Water surface sail driving / underwater gliding double-sailing-mode observation platform

Abstract

The utility model discloses a water surface sail driving / underwater gliding double-sailing-mode observation platform which comprises a fixed left wing fixedly installed on the side edge of a platform body, a rotatable rotating left wing is arranged on the outer side of the fixed left wing, and a left balancing weight is installed in the fixed left wing; the right wing is fixedly installed on the other side of the platform body, and a right balancing weight capable of sliding is arranged in the right wing. When the observation platform sails on the water surface, the observation platform is in a lateral three-dimensional position, the left wing is rotated to extend out of the water surface and serves as a sail, and the observation platform is driven to sail on the water surface under the action of wind power. The observation platform has the water surface maneuvering sailing capacity which is not possessed by an existing glider, and the defects that an existing underwater glider cannot do countercurrent motion in a high-current area and cannot be rapidly transferred from one section observation point to another section observation point are overcome. The observation platform provided by the utility model can be maneuvered to any position to complete profile measurement of diving and floating.

Description

Technical Field

[0001] The utility model relates to the technical field of ocean monitoring, in particular to an observation platform with a dual navigation mode of surface sail driving and underwater gliding. Background Art

[0002] Currently, various technologies used for marine resource surveys and exploration, as well as for marine water quality and environmental surveys, monitoring, and data collection, each have their own advantages and disadvantages. For example, Argo floats can continuously monitor multiple parameters of the ocean environment over long periods of time, but they lack a power source, leaving their observation areas and routes adrift and uncontrolled. Autonomous underwater vehicles (AUVs) can monitor the ocean environment within a certain range at any location, but they carry limited energy and have short operating times. Remotely operated vehicles (ROVs) have ample energy supplies but are connected to their motherships via umbilical cables, resulting in limited ranges and high operating costs. Marine survey vessels can continuously monitor and sample data over time and space, but they consume significant amounts of manpower, financial resources, and materials, resulting in a low cost-effectiveness ratio.

[0003] The emergence of underwater gliders, with their large range and long endurance, has, to some extent, overcome these shortcomings. These gliders rely on changes in their net buoyancy to ascend and descend. During movement, their fixed wings generate lift and forward momentum, propelling the body forward along a zigzag curve within the underwater vertical profile. However, underwater gliders have the following disadvantages:

[0004] 1) It can only move forward slowly along a zigzag curve in a vertical plane. It does not have the ability to navigate at a fixed depth or on a horizontal plane such as the sea surface. It cannot maneuver to any observation point, and its steering maneuverability and flexibility are relatively poor.

[0005] 2) When encountering a large headstream or a large sidestream, the glider cannot go against the current or maintain a good navigation posture. It can only go with the current and wait for the flow field environment to change, but cannot quickly break free from the flow field constraints and reach the target position. Summary of the Invention

[0006] The purpose of the utility model is to provide a surface sail-driven / underwater gliding dual-navigation mode observation platform, which has two navigation modes: surface navigation and underwater navigation. While maintaining the glider's ability to dive, surface, and move slowly forward along a zigzag curve, it can obtain the surface maneuvering navigation capability that existing gliders do not have; the observation platform of the present application can quickly maneuver to any position and complete the diving and floating profile measurement.

[0007] To this end, the utility model provides a surface sail-driven / underwater gliding dual-navigation mode observation platform, comprising a platform body, and also comprising: a multifunctional wing assembly, which comprises a left wing and a right wing symmetrically arranged; the left wing comprises a fixed left wing fixedly mounted on the side of the platform body, a rotatable rotating left wing is provided on the outer side of the fixed left wing, and a left counterweight is fixedly mounted inside the fixed left wing; the right wing is fixedly mounted on the other side of the platform body, and a slidable right counterweight is provided inside the right wing; the right counterweight slides When the observation platform moves to a position symmetrical to the left counterweight, the observation platform is in a horizontal position; when the right counterweight slides to the outside of the right wing, the observation platform is in a sideways position; the observation platform has two navigation modes: surface sail-driven navigation and underwater gliding navigation. When the observation platform is sail-driven navigation on the water surface, it is in a sideways position, and the fixed left wing, the platform body and the right wing are submerged in water; the rotating left wing extends out of the water and rotates to a certain angle with the wind direction to drive the observation platform to sail on the water surface.

