Underwater jet generator, underwater navigation equipment and control method thereof

Abstract

The invention belongs to the field of underwater navigation equipment, and particularly relates to an underwater jet generator, underwater navigation equipment and a control method thereof.The underwater jet generator comprises a cavity and a vibrating diaphragm, and the cavity comprises a gas containing cavity and a liquid containing cavity which are communicated with each other from top to bottom; the vibrating diaphragm is arranged in the gas containing cavity, and the vibrating diaphragm vibrates to compress or expand the volume of the gas containing cavity; and the cavity is provided with a jet flow outlet in the liquid accommodating cavity. According to the underwater jet generator provided by the invention, the jet intensity and the jet speed of the underwater jet generator are improved on the basis of reducing the energy consumption.

Description

Technical Field

[0001] The invention belongs to the field of underwater navigation equipment, and in particular relates to an underwater jet generator, underwater navigation equipment and a control method thereof. Background Art

[0002] For the field of ocean development and ocean observation, underwater vehicles have become a very useful tool. With the growing demand for underwater remote control vehicles (ROVs) and autonomous underwater vehicles (AUVs), and their increasingly wide range of use, scientists are paying more and more attention to the research on underwater vehicles. However, ROVs or AUVs equipped with propeller thrusters will generate a large number of vortices that affect the living environment of underwater organisms, and they are not autonomously controllable, and have low energy utilization efficiency. In addition, since AUVs are usually thrown into the water by surface ships, under harsh conditions, the aircraft and the surface ship are likely to collide. At this time, any external attachments (such as propellers) connected to the aircraft are at risk of being damaged. On the other hand, although low-speed maneuvering and more precise control can be achieved by adding multiple propeller thrusters in different positions and directions, this design sacrifices the low-resistance appearance. In this case, precise maneuverability can be achieved, but the resistance during navigation will be increased. Therefore, underwater jet generators based on synthetic jet technology have broad development prospects.

[0003] Therefore, there is a need for an underwater vehicle propeller with a simple structure that will not affect the appearance of the underwater vehicle. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide an underwater jet generator, underwater navigation equipment and a control method thereof which have a simple structure and improve the jet intensity and jet speed of the underwater jet generator on the basis of reducing energy consumption.

[0005] The present invention provides an underwater jet generator, comprising a cavity and a vibrating diaphragm, wherein the cavity comprises a gas accommodating cavity and a liquid accommodating cavity which are interconnected from top to bottom;

[0006] The vibrating diaphragm is disposed in the gas containing chamber, and the vibrating diaphragm can compress or expand the volume of the gas containing chamber when vibrating;

[0007] The cavity is provided with a jet outlet in the liquid accommodating cavity.

[0008] Furthermore, two cavities are provided, one side of the vibration diaphragm is located in the gas containing cavity of one cavity, and the other side is located in the gas containing cavity of the other cavity.

[0009] Furthermore, the two jet outlets are arranged close to each other, and a guide baffle is arranged between the two jet outlets.

[0010] Furthermore, the height of the guide baffle is greater than the jet stroke at a single jet outlet, and the height of the guide baffle is less than the flow saddle point of the synthetic jet stroke.

[0011] Furthermore, two groups of jet outlets are provided on the liquid containing chamber, one of which is arranged horizontally and laterally, and the other is arranged vertically and downwardly;

[0012] It also includes a blocking piece for blocking one group of the jet outlets.

[0013] Furthermore, the underwater jet generator further comprises a vertical upward jet outlet module, wherein the vertical upward jet outlet module comprises a connecting jet channel and a vertical upward jet channel which are interconnected;

[0014] When the blocking member blocks one group of the jet outlets, the connecting jet channel is communicated with the other group of the jet outlets.

[0015] Furthermore, the number of the jet outlets is n, the directions of the n jet outlets are inconsistent, and n-1 blocking blocks are provided for detachably blocking the n-1 jet outlets, and n≥2.

[0016] Furthermore, a liquid stabilizing partition is provided on the inner wall protrusion of the liquid containing chamber.

[0017] The present invention also provides an underwater navigation device, comprising an underwater vehicle and the underwater jet generator.

