Underwater glider for offshore underwater environment monitoring

Abstract

The invention provides an underwater glider for offshore underwater environment monitoring. The underwater glider comprises a cabin and a tail wing, the external structure of the cabin is spherical, the head end and the tail end of the cabin are respectively a head wet cabin and a tail wet cabin, a middle pressure-resistant dry cabin is connected between the head wet cabin and the tail wet cabin, and the middle pressure-resistant dry cabin is isolated from the head wet cabin and the tail wet cabin; a buoyancy adjusting mechanism is arranged on the front portion in the cabin, and a two-degree-of-freedom posture adjusting mechanism and a control system unit are sequentially arranged in the middle pressure-resistant dry cabin from front to back. The tail wing comprises a wing plate and a fixing shaft, the fixing shaft is arranged at the tail of the cabin, and the wing plate is installed on the fixing shaft. The underwater glider for offshore underwater environment monitoring has the advantages of being autonomous and flexible, long in continuous use time, wide in use range and capable of providing long-term, real-time and online ecological environment monitoring data.

Description

Technical Field

[0001] The invention relates to the field of underwater gliders used for underwater information monitoring in shallow waters such as near-land seas or lakes, and more specifically, to an underwater glider used for monitoring near-shore underwater environment. Background Art

[0002] In recent years, underwater glider technology has developed rapidly, and there are many glider models within the conventional diving depth range of 30 meters to 6,000 meters. In offshore areas or shallow water areas, the application of underwater gliders in shallow water areas is limited by the depth and complex environmental structure.

[0003] The XRay series of large-wing underwater gliders developed in the United States achieve small gliding angle gliding through wings with a large lift-to-drag ratio, supporting movement in diving areas. Invention patent CN102963514 discloses a "portable underwater marine environment monitoring glider" that controls sinking and floating by changing buoyancy and adjusts attitude by changing the center of gravity. It has the advantage of long autonomous operation time. The swept wings can prevent entanglement with water plants, but the large wingspan cannot effectively avoid collision with artificial underwater structures, which is not conducive to operation in offshore areas with complex environments. Invention patent CN103287558A discloses a "butterfly-shaped underwater glider" that adjusts buoyancy and attitude through four symmetrically distributed built-in water bags to achieve flexible adjustment of the direction of movement. However, the layout of its attitude adjustment mechanism makes it difficult to achieve movement at a large angle of attack and cannot effectively glide over vertically arranged underwater structures.

[0004] Therefore, for offshore or shallow water areas, how to combine the underwater robot's collision avoidance layout, large angle of attack movement capability, and convenient sensor layout to expand its application field and improve its observation capability has become a concern in the current research and development of new shallow water vehicles. Summary of the invention

[0005] The present invention aims to overcome the deficiencies in the prior art and provides an underwater glider for monitoring offshore underwater environment. The underwater glider has the characteristics of autonomy and flexibility.

[0006] The objective of the present invention is achieved through the following technical solutions:

[0007] A underwater glider for monitoring offshore underwater environment, comprising:

[0008] A nacelle, wherein the external structure of the nacelle is spherical, the front and rear ends of the nacelle are respectively a forward wet tank and a rear wet tank, an intermediate pressure-resistant dry tank is connected between the two, and the intermediate pressure-resistant dry tank is isolated from the forward wet tank and the rear wet tank; a buoyancy adjustment mechanism is arranged at the front of the nacelle, a part of the buoyancy adjustment mechanism is located in the forward wet tank, and a part of the buoyancy adjustment mechanism is located in the intermediate pressure-resistant dry tank; a two-degree-of-freedom attitude adjustment mechanism and a control system unit are arranged in sequence from front to back inside the intermediate pressure-resistant dry tank;

[0009] A tail wing, the tail wing comprises a wing plate and a fixed shaft, the tail wing is arranged at the tail of the cabin through the fixed shaft (that is, the tail wing is connected to the tail wet cabin fairing), and the wing plate is installed on the fixed shaft;

[0010] Underwater camera, installed in the bow wet tank, used for underwater environment monitoring;

[0011] The water quality probe is mounted on the rear bracket of the machine body; the rear bracket of the machine body is arranged at the end of the fixed shaft.

[0012] Furthermore, the wing panels are fixedly arranged on the fixed shaft in a vertically centrally symmetrical manner. Preferably, there are four wing panels, which are fixedly arranged on the fixed shaft in a cross shape and perpendicular to each other.

[0013] Furthermore, the wing plate has a sweep angle to prevent the underwater structure or underwater plants from getting caught and colliding. Preferably, the sweep angle is 45 degrees.

[0014] Furthermore, the intermediate pressure-resistant dry cabin is composed of a front pressure-resistant shell and a rear pressure-resistant shell, and the front pressure-resistant shell and the rear pressure-resistant shell are connected in a sealed manner. The front pressure-resistant shell and the rear pressure-resistant shell are connected through an intermediate seal, and sealing grooves are provided on both sides of the intermediate seal, and sealing rings are placed in the sealing grooves to complete the sealing of the intermediate pressure-resistant dry cabin.