[0008] In one embodiment of the present application, the observation platform also includes a multifunctional tail assembly, which includes a left tail and a right tail wing that are symmetrically and rotatably arranged at the tail of the platform body; when the observation platform glides underwater, the observation platform is in a horizontal position, and the left tail and the right tail wing are rotated to adjust the pitch movement of the observation platform; when the observation platform is driven by a sail on the water surface, the observation platform is in a sideways position, and the right tail wing extends underwater; the direction of the observation platform sailing on the water surface is adjusted by rotating the right tail wing.

[0009] In one embodiment of the present application, a satellite communication antenna is installed on the left tail wing, and when the observation platform is sailing on the water surface driven by a sail, the satellite communication antenna extends out of the water surface.

[0010] In one embodiment of the present application, the multifunctional tail assembly further includes two vertical tails fixedly disposed on the top and bottom of the platform body, respectively, and the central axes of the two vertical tails are perpendicular to the axis of the platform body.

[0011] In one embodiment of the present application, an eccentric gravity component is provided inside the observation platform, and the eccentric gravity component includes a battery pack; the battery pack can rotate around the central axis of the platform body to drive the observation platform to rotate around its central axis so that it presents a horizontal position and / or a lateral position.

[0012] In one embodiment of the present application, the observation platform further includes a buoyancy adjustment module, which is installed at the head of the platform body; the buoyancy adjustment module includes an outer oil bladder, an inner oil bladder and an oil pump, and the oil pump is used to pump the oil in the inner oil bladder into the outer oil bladder.

[0013] In one embodiment of the present application, a drive assembly is provided in the platform body, and the drive assembly is used to drive the rotating left wing to rotate; the drive assembly includes a first servo and a first gear meshing with the first servo, and the first gear is connected to a first rotating shaft, and the first rotating shaft is connected to the rotating left wing.

[0014] In one embodiment of the present application, a slide groove is provided in the right wing, and the slide groove is arranged along the axial direction of the right wing; a screw assembly is provided in the slide groove, and the screw assembly is used to drive the right counterweight block to slide in the slide groove.

[0015] Compared with the prior art, the advantages and positive effects of the present invention are:

[0016] (1) The multifunctional wing assembly of the utility model can effectively change the underwater posture of the observation platform, and realize the dual navigation modes of surface sail drive and underwater gliding in two postures, thereby improving the maneuverability and flexibility of the observation platform. Specifically:

[0017] (1.1) When the observation platform is sailing on the water, the left wing 22 extending out of the water is rotated. By adjusting the angle between the left wing and the axis of the observation platform, the wing surface of the left wing can be kept at a certain angle to the wind direction. Under the action of the wind, a driving force for forward motion is generated, thereby driving the observation platform to sail on the water. The right wing is located below the water surface and can serve as a stabilizing force to reduce the left and right roll and lateral movement of the observation platform. It also enables the observation platform to have a lower center of gravity when in a sideways position, thereby enhancing its stability while sailing on the water. Driven by wind, the observation platform sails on the water. As an unmanned sailing platform, the observation platform can maneuver to any position and conduct profile measurement movements again by diving and surfacing.

[0018] (1.2) A left counterweight is fixed inside the left wing and is stationary. A right counterweight is fixed inside the right wing and is movable along the axis of the right wing. The coordination of the left and right counterweights can help change the position of the observation platform. Specifically: when the right counterweight slides to a position symmetrical to the left counterweight, the gravitational torque exerted on the observation platform by the left and right wings can be balanced, facilitating the adjustment of the observation platform to a horizontal position; when the right counterweight slides to the outside of the right wing, it can generate a greater rotational torque than that of the left wing, adjusting the observation platform to a lateral position.

[0019] (2) This application can effectively realize the rotation of the observation platform along the axis by adjusting and coordinating the left counterweight block, the right counterweight block and the eccentric center of gravity assembly, thereby effectively changing the position of the observation platform, so that the observation platform can realize surface sailing in a side position and underwater gliding in an upright position. The multifunctional tail wing assembly can be used as a rudder to adjust the direction of the observation platform on the surface, and can be used as an elevator to adjust the pitch of the observation platform when sailing underwater; the controllability of the adjustment of the navigation direction of the observation platform is enhanced, and the steering is flexible.

[0020] While maintaining the zigzag motion capabilities of conventional gliders, the proposed observation platform, with minimal structural changes, can achieve surface maneuvering capabilities not available on gliders. This enhances the ability of conventional gliders to operate in areas with adverse currents and strong currents. The observation platform can maneuver to any location and perform dive and ascent profile measurements.

