A marine small-scale observation system

Abstract

The present invention discloses a marine small and medium scale observation system, which is provided with a sensor cabin, a pitch adjustment cabin, an intermediate transverse cabin, a buoyancy adjustment cabin and a propulsion cabin in sequence from the bow to the tail; the sensor cabin, the pitch adjustment cabin and the buoyancy adjustment cabin are closed cabins, and the intermediate transverse cabin and the propulsion cabin are water-permeable cabins; a pitch adjustment mechanism is provided inside the pitch adjustment cabin; a water-permeable hole is provided on the cabin wall surface of the intermediate transverse cabin, and a full-rotation intermediate vector thruster for pushing the observation system to transversely move along its radial direction is provided inside the intermediate transverse cabin; a buoyancy driving mechanism is provided in the buoyancy adjustment cabin and the propulsion cabin; and a tail vector thruster is provided in the propulsion cabin. The present invention can perform vertical profile movement, lateral movement, horizontal movement and oblique navigation, etc., and has functions such as rapidity, flexibility, high maneuverability and high dynamic positioning, and can solve the problems of rapidity, spatiotemporal synchronization, and cluster collaborative refined observation of small and medium scale processes in the ocean.

Description

Technical Field

[0001] The present invention relates to the field of ocean observation, and in particular to an ocean small-scale observation system. Background Art

[0002] There are many dynamic processes of different scales in the ocean, ranging from the global-scale ocean heat conveyor belt, the basin-scale western boundary current, to the mesoscale eddies and small-scale turbulent mixing. Complex process coupling and energy level strings occur between these dynamic processes of different scales, which directly determine the energy and material transport in the ocean. Therefore, rapid observation of different-scale processes in the marine environment, especially small and medium-scale processes, is crucial. Small and medium-scale processes in the ocean are a typical type of rapid and dynamic dynamic processes with a spatial scale of less than kilometers and a time scale of one day (or even seconds). Their life cycle is very short, the spatial scale is small, and the evolution process is random. Existing observation methods are difficult to capture, and cannot meet the requirements of coordinated observation in specific sea areas and three-dimensional refinement.

[0003] At present, the main means of on-site observation of the marine environment are shipborne cruise observation, buoy observation, Argo buoy, and underwater vehicle (AUV / glider) observation. Among them, shipborne cruise observation is very expensive, and it is impossible to achieve multi-ship cluster synchronous observation within a certain sea area, and thus it is impossible to achieve small-scale and medium-scale spatial synchronous observation; buoy observation can only achieve long-term observation of a single vertical point, and its horizontal spatial resolution is insufficient, so it cannot meet the multi-scale cross-regional spatial synchronous observation characteristics; Argo buoy is a relatively mature ocean observation system, but it can only achieve profile movement, does not have the ability to actively move laterally, and has poor maneuverability; underwater vehicles can be used for small-scale and medium-scale observations in the ocean, but the existing underwater vehicles are poor in maneuverability, flexibility, and dynamic positioning, which are specifically reflected in poor autonomous spatial movement capabilities, low horizontal measurement accuracy, and low autonomous positioning accuracy in strong current sea areas (for example, it is easy to be washed away by the current, out of the original measurement position, and difficult to return to the original position by self-adjustment), thus affecting the observation accuracy and observation effect. Summary of the invention

[0004] Based on the above technical problems, the present invention proposes an ocean small-scale observation system.

[0005] The technical solution adopted by the present invention is:

[0006] An ocean small and medium scale observation system, which is provided with a sensor cabin, a pitch adjustment cabin, an intermediate transverse displacement cabin, a buoyancy adjustment cabin and a propulsion cabin in sequence from the bow to the stern;

[0007] The sensor cabin, pitch adjustment cabin and buoyancy adjustment cabin are closed cabins, and the intermediate transverse cabin and propulsion cabin are water-permeable cabins;

[0008] An exposed measuring sensor is arranged on the sensor cabin, a storage module is arranged inside the sensor cabin, and the measuring sensor is connected to the storage module;

