CN117262170A - Simulated ray diving device and method based on ocean current energy power generation - Google Patents

Simulated ray diving device and method based on ocean current energy power generation Download PDF

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Publication number
CN117262170A
CN117262170A CN202311341142.XA CN202311341142A CN117262170A CN 117262170 A CN117262170 A CN 117262170A CN 202311341142 A CN202311341142 A CN 202311341142A CN 117262170 A CN117262170 A CN 117262170A
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China
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submersible
ocean current
current energy
power generation
energy power
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CN202311341142.XA
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Chinese (zh)
Inventor
曹勇
隋一翔
曹永辉
路阳
邢城
贺俊杰
余应明
卢丞一
潘光
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Ningbo Research Institute of Northwestern Polytechnical University
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Ningbo Research Institute of Northwestern Polytechnical University
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Priority to CN202311341142.XA priority Critical patent/CN117262170A/en
Publication of CN117262170A publication Critical patent/CN117262170A/en
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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
    • 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
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • 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
    • B63G8/08—Propulsion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H1/00—Propulsive elements directly acting on water
    • B63H1/30—Propulsive elements directly acting on water of non-rotary type
    • B63H1/36—Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03B—MACHINES OR ENGINES FOR LIQUIDS
    • F03B13/00—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates
    • 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
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Engineering & Computer Science (AREA)
  • Other Liquid Machine Or Engine Such As Wave Power Use (AREA)

Abstract

The invention relates to a simulated ray diving apparatus and a method based on ocean current energy power generation, belonging to the field of underwater bionic robots; the device comprises a submersible body, a ocean current energy power generation system, a working mode control system and a submersible driving system, wherein the ocean current energy power generation system, the working mode control system and the submersible driving system are carried on the submersible body; the submersible main body comprises a submersible cabin body, a head component positioned at the front end of the cabin body, bionic pectoral fin components symmetrically arranged on two sides of the cabin body, and a tail fin component positioned at the tail of the cabin body, wherein the head component is used for carrying multi-source sensing equipment; capturing ocean current energy timely through the ocean current energy power generation system, and completing power generation and energy storage; the control system of the working mode is used for controlling and switching different navigation states of the submersible according to the power consumption; and executing a state instruction sent by the working mode control system through the submersible driving system, and driving different parts of the submersible body to act so as to change the posture of the submersible and complete the switching of the working modes. The invention has high maneuverability and long endurance.

Description

Simulated ray diving device and method based on ocean current energy power generation
Technical Field
The invention belongs to the field of underwater bionic robots, and particularly relates to a baton-like submersible and a method based on ocean current energy power generation.
Background
Currently, the underwater equipment widely used comprises autonomous underwater vehicles (Autonomous Underwater Vehicle, AUV), remote underwater vehicles (Remote Operated Vehicle, ROV), underwater gliders (Underwater Glider, UG) and the like, but the underwater equipment still has the defects of poor maneuverability, poor biocompatibility and the like, most of energy sources come from self-carried batteries or fuels, the cruising ability of the equipment is severely limited, and long-term self-maintenance in a marine environment is difficult to realize.
The bionic submersible (Bionic Underwater Vehicle) is a novel underwater device. The marine aquatic organism underwater device is used for referencing and simulating the tissue structure, the movement characteristics and the driving mechanism of the aquatic organism in nature, and has more advantages in mobility and ocean affinity compared with the traditional underwater device. The traditional bionic submersible has the advantages that a plurality of groups of motors are adopted to drive the pectoral fin skeleton, the power consumption is high, the endurance time is short, and the application mode is very limited. In the prior art, the underwater glider which realizes the gliding movement by using the buoyancy-variable and deterioration center adjusting system can realize the low-power-consumption gliding movement, but the movement mode is single, the maneuverability is insufficient, and the in-situ maneuvering in a narrow water area is difficult to realize. In addition, the diving device only depends on electric power energy sources to restrict further improvement of the cruising ability. In the aspect of energy sources of marine equipment, marine equipment adopting solar energy for energy capture is usually mainly a wave energy glider or a marine buoy, but usually the two energy collection modes are limited to sea surface space, and are difficult to cope with the operation demands of deep open sea.
