A buoy fine depth adjustment system and adjustment method
By using spherical pressure-resistant chambers and hydraulic system modules in underwater floats, the volume of floats is adjusted by using the oil volume changes of the inner and outer oil capsules, the problems of inaccurate depth adjustment of floats and wall thickness in traditional systems are solved, and the floats are realized precise depth control and greater depth dive.
Patent Information
- Application Number
- CN201911325758.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2019-12-20
- Publication Date
- 2024-12-10
- Estimated Expiration
- 2039-12-20
AI Technical Summary
The depth adjustment system of traditional large-depth underwater floats is composed of screws, pistons and oil capsules, which requires customized oil capsules in the floats, and standard oil capsules cannot be used. As the depth increases, the wall thickness of the pressure-resistant body of the float increases. The failure to provide sufficient net buoyancy limits the depth of the buoy.
Float fine depth adjustment system including ball pressure resistant chamber, hydraulic system module, pressure acquisition module, pneumatic and temperature detection module, motor drive module and main control system, through high-pressure plunger pump, solenoid reversing valve and speed control valve, etc. The components use the oil volume changes of the internal and external oil capsules to adjust the total volume of the float to achieve depth control, avoiding the limitations of the screw structure and customized oil capsules.
The precise depth control of the float is achieved, the universality and diving depth of the float is improved, the ability to float to a large depth is able to simplify the system design, and the problem of insufficient compression resistance of the screw structure is avoided.
Smart Images
Figure CN110884616B_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the technical field of underwater buoy control, and in particular to a fine suspension depth adjustment system and adjustment method for a deep underwater buoy. Background Art
[0002] Underwater buoys include freshwater buoys and ocean buoys, which are mainly used for long-term data monitoring of different depths on the surface and underwater in a large range of ocean areas. The profile buoy is controlled by time sequence, automatically dives and drifts at a fixed depth underwater, and automatically floats to the sea surface when the predetermined time is reached. The current position of the buoy and related measurement data are then sent back to the onshore receiving center through the satellite system for analysis and research by relevant researchers.
[0003] The basic depth adjustment principle of existing large-depth buoys and 2000-meter buoys is to adjust the depth of the buoy by changing the volume of the internal and external oil bags, thereby changing the overall volume. For example, the ARGO 6000-meter buoy uses a hydraulic oil pump to discharge the hydraulic oil, uses a solenoid valve to control the opening and closing of the circuit, and uses vacuum back pressure (or the spring force of the oil bag) to suck back the hydraulic oil. Its buoyancy adjustment system is realized by a servo motor connected to a plunger cylinder through a screw rod to push the hydraulic oil into or out of the oil bag.
[0004] However, the traditional depth adjustment system consisting of a screw rod, a piston and an oil bag has the following disadvantages:
[0005] (1) In order to obtain the volume change of the oil bag, a potential indicator is added to the oil bag inside the float. In order to increase the inlet pressure of the oil pump suction end, a piston and spring with a large matching clearance are added to apply pre-pressure on the oil bag. Therefore, the oil bag needs to be customized and standardized oil bags cannot be used.
[0006] (2) In order to facilitate the layout of the internal screw rods of the equipment, the pressure-resistant body of the 2000-meter-class profile buoy is an aluminum alloy cylindrical tube. However, as the working depth increases, the wall thickness will also increase significantly, resulting in the buoy pressure-resistant body being unable to provide sufficient net buoyancy. Summary of the invention
[0007] The purpose of the present invention is to provide a buoy fine depth adjustment system and adjustment method to solve the above problems in view of the deficiencies in the prior art.
