Remote-control separation wave glider

Abstract

The invention discloses a wave glider capable of being separated remotely, the wave glider comprises a water surface boat body and an underwater part, the underwater part and the water surface boat body can be separated remotely, the separated underwater part comprises a flexible umbilical cable and an underwater wave energy hydrodynamic propeller, the upper end of the flexible umbilical cable is connected to the water surface boat body through a separation mechanism A, and the lower end of the flexible umbilical cable is connected to the underwater wave energy hydrodynamic propeller through a separation mechanism B; the lower end of the flexible umbilical cable is connected to the underwater wave energy hydrodynamic propeller, the water surface boat body is provided with an independent electric propulsion device, an electronic compass, a navigation control unit, a satellite communication positioning unit, an electric propeller and a steering controller are arranged on the water surface boat body, and the independent electric propulsion device is the electric propeller; the ship has the beneficial effects that the ship is practical and novel in structure, automatic separation of the water surface ship body and the underwater part is achieved, operation is convenient, when the underwater part is wound or trapped under other conditions, the separated water surface ship body can return automatically, and larger loss is avoided.

Description

Technical Field

[0001] The present invention relates to the field of marine unmanned equipment, and in particular to a remotely controlled detachable wave glider. Background Art

[0002] A wave glider is an unmanned vehicle capable of performing long-duration, long-distance missions at sea. It utilizes hydrodynamic blades on an underwater wave propeller to convert wave energy into forward propulsion. The overall structure of a wave glider consists of a surface hull, an underwater wave propeller, and a flexible umbilical cable connecting the two.

[0003] While the wave glider's design has been extensively optimized to accommodate long-duration, high-sea-state applications, the ocean environment is unpredictable. This is especially true after extended sailing, when various components of the underwater propulsion system experience fatigue, wear, and corrosion. Furthermore, in extreme sea conditions such as typhoons, certain moving parts, such as the blades, connecting shafts, and bearings, are susceptible to damage. Furthermore, to maximize wave energy utilization, the umbilical cable is typically designed to be approximately seven meters long, meaning the underwater wave propulsion system is located approximately seven meters below the surface of the hull. This unique structural design often creates challenges for the wave glider, such as entanglement with fishing nets and marine debris.

[0004] Because surface hulls have no moving parts and constantly float on the sea, the likelihood of damage is low. Cases of wave glider damage both domestically and internationally typically occur due to damage to the underwater wave propellers or umbilical cables, or entanglement with marine debris such as fishing nets. Once the underwater wave propellers become damaged or entangled, the wave glider loses power and is unable to return. Wave gliders typically operate far from shore, making recovery costs high. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to address the shortcomings of the existing technology and provide a remote-controlled detachable wave glider design. When necessary, the design can separate the surface hull, the umbilical cable and the underwater wave energy propeller. After separation, the umbilical cable and the underwater wave energy propeller are discarded, and the surface hull returns according to a predetermined trajectory.

[0006] In order to achieve the above object, the measures taken by the present invention are: A remotely controlled detachable wave glider comprises a surface hull and an underwater portion, the underwater portion and the surface hull being detachable by remote control. The detached underwater portion comprises a flexible umbilical cable and an underwater wave energy hydrodynamic propeller. The upper end of the flexible umbilical cable is connected to the surface hull via a detachment mechanism A, and the lower end of the flexible umbilical cable is connected to the underwater wave energy hydrodynamic propeller. The surface hull is equipped with an independent electric propulsion device, which is provided with an electronic compass, a navigation control unit, a satellite communication positioning unit, an electric propeller, and a steering controller. The independent electric propulsion device is an electric propeller. The separation mechanism A includes a connecting column installed on the bottom of the outer body of the surface hull and a universal joint fixedly connected to the upper end of the flexible umbilical cable. The connecting column is a hollow structure. A waterproof reduction motor is installed in the connecting column. The output shaft of the waterproof reduction motor is connected to a separation bolt through a coupling. The threaded end of the separation bolt passes through the through hole in the middle of the universal joint and is threadedly connected to a separation nut. The separation nut is an external hexagonal structure. The outer end of the through hole is provided with an internal hexagonal countersunk hole for limiting the separation nut. The separation nut is provided in the internal hexagonal countersunk hole. A positioning hole is provided at the lower end of the connecting column. The universal joint is provided with a positioning pin inserted into the positioning hole for positioning. The separation bolt is an M8 bolt, and the output torque of the waterproof reduction motor is 30 Nm; The electric propeller is an electric propeller, which is located one meter below the surface of the boat. The steering controller is a direction control steering gear, which is installed at the tail of the surface boat. The direction control steering gear is connected to the electric propeller. The electric propeller changes the propulsion direction under the drive of the direction control steering gear. The output torque of the direction control steering gear is 10 Nm. The motor of the electric propeller adopts a brushless motor with a maximum power of 300W and continuously adjustable power. The blades of the electric propeller are foldable. The electric propeller is fixed to the lower part of the surface boat body, and the steering controller is a direction control steering gear, which is connected to the rudder blade, and the navigation direction of the surface boat body is changed by changing the direction of the rudder blade; Before and after the separation of the wave glider, it is operated using the same set of communication, positioning, and control hardware and software.