[0015] Preferably, a sealing groove is provided on the interface of the front pressure-resistant shell and the rear pressure-resistant shell, and an intermediate sealing member is inserted into the two sealing grooves at the same time, so that the intermediate pressure-resistant dry cabin is isolated from the outside world. The front pressure-resistant shell and the rear pressure-resistant shell are respectively fixedly connected to the internal bracket and are respectively fixed by fastening screws.

[0016] Furthermore, the bow wet tank includes a bow fairing, which is connected to the intermediate pressure dry tank by axially arranged screws; the aft wet tank includes an aft wet tank fairing, which is connected to the intermediate pressure dry tank by axially arranged screws. A hole or gap is provided between the bow fairing and the front pressure hull to allow external water to enter and exit; a hole or gap is provided between the aft wet tank fairing and the rear pressure hull to allow external water to enter and exit. The wet tank is a space that is not sealed, and water can enter the wet tank, so there is water in the bow wet tank and the aft wet tank, but there is no water in the intermediate pressure dry tank.

[0017] Furthermore, a through hole is provided on the shell portion of the bow wet tank corresponding to the underwater camera, so that the camera can be exposed. Preferably, four underwater cameras arranged at a set angle are provided in the bow wet tank.

[0018] Furthermore, the water quality probe is a hydrological ecological probe, including at least any one of the following probes: a hydroacoustic probe, a temperature probe, a salinity probe, a pH probe, a chlorophyll probe, an oxygen solubility probe, an ammonia nitrogen probe, a sulfide probe or a nitrite sensor probe. The water quality probe is used to detect water body information.

[0019] Furthermore, an internal bracket is fixedly connected inside the intermediate pressure-resistant dry cabin, and the buoyancy adjustment mechanism, the two-degree-of-freedom attitude adjustment mechanism and the control system unit are all arranged on the internal bracket.

[0020] Furthermore, the buoyancy adjustment mechanism is provided, including an outer oil bladder, an inner oil bladder, a gear pump, a solenoid valve, a pipeline, an oil bladder support frame, a magnetic marker and a magnetic induction element. The outer oil bladder is arranged in the bow wet tank, and the inner oil bladder, the gear pump, the solenoid valve, the oil bladder support frame, the magnetic marker and the magnetic induction element are all arranged in the intermediate pressure-resistant dry tank. The outer oil bladder and the inner oil bladder are connected by a pipeline, and the gear pump and the solenoid valve are arranged on the pipeline.

[0021] Preferably, the pipeline is a flexible pipeline, the gear pump is a bidirectional pump, the solenoid valve is a normally closed valve, and the connection structure between the gear pump and the outer oil bag and the inner oil bag ensures that oil can be transported from the outer oil bag to the inner oil bag, or from the inner oil bag to the outer oil bag.

[0022] Furthermore, the inner oil bladder is in the form of a torus, supported and fixed by an oil bladder support frame, and magnetic markers are attached to the upper and lower ends of the inner oil bladder; a magnetic induction element is arranged at a corresponding position on the oil bladder support frame; the magnetic marker and the magnetic induction element constitute a position switch, and the magnetic induction element fixed on the oil bladder support frame is used to feedback whether the change of the cross section of the inner oil bladder reaches the limit value. The position switch can feedback the change of the oil volume in the inner oil bladder, providing a reference for volume control. The underwater glider operates in a shallow water area, and the buoyancy loss can be ignored. In this case, it can be considered to be relatively accurate to control the oil volume by a gear pump. The designed magnetic position detection provides a reference for oil volume control. The inner oil bladder will not form displacement under the restriction of the oil bladder support frame. When the oil flows from the outer oil bladder to the inner oil bladder, the inner oil bladder becomes larger. When the magnetic marker approaches the magnetic induction unit, the magnetic induction unit has a signal, which is transmitted to the control system unit to assist in the estimation of the oil bladder volume.

[0023] Preferably, the supporting and fixing structure of the annular inner oil bladder and the oil bladder support frame is as follows: the edges of the maximum circumference and the minimum circumference of the inner oil bladder are provided with protruding burrs, and the oil bladder support frame clamps the burrs, thereby fixing the inner oil bladder and ensuring that the center position of the inner oil bladder remains basically unchanged.

[0024] The working principle of the buoyancy regulating mechanism is: when the electromagnetic valve is opened and the gear pump runs in one direction to deliver oil to the outer oil bag, the buoyancy of the underwater glider increases; when the gear pump runs in the reverse direction to deliver oil to the inner oil bag, the buoyancy of the underwater glider decreases.

[0025] Furthermore, the two-degree-of-freedom attitude adjustment mechanism includes an intermediate optical axis, a lead screw, an attitude adjustment block, a gear, a gear box, a worm gear, and a worm drive motor; the support part of the two-degree-of-freedom attitude adjustment mechanism includes an attitude adjustment frame, a bearing, and a sliding optical axis; the lead screw includes a lead screw nut; the gear includes a central gear and a circumferential gear; the gear box includes a gear box motor; the worm gear includes a worm wheel and a worm; the two-degree-of-freedom attitude adjustment mechanism is connected to the internal bracket through a bearing and is arranged at the center of the underwater glider. The two-degree-of-freedom attitude adjustment mechanism includes three parts: an attitude adjustment block, a linear transmission mechanism, and a rotation mechanism; the linear transmission mechanism and the rotation mechanism are respectively connected to the attitude adjustment block, so that the attitude adjustment block can move and rotate.