[0009] A pitch adjustment mechanism for adjusting the center of gravity of the observation system is arranged inside the pitch adjustment cabin, and the pitch adjustment mechanism includes a sliding support rod, a weight block and a driving motor for driving the weight block to move back and forth along the sliding support rod, the sliding support rod is arranged along the extension direction of the central axis of the pitch adjustment cabin, and a guide rack is arranged on the sliding support rod; a weight block front baffle plate and a weight block rear baffle plate are respectively arranged on both sides of the weight block, a tension rod is arranged between the weight block front baffle plate and the weight block rear baffle plate, and a through hole is arranged in the center of the weight block front baffle plate, the weight block rear baffle plate and the weight block, and the sliding support rod passes through the through hole;

[0010] The drive motor is fixed on the mounting baffle, the mounting baffle is connected to the front baffle of the weight block, the front baffle of the weight block is between the sensor cabin and the rear baffle of the weight block; the rotating shaft of the drive motor is connected to the motor gear, the motor gear is meshed with the transmission gear, the transmission gear is connected to the guide rail gear through the transmission shaft, and the guide rail gear is meshed with the guide rail rack;

[0011] A water-permeable hole is arranged on the bulkhead surface of the intermediate transverse shift cabin, and an omni-rotating intermediate vector thruster for pushing the observation system to move transversely along its radial direction is arranged inside the intermediate transverse shift cabin, and the omni-rotating intermediate vector thruster is also connected to a rotating mechanism capable of driving it to rotate circumferentially along the bulkhead of the intermediate transverse shift cabin;

[0012] A buoyancy drive mechanism is also provided in the buoyancy regulating cabin and the propulsion cabin, and the buoyancy drive mechanism includes an inner oil naan and an outer oil naan, the inner oil naan is provided in the buoyancy regulating cabin, the outer oil naan is provided in the propulsion cabin, an oil circuit is connected between the inner oil naan and the outer oil naan, and an electromagnetic valve and a motor pump are provided on the oil circuit;

[0013] A tail vector thruster is also provided in the propulsion cabin for propelling the observation system forward along its axial direction.

[0014] Preferably, the rotating mechanism includes a mounting shell, one end of which is connected to the pitch adjustment cabin, a rotating motor is arranged inside the mounting shell, and a rotating shaft of the rotating motor is connected to the outer wall of the full-rotation intermediate vector thruster; a connecting seat is arranged on the outer wall of the full-rotation intermediate vector thruster, and a fixed shaft hole matching the rotating shaft of the rotating motor is arranged on the connecting seat.

[0015] Preferably, a front support plate and a rear support plate are respectively provided at the front and rear ends of the pitch adjustment cabin, the storage module is mounted on the front support plate, and the mounting shell is fixedly connected to the rear support plate.

[0016] Preferably, a control module and a battery module for powering the observation system are also provided inside the buoyancy regulating cabin, the storage module is connected to the control module, and the control module is also respectively connected to the drive motor, the rotating motor, the solenoid valve, the motor pump, the full-turn intermediate vector thruster and the tail vector thruster.

[0017] Preferably, the outer shells of the sensor cabin, pitch adjustment cabin, intermediate transverse displacement cabin, buoyancy adjustment cabin and propulsion cabin form a streamlined shell as a whole; the intermediate transverse displacement cabin is arranged at the middle position of the observation system, and the intermediate transverse displacement cabin is detachably connected to the pitch adjustment cabin and the buoyancy adjustment cabin.

[0018] Preferably, the water permeable holes are circular and densely distributed on the outer shell of the middle transverse displacement cabin; the rear part of the outer shell of the propulsion cabin is open, and guide tail wings are also arranged at intervals around the outer shell of the propulsion cabin.

[0019] Preferably, the vector angle range of the tail vector thruster is controlled within ±20°.

[0020] The method for performing ocean observation using the observation system of the present invention comprises the following steps:

[0021] (1) The observation system is deployed on the sea surface and the tail vector thruster is started, so that the observation system moves to the initial observation position under the thrust of the tail vector thruster.

