CN117360732A - Buoyancy-driven baton-like submersible integrating solar energy harvesting, ocean current energy power generation and temperature difference energy - Google Patents

Buoyancy-driven baton-like submersible integrating solar energy harvesting, ocean current energy power generation and temperature difference energy Download PDF

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Publication number
CN117360732A
CN117360732A CN202311341141.5A CN202311341141A CN117360732A CN 117360732 A CN117360732 A CN 117360732A CN 202311341141 A CN202311341141 A CN 202311341141A CN 117360732 A CN117360732 A CN 117360732A
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China
Prior art keywords
energy
submersible
energy harvesting
ocean current
diving
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CN202311341141.5A
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Chinese (zh)
Inventor
曹勇
贺俊杰
曹永辉
路阳
邢城
隋一翔
卢丞一
潘光
宋保维
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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 CN202311341141.5A priority Critical patent/CN117360732A/en
Publication of CN117360732A publication Critical patent/CN117360732A/en
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    • 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
    • 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
    • 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
    • B63G8/16—Control of attitude or depth by direct use of propellers or jets
    • 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
    • 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
    • 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
    • F03G—SPRING, WEIGHT, INERTIA OR LIKE MOTORS; MECHANICAL-POWER PRODUCING DEVICES OR MECHANISMS, NOT OTHERWISE PROVIDED FOR OR USING ENERGY SOURCES NOT OTHERWISE PROVIDED FOR
    • F03G7/00—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for
    • F03G7/04—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for using pressure differences or thermal differences occurring in nature
    • F03G7/05—Ocean thermal energy conversion, i.e. OTEC
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/32—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from a charging set comprising a non-electric prime mover rotating at constant speed
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
    • H02J7/35—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering with light sensitive cells
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
    • H02S10/00—PV power plants; Combinations of PV energy systems with other systems for the generation of electric power
    • H02S10/10—PV power plants; Combinations of PV energy systems with other systems for the generation of electric power including a supplementary source of electric power, e.g. hybrid diesel-PV energy systems
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
    • H02S10/00—PV power plants; Combinations of PV energy systems with other systems for the generation of electric power
    • H02S10/20—Systems characterised by their energy storage means
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
    • H02S20/00—Supporting structures for PV modules
    • H02S20/30—Supporting structures being movable or adjustable, e.g. for angle adjustment
    • H02S20/32—Supporting structures being movable or adjustable, e.g. for angle adjustment specially adapted for solar tracking
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
    • H02S40/00—Components or accessories in combination with PV modules, not provided for in groups H02S10/00 - H02S30/00
    • H02S40/30—Electrical components
    • 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J2300/00—Systems for supplying or distributing electric power characterised by decentralized, dispersed, or local generation
    • H02J2300/20—The dispersed energy generation being of renewable origin
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J2300/00—Systems for supplying or distributing electric power characterised by decentralized, dispersed, or local generation
    • H02J2300/20—The dispersed energy generation being of renewable origin
    • H02J2300/22—The renewable source being solar energy
    • H02J2300/24—The renewable source being solar energy of photovoltaic origin
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J2300/00—Systems for supplying or distributing electric power characterised by decentralized, dispersed, or local generation
    • H02J2300/40—Systems for supplying or distributing electric power characterised by decentralized, dispersed, or local generation wherein a plurality of decentralised, dispersed or local energy generation technologies are operated simultaneously

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • General Engineering & Computer Science (AREA)
  • Ocean & Marine Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Power Engineering (AREA)
  • Biodiversity & Conservation Biology (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Oceanography (AREA)
  • Toys (AREA)

Abstract

The invention relates to a simulated solar ray diving apparatus which is driven by combining solar energy harvesting, ocean current energy power generation and temperature difference energy buoyancy, and belongs to the field of underwater bionic robots; the energy harvesting device comprises a submersible body, an energy harvesting system, an operating mode control system and a submersible driving system, wherein the energy harvesting system, the operating mode control system and the submersible driving system are carried on the submersible body; timely capturing solar energy, ocean current energy or temperature difference energy through the energy capturing system; 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 the integrated propulsion capability of gliding and flapping, and realizes the advantages of long endurance time, high maneuver and high efficiency propulsion by designing multi-mode application strategies such as arcuate gliding, flapping wing maneuver, water surface floating, benthonic residence and the like.

Description

Buoyancy-driven baton-like submersible integrating solar energy harvesting, ocean current energy power generation and temperature difference energy
Technical Field
The invention belongs to the field of underwater bionic robots, and particularly relates to a simulated solar ray diving apparatus which is driven by combining solar energy capture, ocean current energy power generation and temperature difference energy buoyancy.
Background
Along with the development and utilization of ocean in the global scope, the design and development of the submersible become important scientific subjects in various countries, are inspired by the motion of underwater organisms, give the motion and propulsion mode of the underwater organisms of the submersible by researching the propulsion mechanism of the underwater organisms which are developed by thousands of years of evolution, so that the bionic submersible is developed, the energy utilization efficiency of the submersible can be greatly improved, the noise is reduced, and the bionic submersible has good application prospect. The bionic pectoral fin propulsion can enable the aircraft to have high propulsion efficiency and high maneuverability. In addition, the flying wing type layout glider is driven by variable buoyancy to perform gliding motion with a saw-tooth-shaped longitudinal section under water, has the characteristics of long voyage and long endurance time, and is beneficial to the flat appearance of the flying wing type layout glider and an excellent load carrying platform, so that the flying wing type layout glider and the flapping wing type gliding device are complementary in advantages, and the simulated batwing type diving device with integrated propulsion of the flying wing type layout glider and the flapping wing type.
