A floating gravity-driven motorized buoy based on wing control and a method of use

Abstract

The application provides a floating gravity driving motor floating mark based on wing control and a use method, which comprises a body and internal facilities, and has the following characteristics: the body is a spherical shell, cylindrical through holes are formed in the two sides of the body, and a water pumping outlet is arranged at the bottom. The internal facilities comprise an internal mounting platform, a buoyancy adjusting device, a control communication and power system, a wing system, and positioning and communication equipment. The wing system comprises two wing rods, two gliding wings, and two wing rotating rudders. The two wing rods connected by the two wing rotating rudders are provided with the gliding wings at the ends of the two wing rods penetrating out of the cylindrical through holes. The control communication and power system comprises a battery pack, an integrated power distribution management module and a controller which are fixed on the internal mounting platform. The controller controls the forward and reverse rotation of the two wing rotating rudders to drive the two gliding wings to rotate forward or reversely. The motor floating mark has the ability of long-time observation and standby of Argo floating marks and the ability of tracking and observing movable ocean phenomena by gliders, and has the advantages of small size and low energy consumption.

Description

Technical Field

[0001] This invention belongs to the field of new marine monitoring equipment, specifically a novel buoyancy-driven motorized buoy controlled by a flapping wing and its usage method. Background Technology

[0002] Argo buoys and underwater gliders are two of the most widely used new underwater observation platforms in oceanography in recent years. Argo buoys are driven by net buoyancy, using a buoyancy adjustment mechanism to achieve periodic conversion between positive and negative net buoyancy, thus enabling autonomous sinking and surfacing. While moving up and down, they drift with ocean currents and can carry various sensors for ocean observation to collect marine environmental parameters. They can also transmit data and receive commands via satellite systems on the sea surface. Underwater gliders have a certain ability to resist ocean current interference and possess some track control capabilities. With their unique gliding method, they can collect environmental data over long periods, over large areas, and at great depths, playing a vital role in marine scientific research. However, traditional Argo buoys and underwater gliders have the following drawbacks:

[0003] 1. Argo buoys do not have the ability to navigate freely. During the observation process, they can only drift with the current and cannot navigate along the desired trajectory. This characteristic determines that Argo buoys can only conduct vertical profile observations, which makes Argo buoys powerless when they need to actively navigate, such as crossing eddies or following ocean currents.

[0004] 2. Underwater gliders have a complex structure and occupy a large amount of internal space, resulting in a large overall size and weight, and consequently, high energy consumption. Their attitude control devices occupy most of the usable space, leading to a relatively low payload capacity.

[0005] 3. The lift-to-drag ratio of an underwater glider is a key factor determining its gliding efficiency. Most existing gliders have fixed wings, making it difficult to change or improve the lift-to-drag ratio, thus hindering the improvement of gliding efficiency.

[0006] 4. The endurance and depth control capabilities of underwater gliders are far inferior to those of Argo buoys.

[0007] Therefore, there is an urgent need for a new type of low-energy, small-sized motorized buoy that can replace attitude adjustment devices by rotating the wing angle for ocean observation. It should possess both the long-term observation and standby capabilities of Argo buoys and the ability of gliders to track and observe moving ocean phenomena. This is a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0008] This invention addresses the problems and shortcomings of existing technologies by providing a gravity-driven maneuvering buoy based on wing control and its usage method. It combines the long-term observation and standby capabilities of Argo buoys with the tracking and observation capabilities of gliders for moving ocean phenomena, and is small in size and low in energy consumption.

[0009] The objective of this invention is achieved through the following technical solution: a gravity-driven maneuvering buoy based on wing control, comprising a body and its internal facilities, characterized in that the body is a spherical shell, with cylindrical through holes on both sides of the spherical shell, and a drain outlet at the bottom of the spherical shell; the internal facilities include an internal mounting platform, a buoyancy adjustment device, a control, communication and power system, a wing control system, and positioning and communication equipment; the wing control system includes two wing rods, two gliding wings, a left wing rotation servo, and a right wing rotation servo, with the left wing rotation servo symmetrically arranged on the internal mounting platform. The system includes a right-wing rotary servo and a left-wing rotary servo. A wing rod is connected to the drive shaft of each of the two wing rods, which pass through cylindrical through-holes on their respective sides. A glider is mounted at the end of each wing rod. The control, communication, and power system includes a battery pack, an integrated power distribution management module, and a controller fixed to the internal mounting platform. The integrated power distribution management module is used for power distribution and control. The controller controls the forward and reverse rotation of the left-wing and right-wing rotary servos, respectively driving the two gliders to rotate forward or backward.

