CN103287558B - Flounder-type underwater glider - Google Patents
Flounder-type underwater glider Download PDFInfo
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- CN103287558B CN103287558B CN201310200014.3A CN201310200014A CN103287558B CN 103287558 B CN103287558 B CN 103287558B CN 201310200014 A CN201310200014 A CN 201310200014A CN 103287558 B CN103287558 B CN 103287558B
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Abstract
The invention discloses a flounder-type underwater glider. An electronic cabin comprises a pressure-resisting cabin, a gravity and gravity center adjustment mechanism, a control system and a lithium battery unit. The inside of the pressure-resist cabin is partitioned into a central area, a middle circular area and an outer circular area. The lithium battery unit is arranged in the middle circular area. The control system includes an overwater control system and an underwater control system which are connected in a wireless manner. The underwater control system and the electronic part of surveying equipment are arranged in the middle circular area uniformly. The gravity and gravity center adjustment mechanism comprises four water bag pump units in same structure, and the four water bag pump units are distributed in the outer circular area symmetrically. The flounder-type underwater glider has the advantages of low cost, low noise, high endurance and high flexibility; the gravity and posture of the glider can be adjusted to realize zigzag or spiral trajectory through controlling the four water bag pump units distributed symmetrically. The flounder-type underwater glider can carry a plurality of underwater scientific-investigation and survey devices simultaneously, continuous data collection in extensive sea areas can be completed automatically, and the data can be transmitted back in real time.
Description
Technical field
The present invention relates to underwater glider technical field, specifically a kind of flounder type underwater glider.
Background technology
Underwater glider (Underwater Glider) is a kind of new Autonomous Underwater vehicle (Autonomous
Underwater Vehicle：AUV).Using buoyancy-driven mode, complete zigzag or the navigation of spiral rotary track under water,
Possess that energy consumption is low, efficiency high, endurance big (up to thousands of miles), low cost, the low advantage of maintenance cost, be widely used in
For a long time, large-scale oceanographic survey.Further, since the no actuating unit such as propeller, aerodone sailing noise is extremely low, in military affairs
Upper using value is very big.
At present, there is the underwater glider of ripe model in four in the world, be respectively：Scripps institute of oceanography
(Scripps Institution of Oceanography：SIO the Spray Glider) developing, University of Washington
(University of Washington：UW the Sea Glider) developing, weber studies group (Webb Research
Corp the Slocum Electric Glider) developing and Slocum Thermal Glider.Spray Glider is using thin
The fairing of long lower resistance, built-in antenna in all-wing aircraft, to reduce resistance, 1500 meters of maximum diving depth further.
The design object of Sea61ider be can wide ocean Air China row thousands of miles, the duration up to 6 months, under maximum
Latent depth is 1000 meters, and luffing angle scope can be by 10 degree to 75 degree, and antenna is installed on afterbody stock, is emerging
When it is not necessary to the buoyant device of auxiliary, antenna just can exceed the water surface, successfully acquisition GPS location and communication.Slocum type is under water
Aerodone is divided into electricity-driven (battery) and thermal gradient energy driving (thermal) two class, and this two classes underwater glider is outside
The aspects such as type design, gesture stability, navigation communication are identical, simply there is difference on the drive energy of aerodone.The former uses
Be a syringe shape capsule pump configuration, be operated in 200 meters of depth, the latter is operated in 1500 meters of depth.Electricity-driven
1.8 meters of Slocum length, it is with the speed operation of about 0.5m/s in 200 meters of deep marine sites.Gradient by mobile battery bag Lai
Control, battery bag is similarly disposed at the leading portion of housing.Slocum has the fixing wing, swept-back, to avoid the winding of sea grass etc., opens up
Long 1 meter, wing panel is flat.It also has a vertical tail vane.Afterbody is equipped with GPS and communication antenna.In addition, it is Japanese and French
Also all in succession have developed the underwater glider of entitled ALBAC and STERNE it is seen that the development of underwater glider is rapid.Above-mentioned
Underwater glider is aircraft or Torpedo Shape without exception, by adjusting gravity and center of gravity prolongs sawtooth or helical trajectory slides.Sliding
Line direction can be realized by adjusting wing or tail vane.The advantage of this design pattern is that direction of advance resistance is little, but revolution
Radius is big, rotating mechanism design is complicated, course changing control low precision.