At present, in the aspect of a batray-imitating diving device, motor driving is adopted for imitating the chest fins of the batray, such as a batray-imitating chest fin mechanism and a batray-imitating robot disclosed in the prior art, a plurality of groups of motors are adopted for driving the chest fin skeleton, so that the power consumption is high, the endurance time is short, and the application mode is very limited. The underwater glider realizing the gliding movement by the buoyancy-changing and deterioration center adjusting system can realize the low-power-consumption gliding movement, but has single movement mode and insufficient maneuverability, and is difficult to realize the in-situ maneuvering in a narrow water area. 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, the marine equipment for capturing energy by adopting solar energy is mainly a wave energy glider or a marine buoy, and ocean current friction energy generation utilizes the contact electrification phenomenon of a solid-liquid interface to efficiently recover kinetic energy resources in the ocean, including up-and-down floating of sea water and beating of sea waves, ocean currents and sea water, but the two energy collection modes are generally limited to sea surface space and are difficult to cope with the operation requirements of deep open sea; the ocean equipment driven by the buoyancy of the temperature difference energy is mainly an underwater glider, but has great defects of stability and reliability.
In a word, the key technology of the overall design of the simulated ray of the ray has the problem of insufficient cruising ability. The invention aims at improving the endurance of the simulated solar ray diving apparatus, integrates solar energy harvesting, ocean current friction energy power generation and temperature difference energy buoyancy driving, and is applied to the simulated solar ray diving apparatus with gliding and flapping wings integrally propelled.
Disclosure of Invention
The technical problems to be solved are:
in order to avoid the defects of the prior art, the invention provides the simulated solar ray diving apparatus which combines solar energy harvesting, ocean current energy power generation and temperature difference energy buoyancy driving, has the integrated propulsion capability of gliding and flapping, realizes the advantages of long endurance time, high mobility, high efficiency propulsion and the like by designing a multi-mode operation strategy of arcuate gliding, flapping wing maneuver, water surface floating, benthonic residence and the like, combines the advantages of high mobility, high efficiency propulsion and the like, and performs autonomous energy harvesting by combining the different mode operation states of the simulated solar ray diving apparatus, for example, solar energy-ocean current friction energy cooperative power generation can be performed when the diving apparatus floats to the near water surface and the water surface in a gliding mode, intermittent energy supply can be realized, and the endurance capability is further improved by the temperature difference energy-electric energy combined buoyancy driving when the diving apparatus periodically glides. The simulated ray diving device can be applied to underwater environment monitoring, biological community investigation and other purposes. The invention solves the problem that the underwater vehicle in the prior art cannot be cruised for a long time.
The technical scheme of the invention is as follows: a simulated bata ray diving apparatus integrating solar energy capturing, ocean current energy power generation and temperature difference energy buoyancy driving comprises a diving apparatus main body, an energy capturing system, an operation mode control system and a diving apparatus driving system, wherein the energy capturing system, the operation mode control system and the diving apparatus driving system are carried on the diving apparatus main body;
timely capturing solar energy, ocean current energy or temperature difference energy through the energy capturing system;
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 submersible main body comprises a submersible main body trunk, a head component positioned at the front end of the main body trunk, pectoral fin components symmetrically arranged at two sides of the main body trunk and a tail fin component positioned at the tail of the main body trunk, wherein the head component is used for carrying equipment with a visual perception function; the main body trunk comprises a trunk body connecting frame serving as a supporting frame, an upper shell and a lower shell which are wrapped outside the main body trunk body, a buoyancy adjusting cabin, a centroid adjusting cabin and a control cabin which are sequentially arranged along the central axis of the trunk body connecting frame, battery cabins positioned at two sides of the central axis and used for installing pectoral fin connecting frames of pectoral fins at two sides, and a throwing and loading mechanism; the communication antenna arranged at the upper part of the control cabin is wrapped by the vertical fin; a towing sonar array is arranged in the extending direction of the tail end of the upper shell, and a side-scan sonar and a DVL are arranged at the bottom of the lower shell;
the pectoral fin assembly is capable of twisting about an axis perpendicular to the plane of symmetry of the submersible under control of the drive system of the submersible, or flapping in the vertical direction of the submersible, and the pectoral fin assembly is capable of twisting about an axis parallel to the central axis of the submersible under control of the drive system of the submersible.
The invention further adopts the technical scheme that: the pectoral fin assembly comprises a root connecting plate serving as a root support, a flexible rib plate connecting plate serving as an upper surface and a lower surface support, a plurality of NACA airfoil rib plates arranged along the extending direction of the flexible rib plate connecting plate, a flexible tail fin plate positioned at the tail end of the pectoral fin and a flexible skin wrapping the periphery; the roots of the two rib plate connecting plates are symmetrically hinged to two opposite sides of the root connecting plate, the end parts of the rib plate connecting plates are hinged to the roots of the tail fin plates, and the middle parts of the rib plate connecting plates are respectively hinged to two sides of each NACA wing rib plate.