[0010] Further improvements to the above technical solution: The buoyancy adjustment device includes at least three sets of syringes and a fixed platform. The syringe includes an outer barrel and a piston rod. The fixed platform includes a base and a support frame. The base is fixed to the bottom of the spherical shell. The lower end of the support frame is fixed to the base, and the upper end is fixed to the top of the shell. The support frame is connected to the piston rod of the syringe via a movable disc. The base is connected to the outer barrel of the syringe. A stepper motor and a drive controller are installed on the internal mounting platform. The output of the stepper motor is connected to a lead screw, which is connected to the movable disc. The drive controller controls the stepper motor to extend and retract the piston rod of the syringe. The outer barrel of the syringe drains or pumps water through the drain port, thereby achieving buoyancy adjustment of the buoyancy of the buoy as a whole.

[0011] Further improvements to the above technical solution: The spherical housing includes an upper hemispherical shell and a lower hemispherical shell, which are detachably connected. The upper hemispherical shell consists of an upper pressure-resistant outer shell and an upper pressure-resistant inner shell, and the lower hemispherical shell consists of a lower pressure-resistant outer shell and a lower pressure-resistant inner shell. Trapezoidal fixing plates are respectively provided on the mating edges of the upper and lower pressure-resistant outer shells. Threaded holes are provided on the trapezoidal fixing plates, and the upper and lower pressure-resistant outer shells are connected to form a spherical outer shell by bolts. The upper and lower pressure-resistant inner shells are mated to form a spherical inner shell. The size of the spherical inner shell is smaller than that of the spherical outer shell. The spherical inner shell is tangent to and fixed to the inner surface of the spherical outer shell. A top fixing end is provided at the top of the upper pressure-resistant inner shell, and a bottom fixing end is provided at the bottom of the lower pressure-resistant inner shell, for fixing the upper and lower ends of the buoyancy adjustment device respectively.

[0012] Further improvement to the above technical solution: The drain outlet is located at the bottom of the lower pressure-resistant inner shell, and the drain outlet protrudes downward from the bottom surface of the lower pressure-resistant inner shell. A drain hole is provided at the bottom of the lower pressure-resistant outer shell, and the drain outlet is inserted downward into the drain hole.

[0013] Further improvement to the above technical solution: The wing rod is a stepped shaft wing rod, and a dynamic sealing ring is installed in the cylindrical through hole to achieve sealing between the stepped shaft wing rod and the spherical housing.

[0014] A further improvement to the above technical solution: The positioning and communication device includes an integrated antenna, which is mounted on the top of the spherical housing.

[0015] Further improvements to the above technical solution: the left wing rotary servo and the right wing rotary servo are respectively mounted and fixed on the servo mounting bracket; the output end of the stepper motor is connected to the transmission lead screw through a dynamic connector; the internal mounting platform is horizontally set inside the spherical housing.

[0016] The present invention relates to a method for using a gravity-driven maneuvering buoy controlled by the aforementioned glider, characterized in that the method includes three motion modes: a first motion mode in which the buoy glides continuously along a sawtooth curve in the vertical plane by changing the angle of the glider; a second motion mode in which the buoy glides in stages with changing direction in the vertical plane by changing the angle of the glider; and a third motion mode in which the buoy glides upward and downward in the vertical profile and moves along the Argo with ocean currents.

[0017] Further improvements to the above technical solution: The first motion mode includes 6 states: State 1: floating on the water surface, where buoyancy is greater than gravity and the glider is in a horizontal state; State 2: diving adjustment state; State 3: stable diving state; State 4: surfacing adjustment state; State 5: stable surfacing state; State 6: the buoy reaches water surface equilibrium again.

