A frame-type glider and a control method thereof

Abstract

This invention discloses a frame-type glider, comprising a frame, a hull, a gliding system, a buoyancy adjustment system, and a propulsion, manipulation, and control system. The frame includes two parallel and symmetrically arranged sidewalls, with the hull symmetrically arranged outside the sidewalls. The gliding system includes a pair of rotatable horizontal hydrofoils arranged at the front and rear of the top of the frame, a pair of fixed horizontal hydrofoils arranged at the front and rear of the bottom of the frame, and a pair of adjustable angle servos controlling the rotatable horizontal hydrofoils. This frame-type glider overcomes the shortcomings of traditional underwater gliders, such as poor endurance due to high energy consumption and susceptibility to hydrofoil damage. To ensure reliable gliding capabilities, the glider is designed with two pairs of hydrofoils, the upper pair being rotatable and the lower pair being fixed. Furthermore, a propulsion device is added, effectively overcoming the current shortcomings of low speed and inability to maintain navigation depth in underwater gliders.

Description

Technical Field

[0001] This invention relates to the field of underwater glider technology, and in particular to a frame-type glider and its control method. Background Technology

[0002] An underwater glider (UG) is an underwater robot that achieves heave by adjusting its buoyancy and propulsion by adjusting the net buoyancy and attitude angle of its wings, enabling it to glide underwater and collect underwater information. It boasts advantages such as high energy efficiency, low noise, and the ability to conduct large-scale, long-term continuous marine environmental observation and exploration. It is suitable for observing physical oceanographic phenomena at the mesoscale and above, and even some sub-mesoscale levels, as well as for ecological environment surveys and marine safety assurance.

[0003] Traditional underwater gliders lack direct propulsion and achieve vertical zigzag gliding by altering their buoyancy. Their speed is typically less than 1 knot, and their range is 1000 to 6000 km. Hybrid-drive underwater gliders, equipped with a propulsion system, effectively overcome the two major drawbacks of low speed and inability to maintain a consistent gliding depth. These gliders operate in conventional gliding mode during standby time, and activate their propellers for horizontal navigation when a mission is required. Their higher energy consumption compared to conventional gliders necessitates continuous energy replenishment for extended operation.

[0004] Traditional glider appendages mainly consist of horizontal wings and vertical stabilizers at the stern. However, these appendages are mostly independent of the main structure and are easily damaged by factors such as impacts and entanglement in fishing nets, which can be fatal for non-hybrid gliders. Summary of the Invention

[0005] In view of the shortcomings of related technologies, the present invention provides a frame-type glider that overcomes the problems of low speed, inability to maintain navigation depth, and easy damage to hydrofoils in current underwater gliders.

[0006] To solve the aforementioned technical problems, the technical solution of the present invention is as follows:

[0007] A frame-type glider includes a frame, a hull, a gliding system, a buoyancy control system, and a propulsion, manipulation, and control system. The frame includes two parallel, symmetrically arranged sidewalls, with the hull symmetrically positioned outside the sidewalls. The gliding system includes a pair of rotatable horizontal hydrofoils arranged aft and rear of the top of the frame, a pair of fixed horizontal hydrofoils arranged aft and rear of the bottom of the frame, and a pair of adjustable angle servos controlling the rotatable hydrofoils. The buoyancy control system is symmetrically arranged in the hull on both sides, each side including an inlet / outlet, a pipe, a solenoid valve, a high-pressure pump, a pressure sensor, and a liquid storage tank. The high-pressure pump is located at the bow of the upper part of the hull, and the liquid storage tank is located at... The hull shape is positioned behind the high-pressure pump. An anti-sloshing bulkhead is installed inside the liquid storage tank. The inlet and outlet are connected to the liquid storage tank and the outside of the hull via the pipe, the solenoid valve, and the high-pressure pump. The pressure sensor is installed on the pipe. The propulsion control system includes thrusters symmetrically arranged in the middle of the stern section on the inner side of the two side walls of the frame, a motor for driving the thrusters, a thruster control system, a power supply, a circuit drive control system, and an underwater detection sensor assembly arranged inside the hull. The underwater detection sensor assembly includes a pitch camera, an inertial navigation system, a GPS positioning system, and an omnidirectional sonar.