[0021] (3) In this application, the battery pack is used as an eccentric weight component, and there is no need to set up a separate eccentric weight component inside the platform body. This can make the observation platform compact and reasonably laid out, effectively saving the load space and system weight inside the platform body.

[0022] After reading the specific embodiments of the present invention in conjunction with the accompanying drawings, other features and advantages of the present invention will become more clear. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is one of the structural schematic diagrams of an embodiment of the utility model of a surface sail-driven / underwater gliding dual-navigation mode observation platform;

[0024] Figure 2 This is a front view of the utility model's surface sail-driven / underwater gliding dual-navigation mode observation platform in a horizontal position;

[0025] Figure 3 This is a front view of the utility model's surface sail-driven / underwater gliding dual-navigation mode observation platform in a sideways perspective position;

[0026] Figure 4 This is the second structural diagram of an embodiment of the surface sail-driven / underwater gliding dual-navigation mode observation platform of the utility model;

[0027] Figure 5 This is the third structural diagram of an embodiment of the surface sail-driven / underwater gliding dual-navigation mode observation platform of the utility model;

[0028] Figure 6 This is the fourth structural diagram of an embodiment of the surface sail-driven / underwater gliding dual-navigation mode observation platform of the utility model;

[0029] Figure 7 This is the fifth structural diagram of an embodiment of the surface sail-driven / underwater gliding dual-navigation mode observation platform of the present utility model;

[0030] Figure 8 This is the sixth structural diagram of an embodiment of the surface sail-driven / underwater gliding dual-navigation mode observation platform of the utility model;

[0031] Figure 9 This is the seventh structural diagram of an embodiment of the surface sail-driven / underwater gliding dual-navigation mode observation platform of the present invention;

[0032] Figure 10 This is the eighth structural diagram of an embodiment of the surface sail-driven / underwater gliding dual-navigation mode observation platform of the present utility model;

[0033] Reference numerals:

[0034] Platform body 10;

[0035] Left wing 20; fixed left wing 21; rotating left wing 22; left counterweight 23; first servo 24; first gear 25; first rotating shaft 26; first mounting tank 27; through slot 28; left groove 29;

[0036] Right wing 30; right counterweight 31; motor 32, belt 33; screw 34; slide 35; guide rod 36;

[0037] vertical tail 40;

[0038] Left tail 51; right tail 52; second servo 53; second gear 54; second rotating shaft 55; second mounting tank 56; satellite communication antenna 57;

[0039] Outer oil bag 61; inner oil bag 62; oil pump 63; oil pump motor 64;

[0040] Battery pack 71; connecting plate 72; connecting rod 73; motor mechanism 74. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0042] like Figures 1-10 As shown, the surface sail-driven / underwater gliding dual-navigation mode observation platform of the present invention includes a platform body 10. The platform body 10 can be a streamlined shell structure, which can reduce the navigation resistance of the observation platform; the platform body 10 is an internal hollow structure, and a accommodating cavity is formed inside the platform body 10, which can be used to accommodate and install the remaining components of the observation platform.

[0043] The surface sail-driven / underwater gliding dual-navigation mode observation platform of the present invention also includes a multifunctional wing assembly, which includes a left wing 20 and a right wing 30. The left wing 20 and the right wing 30 are symmetrically arranged on both sides of the platform body 10, and the left wing 20 and the right wing 30 are basically located in the axial middle position of the platform body 10.

[0044] In one embodiment of the present application, the left wing 20 includes a fixed left wing 21, which is fixedly mounted on one side of the platform body 10. The fixed mounting method may be a common mounting method in the technical field and is not specifically limited here.

[0045] A rotatable left wing 22 is provided on the outer side of the fixed left wing 21 , and a driving assembly is provided in the platform body 10 , which is used to drive the rotatable left wing 22 to rotate.

[0046] Specifically, the drive assembly includes a first servo 24 and a first gear 25 meshing with the first servo 24. A first rotating shaft 26 is connected to the first gear 25, which is in turn connected to the rotating left wing 22. The first servo 24 can drive the first gear 25 to rotate, which in turn drives the first rotating shaft 26 to rotate. The first rotating shaft 26 is fixedly connected to the rotating left wing 22, and the rotation of the first rotating shaft 26 can drive the rotating left wing 22 to rotate.

[0047] A first mounting tank 27 is also provided within the platform body 10. This tank is used to mount the first steering gear 24 and the first gear 25. The first steering gear 24 can be mounted on the wall of the first mounting tank 27 using a commonly used mounting method in the art and is not specifically limited herein. The first gear 25 is rotatably mounted within the first mounting tank 27 using a commonly used mounting method in the art and is not specifically limited herein.