[0018] The second movement mode includes four states: State 1: Descent adjustment state; State 2: Descent reversal phase; State 3: Ascent adjustment state; State 4: Ascent reversal phase.

[0019] The third motion mode includes five states: State 1: floating on the water surface; State 2: one dive; State 3: drifting at a constant depth; State 4: two dives; and State 5: surfacing.

[0020] Compared with the prior art, the beneficial effects of the technical solution of the present invention are:

[0021] 1. This invention utilizes a glider that can rotate at a certain angle to replace the attitude adjustment device of a traditional underwater glider. By adjusting the angle of the glider, the angle of attack of the maneuvering buoy during underwater navigation is controlled, thereby achieving attitude control of the maneuvering buoy and enhancing its maneuverability;

[0022] 2. By rotating the glider, this invention can greatly improve the lift-to-drag ratio during stable operation and increase gliding efficiency;

[0023] 3. By rotating the glider, this invention allows for convenient and flexible control of gliding attitude and lift-to-drag ratio, effectively resisting the influence of external ocean currents on gliding attitude and enhancing the stability of the gliding attitude of this invention.

[0024] 4. The body structure of the present invention adopts a spherical shell, which can ensure that the hydrodynamic force on the vehicle body is consistent in all directions of operation and facilitate weight counterweight.

[0025] 5. This invention eliminates the traditional attitude adjustment device, improves the effective load capacity of the body, provides the possibility of carrying various types of sensors, and the spherical shape of the body can greatly reduce its size and weight, which helps to reduce the energy consumption of the motorized buoy and increase the time it can travel in water.

[0026] 6. This invention combines the long-term observation and standby capabilities of Argo buoys with the ability of gliders to track and observe moving ocean phenomena, and can switch between Argo mode and gliding mode, organically integrating buoy technology and underwater glider technology. Attached Figure Description

[0027] Figure 1This is a schematic diagram of the structure of a gravity-driven maneuvering buoy based on wing control according to the present invention;

[0028] Figure 2 This is an exploded assembly diagram of a gravity-driven maneuvering buoy based on wing control according to the present invention.

[0029] Figure 3 This is a schematic diagram of the buoyancy adjustment device structure in a gravity-driven maneuvering buoy based on wing control according to the present invention.

[0030] Figure 4 for Figure 1 Cross-sectional view along section AA;

[0031] Figure 5 for Figure 1 A sectional view along section BB;

[0032] Figure 6 This is a schematic diagram illustrating the motion cycle of a sawtooth gliding mode of a gravity-driven maneuvering buoy based on flapping wing control according to the present invention.

[0033] Figure 7 This is a schematic diagram of the motion cycle of a gliding mode of a gravity-driven maneuvering buoy based on flapping wing control according to the present invention.

[0034] Figure 8 This is a schematic diagram of one Argo mode motion cycle of a gravity-driven maneuvering buoy based on wing control according to the present invention.

[0035] In the diagram: 1. Integrated antenna; 2. Cylindrical through-hole; 3. Glider; 4. Trapezoidal mounting plate; 5. Bolt; 6. Spherical casing; 7. Upper pressure-resistant outer shell; 8. Upper pressure-resistant inner shell; 9. Buoyancy adjustment device; 10. Servo mounting bracket; 11. Right wing rotary servo; 12. Lower pressure-resistant inner shell; 13. Drain outlet; 14. Lower pressure-resistant outer shell; 15. Wing rod; 16. Fixed platform base; 17. Syringe outer barrel; 18. Fixed platform support frame; 19. Piston push rod; 20. Moving disc; 21. Syringe fixed end; 22. Drive screw; 23. Moving connector; 24. Stepper motor; 25. Moving seal ring; 26. Left wing rotary servo; 27. Battery pack; 28. Top fixed end; 29. ​​Internal mounting platform; 30. Controller; 31. Bottom fixed end; 32. Drain hole. Detailed Implementation

[0036] In the description of this invention, it should be noted that the methods described in the following embodiments are conventional methods unless otherwise specified; terms such as "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0037] Furthermore, the terms "lateral", "longitudinal", "side", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention.