The invention further adopts the technical scheme that: the submersible driving system comprises a pectoral fin driving module for controlling the pectoral fin assembly to move, a pectoral fin driving module for controlling the pectoral fin and a pump jet propeller;
the pectoral fin driving module comprises a swing motor for controlling the pectoral fin assembly to swing and a twisting motor for controlling the pectoral fin to twist; the swing motor is arranged on the motor mounting frame, the output end of the swing motor is connected with the NACA airfoil rib plates positioned at the root part through the transmission component, the swing motor drives the NACA airfoil rib plates to be connected to swing along the direction vertical to the submersible, and other NACA airfoil rib plates are linked with the tail fin plates through the hinge joint of the flexible rib plate connecting plates, 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.
The invention further adopts the technical scheme that: the energy harvesting system comprises a solar power generation device attached to the back of the submersible, a ocean current energy power generation device arranged on the abdomen of the submersible and a temperature difference energy buoyancy driving device arranged in the submersible, and is used for switching different energy harvesting modes according to the working mode of the submersible, and specifically comprises the following steps:
when the simulated ray diving device is in a water surface floating mode, the solar power generation device and the ocean current energy power generation device can autonomously capture solar energy and ocean current energy;
when the simulated ray diving device is in an arch-shaped gliding mode, the ocean current energy generating device continuously collects ocean current energy on the surface of the diving device, and the temperature difference energy buoyancy driving device in the diving device performs cold-heat exchange with seawater to capture the temperature difference energy, so that the temperature difference energy is changed into buoyancy driving;
when the simulated ray of the bated light is in the flapping wing maneuvering mode, the ocean current energy generating device continuously collects ocean current energy on the surface of the submersible.
A control method for solar energy-ocean current friction energy cooperative power generation by combining solar energy capture, ocean current energy power generation and temperature difference energy buoyancy driven simulated bata diving device comprises the following steps:
real-time monitoring the internal actual power consumption of the simulated ray diving device through a simulated ray diving device control cabin so as to judge the current working mode of the simulated ray diving device and start a corresponding energy capturing mode according to the current working mode;
when the device is in a solar energy-ocean current energy cooperative power generation energy capturing mode, a current solar illumination intensity signal is monitored through a light intensity sensor, the signal is sent to a control cabin for analysis to obtain an illumination angle, a position and posture adjusting target of the simulated baton submersible suitable for the current light environment is given according to the illumination angle, and an instruction is sent to a submersible driving system;
the buoyancy adjusting cabin and the mass center adjusting cabin of the simulated ray of the submersible are used for controlling the depth position, the pitching posture and the rolling posture of the submersible, and the regulation strategy of the solar panel vertical to light is followed;
and (3) by monitoring the current energy harvesting power, evaluating the energy harvesting effect, and evaluating whether energy harvesting is continued or not according to the energy harvesting effect.
The invention further adopts the technical scheme that: the method for adapting the position and posture adjusting target of the submersible in the current light environment comprises the following steps: a plurality of light intensity sensors are arranged on one side of a solar power panel of the simulated ray diving apparatus in an array mode, and the overall irradiation intensity and the direction of sunlight under the current position of the diving apparatus are obtained according to the light intensity data of the sensor arrays; the overall irradiation intensity of sunlight is an average value of sensor array data, the irradiation intensity of sunlight is determined according to the difference value of each sensor data in the sensor array, and the position and the posture of the submersible are adjusted by taking the direct irradiation of sunlight to the solar panel as a target.
The invention further adopts the technical scheme that: the buoyancy regulating cabin and the mass center regulating cabin of the submersible are regulated according to the regulation strategies:
reading the illumination intensity of the current position of the submersible, controlling the buoyancy system to increase the volume if the illumination intensity is smaller than the energy harvesting illumination intensity set value, floating the submersible, reducing the depth, improving the illumination intensity until the illumination intensity reaches the energy harvesting illumination intensity set value, stopping floating, adjusting the buoyancy system, and maintaining the current depth;
the illumination direction of the current position of the submersible is read, the pitching posture and the rolling posture of the submersible are adjusted through the movement of the mass center in the simulated bat submersible, and the solar panel of the submersible is controlled to be perpendicular to the illumination direction, so that larger energy capturing power is maintained.
The invention further adopts the technical scheme that: the evaluation method of the energy harvesting effect comprises the following steps:
if the current energy harvesting power is measured to be less than 50% of the peak power of the energy harvesting system, stopping the energy harvesting mode after waiting for the completion of tasks such as water surface floating information transmission and positioning, and continuing to develop subsequent underwater tasks.
If the current energy harvesting power is measured to be more than 50% of the peak power of the energy harvesting system, the energy harvesting mode is maintained until the energy harvesting mode is stopped after the energy harvesting power is reduced due to external factors, and the subsequent underwater tasks are continued to be carried out.
Advantageous effects
The invention has the beneficial effects that:
1. compared with the prior simulated batray submersible, the invention combines solar energy harvester and ocean current energy power generation, and can intermittently supplement energy sources when the submersible works, thereby prolonging the total working time of the submersible, realizing the utilization of multi-source energy and effectively improving the endurance time of the vehicle.