[0048] A slot 28 is defined within the fixed left wing 21, extending perpendicularly to the central axis of the platform body 10. A through-hole is defined in the wall of the first mounting can 27, and slot 28 extends through the platform body 10 and into the through-hole. A first rotating shaft 26 passes through slot 28 and is fixedly connected to the rotating left wing 22. The diameter of the first rotating shaft 26 is smaller than the inner diameter of slot 28, allowing it to rotatably fit within slot 28.

[0049] The first rotating shaft 26 is parallel to the axial direction of the first gear 25, one end of the first rotating shaft 26 is fixedly connected to the center of the first gear 25, and the other end of the first rotating shaft 26 is fixedly connected to the rotating left wing 22. The fixed connection method can be a common method in this technical field and is not specifically limited here.

[0050] A left counterweight 23 is fixedly installed inside the fixed left wing 21. Specifically, a left groove 29 is provided in the fixed left wing 21, and the left counterweight 23 is fixedly installed in the left groove 29. The specific installation method can be a fixed installation method commonly used in the technical field, and no specific limitation is made here.

[0051] In one embodiment of the present application, the right wing 30 is fixedly mounted on the other side of the platform body 10 . The specific mounting method may be a commonly used fixed mounting method in the technical field and is not specifically limited here.

[0052] A right counterweight 31 is provided inside the right wing 30 , and the right counterweight 31 can slide along the axial direction of the right wing 30 , that is, the right counterweight 31 can slide along a direction perpendicular to the axial direction of the platform body 10 .

[0053] Specifically, a screw assembly is located within the right wing 30, which is used to drive the right counterweight 31 to slide. The screw assembly includes a motor 32, a belt 33, and a screw 34. Belt 33 is connected between the output shaft of motor 32 and screw 34, and the belt 33 drives screw 34 to rotate. The right counterweight 31 is threadedly connected to screw 34, and the rotation of screw 34 drives the right counterweight 31 to slide along the screw 34.

[0054] A slide groove 35 is provided inside the right wing 30 . The slide groove 35 is arranged along the axial direction of the right wing 30 . The lead screw 34 is arranged in the slide groove 35 .

[0055] The width M of the sliding groove 35 is greater than the length N of the right counterweight 31 , and the right counterweight 31 slides in the sliding groove 35 .

[0056] Two guide rods 36 are provided in the chute 35. The two guide rods 36 are located on either side of the lead screw 34 and are parallel to the lead screw 34. The right counterweight 31 is slidably mounted on the two guide rods 36. The two guide rods 36 can guide and limit the sliding of the right counterweight 31, thereby ensuring smooth and effective sliding of the right counterweight 31.

[0057] The multifunctional wing assembly of this utility model can effectively improve the maneuverability and flexibility of the observation platform. Specifically:

[0058] (1) When the observation platform is sailing on the water in a sideways position, the left wing 22 is extended out of the water. The control system of the observation platform adjusts the rotation angle of the left wing 22 according to the wind direction so that the wing surface of the left wing 22 forms an angle with the wind direction. The left wing 22 can be used as a sail, and driven by the wind, it propels the observation platform to sail on the water.

[0059] The right wing 30 is located underwater and can serve as a ship's stabilization to slow down the left and right rolling and lateral movement of the observation platform. It can also enable the observation platform to have a lower center of gravity when in a sideways position, thereby improving the stability of the observation platform when sailing on the water.

[0060] The proposed observation platform can maneuver on the water surface under wind power. As an unmanned sailing platform, it can maneuver to any location and complete profile measurements during immersion and surfacing. This overcomes the shortcomings of current underwater gliders, which are unable to move against strong currents and quickly move from one profile observation point to another.

[0061] (2) A left counterweight 23 is fixed inside the left wing 21. The left counterweight 23 is fixed. A right counterweight 31 is fixed inside the right wing 30. The right counterweight 31 can slide along the axis of the right wing 30. By moving the position of the right counterweight 31 and coordinating the rotation of the battery pack built into the platform body, the center of gravity of the observation platform can be moved, so that the observation platform rotates around its central axis, thereby changing the position of the observation platform so that the observation platform can be in a horizontal position and / or a side position. Specifically: when the right counterweight 31 slides to a position symmetrical to the left counterweight 23, the torque generated by the left wing 20 and the right wing 30 on the platform body can be balanced, and the observation platform floats in the water in a horizontal position; when the right counterweight 31 slides to the outside of the right wing 30, a larger, offset torque can be generated, so that the observation platform rotates and adjusts to a side position and floats in the water.

