A mooring type deep sea observation system based on a reverse differential combined water turbine

Abstract

A mooring type deep sea observation system based on reverse differential combined water turbine comprises a buoyancy device, a magnetic suspension support device, a reverse differential combined water turbine, a planetary gear mechanism, a magnetic transmission device, a low-resistance sealed cavity, a power generation module, a deep sea base station, an underwater autonomous underwater vehicle and a current collecting type water turbine mounting device; the invention utilizes the speed difference of the sun gear and the gear ring and the torque synthesis of the planetary gear to realize the combination of the multi-blade water turbine with low speed and high self-starting performance and the H-shaped water turbine with high speed and high efficiency, so that the device has low flow rate starting characteristics and high power generation characteristics at the same time.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of deep-sea observation, and particularly relates to a mooring type deep-sea observation system based on a reverse differential type combined water turbine. BACKGROUND

[0002] The exploration and development of the ocean, especially the deep sea, rely on the development of marine scientific technology. The generation of any marine scientific viewpoint and the development of marine disciplines must be based on reliable observation data. An underwater autonomous vehicle is a new type of mobile observation equipment for marine environment, which has an autonomous power and navigation system and can load various sensors to dynamically and stereoscopically observe the marine environment. However, due to the limitation of the capacity of the energy storage device, the operating range and working time of the underwater autonomous vehicle are very limited, and the energy needs to be supplemented by a ship-based recovery station, which greatly limits the observation range of the underwater autonomous vehicle and greatly increases the observation cost. The ocean buoy and the submersible are also important marine observation equipment, and due to the limitation of the capacity of the energy storage device, the operating cycle is less than 60 days, and the marine data cannot be observed for a long time. SUMMARY

[0003] The application aims to provide a mooring type deep-sea observation system based on a reverse differential type combined water turbine to solve the problems of limited observation range and high observation cost in the prior art.

[0004] To achieve the above-mentioned purpose, the application adopts the following technical scheme:

[0005] A mooring type deep-sea observation system based on a reverse differential type combined water turbine, comprising a buoyancy device, a magnetic suspension support device, a reverse differential type combined water turbine, a planetary gear mechanism, a magnetic transmission device, a low-resistance sealing cavity, a gravity block, a power generation module, a deep-sea base station, an underwater autonomous vehicle and a current collecting type water turbine installation device; the current collecting type water turbine installation device is arranged on the low-resistance sealing cavity, the buoyancy device is connected to the current collecting type water turbine installation device and the low-resistance sealing cavity, the gravity block is installed below the low-resistance sealing cavity, the power generation module is arranged inside the low-resistance sealing cavity and connected to the deep-sea base station, and the deep-sea base station is used for supplying energy to the underwater autonomous vehicle; the reverse differential type combined water turbine is arranged inside the current collecting type water turbine installation device, the planetary gear mechanism is arranged inside the reverse differential type combined water turbine and used for torque transmission; the upper and lower ends of the reverse differential type combined water turbine are connected to the current collecting type water turbine installation device and the low-resistance sealing cavity through the magnetic suspension support device; and the bottom of the reverse differential type combined water turbine is connected to the power generation module through the magnetic transmission device.

[0006] Further, the reverse differential combined water turbine comprises a three-blade H-type water turbine, a resistance type multi-blade water turbine and a two-blade water turbine; the three-blade H-type water turbine is located above the resistance type multi-blade water turbine, the two-blade water turbine is arranged at the inner side of the three-blade H-type water turbine, and the two-blade water turbine and the three-blade H-type water turbine are connected to the resistance type multi-blade water turbine through a planetary gear mechanism.

[0007] Further, the upper lift type three-blade water turbine is fixed through two end plates, a center shaft is arranged between the center points of the two end plates, the two-blade water turbine is arranged between the end plates at the inner side of the upper lift type three-blade water turbine, and the blades of the two-blade water turbine are semicircular blades; the diameter of the two-blade water turbine is half of that of the three-blade H-type water turbine; and the resistance type multi-blade water turbine is fixed through two end plates, and a center shaft is arranged between the center points of the two end plates.

