CN215205324U - Submersible based on float-sinker principle and temperature control air pressure method - Google Patents
Submersible based on float-sinker principle and temperature control air pressure method Download PDFInfo
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- CN215205324U CN215205324U CN202121806212.0U CN202121806212U CN215205324U CN 215205324 U CN215205324 U CN 215205324U CN 202121806212 U CN202121806212 U CN 202121806212U CN 215205324 U CN215205324 U CN 215205324U
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Abstract
The utility model relates to a submersible based on a float-sinker principle and a temperature control air pressure method, which comprises a shell, a control system, a battery, a balance weight, a pneumatic door controller, a signal transmitting receiver, a humidity sensor, an attitude sensor, a temperature controller and a propeller; the utility model provides a submersible ware easily operates, can specify the degree of depth in the waters and stabilize the suspension, can design different structures according to the needs of actual measurement degree of depth, adds different scientific research modules and adjusts the device for the device accords with actual demand more, has reduced energy loss and the structure of overstaffed, makes cost greatly reduced. The utility model discloses in using the diving instrument device with the latest research achievement of float sinker, realize the diving instrument with the help of float sinker principle and control by temperature change atmospheric pressure method and float latent control to the diving instrument, eliminated the influence to the diving instrument such as unstable undercurrent and ocean current ripples making in the ocean through simple effectual negative feedback algorithm mechanism, realize the accurate control to diving instrument dive degree of depth and work area.
Description
Technical Field
The utility model relates to a submersible, in particular to a submersible based on a float-sinker principle and a temperature control air pressure method.
Background
With the continuous development of ocean resources, the technology of the submersible is more and more mature, however, the existing submersible mainly adopts a powerless mode to submerge and float, the first mode is to realize rapid submerging and floating through the modes of loading submerging weights and throwing floating weights, the environments of sailing water areas are different due to different compositions and structures of the submersible, the accurate calculation of the trim amount of different sailing depths is difficult, the trim needs to be carried out aiming at different submerging depths before experiments, the implementation period of submerging and floating of the unmanned ship is long, and the cost is high. The second is the principle of pumping/draining, but the mechanism of the device is large in size and complex in structure, and the high water pressure is overcome during draining in a deep water area, so that the cost is high. It is therefore desirable to design a simpler, less costly and precisely controlled submersible that addresses the problems with unmanned boat submergence and floatation devices.
Disclosure of Invention
In order to solve the technical problem, the utility model provides a submersible based on the float-sinker principle and the temperature control air pressure method, which comprises a shell, a control system, a battery, a balance weight, a pneumatic door controller, a signal transmitting receiver, a humidity sensor, an attitude sensor, a temperature controller and a propeller; the shell is in an eggshell shape, an air cabin is arranged at the upper part in the shell, a control cabin is arranged at the lower part in the shell, a water inlet is arranged at the bottom of the shell, a partition plate is arranged between the air cabin and the control cabin, a downward water through pipe is arranged in the middle of the partition plate, and the air cabin is communicated with the water inlet through the water through pipe; the control system and the battery are respectively arranged in the control cabin, and the balance weight is arranged at the bottom of the control cabin; the water inlet is provided with a pneumatic door, the pneumatic door is connected with a pneumatic door controller, and the pneumatic door controller is arranged in the control cabin and is connected with a control system through a line; the signal transmitting receiver, the humidity sensor and the attitude sensor are arranged at the top of the shell and are connected with the control system through a circuit; the temperature controller is arranged in the air cabin and is connected with the control system through a circuit, and the temperature controller comprises a temperature control plate and an internal temperature sensor; a plurality of propellers are uniformly distributed on the periphery of the outer surface of the shell.
Four groups of propellers are arranged on the outer surface of the shell along the periphery of the middle of the shell and are uniformly distributed in a cross shape, each group of propellers respectively comprises a propeller motor and propeller blades, the propeller motors are connected with a control system through circuits, and the propeller blades are connected with output shafts of the propeller motors.
The control cabin is internally provided with a battery circuit cabin and a pneumatic counterweight cabin from top to bottom in sequence, the battery and the control system are arranged in the battery circuit cabin, and the pneumatic door controller and the counterweight are arranged in the pneumatic counterweight cabin; the shell corresponding to the battery circuit cabin is provided with a circuit cabin door, and the shell corresponding to the pneumatic counterweight cabin is provided with a pneumatic counterweight cabin door.
