Automatic balancing system and adjusting method for unmanned underwater vehicle

Abstract

The invention relates to an automatic balancing system for an unmanned underwater vehicle and an adjusting method. The automatic balancing system comprises a pressure-resistant cabin, a bow balancing water cabin is arranged on the bow of the pressure-resistant cabin, a stern balancing water cabin is arranged on the stern of the pressure-resistant cabin, a first liquid level meter is installed on the bow balancing water cabin, and a second liquid level meter is installed on the stern balancing water cabin; the water transferring system is communicated between the bow balancing water tank and the stern balancing water tank, and the water transferring system is configured to enable water in the bow balancing water tank and water in the stern balancing water tank to flow bidirectionally; the water injection and drainage system is communicated with the water moving system, and the water injection and drainage system is configured to enable the water moving system to drain water out of the pressure-resistant cabin or enable the pressure-resistant cabin to inject water into the water moving system. Complex buoyancy adjusting and trim adjusting functions are achieved through the two water tanks, the liquid level meter and few pipelines, the system can achieve multiple functions in a limited space through effective space layout, and the overall performance of the underwater vehicle is improved.

Description

Technical Field

[0001] The present application relates to the field of unmanned underwater vehicles, and in particular to an automatic balancing system and adjustment method for an unmanned underwater vehicle. Background Art

[0002] The weight of an unmanned submersible will change as its load changes. In order to ensure the controllability, stability and safety of underwater navigation, the unmanned submersible is generally equipped with a balancing system to provide the ability to adjust the weight and posture of the submersible.

[0003] The unmanned submersible balance system includes buoyancy adjustment and attitude adjustment. Currently, there are two main ways of buoyancy adjustment: variable buoyancy and variable gravity. The variable buoyancy adjustment method is achieved by changing the displacement volume of the submersible, mainly including oil bladders, air bladders, etc.; the variable gravity adjustment method is achieved by changing the weight of the carrier, mainly including water tanks, disposable ballast, etc. Attitude adjustment is achieved by changing the load position distribution, currently mainly including moving solid loads and moving liquid loads.

[0004] In the related technology, the buoyancy adjustment or attitude adjustment devices of traditional unmanned submersibles are often independent of each other and lack effective integration, resulting in insufficient utilization of the internal space of the submersible, which not only increases the complexity and weight of the equipment, but also affects the overall performance and stability of the submersible. Summary of the invention

[0005] The present application provides an automatic equalization system and adjustment method for an unmanned submersible, which can solve the technical problem that the buoyancy adjustment or attitude adjustment devices of traditional unmanned submersibles are often independent of each other and lack effective integration, resulting in insufficient utilization of the internal space of the submersible.

[0006] In a first aspect, an embodiment of the present application provides an automatic balancing system for an unmanned underwater vehicle, comprising:

[0007] A pressure-resistant cabin, wherein a bow equalizing water tank is provided at the bow of the pressure-resistant cabin, and a stern equalizing water tank is provided at the stern thereof, the bow equalizing water tank is equipped with a first liquid level gauge, and the stern equalizing water tank is equipped with a second liquid level gauge;

[0008] A water transfer system, the water transfer system being connected between the bow equalizing water tank and the stern equalizing water tank, the water transfer system being configured to allow water in the bow equalizing water tank and the stern equalizing water tank to flow in both directions;

[0009] The water injection and drainage system is connected to the water transfer system, and the water injection and drainage system is configured so that the water transfer system discharges water outside the pressure cabin or the pressure cabin injects water into the water transfer system.

[0010] In combination with the first aspect, in one implementation, the unmanned underwater vehicle automatic balancing system further includes:

[0011] A ventilation pipeline system is connected with the bow equalizing water tank and the stern equalizing water tank, and the ventilation pipeline system is configured to adjust the air pressure in the bow equalizing water tank and the stern equalizing water tank.

[0012] In combination with the first aspect, in one implementation, the unmanned underwater vehicle automatic balancing system further includes:

[0013] A medium- and low-pressure air pipeline system, wherein the medium- and low-pressure air pipeline system is connected to the bow equalizing water tank and the stern equalizing water tank, the medium-pressure air of the medium- and low-pressure air pipeline system is configured to emergency empty the bow equalizing water tank and the stern equalizing water tank, and the low-pressure air of the medium- and low-pressure air pipeline system is configured to ensure the stability of water transfer in the bow equalizing water tank and the stern equalizing water tank.