Content of the invention
The present invention is directed to that the radius of gyration present in prior art is big, rotating mechanism design is complicated, course changing control low precision
The problems such as, there is provided a kind of flounder type underwater glider, adjust net buoyancy and center of gravity by four symmetrical built-in water bags, real
Now stable sliding under water changes line of travel with original place, can change line of travel in original place, low in energy consumption, endurance is big, and energy
Carry the continuity oceanographic survey that multiple investigation apparatus complete wide marine site simultaneously.
The present invention is achieved by the following technical solutions.
A kind of flounder type underwater glider, for carrying investigation apparatus or sensor, including kuppe and electronic compartment, described electricity
Sub- cabin is arranged inside kuppe；
Described electronic compartment includes：Pressure-resistant cabin, gravity and gravity center adjusting mechanism, control system and lithium battery group, wherein, resistance to
Region, middle annular zone and outer region centered on ballasting interior part, described lithium battery group is arranged at central area, control system
Including the wireless water surface control system connecting and Subsea Control Systems each other, the electricity of described Subsea Control Systems and investigation apparatus
Subdivision is evenly arranged in middle annular zone, and described gravity and gravity center adjusting mechanism include 4 mutually isostructural water bag water pump groups, institute
State 4 water bag water pump groups and be symmetrically distributed in outer region.
Sole configuration design generally imitated by described kuppe, and its outer surface is provided with corrosion and wear and damages coating.
Before and after described kuppe, strong point length is 100cm, and left and right widest part width is 75cm, and upper and lower highest point height is
30cm.
Described pressure-resistant cabin generally cylindrical tube, is tightly connected and barrel between including barrel and by O-ring
It is equipped with upper hatchcover and lower hatchcover, described upper hatchcover and lower hatchcover for the O-ring fluting of sealing and in electronic compartment
The underwater electrical connector of outer electrical connection；Described lower hatchcover is provided with 4 intake-outlets and leak water detdction circuit, described 4 turnover
The mouth of a river is connected with 4 water pumps in 4 water bag water pump groups respectively.
Described barrel and upper and lower hatchcover adopt aluminium alloy or titanium alloy material.
The external diameter of described cylindrical tube is 70cm, highly for 15cm；A diameter of 70cm of described upper and lower hatchcover.
A diameter of 0.5cm of described intake-outlet.
In each water bag water pump group described, water pump adopt creeping motion type water pump, water bag adopt flexible plastic water bag, the one of water pump
End is connected by conduit between water bag, and the other end of water pump is connected with intake-outlet.
Described water surface control system includes water surface control computer, surface operations computer, the first wireless communication module, sky
Line and uninterrupted power source, wherein：Water surface control computer is used for telecommunication and trajectory planning；Surface operations computer is used for
Man-machine interface shows and control instruction input；First wireless communication module and antenna are used for being connected with Subsea Control Systems communication,
Uninterrupted power source is used for the power supply of control system of sleeping；
Described Subsea Control Systems include locating module, the second wireless communication module, power management module, water pump driving mould
Block, data memory module, leak water detdction module, insulating monitoring module, gyroscope, electronic compass, depth gauge, altimeter, laser
Device, CTD (conductivity-temperature-depth system), user interface and kernel control module, wherein：
Locating module, only after flounder type underwater glider emerges, selects GPS positioning system or BEI-DOU position system,
For flounder type underwater glider positioning, other times are in a dormant state；
Second wireless communication module, the first nothing only after flounder type underwater glider emerges, with water surface control system
Line communication module and antenna communication connect, and other times are in a dormant state；
Power management module, the state of monitor in real time lithium battery group is simultaneously sent to kernel control module；
Water pump drive module, for receiving instructing and be converted into voltage data and being sent respectively to 4 of kernel control module
4 water pumps in water bag water pump, drive water pump main story (water suction) or reversion (draining)；
Data memory module, for receiving and holding time, position coordinates, control instruction, motion from kernel control module
Sensing data, investigation sensing data, system mode and other user-specific information；
Leak water detdction module, for the data of leak water detdction circuit on pressure-resistant cabin for the capture setting, and judges leak shape
State, is sent simultaneously to core control circuit；
Insulation monitoring module, provides 8 tunnel insulation against ground detections, for detecting and controlling system, sensor and investigation apparatus
With the insulation against ground situation of dc source, and it is sent to core control circuit；
Gyroscope, electronic compass, depth gauge, altimeter be respectively used to detect the angular acceleration of aerodone, direction, depth and
Highly, and be sent to core control circuit, as the feedback data to motion control for the control system；
Laser instrument, for detecting flounder type underwater glider to the distance in seabed, it is to avoid flounder type underwater glider is touched with seabed
Hit；
CDT, science investigates sensor, for the collection of temperature, salinity, depth in underwater environment；
User interface, the DC voltage (5VDC, 12VDC) for investigation apparatus or sensor offer standard and communication interface
(RS232, RS485) data acquisition interface (AD, 1O)；
Kernel control module, runs each module communication in primary control program and Subsea Control Systems.