[0038] The present invention will now be described in further detail with reference to the accompanying drawings, so that those skilled in the art can implement it based on the description.

[0039] like Figures 1-8 As shown, an embodiment of the gravity-driven maneuvering buoy based on wing control according to the present invention includes a fuselage and its internal facilities. The fuselage is a spherical shell 6, with cylindrical through holes 2 on both sides and a drain outlet 13 at the bottom. The internal facilities include an internal mounting platform 29, a buoyancy adjustment device 9, a control, communication and power system, a wing control system, and positioning and communication equipment. The wing control system includes two wing rods 15, two glider wings 3, a left wing rotation servo 26, and a right wing rotation servo 11. The left wing rotation servo 26 and the right wing rotation servo 11 are symmetrically arranged on the internal mounting platform 29. A wing rod 15 is connected to the drive shaft of each of the left wing rotation servo 26 and the right wing rotation servo 11. The two wing rods 15 pass through the cylindrical through holes 2 on their respective sides, and a glider 3 is provided at the end of each of the two wing rods 15. The aforementioned control, communication, and power system includes a battery pack 27, an integrated power distribution management module, and a controller 30 fixed on the internal mounting platform 29. The integrated power distribution management module is used for power distribution and control, and the controller 30 controls the forward and reverse rotation of the left wing rotary servo 26 and the right wing rotary servo 11, respectively driving the two gliders 3 to rotate forward or backward.

[0040] Furthermore, such as Figure 3As shown, the buoyancy adjustment device 9 includes at least three sets of syringes and a fixed platform. Each syringe includes an outer barrel 17 and a piston rod 19. The fixed platform includes a platform base 16 and a support frame 18. The platform base 16 is fixed to the bottom of the spherical shell, the lower end of the support frame 18 is fixed to the platform base 16, and the upper end of the support frame 18 is fixed to the top of the spherical shell. The support frame 18 is connected to the piston rod 19 of the syringe via a movable disc 20, and the platform base 16 is connected to the syringe fixing end 21 of the outer barrel 17.

[0041] A stepper motor 24 and a drive controller are installed on the internal mounting platform 29. The output end of the stepper motor 24 is connected to the transmission screw 22, and the transmission screw 22 is connected to the movable disk 20. The drive controller controls the stepper motor 24 to drive the piston push rod 19 of the syringe to extend and retract. The syringe outer cylinder 17 drains or pumps water through the drain port 13, so as to realize the buoyancy adjustment device 9 to adjust the buoyancy of the entire buoy.

[0042] Specifically: The aforementioned spherical housing 6 includes an upper hemispherical housing and a lower hemispherical housing, which are detachably connected. The upper hemispherical housing consists of an upper pressure-resistant outer shell 7 and an upper pressure-resistant inner shell 8, and the lower hemispherical housing consists of a lower pressure-resistant outer shell 14 and a lower pressure-resistant inner shell 12. Trapezoidal fixing plates 4 are respectively provided on the mating edges of the upper pressure-resistant outer shell 7 and the lower pressure-resistant outer shell 14. Threaded holes are opened on the trapezoidal fixing plates 4, and the upper pressure-resistant outer shell 7 and the lower pressure-resistant outer shell 14 are connected to form a spherical housing by bolts 5. The upper pressure-resistant inner shell 8 and the lower pressure-resistant inner shell 12 are connected to form a spherical inner shell. The size of the spherical inner shell is smaller than that of the spherical outer shell. The inner surface of the spherical inner shell and the inner surface of the spherical outer shell are tangent and fixed. The upper pressure-resistant inner shell 8 is provided with a top fixing end 28, and the lower pressure-resistant inner shell 12 is provided with a bottom fixing end 31, which are used to fix the upper and lower ends of the buoyancy adjustment device 9 respectively.

[0043] Furthermore, the aforementioned drain outlet 13 is located at the bottom of the lower pressure-resistant inner shell 12, and the drain outlet 13 protrudes downward from the bottom surface of the lower pressure-resistant inner shell 12. A drain hole is provided at the bottom of the lower pressure-resistant outer shell, and the drain outlet is inserted downward into the drain hole.