[0008] The technical problem solved by the present invention can be achieved by adopting the following technical solutions:
[0009] A buoy fine depth adjustment system includes a buoy body, a pressure-resistant cabin and a hydraulic system module. The pressure-resistant cabin is arranged in the buoy body. The hydraulic system module includes an outer oil bag and a high-pressure plunger pump, a check valve, an electromagnetic reversing valve, a speed regulating valve and an inner oil bag arranged in the pressure-resistant cabin. The electromagnetic reversing valve is a two-position three-way electromagnetic reversing valve. The P end of the electromagnetic reversing valve is connected to the inner oil bag through the check valve and the high-pressure plunger pump in sequence. The inner oil bag is arranged on the upper part of the high-pressure plunger pump and uses the gravity of the oil in the inner oil bag to suck oil for the high-pressure plunger pump. The T end of the electromagnetic reversing valve is connected to the inner oil bag through the speed regulating valve, and the A end of the electromagnetic reversing valve is connected to the outer oil bag.
[0010] Furthermore, the pressure cabin is a spherical structure, and the interior of the pressure cabin is a negative pressure environment with a negative pressure of 0.8 bar.
[0011] Furthermore, it also includes a pressure acquisition module, an air pressure and temperature detection module, a motor drive module, a relay module and a main control system, and the main control system is electrically connected to the pressure acquisition module, the air pressure and temperature detection module, the motor drive module, the relay module and the hydraulic system module respectively; the pressure acquisition module includes a pressure sensor, and the pressure sensor is installed on the outside of the buoy body; the air pressure and temperature detection module is used to detect the real-time air pressure and temperature information in the pressure cabin; the hydraulic system module is electrically connected to the motor drive module and the relay module respectively, the motor drive module is used to drive the high-pressure plunger pump, and the relay module is used to control the opening and closing of the electromagnetic reversing valve.
[0012] Furthermore, the main control system includes a single chip microcomputer, a storage module and a power management module. The storage module is used to store all data collected during the operation of the buoy body, and the power management module is used to distribute voltages to different circuit subsystems.
[0013] A method for fine depth adjustment of a buoy comprises the following steps:
[0014] Step 1: Set the total mass of the buoy, the minimum volume of the buoy, record the current state air pressure and temperature values, and calculate the initial state volume of the pressure chamber according to the ideal gas formula;
[0015] Step 2: Obtain the target suspension depth, calculate the density that the buoy needs to maintain in suspension, calculate the overall volume of the buoy based on the density, and finally calculate the oil volume in the inner and outer oil bags;
[0016] Step 3: Detect the current air pressure and temperature in the pressure cabin, calculate the gas volume in the cabin according to the ideal gas formula, calculate the oil volume in the current inner oil bag in combination with the initial state volume, and then calculate the oil volume in the outer oil bag, and finally obtain the change of the oil volume in the outer oil bag;
[0017] Step 4: When the amount of oil in the outer oil bag needs to be increased, the oil is pumped by the high-pressure plunger pump; otherwise, the electromagnetic reversing valve is opened to pressurize the oil in the outer oil bag into the inner oil bag through the pressure difference between the inside and outside of the pressure-resistant cabin;
[0018] Step 5: Detect the external real-time pressure, calculate the real-time depth of the buoy, and determine the stable suspension state, diving state and rising state of the buoy through real-time depth detection;
[0019] Step 6. When the main control system determines that the buoy is in a stable suspended state, compare the current depth with the suspended depth set in step 2. If the two are equal, the depth adjustment is successful. If not, continue to repeat steps 2 to 6.
[0020] Compared with the prior art, the present invention has the following beneficial effects:
[0021] The present invention can avoid the limitation of using customized internal and external oil bags of the buoy, simplify the system design and improve the versatility and universality of the buoy oil bag. The present invention avoids the use of a screw structure, and can adopt a circular buoy external structure with better pressure resistance and thinner wall thickness, thereby increasing the diving working depth of the buoy and achieving the goal of suspension to a large depth. The present invention includes a real-time feedback mechanism to achieve accurate suspension depth control. BRIEF DESCRIPTION OF THE DRAWINGS
[0022] Figure 1 It is a structural schematic diagram of the hydraulic system module described in the present invention.
