are also provided outside the hatch cover 2.
The water tank 1 adopts a spherical structure.
The water tank 1 is of a pressure-resistant structure.
The top surface of the water tank 1 is a plane, a sealing groove 102 is arranged on the plane, and a sealing ring 5 is arranged in the sealing groove 102.
The hatch cover 2 is in a disc type structure, and the outer circumferential surface of the hatch cover 2 is in smooth transition with the port outer ring of the water tank 1.
The hatch cover 2 has the structure that: the integrated type water-tight plug comprises a cover body 209, wherein the inner side of the cover body 209 is connected with a controller 208, a flow regulating valve 206 and a pressure sensor 204 into a whole to form an integrated structure, and a first water-tight plug-in 202 and a second water-tight plug-in 203 are connected to the outer side of the cover body 209 to form an integrated structure; screw holes are formed in two ends of the cover body 209, large screws 6 are installed in the screw holes, the cover body 209 is connected with the water tank 1, spaced counter bores are formed in the inner side of the cover body 209, small screws 7 are installed in the counter bores, and the installation frame 3 is connected with the cover body 209.
The section of the installation frame 3 is in a shape like a Chinese character 'ji', and a plurality of spaced through grooves are formed in the installation frame 3.
The drain 101 is provided with a plug.
The pressure sensor 204 integrates a temperature sensor.
The operation method of the high-precision integrated buoyancy regulating system of the embodiment comprises the following operation steps:
in an initial state, a certain amount of water is pre-injected into the water tank 1;
when the water tank is submerged, the controller 208 controls the flow regulating valve 206 to be opened, water outside the water tank 1 automatically flows into the water tank 1 through the filter 205 and the flow regulating valve 206 under the action of water pressure, the water volume in the water tank 1 is gradually increased, the air pressure in the water tank 1 is increased, the pressure sensor 204 collects the air pressure and the temperature in the water tank 1 and feeds the air pressure and the temperature back to the controller 208, the controller 208 calculates the water volume injected into the water tank 1, and when the water volume reaches the requirement, the controller 208 controls the flow regulating valve 206 to be closed, and the water injection process is completed;
when the water pump floats upwards, the controller 208 controls the motor water pump group 301 to work, water is absorbed from the bottom of the water tank 1 and discharged outside the water tank 1 through the one-way valve 201, the water quantity in the water tank 1 is reduced, and the controller 208 can control the water pump to change the rotating speed according to the requirement of the regulating speed, so that the control of accurate flow is realized; when the water in the water tank is discharged, the air pressure in the water tank is reduced, the pressure sensor 204 collects the air pressure and the temperature in the water tank 1 and feeds back the air pressure and the temperature to the controller 208, and the controller 208 calculates the discharged water quantity; when the water discharge reaches the requirement, the controller 208 controls the motor water pump set 301 to stop working, and the water discharge process is completed;
during maintenance, the whole hatch cover 2 is taken out only by loosening the big screw 6.
The specific structure and functions of the invention are as follows:
the water tank mainly comprises a water tank 1, a hatch cover 2, a mounting frame 3, a motor water pump set 301, a controller 208, a flow regulating valve 206, a one-way valve 201, a pressure sensor 204, a filter 205, a first watertight insert 202, a second watertight insert 203, a water injection port 207 and a drain pipe 4.
Wherein the controller 208, the flow regulating valve 206 and the pressure sensor 204 are all connected with the inner side of the cover 209 of the hatch cover 2 into a whole, and are arranged in the water tank 1, and the check valve 201 and the filter 205 are arranged in the hatch cover 2.
Wherein the motor water pump group 301 is integrally connected with the mounting frame 3 and integrally fixed to the inner side end of the cover 209 of the hatch cover 2.
The water outlet of the motor water pump group 301 is connected with the one-way valve 201 through the water drain pipe 4 to drain water;
the inlet end of the flow regulating valve 206 is connected to one end of the filter 205 through the flow passage inside the hatch 2, and the other end of the filter 205 is connected to the water filling port 207.
The controller 208 is connected with the motor water pump set 301, the flow regulating valve 206, the pressure sensor 204, the second watertight insert 203 and the first watertight insert 202 through cables respectively.
The hatch cover 2 and the water tank 1 are connected into a whole through the big screw 6, the installation end face is provided with the sealing ring 5, and the hatch cover 2 and the water tank 1 form a pressure-resistant sealed water tank.
The motor in the motor water pump set 301 of the present invention is an underwater motor, and integrates a motor driver.
The pressure sensor 204 of the present invention incorporates a temperature sensor.
The water filling port 207 is provided at the upper end of the hatch cover 2, and the water discharge port 101 is provided at the lower intermediate position of the water tank 1.
The water tank 1 is of a spherical pressure-resistant structure.
Embodiment one:
the operation method of the high-precision integrated buoyancy regulating system adopts the buoyancy regulating system, and the gravity of the buoyancy regulating water tank is changed through water injection and drainage, so that the buoyancy regulating function is realized. The adjusting process comprises the following steps:
in the initial state, a certain amount of water is pre-injected into the buoyancy regulating water cabin.