[0044] Furthermore, the aforementioned wing rod 15 is a stepped shaft wing rod, and a dynamic sealing ring 25 is installed in the aforementioned cylindrical through hole 2 to achieve a seal between the stepped shaft wing rod and the spherical housing 6.

[0045] The aforementioned positioning and communication equipment also includes an integrated antenna 1, which is mounted on the top of the spherical housing 6.

[0046] During the specific installation and manufacturing process, the left wing rotating servo 26 and the right wing rotating servo 11 are respectively installed and fixed on the servo mounting bracket 10; the output end of the stepper motor 24 is connected to the transmission lead screw through the dynamic connector 23; the internal mounting platform 29 is horizontally set in the upper part of the lower pressure-resistant inner shell 12.

[0047] like Figure 3 As shown, the buoyancy adjustment device includes three sets of syringes 17 and 19 and fixed platforms 16 and 18. The fixed platforms 16 and 18 are placed at the upper and lower ends of the spherical pressure-resistant shell, with one end fixed to the bottom fixed end 31 of the lower inner shell and the other end fixed to the upper fixed end 28 of the upper inner shell. The fixed platforms 16 and 18 fix the piston rod 19 of the syringe through the movable disc 20 and fix the outer cylinder 17 of the syringe through the base. A stepper motor 24 is fixed on the internal mounting platform. The output end of the stepper motor is connected to the transmission screw 22 through the moving connector 23. The transmission screw 22 is connected to the movable disc 20 that fixes the piston rod.

[0048] See Figures 6-8 This invention relates to an embodiment of the method for using a gravity-driven maneuvering buoy controlled by the aforementioned glider. The method includes three motion modes: the first motion mode is a continuous gliding motion of the buoy along a sawtooth curve in the vertical plane by changing the angle of the glider 3; the second motion mode is a staged gliding motion of the buoy in the vertical plane by changing the angle of the glider 3; and the third motion mode is an buoy's ascending and descending motion in the vertical profile and an Argo motion accompanied by ocean currents.

[0049] Furthermore, the first motion mode mentioned above includes six states: State 1: floating on the water surface, where buoyancy is greater than gravity and the glider is in a horizontal state; State 2: diving adjustment state; State 3: stable diving state; State 4: surfacing adjustment state; State 5: stable surfacing state; State 6: the buoy reaches water surface equilibrium again.

[0050] The second movement mode mentioned above includes four states: State 1: Descent adjustment state; State 2: Descent reversal phase; State 3: Ascent adjustment state; State 4: Ascent reversal phase.

[0051] The third motion mode mentioned above includes five states: State 1: floating on the water surface; State 2: one dive; State 3: drifting at a constant depth; State 4: two dives; and State 5: surfacing.

[0052] Specifically: The gliding mode of the gravity-driven maneuvering buoy (hereinafter referred to as the maneuvering buoy) based on wing control of this invention involves continuous gliding along a sawtooth curve in the vertical plane. During this movement, the angle of the glider 3 can be changed, such as... Figure 6 As shown.

[0053] In actual use, the variable angle control strategy of the glider 3 allows for continuous gliding motion along a sawtooth curve in the vertical plane in six states:

[0054] State 1: Floating on the water surface, buoyancy is greater than gravity, and glider 3 is in a horizontal position. Figure 6 As shown in position D1.

[0055] State 2: Descent Adjustment State. This invention receives a descent command via the integrated antenna 1. The buoyancy adjustment device 9 drives the syringe to draw water via the stepper motor 24. When the weight exceeds the buoyancy, descent begins. Simultaneously, due to the bias mass of the battery pack 27, the center of gravity is located at the lower right of the spherical casing 6 of the motorized buoy, generating a bias torque to resist the hydrodynamic torque experienced by the motorized buoy underwater, thus maintaining the stability of its movement. The motorized buoy collects data such as depth and attitude from its onboard measurement sensors and sends it to the controller 30. After processing, a control command is generated and sent to the right wing rotation servo 11 and the left wing rotation servo 26, controlling their rotation. This drives the rotation of the glider 3, ensuring that the angle of attack of the glider 3 is greater than that of the spherical casing 6, allowing the motorized buoy of this embodiment to descend under optimal lift-to-drag ratio conditions.

