CN116331407B - Underwater residence system controlled by passive depth setting - Google Patents
Underwater residence system controlled by passive depth setting Download PDFInfo
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- CN116331407B CN116331407B CN202310574693.4A CN202310574693A CN116331407B CN 116331407 B CN116331407 B CN 116331407B CN 202310574693 A CN202310574693 A CN 202310574693A CN 116331407 B CN116331407 B CN 116331407B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
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Abstract
The invention relates to the technical field of underwater residence systems, and discloses a passive depth-fixing controlled underwater residence system. Which is used to passively hover underwater equipment at depth in water, includes a release and a depth-to-hover control assembly. The depthkeeping hover control assembly is connected to a release that is connected to the subsea equipment, the release being configured to release the subsea equipment upon receiving a release command. The depthkeeping hover control assembly includes an arming weight, an arming float, and an anti-rope wrap. The equipment counterweight enables the underwater equipment to passively sink into the water; the equipment floating body is used for providing redundant buoyancy for the underwater equipment, the releaser and the equipment counterweight; the two ends of the rope winding preventing piece are connected to the equipment floating body and the releaser through the first rope and the fourth rope respectively, and the equipment counterweight is hung on the rope winding preventing piece. The hover depth of the subsea equipment is controlled by the difference in length of the first rope and the fourth rope. The underwater equipment is simple in structure and easy to realize, and the requirement on the self-control capability of the underwater equipment is greatly reduced.
Description
Technical Field
The invention relates to the technical field of underwater residence systems, in particular to a passive depth-fixing controlled underwater residence system.
Background
In recent years, the demands on the aspects of cognition exploration, development and utilization, rights and interests protection and the like of the ocean are increasingly urgent, the emergence and development of related ocean technologies are greatly promoted, and the underwater residence technology becomes one of the ocean emerging technologies. At present, the underwater residence technology is mainly concentrated in the field of submarine residence, so that unmanned underwater vehicles and the like reside on the seafloor of specific sea areas such as ports, straits and the like for a long time, and the surrounding environment is monitored and detected. In order to realize fixed-point depth-fixing monitoring of marine equipment such as marine environment monitoring equipment and water-air crossing aircrafts, the monitoring equipment and the water-air crossing aircrafts need to reside at a certain depth below the sea surface due to the limitation of pressure resistance under the water of the self structures such as the monitoring equipment and the water-air crossing aircrafts.
At present, the underwater depth control is mainly an active control method for objects such as an autonomous underwater vehicle, an autonomous underwater vehicle and the like, the complexity of the method brings higher requirements on the control objects, and enough energy needs to be carried. Active depth control is difficult to implement for marine equipment of relatively simple structure or relatively limited energy.
Disclosure of Invention
In order to solve the technical problems, the invention provides an underwater residence system for passive depth fixing control.
The invention provides a passive depthkeeping controlled underwater residence system for passively depthkeeping underwater equipment hovering in water, comprising a releaser and a depthkeeping hovering control assembly. The depthkeeping hover control assembly is connected to a release that is connected to the subsea equipment, the release being configured to release the subsea equipment upon receiving a release command. The depthkeeping hover control assembly includes an arming weight, an arming float, and an anti-rope wrap. The equipment counterweight is used to provide additional gravity to the subsea equipment and the release so that the subsea equipment can be passively submerged in water; the equipment floating body is used for providing redundant buoyancy for the underwater equipment, the releaser and the equipment counterweight; one end of the rope winding preventing member is connected to the equipment floating body via a first rope, the other end of the rope winding preventing member is connected to the releaser via a fourth rope, and the equipment counterweight is suspended to the rope winding preventing member. Wherein the hover depth of the subsea equipment is controlled by the difference in length of the first rope and the fourth rope.
Further, the rope winding preventing piece is an winding preventing support rod; the equipment counterweight is suspended to the anti-wind strut via a Y-shaped connecting rope having three connecting ends. Specifically, two ends of the Y-shaped connecting rope are respectively connected to two ends of the anti-winding supporting rod, and the third end is connected to the equipment counterweight.
Further, the releaser is provided with a releaser float configured to suspend the releaser in water.
