A mass center and buoyancy center adjustable and controllable buoyancy adjustment attitude controller

Abstract

The present invention discloses a buoyancy adjustment attitude controller with adjustable center of mass and buoyancy, comprising a watertight pressure-resistant cabin, a left rigid inner oil bag, a left rigid outer oil bag, a right rigid inner oil bag, and a right rigid outer oil bag. A left inner piston and a right inner piston are arranged in the watertight pressure-resistant cabin. The left inner piston, the watertight pressure-resistant cabin cylinder, and the left cover of the watertight pressure-resistant cabin together form the left rigid inner oil bag. The right inner piston, the watertight pressure-resistant cabin cylinder, and the right cover of the watertight pressure-resistant cabin together form the right rigid inner oil bag. The beneficial effects of the present invention are: when the left and right buoyancy regulators perform differential buoyancy adjustment control, dual control of buoyancy adjustment and attitude adjustment can be achieved. The buoyancy regulator can achieve a composite leftward or rightward shift of the buoyancy regulator's buoyancy center and center of mass while the buoyancy is increased or decreased. The adjustment control mode is diverse and flexible, and can meet the needs of an adjustment platform that needs both buoyancy adjustment and attitude control. It has the outstanding advantages of flexible adjustment mode and wide application.

Description

Technical Field

[0001] The invention relates to buoyancy regulation control, in particular to a buoyancy regulation attitude controller with adjustable and controllable center of mass and center of buoyancy. Background Art

[0002] After long-term research by the inventor, it is found that although the existing buoyancy adjustment device for underwater equipment can complete the relevant buoyancy adjustment control when performing buoyancy adjustment, it still has the following shortcomings:

[0003] 1. The buoyancy center change caused by the buoyancy regulator itself during the buoyancy adjustment process is uncontrollable;

[0004] 2. Secondly, as the buoyancy adjustment proceeds, the center of mass of the system also changes due to the change in volume of the hydraulic oil in the internal and external oil bags due to the pumping and drainage, and the system cannot be adjusted and controlled by itself;

[0005] 3. The changes in the center of mass and center of buoyancy of the buoyancy adjustment during the buoyancy adjustment process affect the attitude of the buoyancy adjustment mother platform, requiring the addition of additional attitude control devices, which increases the complexity of the system, adds additional dead weight, and is not conducive to the attitude control of the relevant platform. Summary of the invention

[0006] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a buoyancy adjustment attitude controller with adjustable center of mass and center of buoyancy.

[0007] The objective of the present invention is achieved through the following technical scheme: comprising a watertight pressure-resistant cabin, wherein the watertight pressure-resistant cabin is provided with a closed air chamber, a left rigid inner oil bag and a right rigid inner oil bag, wherein the left rigid inner oil bag is located on the left side of the closed air chamber, and the right rigid inner oil bag is located on the right side of the closed air chamber, and the volumes of the closed air chamber, the left rigid inner oil bag and the right rigid inner oil bag are all variable, a left rigid outer oil bag with a variable volume is also provided on the left side of the left rigid inner oil bag, and a right rigid outer oil bag with a variable volume is also provided on the right side of the right rigid inner oil bag, and a left buoyancy adjustment laser displacement sensor, a right buoyancy adjustment laser displacement sensor, and a buoyancy sensor are installed in the closed air chamber. The buoyancy adjustment control system and the hydraulic power system are configured to: a left rigid outer oil bag and a left rigid inner oil bag are both connected to the hydraulic power system through the left buoyancy adjustment hydraulic pipeline, and a right rigid outer oil bag and a right rigid inner oil bag are both connected to the hydraulic power system through the right buoyancy adjustment hydraulic pipeline. The left buoyancy adjustment laser displacement sensor is used to detect the volume change of the left rigid inner oil bag, and the right buoyancy adjustment laser displacement sensor is used to detect the volume change of the right rigid inner oil bag. The left buoyancy adjustment laser displacement sensor and the right buoyancy adjustment laser displacement sensor are both connected to the buoyancy adjustment control system, and the buoyancy adjustment control system is also connected to the hydraulic power system.