[0018] The present invention also provides an underwater navigation equipment control method, using the above-mentioned underwater navigation equipment, wherein the underwater navigation equipment includes at least one of the above-mentioned underwater jet generators;

[0019] When there is one underwater jet generator, the control method includes controlling the amplitude and frequency of the vibrating diaphragm by controlling the voltage applied to the vibrating diaphragm, thereby controlling the moving speed or turning speed of the underwater navigation equipment;

[0020] When there are two or more underwater jet generators, the control method includes controlling the voltage of the vibrating diaphragms of the two or more underwater jet generators to control the two or more underwater jet generators to have jets with different intensities, thereby controlling the moving speed or turning speed of the underwater navigation equipment.

[0021] The beneficial effect of the present invention is that the underwater jet generator provided by the present invention can be used as a propeller on underwater navigation equipment, and can also be used as a jet generator on underwater equipment. Specifically, the underwater jet generator inverts the traditional synthetic jet actuator cavity structure so that the gas is in the upper part of the cavity and the lower part of the cavity is sealed with liquid, that is, the liquid medium is near the jet outlet, so that there is a certain volume of gas and liquid in the cavity to balance the pressure with the outside, and it is in a stable state when the vibrating diaphragm is not opened, the gas-liquid two-phase interface is in a balanced state, and the gas-liquid interface is balanced at a certain position in the liquid containing cavity. The underwater jet generator utilizes the property that the density of gas is smaller than that of liquid to place the vibrating diaphragm completely in the gas medium. On the basis of a power supply with the same frequency and voltage, the vibration amplitude and frequency of the vibrating diaphragm can be guaranteed, and the liquid in the liquid accommodating chamber can be pushed or absorbed during the process of compressing or expanding the volume of the gas accommodating chamber, so that the jet outlet can produce a jet with higher intensity and faster speed than an underwater jet generator whose medium is a pure liquid phase, thereby improving the jet intensity and jet speed of the underwater jet generator while reducing energy consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Attached Figure 1 It is a schematic diagram of the structure when two jet outlets in the underwater jet generator of the present invention are symmetrically arranged;

[0023] Attached Figure 2 It is a schematic diagram of the structure of the underwater jet generator of the present invention when two jet outlets are close to each other and arranged vertically downward;

[0024] Attached Figure 3 It is a schematic diagram of a single-side cavity when a liquid containing cavity in the underwater jet generator of the present invention has two jet outlets;

[0025] Attached Figure 4 A front view of a single side cavity when a liquid containing cavity in the underwater jet generator of the present invention has two jet outlets;

[0026] Attached Figure 5 It is a structural schematic diagram of the blocking member of the present invention blocking the jet outlet arranged vertically downward, and the jet outlet arranged horizontally sideways is opened;

[0027] Attached Figure 6 A schematic diagram of the structure of the blocking member of the present invention blocking the jet outlet arranged horizontally and laterally, while the jet outlet arranged vertically and downwardly is opened;

[0028] Attached Figure 7 It is a structural schematic diagram of the blocking member in the present invention;

[0029] Attached Figure 8 This is a schematic diagram of the structure of the present invention when the vertical upward jet outlet module is installed;

[0030] Attached Fig. 9 It is a structural schematic diagram of a vertical upward jet outlet module in the present invention;

[0031] Attached Fig.10 For attachment Figure 1 The overall jet velocity distribution during simulation of the scheme shown;

[0032] Attached Fig.11 For attachment Figure 1 The average speed variation diagram during simulation of the scheme shown;

[0033] Attached Fig.12 For attachment Figure 1 Velocity distribution diagram at different points along the vortex development path during simulation of the scheme shown;

[0034] Attached Fig.13 For attachment Figure 1 The curve of velocity variation with time at 5mm from the center of the right jet outlet during simulation of the scheme shown;

[0035] Attached Fig.14 For attachment Figure 2 The overall jet velocity distribution during simulation of the scheme shown;

[0036] Attached Fig.15 For attachment Figure 2 The average speed variation diagram during simulation of the scheme shown;

[0037] Attached Fig.16 For attachment Figure 2 Velocity distribution diagram at different points along the vortex development path during simulation of the scheme shown;

[0038] Attached Fig.17 For attachment Figure 2 The scheme shown is a graph showing the velocity variation with time at a point 8 mm from the center of the right jet outlet during simulation.