[0062] In this embodiment, the control system of the observation platform can adjust the rotation angle of the left wing 22 according to the wind direction, so that the wing surface of the left wing 22 forms an optimal angle with the wind direction, thereby providing optimal driving force for the observation platform to navigate the water surface. The control system's method of controlling the left wing 22 to rotate to the optimal angle is a common method in the art and is not specifically limited here.

[0063] The surface sail-driven / underwater gliding dual-navigation mode observation platform of the present invention further includes a multifunctional tail assembly, which is arranged at the tail of the platform body 10 .

[0064] The multifunctional tail assembly includes two vertical tails 40 fixedly mounted on the top and bottom of the platform body 10, respectively. The central axes of the two vertical tails 40 are perpendicular to the central axis of the platform body 10. The two vertical tails 40 are fixedly mounted on the platform body 10 using a commonly used method in the art and are not specifically limited here.

[0065] The multifunctional tail assembly further includes a left tail 51 and a right tail 52 which are symmetrical and rotatable and are arranged on both sides of the platform body 10 .

[0066] In one embodiment of the present application, a drive assembly is provided within the platform body 10, and the drive assembly is used to drive the left and right tail wings 51, 52 to rotate. The drive assembly includes a second servo 53 and a second gear 54 meshing with the second servo 53; a second rotating shaft 55 is connected to the second gear 54, and the second rotating shaft 55 is parallel to the axial direction of the second gear 54. The two ends of the second rotating shaft 55 are respectively connected to the left and right tail wings 51, 52. The second servo 53 can drive the second gear 54 to rotate, and the rotation of the second gear 54 can drive the second rotating shaft 55 to rotate. The two ends of the second rotating shaft 55 are respectively fixedly connected to the left and right tail wings 51, 52. The rotation of the second rotating shaft 55 can simultaneously drive the left and right tail wings 51, 52 to rotate.

[0067] The second rotating shaft 55 is parallel to the axial direction of the second gear 54 , passes through the center of the second gear 54 , and is fixed to the second gear 54 . The fixing method can be a common method in this technical field and is not specifically limited here.

[0068] The second rotating shaft 55 extends through the platform body 10 at both ends. Through holes corresponding to the second rotating shaft 55 are provided on both sides of the platform body 10. Bearings that mate with the second rotating shaft 55 are mounted in these through holes. The mating method between the second rotating shaft 55 and the bearings can be a common method in the art and is not specifically limited here. The mating method between the second rotating shaft 55 and the bearings allows the second rotating shaft 55 to rotate smoothly and efficiently.

[0069] Both ends of the second rotating shaft 55 pass through the through holes respectively and are fixedly connected to the left tail wing 51 and the right tail wing 52 . The fixing method can be a common method in the technical field and is not specifically limited here.

[0070] A second mounting cavity 56 is also provided within the platform body 10 for mounting the second steering gear 53 and the second gear 54. The second steering gear 53 can be mounted on the wall of the second mounting cavity 56 using a commonly used mounting method in the art and is not specifically limited herein. The second gear 54 is rotatably mounted within the second mounting cavity 56 using a commonly used mounting method in the art and is not specifically limited herein.

[0071] A satellite communication antenna 57 is installed on the left tail wing 51. The satellite communication antenna 57 can be used for satellite communication signal transmission to transmit the detection signal to a shore-based or ship-based main control station.

[0072] The multifunctional tail assembly of this utility model can effectively improve the maneuverability and flexibility of the observation platform. Specifically:

[0073] (1) When the observation platform is sailing on the water surface, the observation platform is in a sideways position. By adjusting the rotation angles of the left tail 51 and the right tail 52, the left tail 51 and the right tail 52 can be used as rudders, thereby driving the observation platform to achieve a turning action for sailing on the water surface and adjusting the direction of the observation platform sailing on the water surface.

[0074] (2) Before the observation platform dives and sails, the left tail 51 and the right tail 52 can be adjusted to rotate at different angles so that the left tail 51 and the right tail 52 can be used as elevators, thereby adjusting the pitch attitude of the observation platform and making the observation platform dive or rise faster.