[0008] Furthermore, the frame has a maximum length of 0.6 to 20 meters, a maximum width of 0.45 to 0.7 times the maximum length, and a maximum height of 0.3 to 0.45 times the maximum length. The hulls on both sides, the rotatable horizontal hydrofoils, and the fixed horizontal hydrofoils are all symmetrical or nearly symmetrical airfoils, bow-shaped or nearly bow-shaped airfoils, or airfoils or nearly airfoils. The length of the hull is 0.9 to 0.96 times the maximum length, and the height is 0.92 to 0.98 times the maximum height. The aspect ratio of the rotatable horizontal hydrofoils and the horizontal hydrofoils is 5 to 20, and the thickness ratio is 0.05 to 0.15. The maximum rotation angle of the rotatable horizontal hydrofoils is ±15°.

[0009] Furthermore, the gliding system also includes a pair of rotating shafts and a pair of fixed shafts, as well as an attitude adjustment control system for controlling the adjustable angle servo. The attitude adjustment control system controls the adjustable angle servo to achieve the glider's ascent and descent gliding. The rotating shafts are located at 1 / 4 of the chord length of the rotating horizontal hydrofoil, and the fixed shafts are located at 1 / 4 of the chord length of the fixed horizontal hydrofoil. The rotating horizontal hydrofoil is connected to the adjustable angle servo through the rotating shafts.

[0010] Furthermore, the hull includes a shell, supporting components, and bulkheads. The shell is a double-shell structure. The inner pressure hull provides a watertight space for the instruments and equipment inside the cabin and resists external seawater pressure. The outer shell reduces drag and optimizes fluid performance. The outer shell is made of high-strength, pressure-resistant, and corrosion-resistant material, and its surface is coated with drag-reducing material. The inner shell and the outer shell are connected by the supporting components. The interior of the hull is divided into different compartments by the bulkheads.

[0011] Furthermore, the gliding system and the buoyancy adjustment system are located in the upper part of the hull, the propulsion control system is located in the lower part, the lower section of the hull is a transparent section, and the underwater detection and sensing components are all located in the bow of the lower section of the hull.

[0012] The present invention also provides a control method for the above-mentioned frame glider, wherein the two thrusters of the propulsion control system drive the glider forward under the drive of the motor, and the glider can be turned by controlling the speed of the motor.

[0013] By controlling the electromagnetic valves and high-pressure pumps in the buoyancy control system, the inflow and outflow of seawater inside the liquid storage tank are achieved, thereby enabling the glider to ascend and descend.

[0014] The glider achieves ascent and descent gliding by controlling the rotatable horizontal hydrofoil through the adjustable angle servo of the gliding system.

[0015] Furthermore, the two rotatable horizontal hydrofoils employ an energy-saving transmission and angle adjustment mechanism, which allows the two upper rotatable horizontal hydrofoils to be adjusted to a fixed angle. At the same time, through this energy-saving transmission and angle adjustment mechanism, the rotatable horizontal hydrofoils are not affected by the incoming flow when the adjustable angle servo is not working, and are locked at a fixed angle, thereby enabling the glider to glide smoothly underwater.

[0016] Furthermore, the liquid storage tank in the floating regulation system is in a vacuum environment, and water can be automatically injected simply by opening the solenoid valve. The pressure sensor is used for emergency handling in case the high-pressure pump fails, cutting off the power and stopping the system. In addition, the floating regulation system can control the high-pressure pump in stages according to the water pressure measured by the pressure sensor, thereby controlling the inflow or outflow of water into the liquid storage tank.

[0017] Furthermore, the circuit drive control system (5-9) of the propulsion manipulation and control system has a sleep mode and an automatic motor start-stop mode, which can maximize the low power consumption of the glider; when the angle of the rotatable horizontal hydrofoil does not need to be adjusted, the sleep mode and the automatic motor start-stop mode are activated, so that the circuit stops controlling the adjustable angle servo and reduces energy consumption; in addition, the propulsion manipulation and control system is based on a microcontroller, and reduces standby power consumption by maintaining the power supply status of the relay control sensor and communication module, thereby achieving the purpose of low power consumption.

[0018] Beneficial descriptions of this invention:

[0019] The frame-type glider provided by this invention overcomes the shortcomings of traditional underwater gliders, such as poor endurance due to high energy consumption and susceptibility to hydrofoil damage. To ensure reliable gliding capabilities, the glider is designed with two pairs of hydrofoils, the upper one being rotatable and the lower one fixed. A propulsion device is also added, effectively overcoming the current shortcomings of low speed and inability to maintain a certain water depth in underwater gliders. To achieve better energy efficiency, a circuit-driven control system with sleep and automatic motor start-stop modes is employed. This resolves the contradiction between the glider's limited electrical capacity and long endurance, allowing for the effective use of a special energy-saving motor drive. When hydrofoil angle adjustment is not required, the sleep and automatic motor start-stop modes are activated, stopping the circuit control of the servo motors and reducing energy consumption. Attached Figure Description