[0039] In the figure, 1-cavity; 11-gas containing chamber; 111-air supply port; 12-liquid containing chamber; 121-connecting and matching structure; 13-jet outlet; 14-flow guide baffle; 15-liquid stabilizing partition; 2-vibrating diaphragm; 3-sealing member; 31-connecting plate; 32-sealing block; 4-vertical upward jet outlet module; 41-connecting jet channel; 42-vertical upward jet channel; 43-connecting structure. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0042] In addition, the descriptions of "first", "second", etc. in the present invention are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implying

[0043] Indicates the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0044] In the present invention, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, a physical connection, or a wireless communication connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0045] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that ordinary technicians in the field can implement it. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0046] As attached Figure 1 -Attached Fig. 9 As shown, the present invention provides an underwater jet generator, comprising a cavity 1 and a vibrating diaphragm 2, wherein the cavity 1 comprises a gas accommodating cavity 11 and a liquid accommodating cavity 12 which are interconnected from top to bottom, that is, when the underwater jet generator is placed underwater to work, the gas accommodating cavity 11 is located above the liquid accommodating cavity 12, and preferably, a sealable gas replenishing port 111 is provided on the gas accommodating cavity 11, so as to replenish gas to the gas accommodating cavity 11;

[0047] The vibrating diaphragm 2 is disposed in the gas accommodating chamber 11. The vibrating diaphragm 2 vibrates to compress or expand the volume of the gas accommodating chamber 11, that is, the vibrating diaphragm 2 is a part of the cavity wall of the gas accommodating chamber 11. Preferably, the vibrating diaphragm 2 is completely in the gas accommodating chamber 11, so it will not contact the liquid in the liquid accommodating chamber 12. In the process of the vibrating diaphragm 2 vibrating to compress or expand the volume of the gas accommodating chamber 11, the liquid in the liquid accommodating chamber 12 will be squeezed or absorbed;

[0048] The cavity 1 is provided with a jet outlet 13 in the liquid accommodating chamber 12, that is, the underwater jet generator is a synthetic jet exciter structure, and the process in which the vibrating diaphragm 2 vibrates to compress the volume of the gas accommodating chamber 11 is a jet stroke. At this time, the gas in the gas accommodating chamber 11 will compress and squeeze the liquid in the liquid accommodating chamber 12, so that the liquid is ejected from the jet outlet 13 in a jet state, generating kinetic energy to push the underwater jet generator to move along the jet direction; and in the process in which the vibrating diaphragm 2 vibrates to expand the volume of the gas accommodating chamber 11, the gas in the gas accommodating chamber 11 will form a negative pressure, and the liquid will be sucked into the liquid accommodating chamber 12 from the jet outlet 13, so as to reserve liquid in the liquid accommodating chamber 12, and then prepare liquid for the jet stroke.

[0049] The underwater jet generator provided by the present invention can be used as a propeller on underwater navigation equipment, and can also be used as a jet ejector on underwater equipment. For example, when the mud and sand on the bottom of the water need to be cleaned, the mud and sand can be cleaned by impacting them with a jet. Specifically, the underwater jet generator inverts the traditional synthetic jet actuator cavity so that the gas is in the upper part of the cavity 1 and the lower part of the cavity 1 is sealed with liquid, that is, the liquid medium is near the jet outlet 13. Preferably, a certain volume of gas medium is maintained in the cavity 1, and the volume of gas medium has a pressure balanced with the external liquid medium, so that the gas-liquid two-phase is in equilibrium in the initial state, and is in a stable state when the vibrating diaphragm 2 is not opened, and the gas-liquid two-phase interface is in equilibrium, and the gas-liquid interface is balanced at a certain position in the liquid containing cavity 12. The underwater jet generator utilizes the property that the density of gas is smaller than that of liquid to completely place the vibrating diaphragm 2 in the gas medium. On the basis of a power supply with the same frequency and voltage, the vibration amplitude and frequency of the vibrating diaphragm 2 can be guaranteed, and in the process of compressing or expanding the volume of the gas accommodating chamber 11, the liquid in the liquid accommodating chamber 12 is pushed or absorbed, so that the jet outlet 13 can produce a jet with higher intensity and faster speed than an underwater jet generator whose medium is a pure liquid phase (if a traditional synthetic jet actuator is applied underwater, its operating frequency will be greatly reduced because the density of water is much greater than that of air. According to the operating frequency and characteristics of the underwater synthetic dual jet actuator, the jet speed can only reach 0.8m / s at this time, and the control effect on the flow field is not very obvious), thereby improving the jet intensity and jet speed of the underwater jet generator on the basis of reducing energy consumption.