[0014] In combination with the first aspect, in one embodiment, the water transfer system includes:

[0015] Two water transfer units are connected between the bow equalizing water tank and the stern equalizing water tank. The first water transfer unit is configured so that the water in the bow equalizing water tank flows into the stern equalizing water tank, and the second water transfer unit is configured so that the water in the stern equalizing water tank flows into the bow equalizing water tank.

[0016] In combination with the first aspect, in one embodiment, the water transfer unit includes:

[0017] The water transfer pipeline body is connected between the bow equalizing water tank and the stern equalizing water tank, and the water transfer pipeline body is sequentially installed with a stop valve 1, a filter 1, a pre-pump pressure sensor, a balancing pump, a post-pump pressure sensor, a water transfer and drainage electric valve, a water transfer and drainage flow regulating valve, a water transfer and injection flow meter, a water transfer and injection electric valve and a stop valve 2.

[0018] In combination with the first aspect, in one embodiment, the water injection and drainage system includes:

[0019] Two filling and drainage units, the first one of which is connected with the first water transfer unit, and the first one of which is configured to fill the stern equalizing water tank with water and drain the bow equalizing water tank, and the second one of which is connected with the second water transfer unit, and the second one of which is configured to drain the stern equalizing water tank and fill the bow equalizing water tank with water.

[0020] In combination with the first aspect, in one embodiment, the injection and drainage unit includes:

[0021] The injection and drainage pipeline body is sequentially installed with an injection and drainage flow meter, a second filter, an injection and drainage electric valve and a third stop valve.

[0022] In a second aspect, an embodiment of the present application provides an automatic balancing adjustment method of an automatic balancing system of an unmanned underwater vehicle as described in some of the above embodiments, which comprises the following steps:

[0023] Based on the stern rudder angle, the bow rudder angle, the trim angle, the zero lift coefficient, the zero lift moment coefficient, the rudder angle coefficient, the speed coefficient and the righting moment coefficient, the unbalanced force adjustment amount and the unbalanced moment adjustment amount are calculated;

[0024] The total filling and displacement of the bow equalizing water tank and the stern equalizing water tank is determined based on the adjustment of the unbalanced force, and the water transfer between the bow equalizing water tank and the stern equalizing water tank is calculated based on the adjustment of the unbalanced moment, the filling and displacement of the bow equalizing water tank, the distance between the volume center of the bow equalizing water tank and the gravity center of the submersible, the filling and displacement of the stern equalizing water tank, the distance between the volume center of the stern equalizing water tank and the gravity center of the submersible, and the distance between the volume center of the bow equalizing water tank and the volume center of the stern equalizing water tank.

[0025] Based on the total filling and drainage of the bow equalizing water tank and the stern equalizing water tank and the water transfer volume between the bow equalizing water tank and the stern equalizing water tank, automatic equalization adjustment of the unmanned submersible is achieved.

[0026] In conjunction with the second aspect, in one implementation, the method of realizing automatic balancing and adjustment of the unmanned underwater vehicle includes:

[0027] Use the bow equalizing water tank or the stern equalizing water tank alone to fill and drain water once, and transfer water between the bow equalizing water tank and the stern equalizing water tank once.

[0028] In conjunction with the second aspect, in one implementation, the method of realizing automatic balancing and adjustment of the unmanned underwater vehicle includes:

[0029] Use the bow equalizing water tank or the stern equalizing water tank to fill and drain water once, and transfer water between the bow equalizing water tank and the stern equalizing water tank once.

[0030] The beneficial effects brought by the technical solution provided in the embodiments of the present application include:

[0031] 1. Buoyancy adjustment

[0032] (1) Injection and drainage of the two water tanks: When the buoyancy of the submersible needs to be increased, water is injected into the bow equalizing water tank and / or the stern equalizing water tank through the injection and drainage system to increase the overall weight of the submersible, thereby increasing the buoyancy; conversely, when the buoyancy needs to be reduced, the water in the bow equalizing water tank and / or the stern equalizing water tank is drained through the injection and drainage system to reduce the overall weight of the submersible and reduce the buoyancy accordingly;

[0033] (2) Filling and draining a single water tank and transferring water between two water tanks: For example, filling only the bow equalizing water tank with water while keeping the water volume in the stern equalizing water tank unchanged can increase the buoyancy while generating a forward pitch moment, which helps the submersible to tilt forward or float up. On the contrary, if only the bow equalizing water tank is drained, a backward pitch moment will be generated while reducing the buoyancy, which helps the submersible to tilt backward or dive. In addition, by transferring water between two water tanks through the water transfer system, more precise buoyancy adjustment can be achieved by adjusting the water distribution in the water tank without changing the total weight of the submersible.