Described Subsea Control Systems also include trajectory planning unit, and described trajectory planning unit drives mould with water pump respectively
Block, locating module and the second wireless communication module data cube computation, according to the automatic planned trajectory of sensing data or artificial input
Order planned trajectory, by program results send feed pump drive module.
The flounder type underwater glider that the present invention provides, solves under traditional mode that the underwater glider radius of gyration is big, rotates
The problems such as mechanism's design complexity, course changing control low precision, adjust aerodone gravity in fact by adjusting the total Water of four water bags
Now rise or fall motion, flexibly realized by the center of gravity (attitude) that the water yield adjusting four water bags respectively adjusts aerodone
Front, rear, left and right lateral attitude, so that stable the sliding under water of flounder type underwater glider changes line of travel with original place.
The present invention possesses low cost, low noise, big endurance and the high feature of motion flexibility ratio.Using buoyancy-driven side
Formula, is adjusted gravity and the attitude of aerodone, realizes zigzag by four in control cabinet symmetrical water bag one water pump selection
Or spiral helicine movement locus.Equally flexible locomitivity is possessed on all directions.Control system is opened based on embedded platform
Send out, possess low in energy consumption, stable performance feature, specifically include：Trajectory planning, motion control, satellite fix, telecommunication, number
According to collection, System self-test survey, data storage function module.Power supply and the communication interface of common sensor are provided, can carry simultaneously
Multiple underwater scientific investigation equipment, autonomously complete continuous data collection in extensive marine site, and real-time return data.
Brief description
The detailed description with reference to the following drawings, non-limiting example made by reading, the further feature of the present invention,
Objects and advantages will become more apparent upon：
Fig. 1 is overall structure diagram of the present invention；
Fig. 2 is electronic compartment structural representation of the present invention；
Fig. 3 is electronic compartment internal layout of the present invention；
Fig. 4 is water surface Control system architecture block diagram；
Fig. 5 is Subsea Control Systems structured flowchart；
Fig. 6 to Fig. 7 is typical motion track of the present invention schematic diagram；
In figure：1 is kuppe, and 2 is electronic compartment, and 3 is investigation apparatus or sensor, and 4 is barrel, and 5 is O-ring fluting, and 6 are
O-ring, 7 is upper, lower hatchcover, and 8 is underwater electrical connector, and centered on 9 region, 10 middle annular zone, and 11 is outer region, and 12 is lithium electricity
Pond group, 13 is Subsea Control Systems, and 14 is the electronic section of investigation apparatus, and 15 is the first water bag, and 16 is the second water bag, and 17 is the
Three water bags, 18 is the 4th water bag, and 19 is the first water pump, and 20 is the second water pump, and 21 is the 3rd water pump, and 22 is the 4th water pump, and 26 are
Water surface control computer, 27 surface operations computers, 28 is the first wireless communication module, and 29 is antenna, and 30 is uninterrupted power source,
31 is locating module, and 32 is the second wireless communication module, and 33 is power management module, and 34 is water pump drive module, and 35 is data
Memory module, 36 is leak water detdction module, and 37 is insulating monitoring module, and 38 is gyroscope, and 39 is electronic compass, and 40 is depth
Meter, 41 is altimeter, and 42 is laser instrument, and 43 is CTD (conductivity-temperature-depth system), and 44 is user interface, and 45 is kernel control module.
Specific embodiment
Below embodiments of the invention are elaborated：The present embodiment is carried out under premised on technical solution of the present invention
Implement, give detailed embodiment and specific operating process.It should be pointed out that to those of ordinary skill in the art
For, without departing from the inventive concept of the premise, some deformation can also be made and improve, these broadly fall into the guarantor of the present invention
Shield scope.
Please refer to Fig. 1 to Fig. 7.