[0050] In one embodiment, two cavities 1 are provided. One side of the vibration diaphragm 2 is located in the gas accommodation cavity 11 of one cavity 1, and the other side is located in the gas accommodation cavity 11 of the other cavity 1. That is, the vibration diaphragm 2 separates the two cavities 1 and serves as the cavity walls of the two cavities 1 respectively. At this time, the underwater jet generator is configured as a synthetic double-jet actuator. At this time, each vibration of the vibration diaphragm 2 can be utilized to make the two jet outlets 13 produce periodic jets in an alternating working manner, further improving the energy utilization rate. Preferably, the two cavities 1 have the same size and are in a stable state when the vibration diaphragm 2 is not opened, and the volume ratios of the gases in the two cavities 1 on both sides are the same.

[0051] In one embodiment, the two jet outlets 13 are arranged close to each other, and a flow guiding baffle 14 is arranged between the two jet outlets 13. In this embodiment, the two jet outlets 13 are arranged close to each other, so that the jets ejected alternately from the two jet outlets 13 can converge at the downstream to form a synthetic jet with greater intensity, further improving the thrust and jet velocity. In addition, the interaction between the liquid jets ejected from the two jet outlets 13 underwater is stronger than the interaction between the gas jets ejected from the two jet outlets 13 in the air. Therefore, there will be a "self-supply" effect between the two jet outlets 13. The "self-supply" effect means that the liquid inhaled by one jet outlet 13 comes from or partially comes from the liquid blown out by the adjacent other jet outlet 13. If this phenomenon is relatively prominent, it will weaken the intensity of the downstream synthetic jet. In this embodiment, a flow guiding baffle 14 is arranged between the two jet outlets 13, and thus arranging the flow guiding baffle 14 between the two jets can effectively weaken or avoid the "self-supply" phenomenon and ensure that the liquid jets ejected from the two jet outlets 13 interact to form a synthetic jet with sufficient intensity and velocity.

[0052] In one embodiment, due to the large viscosity of the liquid, the interaction between the outlet jet and the surrounding fluid dissipates in the surrounding fluid relatively quickly, resulting in a smaller stroke. Through simulation, it is found that the stroke of a single jet (the jet ejected from a single jet outlet 13) is defined as L0, and the height of the flow guiding baffle 14 (the dimension along the jet direction side) is defined as b. When b > L0, there is no "self-supply" phenomenon between the synthetic double jets; when b < L0, there is a "self-supply" phenomenon between the synthetic double jets, and when the height of the flow guiding baffle 14 is lower than the highest height of the flow saddle point of the jet stroke (i.e., the position of the vortex core center of the synthetic jet), the "self-supply" phenomenon is very obvious, and the lower the height of the flow guiding baffle 14, the more serious the "self-supply" phenomenon. However, the height of the flow guiding baffle 14 cannot be higher than the flow saddle point, otherwise the vortices generated by the two jets respectively cannot be entrained with each other to form a larger vortex and develop downstream, and the influence on the flow field structure cannot reach the best effect. Therefore, the height of the flow guiding baffle 14 is greater than the jet stroke at the jet outlet 13, and the height of the flow guiding baffle 14 is less than the flow saddle point of the jet stroke.

[0053] In one embodiment, the two jet outlets 13 are symmetrically arranged or arranged in the same direction. In this embodiment, the two jet outlets 13 form jets independent of each other, and the two jets do not merge with each other.

