JP2011230627A - Solar underwater glider and submerging method thereof - Google Patents

Abstract

An underwater vehicle that is not complicated in structure and capable of diving for a long time and has improved energy efficiency is provided.
An underwater vehicle having a fuselage including a fuselage, a wing, and a propulsion unit. The wing causes the propulsion unit to move forward and sink by the operation of the propulsion unit. When the vehicle is stopped, the fuselage 1 is provided so as to lift the aircraft forward by buoyancy, and a solar power generation device 6 is provided as a drive source for the propulsion unit 3. It is preferable that the power supply and the stop from the solar power generation device 6 are repeated, and the forward settling and forward levitation are repeated.
[Selection] Figure 3

Description

  The present invention relates to an underwater vehicle (solar underwater glider) and a submerged method thereof.

  The ocean accounts for about 70% of the earth's surface, and is currently said to hold the key to solving environmental problems such as global warming, energy problems, and food problems that humankind is facing. In April 2007, the “Basic Act on Oceans” was enacted and came into effect in July of the same year, and the necessity and importance of marine research, management, and development are being recognized again.

  In ocean research and research, in addition to direct measurements by ships and indirect measurements by artificial satellites, exploration using submarine robots has recently become widely used. The research scope of ROV (Remotely Operated Vehicle), which can supply power and operate in real time, is limited, so research and development of autonomous underwater vehicle (AUV) has been conducted. In recent years, its performance has improved dramatically, so it has been active in various fields. Since the attenuation of electromagnetic waves is large in the sea and positioning such as GPS cannot be used, how to make the robot itself smarter (determining the next action based on one's own experience) is an issue.

  As a technique applicable to this type of AUV, there is one described in Japanese Patent Laid-Open No. 2003-135865 (Patent Document 1). What was shown in this patent document 1 was a submersible equipped with a propulsion device, a buoyancy adjustment device, a power source (battery), and the like.

  An underwater glider described in Japanese Patent Application Laid-Open No. 2007-276609 (Patent Document 2) is known as a device that does not include a propulsion unit and moves forward and lowers and moves forward.

FIG. 4 shows the underwater glider.
This underwater glider is a main wing independent control type underwater glider that has main wings 41 on the left and right sides of the fuselage 40 and that can freely move the mounting angle χ of the left and right main wings 41 to improve the motion performance. . This underwater glider requires a mechanism for adjusting buoyancy (called a buoyancy adjustment device or buoyancy engine). The vent valve is opened, the air in the ballast tank is drawn out, water is injected, and the compressed nitrogen gas is ballasted. It can be drained and floated by blowing into the tank. There are things that adjust the buoyancy by injecting seawater and oil into the ballast tank using a high-pressure pump, and those that throw the ballast (weight) into the water and rise (limited to a single dive) is there.

  As shown in the drawing, the underwater glider's submarine principle is propelled by utilizing the action of fluid force (lift L / drag D) acting on the aircraft. It is necessary to control the attitude of the aircraft in order to give the main wing 41 an angle of attack α, so that the weight (battery, etc.) mounted inside the aircraft is moved back and forth to shift the center of gravity (referred to as a center of gravity position control device). It has become. Dive is performed at a constant speed V in the direction of the white arrow so that the difference between gravity W and buoyancy F (WF: called real weight) and the fluid force (lift L, drag D) acting on the aircraft are balanced. In the figure, θ is the attitude angle of the airframe (body 40).

  In order to submerge the underwater glider, mechanisms such as a buoyancy adjustment device, a center of gravity position control device, and an angle-of-attack adjustment device are indispensable. The production cost and maintenance were extremely easy.

  Further, as an alternative to the battery as a power source, an underwater toy, for example, a solar power generation device disclosed in Japanese Patent Application Laid-Open No. 2001-70667 (Patent Document 3) is known. The underwater toy described in Patent Document 3 was provided with a float whose volume was adjusted so as to sink slowly, a propulsion device, and a solar power generation device.

JP 2003-135865 A JP 2007-276609 A JP 2001-70667 A

  Since the submersible described in Patent Document 1 includes a propulsion device, a buoyancy adjustment device, and a power source, the structure is complicated and long-term diving is impossible.

  The underwater glider described in Patent Document 2 has a simplified structure compared to that described in Patent Document 1 because it does not include a propulsion device, but requires a buoyancy adjustment device, a center of gravity position control device, a power source, and the like. Therefore, there is a limit to long-term diving with a complicated structure.

  On the other hand, if the solar power generation device described in Patent Document 3 is applied to the AUV, it is possible to dive for a long time as long as the sunlight reaches, but when the sunlight does not reach, it goes straight down on the spot. There was no choice but to sink. Further, even if a solar power generation device is used as a power source for the underwater glider described in Patent Document 2, if the pressurized gas of the buoyancy adjusting device is consumed, further diving is impossible.

  SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide an underwater vehicle that overcomes the problems of the prior art and improves energy efficiency.

  It is another object of the present invention to provide an underwater vehicle with a simple structure that can perform submerged repetitive subsidence and forward ascent without providing a buoyancy adjusting device or a gravity center position control device.

  Furthermore, it aims at providing the underwater vehicle which can perform the said submersible as long as sunlight reaches.

  In order to achieve the above object, the present invention has taken the following measures. That is, the feature of the underwater vehicle (solar underwater glider) of the present invention is that it has a fuselage including a fuselage, a wing, and a propulsion device, and the wing moves forward by the operation of the propulsion device. When the propulsion unit is stopped, the fuselage is provided so as to be levitated forward by buoyancy, and a solar power generation device is provided as a drive source of the propulsion unit.

  In the horizontal state of the fuselage, the center of buoyancy is ahead of the center of gravity of the fuselage, and the propeller is located in front of the center of buoyancy and generates thrust upward and rearward relative to the horizontal state of the fuselage. Is preferred.

  In the horizontal state of the fuselage, the wings are preferably fixed to the fuselage so as to be horizontal.

  The solar power generation device preferably includes a solar power generation panel provided on the upper surface of the wing.

  The solar power generation device may include a solar power generation panel provided on an upper portion of the body.

  The underwater vehicle submerged method according to the present invention is characterized in that, in the underwater vehicle submerged method having a fuselage, a wing, and a propulsion device, the thrust and the wing of the propulsion device advance to a predetermined water depth. It is in the point where it sinks, the propulsion device is stopped, and it moves forward by buoyancy and blades.

  Preferably, the propulsion device is driven by a solar power generation device, and power supply and stop from the solar power generation device are repeated, so that the forward settling and forward levitation are repeated.

  According to the present invention, the propulsion device that requires a power source is used at the time of forward settling, and the power source at the time of forward ascent is buoyancy. Therefore, the propulsion device described in Patent Document 1 is always used. In comparison, energy efficiency can be improved.

  According to the present invention, since a buoyancy adjusting device and a center of gravity position control device are not required, it is possible to perform submergence in which forward settling and forward levitation are repeated with a simple structure as compared with that of Patent Document 2.

  Furthermore, by using a solar power generator as a power source, as long as sunlight reaches, the submergence can be performed.

1 is a perspective view of an underwater vehicle (solar underwater glider) showing an embodiment of the present invention. It is a side view of the underwater vehicle shown in FIG. It is explanatory drawing which shows the diving method of the underwater vehicle of embodiment of this invention. It is explanatory drawing which shows the submerged principle of the conventional underwater glider.

Embodiments of the present invention will be described with reference to the drawings.
As shown in FIG. 1, the underwater vehicle has a fuselage including a fuselage 1, a wing 2, and a thruster (thruster) 3. The underwater vehicle of this embodiment is also called an underwater glider because it has large wings 2 like a glider.

  The fuselage 1 constitutes a part of the underwater vehicle body and has a substantially cylindrical shape that is long in the front-rear direction. The head portion of the body 1 is formed in a streamline shape to reduce fluid resistance. The inside of the body 1 is formed in a cavity, the inside of which is kept airtight and watertight, and predetermined equipment is accommodated therein.

  The wings 2 project substantially horizontally from the substantially central portion of the fuselage 1 in the front-rear direction to the left and right sides. The leading edge of the wing 2 retreats backward as it goes to the front end in the left-right direction. The trailing edge of the wing 2 extends outward substantially at a right angle to the front-rear direction. That is, the width in the front-rear direction of the body attachment portion of the wing 2 is wider than the width of the tip. The upper surface and the lower surface of the wing 2 are formed in a vertically symmetric airfoil shape, but are not limited to this shape. Although the wing 2 is fixedly provided on the fuselage 1, as shown in Patent Document 2, the mounting angle of the wing 2 can be variably controlled.

  In water with a density of about 800 times that of air, it is possible to glide even with a small wing, but when seeking a high pumping ratio (small gliding angle) or moving freely. It is effective to increase the blade area. In this embodiment, a large blade area is adopted.

  A vertical tail 4 is provided at the rear of the fuselage 1. This vertical tail 4 is a fixed type and is intended to ensure straight running stability. However, the direction of travel can also be controlled by making the vertical tail variably controllable. In addition, although the horizontal tail is not provided, it can also be provided.

  The propulsion device 3 is used to obtain a thrust force required to infiltrate (forwardly sink) the underwater vehicle. A pair of propulsion devices 3 are provided on both the left and right sides of the fuselage 1 in front of the wings. The propulsion unit 3 includes a motor and a propeller rotated by the motor, and a shroud ring for improving propulsion efficiency is provided in the outer peripheral area of the propeller. In FIG. Omitted and the propeller 5 is shown.