Disclosure of Invention
The technical problems to be solved are as follows:
in order to avoid the defects of the prior art, the invention provides a simulated ray diving apparatus based on ocean current energy power generation, which has the global working capacity of sea surface, sea middle and seabed, is integrated with ocean current energy power generation technology, and can capture ocean current energy in a floating state to realize power generation and energy storage, so that the simulated ray diving apparatus has high maneuverability and long endurance capacity, and meets the requirements of wide-area long-time hydrologic environment monitoring and small-range seabed target detection tasks.
The technical scheme of the invention is as follows: a simulated ray diving apparatus based on ocean current energy power generation comprises a diving apparatus main body, an ocean current energy power generation system, an operation mode control system and a diving apparatus driving system, wherein the ocean current energy power generation system, the operation mode control system and the diving apparatus driving system are carried on the diving apparatus main body; the submersible main body comprises a submersible cabin body, a head component positioned at the front end of the cabin body, bionic pectoral fin components symmetrically arranged on two sides of the cabin body, and a tail fin component positioned at the tail of the cabin body, wherein the head component is used for carrying multi-source sensing equipment;
capturing ocean current energy timely through the ocean current energy power generation system, and completing power generation and energy storage;
the control system of the working mode is used for controlling and switching different navigation states of the submersible according to the power consumption;
and executing a state instruction sent by the working mode control system through the submersible driving system, and driving different parts of the submersible body to act so as to change the posture of the submersible and complete the switching of the working modes.
The invention further adopts the technical scheme that: the cabin body comprises a cabin body connecting frame serving as a supporting frame, a pressure-resistant shell wrapped outside the cabin body, a buoyancy adjusting cabin, a centroid adjusting cabin and a main control cabin which are sequentially arranged along the central axis of the cabin body connecting frame, power supply cabins positioned at two sides of the central axis, a pectoral fin connecting frame for installing pectoral fins at two sides, and a throwing load mechanism; the communication antenna arranged at the upper part of the main control cabin is wrapped by the vertical fins; the pressure-resistant shell is a bionic streamline shell designed according to the fish-shaped main body of the ray.
The invention further adopts the technical scheme that: the ocean current energy power generation system is of a sandwich multilayer stacked film structure formed by an electrode, a dielectric medium and an electrode, and is coated outside the pressure-resistant shell.
The invention further adopts the technical scheme that: the multilayer stacked film structure sequentially comprises a PET flat plate, a flexible electrode, a PTFE frame, a dielectric medium, a PTFE frame, a flexible electrode and a PET flat plate from top to bottom; under the free floating state of the submersible, ocean currents can drive the dielectric medium to reciprocate in the gap of the PTFE frame and continuously contact and separate from the electrode, and due to the contact electrification phenomenon and charge movement of the solid-liquid interface, the kinetic energy of ocean waves and ocean currents is converted into electric energy and is transmitted to the power management system of the power supply cabin.
The invention further adopts the technical scheme that: the bionic pectoral fin assembly comprises a root connecting plate serving as a root support, a flexible shape-preserving connecting plate serving as an upper surface and a lower surface support, a plurality of wing-shaped rib plates arranged along the extending direction of the flexible shape-preserving connecting plate, a flexible fin plate positioned at the tail end of the pectoral fin and a flexible skin wrapping the periphery; the root parts of the two shape-preserving connecting plates are symmetrically hinged to the two opposite sides of the root connecting plate, the end parts of the shape-preserving connecting plates are hinged to the root parts of the fin plates, and the middle parts of the shape-preserving connecting plates are respectively hinged to the two sides of each wing-shaped rib plate to form a linkage flapping wing structure.
The invention further adopts the technical scheme that: the submersible driving system comprises a pectoral fin driving module for controlling the motion of the bionic pectoral fin assembly, a pectoral fin driving module for controlling the motion of the pectoral fin and a pump jet propeller;
the pectoral fin driving module comprises a swing motor for controlling the swing of the bionic pectoral fin assembly and a twisting motor for controlling the twisting of the bionic pectoral fin assembly; the swing motor is arranged on the motor mounting frame, the output end of the swing motor is connected with the wing-shaped rib plates positioned at the root part through the transmission component, the swing motor drives the connection of the wing-shaped rib plates at the root part to swing along the direction vertical to the submersible, and other wing-shaped rib plates and the fin plates are linked through the flexible shape-preserving connecting plate in a hinged manner, namely, the whole pectoral fin is passively deformed, so that the deformation control of the pectoral fin posture is completed; the twisting motor is arranged on the pectoral fin connecting frame, the output end of the twisting motor is connected with the motor mounting frame through the transmission mechanism, and the motor mounting frame is driven to rotate around the output shaft of the transmission assembly, namely, the pectoral fin assembly integrally rotates around the shaft vertical to the pectoral fin connecting frame, so that the control of the integral pitching motion is realized;
the tail fin driving module comprises a steering engine and a rotating shaft connected with the steering engine; the output end of the rotary shaft is connected with the support frame of the tail fin assembly through a tail fin adapter plate perpendicular to the symmetry plane, and the output end of the rotary shaft is connected with the steering engine and used for transmitting rotary torque to the tail fin assembly so as to change the tail fin posture;
the pump spray propeller is arranged at the rear of two sides of the trunk of the submersible body through spray pipe connectors and is used for assisting pectoral fins to propel.