[0054] In a preferred embodiment, two groups of jet outlets 13 are provided on the liquid containing chamber 12, one of the jet outlets 13 is arranged horizontally and laterally, and the other jet outlet 13 is arranged vertically and downwardly, that is, the two liquid containing chambers 12 are provided with a total of four jet outlets 13, the two horizontally arranged jet outlets 13 are respectively located on the two liquid containing chambers 12 and close to each other, and the two vertically arranged jet outlets 13 are respectively located on the two liquid containing chambers 12 and close to each other;

[0055] It also includes a blocking member 3 for blocking one group of the jet outlets 13, and the blocking member 3 is used to simultaneously block two jet outlets 13 arranged vertically downward or to simultaneously block two jet outlets 13 arranged horizontally and laterally. The two liquid containing chambers 12 are connected to only two jet outlets 13 arranged vertically downward or only two jet outlets 13 arranged horizontally and laterally. In this embodiment, the two jet outlets 13 arranged vertically downward or the two jet outlets 13 arranged horizontally and laterally can be selectively opened as needed. Figure 6 When the two jet outlets 13 arranged vertically downward are opened, the underwater jet generator is used to generate a downward jet to provide a lifting force. Figure 5 When the two horizontally arranged jet outlets 13 are opened, the underwater jet generator is used to generate lateral jets to provide lateral thrust. That is, an underwater jet generator can select the jet direction as needed.

[0056] Preferably, refer to the attached Figure 7 The blocking member 3 includes a connecting plate 31 and blocking blocks 32 arranged at both ends of the connecting plate 31 . The two blocking blocks 32 are used to be inserted into the jet outlet 13 to block the jet outlet 13 .

[0057] In this embodiment, refer to the attached Fig. 9 The underwater jet generator further comprises a vertical upward jet outlet module 4, wherein the vertical upward jet outlet module 4 comprises a connecting jet channel 41 and a vertical upward jet channel 42 which are interconnected;

[0058] When the blocking member 3 blocks one group of the jet outlets 13, the connecting jet channel 41 is connected to the other group of the jet outlets 13, so that the vertical upward jet outlet module 4 is connected to the liquid containing chamber 12. Figure 8, preferably, when the plugging member 3 plugs two vertically downward jet outlets 13, the connecting jet channel 41 communicates with the two horizontally laterally arranged jet outlets 13, so that the liquid sequentially passes through the horizontally laterally arranged jet outlets 13 and the connecting jet channel 41 to the vertically upward jet channel 42, and finally jets from the vertically upward jet channel 42 to generate an upward jet, providing a downward potential. At this time, the connecting jet channel 41 and the vertically upward jet channel 42 are arranged in an L-shaped structure. Or the plugging member 3 plugs the two laterally arranged jet outlets 13, and the connecting jet channel 41 communicates with the two vertically downward arranged jet outlets 13, so that the liquid sequentially passes through the vertically downward arranged jet outlets 13 and the connecting jet channel 41 to the vertically upward jet channel 42, and finally jets from the vertically upward jet channel 42 to generate an upward jet, providing a downward potential. At this time, the connecting jet channel 41 and the vertically upward jet channel 42 are integrally arranged in a "U" shape structure.

[0059] Preferably, a connecting structure 43 is provided on the outer wall of the jet outlet module 4, and a connecting and mating structure 121 is correspondingly provided on the liquid accommodating cavity 12 to achieve detachable connection between the two. The connecting structure 43 and the connecting and mating structure 121 can be mating structures such as a plug and a socket, a snap and a slot, a bolt and a thread, etc.

[0060] In a preferred embodiment, there are n jet outlets 13, and the orientations of the n jet outlets 13 are different. There are also n - 1 plugging blocks 3 for detachably plugging n - 1 jet outlets 13, where n≥2. Only one group of jet outlets 13 is retained for use during operation. In this embodiment, the n jet outlets 13 are arranged vertically downward, vertically upward, or horizontally laterally. When only the vertically downward arranged jet outlets 13 are opened, the underwater jet generator can be used as a floating propeller for an underwater navigation device. When only the vertically upward arranged jet outlets 13 are opened, the underwater jet generator can be used as a diving propeller for an underwater navigation device. When only the horizontally laterally arranged jet outlets 13 are opened, the underwater jet generator can be used as a horizontal movement propeller for an underwater navigation device.