Present embodiments provide a kind of flounder type underwater glider, for carrying investigation apparatus or sensor, including kuppe
And electronic compartment, described electronic compartment is arranged inside kuppe；
Described electronic compartment includes：Pressure-resistant cabin, gravity and gravity center adjusting mechanism, control system and lithium battery group, wherein, resistance to
Region, middle annular zone and outer region centered on ballasting interior part, described lithium battery group is arranged at central area, control system
Including the wireless water surface control system connecting and Subsea Control Systems each other, the electricity of described Subsea Control Systems and investigation apparatus
Subdivision is evenly arranged in middle annular zone, and described gravity and gravity center adjusting mechanism include 4 mutually isostructural water bag water pump groups, institute
State 4 water bag water pump groups and be symmetrically distributed in outer region.
Further, sole configuration design generally imitated by described kuppe, and its outer surface is provided with corrosion and wear and damages coating.
Further, before and after described kuppe, strong point length is 100cm, and left and right widest part width is 75cm, up and down
Eminence height is 30cm.
Further, described pressure-resistant cabin generally cylindrical tube, including barrel and and barrel between pass through O-ring close
Upper hatchcover and lower hatchcover that envelope connects, described upper hatchcover and lower hatchcover are equipped with the O-ring for sealing and slot and be used for
The underwater electrical connector of the inside and outside electrical connection of electronic compartment；Described lower hatchcover is provided with 4 intake-outlets and leak water detdction circuit, described
4 intake-outlets are connected with 4 water pumps in 4 water bag water pump groups respectively.
Further, described barrel and upper and lower hatchcover adopt aluminium alloy or titanium alloy material.
Further, the external diameter of described cylindrical tube is 70cm, highly for 15cm；Described upper and lower hatchcover a diameter of
70cm.
Further, a diameter of 0.5cm of described intake-outlet.
Further, in each water bag water pump group, water pump adopts creeping motion type water pump, and water bag adopts flexible plastic water bag, water
One end of pump is connected by conduit between water bag, and the other end of water pump is connected with intake-outlet.
Further, described water surface control system includes water surface control computer, surface operations computer, the first channel radio
News module, antenna and uninterrupted power source, wherein：Water surface control computer is used for telecommunication and trajectory planning；Surface operations
Computer shows for man-machine interface and control instruction input；First wireless communication module and antenna are used for and Subsea Control Systems
Communication connects, and uninterrupted power source is used for the power supply of control system of sleeping；
Further, described Subsea Control Systems include locating module, the second wireless communication module, power management module,
Water pump drive module, data memory module, leak water detdction module, insulating monitoring module, gyroscope, electronic compass, depth gauge, height
Degree meter, laser instrument, CTD (conductivity-temperature-depth system), user interface and kernel control module, wherein：
Locating module, only after flounder type underwater glider emerges, selects GPS positioning system or BEI-DOU position system,
For flounder type underwater glider positioning, other times are in a dormant state；
Second wireless communication module, the first nothing only after flounder type underwater glider emerges, with water surface control system
Line communication module and antenna communication connect, and other times are in a dormant state；
Power management module, the state of monitor in real time lithium battery group is simultaneously sent to kernel control module；
Water pump drive module, for receiving instructing and be converted into voltage data and being sent respectively to 4 of kernel control module
4 water pumps in water bag water pump, drive water pump main story (water suction) or reversion (draining)；
Data memory module, for receiving and holding time, position coordinates, control instruction, motion from kernel control module
Sensing data, investigation sensing data, system mode and other user-specific information；
Leak water detdction module, for the data of leak water detdction circuit on pressure-resistant cabin for the capture setting, and judges leak shape
State, is sent simultaneously to core control circuit；
Insulation monitoring module, provides 8 tunnel insulation against ground detections, for detecting and controlling system, sensor and investigation apparatus
With the insulation against ground situation of dc source, and it is sent to core control circuit；
Gyroscope, electronic compass, depth gauge, altimeter be respectively used to detect the angular acceleration of aerodone, direction, depth and
Highly, and be sent to core control circuit, as the feedback data to motion control for the control system；
Laser instrument, for detecting flounder type underwater glider to the distance in seabed, it is to avoid flounder type underwater glider is touched with seabed
Hit；
CDT, science investigates sensor, for the collection of temperature, salinity, depth in underwater environment；
User interface, the DC voltage (5VDC, 12VDC) for investigation apparatus or sensor offer standard and communication interface
(RS232, RS485) data acquisition interface (AD, 1O)；
Kernel control module, runs each module communication in primary control program and Subsea Control Systems.
Further, described Subsea Control Systems also include trajectory planning unit, described trajectory planning unit respectively with water
Pump drive module, locating module and the second wireless communication module data cube computation, according to the automatic planned trajectory of sensing data or
The order planned trajectory of artificial input, program results is sent feed pump drive module.