[0020] Figure 1 This is a top view of a frame-type glider according to an embodiment of the present invention;

[0021] Figure 2 This is a front view of a frame-type glider according to an embodiment of the present invention;

[0022] Figure 3 This is a side view of a frame-type glider according to an embodiment of the present invention;

[0023] Figure 4 This is an isometric drawing of a frame-type glider according to an embodiment of the present invention;

[0024] Figure 5 This is a schematic diagram of the internal cabin layout of a frame-type glider according to an embodiment of the present invention;

[0025] Figure 6 This is a cross-section of the hydrofoil of a frame-type glider according to an embodiment of the present invention. Figure 1 ;

[0026] Figure 7 This is a cross-section of the hydrofoil of a frame-type glider according to an embodiment of the present invention. Figure 2 ;

[0027] Figure 8This is a cross-section of the hydrofoil of a frame-type glider according to an embodiment of the present invention. Figure 3 ; Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described below in conjunction with embodiments. However, it should be understood that this invention is not limited to the specific embodiments described. For those skilled in the art, any variations that fall within the spirit and scope of the invention as defined and determined by the appended claims are obvious, and all inventions utilizing this concept are protected.

[0029] like Figures 1 to 5 As shown, a frame-type glider includes a frame 1, a hull 2, a gliding system 3, a buoyancy control system 4, and a propulsion, manipulation, and control system 5. The frame 1 includes two parallel and symmetrically arranged sidewalls, with the hull 2 ​​symmetrically arranged on the outer sides of the sidewalls. The gliding system 3 includes a pair of rotatable horizontal hydrofoils 3-1 arranged at the front and rear of the top of the frame 1, a pair of fixed horizontal hydrofoils 3-2 arranged at the front and rear of the bottom of the frame 1, and a pair of adjustable angle servos 3-5 controlling the rotatable horizontal hydrofoils 3-1 respectively. The buoyancy control system 4 is symmetrically arranged in the hull 2 ​​on both sides, and each side includes an inlet / outlet 4-1, a pipe 4-2, a solenoid valve 4-3, a high-pressure pump 4-4, a pressure sensor 4-5, and a liquid storage tank 4-6. The high-pressure pump 4-4 is arranged at the bow of the upper part of the hull 2, and the liquid storage tank 4-6 is arranged according to the hull. The shape of the hull 2 ​​is located behind the high-pressure pump 4-4. An anti-sloshing bulkhead is provided inside the liquid storage tank 4-6. The inlet and outlet 4-1 are connected to the liquid storage tank 4-6 and the outside of the hull 2 ​​through the pipe 4-2, the solenoid valve 4-3 and the high-pressure pump 4-4. The pressure sensor 4-5 is provided on the pipe 4-2. The propulsion control system 5 includes a thruster 5-1 symmetrically arranged in the middle of the inner side of the stern of both sides of the frame 1, a motor 5-2 for driving the thruster 5-1, and a thruster control system 5-3, a power supply 5-8, a circuit drive control system 5-9 arranged inside the hull 2 ​​and the underwater detection sensor assembly. The underwater detection sensor assembly includes a pitch camera 5-4, an inertial navigation system 5-5, a GPS positioning system 5-6 and an omnidirectional sonar 5-7.

[0030] The frame 1 has a maximum length of 0.6 to 20 meters, a maximum width of 0.45 to 0.7 times the maximum length, and a maximum height of 0.3 to 0.45 times the maximum length. The hulls 2 on both sides, the rotatable horizontal hydrofoils 3-1, and the fixed horizontal hydrofoils 3-2 are all symmetrical or nearly symmetrical airfoils, bow-shaped or nearly bow-shaped airfoils, or airfoils or nearly airfoils. The length of the hull 2 ​​is 0.9 to 0.96 times the maximum length, and the height is 0.92 to 0.98 times the maximum height. The aspect ratio of the rotatable horizontal hydrofoils 3-1 and the horizontal hydrofoils 3-2 is 5 to 20, and the thickness ratio is 0.05 to 0.15. The maximum rotation angle of the rotatable horizontal hydrofoils 3-1 is ±15°.