[0008] Optionally, the watertight pressure-resistant cabin is composed of a watertight pressure-resistant cabin cylinder, a left cover plate of the watertight pressure-resistant cabin, and a right cover plate of the watertight pressure-resistant cabin.

[0009] Optionally, a left inner piston and a right inner piston are provided in the watertight pressure cabin, the left inner piston, the watertight pressure cabin cylinder and the left cover plate of the watertight pressure cabin together form a left rigid inner oil bag, the right inner piston, the watertight pressure cabin cylinder and the right cover plate of the watertight pressure cabin together form a right rigid inner oil bag, the left inner piston, the right inner piston and the watertight pressure cabin cylinder together form a closed air chamber, the left buoyancy adjustment laser displacement sensor is used to detect the displacement of the left inner piston, and the right buoyancy adjustment laser displacement sensor is used to detect the displacement of the right inner piston.

[0010] Optionally, a left rigid outer oil bladder cylinder is connected to the outer side of the left cover plate of the watertight pressure-resistant cabin, a left outer piston is arranged in the left rigid outer oil bladder cylinder, and the left outer piston, the left rigid outer oil bladder cylinder and the left cover plate of the watertight pressure-resistant cabin together constitute a left rigid outer oil bladder.

[0011] Optionally, a right rigid outer oil bladder cylinder is connected to the outer side of the right cover plate of the watertight pressure-resistant cabin, a right outer piston is arranged in the right rigid outer oil bladder cylinder, and the right outer piston, the right rigid outer oil bladder cylinder and the right cover plate of the watertight pressure-resistant cabin together constitute the right rigid outer oil bladder.

[0012] Optionally, a left filter protection cover is provided at the end of the left rigid outer oil bag cylinder.

[0013] Optionally, a right filter protection cover is provided at the end of the right rigid outer oil bag cylinder.

[0014] The present invention has the following advantages:

[0015] 1. The use of pressure-balanced rigid internal and external oil bags ensures that the hydraulic oil of the buoyancy adjustment medium is constrained in a rigid body with regular geometric shape without pores during the buoyancy adjustment process. The buoyancy adjustment hydraulic oil will not shake due to the shaking of the buoyancy regulator. During the buoyancy adjustment process, the adjustment hydraulic oil changes regularly along the main axis of the buoyancy regulator under the constraint of the regular geometric body, ensuring the stable change of the center of mass during the adjustment process. The system will not have the problem of unstable center of mass caused by the shaking of the liquid medium in the unconstrained state during the buoyancy adjustment process;

[0016] 2. The pressure-balanced rigid external oil bag structure can make the structural dimensions of the rigid external oil bag related parts not affected by the change of the working water depth, that is, the dimensions of the rigid external oil bag structural parts have nothing to do with the working water depth, so it can be made very light and thin, greatly reducing the weight of the system;

[0017] 3. The left and right inner pistons that also constitute the rigid inner oil bag are only the partitions between the hydraulic oil in the left and right rigid inner oil bags and the inner cavity of the watertight pressure-resistant cabin. The oil chamber pressure on the left and right sides of the inner piston is balanced with the pressure of the closed air chamber. Therefore, the relevant structure is not affected by the working water depth. The relevant structure can also be made quite light and thin, which greatly reduces the weight of the system structure, making the buoyancy regulator structure more compact, light and practical.

[0018] 4. The buoyancy adjustment laser displacement sensor measures the displacement of the inner piston, and indirectly calculates the buoyancy adjustment volume according to the volume change of the cylindrical geometric body of the rigid inner oil bag, which greatly improves the buoyancy adjustment accuracy. Compared with the traditional flow meter buoyancy regulator, it does not require zero calibration every time it works, and there is no cumulative error. Once the system benchmark is set, it is long-term stable, so the repeatable accuracy level of the buoyancy regulator of the present invention is greatly improved;

[0019] 5. The left-right symmetrical dual buoyancy regulator design ensures that the center of buoyancy and center of mass of the system will not change when the buoyancy is increased or decreased symmetrically and synchronously, which is conducive to the stability of the buoyancy regulator installation platform itself.