[0022] (2) Start the drive motor of the pitch adjustment mechanism. The drive motor drives the weight block to move along the sliding support rod through the transmission coordination of the motor gear, transmission gear, guide rail gear and guide rail rack in sequence, so that the weight block moves to the front of the pitch adjustment cabin, close to the position of the sensor cabin.

[0023] At the same time, the solenoid valve is opened, and under the action of external pressure, the hydraulic oil enters the inner oil chamber from the outer oil chamber through the oil circuit.

[0024] The observation system is adjusted to a vertical position and begins to dive. During the dive, the tail vector thruster can be turned on to accelerate the dive, or it can dive freely under the action of gravity. During the dive, the measurement sensors collect data synchronously.

[0025] (3) When the observation system starts or is in the process of diving, it is dynamically positioned through the full-rotation intermediate vector thruster. If the observation system encounters a harsh ocean environment and deviates from the original diving position, the full-rotation intermediate vector thruster is first driven by the rotating mechanism to rotate to a suitable position in the horizontal plane, and then the full-rotation intermediate vector thruster is started, so that the observation system is pushed horizontally to its original position during the vertical dive.

[0026] (4) After the observation system dives to a predetermined depth, the motor pump is controlled to open to pump the hydraulic oil in the inner oil chamber to the outer oil chamber; at the same time, the drive motor is controlled to reverse so that the weight moves along the sliding support rod toward the rear of the pitch adjustment cabin; and the tail vector thruster is turned on so that the observation system moves obliquely upward.

[0027] The oblique angle of the observation system can be adjusted by controlling the position of the weight on the sliding support rod. The closer the weight is to the rear of the pitch adjustment cabin, the greater the oblique angle of the observation system.

[0028] (5) After the observation system floats to the surface, if the distance to the next scheduled observation position is small, repeat the above steps to adjust the weight to the front of the pitch control cabin, and at the same time, pump the oil in the outer oil bag into the inner oil bag, so that the observation system is in a vertical diving posture again; and start the full-turn intermediate vector thruster to make the observation system move horizontally to the scheduled observation position as a whole;

[0029] If the distance to the next scheduled observation position is large, the observation system is placed in a horizontal posture by adjusting the weight to a suitable position, and is pushed by the tail vector thruster to move the observation system horizontally to the scheduled observation position.

[0030] (6) When the observation system reaches the predetermined observation position, it conducts another dive observation.

[0031] The beneficial technical effects of the present invention are:

[0032] The present invention adds an intermediate transverse shift cabin in the middle part of the observation system, and the observation system can be pushed to move horizontally in a vertical posture through the fully rotating intermediate vector thruster inside the intermediate transverse shift cabin. Combined with the pitch adjustment mechanism, the buoyancy drive mechanism and the tail vector thruster, the observation system can perform vertical profile movement, lateral movement, horizontal movement and oblique navigation, etc. It has the functions of rapidity, flexibility, high maneuverability and high dynamic positioning, and can solve the problems of rapid, spatiotemporal synchronization and cross-regional refined observation of small and medium-scale processes in the ocean, and can perform coordinated observation of multi-body cluster networking (combined use of multiple observation systems). BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments:

[0034] Figure 1 This is a schematic diagram of the external structure of the marine small-scale observation system of the present invention;

[0035] Figure 2 It is a schematic diagram of the internal structure principle of the marine small-scale observation system of the present invention;

[0036] Figure 3It is a schematic diagram of the structural principle of the pitch adjustment mechanism of the marine small-scale observation system of the present invention;

[0037] Figure 4 It is a schematic diagram of the state of the pitch adjustment mechanism of the marine small-scale observation system of the present invention when the vertical profile moves;

[0038] Figure 5 It is a schematic diagram of the state of the pitch adjustment mechanism of the marine small-scale observation system of the present invention when it moves obliquely;

[0039] Figure 6 This is a schematic diagram of the structural principle of the intermediate transverse cabin of the marine small and medium scale observation system of the present invention;

[0040] Figure 7 A simplified structural diagram of the connection between the full-rotation intermediate vector thruster and the rotating mechanism of the marine small and medium-scale observation system of the present invention;

[0041] Figure 8 This is a simplified structural diagram of the azimuth intermediate vector thruster of the present invention, which mainly shows the structure of the connecting seat part;