Further, the passive fixed-depth controlled underwater parking system further comprises a fixed-point parking assembly, wherein the fixed-point parking assembly is used for providing a mooring point for underwater equipment, and the fixed-depth hovering control assembly is connected with the fixed-point parking assembly through a second rope.
Specifically, the fixed point residence assembly comprises an anchor floating body, an anchor counterweight, a third rope, a first anchor chain, a second anchor chain and an anchor. The anchoring floating body is used for being placed on the water surface, and the anchoring counterweight is used for being placed on the water bottom. Wherein the anchor floating body is connected with the anchor counterweight through a third rope and a second anchor chain, the proximal end of the third rope is connected to the anchor floating body, the distal end of the third rope is connected to the proximal end of the second anchor chain, and the distal end of the second anchor chain is connected to the anchor counterweight; the anchor is connected to the second anchor chain via the first anchor chain.
Optionally, the spot-residence assembly further comprises an acoustic release disposed between the third tether and the second anchor chain, one end of the acoustic release being connected to the distal end of the third tether, the other end of the acoustic release being coupled to the proximal end of the second anchor chain, the acoustic release being configured to be selectively detachable from the second anchor chain.
Preferably, one end of the second rope is connected to a third end of the Y-shaped connecting rope, and the other end is connected to one end of the third rope, which is close to the anchor floating body. Optionally, the fixed-point resident component further comprises an underwater floating ball and a deep sea floating ball which are arranged on the third rope. The underwater floating ball is arranged close to the anchor system floating body, and the deep sea floating ball is arranged between the underwater floating ball and the acoustic releaser and is close to the acoustic releaser.
Preferably, the equipped float is a cylindrical float and the releaser float and the anchor float are spherical floats. Optionally, the passive depth-fixing controlled underwater parking system is applied to the ocean, and the passive depth-fixing controlled underwater parking system further comprises a Beidou user machine sea surface beacon end arranged at the top of the equipment floating body, wherein the Beidou user machine sea surface beacon end is connected with the releaser through a cable.
The invention has the characteristics and advantages that:
the passive fixed depth controlled subsea residence system of the present invention comprises a releaser and a fixed depth hover control assembly to which subsea equipment is releasably connected. The underwater equipment, the releaser, the equipment floating body and the equipment counterweight form a local underwater hovering system, and the winding of the underwater equipment and the constant-depth hovering control assembly can be prevented by arranging the rope winding preventing piece, so that the underwater hovering of the underwater equipment is realized; the hovering depth of the underwater equipment can be adjusted by adjusting the lengths of the first rope and the fourth rope, so that the depth setting control of the underwater equipment is realized. Therefore, the underwater residence system for passive depth-fixing control can realize the depth-fixing hovering control of the underwater equipment, has a simple structure, is easy to realize, greatly reduces the requirement on the self-control capability of the underwater equipment, and can meet the requirement of more application scenes.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings required for the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings may be obtained according to these drawings without inventive effort for a person of ordinary skill in the art.
FIG. 1 is a schematic diagram of a passive fixed depth controlled subsea residence system in accordance with an embodiment of the present invention;
FIG. 2 is an enlarged schematic view of A in FIG. 1;
FIG. 3 is a signal transmission flow diagram of a remotely releasing subsea equipment using the passive fixed depth controlled subsea residence system of the present invention.
Reference numerals illustrate:
1-sea level; 2-equipping a float; 3-a Beidou user machine sea surface beacon end; 4-underwater equipment; 5-releaser; 6-releaser floats; 7-a rope winding prevention member; 8-providing a counterweight; 9-anchoring the floating body; 10-an underwater floating ball; 11-deep sea floating ball; 12-an acoustic releaser; 13-anchoring the counterweight; 14-anchors; 15-seabed; 16-a first rope; 17-Y-shaped connecting ropes; 18-a second rope; 19-a third rope; 20-a first anchor chain; 21-fourth rope; 22-a second anchor chain; 23-release strand; a 24-depthkeeping hover control assembly; 26-fixed point resident component; 28-passive fixed depth controlled subsea residence system.