[0008] Further, the planetary gear mechanism comprises a sun gear, a planet gear, an outer gear ring, a gear transmission rod and a center gear; the sun gear is connected to the center shaft of the three-blade H-type water turbine, the outer gear ring is arranged at the center of the lower end plate of the three-blade H-type water turbine, the outer gear ring is connected to the multi-blade water turbine, a plurality of planet gears are arranged between the sun gear and the outer gear ring, one of the planet gears is engaged with the center gear through the gear transmission rod, and the center gear is located at the center of the lower end plate of the resistance type multi-blade water turbine.

[0009] Further, the magnetic transmission device comprises an upper magnetic transmission device and a lower magnetic transmission device; the upper magnetic transmission device and the lower magnetic transmission device each comprise a plurality of center-symmetrically arranged permanent magnets, the permanent magnets are magnetized in the thickness direction, and the magnetic poles of adjacent permanent magnets are arranged in opposite directions; the center gear is connected to the upper magnetic transmission device, the upper magnetic transmission device is arranged on the lower bottom surface of the reverse differential combined water turbine, and the lower magnetic transmission device is arranged inside the low-resistance sealed cavity and connected to the generator.

[0010] Further, the magnetic suspension supporting device comprises a supporting device shell, an external passive permanent magnetic suspension bearing, an internal passive permanent magnetic suspension bearing and a top device; the external passive permanent magnetic suspension bearing is nested in the internal of the supporting device shell, and the internal passive permanent magnetic suspension bearing is arranged outside the top device; the external passive permanent magnetic suspension bearing and the internal passive permanent magnetic suspension bearing are radially magnetized, the inner part and the outer part of the ring have different magnetic poles, and the outer part of the inner ring and the inner part of the outer ring have the same magnetic field; the inner ring of the passive permanent magnetic suspension bearing is connected to the end part of the center shaft of the combined reverse water turbine through the top device, and the outer ring of the passive permanent magnetic suspension bearing is arranged in the supporting device shell and connected to the support.

[0011] Further, the power generation module comprises a permanent magnet generator and an energy storage device; the permanent magnet generator is connected to the magnetic transmission device, and the energy storage device is connected to the permanent magnet generator.

[0012] Further, the energy storage device is connected with the deep-sea base station through the underwater cable, the deep-sea base station comprises a pressure-resistant shell, a sensor system and a wireless charging and docking device; the wireless charging and docking device and the sensor system are installed on the side of the pressure-resistant shell, and the control device is arranged in the pressure-resistant shell; the control device provides electric energy in the energy storage device to the wireless charging and docking device and the sensor system.

[0013] Further, the collecting flow type water turbine installation device is a structure of two half-arc symmetrical arrangements, comprising a collecting flow type inlet, a parallel channel and an expansion outlet, wherein the structures of the inlet and the outlet are the same.

[0014] Further, the underwater autonomous underwater vehicle comprises an underwater autonomous underwater vehicle main body, a wireless charging device, an observation system and a fish fin antenna; the wireless charging device is installed on the head of the underwater autonomous underwater vehicle main body, and the observation system and the fish fin antenna are installed on the upper part of the underwater autonomous underwater vehicle main body.

[0015] Compared with the prior art, the present application has the following technical effects:

[0016] The present application provides a mooring type deep-sea observation system based on a reverse differential type combined water turbine, which comprises an underwater autonomous underwater vehicle, a mooring system and the like. The mooring system utilizes the deep-sea current energy to provide energy for the underwater autonomous underwater vehicle, and does not need to be docked for a long time to supplement energy. The underwater autonomous underwater vehicle is provided with energy in a wireless charging mode. Meanwhile, the reverse combined water turbine has the high power generation efficiency of the H-type water turbine and the low flow speed high starting characteristic of the multi-blade resistance type water turbine. The two kinds of water turbines are combined through a planetary gear device, so that the torque is synthesized, and the rotating speed of the generator is higher than that of the single resistance type water turbine.

[0017] The present application utilizes the rotating speed difference of the sun gear and the gear ring and the torque synthesis of the planetary gear, realizes the organic combination of the multi-blade water turbine with low rotating speed and high self-starting performance and the H-type water turbine with high rotating speed and high efficiency, so that the device has the low flow speed starting characteristic and the high efficiency power generation characteristic. Meanwhile, based on the characteristics of the planetary gear, the torque of the two independent water turbines with different rotating speeds is synthesized on the planetary gear, so that the single generator generates power, and the rotating speed of the generator is improved. Finally, the water turbine is installed in the mooring system as a power generation end. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 is a system assembly diagram of the present application;