[0020] 6. When the left and right buoyancy regulators perform differential buoyancy adjustment control, dual control of buoyancy adjustment and attitude adjustment can be achieved. The buoyancy regulator can realize the compound leftward or rightward movement of the buoyancy center and the center of mass of the buoyancy regulator while the buoyancy increases or decreases. Its adjustment control methods are diverse and flexible, which can meet the application requirements of those adjustment platforms that require both buoyancy adjustment and attitude control. Compared with other existing types of buoyancy regulators, it has the outstanding advantages of flexible adjustment methods and wide application.

[0021] 7. This buoyancy regulator combines the functions of buoyancy adjustment and center of gravity adjustment, which can save the relevant center of gravity adjustment mechanism and simplify the complexity of the relevant system. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A schematic diagram of the structure of the present invention

[0023] In the figure, 1-watertight pressure cabin, 201-left buoyancy adjustment laser displacement sensor, 202-right buoyancy adjustment laser displacement sensor, 3-buoyancy adjustment control system, 4-watertight pressure cabin cylinder, 501-left inner piston, 601-left rigid inner oil bladder, 7-left cover of watertight pressure cabin, 801-left rigid outer oil bladder, 901-left outer piston, 1401-left filter protection cover, 1001-left rigid outer oil bladder cylinder, 1101-left buoyancy adjustment hydraulic pipeline, 12-hydraulic power system, 1102-right buoyancy adjustment hydraulic pipeline, 1002-right rigid outer oil bladder cylinder, 1402-right filter protection cover, 902-right outer piston, 802-right rigid outer oil bladder, 13-right cover of watertight pressure cabin, 602-right rigid inner oil bladder, 502-right inner piston. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0025] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] It should be noted that the embodiments and features of the embodiments of the present invention can be combined with each other without conflict. The core of the present invention is to explain an innovative thinking and innovative technical principles. Any use of this principle and idea is within the protection scope of the present invention.

[0027] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0028] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the product of the invention is usually placed when in use, or the positions or positional relationships commonly understood by those skilled in the art, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0029] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0030] like Figure 1 As shown, a buoyancy-adjustable attitude controller with adjustable center of mass and buoyancy includes a watertight pressure-resistant cabin 1, wherein the watertight pressure-resistant cabin 1 has a closed air chamber, a left rigid inner oil bag 601 and a right rigid inner oil bag 602, and the left rigid inner oil bag 601 is located on the left side of the closed air chamber, and the right rigid inner oil bag 602 is located on the right side of the closed air chamber, and the volumes of the closed air chamber, the left rigid inner oil bag 601 and the right rigid inner oil bag 602 are all variable, and a left rigid outer oil bag 801 with a variable volume is also provided on the left side of the left rigid inner oil bag 601, and a right rigid outer oil bag 802 with a variable volume is also provided on the right side of the right rigid inner oil bag 602.