[0075] The surface sail-driven / underwater gliding dual-navigation mode observation platform of the present invention further includes a buoyancy adjustment module, which is installed at the head of the platform body 10 and is used to adjust the buoyancy of the platform body 10 .

[0076] The buoyancy control module includes an outer oil bladder 61, an inner oil bladder 62, an oil pump 63 for pumping oil from the inner oil bladder 62 into the outer oil bladder 61, and an oil pump motor 64 connected to the oil pump 63. The inlet and outlet of the oil pump 63 are connected to the inner and outer oil bladders 62 and 61, respectively, via oil pipelines equipped with check valves. An oil return line, equipped with a solenoid valve, also connects the outer and inner oil bladders 61 and 62.

[0077] When the oil is stored in the inner oil bladder 62, the observation platform has a small displacement, corresponding to the observation platform being in a submerged state (a horizontal position). When the oil is stored in the outer oil bladder 61, the observation platform has a large displacement, corresponding to the observation platform being in a floating state (a horizontal position) and a surface navigation state (a sideways position).

[0078] When it is necessary to control the observation platform to float up, the oil pump motor 64 drives the oil pump 63 to transport the oil in the inner oil bag 62 to the outer oil bag 61 through the oil pipeline, thereby expanding the outer oil bag 61. The increase in the volume of the outer oil bag 61 increases the buoyancy of the observation platform. When the buoyancy of the observation platform is greater than its own gravity, the observation platform floats up.

[0079] When it is necessary to control the observation platform to dive, the solenoid valve is opened, and the oil in the outer oil bag 61 flows back to the inner oil bag 62 through the return oil pipeline under the action of seawater pressure. The volume of the outer oil bag 61 decreases, and the buoyancy of the observation platform decreases accordingly. When the buoyancy of the observation platform is less than its own gravity, the observation platform dives.

[0080] The surface sail-driven / underwater gliding dual-navigation mode observation platform of the present invention further includes an eccentric gravity component, which is arranged near the tail of the platform body 10.

[0081] The eccentric gravity assembly includes a mounting device and a battery pack 71 mounted on the mounting device. The battery pack 71 can follow the mounting device and rotate around the central axis of the platform body 10 to adjust the center of gravity position of the observation platform.

[0082] The eccentric center of gravity assembly also includes a rotatable mounting device, which is used to mount the battery pack 71. The rotation of the mounting device can drive the battery pack 71 to rotate.

[0083] The eccentric center of gravity assembly further includes a rotating motor mechanism 74 , which can drive the mounting device and the battery pack 71 to rotate around the central axis of the platform body 10 .

[0084] The mounting device and the rotating motor mechanism 74 can be rotatably mounted inside the platform body 10 in a manner commonly used in the art, and no specific limitation is imposed herein.

[0085] The mounting device is an integral part, and can be integrally formed through a processing technique, or fixed as a whole through welding or bolt connection, and no specific limitation is made here.

[0086] The mounting device includes two oppositely arranged connecting plates 72 , which are connected by multiple connecting rods 73 ; the battery pack 71 is installed between the two connecting plates 72 , and the projected area of ​​the battery pack 71 on the connecting plates 72 is half the area of ​​the connecting plates 72 .

[0087] The center of gravity of the observation platform can be adjusted by rotating the battery pack 71. Specifically, when the battery pack 71 is rotated directly below the central axis of the platform body 10, the center of gravity of the observation platform can be moved directly downward. When the battery pack 71 is rotated directly to the right of the central axis of the platform body 10, the center of gravity of the observation platform can be moved directly to the right.

[0088] In this application, the battery pack 71 acts as an eccentric weight component, eliminating the need to provide a separate eccentric weight component inside the platform body 10. This allows the observation platform to have a compact structure and a reasonable layout, effectively saving load space and system weight inside the platform body.

[0089] The present application realizes the rotation of the observation platform around its central axis in the water by coordinating the positions of the left counterweight, the right counterweight, and the eccentric center of gravity assembly, thereby effectively changing the position of the observation platform so that the observation platform presents a horizontal position and / or a lateral position, and can realize two navigation modes: surface sailing and underwater gliding. The direction of the observation platform on the surface can be adjusted by the multifunctional wing assembly and the multifunctional tail assembly, and the pitch of the observation platform when sailing underwater can be adjusted; compared with traditional underwater gliders, the observation platform of the present application has added the ability to navigate on the surface of the water, the controllability of the adjustment of the navigation direction is enhanced, and the steering is flexible.