The invention further adopts the technical scheme that: the working mode control system determines the working mode according to the actual power of the submersible, and specifically comprises the following steps:
the actual power of the simulated ray diving device is 15-25W, and the simulated ray diving device is in a water surface floating mode;
the actual power of the simulated ray of the bated light diving device is 35-45W, and the simulated ray of the bated light diving device is in an arch gliding mode;
the actual power of the simulated ray-bate diving device is 1900-2100W, and the simulated ray-bate diving device is in a flapping wing maneuvering mode.
A charging method based on ocean current energy power generation under each working mode of a simulated ray of a diving apparatus, the method is characterized in that:
when the submersible is in a water surface floating mode, the drive system of the submersible is closed, the ocean current energy power generation system is started, and the kinetic energy of ocean waves and ocean currents flowing through the submersible on the water surface is collected;
when the submersible is in a flapping mode in water, the bionic pectoral fin propulsion system is started, the ocean current energy power generation system is closed, and the phenomenon that the motion resistance of the submersible is overlarge due to ocean current energy power generation is prevented;
when the submersible is in a gliding mode in water, the driving system of the submersible is closed, the ocean current energy power generation system is started, and friction energy with seawater in the gliding process is collected;
when the submersible is in the underwater fixed-point residence mode, the submersible driving system is closed, the ocean current energy power generation system is started, and ocean current energy from all directions is collected.
The invention further adopts the technical scheme that: when the submersible is in a water surface floating mode, the bionic pectoral fins on two sides deflect downwards by 30-45 degrees, so that the ocean current energy power generation system can collect ocean current energy from 360 degrees, and the ocean current energy power generation system is prevented from being blocked by the pectoral fins; when the submersible is in the underwater gliding mode, the bionic pectoral fins on two sides deflect upwards by 10-30 degrees so as to realize the underwater gliding modes with different gliding ratios; when the submersible is in a submarine fixed-point residence mode, the bionic pectoral fins on two sides deflect upwards by 60-70 degrees, so that ocean current energy power generation can be realized to the greatest extent.
The invention further adopts the technical scheme that: when the submersible is in a water bottom fixed-point residence mode, the bionic pectoral fins on two sides are flattened by 180 degrees when the 'sitting bottom' position does not have a definite ocean current direction, and the pectoral fins return to the middle position, so that the submersible can receive ocean currents from all directions and can avoid shielding.
Advantageous effects
The invention has the beneficial effects that: the invention provides a ocean current energy power generation device at the back of a cabin body, which is of a sandwich multi-layer stacked film structure formed by an electrode, a dielectric medium and an electrode and is coated outside a pressure-resistant shell. Under the free floating state of the submersible, the ocean current energy power generation device can convert the kinetic energy of ocean waves and ocean currents into electric energy, the electric energy is input into the power supply cabin to be stored, and meanwhile, the submersible can adjust the position and the posture of the submersible in real time through the bionic pectoral fin according to ocean current conditions, so that 'autonomous energy harvesting' of the submersible is realized.
According to the invention, the bionic pectoral fin propulsion systems are arranged on two sides of the cabin body, so that the design of the appearance and the movement characteristics of the real artificial solar ray biological pectoral fins is simulated, the pectoral fins on the left side and the right side realize different forms of movement, and the high-efficiency high-mobility bionic propulsion of the bionic submersible can be realized. The overall appearance of the submersible is subjected to bionic optimization design and optimized according to ocean current energy power generation characteristics, so that kinetic energy can be better concentrated at the part coated with the ocean current energy power generation device when seawater flows through the submersible shell, and the ocean current energy power generation efficiency is maximized.