[0042] Fig. 9 It is a schematic diagram of the structural principle of the buoyancy drive mechanism in the marine small-scale observation system of the present invention;

[0043] Fig.10 This is a simplified structural diagram of the propulsion module in the marine small and medium scale observation system of the present invention;

[0044] Fig.11 It is a simplified structural diagram of the tail vector thruster in the propulsion cabin of the present invention;

[0045] Fig.12 This is a block diagram of the connection principle of various components in the marine small-scale observation system of the present invention;

[0046] Fig.13 It is a schematic diagram of the structure of the lateral movement of the marine small-scale observation system in a vertical posture of the present invention. DETAILED DESCRIPTION

[0047] In conjunction with the accompanying drawings, an ocean small and medium scale observation system is provided, which is provided with a sensor cabin 1, a pitch adjustment cabin 2, an intermediate transverse displacement cabin 3, a buoyancy adjustment cabin 4 and a propulsion cabin 5 in sequence from the bow to the stern. The sensor cabin 1, the pitch adjustment cabin 2 and the buoyancy adjustment cabin 4 are closed cabins, and the intermediate transverse displacement cabin 3 and the propulsion cabin 5 are water-permeable cabins. An exposed measurement sensor 6 is provided on the sensor cabin 1, and a storage module 7 is provided inside the sensor cabin 1, and the measurement sensor 6 is connected to the storage module 7.

[0048] A pitch adjustment mechanism 8 for adjusting the center of gravity of the observation system is arranged inside the pitch adjustment cabin 2, and the pitch adjustment mechanism 8 includes a sliding support rod 9, a weight block 10, and a driving motor 11 for driving the weight block 10 to move back and forth along the sliding support rod 9. The sliding support rod 9 is arranged along the extension direction of the central axis of the pitch adjustment cabin, and a guide rail rack 12 is arranged on the sliding support rod 9. A weight block front baffle 13 and a weight block rear baffle 14 are respectively arranged on both sides of the weight block 10, and a tension rod 15 is arranged between the edges of the weight block front baffle 13 and the weight block rear baffle 14. Through holes are arranged in the center of the weight block front baffle 13, the weight block rear baffle 14 and the weight block 10, and the sliding support rod 9 passes through the through holes. The driving motor 11 is fixed on the mounting baffle 15, and the mounting baffle 15 is vertically connected to the weight block front baffle 13, and the weight block front baffle 13 is located between the sensor cabin and the weight block rear baffle. The rotating shaft of the driving motor 11 is connected to the motor gear 16 , the motor gear 16 is meshed with the transmission gear 17 , the transmission gear 17 is transmission-connected to the guide rail gear 18 via the transmission shaft, and the guide rail gear 18 is meshed with the guide rail rack 12 .

[0049] The working principle of the pitch adjustment mechanism 8 is as follows: the drive motor 11 moves, the rotating shaft of the drive motor 11 drives the motor gear 16 to rotate, the motor gear 16 drives the transmission gear 17 meshing with it to rotate, and the transmission gear 17 drives the guide rail gear 18 to rotate synchronously through the transmission shaft. During the operation of the guide rail gear 18, it can move forward and backward along the guide rail rack 12, and then drive the weight 10 to move forward and backward along the sliding support rod 9, thereby realizing the adjustment of the center of gravity of the observation system. Figure 4 , Figure 5 As shown, there are two states, namely, when the vertical profile moves, the weight of the pitch adjustment mechanism is adjusted to the front of the pitch adjustment cabin; when the oblique movement occurs, the weight of the pitch adjustment mechanism is adjusted to the rear of the pitch adjustment cabin. The pitch adjustment mechanism of the present invention also has the advantages of stable operation and large adjustment stroke.