[0023] Figure 2 This is a flow chart of the method for fine depth adjustment of a buoy described in the present invention.
[0024] Figure 3 It is a schematic structural diagram of the buoy fine depth adjustment system described in the present invention. DETAILED DESCRIPTION
[0025] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.
[0026] See also Figure 1 ~ and Figure 3The buoy fine depth adjustment system described in the present invention includes a buoy body, a pressure-resistant cabin 300 and a hydraulic system module, wherein the pressure-resistant cabin 300 is arranged in the buoy body. The hydraulic system module includes an outer oil bag 200 and a high-pressure plunger pump 101, a check valve 102, an electromagnetic reversing valve 103, a speed regulating valve 104 and an inner oil bag 100 arranged in the pressure-resistant cabin 300. The high-pressure plunger pump 101 is a micro ultra-high-pressure oil pump. The electromagnetic reversing valve 103 is a two-position three-way electromagnetic reversing valve 103, and the P end of the electromagnetic reversing valve 103 is connected to the inner oil bag 100 through the check valve 102 and the high-pressure plunger pump 101 in turn. The inner oil bag 100 is arranged on the upper part of the high-pressure plunger pump 101 and uses the gravity of the oil in the inner oil bag 100 to suck oil for the high-pressure plunger pump 101. The T end of the electromagnetic reversing valve 103 is connected to the inner oil bag 100 through the speed regulating valve 104 , and the A end of the electromagnetic reversing valve 103 is connected to the outer oil bag 200 .
[0027] This system uses a high suction plunger oil pump, and the inner oil bag is placed on the upper part of the oil pump. The gravity of the oil in the inner oil bag is used to suck oil for the oil pump. No additional air pump is required to provide suction pressure for the oil pump, saving the internal space of the pressure-resistant structure and reducing power consumption. A speed regulating valve is installed in the pipeline to ensure that when the buoy opens the solenoid valve at any depth, the flow rate of the hydraulic oil flowing from the outer oil bag back to the inner oil bag is basically fixed, ensuring the safety of the inner oil bag and providing a cut-off time reference value for the control program of the control system.
[0028] In the hydraulic system, hydraulic oil is stored in the inner oil bag 100 and the outer oil bag 200 of the pressure-resistant structure respectively. The inner oil bag 100 is in the internal vacuum environment of the pressure-resistant structure, so the absolute pressure is close to zero (the actual vacuum is about 0.2 bar). The hydraulic oil in the inner oil bag 100 is pressurized to the same pressure as the seawater by a hydraulic pump and then discharged into the outer oil bag 200, increasing the drainage volume of the outer oil bag 200, thereby achieving the buoyancy of the profile buoy. When the buoy needs to dive, the pipeline between the inner and outer oil bags 200 is connected, and the hydraulic oil in the outer oil bag 200 is automatically pressed back into the inner oil bag 100 in a near-vacuum state under the action of atmospheric pressure. The opening and closing of the hydraulic pipeline is controlled by a solenoid valve, and the flow of the return oil circuit is controlled by a check valve.
[0029] The pressure cabin 300 is a spherical structure, and the interior of the pressure cabin 300 is a negative pressure environment with a negative pressure of 0.8 bar.