2. Compared with the traditional underwater glider, the simulated ray diving device is driven by utilizing the temperature difference energy buoyancy, realizes the combination of the temperature difference energy and electric energy of the diving device and the buoyancy driving, can complement the problem that the diving device has no standby energy under the condition of non-temperature difference energy driving compared with the traditional temperature difference energy driving underwater glider, and can enable the diving device to more easily reach the sea area range enriched with the temperature difference energy due to the high maneuvering characteristic of the simulated ray diving device, thereby realizing the high-efficiency collection and utilization of the temperature difference energy.
3. The invention realizes the multi-source energy capturing technology of the submersible in various modes, utilizes solar energy-ocean current energy to cooperate with energy capturing in the water surface floating mode, captures temperature difference energy by cold and heat exchange with seawater in the periodic arch-shaped gliding mode process, realizes the variable buoyancy driving of the temperature difference energy, and improves the gliding endurance of the submersible. Compared with a single-mode submersible adopting light energy or wind energy, the energy-harvesting device has more efficient continuous energy-harvesting input capability, and can meet the energy-harvesting requirements of the submersible in water surface and underwater multi-mode operation.
Table 1 exemplary operating scenario of a submersible-energy capture/energy non-capture expected capability lookup table
Drawings
FIG. 1 is a schematic diagram of a simulated ray of light submersible according to the present invention;
FIG. 2 is a top view of the simulated baton submersible provided by the present invention (the skin of the upper hull and simulated pectoral fin assembly of the submersible is not shown);
FIG. 3 is a side view of a simulated ray of light submersible provided by the present invention (upper housing, lower housing and simulated pectoral fin assembly of the submersible are not shown);
FIG. 4 is a bottom view of the simulated ray of the present invention;
fig. 5 is a schematic diagram of an upper housing and a lower housing of the simulated ray tube submersible provided by the invention.
Reference numerals illustrate: 1-submersible body trunk, 2-submersible head assembly, 3-bionic pectoral fin assembly, 4-bionic tail fin assembly, 5-solar panel, 6-pectoral fin driving module, 7-pump jet propeller, 8-communication antenna, 9-side scan sonar, 10-DVL, 11-towing sonar array, 12-ocean friction energy generating device, 101-pectoral fin connecting frame, 102-power battery compartment, 103-temperature difference energy-electric energy combined driving buoyancy regulating compartment, 104-centroid regulating compartment, 105-cabin connecting frame, 106-instrument battery compartment, 107-control compartment, 108-throwing mechanism, 109-upper shell, 1010-lower shell, 201-head shell, 202-binocular vision camera, 203-forward view sonar, 301-fin plate, 302-rib plate connecting plate, 303-NACA wing rib plate, 304-root connecting plate, 305-flexibility, 401-tail fin, 402-steering engine, 601-swinging motor, 602-swinging motor, 603-bevel gear box, 604-torsion motor.
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.
Based on the problem that an underwater vehicle cannot continue to travel for a long time in the prior art, the invention provides a simulated ray diving device which is driven by combining solar energy capture, ocean current energy power generation and temperature difference energy buoyancy, and the simulated ray diving device comprises a diving device main body, an energy capture system, a working mode control system and a diving device driving system, wherein the energy capture system, the working mode control system and the diving device driving system are carried on the diving device main body; the solar energy, ocean current energy or temperature difference energy is timely captured through the energy capturing system; 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 energy can be intermittently supplemented when the submersible works through the cooperation of solar energy harvesting and ocean current energy power generation, so that the total working time of the submersible is prolonged, the utilization of multi-source energy is realized, and the endurance time of the aircraft is effectively prolonged. And the temperature difference energy buoyancy driving is utilized to realize the combination of the temperature difference energy and the electric energy of the submersible and the buoyancy driving.
Referring to fig. 1, the submersible body comprises a submersible body trunk 1, a head component 2 positioned at the front end of the body trunk, pectoral fin components 3 symmetrically arranged at two sides of the body trunk, and a tail fin component 4 positioned at the tail of the body trunk, wherein the head component 2 is used for carrying equipment with a visual perception function; the pectoral fin assembly 3 can twist about an axis perpendicular to the plane of symmetry of the submersible or flap in the vertical direction of the submersible under the control of the drive system of the submersible, and the pectoral fin assembly 4 can twist about an axis parallel to the central axis of the submersible under the control of the drive system of the submersible.
Referring to fig. 2, the trunk includes a cabin connecting frame 105 as a supporting frame, an upper casing 109 and a lower casing 1010 wrapped outside the trunk, a buoyancy adjusting cabin 103, a centroid adjusting cabin 104, a control cabin 107 sequentially arranged along a central axis of the cabin 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 108; the communication antenna 8 arranged at the upper part of the control cabin 107 is wrapped by a vertical fin; the end extension direction of the upper shell 109 is provided with a towing sonar array 11, and the bottom of the lower shell 1010 is provided with a side-scan sonar and a DVL.