When the water tank 1 is submerged, the controller 208 controls the flow regulating valve 206 to be opened, water outside the water tank 1 automatically flows into the water tank 1 through the filter 205 and the flow regulating valve 206 under the action of water pressure, and the water amount in the water tank 1 is increased. After water is injected into the water tank 1, the pressure in the tank increases, the pressure sensor 204 collects the pressure and temperature in the water tank and feeds back to the controller 208, which calculates the amount of water injected into the water tank 1 according to the ideal gas equation. When the water injection amount reaches the requirement, the controller 208 controls the flow regulating valve 206 to be closed, and the water injection process is completed.
When the water pump floats upwards, the controller 208 controls the motor water pump group 301 to work, the water pump absorbs water from the bottom of the water tank 1 and discharges water to the outside of the water tank 1 through the one-way valve 201, the water quantity in the water tank 1 is reduced, and the controller 208 can control the water pump to change the rotating speed according to the requirement of speed regulation, so that the control of accurate flow is realized. When the water in the water tank is discharged, the air pressure in the water tank is reduced, the pressure sensor 204 collects the air pressure and the temperature in the water tank 1 and feeds back to the controller 208, and the controller 208 calculates the discharged water quantity. When the water discharge reaches the requirement, the controller 208 controls the motor water pump set 301 to stop working, and the water discharge process is completed.
Embodiment two:
a method for operating a high-precision integrated buoyancy regulating system adopts the buoyancy regulating device, changes the gravity of a buoyancy regulating water tank through water injection and water drainage, realizes the buoyancy regulating function, and assumes that the volume of the water tank is V when the water tank is not injected for convenience in description 0 。
The adjusting process comprises the following steps:
in the initial state, a certain amount of water V is injected into the water tank 1 through the water injection port 207 1 At this time, the air pressure in the water tank 1 is P 1 At a temperature T 1 。
When the vehicle is submerged, the controller 208 controls the flow regulating valve 206 to be opened, water outside the water tank 1 automatically flows into the water tank 1 through the filter 205 and the flow regulating valve 206 under the action of water pressure, the water amount in the water tank 1 is increased, the gravity is increased, and the total buoyancy of the water tank 1 is unchanged, so that the submersible with the buoyancy regulating device can realize the reduction of the buoyancy. At this time, the air pressure in the cabin is raised, and the air pressure in the cabin is P 2 At a temperature T 2 According to the ideal gas equation, the water injection quantity V 2 The air pressure and the temperature in the cabin are related as follows:
from this, it can be seen that only P is controlled 2 The water injection quantity V can be accurately controlled 2 。
When the water tank floats upwards, the controller 208 controls the motor water pump group 301 to work, the water pump absorbs water from the bottom of the water tank and discharges water to the outside of the water tank 1 through the one-way valve 201, the water quantity in the water tank 1 is reduced, the gravity is reduced, and the total buoyancy of the water tank 1 is unchanged, so that the submersible with the buoyancy regulating device can realize the increase of the buoyancy. At this time, the air pressure in the cabin is reduced, and the air pressure in the cabin is P 3 At a temperature T 3 Similarly, at this time, the water discharge amount V 3 The air pressure and the temperature in the cabin are related as follows:
from this, it can be seen that only P is controlled 3 Can discharge water V 3 。
From the above, accurate control of water injection and drainage can be realized by collecting air pressure and temperature parameters in the water tank and controlling final pressure, and high-precision monitoring of air pressure can be realized by the air pressure monitoring sensor with temperature compensation according to the prior art.
The high-precision integrated buoyancy adjusting device and the operation method have the advantages that the system structure is simple, modular installation can be realized, the use and maintenance are convenient, the influence of the posture of the water tank, the fluctuation of the liquid level, the irregular appearance of the water tank and the like on the liquid level measurement precision is avoided, and the high-precision integrated buoyancy adjusting device and the operation method can be applied to high-precision buoyancy adjustment in any shape and any posture.
The above description is intended to illustrate the invention and not to limit it, the scope of which is defined by the claims, and any modifications can be made within the scope of the invention.
Claims (10)
1. A high-precision integrated buoyancy adjusting system is characterized in that: the water tank comprises a water tank (1), water is injected into the water tank (1), a water outlet (101) is formed in the center of the bottom of the water tank (1), a hatch cover (2) is installed on the top surface of the water tank (1) in a matched mode, a pressure sensor (204) and a controller (208) are arranged in the middle of the inner side of the hatch cover (2), a flow regulating valve (206) is arranged in the inner side of the hatch cover (2) beside the controller (208), a one-way valve (201) and a filter (205) are arranged in the hatch cover (2), one end of the filter (205) is connected with the water inlet (207), the other end of the filter (205) is connected with the flow regulating valve (206), one end of the one-way valve (201) is connected with a discharge outlet, and the other end of the one-way valve (201) is connected with a motor water pump set (301) through a water discharge pipe (4); the inner side of a hatch cover (2) outside the controller (208) and the pressure sensor (204) is fixed with a mounting frame (3) through a fastener, and the bottom of the mounting frame (3) is fixed with a motor water pump group (301); the first watertight insert (202) and the second watertight insert (203) are further arranged on the outer side of the hatch cover (2).