Specifically,
In the present embodiment, described kuppe is imitative sole configuration design, possess streamlined good, slide stable, displacement of volume
Little feature.Because in the water of submersible, weight need to approximate zero, that is, in the air weight approximates displacement, and displacement of volume is little
Type design can reduce the design load of the air weight of aerodone, light, easy to operate.It is special that water conservancy diversion cover outer surface is coated with ship
Damage coating with corrosion and wear, prevent day illumination aging and seawater corrosion, prevent from colliding with when carrying and underwater operation abrasion hull.Coating
Color selecting is orange, red or the conspicuous color of yellow, facilitates the water surface to find target when reclaiming.Electronic compartment is used for reprinting to be controlled under water
System processed and the electronic section of sensor, equipment, need to be dry pressure-resistant nacelle.Wall thickness need to be arbitrarily downgraded according to the resistance to of design head
Do not do Strength Calculation.Using the aluminium alloy that density is little, intensity is high or titanium alloy material processing, anodic oxidation is done on surface, with
Prevent seawater corrosion, outer surface pastes sacrificial anode spelter, prevents electronic compartment by electrolytic etching.Electronic compartment adopts O-ring sealing side
Formula, O-ring fluting, O-ring grooving parameters (width, depth) and O-ring parameter (interface radius, external diameter) reference are opened in barrel upper end
GB designs.Upper and lower hatchcover is fixed on barrel by screw one nut.The inside and outside electrical connection of electronic compartment is realized by underwater electrical connector,
Underwater electrical connector is distributed in upper and lower hatchcover, because plane is more convenient sealing than barrel.Lower hatchcover opens 4 intake-outlets, uses respectively
In four water pump discharging waters.Electronic compartment is internally divided into three regions：Lithium battery group is arranged in central area, is the initial of aerodone
Center of gravity is located；The electronic section of underwater control control system and investigation apparatus is arranged in middle annular zone, need to evenly distribute weight；Outer shroud
Region arrange the first water bag, the second water bag, the 3rd water bag and the 4th water bag and the first water pump being connected respectively with four water bags,
Second water pump, the 3rd water pump and the 4th water pump.Except this, lower hatchcover is provided with leak water detdction circuit.
Flounder type underwater glider control system is made up of water surface control system and Subsea Control Systems, adopts no between the two
Line communicates, as shown in Figure 4.According to communication distance, optional radio station or satellite communication.Water surface control system includes：The water surface
Control computer, surface operations computer, the first wireless communication module, antenna and uninterrupted power source composition.The water surface controls calculating
Machine is responsible for telecommunication and trajectory planning.Surface operations computer is responsible for man-machine interface display and control instruction input.Water surface control
Ethernet communication can be adopted between computer processed and surface operations computer.Subsea Control Systems include satellite positioning module,
Second wireless communication module, power management module, water pump drive module, data memory module, leak water detdction module, insulating monitoring
Module, gyroscope, electronic compass, depth gauge, altimeter, laser instrument, CTD, user interface and kernel control module.Wherein, defend
Star locating module may be selected GPS positioning system or BEI-DOU position system.Second wireless communication module adopts and water surface control system
Corresponding radio station module or satellite communication module and antenna.Power management module needs monitor in real time battery status and is sent to
Kernel control module.Water pump drive module is responsible for receiving instructing and be converted into voltage data and being sent respectively to of kernel control module
4 water pumps, drive its main story (water suction) or reversion (draining).Data memory module is responsible for receiving from kernel control module and preserving
Time, position coordinates, control instruction, motion sensor data, investigation sensing data, system mode and other users specify letter
Breath.Leak water detdction module is responsible for gathering the data of leak water detdction circuit, and judges leak state, and is sent to core control electricity
Road.Insulation monitoring module is responsible for detecting and controlling system, sensor, is set the insulation against ground situation of backup DC power source, and is sent to
Core control circuit.Gyroscope, electronic compass, depth gauge, altimeter be respectively used to detect the angular acceleration of aerodone, direction,
Depth and height, and it is sent to core control circuit, as the feedback data of motion control control system.Laser instrument is used for detecting
Aerodone to seabed distance, it is to avoid aerodone and seabed are collided.CDT is the science investigation sensor that aerodone must be joined, and is used for
Temperature, salinity, the collection of depth.User interface for user investigation equipment or sensor provide the DC voltage of standard (5VDC,
12VDC) with communication interface (RS232, RS485) data acquisition interface (AD, IO).Kernel control module (45) runs primary control program
With other module communications.
