Underwater glider and method for automatically obtaining gliding angle

Abstract

The present invention relates to the field of glider technology, and discloses an underwater glider and method for automatically obtaining a gliding angle. The underwater glider includes a glider body, a gliding board, and a connector. The glider body is provided with a buoyancy drive module. One end of the connector is fixed to the glider body, and the other end of the connector is connected to the gliding board. The connection point between the connector and the gliding board is located forward of the gliding board's centroid, and the gliding board is rotatable relative to the glider body. The present invention does not require the longitudinal movement of an internal mass block in the glider body and consumes no energy. This simplifies the internal control mechanism of the glider body, reduces design requirements for the underwater glider, and saves costs.

Description

Technical Field

[0001] The present invention relates to the technical field of gliders, and in particular to an underwater glider and a method for automatically obtaining a gliding angle. Background Art

[0002] Currently, the horizontal wings of underwater gliders are usually fixed. When gliding underwater, the fixed horizontal wings rely on the longitudinal adjustment of the glider's internal center of gravity and the hydrodynamic forces acting during the movement to form the glide angle. Although the horizontal wings of some underwater gliders can rotate, the rotating horizontal wings can only adjust the rotation angle slightly, making it difficult to obtain a sufficient glide angle. Moreover, both fixed and rotating horizontal wings require a drive device such as a motor to push the mass block in the pressure cabin to move longitudinally to obtain the glide angle, resulting in a complex internal control mechanism and a limited glide angle. For example, when the distance between the center of gravity and the center of buoyancy of the underwater glider is large, the movement of the internal mass block cannot tilt the main structure to a sufficient angle, and thus cannot obtain a sufficient glide angle. Summary of the Invention

[0003] In view of the above problems, the purpose of the present invention is to provide an underwater glider and method for automatically obtaining a gliding angle, so as to solve the problem that the existing underwater glider needs to push the internal mass block to move longitudinally to obtain the gliding angle, and the obtained gliding angle is limited.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions:

[0005] One aspect of the present invention is to provide an underwater glider that automatically obtains a gliding angle, comprising a glider body, a gliding board and a connecting member, wherein a buoyancy drive module is provided in the glider body, one end of the connecting member is fixed to the glider body, and the other end of the connecting member is connected to the gliding board, and the connection point between the connecting member and the gliding board is located in front of the centroid of the gliding board, and the gliding board is rotatable relative to the glider body.

[0006] Preferably, the connecting member is an elastic connecting member, and the elastic connecting member is bendable relative to the glider body.

[0007] Preferably, the underwater glider further comprises a limiter, which is installed at the end of the connecting member and is used to limit the rotation angle of the gliding board.

[0008] Preferably, the connecting member is a spring.

[0009] Preferably, the underwater glider further comprises a rotating assembly, the rotating assembly is provided at the end of the connecting member, and the gliding board is connected to the rotating assembly.

[0010] Preferably, the underwater glider further includes a limiting assembly, and the limiting assembly is installed on the rotating assembly to limit the rotating angle of the rotating assembly.

[0011] Preferably, the rotating assembly includes a rotating shaft and a rotating wheel, the rotating shaft is fixed on the connecting member, the rotating wheel is rotatably mounted on the rotating shaft, and the gliding board is connected to the rotating wheel.

[0012] Preferably, the limiting assembly includes a baffle and a limiting block, the baffle is mounted on the rotating wheel, and the limiting block is mounted on the rotating shaft.

[0013] Preferably, the underwater glider further includes a fixing member connected to the connecting member for fixing the connecting member and the gliding board.

[0014] Another aspect of the present invention is to provide a method for the underwater glider to automatically obtain a gliding angle, comprising:

[0015] Using buoyancy drive modules to provide buoyancy for underwater gliders;

[0016] When the net buoyancy of the underwater glider is negative, the underwater glider sinks, and the gliding board set on the underwater glider rotates and tilts forward under the action of hydrodynamic force, so that the underwater glider glides downward and forward; when the net buoyancy of the underwater glider is positive, the underwater glider floats up, and the gliding board rotates and tilts backward under the action of hydrodynamic force, so that the underwater glider glides upward and forward.