The submersible driving system comprises a pectoral fin driving module for controlling the pectoral fin assembly to move, a pectoral fin driving module for controlling the pectoral fin and a pump jet propeller; the pectoral fin driving module comprises a swing motor for controlling the pectoral fin assembly to swing and a twisting motor for controlling the pectoral fin to twist; the swing motor is arranged on the motor mounting frame, the output end of the swing motor is connected with the NACA airfoil rib plates positioned at the root part through the transmission component, the swing motor drives the NACA airfoil rib plates to be connected to swing along the direction vertical to the submersible, and other NACA airfoil rib plates are linked with the tail fin plates through the hinge joint of the flexible rib plate connecting plates, 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.
Specifically, the simulated ray diving apparatus comprises a diving apparatus main body trunk 1, a diving apparatus head component 2, two bionic pectoral fin components 3, a bionic pectoral fin driving component 6 for driving the bionic pectoral fins, a bionic tail fin component 4, a solar panel 5, a pump jet propeller 7 and a ocean current friction energy generating device 12; the aircraft body comprises a cabin connecting frame 105, an upper shell 109, a lower shell 1010, a control cabin 107, a mass center adjusting cabin 104, a temperature difference energy-electric energy combined driving buoyancy adjusting cabin 103, a power battery cabin 102, an instrument battery cabin 106, a pectoral fin connecting frame 101 and a throwing load 108; the temperature difference energy-electric energy combined driving buoyancy adjusting cabin 103, the centroid adjusting cabin 104 and the control cabin 107 are sequentially arranged along the chord direction of the submersible and are arranged on the cabin connecting frame 105, wherein three communication antennas 8 are arranged at the upper part of the control cabin 103, the power battery cabin 102 and the instrument battery cabin 106 are respectively arranged on two sides of the cabin section and are arranged on the cabin connecting frame 105, the pump jet propeller is connected with the upper shell 109 and the lower shell 1010, the lower shell 1010 is externally applied to the lower side of the cabin connecting frame 105, the upper shell 109 is externally applied to the power battery cabin 102 and the upper side of the instrument battery cabin 102, the towing sonar array 11 is arranged on the rear side of the upper shell 109, and the side-scan sonar 9 and the DVL10 are arranged at the bottom of the lower shell 1010; the two bionic pectoral fin components 3 are connected to two sides of the simulated solar ray diving apparatus through the pectoral fin connecting frame 101 and the diving apparatus cabin connecting frame 105, each side of the bionic pectoral fin components 3 realizes swinging and rotating movement through a group of bionic pectoral fin driving components 6, namely, a swinging motor 601 drives the whole bionic pectoral fin component 3 to swing, a root connecting plate 304 of the bionic pectoral fin components 3 is arranged on a swinging motor mounting frame 602, the swinging motor 601 is connected to an output shaft of a torsion motor 604 at the root through the swinging motor mounting frame 602, wherein the axial direction of the output shaft is perpendicular to the axial direction of the swinging motor 601 through a bevel gear transmission box 603, and therefore, the torsion motor 604 can be regulated and controlled to perform torsion movement while swinging; the tail fin assembly 4 comprises a tail fin 401 and a steering engine 402, and is arranged at the tail part of the submersible, and the tail fin 401 is driven to swing through the steering engine 402; the head shell 201 of the submersible is provided with a binocular vision camera 202 and a front view sonar 203, and the integrated head assembly 2 is arranged on the front side of the submersible body 1; the solar panel 5 is arranged on the outer surface of the upper shell 109 of the simulated ray of the submersible; the ocean current friction energy generating device 12 is mounted on the outer surface of the lower housing 1010 of the simulated ray diving apparatus.
Specifically, the bionic pectoral fin assembly comprises 4 NACA airfoil rib plates, a fin plate, a rib plate connecting plate, a root connecting plate and a flexible skin, wherein the NACA airfoil rib plates are used for three-dimensional shape preservation of pectoral fins, are fixed on the fin plate and are perpendicular to the fin plate, the rib plate connecting plate is connected with the upper side and the lower side of the NACA airfoil rib plates through rotating hinges, the root of the rib plate connecting plate is connected with the upper side and the lower side of the root connecting plate through rotating hinges, and the flexible skin is coated and fixed on the NACA airfoil rib plates.
The working mode control system in this embodiment determines a working mode according to actual power of the submersible, specifically:
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 energy harvesting system in this embodiment includes a solar power generation device attached to the back of the submersible, a ocean current energy power generation device located in the abdomen of the submersible, and a temperature difference energy buoyancy driving device located in the submersible, and the energy harvesting system switches different energy harvesting modes according to the working mode of the submersible, specifically:
when the simulated ray diving device is in a water surface floating mode, the solar power generation device and the ocean current energy power generation device can autonomously capture solar energy and ocean current energy;
when the simulated ray diving device is in an arch-shaped gliding mode, the ocean current energy generating device continuously collects ocean current energy on the surface of the diving device, and the temperature difference energy buoyancy driving device in the diving device performs cold-heat exchange with seawater to capture the temperature difference energy.
When the simulated ray of the bated light is in the flapping wing maneuvering mode, the ocean current energy generating device continuously collects ocean current energy on the surface of the submersible.