Gravity and gravity center adjusting mechanism and control system are built in pressure-resistant cabin, and pressure is to flow backwards shell out of my cabin, and part passes
As in pressure-resistant cabin, operative sensor is connected with pressure-resistant cabin by underwater electrical connector out of my cabin sensor pressure.
Kuppe is in flounder shape, is anti-corrosion nonmetallic materials, the longest director 100cm in front and back, left and right the widest part width 75cm, up and down
The high 30cm of highest point.
The appearance of kuppe sprays anti-corrosion, abrasionproof lacquer painting peculiar to vessel, and lacquer painting color is yellow, the eye-catching face of orange or brown
Color, reclaims in order to sea.
Pressure-resistant cabin is made up of the hatchcover of an external diameter 70cm, the cylindrical tube of high 15cm and two 70cm diameters, lid group
Become, be aluminium alloy or titanium alloy material, the high 15cm of cylinder, external diameter 70cm, respectively by 8 between upper and lower hatchcover and cylindrical tube
CARBURIZING FURNACE FOR STAINLESS FASTENER is connected.
O-ring sealing means are taken, upper and lower hatchcover opens O-ring fluting between upper and lower hatchcover and cylindrical tube.
Upper and lower hatchcover arranges underwater electrical connector socket, realizes between above deck equipment and sensor and control circuit and power supply
Electrical connection.
Lower hatchcover opens the entery and delivery port of four diameter 0.5cm, provides the water-in and water-out passage of gravity and gravity center adjusting mechanism.
Gravity is made up of four mutually isostructural water bag one water pump selection with gravity center adjusting mechanism, and water pump adopts creeping motion type water
Pump, water bag adopts flexible plastic water bag, and one end of water pump is connected by conduit between water bag, the other end of peristaltic pump and intake-outlet phase
Even.
Four water bag water pump selection are respectively placed in the front, rear, left and right corner of pressure-resistant cabin described in claim 4.
Subsea Control Systems include：Trajectory planning unit, water pump drive module, locating module, the second wireless communication module,
Leak water detdction module, insulation monitoring module, data memory module, user interface.
Trajectory planning unit, all has data exchange with water pump drive module, d GPS locating module, the second wireless communication module,
Possess the order planned trajectory according to the automatic planned trajectory of sensing data or artificial input, and program results is sent feed pump
Drive module.
Water pump drive module, according to trajectory planning target, distributes the turnover water yield of four water pumps, concurrently send voltage signal to drive
Dynamic pump working.
Locating module, only works after aerodone emerges, and in a dormant state, gps data is sent to other times
Trajectory planning unit data memory module.
Second wireless communication module, only works after aerodone emerges, and is responsible for receiving in the water surface (or land) control
The heart send control command, and by the positional information of aerodone, status information, sensing data packing after be sent to the water surface (or
Land) control centre, and the information of communication success or failure is sent to data record unit.
When aerodone is dived beneath the water, the second wireless communication module is in a dormant state.
Leak water detdction module, is made up of leak water detdction circuit data Acquisition Circuit, before testing circuit sticks in pressure-resistant cabin,
Afterwards, left and right corner, data acquisition circuit with 1Hz frequency collection testing result, position, detected value by data saving unit record,
When detected value exceedes predetermined threshold value, to trajectory planning circuit alert.
Insulation monitoring module, provides 8 tunnel insulation against ground detections, and detection governor circuit and main sensors circuit is exhausted respectively
Edge situation, test position and insulation values is sent and is stored in data saving unit, when insulation values exceed predetermined threshold value to rail
Whether mark planning circuit alert, cut off this road power supply by trajectory planning unit judges, when any power supply is cut off not
Impact other equipment, working sensor.
Data memory module, responsible holding time information, the positional information of aerodone, attitude information, control instruction, circuit
Leak state, circuit isolation state.
User interface, provides independent RS485, RS232, ADC, IO communication interface and 12VDC, 5VDC power interface.
The flounder type underwater glider that the present embodiment provides, based on software algorithm according to zigzag traces or helical trajectory row
Walk, concretely comprise the following steps：Adjust aerodone gravity by the total Water of four water bags of regulation to realize rising or falling motion, pass through
The water yield adjusting four water bags respectively flexibly realizes front, rear, left and right lateral attitude come the center of gravity (attitude) to adjust aerodone.
Quiet buoyancy：Gliding is that quiet buoyancy is designed as on the occasion of design, and that is, in the air quality is less than displacement.This part positive buoyancy
As the reserve buoyancy of aerodone, provide buoyancy reserve when user equipment, the buoyancy reserve of Sensor section and hull trim.