[0026] Furthermore, the attitude adjustment block is arranged on the middle optical axis group, and the middle optical axis group is composed of two parts (two sections disconnected in the middle), and the two parts are fixed on the cabin respectively, that is, the optical axis will not have relative displacement and rotation relative to the shell. The axis of the middle optical axis group is perpendicular to the longitudinal axis of the glider.

[0027] Furthermore, the linear transmission mechanism is as follows: a screw nut is provided on the posture adjustment block, which is screwed on a screw parallel to the intermediate optical axis; the screw is rotatably fixed on a posture adjustment frame, the screw is connected to the output shaft of the gear box, the input shaft of the gear box is connected to the drive motor, the gear box and the drive motor are arranged on the posture adjustment frame; the posture adjustment frame is rotatably arranged on the intermediate optical axis; the posture adjustment block is mainly composed of a battery pack, and the weight of the battery pack can be fully utilized.

[0028] Further, the rotating mechanism includes a gear transmission mechanism arranged between the intermediate optical axis and the posture adjustment frame. Specifically, the gear transmission mechanism includes a central gear fixed to the intermediate optical axis, a peripheral gear meshing with the central gear, a gear shaft on the peripheral gear fixed to the posture adjustment frame, a worm gear arranged on the gear shaft, a worm meshing with the worm gear, and a worm drive motor connected to the worm gear, which are arranged on the posture adjustment frame.

[0029] Furthermore, the control system unit is fixed on the internal bracket; the control system unit is connected to the gear pump, solenoid valve and drive motor (gear drive motor and worm drive motor) through cables to drive and control the actions of the buoyancy adjustment mechanism and the two-degree-of-freedom attitude adjustment mechanism; the control unit is also connected to the magnetic induction element through a cable to receive signals.

[0030] Furthermore, the control system unit includes a power module, a motor drive module, a communication module, a posture measurement module, a data acquisition module, and a data processing module. Each module is connected to the corresponding motors, solenoid valves, etc. in the buoyancy adjustment mechanism and the two-degree-of-freedom posture adjustment mechanism through cables to drive and control the actions of each mechanism.

[0031] The control of underwater gliders includes buoyancy control and attitude control. Buoyancy control is used to switch between sinking and floating states, and attitude control is used to adjust the heading. When the glider reaches the set upper and lower limits, the buoyancy is adjusted. When it reaches the upper limit, the solenoid valve is opened to control the gear pump to deliver oil to the inner oil bag, the volume of the outer oil bag decreases, and the buoyancy of the glider decreases. When the buoyancy is less than the net weight, it starts to dive. After the buoyancy adjustment is completed, the solenoid valve and gear pump are closed. When the glider reaches the lower limit, the solenoid valve is opened to control the gear pump to deliver oil to the outer oil bag, the volume of the outer oil bag increases, and when the buoyancy is greater than the net weight, it starts to float. After the buoyancy adjustment is completed, the solenoid valve and gear pump are closed.

[0032] The underwater glider moves according to the set heading. The heading deviation is provided by the attitude measurement module. The glider controls the action of the two-degree-of-freedom attitude adjustment mechanism according to the heading deviation. The attitude adjustment mechanism has two degrees of freedom, linear and rolling. The two degrees of freedom can be adjusted to control the deflection of the glider's center of gravity, thereby controlling the direction of the glider's nose and achieving the purpose of adjusting the heading.

[0033] Furthermore, the control system unit also includes an abnormal alarm module, which includes a pressure sensor in contact with the external environment and an information processing unit, and the abnormal alarm module determines whether the underwater glider passively leaves the water surface through the feedback value of the pressure sensor. The pressure sensor is arranged on the outer surface of the underwater glider.

[0034] Furthermore, the underwater glider is also provided with an antenna, which is connected to the tail wing and includes a wireless communication antenna and a GPS positioning antenna.

[0035] Preferably, the tail wing is made of carbon fiber material.

[0036] Compared with the prior art, the present invention has at least the following advantages:

[0037] (1) The underwater glider provided by the present invention has the advantages of the maneuverability of underwater autonomous vehicles and the long continuous working time of autonomous underwater gliders. It has a wider range of uses and can meet the requirements of providing long-term, real-time, and online ecological environment monitoring data in inland waters and offshore farms.

[0038] (2) The underwater glider provided in this application is usually small in size, easy to deploy and recover, and has modular sensors that can be customized according to mission requirements. The underwater glider has extremely low operating noise, low noise and stealth, and is not easily detected by marine life or potential targets, making it suitable for covert scientific research and related applications.

[0039] (3) The overall structure of the underwater glider provided in the present application and the reasonable arrangement of its buoyancy adjustment mechanism and two-degree-of-freedom attitude adjustment mechanism enable it to operate more flexibly in the water and not be easily disturbed by seaweed or other marine organisms.

[0040] (4) The underwater glider provided in this application has minimal impact on the marine environment due to its low energy consumption and non-invasive operation mode.