[0030] It also includes a pressure acquisition module, an air pressure and temperature detection module, a motor drive module, a relay module and a main control system. The main control system is electrically connected to the pressure acquisition module, the air pressure and temperature detection module, the motor drive module, the relay module and the hydraulic system module respectively. The pressure acquisition module includes a pressure sensor and a data transmission protocol. The pressure sensor is installed on the outside of the buoy body and is in direct contact with the seawater. The pressure sensor is used to collect the pressure value of the water layer at the depth of the buoy, and send it to the main control system for further analysis according to the transmission protocol. The air pressure and temperature detection module includes a temperature sensor and a pressure sensor, which are used to detect the real-time air pressure and temperature information in the pressure-resistant cabin 300, and then calculate the pressure and temperature according to the ideal gas state equation. The change in the volume of the gas in the cabin is converted from the change in pressure, and then the change in the volume of the internal oil bag 100 is deduced. Considering that the space occupied by the gas in the pressure cabin 300 is complex in shape, the relationship between the change in the oil bag volume and the change in the gas volume needs to be measured. Therefore, it is necessary to give a corresponding curve between the volume of the internal oil bag 100 and the volume of the gas in the cabin through experiments, so as to establish V 油囊 ~V 气体 The hydraulic system module is electrically connected to the motor drive module and the relay module respectively. The motor drive module is used to drive the high-pressure plunger pump 101 , and the relay module is used to control the opening and closing of the electromagnetic reversing valve 103 .
[0031] The hydraulic system module is the main execution system. It receives the control command from the main control chip, adjusts the oil volume of the inner and outer oil bags, and thus adjusts the external total volume of the buoy to achieve accurate depth control of the buoy. The high-pressure plunger pump is mainly responsible for pumping the hydraulic oil of the inner oil bag out of the outer oil bag. The solenoid valve is mainly responsible for opening and closing another hydraulic circuit from the outer oil bag to the inner oil bag in the system.
[0032] The main control system includes a single-chip microcomputer, a storage module and a power management module. The single-chip microcomputer controls all functions of the buoy, the storage module is used to store all data collected during the operation of the buoy body, and the power management module is used to distribute voltages to different circuit subsystems. The motor drive module is responsible for driving the operation of the high-pressure pump.
[0033] A method for fine depth adjustment of a buoy comprises the following steps:
[0034] Step 1: The main control system sets the total mass of the buoy and the minimum volume of the buoy (the outer oil bag is empty and the inner oil bag is full of oil). Record the current state pressure and temperature values, and calculate the initial state volume of the pressure chamber according to the ideal gas formula.
[0035] Step 2: The system obtains the target suspension depth. The main control system calculates the density that the buoy needs to maintain in suspension, calculates the overall volume of the buoy based on the density, and finally calculates the amount of oil in the inner and outer oil bags.
[0036] Step 3: The air pressure and temperature detection module detects the current air pressure and temperature values in the pressure cabin, calculates the gas volume in the current cabin according to the ideal gas formula, calculates the current oil volume in the inner oil bag combined with the initial state volume, and then calculates the oil volume in the outer oil bag (total oil volume - inner oil bag oil volume), and finally obtains the change in the outer oil bag oil volume.
[0037] Step 4. When the oil volume in the outer oil bag needs to be increased, the main control system controls the high-pressure plunger pump to pump oil through the motor drive module; conversely, the electromagnetic reversing valve is opened through the relay module, and the oil in the outer oil bag is pressed into the inner oil bag through the pressure difference between the inside and outside of the pressure cabin (the outside of the cabin is seawater pressure, and the inside of the cabin is close to a vacuum state).
[0038] Step 5: Detect the external real-time pressure through the pressure detection module and calculate the real-time depth of the buoy. Determine the stable suspension state, diving state and rising state of the buoy through real-time depth detection.
[0039] Step 6. When the main control system determines that the buoy is in a stable suspended state, compare the current depth with the suspended depth set in step 2. If the two are equal, the depth adjustment is successful. If not, continue to repeat steps 2 to 6.
[0040] A large amount of sampling data has proven that there is a functional relationship between the density of seawater and depth. The principle of the buoy floating up and down is also achieved by changing its own volume (essentially changing the density). Combining the above two points, the relationship between depth and buoy density is obtained. The control algorithm applies this principle to enable the user to set a certain depth value. The system calculates the seawater density (i.e., buoy density) at this depth based on the depth value. The hydraulic system changes the external volume of the buoy by adjusting the amount of oil in the oil bags inside and outside the buoy to reach the previously calculated density. Under the sub-density, the buoy naturally floats to the target depth.