The control system comprises a main control circuit and an auxiliary control circuit, wherein the main control circuit comprises a main singlechip, and the main singlechip is connected with a signal transmitting receiver, a temperature controller and an attitude sensor; the auxiliary control circuit comprises an auxiliary single chip microcomputer which is connected with the scientific research system.
Scientific research system including carrying on frame, top annular camera, bottom annular camera, light, outside temperature sensor, water quality testing ware and the general interface of equipment, the frame of carrying on establish in the casing bottom, encircle the water inlet setting, top annular camera establishes at the casing top, bottom annular camera, light, outside temperature sensor, water quality testing ware and the general interface of equipment are established respectively in the frame of carrying on to link to each other with control system through the circuit respectively.
And an air cabin door is arranged on the shell corresponding to the air cabin.
The utility model discloses a theory of operation:
the utility model discloses an utilize the scuba of float and sinker principle design, thereby the float and sinker utilizes Archimedes' principle, thereby changes the lift of buoyancy size realization in liquid. The container filled with water partially can have a critical depth when being inverted in water (liquid), the critical depth refers to the depth of the liquid level in the container when the container is stably suspended, the liquid level in the container is higher than the depth, the container can sink, and the container can float when the liquid level is lower than the depth.
When the liquid level in the container is just equal to the critical depth, the pressure above and below the liquid level in the container is equal, and the following formula is listed:
P＝ρghc+Pw (1)
wherein P is the pressure of gas in the container, ρ is the density of water (liquid), g is the gravity acceleration, hcIs a critical depth, PwIs the pressure above the water surface, typically atmospheric pressure.
When the vessel is in stable suspension, the average density of the outer wall of the vessel + the gas inside the vessel can be considered to be equal to the density of water (liquid), and the following formula is set forth:
where ρ is the density of water (liquid), m is the total mass of the container and the internal gas, VbIs the volume of the outer wall of the vessel, and V is the volume of gas inside the vessel at this time.
The ideal gas state equation after correction is as follows:
PV＝ZnRT (3)
wherein, P is the pressure of the gas in the container, V is the volume of the gas in the container, Z is a compression factor, the compression factor is obtained by measuring/looking up a table through experiments, the value is 1.0 +/-0.8, n is the amount of the gas substance in the container, R is an ideal gas constant, the value is 8.314, and T is the temperature of the gas.
When formulas (2) and (3) are substituted into formula (1), the following are provided:
meanwhile, according to an ideal gas state equation, the following can be obtained:
use the utility model discloses then: h iscIs the critical depth of the submersible, n is the amount of gaseous material in the submersible, VWFor the volume of water injected into the air chamber, Z is a compression factor, which is obtained by experimental measurement/table lookup, the value is 1.0 +/-0.8, R is an ideal gas constant, the value is 8.314, T is the temperature of the gas, m is the total mass (the mass of the air can be ignored) of the submersible and the internal gas, g is the gravity acceleration, rho is the density of water (liquid), V is the mass of the water (liquid), andbthe volume of the submersible housing (total volume of the submersible minus volume of air tank and water pipe after closing the air door), VrVolume of air chamber and water pipe, PwIs the pressure above the water surface, typically atmospheric pressure.
When the control system controls the temperature control plate in the temperature controller to heat, so that the temperature of the gas in the air cabin is increased, the volume of the gas is increased, and the water in the air cabin is discharged from the water inlet at the bottom of the shell; when the temperature control plate in the temperature controller is controlled by the control system to reduce the temperature, the gas temperature in the air cabin is reduced, the gas volume is reduced, and water is sucked into the air cabin from the water inlet at the bottom of the shell. When the submersible is in a balanced and stable suspension state, the pneumatic controller controls the pneumatic door to close the water inlet, so that the water pressure in the air cabin is kept stable, and the submersible can perform stable suspension operation in the depth of the water area. The propeller can adjust the motion of the submersible in the horizontal direction.
It is easy to know that the quantity, temperature and container mass volume of the gas substance are important parameters of the submersible, therefore, when the mass volume of the submersible is fixed, the quantity of water entering the submersible can be controlled by changing the quantity and temperature of gas filled in the submersible, and further the critical depth of the submersible is changed, and the submersible can float up and sink down according to different critical depths of the submersible.
