Submersible capable of diving and floating on basis of power control and control method thereof

Abstract

The invention relates to a submersible capable of submerging and floating on the basis of power control and a control method thereof. The submersible comprises a submersible body, a propeller is arranged at the tail end of the submersible body, and a pair of left and right horizontal rudders is arranged at the tail of the submersible body; propellers are arranged on the left side and the right side of the head of the submersible body respectively, and a pair of left and right horizontal rudders is arranged on the head. The submersible is based on the principle of positive buoyancy, and diving is achieved by means of downward rudder angles generated by rotation of horizontal rudders at the head and the tail of the submersible and converting part of thrust into downward power.

Description

Technical Field

[0001] The present invention relates to a submersible, in particular to a submersible capable of diving and surfacing based on power control and a control method thereof. Background Art

[0002] At present, existing submersibles generally dive and surface by injecting and discharging ballast water. For example, Chinese invention patent with announcement number CN109229313A discloses a submersible frame structure and a submersible. The gas tank in the submersible can inject gas into the second ballast tank, and inject liquid into the second ballast tank through the first filling and discharge port, so as to adjust the amount of gas and liquid in the second ballast tank, and then adjust the weight of the submersible, thereby realizing the diving and surfacing of the submersible (paragraph 0041 of the specification).

[0003] The above existing method of diving and surfacing by injecting and discharging ballast water, when the weight of the submersible is increased by injecting liquid into the submersible, the buoyancy of the submersible is ≤ its weight, and the submersible dives into the water; when the buoyancy of the submersible is greater than its weight by injecting gas, the submersible can float up. During the period when the buoyancy of the submersible using this method is less than its weight, if the submersible encounters a malfunction such as compressed air, pump group, power failure, or pipeline damage, the submersible needs to rely on external forces from the water surface to float from the water. If the external forces from the water surface cannot be obtained in time, the submersible will not be able to float up, and in severe cases, the descent will cause a safety accident. Therefore, it is necessary to study a submersible that can safely and reliably achieve surfacing. Summary of the invention

[0004] The purpose of the present invention is to overcome the deficiencies of the above-mentioned prior art and to provide a submersible based on power-controlled diving and surfacing and a control method thereof. The submersible is based on the principle of positive buoyancy and achieves diving through power. It can avoid the problem of needing to rely on external force from the water surface to float when failures such as compressed air, pump group, power failure, or pipeline damage occur. The submersible can float to the surface on its own, thereby improving safety and reliability.

[0005] The technical solution adopted to achieve the purpose of the present invention is: a submersible for diving and surfacing based on power control, including a submersible body, a thruster is provided at the tail end of the submersible body, and a pair of left and right horizontal rudders are provided at the tail; thrusters are respectively provided on the left and right sides of the bow of the submersible body, and a pair of left and right horizontal rudders are provided at the bow.

[0006] The present invention also provides a control method for the above-mentioned submersible based on power control for diving and surfacing, the method comprising:

[0007] The horizontal rudders at the bow and tail of the submersible rotate to generate a downward rudder angle to convert part of the thrust into downward pressure, so that the submersible dives into the water;

[0008] The thrusters on the left and right sides of the bow generate unbalanced thrusts at different speeds to achieve the steering of the submersible, so that the submersible can sail smoothly underwater.

[0009] The propulsion propeller is converted from forward to reverse, and a certain upward rudder angle is generated by rotating the bow and stern horizontal rudders to convert part of the backward thrust into downward pressure, so that the submersible dives into the water and realizes the backward movement of the submersible.

[0010] The submersible of the present invention is based on the positive buoyancy principle, and relies on the rotation of the horizontal rudders at the bow and tail of the submersible to generate a downward rudder angle to convert part of the thrust into downward power to achieve diving. When the buoyancy of the submerged water is greater than the weight of the submersible, the power disappears (the propeller stops working) and the submersible can float to the surface by itself. When the propulsion system of the submersible of the present invention fails and loses power, or when there are failures such as compressed air, pump group, power failure, or pipeline damage, the submersible of the present invention can float to the surface by itself without the help of external force on the water surface, thereby improving the safety and reliability of the submersible.