[0007] The beneficial effects of the present invention are as follows: practical, novel in structure, and realizes automatic separation of the surface hull and the underwater part, and is easy to operate. When the underwater part is entangled or trapped in other situations, the surface hull can automatically return after separation, thus avoiding greater losses. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 It is a structural schematic diagram of the present invention.

[0009] Figure 2It is a schematic diagram of the cross-sectional structure of the separation structure of the present invention. DETAILED DESCRIPTION

[0010] A remotely controlled detachable wave glider includes a surface hull 1 and an underwater part. The underwater part can be separated from the surface hull 1 by remote control. The separated underwater part includes a flexible umbilical cable 2 and an underwater wave energy hydrodynamic propeller 18. The upper end of the flexible umbilical cable 2 is connected to the surface hull 1 through a separation mechanism A, and the lower end of the flexible umbilical cable 2 is connected to the underwater wave energy hydrodynamic propeller 18. The surface hull 1 is equipped with an independent electric propulsion device. The surface hull 1 is provided with an electronic compass 3, a navigation control unit 4, a satellite communication positioning unit 5, an electric propeller 6 and a steering controller 7. The independent electric propulsion device is the electric propeller 6.

[0011] The separation mechanism A includes a connecting column 12 installed on the outer bottom of the surface hull 1 and a universal joint 11 fixedly connected to the upper end of the flexible umbilical cable 2. The connecting column 12 is a hollow structure. A waterproof reducer motor 8 is installed in the connecting column 12. The output shaft of the waterproof reducer motor 8 is connected to a separation bolt 10 through a coupling 9. The threaded end of the separation bolt 10 passes through the through hole 14 in the middle of the universal joint 11 and is threadedly connected to a separation nut 13. The separation nut 13 is an external hexagonal structure. The outer end of the through hole 14 is set as an internal hexagonal countersunk hole 15 for limiting the separation nut 13. The separation nut 13 is set in the internal hexagonal countersunk hole 15. The lower end of the connecting column 12 is provided with a positioning hole 16, and the universal joint 11 is provided with a positioning pin 17 for positioning inserted into the positioning hole 16.

[0012] The connecting column 12 is usually a hollow stainless steel tube, and a hole for the separation bolt 10 to pass through and a positioning hole 16 for positioning the positioning pin 17 are provided at the bottom thereof.

[0013] like Figure 1 and Figure 2 As shown, when separation is required, the ground control personnel send a separation command to the wave glider through the satellite communication positioning unit 5. After receiving the command, the navigation control unit 4 controls to stop the power and communication output to the flexible umbilical cable 2, and controls the waterproof reduction motor 8. The waterproof reduction motor 8 rotates after receiving the command, and its output shaft is transmitted through the coupling 9 to drive the separation bolt 10 to rotate. Since the separation nut 13 is limited in the hexagonal countersunk hole 15 of the universal joint 11, the universal joint 11 and the connecting column 12 are positioned by the locating pin 17 and the locating hole 16 to prevent rotation. Therefore, the separation bolt 10 and the separation nut 13 rotate relative to each other. After the two rotate relative to each other for a certain number of circles, the separation nut 13 will detach from the separation bolt 10. At this point, the flexible umbilical cable 2 and the underwater wave energy hydrodynamic thruster 18 are discarded, and the wave glider completes the separation operation.

[0014] After the wave glider completes the separation operation, the navigation control unit 4 calculates the required heading based on the current coordinate information of the wave glider and the target point coordinate information output by the satellite communication positioning unit 5, controls the steering controller 7 according to the heading information and heading deviation of the electronic compass 3, and starts the independent electric propulsion device to work for the electric propulsion unit 6 to achieve return.

[0015] Among them, the electrical connection between the surface hull 1 and the flexible umbilical cable 2 is connected through plug-in and detachable male and female watertight connectors, and the connection between the male and female watertight connectors is fixed on the surface hull 1 through a safety rope. When the flexible umbilical cable 2 and the surface hull 1 are separated, the underwater part including the flexible umbilical cable 2 and the underwater wave energy hydrodynamic propeller 18 begins to sink, and only the male and female watertight connectors are connected between the surface hull 1 and the flexible umbilical cable 2. Under the action of gravity, the safety rope breaks and the connection between the male and female watertight connectors is separated.

[0016] Before separation is initiated, the surface vessel 1 stops supplying power and communication to the flexible umbilical cable 2 to prevent the separated male and female watertight connectors from short-circuiting in seawater. After separation, the navigation control unit 4 activates the independent electric propulsion device, namely the electric propulsion unit 6, and returns to the destination according to the preset trajectory.

