A surface sail-driven / underwater gliding dual-navigation mode observation platform and its control method

Abstract

The present invention discloses a surface sail-driven / underwater gliding dual-navigation mode observation platform and a control method thereof. The observation platform comprises a fixed left wing fixedly mounted on the side of the platform body, a rotatable rotating left wing is arranged on the outer side of the fixed left wing, and a left counterweight is arranged inside the fixed left wing; a right wing is fixedly mounted on the other side of the platform body, and a slidable right counterweight is arranged inside the right wing; when the observation platform is navigating on the water surface, it is in a sideways position, the rotating left wing extends out of the water surface, and the rotating left wing is used as a sail, and under the action of wind, the observation platform is driven to navigate on the water surface. The observation platform of the present application has the ability of surface maneuvering navigation that the existing gliders do not have, and overcomes the defects that the current underwater gliders cannot move against the current in the strong current area and cannot quickly transfer from one profile observation point to another profile observation point. The observation platform of the present application can maneuver to any position and complete the profile measurement of diving and floating.

Description

Technical Field

[0001] The present invention relates to the field of ocean monitoring technology, and in particular to a surface sail-driven / underwater gliding dual-navigation mode observation platform and a control method thereof. Background Art

[0002] At present, various technical means used for marine resource survey and exploration and marine water quality environment survey, monitoring and data collection have their own advantages and disadvantages. For example: Argo buoys can monitor multiple parameters of the marine environment for a long time and continuously, but they do not have a power source, and their observation areas and lines drift with the current and are uncontrolled; autonomous underwater vehicles (AUVs) can monitor the marine environment within a certain range at any location, but they carry limited energy and have a short continuous operation time; remotely controlled robots (ROVs) have sufficient energy supply, but they are connected to the mother ship by umbilical cables, have limited range of activities, and are expensive to use; marine survey ships can continuously monitor and sample in time and space, but they consume a lot of manpower, money and materials, and have a low cost-effectiveness ratio.

[0003] The emergence of underwater gliders with a large range of activities and long self-sustaining capacity has made up for the above defects to a certain extent. This type of glider relies on the change of its own net buoyancy to float up and dive down. During movement, it relies on fixed wings to obtain lift and forward power, driving the body to move forward along a zigzag curve in the underwater vertical section. However, underwater gliders have the following disadvantages:

[0004] 1) It can only move forward slowly along a zigzag curve in a vertical plane. It does not have the ability to navigate at a fixed depth or on a horizontal plane such as the sea surface. It cannot maneuver to any observation point, and its turning maneuverability and flexibility are relatively poor.

[0005] 2) When encountering a large headwind or large lateral flow, the glider cannot go upstream or maintain a good navigation posture. It can only go downstream and wait for the flow field environment to change, but cannot quickly get rid of the flow field constraints and reach the target position. Summary of the invention

[0006] The purpose of the present invention is to provide a surface sail-driven / underwater gliding dual-navigation mode observation platform and a control method thereof. The observation platform has two navigation modes: surface navigation and underwater navigation. While maintaining the ability of the glider to dive, float, and move slowly forward along a zigzag curve, it can obtain the surface maneuvering navigation capability that existing gliders do not have; the observation platform of the present application can quickly maneuver to any position and complete the profile measurement of diving and floating.

[0007] To this end, the present invention provides a surface sail-driven / underwater gliding dual-navigation mode observation platform, comprising a platform body, and also comprising: a multifunctional wing assembly, which comprises a left wing and a right wing symmetrically arranged; the left wing comprises a fixed left wing fixedly mounted on the side of the platform body, a rotatable rotating left wing is arranged on the outer side of the fixed left wing, and a left counterweight is fixedly mounted inside the fixed left wing; the right wing is fixedly mounted on the other side of the platform body, and a slidable right counterweight is arranged inside the right wing; the right counterweight slides When the observation platform moves to a position symmetrical to the left counterweight, the observation platform is in a horizontal position; when the right counterweight slides to the outside of the right wing, the observation platform is in a sideways position; the observation platform has two navigation modes: surface sail-driven navigation and underwater gliding navigation. When the observation platform is sail-driven navigation on the surface, it is in a sideways position, and the fixed left wing, the platform body and the right wing are submerged in water; the rotating left wing extends out of the water and rotates to form a certain angle with the wind direction to drive the observation platform to navigate on the water surface.

[0008] In one embodiment of the present application, the observation platform also includes a multifunctional tail assembly, which includes a left tail and a right tail wing that are symmetrically and rotatably arranged at the tail of the platform body; when the observation platform is gliding underwater, the observation platform is in a horizontal position, and the left tail wing and the right tail wing are rotated to adjust the pitch movement of the observation platform; when the observation platform is driven by a surface sail, the observation platform is in a sideways position, and the right tail wing extends underwater; the direction of the observation platform sailing on the water surface is adjusted by rotating the right tail wing.