2. The high precision integrated buoyancy adjustment system according to claim 1, wherein: the water tank (1) adopts a spherical structure.
3. The high precision integrated buoyancy adjustment system according to claim 1, wherein: the water tank (1) is of a pressure-resistant structure.
4. The high precision integrated buoyancy adjustment system according to claim 1, wherein: the top surface of water tank (1) is the plane, be provided with seal groove (102) on the plane, install sealing washer (5) in seal groove (102).
5. The high precision integrated buoyancy adjustment system according to claim 1, wherein: the hatch cover (2) is of a disc type structure, and the outer circumferential surface of the hatch cover (2) is in smooth transition with the port outer ring of the water tank (1).
6. The high precision integrated buoyancy adjustment system according to claim 1, wherein: the hatch cover (2) has the structure that: the intelligent control device comprises a cover body (209), wherein the inner side of the cover body (209) is connected with a controller (208), a flow regulating valve (206) and a pressure sensor (204) into a whole to form an integrated structure; screw holes are formed in two ends of the cover body (209), large screws (6) are installed in the screw holes, the cover body (209) is connected with the water tank (1), spaced counter bores are formed in the inner side of the cover body (209), small screws (7) are installed in the counter bores, and the installation frame (3) is connected with the cover body (209).
7. The high precision integrated buoyancy adjustment system according to claim 1, wherein: the section of the installation frame (3) is of a 'U' -shaped structure, and a plurality of spaced through grooves are formed in the installation frame (3).
8. The high precision integrated buoyancy adjustment system according to claim 1, wherein: and a plug is arranged on the water outlet (101).
9. The high precision integrated buoyancy adjustment system according to claim 1, wherein: the pressure sensor (204) integrates a temperature sensor.
10. A method of operation utilizing the high precision integrated buoyancy adjustment system of claim 6, characterized by: the method comprises the following operation steps:
in an initial state, a certain amount of water is pre-injected into the water tank (1);
when the water tank is submerged, the controller (208) controls the flow regulating valve (206) to be opened, water outside the water tank (1) automatically flows into the water tank (1) through the filter (205) and the flow regulating valve (206) under the action of water pressure, the water quantity in the water tank (1) is gradually increased, the air pressure in the water tank is increased, the pressure sensor (204) collects the air pressure and the temperature in the water tank (1) and feeds the air pressure and the temperature back to the controller (208), the controller (208) calculates the water quantity injected into the water tank (1), and when the water injection quantity meets the requirement, the controller (208) controls the flow regulating valve (206) to be closed, and the water injection process is completed;
when the water pump floats upwards, the controller (208) controls the motor water pump group (301) to work, water is absorbed from the bottom of the water tank (1) and discharged outside the water tank (1) through the one-way valve (201), the water quantity in the water tank (1) is reduced, and the controller (208) can control the water pump to change the rotating speed according to the requirement of the regulating speed, so that the control of accurate flow is realized; when the water in the cabin is discharged, the air pressure in the cabin is reduced, the pressure sensor (204) collects the air pressure and the temperature in the water cabin (1) and feeds the air pressure and the temperature back to the controller (208), and the controller (208) calculates the discharged water quantity; when the water discharge reaches the requirement, the controller (208) controls the motor water pump group (301) to stop working, and the water discharge process is completed;
during maintenance, the whole hatch cover (2) is taken out only by loosening the big screw (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202210736047.9A CN115027651B (en) | 2022-06-27 | 2022-06-27 | High-precision integrated buoyancy adjusting system and operation method |
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| CN202210736047.9A CN115027651B (en) | 2022-06-27 | 2022-06-27 | High-precision integrated buoyancy adjusting system and operation method |
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| CN115027651A CN115027651A (en) | 2022-09-09 |
| CN115027651B true CN115027651B (en) | 2023-05-23 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104670444B (en) * | 2013-11-30 | 2017-03-15 | 中国科学院沈阳自动化研究所 | A kind of unidirectional buoyancy regulating device for Autonomous Underwater aircraft |
| WO2017066906A1 (en) * | 2015-10-19 | 2017-04-27 | 浙江大学 | Automatic oil discharging type buoyancy regulating device for underwater robot |
| CN106005324B (en) * | 2016-06-28 | 2017-10-31 | 哈尔滨工程大学 | A kind of high-precision pressure storage type buoyancy regulating device of air pressure detection |
| CN110901866B (en) * | 2019-11-28 | 2021-09-28 | 天津大学 | Rapid buoyancy adjusting system for small and medium-sized underwater unmanned aircraft |
| CN112918651B (en) * | 2021-03-12 | 2022-02-18 | 中国船舶科学研究中心 | Buoyancy adjusting device and method for medium-shallow depth submersible |
| CN113184151B (en) * | 2021-06-03 | 2022-04-12 | 中国船舶科学研究中心 | Buoyancy adjusting system and method for medium-shallow depth submersible |
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