  The thruster (thruster) 3 is not limited to a motor-driven propeller, and may be a jet water discharger.

  A drive source for supplying power to the propulsion device 3 is provided. In this embodiment, a solar power generation device is provided as a drive source. Therefore, this underwater vehicle is called a solar underwater glider.

  The drive source of the propelling device 3 is not limited to the solar power generation device, but may be a battery provided in the fuselage.

  The solar power generation device includes a solar power generation panel 6 and other related devices, but is not shown. The solar power generation panel 6 is attached to the upper surface of the wing 2. The solar power generation panel 6 is also provided on the inner upper surface of the body 1. Therefore, the body 1 portion on which the solar power generation panel 6 is installed is formed of a transparent plate. The electricity generated by the solar power generation panel 6 is supplied to the motor of the propulsion device 3 as a predetermined voltage / current via power storage means (for example, a capacitor) provided in the body 1.

  The solar power generation device can generate power at a predetermined depth from the water surface. As the solar power generation panel 6, an “amorphous silicon solar cell” that absorbs sunlight in this band easily because it absorbs and attenuates sunlight in the sea and transmits only a blue component having a short wavelength is adopted. In order to efficiently use broadband sunlight on the sea surface, a hybrid solar cell or the like can also be employed.

  As shown in FIG. 2, in the horizontal state of the fuselage 1 (the attitude angle θ of the fuselage), the buoyancy center B is ahead of the center of gravity G of the navigation body.

  The propulsion device 3 is located in front of the buoyancy center B. The propulsion device 3 is fixedly provided at an attachment angle χ so as to generate thrust upward and rearward with respect to the horizontal state of the body 1. The mounting angle χ can be variably controlled.

  In this embodiment, the wing 2 is fixed to the body 1 so that the mounting angle = 0 when the body 1 advances in the horizontal direction.

FIG. 3 shows the submergence principle of the underwater vehicle of the present embodiment.
As shown in “(a) Balanced state” in FIG. 3, in the “balanced state” where the underwater vehicle floats on the water, the top portion of the fuselage 1 floats on the water surface, and the other portion sinks into the water. The propulsion device 3 is configured to exhibit a substantially horizontal state. When the body 1 in FIG. 2 is in a horizontal state, the center B of buoyancy is ahead of the center of gravity G. However, in the “balanced state” in the water of FIG. 3, the center of buoyancy B and the center of gravity G are on the same vertical line. The body 1 is stable in an inclined state in which the front is directed upward. Therefore, in this stable state, the blade 2 has a predetermined angle of attack.

  In FIG. 3A, if the volume below the water surface of the body 1 is V and the volume of the portion exposed on the water surface at the front of the body 1 is δV, the buoyancy center B is the center of the volume V. The buoyancy F and the weight W are balanced, and F = W = ρgV. Here, ρ is the density g of the atmospheric water (water excluded by the airframe) and the gravitational acceleration.

  The mounting angle χ (see FIG. 2) of the propelling device 3 is set so as to be substantially horizontal in this balanced state.

  In this balanced state, when the thruster 3 is operated, the airframe is pushed down by the thrust T.

  The point “providing the propulsion device 3 so as to be substantially horizontal” is not a requirement of the present invention, but may be provided so that the airframe sinks due to the “fluid force” generated by the advancement by the propulsion device 3. That's fine. Further, since the optimum mounting angle χ is determined from the relationship with the propulsive force and the fluid force, it is efficient to obtain it by experiments or the like.

  The power to the propelling device 3 is supplied by a solar power generator, and power can be obtained as long as sunlight is present.

  As shown in “(b) Thruster operation (infiltration)” in FIG. 3, the buoyancy center B ′ (volume center) moves slightly forward because the front part of the machine body is also submerged below the surface of the water during infiltration. The buoyancy F ′ at this time is F ′ = ρg (V + δV). The difference between the buoyancy F ′ and the weight W (referred to as preliminary buoyancy) is δF = ρgδV. At this time, buoyancy F ', weight W, thrust T, lift L and drag D acting on the entire body are balanced, and forward sedimentation (infiltration) is performed in the direction of the dotted arrow at a steady speed V. In addition, at the time of infiltration, fluid forces (lift L, drag D) are generated in the entire aircraft due to the angle of attack with respect to the fuselage 1 and the wing 2.

  When the water reaches a predetermined depth, the sunlight does not reach, the power generation by the solar power generation panel 6 is stopped, and the operation of the propelling device 3 stops when the amount of stored power is lost.

  As shown in “(c) Thruster stop (levitation)” in FIG. 3, when the propulsion device 3 stops, the buoyancy is started by the preliminary buoyancy δF. At this time, the buoyancy F ', the weight W, the lift L and the drag D acting on the entire body are balanced, and the aircraft floats forward in the direction of the dotted arrow at the steady speed V' (not necessarily the same as the infiltration speed V).