[0034] 2. Pitch adjustment

[0035] (1) Filling and draining of two water tanks: By filling the bow equalizing water tank with water and draining the stern equalizing water tank at the same time (or vice versa), the water volume distribution of the fore and aft water tanks can be adjusted without changing the total buoyancy of the submersible, thereby generating a trim moment to cause the submersible to tilt forward or backward;

[0036] (2) Filling and draining a single water tank and transferring water between two water tanks: By filling (or draining) only one water tank and using the water transfer system to remove (or transfer in) an equal amount of water from another water tank, a more precise trim adjustment can be achieved without changing the total buoyancy of the submersible. For example, by only filling water into the bow equalizing water tank and removing an equal amount of water from the stern equalizing water tank through the water transfer system, the submersible can be tilted forward; otherwise, the submersible can be tilted backward.

[0037] In summary, the complex buoyancy adjustment and trim adjustment functions are realized through two water tanks, liquid level gauges and fewer pipelines, reducing the complexity and maintenance cost of the system. Potential failure points are reduced, the stability and reliability of the system are improved, and the effective space layout enables the system to realize multiple functions in a limited space, improving the overall performance of the submersible. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0039] Figure 1 This is a schematic diagram of the structure of the automatic balancing system of the unmanned underwater vehicle;

[0040] Figure 2 It is a schematic diagram of the structure of a water transfer unit in the water transfer system;

[0041] Figure 3 It is a structural schematic diagram of an injection and drainage unit in the injection and drainage system;

[0042] Figure 4 A schematic diagram of the structure of a ventilation pipeline unit in the ventilation pipeline system;

[0043] Figure 5 It is a structural schematic diagram of the medium and low pressure air pipeline system.

[0044] In the figure: 1. Pressure-resistant cabin; 2. Bow equalizing water tank; 21. Liquid level gauge 1; 3. Stern equalizing water tank; 31. Liquid level gauge 2; 4. Water transfer system; 41. Water transfer pipeline body; 42. Stop valve 1; 43. Filter 1; 44. Pressure sensor before pump; 45. Equalizing pump; 46. Pressure sensor after pump; 47. Electric valve for water transfer; 48. Flow regulating valve for water transfer; 49. Flow meter for water transfer and injection; 410. Electric valve for water transfer and injection; 411. Stop valve 2; 5. Water injection and drainage system; 51. Water injection and drainage pipeline body Body; 52. Filling and draining flowmeter; 53. Filter 2; 54. Filling and draining electric valve; 55. Stop valve 3; 6. Ventilation pipeline system; 61. Ventilation pipeline; 62. Ventilation electric valve; 63. Ventilation solenoid valve; 64. Muffler; 7. Medium and low pressure air pipeline system; 71. Medium pressure air bottle; 72. Medium pressure air pipeline; 73. Stop valve 4; 74. Pressure reducing module; 75. Medium pressure solenoid valve; 76. Low pressure solenoid valve; 77. Drainage and displacement solenoid valve 1; 78. Drainage and displacement solenoid valve 2; 8. Balance control box. DETAILED DESCRIPTION

[0045] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0046] The embodiments of the present application provide an automatic equalization system and adjustment method for an unmanned submersible, which can solve the technical problem that the buoyancy adjustment or attitude adjustment devices of traditional unmanned submersibles are often independent of each other and lack effective integration, resulting in insufficient utilization of the internal space of the submersible.

[0047] First, as Figure 1As shown, an embodiment of the present application provides an automatic equalization system for an unmanned submersible, which includes: a pressure cabin 1, a bow equalizing water tank 2 is provided at the bow of the pressure cabin 1, and a stern equalizing water tank 3 is provided at the stern, the bow equalizing water tank 2 is installed with a liquid level gauge 1 21, and the stern equalizing water tank 3 is installed with a liquid level gauge 2 31; a water transfer system 4, the water transfer system 4 is connected between the bow equalizing water tank 2 and the stern equalizing water tank 3, and the water transfer system 4 is configured for bidirectional flow of water in the bow equalizing water tank 2 and the stern equalizing water tank 3; an injection and drainage system 5, the injection and drainage system 5 is connected to the water transfer system 4, and the injection and drainage system 5 is configured for the water transfer system 4 to discharge water outside the pressure cabin 1 or the pressure cabin 1 to inject water into the water transfer system 4.