[0050] A water-permeable hole 19 is provided on the bulkhead surface of the intermediate transverse shift cabin 3, and an omni-rotating intermediate vector thruster 20 for pushing the observation system to move transversely in its radial direction is provided inside the intermediate transverse shift cabin. The omni-rotating intermediate vector thruster is also connected to a rotating mechanism that can drive it to rotate circumferentially along the bulkhead of the intermediate transverse shift cabin. When the observation system is in a vertical posture, the omni-rotating intermediate vector thruster 20 can be driven by the rotating mechanism to rotate 360 ​​degrees in the horizontal plane, thereby completing the pushing in different directions and realizing the adjustment of the omni-directional transverse movement.

[0051] A buoyancy drive mechanism 22 is also provided in the buoyancy regulating cabin and the propulsion cabin, and the buoyancy drive mechanism includes an inner oil naan 23 and an outer oil naan 24, the inner oil naan 23 is provided in the buoyancy regulating cabin 4, and the outer oil naan 24 is provided in the propulsion cabin 5. An oil passage 25 is connected between the inner oil naan 23 and the outer oil naan 24, and an electromagnetic valve 26 and a motor pump 27 are provided on the oil passage 25. An end cover 37 is provided between the buoyancy regulating cabin 4 and the propulsion cabin 5.

[0052] The working principle of the buoyancy drive mechanism 22 is as follows: the buoyancy regulating cabin 4 is negatively pressurized. When the observation system needs to dive, the solenoid valve 26 is opened. Under the action of external pressure, the hydraulic oil enters the inner oil chamber 23 from the outer oil chamber 24 through the oil passage 25, thereby reducing the volume of the observation system and facilitating the dive. When the observation system needs to float upward, the motor pump 27 is turned on to pump the hydraulic oil in the inner oil chamber 23 to the outer oil chamber 24, thereby increasing the volume of the observation system and correspondingly increasing the buoyancy of the observation system, which is convenient for floating upward.

[0053] A tail vector thruster 28 is also provided in the propulsion cabin 5 for pushing the observation system forward along its axial direction. The tail vector thruster 28 is connected to the shell of the propulsion cabin 5 through a plurality of connectors arranged at intervals in the circumferential direction. The present invention can provide the power of buoyancy and diving when completing the rapid profile movement by installing the tail vector thruster at the tail of the observation system, which is faster than the buoyancy drive; during the horizontal movement, the tail vector thruster is also the only power source for the forward movement.

[0054] The tail vector thruster 28 and the buoyancy drive mechanism 22 of the observation system of the present invention form a dual power system, which can be used separately or simultaneously. Generally, the buoyancy drive can be used for vertical profile observation; in horizontal movement or cluster observation, a combination of the two can be used.

[0055] The marine small and medium-scale observation system of the present invention can realize vertical profile movement, lateral movement, horizontal movement, and oblique navigation through the coordinated action of the pitch adjustment mechanism 8, the full-rotation intermediate vector thruster 20, the buoyancy drive mechanism 22 and the tail vector thruster 28. It has the advantages of high maneuverability, strong mobility, strong current resistance, high dynamic positioning capability, small size, and multi-body cluster observation. It can meet the needs of rapid, spatiotemporal synchronization, and cross-regional refined observation of small and medium-scale processes in the ocean.

[0056] As a further design of the present invention, the rotating mechanism includes a mounting shell 21, one end of which is connected to the pitch control cabin 2, a rotating motor 35 is arranged inside the mounting shell, and the rotating shaft of the rotating motor is connected to the outer wall of the full-turn intermediate vector thruster 20. A connecting seat 29 is arranged on the outer wall of the full-turn intermediate vector thruster, and a fixed shaft hole 30 is arranged on the connecting seat to match the rotating shaft of the rotating motor 35. Blades 36 are provided on both the full-turn intermediate vector thruster 20 and the tail vector thruster 28.

[0057] Furthermore, a front support plate 31 and a rear support plate 32 are respectively provided at the front and rear ends of the pitch adjustment cabin, the storage module 7 is mounted on the front support plate 31 , and the mounting shell 21 of the rotating mechanism is fixedly connected to the rear support plate 32 .