[0011] Compared with the submersibles of the prior art that dive and surface by injecting and discharging ballast water, the present invention has the following advantages: (1) it does not require the equipment, pipelines, valves and control systems related to gas injection and ballast water discharge; (2) it does not require a liquid ballast tank, thus saving space inside the submersible; and (3) it always maintains positive buoyancy, and can surface on its own even if the propulsion system fails and loses power, thereby improving the safety of the submersible. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a top view schematic diagram of the submersible based on power control of the present invention.

[0013] Figure 2 It is a cross-sectional schematic diagram of a submersible based on power control according to the present invention.

[0014] In the figure, 1-submersible body, 2-tail thruster, 3-bow left thruster, 4-bow left horizontal rudder, 5-bow right thruster, 6-bow right horizontal rudder, 7-tail left horizontal rudder, 8-tail right horizontal rudder, 9-water surface. DETAILED DESCRIPTION

[0015] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0016] like Figure 1As shown, the present invention is a submersible for diving and surfacing based on power control, comprising a submersible body 1, a tail thruster 2 is provided at the tail end of the submersible body, and a tail left horizontal rudder 7 and a tail right horizontal rudder 8 are provided on the left and right sides of the tail respectively; a bow left thruster 3 and a bow right thruster 5 are provided on the left and right sides of the bow of the submersible body 1 respectively, and a bow left horizontal rudder 4 and a bow right horizontal rudder 6 are provided on both sides of the bow of the submersible body 1 respectively.

[0017] The method for controlling the submersible to dive and float comprises:

[0018] The horizontal rudders at the bow and tail of the submersible rotate to generate a downward rudder angle to convert part of the thrust into downward pressure, so that the submersible dives into the water;

[0019] The thrusters on the left and right sides of the bow generate unbalanced thrusts at different speeds to achieve the steering of the submersible, so that the submersible can sail smoothly underwater.

[0020] The propulsion propeller is converted from forward to reverse, and a certain upward rudder angle is generated by rotating the bow and stern horizontal rudders to convert part of the backward thrust into downward pressure, so that the submersible dives into the water and realizes the backward movement of the submersible.

[0021] The submersible of the present invention controls its own weight and dimensions so that the submersible always maintains positive buoyancy in the water. By adjusting the angles of the horizontal rudders at the tail and the bow of the submersible in the water, the submersible can dive and float. When the propeller is controlled to stop working, or when the propulsion system of the submersible fails and loses power, the submersible can float up safely by itself through positive buoyancy without the help of external forces on the water surface, thereby ensuring the safety of the submersible and avoiding the problem that the existing submersible cannot float up by itself when there are failures such as compressed air, pump group, power failure, or pipeline damage.

Claims

1. A submersible based on power control for diving and surfacing, comprising a submersible body, characterized in that: The tail end of the submersible body is provided with a propeller, and the tail is provided with a pair of left and right horizontal rudders; the left and right sides of the bow of the submersible body are respectively provided with propellers, and the bow is provided with a pair of left and right horizontal rudders.

2. A control method for a submersible based on power control for diving and surfacing as claimed in claim 1, characterized in that: include: The horizontal rudders at the bow and tail of the submersible rotate to generate a downward rudder angle to convert part of the thrust into downward pressure, so that the submersible dives into the water; The thrusters on the left and right sides of the bow generate unbalanced thrusts at different speeds to achieve the steering of the submersible, so that the submersible can sail smoothly underwater. The propulsion propeller is converted from forward to reverse, and a certain upward rudder angle is generated by rotating the bow and stern horizontal rudders to convert part of the backward thrust into downward pressure, so that the submersible dives into the water and realizes the backward movement of the submersible.

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