[0090] The method for controlling the underwater gliding navigation of the observation platform of the utility model includes:

[0091] By controlling the battery pack 71 to rotate to be directly below the central axis of the platform body 10 , the center of gravity of the observation platform can be moved directly below, thereby preventing the center of gravity of the observation platform from shifting.

[0092] By controlling the right counterweight 31 to move to a position symmetrical to the left counterweight 23 , the rotational torques on the left and right sides of the observation platform can be balanced.

[0093] By moving the center of gravity of the observation platform to the bottom and by moving the right counterweight 31 to a position symmetrical to the left counterweight 23, the observation platform can be rotated around its central axis and the observation platform can be rotated from a lateral position to a horizontal position. Figure 2 The figure shows a front view of the observation platform when it is in a horizontal position.

[0094] Control the observation platform to reduce its buoyancy and dive. Specifically, open the solenoid valve, and the oil in the outer oil bag 61 is pressed back into the inner oil bag 62 through the return oil pipeline under the action of seawater pressure. The volume of the outer oil bag 61 decreases, and the buoyancy of the observation platform decreases accordingly. When the buoyancy of the observation platform is less than its own weight, the observation platform starts to dive.

[0095] During the diving process of the observation platform, if it is necessary to turn the observation platform, the center of gravity of the observation platform can be slightly shifted by rotating the battery pack 71, so that the position of the observation platform is tilted to adjust the direction of the observation platform sailing underwater.

[0096] Since the buoyancy adjustment module is installed at the head of the platform body 10, when the buoyancy of the observation platform decreases, the observation platform will bow its head and dive underwater.

[0097] During the diving process of the observation platform, the rotation angles of the left tail 51 and the right tail 52 can be adjusted so that the left tail 51 and the right tail 52 can be used as elevators, thereby adjusting the pitch attitude of the observation platform and making the observation platform dive, which can help the observation platform dive and navigate at a faster speed.

[0098] The method for controlling the observation platform of the utility model to sail on the water surface includes:

[0099] Control the observation platform to increase its buoyancy and float upward; specifically: the oil pump motor 64 drives the oil pump 63 to transfer the oil in the inner oil bag 62 to the outer oil bag 61 through the oil pipeline, thereby expanding the outer oil bag 61. The increase in the volume of the outer oil bag 61 increases the buoyancy of the observation platform. When the buoyancy of the observation platform is greater than its own gravity, the observation platform floats upward.

[0100] After the observation platform floats to the surface of the water, the battery pack 71 is controlled to rotate to the right of the central axis of the platform body 10, so that the center of gravity of the observation platform can be moved to the right.

[0101] The right counterweight 31 is controlled to slide to the rightmost end of the right wing 30, generating a rotational moment of displacement on the observation platform. At the same time, the center of gravity of the observation platform moves to the right, so that the observation platform can be rotated from the horizontal position to the lateral position around the central axis. Figure 3 , which is a front view of the observation platform when it is in a lateral stereoscopic position.

[0102] When the observation platform is sailing on the water, the left wing 22 is extended out of the water. The observation platform's control system adjusts the angle of the left wing 22 according to the wind direction, so that the wing surface of the left wing 22 forms an optimal angle with the wind direction. The left wing 22 acts as a sail, and driven by the wind, it propels the observation platform on the water.

[0103] Driven by wind, the observation platform sails on the water surface. As an unmanned sailing platform, the observation platform can maneuver to any position and complete diving and surfacing profile measurements.

[0104] When the observation platform is sailing on the water in a sideways position, the rotation angles of the left tail 51 and the right tail 52 can be adjusted so that the left tail 51 and the right tail 52 can be used as horizontal navigation rudders, thereby driving the observation platform to achieve turning movements for surface navigation and adjust the direction of the observation platform sailing on the water.

[0105] When the observation platform is sailing on the water surface, the satellite communication antenna 57 extends out of the water surface, which can realize the real-time transmission of detection data.

[0106] It should be noted that in the description of this embodiment, the terms "left" and "right" and other terms indicating directions or positional relationships are determined based on the directions or positional relationships shown on the observation platform. This is for ease of description only and does not indicate or imply that the device or component must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, it should not be understood as a limitation on this application. In the description of this embodiment, the head of the observation platform is oriented "forward" and the tail of the observation platform is oriented "rearward." When the operator faces forward, the right hand is oriented "right" and the left hand is oriented "left."

[0107] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the above embodiments, it is still possible for a person skilled in the art to modify the technical solutions described in the above embodiments, or to replace some of the technical features therein with equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions claimed to be protected by the present invention.