[0019] Figure 2 is a system isometric perspective view;

[0020] Figure 3 is a local perspective view of the power generation unit and the transmission unit;

[0021] Figure 4 is an axial perspective view of the power generation unit and the transmission unit;

[0022] Figure 5 is an axial perspective view of the reverse differential combined water turbine;

[0023] Figure 6 is a surface axial view of the reverse differential combined water turbine;

[0024] Figure 7 is an internal assembly view of the planetary gear mechanism;

[0025] Figure 8 is an axial perspective view of the magnetic levitation support device;

[0026] Figure 9 is a top view of the upper magnetic transmission device and the lower magnetic transmission device;

[0027] Figure 10 is a front view of the underwater autonomous vehicle;

[0028] Figure 11 is a front view (left) and a side view (right) of the attitude adjustment of the mooring type deep sea observation system;

[0029] Figure 12 is a working schematic of a mooring type deep sea observation system based on a reverse differential combined water turbine. DETAILED DESCRIPTION

[0030] In order to make the personnel in the technical field better understand the present application scheme, the technical scheme in the embodiments of the present application will be described clearly and completely in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by the person skilled in the art without creative labor should belong to the scope of protection of the present application.

[0031] It should be noted that the terms "first", "second", and the like in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not necessarily limit to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0032] Please refer to Figures 1 to 12 A mooring type deep sea observation system based on a reverse differential combined water turbine, comprising a floating body 1, a magnetic suspension support device 2, a reverse differential combined water turbine 3, wherein the reverse differential combined water turbine 3 comprises an upper lift type three-blade water turbine 31, a lower resistance type multi-blade water turbine 32 and a two-blade water turbine 33 inside the lift type three-blade water turbine 31, a planetary gear mechanism 4, a magnetic transmission device 5 on both sides of the rotating shaft, a low-resistance sealed cavity 6, a low-resistance sealed cavity 6 comprising a permanent magnet generator 61, a charging energy storage device 62, a lower gravity block 7, a floating block connecting rod 8, a current collecting type water turbine mounting device 9, an underwater cable 10, a wireless charging and connection system 11, a sensor system 12, a deep sea base pressure-resistant shell 13 and an underwater autonomous vehicle 14.

[0033] The core technology of the present application is a reverse water turbine based on a planetary gear device, which utilizes the speed difference between the sun gear and the gear ring and the torque synthesis of the planetary gear to realize the combination of a multi-blade water turbine with low speed and high self-starting performance and an H-type water turbine with high speed and high efficiency, so that the device has both low flow rate starting characteristics and high power generation characteristics. Based on the characteristics of the planetary gear, the torques of the two independent water turbines with different speeds are synthesized on the planetary gear, realizing single-generator power generation and increasing the speed of the generator. Finally, the water turbine is installed in the underwater monitoring unit as a power generation end.

[0034] Figure 1 is a system assembly diagram, wherein the floating body 1 is connected to the upper part of the current collecting type water turbine mounting device 9 through four floating body mounting rods 8, the current collecting type water turbine mounting device 9 is installed together with the low-resistance sealed cavity 6, the low-resistance sealed cavity 6 is installed with the gravity block 7 at the lower part, the reverse differential combined water turbine 3 is installed between the current collecting type water turbine mounting device 9 and the low-resistance sealed cavity 6 and is fixed by the magnetic suspension support device 2, the reverse differential combined water turbine 3 comprises the upper lift type three-blade water turbine 31, the lower resistance type multi-blade water turbine 32 and the two-blade water turbine 33 inside the lift type three-blade water turbine 31, the three water turbines are combined together through the planetary gear device 4, the resultant torque of the three water turbines is transmitted to the permanent magnet generator 61 through the magnetic transmission device 5, and then the electric energy is stored in the charging energy storage device 62. The electric power of the energy storage device 62 is transmitted to the deep sea base through the underwater cable 10, and the underwater autonomous vehicle 14 is charged by the wireless charging method. The whole device is divided into a deep sea base arranged on the seabed and a power generation system suspended in seawater, and the two are connected by a submarine cable and transmit electric power. The power generation system is balanced by the buoyancy of the floating body and the gravity of the turbine, generator and the like to ensure suspension in seawater, and then uses the flow in the deep sea middle layer to improve the power generation capacity.