Wherein, the buoyancy driving device of the temperature difference energy is integrated in the buoyancy adjusting cabin 103 driven by the temperature difference energy-electric energy combination of the bated ray-imitating submersible. The simulated ray diving device has the self-capturing capability, utilizes solar energy-ocean current friction energy to cooperatively generate electricity, stores energy into a battery, and utilizes the temperature difference energy of the ocean surface layer and the deep water layer to enable the memory alloy container in the device to change the phase and change the volume so as to change the buoyancy for carrying out gliding driving, thereby realizing the combination of the temperature difference energy and the electric energy of the diving device and the buoyancy driving for carrying out gliding, improving the endurance time of the diving device and enhancing the application capability of the diving device.
In order to realize the gliding movement of the simulated bate ray diving device, the buoyancy adjusting cabin 103 is driven by the combination of temperature difference energy and electric energy to be matched with the centroid adjusting cabin 104 for adjustment, wherein the temperature difference energy and electric energy can be used for driving the buoyancy adjusting cabin 103 in a combined mode to adjust the drainage volume of the diving device so as to adjust the buoyancy of the diving device, the centroid adjusting cabin 104 can be used for adjusting the centroid position of the diving device so as to adjust the running posture of the diving device under water, when the temperature difference energy and electric energy are combined to drive the buoyancy adjusting cabin 103 to adjust the buoyancy of the diving device to be reduced, the centroid adjusting cabin 104 is used for adjusting the centroid position, the aircraft is adjusted to be in a low-head posture so as to glide downwards, and when the temperature difference energy and electric energy are combined to drive the buoyancy adjusting cabin 103 to adjust the buoyancy to be increased, the centroid adjusting cabin 104 is used for adjusting the centroid position so as to be in a head-lifting posture so as to glide upwards.
Specifically, the bionic pectoral fin assembly specifically includes 4 NACA airfoil rib plates 303, a fin 301, a rib plate connecting plate 302, a root connecting plate 304 and a flexible skin 305, the NACA airfoil rib plates 303 provide three-dimensional shape retention of pectoral fins, multiple levels of NACA airfoil rib plates 303 are sequentially arranged from the root to the tip along the spanwise direction, the NACA airfoil rib plates 303 are in the first level with the near root, each level of NACA airfoil rib plates is fixed on the fin plate and perpendicular to the fin plate 301, the rib plate connecting plate 302 is connected with the upper side and the lower side of the NACA airfoil rib plates 303 through a rotating hinge, the root of the rib plate connecting plate 302 is connected with the upper side and the lower side of the root connecting plate 304 through a rotating hinge, and the flexible skin 305 is wrapped and fixed on the NACA airfoil rib plates 303 and is connected with the upper shell 109 and the lower shell 1010 into a whole.
In order to be suitable for various underwater detection, front view sonar 203 and binocular vision camera 202 are installed at the head assembly 2 of the submersible, side scan sonar 9 and DVL10 are installed at the bottom of the lower shell, a passive sonar array 11 is installed at the tail of the lower shell, and three antennas 8 are installed above a control cabin and used for water surface information transmission and instruction issuing.
The upper shell 109 and the lower shell 1010 of the invention are made of solid materials with low density, high strength and low water absorption, and provide positive buoyancy for the simulated batlight diving device, the pump jet propeller 7 of the invention is used as auxiliary use for steering of the diving device, yaw moment is generated through differential speed of the pump jet propellers at two sides, and the throwing load 108 is arranged at the bottom of the lower shell and used for floating in emergency.
The embodiment of the control method for solar energy-ocean current friction energy collaborative power generation of the simulated traamong diving instruments combining solar energy capture, ocean current energy power generation and temperature difference energy buoyancy driving comprises the following specific steps:
s1. the actual power consumption in the artificial bated ray diving device is monitored in real time by the artificial bated ray diving device control system to judge the current working mode of the artificial bated ray diving device, and the corresponding energy capturing mode is started according to the current working mode.
And S2, when the solar energy-ocean current energy cooperative power generation energy harvesting mode is adopted, the current solar illumination intensity is monitored through the light intensity sensor, and the illumination angle is obtained through analysis, so that the simulated ray diving device is used for providing a pose adjusting target suitable for the current light environment.
s3. the depth position, pitch attitude and roll attitude of the submersible are controlled by the buoyancy adjusting cabin and the centroid adjusting cabin of the simulated bata-ray submersible, and the regulation strategy of the solar panel vertical to light is followed.
s4. evaluates the energy harvesting effect by monitoring the current energy harvesting power, and evaluates whether to continue harvesting according to the energy harvesting effect.
The working mode of the simulated ray diving device and the corresponding energy capturing mode are as follows:
the power consumption of the simulated ray diving device is 15-25W when the simulated ray diving device is in a water surface floating mode, and a solar energy-ocean current friction energy cooperative power generation energy harvesting mode is adopted at the moment.
The power consumption of the simulated ray diving device is 35-45W when the simulated ray diving device is in an arc-shaped gliding mode, and the ocean current friction energy generating device is adopted to capture ocean current energy on the surface of the diving device.
When the simulated ray of the bated ray of the diving device is in the flapping wing maneuvering mode, the power consumption is 1900-2100W, and the ocean current friction energy generating device is adopted to capture the ocean current energy on the surface of the diving device.