[0009] In one embodiment of the present application, a satellite communication antenna is installed on the left tail wing, and when the observation platform is sailing on the water surface driven by a sail, the satellite communication antenna extends out of the water.

[0010] In one embodiment of the present application, the multifunctional tail assembly further includes two vertical tails respectively fixedly disposed on the top and bottom of the platform body, and the central axes of the two vertical tails are perpendicular to the axis of the platform body.

[0011] In one embodiment of the present application, an eccentric gravity component is provided inside the observation platform, and the eccentric gravity component includes a battery pack; the battery pack can rotate around the central axis of the platform body to drive the observation platform to rotate around its central axis so that it presents a horizontal position and / or a lateral position.

[0012] In one embodiment of the present application, the observation platform also includes a buoyancy adjustment module, which is installed at the head of the platform body; the buoyancy adjustment module includes an outer oil bag, an inner oil bag and an oil pump, and the oil pump is used to pump the oil in the inner oil bag into the outer oil bag.

[0013] In one embodiment of the present application, a driving assembly is provided in the platform body, and the driving assembly is used to drive the rotating left wing to rotate; the driving assembly includes a first servo and a first gear meshing with the first servo, and the first gear is connected to a first rotating shaft, and the first rotating shaft is connected to the rotating left wing.

[0014] In one embodiment of the present application, a slide groove is provided in the right wing, the slide groove is arranged along the axial direction of the right wing, and the right counterweight block slides in the slide groove.

[0015] The present application also provides a control method for the surface sail-driven / underwater gliding dual-navigation mode observation platform. The method for controlling the underwater gliding navigation of the observation platform includes:

[0016] Adjust the center of gravity of the observation platform to be directly below the central axis thereof, control the right counterweight to slide to a position symmetrical to the left counterweight, so that the observation platform rotates 90° around the central axis thereof, and the observation platform rotates from a lateral position to a horizontal position;

[0017] Controlling the observation platform to reduce buoyancy and to dive and glide;

[0018] During the diving and gliding process of the observation platform, the center of gravity of the observation platform is controlled to be offset to the position directly below the central axis thereof, so that the observation platform tilts in the water to adjust the direction of the underwater gliding of the observation platform.

[0019] The present application also provides a control method for the observation platform with a surface sail-driven / underwater gliding dual-navigation mode. The method for controlling the observation platform to sail on the surface of the observation platform comprises:

[0020] Controlling the observation platform to increase its buoyancy and float upward;

[0021] After the observation platform floats to the water surface, the center of gravity of the observation platform is adjusted to the right side thereof, and the right counterweight is controlled to slide to the outside of the right wing, so that the observation platform rotates around its central axis to a lateral position;

[0022] The rotating left wing extends out of the water surface, and the wing surface forms an angle with the wind direction through the rotation of the rotating left wing; the rotating left wing acts as a sail, and driven by wind, pushes the observation platform to sail on the water surface;

[0023] The left tail wing and the right tail wing rotate to adjust the direction in which the observation platform sails on the water surface.

[0024] Compared with the prior art, the advantages and positive effects of the present invention are:

[0025] (1) The multifunctional wing assembly of the present invention can effectively change the underwater posture of the observation platform, and realize the dual navigation modes of surface sail driving and underwater gliding in two postures, thereby improving the maneuverability and flexibility of the observation platform. Specifically:

[0026] (1.1) When the observation platform is sailing on the water surface, the left wing 22 extending out of the water surface is rotated. By adjusting the angle between the left wing and the axis of the observation platform, the wing surface of the left wing can maintain a certain angle with the wind direction. Under the action of wind, a driving force for forward movement is generated, thereby driving the observation platform to sail on the water surface. The right wing is located under the water surface and can serve as a stanchion to reduce the left and right roll and lateral movement of the observation platform. It can also enable the observation platform to have a lower center of gravity when in a sideways position, thereby enhancing the stability of navigation on the water surface. Driven by wind, the observation platform sails on the water surface. As an unmanned sail platform, the observation platform can maneuver to any position and perform diving and floating profile measurement movements again.

[0027] (1.2) A left counterweight is fixed inside the left wing and is stationary. A right counterweight is fixed inside the right wing and is movable along the axis of the right wing. The coordination of the left counterweight and the right counterweight can help change the position of the observation platform. Specifically: when the right counterweight slides to a position symmetrical to the left counterweight, the gravity torque exerted on the observation platform by the left and right wings can be balanced, which is beneficial for adjusting the observation platform to a positive horizontal position; when the right counterweight slides to the outside of the right wing, it can generate a greater rotational torque than the left wing, adjusting the observation platform to a lateral position.