[0056] State 3: Stable Descent State. After the adjustment phase of State 2, the invention enters the stable gliding phase. At this time, the spherical casing 6 and the glider 3 are in a stable state with the optimal lift-to-drag ratio and are at a certain angle, such as... Figure 6 Positions D2 to D3 are shown. This process can control the rotation of the glider 3 and the gliding state by using the right wing rotary servo 11 and the left wing rotary servo 26 to resist the influence of external ocean currents on the movement of this maneuvering buoy.

[0057] State 4: Ascent Adjustment State. The diving depth of this invention is measured by a sensor. Once the preset depth is reached, as... Figure 6 At position D3, the buoyancy adjustment device 9 begins to drive the syringe to expel water. When the buoyancy exceeds the weight, the maneuvering buoy begins to rise. Further, control commands are sent via the controller to the right wing rotation servo 11 and the left wing rotation servo 26, causing them to rotate and the glider 3 to rotate in the opposite direction. Afterward, the maneuvering buoy reaches its lowest point D4 under inertia and begins to rise. Further, the rotation of the glider 3 is adjusted to achieve the optimal angle of attack for lift-to-drag ratio.

[0058] State 5: Stable Ascent. After the adjustments in State 4, this maneuvering buoy has reached a stable ascent stage. This stage is basically the same as the stable descent stage, except that the angle between the glider 3 and the maneuvering buoy is opposite.

[0059] After rising to the predetermined depth, such as Figure 6 At position D6, the buoyancy adjustment device 9 begins to draw in water, gradually increasing the buoyancy to exceed the weight. This is further controlled by the controller, which sends commands to the right-wing rotation servo 11 and the left-wing rotation servo 26. These servos rotate, driving the glider 3 to be parallel to the spherical casing 6 in the horizontal plane. Under the influence of inertia, buoyancy, and hydrodynamic adjustment, the motorized buoy regains equilibrium on the water surface, as shown at position D7. This completes one cycle of gliding motion. Once the buoy is upright on the water surface, it uses the integrated antenna 1 for positioning and communicates with the surface control center, transmitting data and receiving commands to initiate the next cycle of submersion and surfacing.

[0060] The gliding mode of the motorized buoy of this invention involves a staged gliding motion within a vertical plane. During this gliding process, the direction of motion within the vertical plane can be changed in real time, and the wing angle can also be varied during this motion. Figure 7 As shown.

[0061] In actual use, the gliding reversal mode can be divided into several motion states, and the direction change is quite flexible, for example... Figure 7 It can be divided into four states:

[0062] State 1: Descent Adjustment State. The motorized buoy receives the descent command via integrated antenna 1. Buoyancy adjustment device 9 drives the syringe to draw water via stepper motor 24. When the weight exceeds the buoyancy, descent begins. Simultaneously, due to the bias mass of battery pack 27, the center of gravity is located at the lower right of the spherical casing 6 of the motorized buoy, generating a bias torque to counteract the hydrodynamic torque experienced by the buoy underwater, thus maintaining the stability of the buoy's movement. Based on the predetermined rotation command of glider 3, the motorized buoy sends control commands to the right wing rotation servo 11 and left wing rotation servo 26, controlling their rotation to drive glider 3 to rotate at a certain angle and begin descent. Figure 7 As shown in position E1.

[0063] State 2: Descent and reversal phase. The maneuvering buoy uses the depth data transmitted back by the sensors to initiate the first reversal movement after reaching position E2. It controls the right wing rotation servo 11 and the left wing rotation servo 26 to rotate, driving the glider 3 to continue rotating at a certain angle. It then moves to position E3 with a new trajectory and initiates the second reversal movement. The glider 3 is then controlled to rotate in the opposite direction at a certain angle, moving to position E4 with a new trajectory.

[0064] State 3: Ascent Adjustment State. The diving depth of this motorized buoy is measured by the measuring sensor. Once the preset depth is reached, ... Figure 6 At position E4, the buoyancy adjustment device 9 starts driving the syringe to drain water. When the buoyancy is greater than the weight, the motorized buoy begins to rise. Further, control commands are sent to the right wing rotation servo 11 and the left wing rotation servo 26 via the controller, causing the right wing rotation servo 11 and the left wing rotation servo 26 to rotate, controlling the glider 3 to rotate in the opposite direction by a certain angle, thus initiating the upward movement.