[0041] (5) Compared with traditional submersibles, the underwater glider provided by the present application has lower operating costs and does not require continuous energy supply and complex recovery systems. The design takes durability and maintainability into consideration, allowing for multiple launches and use, reducing the cost of long-term monitoring.

[0042] (6) The two-degree-of-freedom attitude adjustment mechanism of the underwater glider provided in the present application is different from the traditional attitude adjustment mechanism of the glider. In the present invention, by controlling the roll and pitch angles of the adjustment block, a larger center of gravity offset can be generated, so that the glider can glide at a larger pitch angle, which is suitable for high-density underwater environment monitoring. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 A schematic diagram of the overall structure of the underwater glider provided by the present invention;

[0044] Figure 2 A schematic diagram of the structure of the tail arrangement of the underwater glider provided by the present invention;

[0045] Figure 3 A schematic diagram of the structure of the underwater camera arrangement in the underwater glider provided by the present invention;

[0046] Figure 4 A schematic diagram of the tangential structure of the buoyancy regulating mechanism in the underwater glider provided by the present invention;

[0047] Figure 5 A schematic diagram of an oil bag and a bracket of a buoyancy adjustment mechanism in an underwater glider provided by the present invention;

[0048] Figure 6 A schematic diagram of the structure of a two-degree-of-freedom attitude adjustment mechanism in an underwater glider provided by the present invention;

[0049] Figure 7 A schematic diagram of the structure of the linear transmission mechanism of the underwater glider provided by the present invention;

[0050] In the figure, 1 is the bow fairing, 2 is the bow wet tank, 3 is the external oil bag, 4 is the buoyancy adjustment mechanism, 5 is the internal bracket, 6 is the front pressure hull, 7 is the intermediate pressure dry tank, 8 is the intermediate seal, 9 is the rear pressure hull, 10 is the two-degree-of-freedom attitude adjustment mechanism: 10a is the attitude adjustment frame, 10b is the bearing, 10c is the sliding optical axis, 11 is the water quality probe, 12 is the tail wet tank fairing, 13 is the control system unit, 14 is the fastening screw, 15 is the tail wing (15a is the wing plate, 15b is the fixed axis, 15c is the tail bracket of the fuselage), 16 is the internal oil bag, 17 is the gear pump, 18 is the solenoid valve, 19 is the pipeline, 20 is the magnetic marker, 21 is the magnetic induction element, 22 is the oil bag support frame,

[0051] 23 is the intermediate optical axis group: divided into two sections whose central axis is on the same straight line,

[0052] 24 is a screw: 24a is a screw nut, 24b is a screw gear,

[0053] 25 is the posture adjustment block,

[0054] 26 gears: 26a is the central gear, 26b is the circumferential gear,

[0055] 27 is a gear box: 27a gear box drive motor,

[0056] 28 is a worm gear, 28a is a worm wheel, 28b is a worm, 29 is a worm drive motor,

[0057] 30 is an antenna, 31 is an underwater camera, and 32 is a rear wet tank. DETAILED DESCRIPTION

[0058] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is described in detail below in conjunction with specific embodiments. It should be noted that the following embodiments will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that for those of ordinary skill in the art, several variations and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0059] All raw materials of the present invention have no particular limitation on their sources, and can be purchased from the market or prepared according to conventional methods known to those skilled in the art.

[0060] In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In the description of the invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0061] Example 1: A underwater glider for monitoring offshore underwater environment

[0062] refer to Figures 1 to 7 This embodiment provides an underwater glider for monitoring offshore underwater environment, which is composed of a cabin, a tail wing 15, an underwater camera 31 and a water quality probe 11.

[0063] like Figure 1 As shown, the external structure of the cabin is spherical, and the cabin is composed of three parts, the front and rear ends of which are the front wet tank 2 and the rear wet tank 32 ( Figure 2 The front wet tank 32 includes a front wet tank shroud 1, which is connected to the middle pressure dry tank 7 by screws arranged axially (the axial direction here refers to the central axis direction of the entire underwater glider). The rear wet tank 32 includes a rear wet tank shroud 12, which is connected to the middle pressure dry tank 7 by screws arranged axially (the central axis direction of the underwater glider). The tail wing 15 is fixed to the tail of the underwater glider and is fixedly connected to the rear wet tank shroud 12.

[0064] The forward and aft wet tanks are spaces that are not sealed, and water can enter the wet tanks, so they are called wet tanks, so there is water in the forward wet tank 2 and the aft wet tank 32, but there is no water in the dry tank. The dry tank is sealed and isolated from the wet tank.

[0065] The intermediate pressure-resistant dry cabin 7 is composed of a front pressure-resistant shell 6 and a rear pressure-resistant shell 9, and the front pressure-resistant shell 6 and the rear pressure-resistant shell 9 are sealed and connected. The specific sealing connection structure is: a sealing groove is provided on the interface of the front pressure-resistant shell 6 and the rear pressure-resistant shell 9, and an intermediate seal 8 is inserted into the two sealing grooves at the same time (the front pressure-resistant shell 6 and the rear pressure-resistant shell 9 are connected with the intermediate seal 8, and sealing rings are provided at both ends of the intermediate seal 8 for sealing), so that the intermediate pressure-resistant dry cabin 7 is isolated from the outside. The connection structure of the front pressure-resistant shell 6 and the rear pressure-resistant shell 9 is: an internal bracket 5 is provided in the intermediate pressure-resistant dry cabin 7, and the front pressure-resistant shell 6 and the rear pressure-resistant shell 9 are connected to each other by fixing the internal bracket 5 in the intermediate pressure-resistant dry cabin 7 with a fastening screw 14.