[0028] (2) This application can effectively realize the rotation of the observation platform along the axis through the mutual adjustment and coordination of the left counterweight block, the right counterweight block and the eccentric center of gravity assembly, thereby effectively changing the position of the observation platform, so that the observation platform can realize surface sailing in a side position and underwater gliding in an upright position. The multifunctional tail wing assembly can be used as a rudder to adjust the direction of the observation platform on the surface, and can be used as an elevator to adjust the pitch of the observation platform when sailing underwater; the controllability of the adjustment of the navigation direction of the observation platform is enhanced, and the steering is flexible.

[0029] The observation platform of the present application can maintain the diving and surfacing sawtooth motion capabilities of general gliders, and with less structural changes, can obtain the surface maneuvering capability that gliders do not have, so that traditional gliders can enhance their ability to operate in countercurrent and strong current areas. The observation platform can maneuver to any position and complete the diving and surfacing profile measurement.

[0030] (3) In this application, the battery pack is used as an eccentric weight component, and there is no need to set up a separate eccentric weight component inside the platform body. This can make the observation platform compact and reasonably laid out, effectively saving the load-bearing space and system weight inside the platform body.

[0031] After reading the specific embodiments of the present invention in conjunction with the accompanying drawings, other features and advantages of the present invention will become more clear. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is one of the structural schematic diagrams of an embodiment of the surface sail-driven / underwater gliding dual-navigation mode observation platform of the present invention;

[0033] Figure 2 It is a front view of the observation platform of the present invention in the dual navigation mode of surface sail driving / underwater gliding when it is in a horizontal position;

[0034] Figure 3 It is a front view of the observation platform of the present invention in the dual navigation mode of surface sail driving / underwater gliding when it is in a sideways position;

[0035] Figure 4 This is the second structural schematic diagram of an embodiment of the surface sail-driven / underwater gliding dual-navigation mode observation platform of the present invention;

[0036] Figure 5 This is a third structural schematic diagram of an embodiment of the surface sail-driven / underwater gliding dual-navigation mode observation platform of the present invention;

[0037] Figure 6 This is a fourth structural schematic diagram of an embodiment of the surface sail-driven / underwater gliding dual-navigation mode observation platform of the present invention;

[0038] Figure 7 This is a fifth structural schematic diagram of an embodiment of the surface sail-driven / underwater gliding dual-navigation mode observation platform of the present invention;

[0039] Figure 8 This is the sixth structural schematic diagram of an embodiment of the surface sail-driven / underwater gliding dual-navigation mode observation platform of the present invention;

[0040] Fig. 9 This is the seventh structural schematic diagram of an embodiment of the surface sail-driven / underwater gliding dual-navigation mode observation platform of the present invention;

[0041] Fig.10 This is the eighth structural schematic diagram of an embodiment of the surface sail-driven / underwater gliding dual-navigation mode observation platform of the present invention;

[0042] Reference numerals:

[0043] Platform body 10;

[0044] Left wing 20; fixed left wing 21; rotating left wing 22; left counterweight 23; first steering gear 24; first gear 25; first rotating shaft 26; first mounting tank 27; through groove 28; left groove 29;

[0045] Right wing 30; right counterweight 31; motor 32, belt 33; lead screw 34; slide 35; guide rod 36;

[0046] vertical tail 40;

[0047] Left tail 51; right tail 52; second servo 53; second gear 54; second rotating shaft 55; second mounting tank 56; satellite communication antenna 57;

[0048] Outer oil bag 61; inner oil bag 62; oil pump 63; oil pump motor 64;

[0049] Battery pack 71; connecting plate 72; connecting rod 73; motor mechanism 74. DETAILED DESCRIPTION

[0050] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0051] like Figure 1-Figure 10 As shown, the surface sail-driven / underwater gliding dual-navigation mode observation platform of the present invention includes a platform body 10. The platform body 10 can be a streamlined shell structure, which can reduce the navigation resistance of the observation platform. The platform body 10 is an internal hollow structure, and a accommodating cavity is formed inside the platform body 10, which can be used to accommodate and install the remaining components of the observation platform.

[0052] The surface sail-driven / underwater gliding dual-navigation mode observation platform of the present invention also includes a multifunctional wing assembly, which includes a left wing 20 and a right wing 30. The left wing 20 and the right wing 30 are symmetrically arranged on both sides of the platform body 10, and the left wing 20 and the right wing 30 are basically located in the axial middle position of the platform body 10.

[0053] In one embodiment of the present application, the left wing 20 includes a fixed left wing 21, and the fixed left wing 21 is fixedly installed on one side of the platform body 10. The fixed installation method can be a common installation method in the technical field and is not specifically limited here.

[0054] A rotatable left wing 22 is disposed on the outer side of the fixed left wing 21 , and a driving assembly is disposed inside the platform body 10 , and the driving assembly is used to drive the rotatable left wing 22 to rotate.