The utility model has the advantages that:
the utility model provides a submersible ware easily operates, can specify the degree of depth in the waters and stabilize the suspension, can design different structures according to the needs of actual measurement degree of depth, adds different scientific research modules and adjusts the device for the device accords with actual demand more, has reduced energy loss and the structure of overstaffed, makes cost greatly reduced. The utility model discloses in using the diving instrument device with the latest research achievement of float sinker, realize the diving instrument with the help of float sinker principle and control by temperature change atmospheric pressure method and float latent control to the diving instrument, eliminated the influence to the diving instrument such as unstable undercurrent and ocean current ripples making in the ocean through simple effectual negative feedback algorithm mechanism, realize the accurate control to diving instrument dive degree of depth and work area.
Drawings
FIG. 1 is a schematic view of the internal structure of the present invention;
FIG. 2 is a schematic view of the housing structure of the present invention;
1. the device comprises a shell 2, a control system 3, a battery 4, a counterweight 5, a pneumatic door 6, a pneumatic door controller 7, a signal transmitting receiver 8, a humidity sensor 9, an attitude sensor 10, a temperature controller 11, a propeller 12, an air cabin 13, a control cabin 14, a water inlet 15, a partition plate 16, a water pipe 17, a temperature control plate 18, an internal temperature sensor 19, a propeller motor 20, propeller blades 21, a battery circuit cabin 22, a pneumatic counterweight cabin 23, a circuit cabin door 24, a pneumatic counterweight cabin door 25, a main control circuit 26, a secondary control circuit 27, a main singlechip 28, a secondary singlechip 29, a carrying rack 30, a top annular camera 31, a bottom annular camera 32, a lighting lamp 33, an external temperature sensor 34, a water quality detector 35, a device universal interface 36, a temperature sensor, An air port.
Detailed Description
Please refer to fig. 1-2:
the utility model provides a submersible based on a float-sinker principle and a temperature control air pressure method, which comprises a shell 1, a control system 2, a battery 3, a balance weight 4, a pneumatic door 5, a pneumatic door controller 6, a signal transmitting receiver 7, a humidity sensor 8, an attitude sensor 9, a temperature controller 10 and a propeller 11; the shell 1 is in an eggshell shape, an air cabin 12 is arranged at the upper part in the shell 1, a control cabin 13 is arranged at the lower part in the shell 1, a water inlet 14 is arranged at the bottom of the shell 1, a partition plate 15 is arranged between the air cabin 12 and the control cabin 13, a downward water through pipe 16 is arranged in the middle of the partition plate 15, and the air cabin 12 is communicated with the water inlet 14 through the water through pipe 16; the control system 2 and the battery 3 are respectively arranged in the control cabin 13, the control system 2 is connected with the battery 3, and the counterweight 4 is arranged at the bottom of the control cabin 13; a pneumatic door 5 is arranged at the water inlet 14, the pneumatic door 5 is connected with a pneumatic door controller 6, and the pneumatic door controller 6 is arranged in a control cabin 13 and is connected with the control system 2 through a line; the signal transmitting and receiving device 7, the humidity sensor 8 and the attitude sensor 9 are arranged at the top of the shell 1 and connected with the control system 2 through a circuit, and the attitude sensor 9 is positioned in the shell; the temperature controller 10 is arranged in the air cabin 12 and connected with the control system 2 through a circuit, the temperature controller 10 comprises a temperature control board 17 and an internal temperature sensor 18, the temperature control board 17 is arranged on the inner wall of the air cabin 12 and is controlled by the control system 2 to heat or cool the gas in the air cabin 12, and the internal temperature sensor 18 is used for detecting the temperature of the gas in the air cabin 12 and transmitting the temperature to the control system 2; four groups of propellers 11 are arranged on the outer surface of the shell 1 along the circumference of the middle of the shell, the four groups of propellers 11 are uniformly distributed in a cross shape, each group of propellers 11 respectively comprises a propeller motor 19 and propeller blades 20, the propeller motors 19 are arranged in propeller mounting grooves in the surface of the shell 1 and are connected with the control system 2 through circuits, and the propeller blades 20 are connected with output shafts of the propeller motors 19. An air chamber door 36 is arranged on the shell 1 corresponding to the air chamber 12. The battery provides electric energy for the whole system.