[0035] Figure 3is the partial perspective view of the power generation unit and the transmission unit, the power generation unit is the reverse differential combined water turbine 3, the reverse differential combined water turbine 3 is axially and radially supported by the magnetic suspension support device 2 at the upper end of the collecting water turbine installation device 9 and the low-resistance sealed cavity 6. The upper magnetic transmission device 51 is the power output end of the water turbine, which transmits torque to the lower magnetic transmission device 52 connected with the generator main shaft, which is the power input end of the generator 61, thereby realizing non-contact transmission of the water turbine and the generator, avoiding the use of dynamic sealing technology under water. The power generated by the generator 61 is stored in the energy storage device 62.

[0036] Figure 4 is the side perspective view of the power generation unit and the transmission unit, the reverse differential combined water turbine 3 is located at the center of the collecting water turbine installation device 9. The collecting water turbine installation device 9 is an axisymmetric structure composed of a collecting inlet, a parallel channel and a diffuser outlet, and the inlet and outlet structures are the same. The advantage of this design is to improve the power generation capacity of the reverse differential combined water turbine 3 through the functions of inlet collection and outlet diffusion, and more importantly, the curvature design of the inlet and outlet can realize the function of automatic yawing. Since the long semi-axis of the ellipsoid of the floating body 1 is parallel to the parallel channel of the collecting water turbine installation device 9, the resistance of the collecting inlet facing the flow is the lowest; the curvature design of the collecting inlet and the diffuser outlet makes that when the flow direction changes, a yawing force will be generated when the fluid acts on the outer surface of the collecting water turbine installation device 9, thereby producing the effect of automatic yawing.

[0037] Figure 5is an axial view of the reverse differential combined water turbine 3. The reverse differential combined water turbine 3 includes a water turbine assembly and a planetary gear assembly 4. The water turbine assembly includes an upper lift type three-blade water turbine 31, which has a high specific speed ratio and high efficiency characteristics, but poor self-starting performance. The rotor has two end plates at the upper and lower ends, and the function of the end plates is to reduce the flow loss of the blade tip and to fix the blade. The end plates are fixed more reliably underwater. Meanwhile, the upper lift type three-blade water turbine 31 is internally installed with a semi-circular two-blade water turbine 33, and the rotor is also fixed by the end plates of the upper lift type three-blade water turbine 31. The two rotors rotate simultaneously, and the diameter of the two-blade water turbine 33 is half that of the upper lift type three-blade water turbine 31. Such a size can not only exert the starting performance of the two-blade water turbine 33, but also has little effect on the performance of the upper lift type three-blade water turbine 31. The two water turbines are connected to the sun gear 41 of the planetary gear device 4. The lower resistance type multi-blade water turbine 32 has a low specific speed ratio, high starting characteristics, but low efficiency. The blades of the rotor are also fixed by two end plates, and a cylindrical cavity connected to the outer gear ring 43 transmits the torque of the lower resistance type multi-blade water turbine 32. Due to the torque synthesis characteristics of the planetary gear mechanism 4, the input torque (M1) of the sun gear 41 and the input torque (M2) of the outer gear ring 43 can be combined and input to the planetary gear 42. The combination relationship is M1 / R1+M2 / R2=M / (R1+R2), where R1 is the radius of the sun gear 41 and R2 is the radius of the outer gear ring 43. The biggest innovation of the combination of the planetary gear mechanism 4 and the reverse differential combined water turbine 3 is to balance the high speed and high efficiency characteristics of the upper lift type three-blade water turbine 31 and the low speed and high starting characteristics of the lower resistance type multi-blade water turbine 32, so that the two rotors with large differences in optimal operating speed can operate in their respective suitable working conditions, realize the functions of reverse and differential speed, and combine the torque of the two non-coaxial rotors into one shaft. Another innovation of the planetary gear 4 and the reverse differential combined water turbine 3 is that the size of the planetary gear mechanism is smaller than that of the rotor. The design of the mechanism only needs to meet the transmission ratio of the sun gear 41 and the outer gear ring 43 and the strength requirement of itself. Under this condition, the radius of the rotor can be expanded.

[0038] Figure 5 is a surface axial view of the reverse differential combined water turbine 3. The installation method of the three rotors can be seen, in which the lower end plate of the upper lift type three-blade water turbine 31 and the upper end plate of the lower resistance type multi-blade water turbine 32 maintain a gap, and the lower end plate of the lower resistance type multi-blade water turbine 32 and the upper magnetic transmission device 51 maintain a gap.