[0031] In the present embodiment, the watertight pressure-resistant cabin cylinder 4, the left cover plate 7 of the watertight pressure-resistant cabin, and the right cover plate 13 of the watertight pressure-resistant cabin are enclosed to form a watertight pressure-resistant cabin 1, and a left inner piston 501 and a right inner piston 502 are arranged in the watertight pressure-resistant cabin 1. The left inner piston 501, the watertight pressure-resistant cabin cylinder 4, and the left cover plate 7 of the watertight pressure-resistant cabin are enclosed to form a left rigid inner oil bag 601, and the right inner piston 502, the watertight pressure-resistant cabin cylinder 4, and the right cover plate 13 of the watertight pressure-resistant cabin are enclosed to form a right rigid inner oil bag 602. The left inner piston 501, the right inner piston 502 and the watertight pressure-resistant cabin cylinder 4 are enclosed to form a closed air chamber, and a left buoyancy adjustment laser displacement sensor 201 and a right buoyancy adjustment laser displacement sensor 202 are installed in the closed air chamber. The buoyancy adjustment laser displacement sensor 202, the buoyancy adjustment control system 3, and the hydraulic power system 12, the left buoyancy adjustment laser displacement sensor 201 and the right buoyancy adjustment laser displacement sensor 202 are commercially available products, while the buoyancy adjustment control system 3 and the hydraulic power system 12 are both prior art. The left buoyancy adjustment laser displacement sensor 201 is used to detect the displacement of the left inner piston 501, so the left buoyancy adjustment laser displacement sensor 201 can detect the volume change of the left rigid inner oil bag 601, and the right buoyancy adjustment laser displacement sensor 202 is used to detect the displacement of the right inner piston 502, so the right buoyancy adjustment laser displacement sensor 20 2 can detect the volume change of the right rigid inner oil bag 602, the left buoyancy adjustment laser displacement sensor 201 and the right buoyancy adjustment laser displacement sensor 202 are connected to the buoyancy adjustment control system 3, and the buoyancy adjustment control system 3 is also connected to the hydraulic power system 12. The outer side of the left cover plate 7 of the watertight pressure cabin is connected to the left rigid outer oil bag cylinder 1001, and the left rigid outer oil bag cylinder 1001 is provided with a left outer piston 901. The left outer piston 901, the left rigid outer oil bag cylinder 1001 and the left cover plate 7 of the watertight pressure cabin are surrounded to form the left rigid outer oil bag 801, and the outer side of the right cover plate 13 of the watertight pressure cabin is connected to the right rigid outer oil bag cylinder 1002 A right outer piston 902 is arranged in the right rigid outer oil bladder cylinder 1002. The right outer piston 902, the right rigid outer oil bladder cylinder 1002 and the right cover plate 13 of the watertight pressure-resistant cabin together constitute the right rigid outer oil bladder 802. The left rigid outer oil bladder 801 and the left rigid inner oil bladder 601 are both connected to the hydraulic power system 12 through the left buoyancy regulating hydraulic pipeline 1101. The right rigid outer oil bladder 802 and the right rigid inner oil bladder 602 are both connected to the hydraulic power system 12 through the right buoyancy regulating hydraulic pipeline 1102. The right rigid outer oil bladder 802, the right rigid inner oil bladder 602, the left rigid outer oil bladder 801 and the left rigid inner oil bladder 601 are all filled with hydraulic oil.

[0032] In this embodiment, the left inner piston 501, the left outer piston 901, the right inner piston 502, the right outer piston 902, the watertight pressure chamber cylinder 4, the watertight pressure chamber left cover plate 7, the watertight pressure chamber right cover plate 13, the left rigid outer oil bladder cylinder 1001, and the right rigid outer oil bladder cylinder 1002 are completely identical in diameter geometric dimensions, so that the controller can form a left-right symmetrical structure in the initial state.

[0033] In this embodiment, a left filter protection cover 1401 is provided at the end of the left rigid outer oil bladder cylinder 1001, and a right filter protection cover 1402 is provided at the end of the right rigid outer oil bladder cylinder 1002. The left filter protection cover 1401 can prevent foreign matter from entering the inner wall of the left rigid outer oil bladder cylinder 1001 and the left outer piston 901, and the right filter protection cover 1402 can prevent foreign matter from entering the inner wall of the right rigid outer oil bladder cylinder 1002 and the right outer piston 902.