A battery circuit cabin 21 and a pneumatic counterweight cabin 22 are sequentially arranged in the control cabin 13 from top to bottom, the battery circuit cabin 21 and the pneumatic counterweight cabin 22 are sealed cabins, the control system 2 and the battery 3 are arranged in the battery circuit cabin 21, and the counterweight 4 and the pneumatic door controller 6 are arranged in the pneumatic counterweight cabin 22; a circuit cabin door 23 is arranged on the shell corresponding to the battery circuit cabin 21, a pneumatic counterweight cabin door 24 is arranged on the shell corresponding to the pneumatic counterweight cabin 22, and sealing rings are arranged on the circuit cabin door 23 and the pneumatic counterweight cabin door 24.
The control system 2 comprises a main control circuit 25 and an auxiliary control circuit 26, the main control circuit 25 comprises a main singlechip 27, the main singlechip 27 is connected with the signal transmitting and receiving device 7, the temperature controller 8 and the attitude sensor 9, and the main singlechip 27 calculates and controls the attitude, the position, the floating and the submerging of the submersible; the secondary control circuit 26 comprises a secondary singlechip 28 and a memory, wherein the secondary singlechip 28 is connected with the scientific research system and is responsible for calculation and control of the scientific research equipment, and the memory is responsible for storing data.
The scientific research system comprises a carrying rack 29, a top annular camera 30, a bottom annular camera 31, a lighting lamp 32 (a flash lamp), an external temperature sensor 33, a water quality detector 34 and a universal device interface 35, wherein the carrying rack 29 is annular and is arranged at the bottom of the shell 1 and surrounds the water inlet 14, the top annular camera 30 is arranged at the top of the shell 1 and surrounds the signal transmitting receiver 7, the temperature controller 8 and the attitude sensor 9, and the bottom annular camera 31, the lighting lamp 32, the external temperature sensor 33, the water quality detector 34 and the universal device interface 35 are respectively arranged on the carrying rack 29 and are respectively connected with the auxiliary single chip microcomputer 28 in the control system 2 through circuits; the device general interface 35 is used for connecting external devices; the scientific research system is connected with the battery 3 and is powered by the battery 3.
The control method of the submersible in the embodiment is as follows:
(1) presetting a critical depth h before the submersible is ready to divecMeasuring real-time pressure P above waterwAnd at this time the temperature T of the gas in the air compartment, the mass m of the submersible vehicle and the volume V of the submersible vehicle housingbAnd the gas temperature T at this time, the control system 2 calculates the amount n of the gas substance in the submersible according to the following formula:
wherein h iscThe critical depth of the submersible is, Z is a compression factor, and is obtained by measuring/looking up a table through experiments, the value is 1.0 +/-0.8, n is the amount of gas substances in the submersible, R is an ideal gas constant, the value is 8.314, T is the temperature of the gas, m is the total mass of the submersible and the gas in the submersible, the air mass is negligible, and V isbThe volume of the submersible housing (total volume of the closed air door submersible minus volume of air tank and water pipe), PwIs the pressure above the water surface, typically atmospheric pressure, ρ is the density of the water, and g is the acceleration of gravity.
Determining the quantity n of gaseous substances in the vehicle and then the volume V of water addedwInjecting V into the air chamberwThe volume of water, such that initially the submersible critical depth is above the water level, is given by the formula:
wherein, VWFor the volume of water injected into the air compartment, Z is the compression factor, n is the amount of gaseous material in the vehicle, R is the ideal gas constant, T is the temperature of the gas, VrThe volume of the air chamber and the water pipe;
and (4) the submersible is lowered to a target depth H for scientific research operation, and the corresponding target gas temperature is further calculated when the critical depth is H.