[0055] Specifically, the driving assembly includes a first steering gear 24 and a first gear 25 meshing with the first steering gear 24; a first rotating shaft 26 is connected to the first gear 25, and the first rotating shaft 26 is connected to the rotating left wing 22. The first steering gear 24 can drive the first gear 25 to rotate, and the rotation of the first gear 25 can drive the first rotating shaft 26 to rotate; the first rotating shaft 26 is fixedly connected to the rotating left wing 22, and the rotation of the first rotating shaft 26 can drive the rotating left wing 22 to rotate.

[0056] A first mounting tank 27 is also provided in the platform body 10, and the first mounting tank 27 is used to mount the first steering gear 24 and the first gear 25. The first steering gear 24 can be mounted on the tank wall of the first mounting tank 27, and the specific mounting method can be a common mounting method in the technical field, and no specific limitation is made here. The first gear 25 is rotatably mounted in the first mounting tank 27, and the specific mounting method can be a common mounting method in the technical field, and no specific limitation is made here.

[0057] A through slot 28 is provided in the fixed left wing 21, and the through slot 28 extends in a direction perpendicular to the central axis of the platform body 10. A through hole is provided on the tank wall of the first mounting tank 27, and the through slot 28 passes through the main platform 10 and extends into the through hole. The first rotating shaft 26 passes through the through slot 28 and is fixedly connected to the rotating left wing 22; the diameter of the first rotating shaft 26 is smaller than the inner diameter of the through slot 28, and the first rotating shaft 26 can be rotatably fitted in the through slot 28.

[0058] The first rotating shaft 26 is parallel to the axial direction of the first gear 25, one end of the first rotating shaft 26 is fixedly connected to the center of the first gear 25, and the other end of the first rotating shaft 26 is fixedly connected to the rotating left wing 22. The fixed connection method can be a common method in the technical field and is not specifically limited here.

[0059] A left counterweight 23 is fixedly installed inside the fixed left wing 21. Specifically, a left groove 29 is provided in the fixed left wing 21, and the left counterweight 23 is fixedly installed in the left groove 29. The specific installation method can be a common fixed installation method in the technical field, and no specific limitation is made here.

[0060] In one embodiment of the present application, the right wing 30 is fixedly mounted on the other side of the platform body 10 , and the specific mounting method may be a commonly used fixed mounting method in the technical field, and no specific limitation is made here.

[0061] A right counterweight 31 is provided inside the right wing 30 , and the right counterweight 31 can slide along the axial direction of the right wing 30 , that is, the right counterweight 31 can slide along a direction perpendicular to the axial direction of the platform body 10 .

[0062] Specifically, a screw assembly is provided inside the right wing 30, and the screw assembly is used to drive the right counterweight 31 to slide. The screw assembly includes a motor 32, a belt 33 and a screw 34. The belt 33 is connected between the output shaft of the motor 32 and the screw 34. The screw 34 can be driven to rotate by the transmission of the belt 33. The right counterweight 31 is threadedly connected to the screw 34. The right counterweight 31 can be driven to slide along the screw 34 by the rotation of the screw 34.

[0063] A slide groove 35 is provided inside the right wing 30 . The slide groove 35 is arranged along the axial direction of the right wing 30 . The lead screw 34 is arranged in the slide groove 35 .

[0064] The width M of the slide groove 35 is greater than the length N of the right counterweight 31 , and the right counterweight 31 slides in the slide groove 35 .

[0065] Two guide rods 36 are arranged in the slide groove 35, and the two guide rods 36 are respectively located on both sides of the lead screw 34, and the two guide rods 36 are parallel to the lead screw 34. The right counterweight block 31 is slidably arranged on the two guide rods 36, and the two guide rods 36 can play a guiding and limiting role for the sliding of the right counterweight block 31, so that the right counterweight block 31 can slide smoothly and effectively.

[0066] The multifunctional wing assembly of the present invention can effectively improve the maneuverability and flexibility of the observation platform, specifically:

[0067] (1) When the observation platform is sailing in a sideways position on the water surface, the left wing 22 is extended out of the water surface; the control system of the observation platform can adjust the rotation angle of the left wing 22 according to the wind direction so that the wing surface of the left wing 22 forms an angle with the wind direction; the left wing 22 can be used as a sail and, driven by wind, propels the observation platform to sail on the water surface.

[0068] The right wing 30 is located underwater and can be used as a ship's stanchion to slow down the left and right rolling and lateral movement of the observation platform. It can also enable the observation platform to have a lower center of gravity when in a sideways position, thereby improving the stability of the observation platform when sailing on the water surface.

[0069] The observation platform of the present application can maneuver on the water surface under the drive of wind. As an unmanned sailing platform, the observation platform can maneuver to any position to complete the profile measurement of diving and floating. The observation platform of the present application can overcome the defects of the current underwater gliders that cannot move against the current in strong current areas and cannot quickly transfer from one profile observation point to another.