[0058] Furthermore, a control module 33 and a battery module 34 for powering the observation system are also provided inside the buoyancy regulating cabin, the storage module 7 is connected to the control module 33, and the control module 33 is also respectively connected to the drive motor 11, the rotating motor 35, the solenoid valve 26, the motor pump 27, the full-turn intermediate vector thruster 20 and the tail vector thruster 28. The information of the measuring sensors obtained by the control module 33, such as the pressure data and posture information measured by the pressure sensor and the posture sensor, can be centrally controlled to perform corresponding actions of the drive motor 11, the rotating motor 35, the motor pump 27 and other components to convert between movements.

[0059] Furthermore, the observation system can be designed in sections, and the outer shells of the sensor cabin, the pitch adjustment cabin, the intermediate transverse cabin, the buoyancy adjustment cabin and the propulsion cabin form a streamlined shell as a whole. The intermediate transverse cabin 3 is arranged at the middle position of the observation system, that is, at a position where the center of gravity and the center of buoyancy of the observation system are relatively close. The intermediate transverse cabin 3 is detachably connected to the pitch adjustment cabin 2 and the buoyancy adjustment cabin 4.

[0060] Furthermore, the water holes 19 are circular and densely distributed on the outer shell of the intermediate transverse cabin. The rear of the outer shell of the propulsion cabin 5 is open, and guide tail wings 38 are arranged at intervals around the outer shell of the propulsion cabin 5.

[0061] Furthermore, the vector angle range of the tail vector thruster 28 is controlled within ±20°. That is, the tail vector thruster 28 can realize the rotation angle control of its blades and has the heading adjustment capability. The blades are deflected to the left as a whole, that is, left turning, and vice versa, the blades are deflected to the right as a whole, that is, right turning.

[0062] The marine small and medium scale observation system of the present invention adopts a power assembly combining a tail vector thruster 28 and a buoyancy drive mechanism 22 to achieve rapid movement; an all-revolving intermediate vector thruster 20 is used as a power source for lateral movement to achieve rapid lateral movement and heading adjustment. The observation system as a whole adopts a tail vector thruster, an all-revolving intermediate vector thruster, and a buoyancy drive mechanism power composition, which can realize up and down, lateral movement and heading adjustment, and has very high flexibility, maneuverability and high-precision dynamic positioning; a pitch adjustment mechanism is used for attitude adjustment, and the power assembly is used to achieve horizontal and oblique navigation. The observation system is equipped with necessary measurement sensors 6, which can realize the system's environmental perception and data fusion, and can also replace the measurement sensors on site according to the requirements of the observation task, and the structural design is modular. Under the action of multiple control units, the observation system of the present invention has strong mobility, high maneuverability, strong anti-current ability, high dynamic positioning ability, small size, and multi-body cluster observation, which can meet the rapid, spatiotemporal synchronization, and cross-regional refined observation of multi-scale processes in the ocean.

[0063] The observation system of the present invention can realize vertical up and down, lateral movement, etc. through various power components, as follows:

[0064] (1) Vertical movement

[0065] The power source is the tail vector thruster 28 and the buoyancy drive mechanism 22, and the vertical upward and downward movement can be achieved through the cooperation of the two.

[0066] (2) Lateral movement

[0067] By starting the full-rotation intermediate vector thruster 20, the lateral movement within the plane can be achieved.

[0068] (3) Dynamic positioning

[0069] When performing observation tasks at sea, it is necessary to have dynamic positioning capabilities in harsh marine environments. The observation system is normally in a vertical state. Therefore, dynamic positioning is mainly completed by the intermediate vector pusher 20. By acquiring real-time positions, different azimuth pushes are achieved to complete dynamic positioning, such as Fig.13 shown.

[0070] (4) Oblique movement (including heading adjustment)

[0071] First, the pitch adjustment mechanism 8 adjusts the weight 10 to a suitable position of the pitch adjustment cabin 2 (for example, the middle and rear position of the pitch adjustment cabin, etc.) through the driving motor 11. At the same time, the buoyancy driving mechanism 22 pumps the hydraulic oil of the inner oil naan 23 to the outer oil naan 24, and starts the tail vector thruster 28 to provide forward power. In the oblique movement, the middle transverse cabin vector thruster is not required to work full-time, and the heading can be adjusted by the intermittent movement of the tail vector thruster 28 and the full-turn middle vector thruster 20 of the middle transverse cabin.