(2) After the submersible is launched, the submersible can directly sink because the critical depth of the submersible is higher than the water surface; the humidity sensor 8 on the top of the shell 1 detects water, namely after the submersible enters the water completely, the signal transmitting and receiving device 7 starts to work, the submersible transmits signals to the signal transmitting and receiving device on the ground/sea surface, and the depth of the submersible is reflected in real time in a mode that the sonar equipment on the ground/sea surface is combined with the attitude sensor 9 of the submersible;
(3) simultaneously, the ground transmits a signal to ensure that the local real-time atmospheric pressure P on the water surface at the momentwTo the submersible signal transmitter-receiver 7, the submersible signal transmitter-receiver 7 will determine the depth of the moment and the local atmospheric pressure P on the water surfacewThe critical depth calculation module of the main singlechip 27 in the control system 2 calculates the gas temperature corresponding to the critical depth corresponding to the depth:
wherein T is the temperature of the gas, m is the total mass of the submersible and the internal gas, the mass of the air is negligible, g is the acceleration of gravity, ρ is the density of water, and V isbThe volume of the submersible housing (total volume of the closed air door submersible minus the volume of the air tank and water pipe), hcIs the critical depth of the submersible, Z is the compression factor, n is the amount of gas material in the submersible, R is the ideal gas constant, PwThe pressure above the water surface, typically atmospheric pressure;
(4) the control system 2 compares the calculated temperature with the temperature of the gas in the air chamber 12 detected by the internal temperature sensor 18 at that moment, and controls the temperature controller 10 by outputting a control signal to enable the temperature of the gas in the air chamber 12 to quickly reach the calculated gas temperature; the submersible vehicle still has a downward submerging speed, so the submersible vehicle is not balanced at the balanced depth and continues to move downwards, and the processes of (2) (3) (4) are always existed in the submerging process, so that the submersible vehicle always has a downward and not large acceleration;
(5) when the real-time depth H of the submersible is detected to be H-delta H, starting primary deceleration; Δ H is a preset buffer zone length, and Δ H ═ α H, where α is a buffer coefficient, the buffer coefficient needs to be set according to the shape of the submersible, the ocean current situation in the sea, and the like, and H is a target detection depth;
when the primary deceleration is started, the temperature control board 17 of the temperature controller 10 is started to the maximum power to enable the gas temperature to quickly reach the target gas temperature, so that the critical depth of the submersible vehicle is quickly adjusted to the target depth, the critical depth is below the submersible vehicle, the submersible vehicle has an upward acceleration, and the deceleration is started; simultaneously, the attitude sensor 9 starts to reflect the speed v and the acceleration a of the submersible in real time;
because of uncertainty in the ocean, we cannot predict the speed of the vehicle at this time well by theory, so the process of primary deceleration is discussed in three cases:
1) when the vehicle speed is reduced to zero, but still above the target depth, there are:
h＜H，v＝0，a＜0(↑)
at this time, the temperature controller 10 starts the maximum power to rapidly decrease the gas temperature to the temperature with the critical depth H- Δ H, which includes:
wherein T is the temperature of the gas, m is the total mass of the submersible and the internal gas, the mass of the air is negligible, g is the acceleration of gravity, ρ is the density of water, and V isbThe volume of the submersible housing (total volume of the closed air door submersible minus the volume of the air tank and water pipe), hcIs the critical depth of the submersible, Z is the compression factor, n is the amount of gas material in the submersible, R is the ideal gas constant, PwThe pressure above the water surface, typically atmospheric pressure;
at this time, the submersible is accelerated to sink at a depth equal to or greater than the critical depth of the submersible, and when the depth of the submersible detected to be deeper than the target depth H, the temperature controller 10 starts the maximum power temperature rise to a temperature corresponding to the critical depth H ═ H + Δ H, including:
the submersible starts to decelerate due to the upward acceleration, because the buffer coefficient alpha is less than 1, the accumulated speed after the first deceleration is far less than the previously accumulated speed, therefore, the submersible reduces the speed to zero when H is less than H + delta H and accelerates to move upwards, and when the depth of the submersible reaches the target depth for the second time, the target depth approximation function is started;
2) if the speed of the submersible reaches the target depth is exactly zero, the submersible has
h＝H，v＝0，a＝0
The pneumatic door controller 6 is started to close the pneumatic door 5, and the diving instrument floats at the target depth because the integral density of the diving instrument is equal to that of water;
if the submersible still has downward speed after reaching the target depth, namely
h＞H，v＞0，a＞0
At this time, the temperature controller 10 starts the maximum power to raise the temperature to the temperature corresponding to the critical depth H ═ H + Δ H, including:
if the speed of the submersible drops to zero above H + delta H, the submersible starts to float upwards, and when the submersible floats for the second time to reach the target depth, the target depth approximation function is started;