Compared with other bionic diving devices, the bionic diving device has the advantages that the bionic diving device simulates the movement characteristics of the bated ray, can realize high bionic and high maneuvering movements, has the maximum steering angular velocity of 60 degrees/s, and simultaneously has the long-term self-sustaining capability under the real ocean environment due to the fact that the bionic diving device is combined with the ocean current energy power generation technology, the endurance capability of the bionic diving device is greatly improved, and the longest endurance time of the bionic diving device can reach 60 days.
Drawings
FIG. 1 is a schematic representation of the overall design of a ray-simulated ray diving apparatus (top view);
FIG. 2 is an overall design of a ray simulated diving apparatus (without pectoral fin skin);
FIG. 3 is a diagram of the internal structure of the cabin;
FIG. 4 is a streamline housing construction diagram;
FIG. 5 is a schematic diagram of a membrane type ocean current energy power generation multilayer stack structure;
FIG. 6 is a sectional view of a membrane type ocean current energy power generation multilayer stack structure;
FIG. 7 is a schematic diagram of a pectoral fin propulsion system;
FIG. 8 is a schematic diagram of a multi-source perception system.
Reference numerals illustrate: 1-cabin body, 2-ocean current energy power generation system, 3-bionic pectoral fin assembly, 4-head assembly, 5-tail fin assembly, 6-communication antenna and 7-tail; 101-a pressure-resistant shell, 102-a main control cabin, 103-a power supply cabin and 104-a watertight connector; 201-film electrode, 202-PET plate, 203-PTFE frame, 204-dielectric, 205-gap; 301-pectoral fin drive module, 302-airfoil rib, 303-fin; 304-a conformal connection plate; 401-binocular vision camera, 402-forward looking sonar, 403-artificial side line.
Detailed Description
The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
At present, the working range of the bionic submersible covers the sea surface, the middle sea and the sea bottom, a large amount of sea waves and ocean currents can be beaten in the working process, and the ocean current energy power generation technology is utilized to collect the energy, so that the bionic submersible has important significance for improving the cruising ability of the submersible; meanwhile, the bionic submersible has more excellent bionic and fluid appearance, so that the application potential of the bionic submersible in the aspect of ocean current energy power generation is larger; the method optimizes the shape of the bionic fluid of the submersible according to the characteristics of ocean current energy power generation and ocean current motion, can greatly improve the capability of the bionic submersible for capturing, is beneficial to realizing long-term self-sustaining of the bionic submersible in a real ocean environment, and has important significance for developing and utilizing the ocean environment.
Based on the problem of short duration of a bionic aircraft in the prior art, the invention provides a simulated ray diving device which is driven by fusion of ocean current energy power generation, and the simulated ray diving device comprises a diving device main body, an ocean current energy power generation system, an operating mode control system and a diving device driving system, wherein the ocean current energy power generation system, the operating mode control system and the diving device driving system are carried on the diving device main body; the submersible main body comprises a submersible cabin body, a head component positioned at the front end of the cabin body, bionic pectoral fin components symmetrically arranged on two sides of the cabin body, and a tail fin component positioned at the tail of the cabin body, wherein the head component is used for carrying multi-source sensing equipment; capturing ocean current energy timely through the ocean current energy power generation system, and completing power generation and energy storage; the control system of the working mode is used for controlling and switching different navigation states of the submersible according to the power consumption; and executing a state instruction sent by the working mode control system through the submersible driving system, and driving different parts of the submersible body to act so as to change the posture of the submersible and complete the switching of the working modes. The bionic submersible integrates the ocean current energy power generation technology, has the global working capacity of 'sea surface-in-sea-seabed', can capture ocean current energy in a floating state to realize power generation and energy storage, has high maneuverability and long endurance capacity, and meets the requirements of wide-area long-time hydrologic environment monitoring and small-range seabed target detection tasks.
The present design is described in detail below with reference to the drawings and the specific embodiments.