[0039] Figure 7is an internal assembly view of a planetary gear mechanism, in which the sun gear 41 is connected to the central shaft of the upper lift-type three-blade water turbine 31, the outer gear ring 43 is connected to the central cylindrical cavity of the lower resistance-type multi-blade water turbine 42, the planet wheel 42 that can only rotate combines the input torque of the sun gear 41 and the outer gear ring 43, and the torque is transmitted to the central gear 45 through the gear at the end of the gear transmission rod 44, the central gear 45 is connected to the upper magnetic transmission device 51, the torque is finally transmitted to the lower magnetic transmission device 52, and the generator 61 generates electricity. The structure of the gear at the end of the gear transmission rod 44 is the same as that of the planet wheel 43, and the structure of the central gear 45 is the same as that of the sun gear 41.

[0040] Figure 8 is an axial perspective view of a magnetic suspension support device. The external structure of the magnetic suspension support device 2 is composed of a support device shell 21, and the internal structure of the magnetic suspension support device 2 is composed of an external passive permanent magnetic suspension bearing 22, an internal passive permanent magnetic suspension bearing 23, and a tassel device 24. The external passive permanent magnetic suspension bearing 22 is nested inside the support device shell 21, and the internal passive permanent magnetic suspension bearing 23 is installed outside the tassel 24. The magnetization mode of the external passive permanent magnetic suspension bearing 22 and the internal passive permanent magnetic suspension bearing 23 is radial magnetization, and the inside and outside of the ring have different magnetic poles. Among them, the outside of the inner ring and the inside of the outer ring have the same magnetic field. The inner ring of the passive permanent magnetic suspension bearing 22 is connected to the central shaft end of the reverse differential combined water turbine 3 through the tassel 24, and the outer ring of the passive permanent magnetic suspension bearing 22 is installed in the support device shell 21 to be connected to the upper end of the current collecting type water turbine installation device 9, and radial stable force is generated by the action of the magnetic field. The tassel 24 contacts the support device shell 21 to generate axial stable force, thereby fixing the position of the reverse differential combined water turbine 3, so that it can only rotate in the axial direction.

[0041] Figure 9Figure 6 is a plan view of the upper magnetic transmission device 51 and the lower magnetic transmission device 52. The magnetic transmission device 5 is composed of two groups of several centrally symmetrically installed permanent magnets, which are magnetized in the thickness direction, and the magnetic poles of adjacent permanent magnets are installed in opposite directions. The upper magnetic transmission device 51 is installed on the lower bottom surface of the reverse differential type combined water turbine 3 and is connected to the central gear 45, and the lower half of the lower magnetic transmission device 52 is installed inside the low-resistance sealed cavity 6 and is coaxially connected to the permanent magnet generator 61. The installation direction of the magnetic poles of the permanent magnets is opposite to that of the adjacent permanent magnets. Due to the principle of opposite poles attracting each other and like poles repelling each other, torque can be transmitted in the case of misalignment of the magnetic transmission. This non-contact transmission can tailor the dynamic sealing assembly, so that the low-resistance sealed cavity 6 adopts integral static sealing, greatly reducing the risk of leakage. In addition, the ratio of the upper and lower rotational speeds of the magnetic transmission device is equal to the number of magnetic poles of the upper and lower parts of the magnetic transmission device, so the number of magnetic poles can be controlled to achieve different speed-up ratios, thereby tailoring the speed-up machine (gearbox), a vulnerable component. Further increase the stability and reliability of the system.

[0042] Figure 10 Figure 7 is a front view of the underwater autonomous vehicle. The underwater autonomous vehicle 14 is composed of an underwater autonomous vehicle body 142, a wireless charging device 141, a fish fin antenna 143, and an observation system 144. The wireless charging device 141 is installed on the head of the underwater autonomous vehicle body 142. The fish fin antenna 143 and the observation system 144 are installed on the upper part of the underwater autonomous vehicle body 142.