[0061] In one embodiment, a liquid stabilizing partition 15 is convexly provided on the inner wall of the liquid accommodating cavity 12. Preferably, the liquid accommodating cavity 12 is a vertical cavity structure. By providing the liquid stabilizing partition 15, the eddy current effect caused by the high-frequency vibration of the vibration diaphragm 2 can be effectively suppressed, thereby suppressing the gas in the gas accommodating cavity 11 from being entrained along the wall surface of the liquid accommodating cavity 12 and ejected from the jet outlet 13, improving the stability of the gas-liquid two-phase interface, and solving the problem of gas overflowing from the jet outlet 13.

[0062] In one embodiment, the gas containing chamber 11 contains argon gas, which is a colorless, odorless monatomic gas with a density of 1.784 kg / m 3 , which is 1.4 times that of air. Nitrogen is an inert gas that does not react chemically with other substances at room temperature. Under normal circumstances, it has stable chemical properties, is incompressible, lightweight and incompatible with water. The compressibility of argon is extremely low at room temperature. Only when the temperature of argon is higher than 150.86K and the pressure exceeds 5.39MPa, can the argon undergo a phase change from gas to liquid. This shows that argon is not easily compressed under high pressure, that is, within a certain pressure range, argon can be considered to be incompressible. Therefore, it is suitable for pushing the liquid in the liquid containing chamber 12 to move. The liquid containing chamber 12 contains the liquid in the working environment of the underwater jet generator, and there is no need to configure the liquid separately, which simplifies the difficulty of use.

[0063] For example, the gas containing chamber 11 contains argon gas, the underwater jet generator is placed underwater, that is, the liquid containing chamber 12 contains water, and two chambers 1 are provided.

[0064] Reference Figure 1 When the two jet outlets 13 are symmetrically arranged on both sides, that is, the two jet outlets 13 do not affect each other, the jet outlet 13 velocity and material composition are monitored, refer to the attached Fig.10 In the simulation calculation, the jet flow affects the downstream area up to 0.03m. Fig.11 The average velocity is about 7 m / s. As the working time of the vibrating diaphragm 2 increases, the fluid state in the cavity 1 gradually changes within a period. After about 18 vibration cycles, the outlet material composition begins to fluctuate, and the argon component of the jet at the jet outlet 13 is about 0.1%.

[0065] The average velocity on the line with the same width (i.e. 2 mm) as the jet outlet 13 at a distance of 10 mm from the jet outlet 13 was monitored respectively, and it was found that the jet showed periodic changes, the jet velocity was between 5.5 m / s and 8.5 m / s, and the average velocity was about 7.0 m / s. The jet frequency was 1000 Hz, which was twice the vibration frequency of the vibrating diaphragm 2 in the cavity 1 and twice the frequency of the synthetic jet generator of a single cavity, which increased the energy utilization efficiency.

[0066] Attached Fig.12 The velocity distribution diagram at different points along the vortex development path. At t = 0.076s after the jet generator is turned on, from the velocity change curve along the vortex flow direction at the center of the jet outlet 13, it can be seen that after the jet is generated, the fluid velocity decreases rapidly within 6mm near the front end of the outlet, and then the vortex generated by the jet develops along the flow direction. The vortex dissipates with the increase of distance, and the velocity at the vortex core is 12m / s.

[0067] Attached Fig.13 It is a curve of velocity variation with time at a point 5 mm from the center of the right jet outlet 13, including streamwise velocity and spanwise velocity. The entire simulation process takes 0.092 to 0.1 s after the jet generator is turned on. The outlet velocity changes periodically, with a velocity range of about 4.5 to 23.5 m / s, forming a periodic jet evolving along the downstream. The average velocity at this point is 14 m / s, which has a strong control effect on the flow field.