[0017] Compared with the prior art, the underwater glider and method for automatically obtaining a gliding angle according to the embodiment of the present invention have the following advantages:

[0018] In an underwater glider that automatically acquires a gliding angle according to an embodiment of the present invention, a gliding board is mounted on the glider body, and the gliding board is rotatable relative to the glider body. When the underwater glider sinks or rises, the gliding board rotates and tilts relative to the glider body at a certain angle under the action of hydrodynamic forces. This allows the gliding board to automatically acquire a gliding angle without requiring longitudinal movement of an internal mass within the glider body, and without consuming energy. Furthermore, because the connection point between the connector and the gliding board is located forward of the glider's centroid, tilting the glider allows the underwater glider to glide forward rather than backward. Furthermore, because the present invention does not require longitudinal movement of an internal mass, it simplifies the glider body's internal control mechanisms, reduces design requirements for the underwater glider, and saves costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the structure of an underwater glider that automatically obtains a gliding angle according to an embodiment of the present invention. Figure 1 ;

[0020] Figure 2 yes Figure 1 Status diagram of underwater glider Figure 1 ;

[0021] Figure 3 yes Figure 1 Status diagram of underwater glider Figure 2 ;

[0022] Figure 4 This is a schematic diagram of the structure of an underwater glider that automatically obtains a gliding angle according to an embodiment of the present invention. Figure 2 ;

[0023] Figure 5 yes Figure 4 Status diagram of underwater glider Figure 1 ;

[0024] Figure 6 yes Figure 4 Status diagram of underwater glider Figure 2 ;

[0025] In the figure, 1. glider body; 2. glider board; 3. connector; 4. rotating shaft; 5. rotating wheel. DETAILED DESCRIPTION

[0026] The following embodiments of the present invention are described in further detail with reference to the accompanying drawings and examples. The following examples are used to illustrate the present invention but are not intended to limit the scope of the present invention.

[0027] like Figure 1 - Figure 6As shown, an underwater glider that automatically obtains a gliding angle according to a preferred embodiment of an embodiment of the present invention includes a glider body 1, a gliding board 2 and a connecting member 3. The glider body 1 is provided with a buoyancy drive module, which is used to provide buoyancy for the glider body 1 and drive the underwater glider to float up or sink; one end of the connecting member 3 is fixed to the glider body 1, which can be the tail of the glider body 1, and the other end of the connecting member 3 is connected to the gliding board 2, and the connection point between the connecting member 3 and the gliding board 2 is located in front of the centroid of the gliding board 2, and the gliding board 2 is rotatable relative to the glider body 1. The glider board 2 is mounted on the glider body 1 and is rotatable. When the underwater glider ascends or descends, the glider board 2 rotates relative to the glider body 1 under the action of hydrodynamic forces, automatically achieving a certain tilt angle. This allows the glider body 1 to achieve a certain glide angle without requiring longitudinal adjustment of the glider body 1's internal center of gravity. This ensures that the glider body 1's ability to achieve a glide angle is unrestricted, allowing it to achieve a sufficient glide angle to accommodate various load types and exhibiting strong adaptability. Furthermore, because the connection point between the connector 3 and the glider board 2 is located forward of the glider board's centroid, after the glider board 2 is tilted, the glider body 1 can glide forward rather than backward. It should be noted that the term "forward" refers to the direction from the tail to the head of the glider body 1, while the term "backward" refers to the direction from the head to the tail of the glider body 1.

[0028] It should be noted that the centroid refers to the geometric center of the glider board 2. In the present invention, the shape of the glider board 2 is not specifically limited; the glider board 2 can be a polygonal shape, such as a triangle or rectangle, as long as the connection point between the glider board 2 and the connector 3 is located forward of the centroid of the glider board 2. Preferably, the connection point between the connector 3 and the glider board 2 is located at the forward edge of the glider board 2. The forward edge refers to the direction from the tail to the front of the glider body 1.

[0029] It should be noted that the rotation of the glider board 2 relative to the glider body 1 can be achieved by providing an elastic connector 3 , or by providing a rotation assembly at the end of the connector 3 .