[0070] (2) A left counterweight 23 is fixed inside the left wing 21. The left counterweight 23 is fixed. A right counterweight 31 is installed inside the right wing 30. The right counterweight 31 can slide along the axial direction of the right wing 30. By moving the position of the right counterweight 31 and coordinating with the rotation of the battery pack built into the platform body, the center of gravity of the observation platform can be moved, so that the observation platform rotates around its central axis, thereby changing the position of the observation platform, so that the observation platform can present a positive horizontal position and / or a sideways position. Specifically: when the right counterweight 31 slides to a position symmetrical to the left counterweight 23, the torque generated by the left wing 20 and the right wing 30 on the platform body can be balanced, and the observation platform floats in the water in a positive horizontal position; when the right counterweight 31 slides to the outside of the right wing 30, a larger, offset torque can be generated, so that the observation platform rotates and adjusts to a sideways position and floats in the water.

[0071] In this embodiment, the control system of the observation platform can adjust the rotation angle of the rotating left wing 22 according to the wind direction, so that the wing surface of the rotating left wing 22 and the wind direction form an optimal angle, thereby providing the best driving effect for the observation platform to sail on the water surface. The control method of the control system controlling the rotating left wing 22 to rotate to the optimal angle is a common method in the technical field and is not specifically limited here.

[0072] The surface sail-driven / underwater gliding dual-navigation mode observation platform of the present invention further includes a multifunctional tail assembly, which is arranged at the tail of the platform body 10 .

[0073] The multifunctional tail assembly includes two vertical tails 40 respectively fixedly arranged at the top and bottom of the platform body 10, and the central axis of the two vertical tails 40 is perpendicular to the central axis of the platform body 10. The two vertical tails 40 are fixedly installed on the platform body 10, and the fixing and installation method can be a common method in the technical field, and no specific limitation is made here.

[0074] The multifunctional tail assembly further includes a left tail 51 and a right tail 52 which are symmetrical and rotatable and are arranged on both sides of the platform body 10 .

[0075] In one embodiment of the present application, a driving assembly is provided in the platform body 10, and the driving assembly is used to drive the left tail 51 and the right tail 52 to rotate. The driving assembly includes a second steering gear 53 and a second gear 54 meshing with the second steering gear 53; a second rotating shaft 55 is connected to the second gear 54, and the second rotating shaft 55 is parallel to the axial direction of the second gear 54. The two ends of the second rotating shaft 55 are respectively connected to the left tail 51 and the right tail 52. The second steering gear 53 can drive the second gear 54 to rotate, and the rotation of the second gear 54 can drive the second rotating shaft 55 to rotate. The two ends of the second rotating shaft 55 are respectively fixedly connected to the left tail 51 and the right tail 52, and the rotation of the second rotating shaft 55 can simultaneously drive the left tail 51 and the right tail 52 to rotate.

[0076] The second rotating shaft 55 is parallel to the axial direction of the second gear 54 , passes through the center of the second gear 54 , and is fixed to the second gear 54 in a manner commonly used in the technical field, which is not specifically limited herein.

[0077] The two ends of the second rotating shaft 55 pass through the platform body 10 respectively, and through holes corresponding to the second rotating shaft 55 are respectively provided on both sides of the platform body 10, and bearings matched with the second rotating shaft 55 are installed in the through holes. The matching mode of the second rotating shaft 55 and the bearing can be a common mode in the technical field, and no specific limitation is made here. Through the matching of the second rotating shaft 55 and the bearing, the second rotating shaft 55 can achieve smooth and effective rotation.

[0078] Both ends of the second rotating shaft 55 pass through the through holes respectively and are fixedly connected to the left tail wing 51 and the right tail wing 52 . The fixing method may be a common method in the technical field and is not specifically limited here.

[0079] A second mounting tank 56 is also provided in the platform body 10, and the second mounting tank 56 is used to mount the second steering gear 53 and the second gear 54. The second steering gear 53 can be mounted on the tank wall of the second mounting tank 56, and the specific mounting method can be a common mounting method in the technical field, and no specific limitation is made here. The second gear 54 is rotatably mounted in the second mounting cavity 56, and the specific mounting method can be a common mounting method in the technical field, and no specific limitation is made here.

[0080] A satellite communication antenna 57 is installed on the left tail wing 51. The satellite communication antenna 57 can be used for satellite communication signal transmission to transmit the detection signal to a shore-based or ship-based main control station.

[0081] The multifunctional tail assembly of the present invention can effectively improve the maneuverability and flexibility of the observation platform, specifically:

[0082] (1) When the observation platform is sailing on the water surface, the observation platform is in a sideways position. By adjusting the rotation angles of the left tail 51 and the right tail 52, the left tail 51 and the right tail 52 can be used as rudders, thereby driving the observation platform to achieve a turning action for sailing on the water surface and adjusting the direction of the observation platform sailing on the water surface.