[0065] State 4: Ascent and Reversal Phase. Based on depth data transmitted from sensors, the maneuvering buoy begins its reversal motion after reaching position E5. It then controls the right wing rotation servo 11 and the left wing rotation servo 26 to rotate, driving the glider 3 to continue rotating at a certain angle, moving along a new trajectory to position E6. At this point, the maneuvering buoy completes one cycle of phased reversal gliding motion.

[0066] The movement of the Argo mode of this invention involves surfacing, diving, and movement accompanied by ocean currents in a vertical profile. During this movement, the blade angle is variable, such as... Figure 8 As shown.

[0067] In actual use, the movement in Argo mode can be divided into five states:

[0068] State 1: Floating on the water surface. This motorized buoy floats on the sea surface, swaying and drifting with the waves and currents. At this time, the buoyancy adjustment device 9 drains the seawater to provide maximum buoyancy to meet communication requirements. The glider 3 is in a vertically downward position. Figure 7 As shown in the P1 position.

[0069] State 2: First dive state. After receiving the mission command, the buoyancy adjustment device 9 is activated to pump water from the outside seawater into the buoy. When the pumping volume reaches the specified level, the operation stops. The buoyancy of the buoy will decrease as the pumping volume increases. When the buoyancy is less than the weight, the buoy begins to dive. As the depth increases, the buoy is less affected by surface waves and ocean currents, and the overall attitude gradually becomes stable and vertical.

[0070] State 3: Constant depth drifting state. When the motorized buoy dives to a certain depth position P2, the buoyancy of the motorized buoy is equal to the gravity, and the entire carrier system enters the dormant and constant depth drifting state.

[0071] State 4: Second dive state. The invention ends its dormant state and is awakened. The buoyancy adjustment device 9 continues to pump water to reach the target pumping volume. At this time, the gravity of the motorized buoy is greater than the buoyancy, and the motorized buoy continues to dive until it reaches the deepest depth.

[0072] State 5: Ascent State. After the motorized buoy reaches its maximum diving depth, the buoyancy adjustment device 9 begins to displace water from the inside to the outside. The buoyancy increases with the amount of water displaced, and the motorized buoy begins to rise. Simultaneously, the right wing rotation servo 11 and the left wing rotation servo 26 send control commands to rotate, driving the glider 3 to rotate 180°, placing the glider 3 in a vertically upward position. Figure 7 As shown at position P4, once the buoy surfaces, the motorized buoy begins transmitting data back via satellite and receiving the next mission command, thus completing a full workflow.

[0073] Of course, the above description is not intended to limit the present invention, and the present invention is not limited to the examples given above. Any changes, modifications, additions or substitutions made by those skilled in the art within the scope of the present invention should also fall within the protection scope of the present invention.

Claims

1. A gravity-driven maneuvering buoy based on wing control, comprising a fuselage and its internal facilities, characterized in that, The fuselage is a spherical shell with cylindrical through holes on both sides and a drain outlet at the bottom. The internal facilities include an internal mounting platform, a buoyancy adjustment device, a control, communication, and power system, a wing-mounting system, and positioning and communication equipment. The wing-mounting system includes two wing rods, two glider wings, a left wing rotation servo, and a right wing rotation servo. The left and right wing rotation servos are symmetrically arranged on the internal mounting platform. A wing rod is connected to the drive shaft of each wing rod, and the two wing rods extend through the corresponding cylindrical through holes. A glider wing is attached to the end of each wing rod. The control, communication, and power system includes a battery pack, an integrated power distribution management module, and a controller fixed to the internal mounting platform. The integrated power distribution management module is used for power distribution and control, and the controller controls the forward and reverse rotation of the left and right wing rotation servos. The system drives the two gliders to rotate clockwise or counterclockwise. The spherical fuselage includes an upper hemispherical shell and a lower hemispherical shell, which are detachably connected. The upper hemispherical shell consists of an upper pressure-resistant outer shell and an upper pressure-resistant inner shell, and the lower hemispherical shell consists of a lower pressure-resistant outer shell and a lower pressure-resistant inner shell. Trapezoidal fixing plates are respectively provided on the mating edges of the upper and lower pressure-resistant outer shells, and the trapezoidal fixing plates have openings... The upper pressure-resistant outer shell and the lower pressure-resistant outer shell are connected by bolts to form a spherical outer shell. The upper pressure-resistant inner shell and the lower pressure-resistant inner shell are joined to form a spherical inner shell. The size of the spherical inner shell is smaller than that of the spherical outer shell. The inner surface of the spherical inner shell is tangent to and fixed to the inner surface of the spherical outer shell. The upper pressure-resistant inner shell has a top fixing end, and the lower pressure-resistant inner shell has a bottom fixing end, which are used to fix the upper and lower ends of the buoyancy adjustment device, respectively.