Claims

1. A surface sail-driven / underwater gliding dual-navigation mode observation platform, comprising a platform body, characterized by: Also includes: a multifunctional wing assembly comprising a left wing and a right wing arranged symmetrically; The left wing includes a fixed left wing fixedly mounted on the side of the platform body, a rotatable left wing is provided on the outer side of the fixed left wing, and a left counterweight is fixedly mounted inside the fixed left wing; The right wing is fixedly mounted on the other side of the platform body, and a slidable right counterweight is provided in the right wing; A screw assembly is provided in the right wing, and the screw assembly is used to drive the right counterweight to slide; When the right counterweight slides to a position symmetrical to the left counterweight, the observation platform is in a horizontal position; When the right counterweight slides to the outside of the right wing, the observation platform is in a lateral position; The observation platform has two navigation modes: surface sail-driven navigation and underwater gliding navigation. When the observation platform is sail-driven navigation on the water surface, it presents a sideways position, and the fixed left wing, the platform body and the right wing are submerged in water; the rotating left wing extends out of the water and rotates to form an angle with the wind direction to drive the observation platform to sail on the water surface.

2. The surface sail-driven / underwater gliding dual-navigation mode observation platform according to claim 1, characterized in that: The observation platform further includes a multifunctional tail assembly, which includes a left tail and a right tail wing symmetrically and rotatably arranged at the tail of the platform body; When the observation platform is gliding underwater, the observation platform is in a horizontal position, and the left tail wing and the right tail wing are rotated to adjust the observation platform to perform pitch motion; When the observation platform is driven by the sail on the water surface, the observation platform is in a sideways position, and the right tail wing extends underwater; the direction of the observation platform sailing on the water surface is adjusted by rotating the right tail wing.

3. The surface sail-driven / underwater gliding dual-navigation mode observation platform according to claim 2, characterized in that: A satellite communication antenna is installed on the left tail wing. When the observation platform is sailing on the water surface, the satellite communication antenna extends out of the water.

4. The surface sail-driven / underwater gliding dual-navigation mode observation platform according to claim 2, characterized in that: The multifunctional tail assembly further includes two vertical tails fixedly arranged on the top and bottom of the platform body respectively, and the central axes of the two vertical tails are perpendicular to the axis of the platform body.

5. The surface sail-driven / underwater gliding dual-navigation mode observation platform according to claim 1, characterized in that: An eccentric gravity component is provided inside the observation platform, and the eccentric gravity component includes a battery pack; The battery pack can rotate around the central axis of the platform body to drive the observation platform to rotate around its central axis so that it presents a horizontal position and / or a lateral position.

6. The surface sail-driven / underwater gliding dual-navigation mode observation platform according to claim 1, characterized in that: The observation platform further comprises a buoyancy adjustment module, which is mounted on the head of the platform body; The buoyancy regulating module includes an outer oil bladder, an inner oil bladder and an oil pump, wherein the oil pump is used to pump the oil in the inner oil bladder into the outer oil bladder.

7. The surface sail-driven / underwater gliding dual-navigation mode observation platform according to claim 1, characterized in that: A driving assembly is provided in the platform body, and the driving assembly is used to drive the rotating left wing to rotate; The driving assembly includes a first steering gear and a first gear meshed with the first steering gear. The first gear is connected to a first rotating shaft, and the first rotating shaft is connected to the rotating left wing.

8. The surface sail-driven / underwater gliding dual-navigation mode observation platform according to claim 7, characterized in that: A through slot is provided in the fixed left wing, and the through slot extends in a direction perpendicular to the central axis of the platform body; the through slot extends into the platform body; The first rotating shaft can be rotatably fitted in the through slot and is fixedly connected to the rotating left wing.

9. The surface sail-driven / underwater gliding dual-navigation mode observation platform according to claim 1, characterized in that: A slide groove is provided in the right wing, and the slide groove is arranged along the axial direction of the right wing; The lead screw assembly is installed in the slide groove, and the lead screw assembly is used to drive the right counterweight block to slide in the slide groove.

10. The surface sail-driven / underwater gliding dual-navigation mode observation platform according to claim 9, characterized in that: The screw assembly includes a rotatable screw, and the right counterweight is connected to the screw; Two guide rods are provided in the slide groove, and the two guide rods are respectively located on both sides of the lead screw. The two guide rods are parallel to the lead screw, and the right counterweight block is slidably provided on the two guide rods.

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