[0031] like Figure 2 As shown, the gliding system 3 also includes a pair of rotating shafts 3-3 and a pair of fixed shafts 3-4, as well as an attitude adjustment control system 3-6 for controlling the adjustable angle servo 3-5. The attitude adjustment control system 3-6 controls the adjustable angle servo 3-5 to realize the glider's ascent and descent gliding. The rotating shafts 3-3 are located at 1 / 4 of the chord length of the rotating horizontal hydrofoil 3-1, and the fixed shafts 3-4 are located at 1 / 4 of the chord length of the fixed horizontal hydrofoil 3-2. The rotating horizontal hydrofoil 3-1 is connected to the adjustable angle servo 3-5 through the rotating shafts 3-3.

[0032] like Figure 5 As shown, the hull 2 ​​includes a shell 2-1, a support member 2-2, and a bulkhead 2-3. The shell 2-1 is a double-shell structure. The inner pressure hull provides a watertight space for the instruments and equipment inside the cabin and resists external seawater pressure. The outer shell reduces drag and optimizes fluid performance. The outer shell is made of a high-strength, pressure-resistant, and corrosion-resistant material, and its surface is coated with a drag-reducing material. The inner shell and the outer shell are connected by the support member 2-2. The interior of the hull 2 ​​is divided into different compartments by the bulkhead 2-3.

[0033] The gliding system 3 and the buoyancy adjustment system 4 are located in the upper part of the hull 2, and the propulsion control system 5 is located in the lower part. The lower section of the hull 2 ​​is a transparent section, and the underwater detection and sensing components are all located at the bow of the lower section of the hull 2.

[0034] Control methods

[0035] In the control method of the above-mentioned frame glider, the two thrusters 5-1 of the propulsion control system 5, driven by the motor 5-2, propel the glider forward. The glider can be turned by controlling the speed of the motor 5-2.

[0036] By controlling the electromagnetic valve 4-3 and the high-pressure pump 4-4 in the buoyancy regulation system 4, the inflow and outflow of seawater inside the liquid storage tank 4-6 are realized, thereby enabling the glider to rise and dive.

[0037] The adjustable angle servo 3-5 of the gliding system 3 controls the rotatable horizontal hydrofoil 3-1 to achieve the glider's ascent and descent gliding.

[0038] Furthermore, the two rotatable horizontal hydrofoils 3-1 adopt an energy-saving transmission and angle adjustment mechanism, which allows the two upper rotatable horizontal hydrofoils 3-1 to be adjusted to a fixed angle. At the same time, through this energy-saving transmission and angle adjustment mechanism, the rotatable horizontal hydrofoils 3-1 can be locked at a fixed angle without being affected by the incoming flow when the adjustable angle servo 3-5 is not working, thus enabling the glider to glide smoothly underwater.

[0039] Furthermore, the liquid storage tank 4-6 in the floating state regulation system 4 is in a vacuum environment, and water can be automatically injected simply by opening the solenoid valve 4-3. The pressure sensor 4-5 is used for emergency handling when the high-pressure pump 4-4 fails, cutting off the power supply and stopping the system. In addition, the floating state regulation system 4 can control the high-pressure pump 4-4 in stages according to the water pressure measured by the pressure sensor 4-5, thereby controlling the water inflow or outflow of the liquid storage tank 4-6.

[0040] Furthermore, the circuit drive control system 5-9 of the propulsion manipulation and control system 5 has a sleep mode and an automatic motor start-stop mode, which can maximize the low power consumption of the glider. When the angle of the rotatable horizontal hydrofoil 3-1 does not need to be adjusted, the sleep mode and the automatic motor start-stop mode are activated, so that the circuit stops controlling the adjustable angle servo 3-5, thereby reducing energy consumption. In addition, the propulsion manipulation and control system 5 is based on a microcontroller, and reduces standby power consumption by maintaining the power supply status of the relay control sensor and communication module, thereby achieving the purpose of low power consumption.

[0041] Although specific embodiments of the invention have been described in detail with reference to the accompanying drawings, this should not be construed as limiting the scope of protection of this patent. Various modifications and variations that can be made by a person skilled in the art without inventive effort within the scope described in the claims still fall within the scope of protection of this patent.