Referring to fig. 1-3, the submersible comprises a cabin 1, a ocean current energy power generation system 2, a bionic pectoral fin 3 and a head assembly 4. The cabin body 1 comprises a cabin body connecting frame serving as a supporting frame, a pressure-resistant shell 101 wrapped outside the cabin body, a buoyancy adjusting cabin, a centroid adjusting cabin and a main control cabin 102 which are sequentially arranged along the central axis of the cabin body connecting frame, power supply cabins positioned at two sides of the central axis, a pectoral fin connecting frame for installing pectoral fins at two sides, and a throwing and loading mechanism; the communication antenna 6 arranged at the upper part of the main control cabin 102 is wrapped by a vertical fin;
referring to fig. 4, the pressure-resistant housing 101 is in a streamline shape, is formed by optimizing and iterating design through computational fluid dynamics simulation based on the characteristics of biological morphology and ocean energy power generation technology, has excellent hydrodynamic characteristics, and can meet the requirement of efficiently collecting ocean energy and converting the ocean energy into electric energy in a real ocean environment. The control system and the power management system of the submersible are respectively arranged in the main control cabin 102 and the power supply cabin 103, wherein the control system can control each system of the submersible according to data collected by the multi-source sensing system and task requirements of the submersible, and the power management system can store electric energy generated by the ocean current energy generating device and reasonably distribute electricity consumption according to the health condition of a battery so as to realize efficient utilization of energy. The watertight connector is arranged on the surface of the cabin body, so that the signals and energy inside and outside the cabin body can be effectively and reliably transmitted.
Referring to fig. 5 and 6, the ocean current energy power generation system is a sandwich multi-layer stacked film structure formed by electrode-dielectric-electrode, and is coated outside the pressure-resistant shell. Each layer of the multilayer stacked film structure is a 202PET flat plate, a 201 flexible electrode, a 203PTFE frame, a 204 dielectric, a 203PTFE frame, a 201 flexible electrode and a 202PET flat plate from top to bottom. Under the free floating state of the submersible, ocean currents can drive 204 dielectrics to reciprocate in a 205 gap of a 203PTFE frame and continuously contact and separate from electrodes, and due to the contact electrification phenomenon and charge movement of a solid-liquid interface, the kinetic energy of ocean waves and ocean currents can be converted into electric energy and transmitted to a power management system for storage in the process, and meanwhile, the submersible can adjust the position and the posture of the submersible in real time through a bionic pectoral fin according to the ocean current condition, so that the autonomous energy capture of the submersible is realized.
Referring to fig. 7, the bionic pectoral fin assembly includes a root connection board as a root support, a flexible conformal connection board 304 as an upper and lower surface support, a plurality of airfoil rib plates 302 arranged along the spanwise direction of the flexible conformal connection board, a flexible fin plate 303 at the tail end of the pectoral fin, and a flexible skin wrapping the periphery; the root parts of the two shape-preserving connecting plates 304 are symmetrically hinged to the two opposite sides of the root connecting plates, the end parts are hinged to the root parts of the fin plates 303, and the middle parts are respectively hinged to the two sides of each wing rib plate 302 to form a linkage flapping wing structure.
Specifically, the bionic pectoral fin propulsion system is located at two sides of the cabin body, simulates the design of the appearance and the movement characteristics of a real bated ray biological pectoral fin, consists of a motor, wing-shaped rib plates and fin plates, is located at a pectoral fin driving module at the root of the pectoral fin, drives a pectoral fin flexible framework structure formed by crossing the wing-shaped rib plates 302 and the fin plates 303, coats a layer of flexible skin outside the framework, and realizes different forms of movement by controlling pectoral fins at the left side and the right side, so that the high-efficiency high-mobility bionic propulsion of the bionic submersible can be realized.
The submersible driving system comprises a pectoral fin driving module for controlling the motion of the bionic pectoral fin assembly, a pectoral fin driving module for controlling the motion of the pectoral fin and a pump jet propeller; the pectoral fin driving module comprises a swing motor for controlling the swing of the bionic pectoral fin assembly and a twisting motor for controlling the twisting of the bionic pectoral fin assembly; the swing motor is arranged on the motor mounting frame, the output end of the swing motor is connected with the wing-shaped rib plates positioned at the root part through the transmission component, the swing motor drives the connection of the wing-shaped rib plates at the root part to swing along the direction vertical to the submersible, and other wing-shaped rib plates and the fin plates are linked through the flexible shape-preserving connecting plate in a hinged manner, namely, the whole pectoral fin is passively deformed, so that the deformation control of the pectoral fin posture is completed; the twisting motor is arranged on the pectoral fin connecting frame, the output end of the twisting motor is connected with the motor mounting frame through the transmission mechanism, and the motor mounting frame is driven to rotate around the output shaft of the transmission assembly, namely, the pectoral fin assembly integrally rotates around the shaft vertical to the pectoral fin connecting frame, so that the control of the integral pitching motion is realized; the tail fin driving module comprises a steering engine and a rotating shaft connected with the steering engine; the output end of the rotary shaft is connected with the support frame of the tail fin assembly through a tail fin adapter plate perpendicular to the symmetry plane, and the output end of the rotary shaft is connected with the steering engine and used for transmitting rotary torque to the tail fin assembly so as to change the tail fin posture; the pump spray propeller is arranged at the rear of two sides of the trunk of the submersible body through spray pipe connectors and is used for assisting pectoral fins to propel.