[0068] Reference Figure 2 When the two jet outlets 13 are set close together and vertically downward, the distance between the two jet outlets 13 is reduced to 4mm, and a guide baffle 14 with a length of 6mm is set between the two jet outlets 13. In the simulation, in order to simplify the flow field, it is temporarily represented by a wall line. The length of the guide baffle 14 is estimated by the jet stroke of the initial model result. Monitor the average velocity change of the line with the same width (i.e. 6mm) as the maximum distance between the two jet outlets 13 at 10mm from the two jet outlets 13, as shown in the attached figure. Fig.15 As shown, after the calculation is stable, the average speed changes in the range of 8.9m / s to 11.2m / s, and the average speed is 10.05m / s. The initial comparison of the single outlet has a relatively large improvement, and the average speed has increased by 43.6%. The frequency of the jet is twice the vibration frequency of the vibrating diaphragm 2, which greatly increases the energy utilization efficiency.

[0069] The velocity distribution of the overall flow field developed by the two jet outlets 13 is shown in the attached figure. Fig.14 As shown, it can be seen that the addition of the guide baffle 14 allows the two jets to merge and develop into a synthetic jet. The guide baffle 14 has the function of guiding the jet of the jet outlet 13 to develop downward, thereby greatly suppressing the "self-sufficiency" effect of the two jet outlets 13, increasing the speed of the downstream fluid, and significantly enhancing the control of the flow field compared to a single outlet jet.

[0070] Attached Fig.16 The velocity distribution diagram at different points along the vortex development path. From the velocity change curve along the vortex flow direction at the center of the jet outlet 13 at t = 0.076s and 0.096s after the jet generator is turned on, it can be seen that after the jet is generated, under the action of the guide baffle 14, the two jets develop and merge downstream along the guide baffle 14 to form a synthetic jet. The synthetic jet reaches a maximum velocity of 16.5m / s at a vertical distance of about 9mm from the jet outlet. After that, the vortex generated by the jet develops along the flow direction, and the vortex dissipates with the increase of distance, and the velocity at the vortex core is 18m / s.

[0071] Attached Fig.17The velocity at 8 mm from the center of the right outlet changes with time. The entire simulation process takes 0.095s to 0.1s after the jet generator is turned on, and the outlet velocity changes periodically; the velocity range is about 10.9 to 17.0 m / s, forming a periodic jet evolving downstream. The average velocity can reach 14 m / s at a distance far from the jet outlet 13, which has a strong flow field control effect. Compared with when the two jet outlets 13 are symmetrically arranged on both sides, the position where the same average velocity point is reached is farther from the jet outlet 13, indicating that the fusion development of the two jet outlets 13 is higher in energy than that of a single jet outlet 13, and the energy utilization rate of the model has been significantly improved compared with when the two jet outlets 13 are symmetrically arranged on both sides.

[0072] The present invention also provides an underwater navigation device, including an underwater vehicle and the underwater jet generator, wherein the underwater jet generator is used as a propeller to propel the underwater vehicle to move and navigate, wherein the jet outlet 13 of the underwater jet generator can be arranged perpendicular to the body of the underwater vehicle to be used as a propeller, and can also be arranged inclined to the body of the underwater vehicle to be used as a posture controller, and the specific installation method can be selected according to specific needs.

[0073] The present invention also provides an underwater navigation equipment control method, using the above-mentioned underwater navigation equipment, wherein the underwater navigation equipment includes at least one of the above-mentioned underwater jet generators;

[0074] When there is only one underwater jet generator, the control method includes controlling the amplitude and frequency of the vibrating diaphragm 2 by controlling the voltage applied to the vibrating diaphragm 2, thereby controlling the moving speed or turning speed of the underwater navigation equipment;

[0075] When there are two or more underwater jet generators, the control method includes controlling the voltage of the vibrating diaphragms 2 of the two or more underwater jet generators to control the two or more underwater jet generators to have jets with different intensities (at least one of the jet intensity may be 0, or no voltage may be applied to the vibrating diaphragm 2 of the underwater jet generator), thereby controlling the moving speed or turning speed of the underwater navigation equipment. For example, four underwater jet generators are arranged on the underwater navigation equipment, and the jet outlets 13 of the four underwater jet generators are arranged vertically downward, vertically upward, horizontally forward and horizontally backward respectively, and the four underwater jet generators are respectively arranged below, above, in front and behind the underwater navigation equipment. When only the underwater jet generator with the jet outlet 13 arranged vertically downward is opened, the underwater navigation equipment is controlled to float up; when only the underwater jet generator with the jet outlet 13 arranged vertically upward is opened, the underwater navigation equipment is controlled to dive; when only the underwater jet generator with the jet outlet 13 arranged horizontally forward is opened, the underwater navigation equipment is controlled to retreat; when only the underwater jet generator with the jet outlet 13 arranged horizontally backward is opened, the underwater navigation equipment is controlled to move forward.