Claims

1. A frame-type glider, comprising a frame (1), a hull (2), a gliding system (3), a buoyancy control system (4), and a propulsion, manipulation, and control system (5); The frame (1) includes two parallel and symmetrically arranged sidewalls, and the hull (2) is symmetrically arranged on the outer side of the sidewalls. The gliding system (3) includes a pair of rotatable horizontal hydrofoils (3-1) arranged at the front and rear of the top of the frame (1), a pair of fixed horizontal hydrofoils (3-2) arranged at the front and rear of the bottom of the frame (1), and a pair of adjustable angle servos (3-5) that control the rotatable horizontal hydrofoils (3-1) respectively. The buoyancy adjustment system (4) is symmetrically arranged in the hull (2) on both sides, and each side includes an inlet / outlet (4-1), a pipe (4-2), an electromagnetic valve (4-3), a high-pressure pump (4-4), a pressure sensor (4-5), and a liquid storage tank (4-6). The high-pressure pump (4-4) is arranged at the bow of the upper part of the hull (2), and the liquid storage tank (4-6) is arranged behind the high-pressure pump (4-4) according to the shape of the hull (2). The interior of the compartment (4-6) is equipped with anti-sway bulkheads. The inlet and outlet (4-1) are connected to the liquid storage tank (4-6) and the outside of the hull (2) through the pipe (4-2), the electromagnetic valve (4-3) and the high-pressure pump (4-4). The pressure sensor (4-5) is provided on the pipe (4-2). The propulsion control and control system (5) includes a thruster (5-1) symmetrically arranged in the middle of the inner side of the stern of the two side walls of the frame (1), a motor (5-2) for driving the thruster (5-1), and a thruster control system (5-3), a power supply (5-8), a circuit drive control system (5-9) and an underwater detection sensor assembly arranged inside the hull (2). The underwater detection sensor assembly includes a pitch camera (5-4), an inertial navigation system (5-5), a GPS positioning system (5-6) and an omnidirectional sonar (5-7).

2. The frame-type glider according to claim 1, characterized in that: The frame (1) has a maximum length of 0.6 to 20 meters, a maximum width of 0.45 to 0.7 times the maximum length, and a maximum height of 0.3 to 0.45 times the maximum length. The hull (2) on both sides, the rotatable horizontal hydrofoil (3-1), and the fixed horizontal hydrofoil (3-2) are all symmetrical or approximately symmetrical airfoils, bow-shaped or approximately bow-shaped airfoils, or airfoils or approximately airfoils. The length of the hull (2) is 0.9 to 0.96 times the maximum length, and the height is 0.92 to 0.98 times the maximum height. The aspect ratio of the rotatable horizontal hydrofoil (3-1) and the horizontal hydrofoil (3-2) is 5 to 20, and the thickness ratio is 0.05 to 0.

15. The maximum rotation angle of the rotatable horizontal hydrofoil (3-1) is ±15°.

3. A frame-type glider according to claim 1, characterized in that: The gliding system (3) also includes a pair of rotating shafts (3-3) and a pair of fixed shafts (3-4), as well as an attitude adjustment control system (3-6) for controlling the adjustable angle servo (3-5). The attitude adjustment control system (3-6) controls the adjustable angle servo (3-5) to achieve the glider's ascent and descent gliding. The rotating shafts (3-3) are located at 1 / 4 of the chord length of the rotatable horizontal hydrofoil (3-1), and the fixed shafts (3-4) are located at 1 / 4 of the chord length of the fixed horizontal hydrofoil (3-2). The rotatable horizontal hydrofoil (3-1) is connected to the adjustable angle servo (3-5) through the rotating shafts (3-3).

4. A frame-type glider according to claim 1, characterized in that: The hull (2) includes a shell (2-1), a support member (2-2), and a bulkhead (2-3). The shell (2-1) is a double-shell structure. The inner pressure shell provides a watertight space for the instruments and equipment inside the cabin and resists external seawater pressure. The outer shell reduces resistance and optimizes fluid performance. The outer shell is made of high-strength, pressure-resistant, and corrosion-resistant material and is coated with drag-reducing material. The inner pressure shell and the outer shell are connected by the support member (2-2). The interior of the hull (2) is divided into different compartments by the bulkhead (2-3).

5. A frame-type glider according to claim 1, characterized in that: The gliding system (3) and the buoyancy adjustment system (4) in the hull (2) are located in the upper part, and the propulsion control and control system (5) is located in the lower part. The lower section of the hull (2) is a transparent section, and the underwater detection and sensing components are all located in the bow of the lower section of the hull (2).

6. A control method for a frame-type glider according to any one of claims 1 to 5, characterized in that: The two thrusters (5-1) of the propulsion control system (5) drive the glider forward under the drive of the motor (5-2). The glider can be turned by controlling the speed of the motor (5-2). By controlling the electromagnetic valve (4-3) and the high-pressure pump (4-4) in the buoyancy adjustment system (4), the seawater inside the liquid storage tank (4-6) is allowed to flow in and out, thereby enabling the glider to float up and dive down. The glider can achieve ascent and descent gliding by controlling the rotatable horizontal hydrofoil (3-1) through the adjustable angle servo (3-5) of the gliding system (3).

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