2. The gravity-driven maneuvering buoy based on wing control according to claim 1, characterized in that, The buoyancy adjustment device includes at least three sets of syringes and a fixed platform. Each syringe includes an outer barrel and a piston rod. The fixed platform includes a base and a support frame. The base is fixed to the bottom of the spherical shell. The lower end of the support frame is fixed to the base, and the upper end is fixed to the top of the shell. The support frame is connected to the piston rod of the syringe via a movable disc. The base is connected to the outer barrel of the syringe. A stepper motor and a drive controller are mounted on the internal mounting platform. The output of the stepper motor is connected to a lead screw, which is connected to the movable disc. The drive controller controls the stepper motor to extend and retract the piston rod of the syringe. The outer barrel of the syringe drains or pumps water through the drain port, thus achieving buoyancy adjustment of the buoyancy of the entire buoy.

3. The gravity-driven maneuvering buoy based on wing control according to claim 1, characterized in that, The drain outlet is located at the bottom of the lower pressure-resistant inner shell, and the drain outlet protrudes downward from the bottom surface of the lower pressure-resistant inner shell. A drain hole is provided at the bottom of the lower pressure-resistant outer shell, and the drain outlet is inserted downward into the drain hole.

4. The gravity-driven maneuvering buoy based on wing control according to any one of claims 1-3, characterized in that, The wing rod is a stepped shaft wing rod, and a dynamic sealing ring is installed in the cylindrical through hole to achieve a seal between the stepped shaft wing rod and the spherical housing.

5. The gravity-driven maneuvering buoy based on wing control according to claim 4, characterized in that, The positioning and communication device includes an integrated antenna mounted on the top of the upper hemispherical housing.

6. The gravity-driven maneuvering buoy based on wing control according to claim 2, characterized in that, The left and right wing rotary servos are respectively mounted and fixed by servo mounting brackets; the output end of the stepper motor is connected to the transmission lead screw through a dynamic connector; the internal mounting platform is horizontally arranged inside the spherical housing.

7. The method of using a gravity-driven maneuvering buoy based on wing control according to any one of claims 1-6, characterized in that, The method of use includes three movement modes. The first movement mode is a continuous gliding movement mode in the vertical plane by changing the angle of the glider to control the buoy along a sawtooth curve. The second movement mode is a staged gliding movement mode in the vertical plane by changing the angle of the glider to control the buoy. The third movement mode is the buoy's ascending and descending movement in the vertical profile and the Argo movement mode accompanied by ocean currents.

8. The method of using a gravity-driven maneuvering buoy based on wing control according to claim 7, characterized in that, The first motion mode includes 6 states. State 1: floating on the water surface, where buoyancy is greater than gravity and the glider is in a horizontal state. State 2: Diving adjustment state; State 3: Stable diving state; State 4: Ascent adjustment state; State 5: Stable ascent state; State 6: Buoy reaches water surface equilibrium again; The second type of movement mode includes four states, with state one being the diving adjustment state; State 2: Descent and reversal phase; State 3: Ascent and adjustment phase; State 4: Ascent and reversal phase; The third motion mode includes 5 states, with state one being the floating state on the water surface. State 2: First dive; State 3: Constant depth drift; State 4: Second dive; State 5: Ascent.

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