[0066] like Figure 2 As shown, the tail wing 15 includes a wing plate 15a and a fixed shaft 15b, the fixed shaft 15b is arranged at the tail end of the cabin, and the wing plate 15a is installed on the fixed shaft 15b. The wing plates are four pieces, which are cross-vertically fixed on the fixed shaft 15b in an axially centrally symmetrical manner. The end of the fixed shaft 15b is connected to a body tail bracket 15c, on which the water quality probe 11 is mounted. The wing plate 15a has a 45-degree sweep angle to prevent collision with underwater structures or underwater plants. The tail wing 15 is made of carbon fiber material.

[0067] like Figure 3 As shown, the underwater glider is also provided with an underwater camera 31. Four underwater cameras 31 are installed in the bow wet tank 2. The four underwater cameras 31 are arranged at a certain angle. A through hole is opened on the shell of the bow wet tank corresponding to the camera for the underwater camera 31 to protrude.

[0068] A buoyancy adjustment mechanism 4 (such as Figure 4 and Figure 5 ), two-degree-of-freedom attitude adjustment mechanisms 10 are arranged in sequence from front to back in the middle pressure-resistant dry cabin 7 (details are shown in Figure 6 and Figure 7 as shown) and control system unit 13.

[0069] like Figure 4 As shown, the buoyancy regulating mechanism 4 is arranged at the bow of the underwater glider, and includes an outer oil bladder 3, an inner oil bladder 16, a gear pump 17, a solenoid valve 18, a pipeline 19, an oil bladder support frame 22, a magnetic marker 20 and a magnetic sensing element 21. The gear pump 17 and the solenoid valve 18 are respectively connected to the outer oil bladder 3 and the inner oil bladder 16 through a flexible pipeline 19. The gear pump 17 is a two-way pump, and the solenoid valve 18 is a normally closed valve. The connection structure of the gear pump 17 and the outer oil bladder 3 and the inner oil bladder 16 ensures that the oil can be transported from the outer oil bladder 3 to the inner oil bladder 16, and the oil can also be transported from the inner oil bladder 16 to the outer oil bladder 3.

[0070] When the solenoid valve 18 is turned on and the gear pump 17 runs in one direction and delivers oil to the outer oil bag 3, as the volume of the outer oil bag 3 increases, the buoyancy of the underwater glider increases, and at this time, the volume of the inner oil bag 16 decreases; when the gear pump 17 runs in the reverse direction and delivers oil to the inner oil bag 16, the volume of the outer oil bag 3 decreases, the volume of the inner oil bag 16 increases, and the buoyancy of the underwater glider decreases. The outer oil bag 3 is arranged in the bow wet tank 2, so that the space in the bow wet tank 2 can be fully utilized; the inner oil bag 16, the gear pump 17 and the solenoid valve 18 are all arranged in the intermediate pressure-resistant dry tank 7.

[0071] A portion of the buoyancy adjustment mechanism 4 is disposed in the intermediate pressure-resistant dry tank 7, and the specific structures of the components are as follows: an oil bladder support frame 22 is disposed in the intermediate pressure-resistant dry tank 7, and the oil bladder support frame 22 can be disposed on the internal bracket 5, or can be separately fixed on the inner wall of the front pressure-resistant shell of the cabin. The inner oil bladder 16 is in the form of a circular ring, and is supported and fixed in the frame of the oil bladder support frame 22. The supporting and fixing structure of the circular inner oil bladder 16 and the oil bladder support frame is as follows: the maximum circumference and the minimum circumference edges of the inner oil bladder 16 have protruding burrs (not shown in the figure, it is a common fixing technology, so no further explanation is given), and the oil bladder support frame 22 clamps the burrs, thereby fixing the inner oil bladder 16 on the oil bladder support frame 22, and ensuring that the center position of the inner oil bladder 16 remains basically unchanged. Magnetic markers 20 are pasted on the upper and lower ends of the inner oil bladder 16, and magnetic induction elements 21 are provided at corresponding positions on the oil bladder support frame. Figure 4 In the embodiment, the magnetic induction element 21 is arranged on the oil bag support frame 22, and is located in the middle of the outer circumference of the inner oil bag. The magnetic induction element 21 fixed on the oil bag support frame 22 can be used to feedback whether the change of the cross section of the inner oil bag 16 reaches the limit value.