When no user sensor or equipment, this partly quiet buoyancy ballast lead trim.Descend quiet buoyancy during water need to be zero every time.
Center of gravity：Need the underface of aerodone centre of gravity adjustment to hull geometry center using ballast lead before every subjob,
Center of gravity is made to be less than centre of buoyancy.
Regulating mechanism of buoyancy：Four sets of regulating mechanisms of buoyancy, centered on center of gravity, are symmetrically distributed, and prestore in water bag equivalent
Water.When receive float instruction when water bag maritime interior waters discharge, when receiving sinking instruction, water pump is by outside Seawater inhalation water bag.When receiving
Lean forward instruction when, the water suction of front water bag, rear water bag draining, displacement is less than water absorption, and other incline direction schemes are analogized.
Track：By continuously adjusting four water bag moisture storage capacitys, achievable aerodone is in sawtooth pattern or screw type track
Slide, as shown in Figure 5.
Positioning：Accept satellite positioning signal (Big Dipper or GPS) when aerodone floats on the surface of the water every time and update itself absolute position,
Inertial navigation positioning (gyroscope, compass, depth gauge data fusion) is taken during dive.
Communication：Pass through wireless telecommunications (communications satellite or radio station) when emerging every time.
Data preserves：Control instruction, system mode, motion state, investigation result are saved in aerodone electronic compartment in real time
Large-capacity memory card in, when emerging by be wirelessly transmitted to data terminal or reclaim after read.In addition, data terminal
Preserve control instruction and the aerodone data receiving in real time.
User equipment and sensor：Flat, spacious user sensor mounting space is provided, more users can be carried simultaneously
Equipment and sensor, and stable stabilized power source and abundant data-interface are provided.Sonar Zhen Ji town can be carried.
Above the specific embodiment of the present invention is described.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can make various modifications or modification within the scope of the claims, this not shadow
Ring the flesh and blood of the present invention.
Claims (9)
1. a kind of flounder type underwater glider, for carrying investigation apparatus and sensor, including kuppe and electronic compartment, described electronics
Cabin is arranged inside kuppe；It is characterized in that, described electronic compartment includes：Pressure-resistant cabin, gravity and gravity center adjusting mechanism, control system
System and lithium battery group, wherein, region, middle annular zone and outer region centered on pressure-resistant cabin interior part, described lithium battery group
It is arranged at central area, control system includes the wireless water surface control system connecting and Subsea Control Systems each other, described water
The electronic section of lower control system and investigation apparatus is evenly arranged in middle annular zone, and described gravity and gravity center adjusting mechanism include 4
Individual mutually isostructural water bag water pump group, described 4 water bag water pump groups are symmetrically distributed in outer region；
Described water surface control system include water surface control computer, surface operations computer, the first wireless communication module, antenna with
And uninterrupted power source, wherein：Water surface control computer is used for telecommunication and trajectory planning；Surface operations computer is used for man-machine
Interface display and control instruction input；First wireless communication module and antenna are used for being connected with Subsea Control Systems communication, not between
Power-off source is used for the power supply of control system of sleeping；
Described Subsea Control Systems include locating module, the second wireless communication module, power management module, water pump drive module,
Data memory module, leak water detdction module, insulating monitoring module, gyroscope, electronic compass, depth gauge, altimeter, laser instrument,
CTD, user interface and kernel control module, wherein：
Locating module, only after flounder type underwater glider emerges, selects GPS positioning system or BEI-DOU position system, is used for
Flounder type underwater glider positions, and other times are in a dormant state；
Second wireless communication module, the first channel radio only after flounder type underwater glider emerges, with water surface control system
News module and antenna communication connect, and other times are in a dormant state；
Power management module, the state of monitor in real time lithium battery group is simultaneously sent to kernel control module；
Water pump drive module, for receiving instructing and be converted into voltage data and being sent respectively to 4 water bags of kernel control module
4 water pumps in water pump group, drive water pump main story or reversion；
Data memory module, for receiving and holding time, position coordinates, control instruction, sensor number from kernel control module
According to, system mode and other user-specific information；
Leak water detdction module, for the data of leak water detdction circuit on pressure-resistant cabin for the capture setting, and judges leak state, with
When be sent to core control circuit；
Insulation monitoring module, provides 8 tunnel insulation against ground detections, for detecting and controlling system, sensor and investigation apparatus with directly
The insulation against ground situation of stream power supply, and it is sent to core control circuit；
Gyroscope, electronic compass, depth gauge, altimeter are respectively used to detect angular acceleration, direction, depth and the height of aerodone
Degree, and it is sent to core control circuit, as the feedback data to motion control for the control system；
Laser instrument, for detecting flounder type underwater glider to the distance in seabed, it is to avoid flounder type underwater glider is collided with seabed；
CTD, science investigates sensor, for the collection of temperature, salinity, depth in underwater environment；
User interface, the DC voltage for investigation apparatus or sensor offer standard and communication interface data acquisition interface；
Kernel control module, runs each module communication in primary control program and Subsea Control Systems；
Described sensing data is motion sensor data and science investigates sensing data.