[0083] (2) Before the observation platform dives, the rotation angles of the left tail 51 and the right tail 52 can be adjusted so that the left tail 51 and the right tail 52 can be used as elevators, thereby adjusting the pitch attitude of the observation platform, so that the observation platform can dive or float faster.

[0084] The surface sail-driven / underwater gliding dual-navigation mode observation platform of the present invention further includes a buoyancy adjustment module, which is installed at the head of the platform body 10 and is used to adjust the buoyancy of the platform body 10 .

[0085] The buoyancy adjustment module includes an outer oil bladder 61, an inner oil bladder 62, an oil pump 63 for pumping the oil in the inner oil bladder 62 into the outer oil bladder 61, and an oil pump motor 64 connected to the oil pump 63. The inlet and outlet of the oil pump 63 are respectively connected to the inner oil bladder 62 and the outer oil bladder 61 through oil delivery pipelines, and a one-way valve is provided on the oil delivery pipeline. An oil return pipeline is also connected between the outer oil bladder 61 and the inner oil bladder 62, and a solenoid valve is provided on the oil return pipeline.

[0086] When the oil is stored in the inner oil bag 62, the observation platform has a small displacement, and the corresponding observation platform is in a submerged state (positive horizontal position). When the oil is stored in the outer oil bag 61, the observation platform has a large displacement, and the corresponding observation platform is in a floating state (positive horizontal position) and a surface navigation state (sideways position).

[0087] When it is necessary to control the observation platform to float up, the oil pump motor 64 drives the oil pump 63 to transport the oil in the inner oil bag 62 to the outer oil bag 61 through the oil pipeline, thereby expanding the outer oil bag 61. The increase in the volume of the outer oil bag 61 increases the buoyancy of the observation platform accordingly. When the buoyancy of the observation platform is greater than its own gravity, the observation platform floats up.

[0088] When it is necessary to control the observation platform to dive, the solenoid valve is opened, and the oil in the outer oil bag 61 flows back to the inner oil bag 62 through the return oil pipeline under the action of seawater pressure. The volume of the outer oil bag 61 decreases, and the buoyancy of the observation platform decreases accordingly. When the buoyancy of the observation platform is less than its own gravity, the observation platform dives.

[0089] The surface sail-driven / underwater gliding dual-navigation mode observation platform of the present invention further includes an eccentric gravity component, which is arranged close to the tail of the platform body 10.

[0090] The eccentric gravity assembly includes a mounting device and a battery pack 71 mounted on the mounting device. The battery pack 71 can follow the mounting device and rotate around the central axis of the platform body 10 to adjust the center of gravity position of the observation platform.

[0091] The eccentric center of gravity assembly also includes a rotatable mounting device, which is used to mount the battery pack 71. The rotation of the mounting device can drive the battery pack 71 to rotate.

[0092] The eccentric center of gravity assembly also includes a rotating motor mechanism 74 , which can drive the mounting device and the battery pack 71 to rotate around the central axis of the platform body 10 .

[0093] The mounting device and the rotating motor mechanism 74 can be rotatably mounted inside the platform body 10 in a manner commonly used in the art, and no specific limitation is made herein.

[0094] The mounting device is an integral part, and can be integrally formed through a processing technique, or fixed as a whole through welding or bolt connection, and no specific limitation is made here.

[0095] The mounting device includes two oppositely arranged connecting plates 72 , which are connected by a plurality of connecting rods 73 ; the battery pack 71 is mounted between the two connecting plates 72 , and the projection area of ​​the battery pack 71 on the connecting plates 72 is half of the area of ​​the connecting plates 72 .

[0096] The center of gravity of the observation platform can be adjusted by rotating the battery pack 71. Specifically, when the battery pack 71 is rotated to the position directly below the central axis of the platform body 10, the center of gravity of the observation platform can be moved directly below. When the battery pack 71 is rotated to the right of the central axis of the platform body 10, the center of gravity of the observation platform can be moved to the right.

[0097] In the present application, the battery pack 71 is used as an eccentric weight assembly, and there is no need to set up a separate eccentric weight assembly inside the platform body 10, which can make the observation platform compact in structure and reasonably laid out, and effectively save the load space and system weight inside the platform body.

[0098] The present application can realize the rotation of the observation platform around its central axis in the water by moving the left counterweight block, the right counterweight block and the eccentric center of gravity assembly in coordination with each other, thereby effectively changing the position of the observation platform, so that the observation platform presents a positive horizontal position and / or a lateral position, and can realize two navigation modes: surface sailing and underwater gliding. Through the multifunctional wing assembly and the multifunctional tail assembly, the direction of the observation platform on the surface can be adjusted, and the pitch angle of the observation platform when sailing underwater can be adjusted; compared with the traditional underwater glider, the observation platform of the present application has added the ability to navigate on the surface, the controllability of the adjustment of the navigation direction is enhanced, and the steering is flexible.