[0072] (5) Horizontal movement

[0073] First, the pitch adjustment mechanism 8 adjusts the weight 10 to the middle position through the drive motor 11. At the same time, the buoyancy drive mechanism 22 pumps the hydraulic oil of the inner oil chamber 23 to the outer oil chamber 24, and starts the tail vector thruster 28 to provide forward power.

[0074] The method for performing ocean observation using the observation system of the present invention comprises the following steps:

[0075] (1) The observation system is deployed on the sea surface, and the tail vector thruster 28 is started, so that the observation system moves to the initial observation position under the thrust of the tail vector thruster.

[0076] (2) Start the driving motor 11 of the pitch adjustment mechanism. The driving motor 11 drives the weight block 10 to move along the sliding support rod 9 through the transmission cooperation of the motor gear 16, the transmission gear 17, the guide rail gear 18 and the guide rail rack 12 in sequence, so that the weight block 10 moves to the front of the pitch adjustment cabin 2, close to the position of the sensor cabin 1.

[0077] At the same time, the solenoid valve 26 is opened, and under the action of external pressure, the hydraulic oil enters the inner oil chamber 23 from the outer oil chamber 24 through the oil passage 25 .

[0078] The observation system is adjusted to a vertical position and begins to dive. During the dive, the tail vector thruster 28 may be turned on to accelerate the dive, or the dive may be free under the action of gravity. During the dive, the measurement sensor 6 synchronously collects data.

[0079] (3) When the observation system starts or dives, it uses the fully rotating intermediate vector thruster 20 for dynamic positioning. If the observation system encounters a harsh marine environment and deviates from the original diving position, the fully rotating intermediate vector thruster 20 is first driven by the rotating mechanism to rotate to a suitable position in the horizontal plane, and then the fully rotating intermediate vector thruster 20 is started, so that the observation system is pushed to move horizontally to its original position during the vertical dive.

[0080] (4) After the observation system dives to a predetermined depth, the driving motor 11 is controlled to reverse, so that the weight moves along the sliding support rod 9 toward the rear of the pitch adjustment cabin 2; at the same time, the motor pump 27 is controlled to open, so that the hydraulic oil in the inner oil chamber 23 is pumped into the outer oil chamber 24; and the tail vector thruster 28 is turned on, so that the observation system moves obliquely upward.

[0081] The oblique angle of the observation system can be adjusted by controlling the position of the weight block 10 on the sliding support rod 9. The closer the weight block 10 is to the rear of the pitch adjustment cabin, the greater the oblique angle of the observation system.

[0082] (5) After the observation system floats to the surface, if the distance to the next predetermined observation position is small, repeat the above steps to adjust the weight to the front of the pitch adjustment cabin 2, and at the same time, pump the oil in the outer oil bag 24 into the inner oil bag 23, so that the observation system is in a vertical diving posture again; and start the full-turn intermediate vector thruster 20 to make the observation system as a whole move horizontally to the predetermined observation position;

[0083] If the distance to the next predetermined observation position is large, the observation system is placed in a horizontal posture by adjusting the weight to a suitable position, and is pushed by the tail vector thruster 28 to move the observation system obliquely or horizontally to the predetermined observation position.

[0084] (6) When the observation system reaches the predetermined observation position, it conducts another dive observation.

[0085] The parts not mentioned in the above methods can be realized by adopting or drawing on existing technologies.

[0086] Of course, the above description is only a preferred embodiment of the present invention, and the present invention is not limited to the above-mentioned embodiments. It should be noted that all equivalent substitutions and obvious deformation forms made by any technician familiar with the field under the guidance of this specification fall within the essential scope of the present invention and should be protected by the present invention.