[0017] Before separation, the adjustment of the bow direction of the wave glider depends on the rudder located on the underwater wave energy hydrodynamic propeller 18. After separation, the adjustment of the bow direction of the surface hull 1 depends on the propulsion direction of the electric propeller of the electric propeller 6 located under the surface hull 1 and the rudder (steering controller 7) at the tail of the surface hull 1. Although the objects to be controlled before and after separation are different, the control principles and algorithm logic are similar. Therefore, the navigation control system before and after separation uses the same system, which reduces cost, weight and volume.

[0018] The separation bolt 10 is an M8 bolt, and the output torque of the waterproof reduction motor 8 is 30 Nm.

[0019] The electric propulsion device 6 is an electric propeller, which is located one meter below the surface hull 1.

[0020] The steering controller 7 is a direction control steering gear, which is installed at the tail of the surface boat 1. The direction control steering gear is connected to the electric propeller. The electric propeller changes the propulsion direction under the drive of the direction control steering gear. The output torque of the direction control steering gear is 10 Nm.

[0021] The motor of the electric propeller adopts a brushless motor with a maximum power of 300W and continuously adjustable power. The blades of the electric propeller are of a foldable structure.

[0022] The electric propeller is fixed to the lower part of the surface boat body 1, and the steering controller 7 is a direction control steering gear. The direction control steering gear is connected to the rudder blade, and the navigation direction of the surface boat body 1 is changed by changing the direction of the rudder blade.

[0023] Before and after the separation of the wave glider, it is operated using the same set of communication, positioning, and control hardware and software.

Claims

1. A remotely controlled detachable wave glider, characterized in that: The wave glider comprises a surface hull (1) and an underwater part. The underwater part and the surface hull (1) can be separated by remote control. The separated underwater part comprises a flexible umbilical cable (2) and an underwater wave energy hydrodynamic propeller (18). The upper end of the flexible umbilical cable (2) is connected to the surface hull (1) through a separation mechanism (A), and the lower end of the flexible umbilical cable (2) is connected to the underwater wave energy hydrodynamic propeller (18). The surface hull (1) is equipped with an independent electric propulsion device. The surface hull (1) is provided with an electronic compass (3), a navigation control unit (4), a satellite communication positioning unit (5), an electric propeller (6) and a steering controller (7). The independent electric propulsion device is the electric propeller (6).

2. A remotely controlled detachable wave glider according to claim 1, characterized in that: The separation mechanism (A) comprises a connecting column (12) installed on the outer bottom of the surface boat body (1) and a universal joint (11) fixedly connected to the upper end of the flexible umbilical cable (2). The connecting column (12) is a hollow structure. A waterproof reduction motor (8) is installed in the connecting column (12). The output shaft of the waterproof reduction motor (8) is connected to a separation bolt (10) through a coupling (9). The threaded end of the separation bolt (10) passes through a through hole (14) in the middle of the universal joint (11) and is threadedly connected to a separation nut (13). The separation nut (13) is an external hexagonal structure. The outer end of the through hole (14) is set as an internal hexagonal countersunk hole (15) for limiting the separation nut (13). The separation nut (13) is set in the internal hexagonal countersunk hole (15). The lower end of the connecting column (12) is provided with a positioning hole (16). The universal joint (11) is provided with a positioning pin (17) inserted into the positioning hole (16) for positioning.

3. A remotely controlled detachable wave glider according to claim 2, characterized in that: The separation bolt (10) is an M8 bolt, and the output torque of the waterproof reduction motor (8) is 30 Nm.

4. A remotely controlled detachable wave glider according to claim 3, characterized in that: The electric propeller (6) is an electric propeller, and the electric propeller is located one meter below the surface boat body (1).

5. A remotely controlled detachable wave glider according to claim 4, characterized in that: The steering controller (7) is a direction control steering gear, which is installed at the rear of the surface boat (1). The direction control steering gear is connected to the electric propeller. The electric propeller changes the propulsion direction under the drive of the direction control steering gear. The output torque of the direction control steering gear is 10 Nm.

6. A remotely controlled detachable wave glider according to claim 5, characterized in that: The motor of the electric propeller adopts a brushless motor with a maximum power of 300W and continuously adjustable power. The blades of the electric propeller are of a foldable structure.

7. The remotely controlled detachable wave glider according to claim 4, characterized in that: The electric propeller is fixed to the lower part of the surface boat body (1); the steering controller (7) is a direction control steering gear; the direction control steering gear is connected to the rudder blade, and the navigation direction of the surface boat body (1) is changed by changing the direction of the rudder blade.

8. The remotely controlled detachable wave glider according to claim 7, characterized in that: Before and after the wave glider is separated, it is controlled by the same set of communication, positioning, and control hardware and software.

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