[0041] The present invention adopts a new hydraulic system, which enables the buoy to fully use standard oil bags that meet the design requirements, thereby improving the universality of the buoy; and simplifies the internal structure and is not limited to the cylindrical buoy shape, so that a circular structure with thinner walls and greater pressure resistance can be used, so that it can dive to a deeper depth.
[0042] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.
Claims
1. A method for fine depth adjustment of a buoy, Features: The buoy fine depth adjustment system includes a buoy body, a pressure-resistant cabin and a hydraulic system module. The pressure-resistant cabin is arranged in the buoy body, and is characterized in that: the hydraulic system module includes an outer oil bag and a high-pressure plunger pump, a check valve, an electromagnetic reversing valve, a speed regulating valve and an inner oil bag arranged in the pressure-resistant cabin. The electromagnetic reversing valve is a two-position three-way electromagnetic reversing valve. The P end of the electromagnetic reversing valve is connected to the inner oil bag through the check valve and the high-pressure plunger pump in sequence. The inner oil bag is arranged on the upper part of the high-pressure plunger pump and uses the gravity of the oil in the inner oil bag to suck oil for the high-pressure plunger pump. The T end of the electromagnetic reversing valve is connected to the inner oil bag through the speed regulating valve, and the A end of the electromagnetic reversing valve is connected to the outer oil bag; The pressure cabin is a spherical structure, and the interior of the pressure cabin is a negative pressure environment of 0.8 bar; It also includes a pressure acquisition module, an air pressure and temperature detection module, a motor drive module, a relay module and a main control system, and the main control system is electrically connected to the pressure acquisition module, the air pressure and temperature detection module, the motor drive module, the relay module and the hydraulic system module respectively; the pressure acquisition module includes a pressure sensor, and the pressure sensor is installed on the outside of the buoy body; the air pressure and temperature detection module is used to detect the real-time air pressure and temperature information in the pressure-resistant cabin; the hydraulic system module is electrically connected to the motor drive module and the relay module respectively, the motor drive module is used to drive the high-pressure plunger pump, and the relay module is used to control the opening and closing of the electromagnetic reversing valve; The buoy fine depth adjustment method includes the following steps: Step 1: Set the total mass of the buoy, the minimum volume of the buoy, record the current state air pressure and temperature values, and calculate the initial state volume of the pressure chamber according to the ideal gas formula; Step 2: Obtain the target suspension depth, calculate the density that the buoy needs to maintain in suspension, calculate the overall volume of the buoy based on the density, and finally calculate the oil volume in the inner and outer oil bags; Step 3: Detect the current air pressure and temperature in the pressure cabin, calculate the gas volume in the cabin according to the ideal gas formula, calculate the oil volume in the current inner oil bag in combination with the initial state volume, and then calculate the oil volume in the outer oil bag, and finally obtain the change of the oil volume in the outer oil bag; Step 4: When the amount of oil in the outer oil bag needs to be increased, the oil is pumped by the high-pressure plunger pump; otherwise, the electromagnetic reversing valve is opened to pressurize the oil in the outer oil bag into the inner oil bag through the pressure difference between the inside and outside of the pressure-resistant cabin; Step 5: Detect the external real-time pressure, calculate the real-time depth of the buoy, and determine the stable suspension state, diving state and rising state of the buoy through real-time depth detection; Step 6. When the main control system determines that the buoy is in a stable suspended state, compare the current depth with the suspended depth set in step 2. If the two are equal, the depth adjustment is successful. If not, continue to repeat steps 2 to 6.
2. The method for fine depth adjustment of a buoy according to claim 1, Features: The main control system includes a single chip microcomputer, a storage module and a power management module. The storage module is used to store all data collected during the operation of the buoy body, and the power management module is used to distribute voltages to different circuit subsystems.