2. flounder type underwater glider according to claim 1 is it is characterised in that sole profile generally imitated by described kuppe
Design, its outer surface is provided with corrosion and wear and damages coating.
3. flounder type underwater glider according to claim 2 it is characterised in that before and after described kuppe strong point length be
100cm, left and right widest part width is 75cm, and upper and lower highest point height is 30cm.
4. flounder type underwater glider according to claim 1 is it is characterised in that described pressure-resistant cabin generally cylindrical tube
Body, the upper hatchcover being tightly connected and barrel between including barrel and by O-ring and lower hatchcover, described upper hatchcover and lower hatchcover
On be equipped with for the O-ring fluting of sealing and the underwater electrical connector for electrical connection inside and outside electronic compartment；On described lower hatchcover
Be provided with 4 intake-outlets and leak water detdction circuit, described 4 intake-outlets give respectively with 4 water bag water pump groups in 4 water
Pump is connected.
5. flounder type underwater glider according to claim 4 is it is characterised in that described barrel and upper and lower hatchcover adopt
Aluminium alloy or titanium alloy material.
6. the flounder type underwater glider according to claim 4 or 5 is it is characterised in that the external diameter of described cylindrical tube is
70cm, highly for 15cm；A diameter of 70cm of described upper and lower hatchcover.
7. flounder type underwater glider according to claim 4 is it is characterised in that a diameter of 0.5cm of described intake-outlet.
8. the flounder type underwater glider according to claim 4 or 7 is it is characterised in that in each water bag water pump group, water pump
Using creeping motion type water pump, water bag adopts flexible plastic water bag, and one end of water pump is connected by conduit between water bag, the other end of water pump with
Intake-outlet is connected.
9. flounder type underwater glider according to claim 1 is it is characterised in that described Subsea Control Systems also include track
Planning unit, described trajectory planning unit respectively with water pump drive module, locating module and the second wireless communication module data
Connect, according to the order planned trajectory of the automatic planned trajectory of sensing data or artificial input, program results is sent feed pump
Drive module.
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| CN104678264B (en) * | 2013-11-30 | 2017-12-15 | 中国科学院沈阳自动化研究所 | The online Insulation monitoring of AUV DC power-supply systems and fault treating apparatus and method |
| CN104683019B (en) * | 2013-11-30 | 2018-09-04 | 中国科学院沈阳自动化研究所 | A kind of wireless communication method for underwater robot |
| CN104677427B (en) * | 2015-03-18 | 2017-03-15 | 国家海洋技术中心 | A kind of embedded underwater exercise platform carries thermohaline depth sensor |
| CN105059505A (en) * | 2015-07-17 | 2015-11-18 | 大连海事大学 | Disc-shaped underwater glider |
| CN105043452B (en) * | 2015-08-27 | 2017-03-15 | 国家海洋技术中心 | Thermohaline depth measurement apparatus for underwater movable platform |
| CN107856828A (en) * | 2017-10-30 | 2018-03-30 | 天津大学 | A kind of adjusting means of Automatic Control underwater installation posture |
| CN110803270B (en) * | 2019-11-22 | 2021-07-09 | 哈尔滨工程大学 | AUV buoyancy adjusting device and control method |
| CN112591015B (en) * | 2020-12-25 | 2022-03-18 | 宁波大学 | Protective device for intercepting large-scale moving object on water surface |
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| CN102963514A (en) * | 2012-11-26 | 2013-03-13 | 上海交通大学 | Portable submarine ocean environment monitoring glider |
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| CN101070091A (en) * | 2007-06-14 | 2007-11-14 | 上海交通大学 | Deep-sea solar diving device |
| CN202686728U (en) * | 2012-03-30 | 2013-01-23 | 中国船舶重工集团公司第七○二研究所 | Buoyancy drive device for underwater gliding device |
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