Referring to FIG. 8, head assembly 4 is a multi-source perception system, positioned at the front of the cabin, and includes a binocular camera 401, a forward looking sonar 402, and an artificial side line 403. The binocular camera is positioned at the 'glasses' position, can capture underwater visual information and reconstruct underwater topography and topography in three dimensions according to the binocular principle; the front view sonar is positioned in the middle of the head, so that the accurate distance measurement can be performed on a remote target; the strip-shaped area outside the head eye handle is a manual lateral line, so that ocean waves and ocean currents can be perceived, and closed-loop feedback is provided for ocean current energy power generation.
The working mode control system determines the working mode according to the actual power of the submersible as follows: the actual power of the simulated ray diving device is 15-25W, and the simulated ray diving device is in a water surface floating mode; the actual power of the simulated ray of the bated light diving device is 35-45W, and the simulated ray of the bated light diving device is in an arch gliding mode; the actual power of the simulated ray-bate diving device is 1900-2100W, and the simulated ray-bate diving device is in a flapping wing maneuvering mode.
The submersible has the global working capacity of sea surface, sea-in-sea and seabed, and has various working modes such as sea surface floating, sea sliding and flapping, seabed fixed-point residence and the like. Under different working modes, the submersible adopts different bionic driving and ocean current energy charging strategies to adapt to different working environments.
The shape of the submersible is subjected to bionic optimization design and optimized according to the ocean current energy power generation characteristics, so that kinetic energy can be better concentrated at the part coated with the ocean current energy power generation device when seawater flows through the submersible shell, and the ocean current energy power generation efficiency is maximized. Meanwhile, in a sea surface floating working mode, the submersible is closed to enable the bionic pectoral fin propulsion system to be in a 'wave-following and flow-by-flow' state, at the moment, the submersible mainly performs a communication task through an antenna exposed out of the water surface, the position of the submersible is continuously measured and calculated through a satellite positioning system, the position of the submersible is compared and corrected with a system set position, a ocean current energy generating device is started at the moment, the kinetic energy of sea waves and ocean currents flowing through the submersible is collected, and meanwhile, the position deviation of the submersible caused by the 'wave-following and flow-by-flow' can be weakened due to the fact that a large amount of kinetic energy of the sea waves is absorbed. In order to maximize ocean current energy power generation efficiency, the pectoral fins on the left side and the right side deflect downwards by 30-45 degrees according to ocean current information obtained by the head multi-source sensing system, so that the submersible keeps optimal attitude stability, and meanwhile, the ocean current energy power generation device is ensured to collect ocean current energy from the 360-degree direction and cannot be shielded by the pectoral fins.
When the bionic pectoral fin propulsion system is started in a flutter working mode in the sea, the ocean current energy power generation device is closed, and the phenomenon that the motion resistance of the submersible is overlarge due to ocean current energy power generation is prevented; when the pectoral fin stops flapping in a sea gliding working mode, the root of the pectoral fin is kept to deflect upwards by 10-30 degrees so as to realize the sea gliding modes with different gliding ratios, at the moment, the ocean current energy generating device is started, the friction energy between the pectoral fin and the sea water in the gliding process can be collected, at the moment, the stretching bending angle of the pectoral fin is adjusted according to the gliding speed of the submersible, so that the friction energy generated by the submersible and the sea water is collected by the ocean current energy generating devices positioned at the back and the abdomen of the submersible to the greatest extent, and the closed-loop adjustment of the gliding movement of the submersible is realized.
