Wave glider underwater hoisting system and depth-keeping measurement control method thereof

Abstract

The invention discloses an underwater lifting system for a wave glider and a control method of the underwater lifting system. The lifting system comprises a wave glider water surface mother ship, a wave glider underwater propeller, a mother machine, a first son machine and a second son machine. The first sub-machine is hung on the mother machine through a hollow vigorous horse cable, and the second sub-machine is hung on the mother machine through a vigorous horse cable; a motor is arranged in a shell of the master machine, and an output shaft of the motor is connected with a main shaft arranged in the master machine; the main shaft is sleeved with a first line wheel and a second line wheel, a first electromagnetic clutch is arranged at one end of the first line wheel, and a first brake is arranged at the other end of the first line wheel; when the first electromagnetic clutch loses power, the first wire wheel does not rotate along with the main shaft; when the first brake acts, the first line wheel does not rotate; a second electromagnetic clutch is arranged at one end of the second wire wheel, and a second brake is arranged at the other end of the second wire wheel; when the second electromagnetic clutch is electrified, the second wire wheel rotates along with the main shaft; and when the second brake acts, the second wire wheel does not rotate.

Description

technical field [0001] The invention relates to an underwater hoisting system of a wave glider and a method for measuring and controlling its depth. Background technique [0002] In marine surveys, it is often necessary to collect seawater parameters in different sea areas and depths, such as common parameters such as temperature, salinity, and depth (CTD). At present, the common method is that the test personnel take the boat to go to sea for measurement. This method is costly and risky, especially when the sea conditions are poor and the risk is high and it is not suitable for offshore operations. [0003] With the gradual improvement of the intelligence of marine unmanned platforms, more and more marine survey operations use unmanned platforms. As a new type of unmanned offshore platform, wave glider has the advantages of long sailing distance and suitable for high sea conditions. However, because it uses wave energy as power, it has the disadvantages of small size and w...

AI Technical Summary

Problems solved by technology

If the parameters of deeper seawater are collected, more sensor nodes and suspension cables are required. Since oceanographic measurement sensors are generally expensive, too many sensor nodes will also increase the cost

Excessively long suspension cables are also likely to increase the risk of wave glider entanglement with marine debris. When the wave glider sails to shallow seas, it is easy to entangle with submarine reefs, causing equipment damage and affecting the navigation of the platform itself.

In addition, too many sensor nodes and too long suspension cables will greatly increase the sailing resistance of the wave glider, seriously affect the speed of the wave glider, and bring great difficulties to the deployment and recovery of the wave glider

[0004] At present, the existing host computer remote control system cannot solve the above problems well. For example, the multi-level propulsion time-space continuous seawater parameter sampling and detection unmanned boat described in patent application 201811246630.1 can realize the lifting operation of the seawater parameter acquisition device, but its sensor It is installed on the towing body, and the towing body has driving hydrofoils, which are easy to collide with marine garbage during the lowering process, causing damage to the sensor; as described in the patent application 202010786710.7, the observation device and method for the cold water mass in the Yellow Sea, It only measures seawater parameters at a depth of tens of meters, and cannot collect deeper seawater parameters, and cannot avoid entanglement with marine debris

In addition, the existing technology cannot achieve accurate measurement of seawater parameters at a specified depth

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