[0034] The working process of the present invention is as follows:

[0035] When the buoyancy of the left buoyancy regulator needs to be increased, the hydraulic oil in the left rigid inner oil bag 601 is extracted through the hydraulic power system 12 and discharged into the left rigid outer oil bag 801. The left inner piston 501 moves to the left under the pressure of the closed air chamber of the watertight pressure-resistant cabin 1. The hydraulic oil in the left rigid outer oil bag 801 generates a pressure slightly greater than the ambient water pressure under the pressure of the hydraulic oil discharged by the hydraulic power system 12, pushing the left outer piston 901 to move synchronously to the left. The displacement volume of the left buoyancy regulator increases, and the buoyancy of the left side increases. Conversely, when the buoyancy of the left buoyancy regulator needs to be reduced, the hydraulic The pressure power system 12 draws out the hydraulic oil in the left rigid outer oil bag 801 and discharges it into the left rigid inner oil bag 601. The left inner piston 501 moves to the right under the push of the hydraulic oil, and the left outer piston 901 moves to the right under the action of the ambient water pressure. The displacement volume of the left buoyancy regulator decreases and the buoyancy of the left side decreases. The left buoyancy adjustment laser displacement sensor 201 monitors the displacement of the left inner piston 501 in real time, and calculates the real-time buoyancy and center of mass changes on the left side. The buoyancy adjustment principle of the right buoyancy regulator is the same as that of the left buoyancy regulator, so it will not be repeated.

[0036] Obviously, during the buoyancy adjustment and control process, the total mass of the buoyancy regulator remains unchanged. Whenever the buoyancy adjustment is performed, the essence is that the volume of the hydraulic oil enclosed in the left and right inner and outer oil bags changes, thereby achieving a change in the total displacement volume of the buoyancy regulator and realizing buoyancy adjustment control. Since the hydraulic oil enclosed in the left and right inner and outer oil bags during the left and right buoyancy adjustment process is approximately a rigid body, its movement process is regular, so when it moves, it is equivalent to a mass block moving, similar to the weights of a balance. Therefore, when the left and right buoyancy adjustments are equal in size and increase or decrease synchronously, the left and right buoyancy centers and center of mass changes of the buoyancy regulator are symmetrical, which can offset each other's center of mass and buoyancy changes, thereby achieving the purpose of keeping the total buoyancy center and center of mass unchanged.

[0037] When it is necessary to achieve the purpose of changing the center of mass and the center of buoyancy while adjusting the buoyancy, for example, when the buoyancy increases, the center of mass and the center of buoyancy need to move leftward to achieve the overall center of mass and buoyancy of the carrying platform moving leftward, the left buoyancy regulator can be adjusted to increase the buoyancy, while the right buoyancy regulator can be adjusted to reduce the buoyancy. The absolute value of the buoyancy increased by the left buoyancy regulator is greater than the absolute value of the buoyancy reduced by the right buoyancy regulator. The difference between the two reaches the adjustment value of the set buoyancy increase. At this time, the inner and outer buoyancy adjustment pistons equivalent to the weights and the hydraulic oil filled inside have achieved a large left shift, realizing the left shift of the center of mass. The degree of left shift of the center of mass depends on the size of the buoyancy reduction value on the buoyancy reduction side and the amplitude relationship with the increase of the overall positive buoyancy. The two can be flexibly set according to the relevant mathematical model; the buoyancy adjustment relationship on both sides can also be increased at the same time, but the different buoyancy increase values ​​on both sides can also achieve the purpose of small-scale adjustment and control of the center of mass and the center of buoyancy. The relevant specific relationship can be flexibly controlled according to the actual situation according to the relevant mathematical model. Similarly, the center of buoyancy and the center of mass can be moved rightward while the buoyancy increases.

[0038] In this embodiment, according to the above control principle, it is obvious that when the buoyancy reduction control operation is performed, the purpose of adjusting the center of mass and the center of buoyancy can also be achieved through the differentiated control of the buoyancy adjustment on both sides, thereby realizing the posture adjustment control while adjusting the buoyancy.

[0039] Obviously, the geometric shape of the buoyancy adjustment hydraulic oil is constrained by the relevant piston, and it cannot be deformed during the adjustment process. Obviously, its shape is regular, which is conducive to the stable control of the center of mass and the predictive control calculation of the change of the center of mass and buoyancy. Therefore, its advantages in buoyancy adjustment and attitude control are obvious. At the same time, the application of the buoyancy adjustment laser displacement sensor also greatly improves the buoyancy adjustment accuracy of the relevant adjustment control compared with the traditional oil bag flowmeter buoyancy regulator.