Detailed Description
The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is apparent that the described embodiments are only some embodiments of the present disclosure, but not all embodiments. Based on the embodiments in this disclosure, all other embodiments that a person of ordinary skill in the art would obtain without making any inventive effort are within the scope of protection of this disclosure.
The invention provides a passive depth-fixing controlled underwater residence system which is used for enabling underwater equipment to hover in water. The passive fixed depth controlled subsea residence system 28 includes a fixed depth hover control assembly and a release to which subsea equipment is releasably connected. The timing release underwater equipment or the remote control release underwater equipment can be selected according to the specific requirements of application scenes. The underwater equipment hovering in the water is released when the release instruction is received by the release. After the underwater equipment is released, the corresponding task can be performed autonomously. When the underwater equipment is released by remote control, the release instruction received by the releaser is a release instruction sent remotely and temporarily; when the underwater equipment is released at fixed time, the release instruction received by the releaser is a release instruction sent by the controller of the releaser at fixed time. The underwater equipment in the invention is a water-air crossing aircraft, an underwater monitoring device and the like, and the water-air crossing unmanned aerial vehicle is taken as an example for the follow-up explanation. The water of the invention can be particularly in the water of ocean, river, lake and the like, and the following description takes the application scene as the ocean as an example.
Referring to fig. 1 and 2, a passive fixed depth controlled subsea residence system 28 comprises a releaser 5 and a fixed depth hover control assembly 24. The release 5 is connected to the depthwise hover control assembly 24 and the subsea equipment 4, i.e. the subsea equipment 4 is releasably connected to the depthwise hover control assembly 24 by the release 5. The release 5 releases the subsea equipment 4 upon receiving a release instruction. The depthwise hover control assembly 24 is configured to allow the subsea equipment 4 to hover at a depth in the water. In some embodiments, the underwater equipment 4, when fully submerged in water, has its own weight less than the buoyancy experienced, and therefore, self-floats in water; in other embodiments, the underwater equipment 4 itself has a buoyancy adjustment mechanism by which the underwater equipment 4 can be subjected to a buoyancy greater than its own weight when the underwater equipment 4 is fully submerged in water when subjected to a buoyancy less than its own weight. Using the passive depth-setting controlled subsea parking system 28, subsea levitation parking of the subsea equipment 4 at the target may be achieved such that the subsea equipment 4 is hidden from view under water. When the subsea equipment 4 is required to leave from the hover position to perform a task, for example, when a water space crossing drone is required to perform a rescue task, the water space crossing drone may float up to the surface of the water from the passive depth-fixed controlled subsea residence system 28. The underwater residence system 28 with passive depth setting control can realize the depth setting hovering control of the underwater equipment 4, has simple structure and easy realization, greatly reduces the requirement on the self control capability of the underwater equipment, and can meet the requirement of more application scenes.
Specifically, the depthkeeping hover control assembly 24 includes an equipped float 2, an anti-rope wrap 7, and an equipped counterweight 8. The equipment counterweight 8 is used to provide additional gravity to the subsea equipment 4 and the release 5 so that the subsea equipment 4 may be passively submerged in water; the equipment floats are used for providing redundant buoyancy for the underwater equipment 4, the releaser 5 and the equipment weights 8; one end of the rope winding preventing member 7 is connected to the outfit float 2 via a first rope 16, the other end of the rope winding preventing member 7 is connected to the releaser 5 via a fourth rope 21, and the outfit weight 8 is suspended to the rope winding preventing member 7. The sum of the net buoyancy of the equipment counterweight 8, the subsea equipment 4 and the release 5 in the water is negative, and the equipment float 2 is used to provide redundant buoyancy for the subsea equipment 4, the release 5 and the equipment counterweight 8. The provision of the anti-rope winding element 7 facilitates keeping the underwater equipment 4 at a distance from other components, in particular flexible components in the passive depth-keeping control underwater residence system 28, such as ropes, preventing winding during underwater suspension, avoiding the inability to quickly work to release the underwater equipment 4 when emergency execution of a task is required.