Under the fixed-point resident working mode of the seabed, the submersible actively selects a seabed which is flat and rich in ocean current energy to realize 'sitting bottom' according to ocean current and seabed topography data obtained by the head multisource sensing system. At the moment, the submersible can realize different 'bottom sitting' postures according to ocean current conditions, when ocean current is uniform and the direction is single, the submersible can actively select the head to face the ocean current direction, and drive the pectoral fins to deflect upwards by 60-70 degrees, a horn mouth-like shape is formed above the submersible, and at the moment, the maximum ocean current energy power generation can be realized according to the Bernoulli principle; when the 'bottom-sitting' position of the submersible has no definite ocean current direction, the pectoral fins on the left side and the right side are flattened and return to the middle position, so that the submersible can receive ocean current energy from all directions without shielding.
Although embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives, and variations may be made in the above embodiments by those skilled in the art without departing from the spirit and principles of the invention.

Claims (10)

1. The utility model provides a imitative ray of a ray submersible based on ocean current energy electricity generation which characterized in that: the device comprises a submersible body, a ocean current energy power generation system, a working mode control system and a submersible driving system, wherein the ocean current energy power generation system, the working mode control system and the submersible driving system are carried on the submersible body; the submersible main body comprises a submersible cabin body, a head component positioned at the front end of the cabin body, bionic pectoral fin components symmetrically arranged on two sides of the cabin body, and a tail fin component positioned at the tail of the cabin body, wherein the head component is used for carrying multi-source sensing equipment;
capturing ocean current energy timely through the ocean current energy power generation system, and completing power generation and energy storage;
the control system of the working mode is used for controlling and switching different navigation states of the submersible according to the power consumption;
and executing a state instruction sent by the working mode control system through the submersible driving system, and driving different parts of the submersible body to act so as to change the posture of the submersible and complete the switching of the working modes.
2. The simulated ray diving apparatus based on ocean current energy power generation of claim 1, wherein: the cabin body comprises a cabin body connecting frame serving as a supporting frame, a pressure-resistant shell wrapped outside the cabin body, a buoyancy adjusting cabin, a centroid adjusting cabin and a control cabin which are sequentially arranged along the central axis of the cabin body connecting frame, battery cabins positioned at two sides of the central axis, a pectoral fin connecting frame for installing pectoral fins at two sides, and a throwing load mechanism; the communication antenna arranged at the upper part of the control cabin is wrapped by the vertical fin; the pressure-resistant shell is a bionic streamline shell designed according to the fish-shaped main body of the ray.
3. The simulated ray diving apparatus based on ocean current energy power generation of claim 1, wherein: the ocean current energy power generation system is of a sandwich multilayer stacked film structure formed by an electrode, a dielectric medium and an electrode, and is coated outside the pressure-resistant shell.
4. A simulated ray of light submersible based on ocean current energy generation as claimed in claim 3, wherein: the multilayer stacked film structure sequentially comprises a PET flat plate, a flexible electrode, a PTFE frame, a dielectric medium, a PTFE frame, a flexible electrode and a PET flat plate from top to bottom; under the free floating state of the submersible, ocean currents can drive the dielectric medium to reciprocate in the gap of the PTFE frame and continuously contact and separate from the electrode, and due to the contact electrification phenomenon and charge movement of the solid-liquid interface, the kinetic energy of ocean waves and ocean currents is converted into electric energy and is transmitted to the power management system of the battery compartment.
5. The simulated ray diving apparatus based on ocean current energy power generation of claim 1, wherein: the bionic pectoral fin assembly comprises a root connecting plate serving as a root support, a flexible shape-preserving connecting plate serving as an upper surface and a lower surface support, a plurality of wing-shaped rib plates arranged along the extending direction of the flexible shape-preserving connecting plate, a flexible fin plate positioned at the tail end of the pectoral fin and a flexible skin wrapping the periphery; the root parts of the two shape-preserving connecting plates are symmetrically hinged to the two opposite sides of the root connecting plate, the end parts of the shape-preserving connecting plates are hinged to the root parts of the fin plates, and the middle parts of the shape-preserving connecting plates are respectively hinged to the two sides of each wing-shaped rib plate to form a linkage flapping wing structure.