[0040] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A mass center and buoyancy center adjustable and controllable buoyancy adjustment attitude controller, characterized in that: The invention comprises a watertight pressure-resistant cabin, wherein the watertight pressure-resistant cabin has a closed air chamber, a left rigid inner oil bag and a right rigid inner oil bag, and the left rigid inner oil bag is located on the left side of the closed air chamber, and the right rigid inner oil bag is located on the right side of the closed air chamber, and the volumes of the closed air chamber, the left rigid inner oil bag and the right rigid inner oil bag are all variable, a left rigid outer oil bag with a variable volume is also arranged on the left side of the left rigid inner oil bag, and a right rigid outer oil bag with a variable volume is also arranged on the right side of the right rigid inner oil bag, and a left buoyancy adjustment laser displacement sensor and a right buoyancy adjustment laser displacement sensor are installed in the closed air chamber. Optical displacement sensor, buoyancy adjustment control system, hydraulic power system, the left rigid outer oil bag and the left rigid inner oil bag are connected to the hydraulic power system through the left buoyancy adjustment hydraulic pipeline, the right rigid outer oil bag and the right rigid inner oil bag are connected to the hydraulic power system through the right buoyancy adjustment hydraulic pipeline, the left buoyancy adjustment laser displacement sensor is used to detect the volume change of the left rigid inner oil bag, the right buoyancy adjustment laser displacement sensor is used to detect the volume change of the right rigid inner oil bag, and the left buoyancy adjustment laser displacement sensor and the right buoyancy adjustment laser displacement sensor are used to detect the volume change of the right rigid inner oil bag. The displacement sensors are all connected to the buoyancy adjustment control system, and the buoyancy adjustment control system is also connected to the hydraulic power system. A left inner piston and a right inner piston are arranged in the watertight pressure-resistant cabin. The left inner piston, the watertight pressure-resistant cabin cylinder, and the left cover of the watertight pressure-resistant cabin together form a left rigid inner oil bag. The right inner piston, the watertight pressure-resistant cabin cylinder, and the right cover of the watertight pressure-resistant cabin together form a right rigid inner oil bag. The left inner piston, the right inner piston, and the watertight pressure-resistant cabin cylinder together form a closed air chamber. The left buoyancy adjustment laser displacement sensor is used to detect the displacement of the left inner piston. The right buoyancy adjustment laser displacement sensor is used to detect the displacement of the right inner piston; the outer side of the left cover plate of the watertight pressure cabin is connected to the left rigid outer oil bladder cylinder, and the left rigid outer oil bladder cylinder is provided with a left outer piston, and the left outer piston, the left rigid outer oil bladder cylinder and the left cover plate of the watertight pressure cabin together constitute the left rigid outer oil bladder; the outer side of the right cover plate of the watertight pressure cabin is connected to the right rigid outer oil bladder cylinder, and the right rigid outer oil bladder cylinder is provided with a right outer piston, and the right outer piston, the right rigid outer oil bladder cylinder and the right cover plate of the watertight pressure cabin together constitute the right rigid outer oil bladder.

2. A mass center and buoyancy center adjustable and controllable buoyancy adjustment attitude controller according to claim 1, characterized in that: The watertight pressure-resistant cabin is composed of the watertight pressure-resistant cabin cylinder, the watertight pressure-resistant cabin left cover plate, and the watertight pressure-resistant cabin right cover plate.

3. A mass center and buoyancy center adjustable and controllable buoyancy adjustment attitude controller according to claim 2, characterized in that: A left filter protection cover is arranged at the end of the left rigid outer oil bag cylinder.

4. A mass center and buoyancy center adjustable and controllable buoyancy adjustment attitude controller according to claim 3, characterized in that: A right filter protection cover is arranged at the end of the right rigid outer oil bag cylinder.

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