The net buoyancy of an object is the difference between the buoyancy of the object when the object is completely submerged in water and its own weight. The net buoyancy is negative, i.e., the buoyancy is less than gravity; the net buoyancy is positive, i.e., the buoyancy is greater than gravity. For example, the buoyancy of the underwater equipment 4 when fully submerged in water is greater than its own weight, the net buoyancy of the underwater equipment 4 being positive. The equipment counterweight 8 provides additional gravity to the subsea equipment 4 and the release 5, in particular to the subsea equipment 4, so that the subsea equipment 4 may be submerged, i.e. the subsea equipment 4 may be passively submerged. Specifically, the specification of the equipment counterweight 8 can be selected according to the size of the net buoyancy of the underwater equipment 4, and additional gravity is reserved, so that the sum of the net buoyancy of the equipment counterweight 8, the underwater equipment 4 and the releaser 5 in water is negative, the impact interference resistance of the fixed-depth hovering control assembly 24 in water is increased, and the system stability is improved.
The equipment float 2 provides buoyancy to the components connected to the anti-rope wind 7, in particular to the equipment counterweight 8, thereby balancing the forces acting on the anti-rope wind 7, so that the underwater equipment 4, the release 5, the equipment counterweight 8, which are directly or indirectly connected to the anti-rope wind 7, are suspended in the water and the attitude of the underwater equipment 4, the release 5 and the fixed-depth hover control assembly 24 is kept stable. Specifically, the specification of the equipment floating body 2 can be selected according to the sum of the net buoyancy in the water of the equipment counterweight 8, the underwater equipment 4 and the releaser 5, and additional redundant buoyancy is reserved, so that the impact interference resistance of the fixed-depth hovering control assembly 24 in the water is improved, and the system stability is improved. In particular, the equipped float 2 is a cylinder or a sphere float.
Specifically, in some embodiments, the rope winding preventing member 7 is an inflexible winding preventing strut, for example, made of plastic, rubber, or metal. The support has toughness, so that the underwater equipment 4 can keep a certain distance from ropes in the system, and the impact of sea waves and ocean currents can be adapted.
In some embodiments, the release 5 is provided with a release float 6, the attachment of the release float 6 to the release 5 providing buoyancy to the release 5. Preferably, the suitable release float 6 is chosen such that both the release 5 and the release float 6 are floatable in the water, i.e. the sum of the net buoyancy of the release 5 and the release float 6 in the water is zero. In particular, the releaser buoy 6 adopts a cylinder or sphere buoy. Preferably, the releaser buoy 6 is a spherical buoy. In some embodiments, the release 5 is connected to the anti-wind strut by a fourth rope 21. Preferably, a shorter fourth rope 21 is used to connect the release 5 and the anti-rope winding member 7, the shorter fourth rope 21 being chosen to facilitate stability of the system.
Specifically, with continued reference to FIG. 1, in some embodiments, the fixed-depth hover control assembly 24 includes a Y-shaped connecting rope 17, and the equipment weights 8 are connected to the anti-wind strut via the Y-shaped connecting rope 17 having three connection ends. Two ends of the Y-shaped connecting rope 17 are respectively connected to two ends of the anti-winding supporting rod, and the third end is connected to the equipment counterweight 8. The equipment counterweight 8 is connected to the anti-winding support rod through the Y-shaped connecting rope 17, so that tension forces at two ends of the anti-winding support rod are finally converged to the counterweight 8, and the stress balance at two ends of the anti-winding support rod is facilitated.
In some embodiments, with continued reference to FIG. 1, the passive fixed-depth controlled subsea parking system 28 further includes a fixed-point parking assembly 26, the fixed-point parking assembly 26 being configured to provide a mooring point for the fixed-depth hover control assembly 24 and the subsea equipment 4, avoiding flushing away by sea waves, thereby enabling fixed-point parking of the subsea equipment 4 in a particular area.
Specifically, the fixed-depth hover control assembly 24 may be connected to the fixed-point dwell assembly 26 by a flexible or rigid connection. Referring to FIG. 1, in a preferred embodiment, the fixed-depth hover control assembly 24 is coupled to the fixed-point dwell assembly 26 by a second tether 18 (i.e., flexible connection). The flexible connection is adopted, so that the fixed-depth hovering control assembly 24 can follow the sea wave and the ocean current within a certain range, and the fixed-depth hovering control assembly 24 is prevented from being separated from the fixed-point resident assembly 26 due to the impact of the sea wave and the ocean current.