6. The simulated ray diving apparatus based on ocean current energy generation of claim 5, wherein: the submersible driving system comprises a pectoral fin driving module for controlling the motion of the bionic pectoral fin assembly, a pectoral fin driving module for controlling the motion of the pectoral fin and a pump jet propeller;
the pectoral fin driving module comprises a swing motor for controlling the swing of the bionic pectoral fin assembly and a twisting motor for controlling the twisting of the bionic pectoral fin assembly; the swing motor is arranged on the motor mounting frame, the output end of the swing motor is connected with the wing-shaped rib plates positioned at the root part through the transmission component, the swing motor drives the connection of the wing-shaped rib plates at the root part to swing along the direction vertical to the submersible, and other wing-shaped rib plates and the fin plates are linked through the flexible shape-preserving connecting plate in a hinged manner, namely, the whole pectoral fin is passively deformed, so that the deformation control of the pectoral fin posture is completed; the twisting motor is arranged on the pectoral fin connecting frame, the output end of the twisting motor is connected with the motor mounting frame through the transmission mechanism, and the motor mounting frame is driven to rotate around the output shaft of the transmission assembly, namely, the pectoral fin assembly integrally rotates around the shaft vertical to the pectoral fin connecting frame, so that the control of the integral pitching motion is realized;
the tail fin driving module comprises a steering engine and a rotating shaft connected with the steering engine; the output end of the rotary shaft is connected with the support frame of the tail fin assembly through a tail fin adapter plate perpendicular to the symmetry plane, and the output end of the rotary shaft is connected with the steering engine and used for transmitting rotary torque to the tail fin assembly so as to change the tail fin posture;
the pump spray propeller is arranged at the rear of two sides of the trunk of the submersible body through spray pipe connectors and is used for assisting pectoral fins to propel.
7. The simulated ray diving apparatus based on ocean current energy power generation of claim 1, wherein: the working mode control system determines the working mode according to the actual power of the submersible, and specifically comprises the following steps:
the actual power of the simulated ray diving device is 15-25W, and the simulated ray diving device is in a water surface floating mode;
the actual power of the simulated ray of the bated light diving device is 35-45W, and the simulated ray of the bated light diving device is in an arch gliding mode;
the actual power of the simulated ray-bate diving device is 1900-2100W, and the simulated ray-bate diving device is in a flapping wing maneuvering mode.
8. A method for charging a simulated bata ray submersible based on ocean current energy generation in each working mode as claimed in any one of claims 1-7, characterized in that:
when the submersible is in a water surface floating mode, the drive system of the submersible is closed, the ocean current energy power generation system is started, and the kinetic energy of ocean waves and ocean currents flowing through the submersible on the water surface is collected;
when the submersible is in a flapping mode in water, the bionic pectoral fin propulsion system is started, the ocean current energy power generation system is closed, and the phenomenon that the motion resistance of the submersible is overlarge due to ocean current energy power generation is prevented;
when the submersible is in a gliding mode in water, the driving system of the submersible is closed, the ocean current energy power generation system is started, and friction energy with seawater in the gliding process is collected;
when the submersible is in the underwater fixed-point residence mode, the submersible driving system is closed, the ocean current energy power generation system is started, and ocean current energy from all directions is collected.
9. The method of charging a submersible in each mode of operation of claim 8, wherein: when the submersible is in a water surface floating mode, the bionic pectoral fins on two sides deflect downwards by 30-45 degrees, so that the ocean current energy power generation system can collect ocean current energy from 360 degrees, and the ocean current energy power generation system is prevented from being blocked by the pectoral fins; when the submersible is in the underwater gliding mode, the bionic pectoral fins on two sides deflect upwards by 10-30 degrees so as to realize the underwater gliding modes with different gliding ratios; when the submersible is in a submarine fixed-point residence mode, the bionic pectoral fins on two sides deflect upwards by 60-70 degrees, so that ocean current energy power generation can be realized to the greatest extent.
10. The method of charging a submersible in each mode of operation of claim 8, wherein: when the submersible is in a water bottom fixed-point residence mode, the bionic pectoral fins on two sides are flattened by 180 degrees when the 'sitting bottom' position does not have a definite ocean current direction, and the pectoral fins return to the middle position, so that the submersible can receive ocean currents from all directions and can avoid shielding.
CN202311341142.XA 2023-10-17 2023-10-17 Simulated ray diving device and method based on ocean current energy power generation Pending CN117262170A (en)

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CN202311341142.XA CN117262170A (en) 2023-10-17 2023-10-17 Simulated ray diving device and method based on ocean current energy power generation

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202311341142.XA CN117262170A (en) 2023-10-17 2023-10-17 Simulated ray diving device and method based on ocean current energy power generation

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CN117262170A true CN117262170A (en) 2023-12-22

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