The obtaining mode of the position and posture adjusting target of the submersible in the s2, which is suitable for the current light environment, is as follows:
a plurality of light intensity sensors are arranged on one side of a solar power panel of the simulated ray diving apparatus in an array mode, the overall irradiation intensity and the azimuth of sunlight are obtained according to the light intensity data of the sensor arrays under the current position and the azimuth of the diving apparatus, the overall irradiation intensity of sunlight is the average value of the sensor array data, the irradiation intensity of sunlight is determined according to the difference value of the sensor data in the sensor arrays, and the position and the gesture of the diving apparatus are adjusted by taking the direct irradiation of sunlight to the solar panel as a target.
The position and posture adjusting control method and the adjusting strategy of the submersible in the step s3 are as follows:
s31, reading the illumination intensity of the current position of the submersible in the step s2, controlling the buoyancy system to increase the volume if the illumination intensity is smaller than the energy harvesting illumination intensity set value, floating the submersible, reducing the depth, improving the illumination intensity until the illumination intensity reaches the energy harvesting illumination intensity set value, stopping floating, adjusting the buoyancy system, and maintaining the current depth.
S32, reading the illumination direction of the current position of the submersible in the step s2, adjusting the pitching attitude and the rolling attitude of the submersible through the movement of the weight in the bated submersible, and controlling the solar panel of the submersible to be perpendicular to the illumination direction so as to keep larger energy capturing power.
The energy harvesting evaluation effect in s4 is as follows:
if the current energy harvesting power is measured to be less than 50% of the peak power of the energy harvesting system, stopping the energy harvesting mode after waiting for the completion of tasks such as water surface floating information transmission and positioning, and continuing to develop subsequent underwater tasks.
If the current energy harvesting power is measured to be more than 50% of the peak power of the energy harvesting system, the energy harvesting mode is maintained until the energy harvesting mode is stopped after the energy harvesting power is reduced due to external factors such as weather environment and the like, and the subsequent underwater tasks are continued to be carried out.
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. A simulated bata submersible combining solar energy harvesting, ocean current energy power generation and temperature difference energy buoyancy driving is characterized in that: the energy harvesting device comprises a submersible body, an energy harvesting system, an operating mode control system and a submersible driving system, wherein the energy harvesting system, the operating mode control system and the submersible driving system are carried on the submersible body;
timely capturing solar energy, ocean current energy or temperature difference energy through the energy capturing system;
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 combining solar energy harvesting, ocean current energy power generation and temperature difference energy buoyancy driving according to claim 1, wherein the simulated ray diving apparatus is characterized in that: the submersible main body comprises a submersible main body trunk, a head component positioned at the front end of the main body trunk, pectoral fin components symmetrically arranged at two sides of the main body trunk and a tail fin component positioned at the tail of the main body trunk, wherein the head component is used for carrying equipment with a visual perception function; the main body trunk comprises a trunk body connecting frame serving as a supporting frame, an upper shell and a lower shell which are wrapped outside the main body trunk body, a buoyancy adjusting cabin, a centroid adjusting cabin and a control cabin which are sequentially arranged along the central axis of the trunk body connecting frame, battery cabins positioned at two sides of the central axis and used for installing pectoral fin connecting frames of pectoral fins at two sides, and a throwing and loading mechanism; the communication antenna arranged at the upper part of the control cabin is wrapped by the vertical fin; a towed sonar array is arranged in the extending direction of the tail end of the upper shell, and side-scan sonar and DVL are arranged at the bottom of the lower shell;
the pectoral fin assembly is capable of twisting about an axis perpendicular to the plane of symmetry of the submersible under control of the drive system of the submersible, or flapping in the vertical direction of the submersible, and the pectoral fin assembly is capable of twisting about an axis parallel to the central axis of the submersible under control of the drive system of the submersible.
3. The simulated ray diving apparatus combining solar energy harvesting, ocean current energy power generation and temperature difference energy buoyancy driving according to claim 2, wherein the simulated ray diving apparatus is characterized in that: the pectoral fin assembly comprises a root connecting plate serving as a root support, a flexible rib plate connecting plate serving as an upper surface and a lower surface support, a plurality of NACA airfoil rib plates arranged along the extending direction of the flexible rib plate connecting plate, a flexible tail fin plate positioned at the tail end of the pectoral fin and a flexible skin wrapping the periphery; the roots of the two rib plate connecting plates are symmetrically hinged to two opposite sides of the root connecting plate, the end parts of the rib plate connecting plates are hinged to the roots of the tail fin plates, and the middle parts of the rib plate connecting plates are respectively hinged to two sides of each NACA wing rib plate.
4. A simulated ray diving apparatus combining solar energy harvesting, ocean current energy power generation and temperature difference energy buoyancy driving according to claim 3, wherein: the submersible driving system comprises a pectoral fin driving module for controlling the pectoral fin assembly to move, a pectoral fin driving module for controlling the pectoral fin and a pump jet propeller;
the pectoral fin driving module comprises a swing motor for controlling the pectoral fin assembly to swing and a twisting motor for controlling the pectoral fin to twist; the swing motor is arranged on the motor mounting frame, the output end of the swing motor is connected with the NACA airfoil rib plates positioned at the root part through the transmission component, the swing motor drives the NACA airfoil rib plates to be connected to swing along the direction vertical to the submersible, and other NACA airfoil rib plates are linked with the tail fin plates through the hinge joint of the flexible rib plate connecting plates, 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.