In some embodiments, the equipment floating body 2 is provided with a Beidou user machine sea beacon end 3, and the Beidou user machine sea beacon end 3 is connected with the releaser 5 through a cable. After receiving the command of releasing the underwater equipment 4, the Beidou user machine sea beacon terminal 3 transmits the command to the releaser 5 through a cable. The release 5 releases the underwater equipment 4 upon receiving the release instruction. Specifically, the beidou user machine sea beacon end 3 is arranged on the top of the equipment floating body 2. Preferably, the equipped floating body 2 is a cylindrical floating body, so that the Beidou user machine sea beacon end 3 is conveniently arranged.
With continued reference to fig. 1, the fixed point mooring assembly 26 includes an anchor mooring buoy 9, an anchor weight 13, and an anchor 14. The anchor float 9 is intended to be placed on the water surface, the anchor counterweight 13 is intended to be placed on the water surface, and the anchor float 9 and the anchor counterweight 13 are connected at least by means of a third rope 19. In some embodiments, the anchor buoy 9 and the anchor counterweight 13 are connected by a third rope 19, and the anchor 14 is connected to the third rope 19 by a first anchor chain 20. In other embodiments, the anchor float 9 is connected to the anchor weight 13 by a third rope 19 and a second anchor chain 22, the proximal end of the third rope 19 being connected to the anchor float 9, the distal end of the third rope 19 being connected to the proximal end of the second anchor chain 22, the distal end of the second anchor chain 22 being connected to the anchor weight 13; anchor 14 is connected to a second anchor chain 22 via a first anchor chain 20. Wherein the near end refers to one end near the water surface, and the far end refers to the other end near the water bottom.
With continued reference to fig. 1, the arming weight 8 is connected to a third rope 19 of the fixed point resident assembly 26 by a second rope 18. Specifically, the anchor floats 9 are cylindrical or spherical floats. Preferably, the anchor floats 9 are spherical floats. The anchor-line buoy 9 serves as a mooring point during the levitation of the underwater equipment 4, provides surface identification and additional redundancy buoyancy, is connected to the anchor weight 13 placed to the water bottom by means of a third rope 19, and is fixed to the water bottom by means of anchors 14, achieving a fixed-point residence of the underwater equipment 4. The anchor floats 9 still ensure the safety of the subsea equipment 4 and the other components of the release 5 when the equipment floats 2 are lost.
In some embodiments, spot-resident assembly 26 further includes an acoustic release 12, acoustic release 12 disposed between third tether 19 and second tether 22, one end of acoustic release 12 connected to the distal end of third tether 19, and the other end of acoustic release 12 coupled to the proximal end of second tether 22. Acoustic releaser 12 is configured to be selectively detachable from second anchor chain 22. Before the acoustic release 12 does not receive a release order, the acoustic release 12 remains connected to the second anchor chain 22; when the acoustic release 12 receives the release signal, the acoustic release 12 is separated from the second anchor chain 22. Since the first anchor chain 20 is connected to the second anchor chain 22, the anchor weight 13 and the anchor 14 continue to remain at the bottom of the water, the third rope 19 and the components connected to the third rope 19 (e.g., the acoustic release 12, the anchor mooring floats 9, etc.) can be recycled to save costs.
Preferably, in some embodiments, the acoustic release 12 is two deep water acoustic releases arranged side by side. Specifically, one end of two deep-water acoustic releasers is connected in parallel to the distal end of the third rope 19, and the other ends are provided with hooks, respectively. The second anchor chain 22 connected to the anchor counterweight 13 is connected to two deepwater acoustic releases by release chains 23. In particular, the end of the second anchor chain 22 remote from the anchoring weight 13 has a weight eye, to which the release chain 23 is connected (e.g. the release chain 23 passes through the weight eye), the eyes at both ends of the release chain 23 being attached to the hooks of the two deepwater acoustic releases, respectively. When the residence is completed, an instruction is given on the ship to either of the two deepwater acoustic releases by means of the acoustic deck unit, the acoustic release 12 being separated from the release chain 23, so that the release chain 23 is separated from the counterweight lifting ring, thereby completing the release and discarding the anchoring counterweight 13. The two deep water type acoustic releasers are arranged in parallel, so that the success rate of release is improved, and when one releaser fails, smooth release and recovery can be ensured.