3) if the speed of the submersible is not reduced to zero when H is H + delta H, the critical depth is reduced by delta H again, the temperature controller 10 starts the maximum power to rapidly raise the gas temperature to the temperature of the critical depth, the submersible accelerates upwards to start decelerating until the submersible does not have the downward speed, and the target depth approximation function is started when the submersible returns to the target depth again;
(6) the target depth approximation function control method comprises the following steps:
setting the target depth as H, the adjusting coefficient as s, the direction coefficient as f, f is +1 when the speed is downward, f is-1 when the speed is upward, and the offset limiting depth is HmThe offset limiting temperature adjustment constant is [ T ]]；
VCmaxFor three-stage regulation of the upper limit of speed
VBmaxFor two-stage regulation of the upper speed limit
VAmaxAdjusting the upper limit of speed to one level
When the submersible reaches the target depth H, the balance temperature of the current position is calculated to be T according to the control system 21The temperature is controlled to T by the temperature controller 101Starting a target depth approximation function; attitude sensor 9 detects the current instantaneous speed v of the submersiblehAccording to the current instantaneous speed v of the vehiclehSending the speed data to the control system 2 so as to determine a speed regulation gear; because the speed regulation mode is that the stress of the submersible is changed by adjusting the temperature of the air in the air cabin 12, and the acceleration is further changed, the direct expression form of the speed regulation gear is the adjustment of the temperature:
when | vh|＞VCmaxWhen the speed is regulated, the gear is regulated by a strong force to make T equal to T1(1+4fsvh) At the moment, the submersible is subjected to large reverse acceleration, so that the speed can be greatly adjusted;
when V isCmax＞|vh|＞VBmaxWhen the speed is adjusted, the intermediate gear is used, so that T is T1(1+2fsvh) At the moment, the submersible is moderate in reverse acceleration, and the speed can be adjusted in a medium amplitude manner;
when V isBmax＞|vh|＞VAmaxUsing fine adjustment of the gear so that T is T1(1+fsvh) At the moment, the submersible is subjected to smaller reverse acceleration, and the speed can be finely adjusted in a small range;
when | vh|＜VAmaxWhen the speed of the submersible is considered to be approximate to 0 at the moment, the speed meets the static standard, the pneumatic door controller 6 is started, the pneumatic door 5 is closed, and the temperature controller 10 stops working; after the submersible is shut down, the average density of the submersible is kept unchanged, and the submersible is kept in an approximately steady state at the position when the temperature control plate 17 does not run, so that the requirements of saving energy and improving the endurance time are met, and meanwhile, a scientific research system is started;
(7) because the submersible vehicle can generate certain vertical deviation when being approximately in a steady state due to factors such as ocean current and motion impact of marine organisms in water, the submersible vehicle can continuously detect the self depth H when being approximately in the steady stateXSent to an offset limiting module in the control system 2 as the depth | H-HX|＞hmWhen the temperature is adjusted, the pneumatic door controller 6 is started, the pneumatic door 5 is opened, the attitude sensor 9 transmits the current speed to the deviation limiting module in the control system 2, and the adjusted temperature T is obtained2＝T+f[T]The temperature is adjusted by the temperature controller 10, so that the submersible returns to the target depth under the reverse acting force;
when the submersible passes through the target depth point, starting a target depth approximation function to enable the submersible to be stable at the target depth;
(8) in the operation at the target depth, the submersible is likely to be deviated on a plane due to the influence of waves, ocean currents and the like in the sea, so that a GPS positioning-plane moving module is provided in the control system 2 to perform horizontal azimuth control:
taking the position of a preset point as an origin, respectively setting x and y of displacement coordinates in two horizontal directions, and setting a working horizontal interval of the submersible as follows: | x | < xmax，|y|＜ymaxWhen the submersible is usedWhen the horizontal direction of the underwater vehicle is in the area, the underwater vehicle is regarded as a working area, and the underwater vehicle can normally implement a scientific research system;
the submersible does not only need to be limited to work at a fixed-point depth, but also needs to be limited to be horizontal, so that the required fixed-point monitoring function can be realized, and larger azimuth errors cannot be caused; therefore, the submersible is designed to continuously transmit signals with a GPS positioning system through a signal transmitting receiver in the working process, and the current horizontal direction is detected;
if the current horizontal position exceeds the working horizontal interval, starting the propeller 11 to adjust the horizontal position, adjusting the position of the submersible by adjusting the speed of the submersible in the x and y directions, continuously transmitting signals with a GPS positioning system during the adjustment, and stopping the rotation of the propeller motor 19 until the current horizontal position is detected to be in the working horizontal interval so as to enable the current horizontal position to be stabilized in the working horizontal interval;
(9) during recovery, the ground transmits a control signal to the vehicle, the thermal control plate 17 heats up, and the pneumatic door 5 is opened to allow the critical depth to continue beyond the vehicle depth until the vehicle rises to the surface.