[0043] Figure 11 Figure 8 is a front view (left) and side view (right) of the attitude adjustment of the mooring type deep sea observation system. When the mooring type deep sea observation system is facing the incoming flow (left figure), the power generation device suspended in the deep sea is subjected to the buoyancy of the float, the gravity of the gravity block, the fluid resistance, and the tension of the deep sea cable. Due to the change of the flow velocity of the sea current, the entire floating system will produce a rolling oscillation, and when the inclination occurs, the gravity block and the buoyancy are not in a straight line, thereby generating a moment opposite to the inclined attitude. The reverse differential type combined water turbine 3 is mainly composed of two parts of the reverse rotor, and the torque directions of the two rotors are opposite, which also reduces the deflection of the device facing the incoming flow direction (right figure). Figure 11 Figure 11

[0044] Figure 12 ​​It is a working schematic of a mooring type deep sea observation system based on a reversing differential combined water turbine. The deep sea base station and the suspended sea current power generation system are lowered by a research ship, and the deep sea base station is installed and fixed to the seabed. A single or several underwater autonomous vehicles are released by the research ship into the adjacent sea area, and cruise near the deep sea base station. The underwater autonomous vehicle measures long-term hydrological data using the observation system 143 installed therein. The deep sea base station measures long-term hydrological data using the sensor system 12 therein. The reversing differential combined water turbine 3 rotates under the action of the water flow, converts the kinetic energy in the sea current into mechanical energy of the reversing differential combined water turbine 3, transmits the mechanical energy to the generator 61 through the magnetic transmission device 5, thereby converting it into electrical energy and transmitting it to the energy storage device 62 to be stored in the form of chemical energy. And through the underwater cable 10, the energy is transmitted to the underwater base station. In the case of low energy level of the underwater autonomous vehicle, it moves to the vicinity of the deep sea base station and is connected with the wireless charging device and the connecting device 11, and the electrical energy in the deep sea base station is transferred to the underwater autonomous vehicle through wireless charging, so as to realize long-term cruising of the underwater autonomous vehicle. At the same time, the hydrological data measured by the sensor system 12 in the deep sea base station is transmitted to the underwater autonomous vehicle through wireless data transmission. After a period of data collection, the underwater vehicle will float to the surface of the sea and transmit the data to the satellite receiving system through the fish fin antenna 143.