In some embodiments, the fixed point mooring assembly 26 is further provided with an underwater ball 10 connected to a third rope 19. The underwater float 10 is positioned adjacent the anchor floats 9 to ensure that the anchor floats 9 are not pulled into the water, increasing the redundant buoyancy of the fixed point mooring assembly 26. Specifically, the number of the underwater floating balls 10 may be selected according to actual needs, for example, 3, 4, etc. In some embodiments, the fixed point mooring assembly 26 is further provided with a deep sea ball float 11 connected to a third rope 19. The deep sea type floating ball 11 is arranged between the underwater floating ball 10 and the acoustic releaser 12 and is close to the acoustic releaser 12, is used for maintaining the vertical posture of the acoustic releaser 12 under water, and is beneficial to the floating and recovery of the acoustic releaser 12 after being released. Specifically, the number of the deep sea type floating balls 11 may be selected according to actual needs, for example, 4, 5, etc.
In some embodiments, one end of the second rope 18 is connected to a third end of the Y-shaped connecting rope 17, and the other end of the second rope 18 is connected to an end of the third rope 19 near the anchor float 9. When the force balance of the depthwise hover control assembly 24 is disrupted, such as when the equipment buoy 2 breaks away from the first line 16 under the impact of sea waves, the anchor buoy 9 provides redundant buoyancy to the depthwise hover control assembly 24, allowing the submerged equipment 4 to float to a substantially constant depth.
With continued reference to fig. 1, the underwater equipment 4 is connected to a passive depth-setting control underwater dwelling system 28, the underwater equipment 4 and the passive depth-setting control underwater dwelling system 28 being placed in the water with the equipment float 2 and anchor float 9 floating on the water surface and at a distance therefrom, the underwater equipment 4 and release 5 being located above the anti-wind strut and the equipment counterweight 8 being located below the anti-wind strut. The anchor weight 13 is positioned at the water bottom and fixed by the anchor 14 at the water bottom, and the third rope 19 has a length suitable for floating the anchor-line float 9 on the water surface.
Taking the underwater equipment 4 as an example of the underwater vehicle, how the passive depth-fixing control underwater parking system 28 of the present invention can realize the depth-fixing hovering, the fixed-point parking and the remote release of the underwater vehicle will be described in detail.
The step of hovering the water-void spanning drone at a fixed depth includes configuring the water-void spanning drone with a suitable equipment float 2 and equipment counterweight 8 according to the formula. Wherein F is Net buoyancy-unmanned aerial vehicle Refers to the difference value between the buoyancy and the gravity of the water-air crossing unmanned aerial vehicle when the water-air crossing unmanned aerial vehicle is completely submerged in water, F Net buoyancy-equipped float Refers to the difference between the buoyancy and the gravity of the floating body 2 when the floating body is completely submerged in water, F Net buoyancy-releaser Refers to the difference between the buoyancy and the gravity of the releaser 5 when it is completely submerged in water, F Net buoyancy-equipped counterweight Which is the difference between the buoyancy and the self-gravity of the equipment counterweight 8 when it is completely submerged in water.
F Redundant buoyancy =F Net buoyancy-equipped float ＋F Net buoyancy-releaser ＋F Net buoyancy-unmanned aerial vehicle ＋F Net buoyancy-equipped counterweight ≥0（1）
Suppose F Net buoyancy-unmanned aerial vehicle And approximately 98N. The underwater buoyancy of the releaser 5 is approximately equal to its gravity, F Net buoyancy-releaser And 0N. The equipment float 2 that produces the greatest 784N buoyancy is selected. Since the weight of the equipped float 2 is light, its gravity can be neglected, and therefore F Net buoyancy-equipped float 784N. An equipment weight 8 weighing 50kg may be selected according to formula (1). Since the mass density of the equipment counterweight 8 is large, the buoyancy thereof can be neglected, F Net buoyancy-equipped counterweight And about-490N. The physical quantity is brought into a formula to calculate F Redundant buoyancy And the water space can enter a hovering state after entering water through the unmanned aerial vehicle approximately equal to 392N & gt 0. Theoretically, F Redundant buoyancy The larger the redundant buoyancy is, and the underwater stability of the water space crossing unmanned aerial vehicle is facilitated. But in application, F is also considered Redundant buoyancy Too large a volume of the equipped float 2 is large, which is disadvantageous for concealment.