Claims (6)
1. A submersible based on a float-sinker principle and a temperature control air pressure method is characterized in that: the device comprises a shell, a control system, a battery, a balance weight, a pneumatic door controller, a signal transmitting receiver, a humidity sensor, an attitude sensor, a temperature controller and a propeller; the shell is in an eggshell shape, an air cabin is arranged at the upper part in the shell, a control cabin is arranged at the lower part in the shell, a water inlet is arranged at the bottom of the shell, a partition plate is arranged between the air cabin and the control cabin, a downward water through pipe is arranged in the middle of the partition plate, and the air cabin is communicated with the water inlet through the water through pipe; the control system and the battery are respectively arranged in the control cabin, and the balance weight is arranged at the bottom of the control cabin; the water inlet is provided with a pneumatic door, the pneumatic door is connected with a pneumatic door controller, and the pneumatic door controller is arranged in the control cabin and is connected with a control system through a line; the signal transmitting receiver, the humidity sensor and the attitude sensor are arranged at the top of the shell and are connected with the control system through a circuit; the temperature controller is arranged in the air cabin and is connected with the control system through a circuit, and the temperature controller comprises a temperature control plate and an internal temperature sensor; a plurality of propellers are uniformly distributed on the periphery of the outer surface of the shell.
2. The submersible based on the principle of a float and sinker and the temperature-controlled air pressure method as claimed in claim 1, wherein: the outer surface of the shell is provided with four groups of propellers along the circumference of the middle part of the shell, the four groups of propellers are uniformly distributed in a cross shape, each group of propellers respectively comprises a propeller motor and propeller blades, the propeller motors are connected with a control system through circuits, and the propeller blades are connected with output shafts of the propeller motors.
3. The submersible based on the principle of a float and sinker and the temperature-controlled air pressure method as claimed in claim 1, wherein: the control cabin is internally provided with a battery circuit cabin and a pneumatic counterweight cabin from top to bottom in sequence, the battery and the control system are arranged in the battery circuit cabin, and the pneumatic door controller and the counterweight are arranged in the pneumatic counterweight cabin; the shell corresponding to the battery circuit cabin is provided with a circuit cabin door, and the shell corresponding to the pneumatic counterweight cabin is provided with a pneumatic counterweight cabin door.
4. The submersible based on the principle of a float and sinker and the temperature-controlled air pressure method as claimed in claim 1, wherein: the control system comprises a main control circuit and an auxiliary control circuit, wherein the main control circuit comprises a main singlechip, and the main singlechip is connected with a signal transmitting receiver, a temperature controller and an attitude sensor; the auxiliary control circuit comprises an auxiliary single chip microcomputer which is connected with the scientific research system.
5. The submersible based on the principle of a float and sinker and the temperature-controlled air pressure method as claimed in claim 4, wherein: scientific research system including carrying on frame, top annular camera, bottom annular camera, light, outside temperature sensor, water quality testing ware and the general interface of equipment, the frame of carrying on establish in the casing bottom, encircle the water inlet setting, top annular camera establishes at the casing top, bottom annular camera, light, outside temperature sensor, water quality testing ware and the general interface of equipment are established respectively in the frame of carrying on to link to each other with control system through the circuit respectively.
6. The submersible based on the principle of a float and sinker and the temperature-controlled air pressure method as claimed in claim 1, wherein: and an air cabin door is arranged on the shell corresponding to the air cabin.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202121806212.0U CN215205324U (en) | 2021-08-04 | 2021-08-04 | Submersible based on float-sinker principle and temperature control air pressure method |
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| CN202121806212.0U CN215205324U (en) | 2021-08-04 | 2021-08-04 | Submersible based on float-sinker principle and temperature control air pressure method |
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| CN202121806212.0U Active CN215205324U (en) | 2021-08-04 | 2021-08-04 | Submersible based on float-sinker principle and temperature control air pressure method |
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| CN (1) | CN215205324U (en) |
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