[0030] like Figure 1 - Figure 3 As shown, the connecting member 3 can be an elastic connecting member 3, and the elastic connecting member 3 can be bent relative to the glider body 1. When the underwater glider sinks or floats, the elastic connecting member 3 bends relative to the glider body 1 under the action of hydrodynamic force, driving the glider board 2 to move, so that the glider board 2 rotates relative to the glider body 1 and obtains a certain tilt angle. Preferably, the connecting member 3 is a spring. Figure 2 and Figure 3As shown, the elastic connector 3 can be bent to the left or right. Since the elastic connector 3 has a certain degree of elasticity, after being bent to the left or right at a certain angle, the elastic connector 3 does not bend further, so that the glider board 2 can be stabilized at this tilt angle, and the glider body 1 obtains a stable gliding angle and glides forward under the action of hydrodynamic force.

[0031] Furthermore, the underwater glider may further include a limiter, which is installed at the end of the connecting member 3 and is used to limit the rotation angle of the gliding board 2 so that the gliding board 2 can be stabilized at a certain tilt angle.

[0032] like Figure 4 - Figure 6 As shown, the underwater glider may further include a rotating assembly, which is provided at the end of the connecting member 3 , and the gliding board 2 is connected to the rotating assembly. The rotating assembly allows the gliding board 2 to rotate to obtain a tilt angle.

[0033] Furthermore, the underwater glider also includes a limit assembly, which is installed on the rotating assembly to limit the rotation angle of the rotating assembly, thereby limiting the tilt angle of the gliding board 2, so that the gliding board 2 can be stabilized at a certain tilt angle.

[0034] In this embodiment, the rotating assembly includes a rotating shaft 4 and a rotating wheel 5. The rotating shaft 4 is fixed to the connecting member 3. The rotating wheel 5 is rotatably mounted on the rotating shaft 4. The glider 2 is connected to the rotating wheel 5. When the rotating wheel 5 rotates relative to the rotating shaft 4, it drives the glider 2 to move accordingly, allowing the glider 2 to obtain a tilt angle. The glider 2 can be fixed to the edge of the rotating wheel 5.

[0035] Furthermore, in this embodiment, the limiting assembly includes a baffle and a limiting block. The baffle is mounted on the rotating wheel 5, and the limiting block is mounted on the rotating shaft 4. The limiting block blocks the baffle, thereby limiting the rotation angle of the rotating wheel 5 and thus limiting the tilt angle of the glider 2. The limiting block is fixed in the circumferential direction of the rotating shaft 4, and the baffle is mounted on the wheel surface of the rotating wheel 5 perpendicular to the rotating shaft 4. The limiting assembly can be provided in two groups, one group of limiting assemblies limiting the counterclockwise rotation angle of the rotating wheel 5, and the other group of limiting assemblies limiting the clockwise rotation angle of the rotating wheel 5, thereby limiting the tilt angle of the glider 2 to a certain angle range. Accordingly, there are two baffles and two limiting blocks.

[0036] It should be noted that, in the present invention, the structural composition of the rotating assembly is not limited to the composition of the rotating shaft 4 and the rotating wheel 5, and the structural composition of the limiting assembly is not limited to the composition of the baffle and the limiting block.

[0037] In this embodiment, the underwater glider further includes a fixing member, which is connected to the connecting member 3 to fix the connecting member 3 and the gliding board 2, so that the fixing of the connecting member 3 and the gliding board 2 is more stable.

[0038] The method for automatically obtaining a gliding angle for an underwater glider according to the present invention comprises:

[0039] Using buoyancy drive modules to provide buoyancy for underwater gliders;

[0040] When the net buoyancy of the underwater glider is negative, the underwater glider sinks, and the gliding board 2 arranged on the underwater glider rotates and tilts forward under the action of hydrodynamic force, so that the underwater glider glides downward and forward; when the net buoyancy of the underwater glider is positive, the underwater glider floats up, and the gliding board 2 rotates and tilts backward under the action of hydrodynamic force, so that the underwater glider glides upward and forward.

[0041] When the net buoyancy of the underwater glider is zero, the underwater glider is suspended in the water.

[0042] Because the connection point between glider board 2 and connector 3 is located forward of the glider board's centroid, the underwater glider glides forward, not backward, whether sinking or rising. Furthermore, glider board 2 automatically rotates and tilts under the influence of hydrodynamic forces, allowing the glider body 1 to achieve a gliding angle. This eliminates the need for internal control mechanisms within the glider body 1 to control the longitudinal movement of the center of gravity of the internal mass, simplifying the internal structure.