In some embodiments, passive depth-fixed controlled subsea parking system 28 is assembled for delivery to a target parking spot. In other embodiments, the passive depth-setting controlled subsea parking system 28 is not assembled or only a portion is assembled, with the assembly completed at the target parking spot. The water-void span drone is attached to the releaser 5, and the water-void span drone, releaser 5 and assembled fixed-depth hover control assembly 24 are placed into the water. In some embodiments, the hover depth of the water void across the drone may be adjusted by adjusting the lengths of the first tether 16 and the fourth tether 21.
The step of locating the water void across the drone includes anchoring the locating component 26 to the target location, and connecting the equipment weight 8 to the locating component 26 via the second rope 18. In some embodiments, the anchor floats 9 are spherical floats, which can produce a maximum of 784N buoyancy. After the depthwise hover control assembly 24 is submerged, the end of the second rope 18 remote from the equipment counterweight 8 may be temporarily secured in place first, and then secured to the third rope 19 after the underwater residence system 28 to be passively depthwise controlled is submerged. Alternatively, the end of the second rope 18 remote from the equipped counterweight 8 is pre-fixed to the third rope 19 of the passive depth-setting controlled subsea residence system 28.
The remote release step of the water-air crossing unmanned aerial vehicle comprises the step of transmitting a water-air crossing unmanned aerial vehicle release instruction by a ground end of the Beidou user machine; the Beidou user machine sea surface beacon end 3 receives a release instruction and then transfers the release instruction to the releaser 5; the releaser 5 releases the water space crossing unmanned aerial vehicle, and the water space crossing unmanned aerial vehicle floats upwards under the buoyancy effect. In some embodiments, referring specifically to fig. 3, the operation terminal first transmits an underwater equipment release instruction to the beidou user machine ground terminal through a cable, and the beidou user machine ground terminal transmits the instruction to the beidou user machine sea beacon terminal 3 through a satellite. When the Beidou user machine sea surface beacon end 3 receives the release instruction, the signal is sent to the releaser 5 through the cable, the releaser 5 executes the action of releasing the water space crossing unmanned aerial vehicle, and the water space crossing unmanned aerial vehicle floats up to the sea surface automatically, so that a specific task can be executed by taking off. In some embodiments, after each node in the middle successfully receives the instruction, information of successful instruction receiving is fed back to the operation terminal. Specifically, after the ground end of the Beidou user machine, the sea beacon end 3 of the Beidou user machine and the releaser 5 receive the release instruction, the information of successful instruction receiving is fed back to the operation terminal respectively.
By adopting the underwater resident system controlled by passive depth setting, the remote control release of the water-air crossing unmanned aerial vehicle can be realized by means of the Beidou satellite system, so that the water-air crossing unmanned aerial vehicle can stand by at a specific sea area moment, take off to execute tasks when needed, and the task response time is greatly shortened. And when the water-air crossing unmanned aerial vehicle is in underwater suspension, the anti-winding support rod prevents the water-air crossing unmanned aerial vehicle from winding with other parts of the fixed-depth hovering control assembly, so that the reliability of the water-air crossing unmanned aerial vehicle in suspension is improved.
The foregoing is merely a few embodiments of the present disclosure, and those skilled in the art, based on the disclosure herein, may make various changes or modifications to the disclosed embodiments without departing from the spirit and scope of the disclosure.