[0072] The magnetic marker 20 and the magnetic induction element 21 form a position switch. When the liquid in the inner oil bag 16 is less, the magnetic marker 20 thereon is close to the magnetic induction element 21, and the magnetic induction element 21 can feedback a signal. When the inner oil bag 16 is full of liquid, the magnetic markers 20 attached to the upper and lower sides of the inner oil bag 16 are at the limit position on the upper and lower frame rods of the oil bag support frame 22. At this time, the magnetic marker 20 is far away from the magnetic induction element 21 so that there is no feedback signal. When the volume of the inner oil bag 16 becomes smaller, when the magnetic markers 20 on the upper and lower sides and the magnetic induction element reach the set distance range, the magnetic induction element begins to have a signal. When the signal of the magnetic induction element 21 is the strongest, it means that the upper and lower magnetic markers are very close to the magnetic induction element 21, and the volume of the inner oil bag 16 is the smallest. At this time, the volume of the outer oil bag 3 is the largest, that is, the buoyancy of the underwater glider is the largest. The buoyancy adjustment mechanism adjusts the buoyancy by displaying the volume of the outer oil bag 3 through the inner oil bag 16 to display the buoyancy size.

[0073] Whether the gear pump 17 is started and the direction of rotation are controlled by the feedback information of the control system unit and the position switch composed of the magnetic marker 20 and the magnetic sensing element 21 .

[0074] like Figure 6 and Figure 7 As shown, the two-degree-of-freedom attitude adjustment mechanism 10 is connected to the internal bracket 5 through a bearing and arranged at the center of the underwater glider. The two-degree-of-freedom attitude adjustment mechanism 10 is provided with an attitude adjustment frame 10a, a bearing 10b and a sliding optical axis 10c.

[0075] The two-degree-of-freedom posture adjustment mechanism includes a posture adjustment block 25, and also includes a linear transmission mechanism and a rotation mechanism, which are respectively connected to the posture adjustment block 25, so that the posture adjustment block 25 can move and rotate to achieve two-degree-of-freedom posture adjustment.

[0076] The posture adjustment block 25 is passed through the intermediate optical axis group 23 , and a bearing 10 b is arranged between the posture adjustment block 25 and the intermediate optical axis group 23 . The intermediate optical axis group 23 passes through the diameter of the spherical nacelle and is arranged on the internal bracket 5 .

[0077] The linear transmission mechanism is a screw mechanism, a screw nut 24a is provided on the posture adjustment block 25, and is screwed on a screw 24 parallel to the intermediate optical axis 23, the screw 24 is rotatably fixed on the posture adjustment frame 10a, the screw 24 is connected to the output shaft of the gear box 27, the input shaft of the gear box 27 is connected to the gear box drive motor 27a, the gear box 27 and the gear box drive motor 27a are provided on the posture adjustment frame 10a; the posture adjustment frame 10a is rotatably provided on the intermediate optical axis group 23 through the bearing 10b. When the drive motor is started, the screw 24 is driven to rotate, so that the screw nut 24a can be moved along the axial direction of the screw 24, and then the posture adjustment block 25 fixedly connected to the screw nut 24a can be adjusted along the axial direction of the intermediate optical axis group 23 with one degree of freedom.

[0078] The rotating mechanism is a gear transmission mechanism, including a gear transmission mechanism arranged between the intermediate optical axis 23 and the attitude adjustment frame 10a. Figure 6 and Figure 7 As shown, the gear transmission mechanism includes a central gear 26a fixed on the intermediate optical axis group 23, a circumferential gear 26b meshing with the central gear 26a, the gear shaft on the circumferential gear 26b is fixed on the attitude adjustment frame 10a, a worm wheel 28a is arranged on the gear shaft, a worm 28b meshing with the worm wheel 28a and a worm drive motor 29 connected to the worm 28b are arranged on the attitude adjustment frame 10a. The worm drive motor 29 drives the circumferential gear 26b to rotate around the central gear 26a through the worm wheel 28, that is, drives the attitude adjustment block 25 to rotate to adjust another degree of freedom.

[0079] The linear transmission mechanism and the rotation mechanism enable the two-degree-of-freedom attitude adjustment mechanism 10 to have two degrees of freedom, namely, moving along the intermediate optical axis 23 and rotating around the intermediate optical axis group 23. When rotating around the intermediate optical axis group 23, the vertical relative position of the underwater glider's buoyancy center and the center of gravity is changed, thereby changing the pitch state of the underwater glider's nose. When moving along the intermediate optical axis group 23, the left-right relative position of the underwater glider's buoyancy center and the center of gravity is changed, thereby changing the yaw state of the glider mechanism. Since the underwater glider is spherical as a whole, the adjustment of the attitude adjustment mechanism can enable the body to reach a large gliding angle, and the maximum pitch angle can reach plus or minus 90 degrees.

[0080] The control system unit 13 is fixed on the internal bracket 5, and the control system unit 16 contains a power module, a motor drive module, a communication module, a posture measurement module, a data acquisition module, and a data processing module. Each module is connected to the corresponding motor, solenoid valve 18, etc. in the buoyancy adjustment mechanism 4 and the two-degree-of-freedom posture adjustment mechanism 10 through a cable to drive and control the actions of each mechanism. The control of the underwater glider includes two parts: buoyancy control and posture control, in which the buoyancy control is used to convert the sinking and floating state, and the posture control is used to adjust the heading. When the glider reaches the set upper and lower limit positions, the buoyancy is adjusted. When it reaches the upper limit position, the solenoid valve 18 is opened, and the gear pump 17 is controlled to transport oil to the inner oil bag 16. The volume of the outer oil bag 3 becomes smaller, and the buoyancy of the glider becomes smaller. When the buoyancy is less than the net weight, it starts to dive. After completing the buoyancy adjustment, the solenoid valve 18 and the gear pump 17 are closed. When the glider reaches the lower limit position, the solenoid valve 18 is opened to control the gear pump 17 to transport oil to the outer oil bag 3. The volume of the outer oil bag 3 increases. When the buoyancy is greater than the net weight, it begins to float up. After the buoyancy adjustment is completed, the solenoid valve 18 and the gear pump 17 are closed.