Claims

1. An ocean small-scale observation system, characterized by: The observation system is equipped with a sensor cabin, a pitch adjustment cabin, an intermediate transverse movement cabin, a buoyancy adjustment cabin and a propulsion cabin from the bow to the stern; The sensor cabin, pitch adjustment cabin and buoyancy adjustment cabin are closed cabins, and the intermediate transverse cabin and propulsion cabin are water-permeable cabins; An exposed measuring sensor is arranged on the sensor cabin, a storage module is arranged inside the sensor cabin, and the measuring sensor is connected to the storage module; A pitch adjustment mechanism for adjusting the center of gravity of the observation system is arranged inside the pitch adjustment cabin, and the pitch adjustment mechanism includes a sliding support rod, a weight block and a driving motor for driving the weight block to move back and forth along the sliding support rod, the sliding support rod is arranged along the extension direction of the central axis of the pitch adjustment cabin, and a guide rack is arranged on the sliding support rod; a weight block front baffle plate and a weight block rear baffle plate are respectively arranged on both sides of the weight block, a tension rod is arranged between the weight block front baffle plate and the weight block rear baffle plate, and a through hole is arranged in the center of the weight block front baffle plate, the weight block rear baffle plate and the weight block, and the sliding support rod passes through the through hole; The drive motor is fixed on the mounting baffle, the mounting baffle is connected to the front baffle of the weight block, the front baffle of the weight block is between the sensor cabin and the rear baffle of the weight block; the rotating shaft of the drive motor is connected to the motor gear, the motor gear is meshed with the transmission gear, the transmission gear is connected to the guide rail gear through the transmission shaft, and the guide rail gear is meshed with the guide rail rack; A water-permeable hole is arranged on the bulkhead surface of the intermediate transverse shift cabin, and an omni-rotating intermediate vector thruster for pushing the observation system to move transversely along its radial direction is arranged inside the intermediate transverse shift cabin, and the omni-rotating intermediate vector thruster is also connected to a rotating mechanism capable of driving it to rotate circumferentially along the bulkhead of the intermediate transverse shift cabin; A buoyancy drive mechanism is provided in the buoyancy regulating cabin and the propulsion cabin, the buoyancy drive mechanism includes an inner oil naan and an outer oil naan, the inner oil naan is provided in the buoyancy regulating cabin, the outer oil naan is provided in the propulsion cabin, an oil circuit is connected between the inner oil naan and the outer oil naan, and an electromagnetic valve and a motor pump are provided on the oil circuit; A tail vector thruster for propelling the observation system forward along its axial direction is also arranged in the propulsion cabin; The rotating mechanism includes a mounting shell, one end of which is connected to the pitch adjustment cabin, a rotating motor is arranged inside the mounting shell, and a rotating shaft of the rotating motor is connected to the outer wall of the full-rotation intermediate vector thruster; a connecting seat is arranged on the outer wall of the full-rotation intermediate vector thruster, and a fixed shaft hole matching the rotating shaft of the rotating motor is arranged on the connecting seat.

2. The marine mesoscale observation system according to claim 1, characterized in that: A front support plate and a rear support plate are respectively arranged at the front and rear ends of the pitch adjustment cabin, the storage module is mounted on the front support plate, and the mounting shell is fixedly connected to the rear support plate.

3. The marine mesoscale observation system according to claim 1, characterized in that: A control module and a battery module for powering the observation system are also provided inside the buoyancy regulating cabin. The storage module is connected to the control module, and the control module is also respectively connected to the drive motor, the rotating motor, the solenoid valve, the motor pump, the full-rotation intermediate vector thruster and the tail vector thruster.

4. The marine mesoscale observation system according to claim 1, characterized in that: The outer shells of the sensor cabin, pitch adjustment cabin, intermediate transverse displacement cabin, buoyancy adjustment cabin and propulsion cabin form a streamlined shell as a whole; the intermediate transverse displacement cabin is arranged at the middle position of the observation system, and the intermediate transverse displacement cabin is detachably connected to the pitch adjustment cabin and the buoyancy adjustment cabin.

5. The marine mesoscale observation system according to claim 4, characterized in that: The water-permeable holes are circular and densely distributed on the outer shell of the middle transverse displacement cabin; the rear of the outer shell of the propulsion cabin is open, and guide tail wings are arranged at intervals around the outer shell of the propulsion cabin.

6. The marine mesoscale observation system according to claim 1, characterized in that: The vector angle range of the tail vector thruster is controlled within ±20°.

Images