  When it ascends to a predetermined depth, it is again charged (by charging), and the propelling device 3 is operated to infiltrate. As long as there is sufficient sunlight, the underwater vehicle of the present embodiment can continue diving over a wide range for a long period of time while repeatedly entering and ascending.

  Accordingly, the wing 2 causes the fuselage 1 to move forward and sink by the operation of the propulsion unit 3 and to move forward by buoyancy when the propulsion unit 3 is stopped.

  By performing such submergence, it is only necessary to provide power to the propulsion device 3 only during infiltration, so that energy efficiency can be improved as compared with those that provide power for both infiltration and ascent.

  In the above-described embodiment, the propulsion device is disposed in front of the buoyancy center. However, the propulsion device is not limited to this, and the posture of the nose can be changed downward by the thrust even at other positions. I just need it.

Next, an embodiment of the submerged navigation method using the underwater vehicle will be described.
This submerged method is a submerged method of underwater vehicle having a fuselage 1, a wing 2 and a propulsion device 3. The submergence method advances and sinks to a predetermined water depth by the thrust of the propulsion device 3 and the wing 2, and the propulsion device 3 is stopped and the buoyancy and the wing 2 are used to move forward.

  The propulsion unit 3 is driven by a solar power generation device, the solar power generation device can generate power from the water surface to a predetermined water depth, and the forward settling is performed at a power generation possible water depth, and when the power generation impossible water depth is reached, The forward ascent is performed.

  The underwater vehicle configured as described above is suitable for operation in a range where sunlight can reach (shallow sea area). For example, knowing the dynamics of plankton affected by sunlight is very important for elucidating the physical processes of the ocean, and deploying multiple underwater gliders as swarm intelligence underwater robots for ocean research on a global scale. It can be a very advantageous means. Obtaining vertical profilers such as salinity (electrical conductivity), water temperature, dissolved oxygen, etc. by putting sensors into the sea from ocean observation vessels has been done for some time, but in order to elucidate the physical processes of the ocean Therefore, data collection in the quasi-horizontal direction is strongly demanded, and operation suitable for it can be performed.

  In the above-described embodiment, the wing and the propeller are fixedly attached. However, by making the attachment angle controllable, it is possible to realize smoother infiltration and levitation.

  Further, according to the submerged navigation method of the present invention, energy efficiency can be improved as compared with the conventional method using a propulsion device for both infiltration and ascent.

  By using solar power generation, it is possible to dramatically extend the operation time of an autonomous undersea robot (AUV) with limited operation time.

  The structure / mechanism that penetrates the pressure vessel (airframe) such as the center of gravity position adjustment device may significantly impair the maintainability and reliability of the underwater robot, but the underwater vehicle according to the present embodiment has buoyancy. Since an adjustment device, a center of gravity moving mechanism, and the like are not required, and an extremely simple structure can be achieved, there is a great advantage for a submarine robot that can be manufactured at low cost and maintenance is easy.

  The underwater vehicle used in the submerged method of the present invention is not limited to a solar underwater glider, and may be a battery-powered underwater glider.

  The embodiment disclosed this time should be considered as illustrative in all points and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

  The present invention can be used in industries related to marine research and research.

  1 fuselage, 2 wings, 3 thrusters, 6 solar power generation panels.

Claims (7)

It has a fuselage with a fuselage, wings and a propeller,
The wing is provided in the fuselage so as to advance and sink the airframe by the operation of the propulsion device, and to advance the airframe by buoyancy when the propulsion device is stopped,
A solar underwater glider, wherein a solar power generator is provided as a drive source of the propulsion device. In the horizontal state of the fuselage, the buoyancy center is ahead of the center of gravity of the aircraft,
2. The solar underwater glider according to claim 1, wherein the propulsion unit is located in front of the buoyancy center and generates thrust upward and rearward with respect to a horizontal state of the body.   The solar underwater glider according to claim 2, wherein the wing is also fixed to the body so that the wings are horizontal when the body is in a horizontal state.   The solar underwater glider according to any one of claims 1 to 3, wherein the solar power generation device includes a solar power generation panel provided on an upper surface of the wing.   The solar underwater glider according to any one of claims 1 to 4, wherein the solar power generation device includes a solar power generation panel provided on an upper portion of the body. In a submerged method of underwater vehicle having a fuselage, wings and a propeller,
A submerged method for underwater vehicle, wherein the propulsion unit moves forward and sinks to a predetermined depth by thrust and wings, stops the propulsion unit, and moves forward by buoyancy and wings.   The underwater vehicle according to claim 6, wherein the propulsion unit is driven by a solar power generation device, and the power supply and the stop from the solar power generation device are repeated, and the forward settling and the forward levitation are repeated. Dive method.

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