[0045] Finally, it should be pointed out that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A mooring-based deep-sea observation system based on a reversing differential combined water turbine, characterized by, The application relates to a combined water turbine with a reverse differential speed, and belongs to the field of water turbines. The combined water turbine with the reverse differential speed comprises a buoyancy device (1), a magnetic suspension supporting device (2), a combined water turbine (3) with a reverse differential speed, a planetary gear mechanism (4), a magnetic transmission device (5), a low-resistance sealed cavity (6), a gravity block (7), a power generation module, a deep-sea base station, an underwater autonomous vehicle (14) and a current collecting type water turbine mounting device (9); the current collecting type water turbine mounting device (9) is arranged on the low-resistance sealed cavity (6), the buoyancy device is connected to the current collecting type water turbine mounting device (9) and the low-resistance sealed cavity (6), the gravity block (7) is arranged below the low-resistance sealed cavity (6), the power generation module is arranged in the low-resistance sealed cavity (6) and is connected to the deep-sea base station, and the deep-sea base station is used for supplying power to the underwater autonomous vehicle (14); the combined water turbine (3) with the reverse differential speed is arranged on the inner side of the current collecting type water turbine mounting device (9), the planetary gear mechanism (4) is arranged in the combined water turbine (3) with the reverse differential speed and is used for torque transmission, and the upper end and the lower end of the combined water turbine (3) with the reverse differential speed are connected to the current collecting type water turbine mounting device (9) and the low-resistance sealed cavity (6) through the magnetic suspension supporting device (2); the bottom of the combined water turbine (3) with the reverse differential speed is connected to the power generation module through the magnetic transmission device (5). The combined water turbine (3) with the reverse differential speed comprises a three-blade H-shaped water turbine (31), a resistance type multi-blade water turbine (32) and a two-blade water turbine (33); the three-blade H-shaped water turbine (31) is arranged above the resistance type multi-blade water turbine (32), the two-blade water turbine (33) is arranged on the inner side of the three-blade H-shaped water turbine (31), and the two-blade water turbine (33) and the three-blade H-shaped water turbine (31) are connected to the resistance type multi-blade water turbine (32) through the planetary gear mechanism (4). The three-blade H-shaped water turbine (31) is fixed through upper and lower end plates, a central shaft is arranged between the central points of the two end plates, the two-blade water turbine (33) is arranged between the end plates on the inner side of the three-blade H-shaped water turbine (31), and the blades of the two-blade water turbine (33) are semicircular blades; the diameter of the two-blade water turbine (33) is half of that of the three-blade H-shaped water turbine (31); the resistance type multi-blade water turbine (32) is fixed through upper and lower end plates, and a central shaft is arranged between the central points of the two end plates. The planetary gear mechanism (4) comprises a sun gear (41), a planet gear (42), an outer gear ring (43), a gear transmission rod (44) and a central gear (45); the sun gear (41) is connected to the central shaft of the three-blade H-shaped water turbine (31), the outer gear ring (43) is arranged at the center of the lower end plate of the three-blade H-shaped water turbine (31), the outer gear ring (43) is connected to the resistance type multi-blade water turbine (32), a plurality of planet gears (42) are arranged between the sun gear (41) and the outer gear ring (43), one planet gear (42) is engaged through the gear transmission rod (44) and the central gear (45), and the central gear (45) is arranged at the center of the lower end plate of the resistance type multi-blade water turbine (32). The magnetic transmission device (5) comprises an upper magnetic transmission device (51) and a lower magnetic transmission device (52), the upper magnetic transmission device (51) and the lower magnetic transmission device (52) each comprise a plurality of centrally symmetrical permanent magnets, the permanent magnets are magnetized in the thickness direction, and the magnetic poles of adjacent permanent magnets are installed in opposite ways; the central gear (45) is connected with the upper magnetic transmission device (51), the upper magnetic transmission device (51) is installed on the lower bottom surface of the reverse differential type combined water turbine (3), and the lower magnetic transmission device (52) is installed inside the low-resistance sealed cavity (6) and connected with the permanent magnet generator (61). The magnetic suspension supporting device (2) comprises a supporting device shell (21), an external passive type permanent magnetic magnetic suspension bearing (22), an internal passive type permanent magnetic magnetic suspension bearing (23) and a top device (24); the external passive type permanent magnetic magnetic suspension bearing (22) is nested inside the supporting device shell (21), the internal passive type permanent magnetic magnetic suspension bearing (23) is installed outside the top device (24); the external passive type permanent magnetic magnetic suspension bearing (22) and the internal passive type permanent magnetic magnetic suspension bearing (23) are radially magnetized, the inner part and the outer part of the ring have different magnetic poles, wherein the outer part of the inner ring and the inner part of the outer ring have the same magnetic field; the inner ring of the passive type permanent magnetic magnetic suspension bearing (22) is connected with the central shaft end of the reverse differential type combined water turbine (3) through the top device (24), and the outer ring of the passive type permanent magnetic magnetic suspension bearing (22) is installed on the supporting device shell (21) and connected with the support.

2. The mooring-based deep-sea observation system based on a reverse differential combined water turbine according to claim 1, characterized in that, The power generation module comprises a permanent magnet generator (61) and an energy storage device (62); the permanent magnet generator (61) is connected with the magnetic transmission device (5), and the energy storage device (62) is connected with the permanent magnet generator (61).

3. A mooring-based deep-sea observation system based on a reverse-differential combined water turbine according to claim 2, characterized in that, The energy storage device (62) is connected with a deep-sea base station through an underwater cable (10), the deep-sea base station comprises a pressure-resistant shell (13), a sensor system (12) and a wireless charging and connecting device (11); the wireless charging and connecting device (11) and the sensor system (12) are installed on the side of the pressure-resistant shell (13), the pressure-resistant shell (13) is provided with a control device, and the control device provides electric energy in the energy storage device (62) to the wireless charging and connecting device (11) and the sensor system (12).

4. The mooring-based deep-sea observation system based on a reverse-differential combined water turbine according to claim 1, characterized in that, The current collecting type water turbine installation device (9) is a structure of two half-arc symmetrical axes, which comprises a current collecting type inlet, parallel channels and a pressure expanding outlet, wherein the structures of the inlets and outlets are the same.

5. The mooring-based deep-sea observation system based on a reverse-differential combined water turbine according to claim 1, characterized in that, The underwater autonomous vehicle (14) comprises an underwater autonomous vehicle main body (142), a wireless charging device (141), an observation system (144) and a fish fin antenna (143); the wireless charging device (141) is installed on the head of the underwater autonomous vehicle main body (142), and the observation system (144) and the fish fin antenna (143) are installed on the upper part of the underwater autonomous vehicle main body (142).

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