[0081] The underwater glider moves according to the set heading. The heading deviation is provided by the attitude measurement module. The glider controls the action of the two-degree-of-freedom attitude adjustment mechanism according to the heading deviation. The attitude adjustment mechanism has two degrees of freedom, linear and rolling. The two degrees of freedom can be adjusted to control the deflection of the glider's center of gravity, thereby controlling the direction of the glider's nose and achieving the purpose of adjusting the heading.

[0082] The control system unit also includes an abnormal alarm module, which includes a pressure sensor in contact with the external environment and an information processing unit, and the module determines whether the underwater glider passively leaves the water surface through the feedback value of the pressure sensor. The pressure sensor is arranged on the outer surface of the underwater glider.

[0083] The underwater glider is also provided with an antenna 30, which is connected to the tail wing 15. The antenna 30 includes a wireless communication antenna and a GPS positioning antenna.

[0084] The above description of the embodiments is to facilitate the understanding and use of the invention by those skilled in the art. It is obvious that those skilled in the art can easily make various modifications to these embodiments and apply the general principles described herein to other embodiments without creative work. Therefore, the present invention is not limited to the above embodiments, and improvements and modifications made by those skilled in the art based on the disclosure of the present invention without departing from the scope of the present invention should be within the scope of protection of the present invention.

Claims

1. A underwater glider for monitoring offshore underwater environment, characterized in that: include: A nacelle, wherein the external structure of the nacelle is spherical, the front and rear ends of the nacelle are respectively a forward wet tank (2) and a rear wet tank (32), an intermediate pressure-resistant dry tank (7) is connected between the two, and the intermediate pressure-resistant dry tank (7) is isolated from the forward wet tank (2) and the rear wet tank (32); a buoyancy adjustment mechanism (4) is arranged at the front / forward part of the nacelle, a part of the buoyancy adjustment mechanism (4) is located in the forward wet tank (2), and a part of the buoyancy adjustment mechanism (4) is located in the intermediate pressure-resistant dry tank (7); a two-degree-of-freedom attitude adjustment mechanism (10) and a control system unit (13) are arranged in sequence from front to rear inside the intermediate pressure-resistant dry tank (7); A tail wing (15), the tail wing (15) comprising a wing panel (15a) and a fixed shaft (15b), the fixed shaft (15b) being arranged at the tail of the cabin, and the wing panel (15a) being mounted on the fixed shaft (15b); An underwater camera (31) is arranged in the forward wet tank (2) and is used for underwater environment monitoring; The water quality probe (11) is mounted on a machine body rear bracket (15c); the machine body rear bracket (15c) is arranged at the end of the fixed shaft (15b).

2. The underwater glider for monitoring offshore underwater environment according to claim 1, characterized in that: The wing panels (15a) are fixedly arranged vertically and centrally symmetrically on the fixed shaft (15b); The wing panel (15a) has a swept angle; The tail wing (15) is made of carbon fiber material.

3. The underwater glider for monitoring offshore underwater environment according to claim 1, characterized in that: The intermediate pressure-resistant dry cabin (7) is composed of a front pressure-resistant shell (6) and a rear pressure-resistant shell (9). The front pressure-resistant shell (6) and the rear pressure-resistant shell (9) are connected via an intermediate seal (8). Sealing grooves are provided on both sides of the intermediate seal (8). Sealing rings are placed in the sealing grooves to complete the sealing of the intermediate pressure-resistant dry cabin (7).

4. The underwater glider for monitoring offshore underwater environment according to claim 3, characterized in that: The bow wet tank (2) comprises a bow fairing (1), and the bow fairing (1) is connected to the intermediate pressure-resistant dry tank (7) via axially arranged screws; The tail wet tank (32) comprises a tail wet tank fairing (12), and the tail wet tank fairing (12) is connected to the intermediate pressure-resistant dry tank (7) via axially arranged screws; A hole or gap is provided between the bow fairing (1) and the front pressure-resistant shell (6) to allow external water to enter and exit; A hole or gap is provided between the rear wet tank deflector (12) and the rear pressure hull (9) to allow external water to enter and exit.

5. The underwater glider for monitoring offshore underwater environment according to claim 1, characterized in that: A through hole is provided on the shell portion of the forward wet tank (2) corresponding to the underwater camera (31) for the underwater camera (31) to protrude; The water quality probe (11) is a hydrological ecological probe, comprising at least any one of the following probes: a hydroacoustic probe, a temperature probe, a salinity probe, a pH probe, a chlorophyll probe, an oxygen solubility probe, an ammonia nitrogen probe, a sulfide probe or a nitrite sensor probe.