5. The simulated ray diving apparatus combining solar energy harvesting, ocean current energy power generation and temperature difference energy buoyancy driving according to claim 1, wherein the simulated ray diving apparatus is characterized in 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.
6. The simulated ray diving apparatus combining solar energy harvesting, ocean current energy power generation and temperature difference energy buoyancy driving according to claim 1, wherein the simulated ray diving apparatus is characterized in that: the energy harvesting system comprises a solar power generation device attached to the back of the submersible, a ocean current energy power generation device arranged on the abdomen of the submersible and a temperature difference energy buoyancy driving device arranged in the submersible, and is used for switching different energy harvesting modes according to the working mode of the submersible, and specifically comprises the following steps:
when the simulated ray diving device is in a water surface floating mode, the solar power generation device and the ocean current energy power generation device can autonomously capture solar energy and ocean current energy;
when the simulated ray diving device is in an arch-shaped gliding mode, the ocean current energy generating device continuously collects ocean current energy on the surface of the diving device, and the temperature difference energy buoyancy driving device in the diving device performs cold-heat exchange with seawater to capture the temperature difference energy, so that the temperature difference energy is changed into buoyancy driving;
when the simulated ray of the bated light is in the flapping wing maneuvering mode, the ocean current energy generating device continuously collects ocean current energy on the surface of the submersible.
7. A control method for solar-ocean current friction energy co-generation by a simulated bata submersible which is driven by combining solar energy capture, ocean current energy generation and temperature difference energy buoyancy according to any one of claims 1-6, which is characterized in that:
real-time monitoring the internal actual power consumption of the simulated ray diving device through a simulated ray diving device control cabin so as to judge the current working mode of the simulated ray diving device and start a corresponding energy capturing mode according to the current working mode;
when the device is in a solar energy-ocean current energy cooperative power generation energy capturing mode, a current solar illumination intensity signal is monitored through a light intensity sensor, the signal is sent to a control cabin for analysis to obtain an illumination angle, a position and posture adjusting target of the simulated baton submersible suitable for the current light environment is given according to the illumination angle, and an instruction is sent to a submersible driving system;
the buoyancy adjusting cabin and the mass center adjusting cabin of the simulated ray of the submersible are used for controlling the depth position, the pitching posture and the rolling posture of the submersible, and the regulation strategy of the solar panel vertical to light is followed;
and (3) by monitoring the current energy harvesting power, evaluating the energy harvesting effect, and evaluating whether energy harvesting is continued or not according to the energy harvesting effect.
8. The control method for solar-ocean current friction energy co-generation according to claim 7, wherein: the method for adapting the position and posture adjusting target of the submersible in the current light environment comprises the following steps: a plurality of light intensity sensors are arranged on one side of a solar power panel of the simulated ray diving apparatus in an array mode, and the overall irradiation intensity and the direction of sunlight under the current position of the diving apparatus are obtained according to the light intensity data of the sensor arrays; the overall irradiation intensity of sunlight is an average value of sensor array data, the irradiation intensity of sunlight is determined according to the difference value of each sensor data in the sensor array, and the position and the posture of the submersible are adjusted by taking the direct irradiation of sunlight to the solar panel as a target.
9. The control method for solar-ocean current friction energy co-generation according to claim 7, wherein: the buoyancy regulating cabin and the mass center regulating cabin of the submersible are regulated according to the regulation strategies:
reading the illumination intensity of the current position of the submersible, controlling the buoyancy system to increase the volume if the illumination intensity is smaller than the energy harvesting illumination intensity set value, floating the submersible, reducing the depth, improving the illumination intensity until the illumination intensity reaches the energy harvesting illumination intensity set value, stopping floating, adjusting the buoyancy system, and maintaining the current depth;
the illumination direction of the current position of the submersible is read, the pitching posture and the rolling posture of the submersible are adjusted through the movement of the mass center in the simulated bat submersible, and the solar panel of the submersible is controlled to be perpendicular to the illumination direction, so that larger energy capturing power is maintained.
10. The control method for solar-ocean current friction energy co-generation according to claim 7, wherein: the evaluation method of the energy harvesting effect comprises the following steps:
if the current energy harvesting power is measured to be less than 50% of the peak power of the energy harvesting system, stopping the energy harvesting mode after waiting for the completion of tasks such as water surface floating information transmission and positioning, and continuing to develop subsequent underwater tasks.
If the current energy harvesting power is measured to be more than 50% of the peak power of the energy harvesting system, the energy harvesting mode is maintained until the energy harvesting mode is stopped after the energy harvesting power is reduced due to external factors, and the subsequent underwater tasks are continued to be carried out.
CN202311341141.5A 2023-10-17 2023-10-17 Buoyancy-driven baton-like submersible integrating solar energy harvesting, ocean current energy power generation and temperature difference energy Pending CN117360732A (en)

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Application Number Priority Date Filing Date Title
CN202311341141.5A CN117360732A (en) 2023-10-17 2023-10-17 Buoyancy-driven baton-like submersible integrating solar energy harvesting, ocean current energy power generation and temperature difference energy

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CN117360732A true CN117360732A (en) 2024-01-09

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