[0099] The method for controlling the underwater gliding navigation of the observation platform of the present invention comprises:

[0100] By controlling the battery pack 71 to rotate to be directly below the central axis of the platform body 10 , the center of gravity of the observation platform can be moved to be directly below, thereby avoiding the deviation of the center of gravity of the observation platform.

[0101] By controlling the right counterweight 31 to move to a position symmetrical to the left counterweight 23 , the rotational torques on the left and right sides of the observation platform can be balanced.

[0102] By moving the center of gravity of the observation platform to the bottom and by moving the right counterweight 31 to a position symmetrical to the left counterweight 23, the observation platform can be rotated around its central axis, and the observation platform can be rotated from a lateral position to a horizontal position. Figure 2 As shown, it is a front view when the observation platform is in a horizontal position.

[0103] Control the observation platform to reduce its buoyancy and to dive. Specifically, open the solenoid valve, and the oil in the outer oil bag 61 is pressed back to the inner oil bag 62 through the return oil pipeline under the action of seawater pressure. The volume of the outer oil bag 61 is reduced, and the buoyancy of the observation platform is reduced accordingly. When the buoyancy of the observation platform is less than its own gravity, the observation platform starts to dive.

[0104] During the diving process of the observation platform, if it is necessary to turn the observation platform, the center of gravity of the observation platform can be slightly shifted by rotating the battery pack 71, so that the position of the observation platform is tilted to adjust the direction of the observation platform underwater.

[0105] Since the buoyancy adjustment module is installed at the head of the platform body 10, when the buoyancy of the observation platform decreases, the observation platform will bow its head and dive underwater.

[0106] During the diving of the observation platform, the rotation angles of the left tail 51 and the right tail 52 can be adjusted so that the left tail 51 and the right tail 52 can be used as elevators, thereby adjusting the pitch attitude of the observation platform and making the observation platform pitch down, which can help the observation platform dive and navigate at a faster speed.

[0107] The method for controlling the observation platform surface sail-driven navigation of the present invention comprises:

[0108] Control the observation platform to increase its buoyancy and float upward; specifically: the oil pump motor 64 drives the oil pump 63 to transfer the oil in the inner oil bag 62 to the outer oil bag 61 through the oil pipeline, thereby expanding the outer oil bag 61. The increase in the volume of the outer oil bag 61 increases the buoyancy of the observation platform. When the buoyancy of the observation platform is greater than its own gravity, the observation platform floats upward.

[0109] After the observation platform floats to the water surface, the battery pack 71 is controlled to rotate to the right of the central axis of the platform body 10, so that the center of gravity of the observation platform can be moved to the right.

[0110] The right counterweight 31 is controlled to slide to the rightmost end of the right wing 30, generating a rotational torque that deviates from the observation platform, and at the same time, the center of gravity of the observation platform moves to the right, so that the observation platform can be rotated from the horizontal position to the lateral position around the central axis as a whole; Figure 3 As shown, it is a front view when the observation platform is in a lateral stereoscopic position.

[0111] When the observation platform is sailing on the water surface, the left wing 22 is extended out of the water surface. The control system of the observation platform adjusts the rotation angle of the left wing 22 according to the wind direction, so that the wing surface of the left wing 22 forms an optimal angle with the wind direction; the left wing 22 is used as a sail, and driven by the wind, the observation platform is pushed to sail on the water surface.

[0112] Driven by wind, the observation platform sails on the water surface. As an unmanned sailing platform, the observation platform can maneuver to any position and complete diving and surfacing profile measurements.

[0113] When the observation platform is sailing on the water surface in a sideways position, the rotation angles of the left tail 51 and the right tail 52 can be adjusted so that the left tail 51 and the right tail 52 can be used as horizontal navigation rudders, thereby driving the observation platform to achieve turning movements for surface navigation and adjust the direction of the observation platform sailing on the water surface.

[0114] When the observation platform is sailing on the water surface, the satellite communication antenna 57 extends out of the water surface to realize the real-time transmission of the detection data.

[0115] It should be noted that in the description of this embodiment, the terms "left", "right", etc. indicating directions or positional relationships are determined based on the directions or positional relationships shown on the observation platform. This is only for the convenience of description, and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on this application. In the description of this embodiment, the head of the observation platform is facing "front" and the tail of the observation platform is facing "back"; the operator faces forward, the direction of the right hand is "right", and the direction of the left hand is "left".

[0116] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for a person skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to replace some of the technical features therein by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions claimed to be protected by the present invention.