[0043] Furthermore, the gliding board 2 is limited by the limiter or the limit assembly, and the tilt angle of the gliding board 2 is restricted and no longer increases, so that the underwater glider glides at a stable gliding angle.

[0044] Furthermore, the buoyancy drive module is used to control the buoyancy, and the gliding angle is determined according to the buoyancy. The greater the buoyancy, the faster the underwater glider sinks. Accordingly, the greater the inclination angle of the glider board 2, the greater the gliding angle of the glider body 1.

[0045] In summary, embodiments of the present invention provide an underwater glider and method for automatically achieving a gliding angle. The underwater glider comprises a gliding board 2 mounted on a glider body 1, and the gliding board 2 is rotatable relative to the glider body 1. When the underwater glider sinks or rises, the gliding board 2 rotates and tilts relative to the glider body 1 under the action of hydrodynamic forces, thereby enabling the gliding board 2 to automatically achieve a gliding angle without requiring longitudinal movement of the internal mass within the glider body 1 and without consuming energy. Furthermore, because the connection point between the connector 3 and the gliding board 2 is located forward of the centroid of the glider 2, the underwater glider can glide forward instead of backward after the gliding board 2 is tilted. Furthermore, because the present invention does not require longitudinal movement of the internal mass, it can simplify the internal control mechanism of the glider body 1, reduce design requirements for the underwater glider, and save costs.

[0046] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and substitutions can be made without departing from the technical principles of the present invention. These improvements and substitutions should also be regarded as the scope of protection of the present invention.

Claims

1. An underwater glider that automatically obtains a gliding angle, characterized in that: The invention comprises a glider body, a glider board and a connecting member. The glider body is provided with a buoyancy drive module. One end of the connecting member is fixed to the tail of the glider body, and the other end of the connecting member is connected to the glider board. The connection point between the connecting member and the glider board is located in front of the centroid of the glider board. The glider board is rotatable relative to the glider body. When the underwater glider sinks, the glider board rotates and tilts forward under the action of hydrodynamic force. When the underwater glider floats, the glider board rotates and tilts backward under the action of hydrodynamic force. The connecting member is an elastic connecting member, which is bendable relative to the glider body; or the underwater glider further includes a rotating assembly, which is arranged at the end of the connecting member, and the gliding board is connected to the rotating assembly.

2. The underwater glider capable of automatically obtaining a gliding angle according to claim 1, characterized in that: The underwater glider further includes a limiter, which is installed at the end of the connecting member and is used to limit the rotation angle of the gliding board.

3. The underwater glider capable of automatically obtaining a gliding angle according to claim 1, characterized in that: The connecting piece is a spring.

4. The underwater glider capable of automatically obtaining a gliding angle according to claim 1, characterized in that: The underwater glider further includes a limiting assembly, which is installed on the rotating assembly to limit the rotating angle of the rotating assembly.

5. The underwater glider capable of automatically obtaining a gliding angle according to claim 4, characterized in that: The rotating assembly includes a rotating shaft and a rotating wheel. The rotating shaft is fixed on the connecting member. The rotating wheel is rotatably mounted on the rotating shaft. The gliding board is connected to the rotating wheel.

6. The underwater glider capable of automatically obtaining a gliding angle according to claim 5, characterized in that: The limiting assembly includes a baffle and a limiting block, wherein the baffle is mounted on the rotating wheel, and the limiting block is mounted on the rotating shaft.

7. The underwater glider capable of automatically obtaining a gliding angle according to claim 1, characterized in that: The underwater glider further includes a fixing member connected to the connecting member for fixing the connecting member and the gliding board.

8. A method for automatically obtaining a gliding angle for an underwater glider according to any one of claims 1 to 7, characterized in that: include: Using buoyancy drive modules to provide buoyancy for underwater gliders; When the net buoyancy of the underwater glider is negative, the underwater glider sinks, and the gliding board set on the underwater glider rotates and tilts forward under the action of hydrodynamic force, so that the underwater glider glides downward and forward; when the net buoyancy of the underwater glider is positive, the underwater glider floats up, and the gliding board rotates and tilts backward under the action of hydrodynamic force, so that the underwater glider glides upward and forward.

Images