Claims (9)
1. A passive depthwise controlled subsea residence system for passively depthwise hovering subsea equipment (4) in water, comprising a releaser (5), a depthwise hovering control assembly (24) and a setpoint residence assembly (26), the depthwise hovering control assembly (24) being connected to the releaser (5), the releaser (5) being connected to the subsea equipment (4), the releaser (5) being configured to release the subsea equipment (4) upon receiving a release instruction;
the fixed-depth hover control assembly (24) includes:
-an equipment counterweight (8), the equipment counterweight (8) being for providing additional gravity to the subsea equipment (4) and the release (5) so that the subsea equipment (4) may be passively submerged in water;
-an equipment float (2), the equipment float (2) being adapted to provide redundant buoyancy for the subsea equipment (4), the releaser (5) and the equipment counterweight (8); and
an anti-rope winding member (7), one end of the anti-rope winding member (7) being connected to the equipment floating body (2) via a first rope (16), the other end of the anti-rope winding member (7) being connected to the releaser (5) via a fourth rope (21), the equipment counterweight (8) being suspended to the anti-rope winding member (7);
wherein a hover depth of the subsea equipment (4) is controlled by a length difference of the first rope (16) and the fourth rope (21);
-the fixed point mooring assembly (26) for providing a mooring point for the subsea equipment (4), the fixed point hover control assembly (24) being connected to the fixed point mooring assembly (26) by a second rope (18); the fixed-point residence component (26) comprises an anchor floating body (9), an anchor counterweight (13) and an anchor (14); the anchor system floating body (9) is used for being placed on the water surface, the anchor counterweight (13) is used for being placed on the water surface and fixed on the water surface through the anchor (14), and the anchor system floating body (9) and the anchor counterweight (13) are connected through at least a third rope (19).
2. The passive depth-keeping controlled underwater residence system according to claim 1, wherein the anti-rope winding member (7) is an anti-winding strut;
the equipment counterweight (8) is suspended to the anti-winding support rod via a Y-shaped connecting rope (17) with three connecting ends;
two ends of the Y-shaped connecting rope (17) are respectively connected to two ends of the anti-winding supporting rod, and a third end of the Y-shaped connecting rope is connected to the equipment counterweight (8).
3. The passive depth-keeping controlled subsea residence system according to claim 2, characterized in that the releaser (5) is provided with a releaser float (6), the releaser float (6) being configured to suspend the releaser (5) in the water.
4. A passive fixed depth controlled subsea mooring system according to claim 3, wherein the fixed point mooring assembly (26) further comprises a first anchor chain (20) and a second anchor chain (22);
wherein the anchor floating body (9) is connected with the anchoring weight (13) by a third rope (19) and a second anchor chain (22), the proximal end of the third rope (19) being connected to the anchor floating body (9), the distal end of the third rope (19) being connected to the proximal end of the second anchor chain (22), the distal end of the second anchor chain (22) being connected to the anchoring weight (13); the anchor (14) is connected to the second anchor chain (22) via the first anchor chain (20).
5. The passive depth-keeping controlled subsea mooring system according to claim 4, wherein the fixed-point mooring assembly (26) further comprises an acoustic release (12) arranged between the third line (19) and the second anchor chain (22);
one end of the acoustic release (12) is connected to the distal end of the third tether (19), the other end of the acoustic release (12) is coupled to the proximal end of the second anchor chain (22), and the acoustic release (12) is configured to be selectively detachable from the second anchor chain (22).
6. A passive depth-keeping controlled underwater dwelling system according to claim 5, characterized in that one end of the second rope (18) is connected to the third end of the Y-shaped connecting rope (17) and the other end is connected to the end of the third rope (19) near the anchor float (9).
7. The passive fixed-depth controlled subsea system according to claim 6, characterized in that the fixed-depth residence assembly (26) further comprises a subsea float (10) and a deep sea float (11) arranged in the third rope (19), wherein the subsea float (10) is arranged close to the anchor (9), and the deep sea float (11) is arranged between the subsea float (10) and the acoustic releaser (12) and close to the acoustic releaser (12).
8. The passive fixed depth control underwater parking system of any of claim 3 to 7, wherein,
the equipment floating body (2) is a cylindrical floating body, and the releaser floating body (6) and the anchor floating body (9) are spherical floating bodies.
9. The passive fixed depth control underwater parking system according to any one of claims 1-7, wherein the underwater parking system is applied to the ocean, the underwater parking system further comprises a beidou user machine sea surface beacon end (3) arranged at the top of the equipment floating body (2), and the beidou user machine sea surface beacon end (3) is connected with the releaser (5) through a cable.
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