Claims

1. A surface sail-driven / underwater gliding dual-navigation mode observation platform, comprising a platform body, characterized in that: Also includes: A multifunctional wing assembly, comprising a left wing and a right wing arranged symmetrically; The left wing comprises a fixed left wing fixedly mounted on the side of the platform body, a rotatable left wing is arranged on the outer side of the fixed left wing, and a left counterweight is fixedly mounted inside the fixed left wing; The right wing is fixedly mounted on the other side of the platform body, and a slidable right counterweight is provided in the right wing; When the right counterweight slides to a position symmetrical to the left counterweight, the observation platform is in a positive horizontal position; When the right counterweight slides to the outside of the right wing, the observation platform is in a lateral position; The observation platform has two navigation modes: surface sail-driven navigation and underwater gliding navigation. When the observation platform is sail-driven navigation, it presents a sideways position, and the fixed left wing, the platform body and the right wing are submerged in water; the rotating left wing extends out of the water and rotates to form an angle with the wind direction to drive the observation platform to sail on the water surface; The observation platform also includes a multifunctional tail assembly, which includes a left tail and a right tail wing symmetrically and rotatably arranged at the tail of the platform body; When the observation platform is gliding underwater, the observation platform is in a positive horizontal position, and the left tail wing and the right tail wing are rotated to adjust the observation platform to perform pitch motion; When the observation platform is driven by the sail on the water surface, the observation platform is in a sideways position, and the right tail wing extends underwater; the direction of the observation platform sailing on the water surface is adjusted by rotating the right tail wing.

2. The surface sail-driven / underwater gliding dual-navigation mode observation platform according to claim 1, characterized in that: A satellite communication antenna is installed on the left tail wing. When the observation platform is sailing driven by the surface sail, the satellite communication antenna extends out of the water.

3. The surface sail-driven / underwater gliding dual-navigation mode observation platform according to claim 1, characterized in that: The multifunctional tail assembly also includes two vertical tails fixedly arranged on the top and bottom of the platform body respectively, and the central axes of the two vertical tails are perpendicular to the axis of the platform body.

4. The surface sail-driven / underwater gliding dual-navigation mode observation platform according to claim 1, characterized in that: An eccentric gravity component is provided inside the observation platform, and the eccentric gravity component includes a battery pack; The battery pack can rotate around the central axis of the platform body to drive the observation platform to rotate around its central axis so that the observation platform presents a horizontal position and / or a lateral position.

5. The surface sail-driven / underwater gliding dual-navigation mode observation platform according to claim 1, characterized in that: The observation platform further comprises a buoyancy adjustment module, which is mounted on the head of the platform body; The buoyancy regulating module comprises an outer oil bladder, an inner oil bladder and an oil pump, wherein the oil pump is used to pump the oil in the inner oil bladder into the outer oil bladder.

6. The surface sail-driven / underwater gliding dual-navigation mode observation platform according to claim 1, characterized in that: A driving assembly is provided in the platform body, and the driving assembly is used to drive the rotating left wing to rotate; The driving assembly includes a first steering gear and a first gear meshed with the first steering gear, the first gear is connected to a first rotating shaft, and the first rotating shaft is connected to the rotating left wing.

7. The surface sail-driven / underwater gliding dual-navigation mode observation platform according to claim 1, characterized in that: A slide groove is provided in the right wing, and the slide groove is arranged along the axial direction of the right wing. The right counterweight block slides in the slide groove.

8. The control method of the observation platform with dual sail driving / underwater gliding navigation modes according to any one of claims 1 to 3, characterized in that: The method for controlling the underwater gliding navigation of the observation platform comprises: Adjust the center of gravity of the observation platform to be directly below the central axis thereof, control the right counterweight to slide to a position symmetrical to the left counterweight, so that the observation platform rotates 90° around the central axis thereof, and the observation platform rotates from a lateral position to a horizontal position; Controlling the observation platform to reduce buoyancy and to dive and glide; During the diving and gliding process of the observation platform, the center of gravity of the observation platform is controlled to be offset to the position directly below the central axis thereof, so that the observation platform tilts in the water, so as to adjust the direction of the observation platform gliding underwater; During the diving of the observation platform, the left tail wing and the right tail wing are adjusted in rotation angle so that the left tail wing and the right tail wing are used as elevators to achieve the pitching movement of the observation platform.

9. The control method of the observation platform with dual sail driving / underwater gliding navigation modes according to any one of claims 1 to 3, characterized in that: The method for controlling the observation platform to sail on the water surface driven by a sail comprises: Controlling the observation platform to increase its buoyancy and float upward; After the observation platform floats to the water surface, the center of gravity of the observation platform is adjusted to the right side thereof, and the right counterweight is controlled to slide to the outside of the right wing, so that the observation platform rotates around its central axis to a lateral position; The rotating left wing extends out of the water surface, and the wing surface forms an angle with the wind direction through the rotation of the rotating left wing; the rotating left wing acts as a sail, and driven by wind, pushes the observation platform to sail on the water surface; The left tail wing and the right tail wing rotate to adjust the direction in which the observation platform sails on the water surface.

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