6. The underwater glider for monitoring offshore underwater environment according to claim 1, characterized in that: An internal bracket (5) is fixedly connected inside the intermediate pressure-resistant dry cabin (7), and the buoyancy adjustment mechanism (4), the two-degree-of-freedom attitude adjustment mechanism (10) and the control system unit (13) are all arranged on the internal bracket (5).

7. The underwater glider for monitoring offshore underwater environment according to claim 1, characterized in that: The buoyancy regulating mechanism (4) comprises an outer oil bag (3), an inner oil bag (16), a gear pump (17), a solenoid valve (18), a pipeline (19), an oil bag support frame (22), a magnetic marker (20) and a magnetic sensing element (21); The outer oil bladder (3) is arranged in the bow wet tank (2), and the inner oil bladder (16), gear pump (17), solenoid valve (18), oil bladder support frame (22), magnetic marker (20) and magnetic induction element (21) are all arranged in the intermediate pressure-resistant dry tank (7); the inner oil bladder (16) is in the form of a circular ring and is fixed on the oil bladder support frame (22); The outer oil bag (3) and the inner oil bag (16) are connected via a pipeline (19), and a gear pump (17) and a solenoid valve (18) are provided on the pipeline (19); Magnetic markers (20) are attached to the upper and lower ends of the inner oil bag (16); a magnetic sensing element (21) is arranged at a corresponding position on the oil bag support frame (22); the magnetic marker (20) and the magnetic sensing element (21) constitute a position switch, and the magnetic sensing element (21) fixed on the oil bag support frame (22) feeds back whether the change in the cross section of the inner oil bag (16) reaches a limit value.

8. The underwater glider for monitoring offshore underwater environment according to claim 1, characterized in that: The two-degree-of-freedom posture adjustment mechanism (10) comprises an intermediate optical axis group (23), a screw (24), a posture adjustment block (25), a gear (26), a gear box (27), a worm gear (28), and a worm drive motor (29); the support part of the two-degree-of-freedom posture adjustment mechanism (10) comprises a posture adjustment frame (10a), a bearing (10b), and a sliding optical axis (10c); the screw (24) comprises a screw nut (24a); the gear (26) comprises a central gear (26a) and a circumferential gear (26b); the gear box (27) comprises a gear box motor (27a); the worm gear (28) comprises a worm wheel (28a) and a worm (28b); The two-degree-of-freedom attitude adjustment mechanism (10) is connected to the internal bracket (5) via a bearing (10b) and is arranged at the center of the underwater glider; the two-degree-of-freedom attitude adjustment mechanism (10) is divided into three parts: an attitude adjustment block (25), a linear transmission mechanism and a rotation mechanism; the linear transmission mechanism and the rotation mechanism are respectively connected to the attitude adjustment block (25), so that the attitude adjustment block (25) can move and rotate; The attitude adjustment block (25) is arranged on the intermediate optical axis group (23), the intermediate optical axis group (23) is composed of two parts located on the same straight line, the two ends of the two parts are respectively fixed on the cabin, and there is no displacement and rotation relative to the shell, and the axis of the intermediate optical axis group (23) is perpendicular to the longitudinal axis of the glider; The linear transmission mechanism is configured as follows: a screw nut (24a) is provided on the posture adjustment block (25), which is screwed onto a screw (24) parallel to the intermediate optical axis (23); the screw (24) is rotatably fixed on a posture adjustment frame (10a); the screw (24) is connected to the output shaft of a gear box (27) via a screw gear (24b); the screw gear 24(b) is fixedly connected to the end of the screw (24); the input shaft of the gear box (27) is connected to a gear drive motor (27a); the gear box (27) and the gear drive motor (27a) are provided on the posture adjustment frame (10a); the posture adjustment frame (10a) is rotatably provided on the intermediate optical axis group (23); The posture adjustment block (25) is mainly composed of a battery pack; The structure of the rotating mechanism comprises: a gear transmission mechanism arranged between the intermediate optical axis (23) and the attitude adjustment frame (10a); the gear transmission mechanism comprises a central gear (26a) fixed on the intermediate optical axis group (23) and a peripheral gear (26b) meshing with the central gear (26a), a gear shaft on the peripheral gear (26b) fixed on the attitude adjustment frame (10a), a worm wheel (28a) arranged on the gear shaft, a worm (28b) meshing with the worm wheel (28a) and a worm drive motor connected to the worm (28b) arranged on the attitude adjustment frame (10a).

9. The underwater glider for monitoring offshore underwater environment according to claim 1, characterized in that: The control system unit (13) is fixed on the internal bracket (5); the control system unit (13) is connected to the gear pump (17), the solenoid valve (18), the gear drive motor (27a) and the worm drive motor (29) through cables to drive and control the actions of the buoyancy adjustment mechanism (4) and the two-degree-of-freedom attitude adjustment mechanism (10); The control system unit (13) also includes a pressure sensor, which is in contact with the external environment and is arranged on the outer surface of the underwater glider; the underwater depth of the underwater glider is judged by the feedback value of the pressure sensor, and whether it has passively left the water surface.

10. The underwater glider for monitoring offshore underwater environment according to claim 1, characterized in that: The underwater glider is provided with an antenna (30), which is connected to the tail wing (15), and comprises a wireless communication antenna and a GPS positioning antenna.

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