[0076] The above is only an embodiment and does not limit the present invention in any way. Any person skilled in the art can use the above disclosed technical contents to make many possible changes, modifications or modifications to the technical solutions of the present invention into equivalent embodiments of equivalent changes without departing from the scope of the technical solutions of the present invention. Therefore, any simple modification, equivalent changes and modifications made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solutions of the present invention shall fall within the scope of protection of the technical solutions of the present invention.

Claims

1. An underwater jet generator, characterized in that: It comprises a cavity (1) and a vibrating diaphragm (2), wherein the cavity (1) comprises a gas containing cavity (11) and a liquid containing cavity (12) which are interconnected from top to bottom; The vibrating diaphragm (2) is arranged in the gas containing chamber (11), and the vibrating diaphragm (2) can compress or expand the volume of the gas containing chamber (11); The cavity (1) is provided with a jet outlet (13) in the liquid containing cavity (12).

2. The underwater jet generator according to claim 1, characterized in that: Two cavities (1) are provided, one side of the vibrating diaphragm (2) is located in the gas containing cavity (11) of one of the cavities (1), and the other side is located in the gas containing cavity (11) of the other cavity (1).

3. The underwater jet generator according to claim 2, characterized in that: The two jet outlets (13) are arranged close to each other, and a guide baffle (14) is arranged between the two jet outlets (13).

4. The underwater jet generator according to claim 3, characterized in that: The height of the guide baffle (14) is greater than the jet stroke at a single jet outlet (13), and the height of the guide baffle (14) is less than the flow saddle point of the synthetic jet stroke.

5. The underwater jet generator according to claim 4, characterized in that: Two groups of jet outlets (13) are arranged on the liquid containing chamber (12), one of the jet outlets (13) is arranged horizontally and laterally, and the other jet outlet (13) is arranged vertically and downwardly; It also includes a blocking piece (3) for blocking one group of the jet outlets (13).

6. The underwater jet generator according to claim 5, characterized in that: It also comprises a vertical upward jet outlet module (4), wherein the vertical upward jet outlet module (4) comprises a connecting jet channel (41) and a vertical upward jet channel (42) which are interconnected; When the blocking member (3) blocks one group of the jet outlets (13), the connecting jet channel (41) is connected to the other group of the jet outlets (13).

7. The underwater jet generator according to any one of claims 1 to 6, characterized in that: The jet outlets (13) are provided in n numbers, the directions of the n jet outlets (13) are inconsistent, and n-1 blocking blocks (3) are also provided for detachably blocking the n-1 jet outlets (13), where n≥2.

8. The underwater jet generator according to any one of claims 1 to 6, characterized in that: The inner wall of the liquid containing chamber (12) is protruded and provided with a liquid stabilizing partition (15).

9. An underwater navigation device, characterized in that: It comprises an underwater vehicle and an underwater jet generator as described in any one of claims 1-8.

10. A method for controlling underwater navigation equipment, characterized in that: Using the underwater navigation equipment as claimed in claim 9, wherein the underwater navigation equipment comprises at least one underwater jet generator; When there is only one underwater jet generator, the control method comprises controlling the amplitude and frequency of the vibrating diaphragm (2) by controlling the voltage applied to the vibrating diaphragm (2), thereby controlling the moving speed or turning speed of the underwater navigation equipment; When there are two or more underwater jet generators, the control method includes controlling the voltage of the vibrating diaphragms (2) of the two or more underwater jet generators to control the two or more underwater jet generators to have jets of different intensities, thereby controlling the moving speed or turning speed of the underwater navigation equipment.

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