[0048] In this embodiment, the pressure cabin 1 serves as the main structure of the unmanned submersible and provides the necessary pressure-resistant environment. A bow equalizing water tank 2 and a stern equalizing water tank 3 are respectively arranged at the bow and stern of the pressure cabin 1. The two equalizing water tanks are used to adjust the buoyancy and posture of the submersible. The bow equalizing water tank 2 and the stern equalizing water tank 3 are respectively installed with a level gauge 1 21 and a level gauge 2 31 for monitoring the liquid level changes in the water tanks, thereby accurately controlling the amount of water movement. The water transfer system 4 is connected between the bow equalizing water tank 2 and the stern equalizing water tank 3, allowing water to flow in both directions between the two. By controlling the water transfer system 4, the water distribution of the bow and the stern can be adjusted, thereby realizing the longitudinal balance adjustment of the submersible. The injection and drainage system 5 is connected to the water transfer system 4, and is used to realize the discharge of water to the outside of the pressure cabin 1 or the injection of water from the pressure cabin 1 into the water transfer system 4. Through the injection and drainage system 5, the overall buoyancy of the submersible can be adjusted to achieve accurate control of the buoyancy.

[0049] 1. Buoyancy adjustment

[0050] (1) Filling and draining of the two water tanks: When the buoyancy of the submersible needs to be increased, water is injected into the bow equalizing water tank 2 and / or the stern equalizing water tank 3 through the filling and draining system 5, so that the overall weight of the submersible is increased, thereby increasing the buoyancy; on the contrary, when the buoyancy needs to be reduced, the water in the bow equalizing water tank 2 and / or the stern equalizing water tank 3 is drained through the filling and draining system 5, so that the overall weight of the submersible is reduced and the buoyancy is reduced accordingly;

[0051] (2) Filling and draining a single water tank and transferring water between two water tanks: For example, only filling the bow equalizing water tank 2 with water while keeping the water volume in the stern equalizing water tank 3 unchanged can increase the buoyancy while generating a forward pitch moment, which helps the submersible to tilt forward or float up. On the contrary, if only draining water from the bow equalizing water tank 2, a backward pitch moment will be generated while reducing the buoyancy, which helps the submersible to tilt backward or dive. In addition, by transferring water between the two water tanks through the water transfer system 4, more precise buoyancy adjustment can be achieved by adjusting the water volume distribution in the water tank without changing the total weight of the submersible.

[0052] 2. Pitch adjustment

[0053] (1) Filling and draining of two water tanks: By filling water into the bow equalizing water tank 2 and draining water from the stern equalizing water tank 3 (or vice versa), the water volume distribution of the front and rear water tanks can be adjusted without changing the total buoyancy of the submersible, thereby generating a trim moment to cause the submersible to tilt forward or backward;

[0054] (2) Filling and draining a single water tank and transferring water between two water tanks: By filling (or draining) only one water tank and simultaneously transferring an equal amount of water out (or into) another water tank using the water transfer system 4, a more precise trim adjustment can be achieved without changing the total buoyancy of the submersible. For example, by only filling water into the bow equalizing water tank 2 and transferring an equal amount of water out of the stern equalizing water tank 3 using the water transfer system 4, the submersible can be tilted forward; otherwise, the submersible can be tilted backward.

[0055] In summary, the complex buoyancy adjustment and trim adjustment functions are realized through two water tanks, liquid level gauges and fewer pipelines, reducing the complexity and maintenance cost of the system. Potential failure points are reduced, the stability and reliability of the system are improved, and the effective space layout enables the system to realize multiple functions in a limited space, improving the overall performance of the submersible.

[0056] In combination with the first aspect, in one embodiment, Figure 1 As shown, the automatic equalization system of the unmanned submersible also includes: a ventilation pipe system 6, the ventilation pipe system 6 is connected to the bow equalization water tank 2 and the stern equalization water tank 3, and the ventilation pipe system 6 is configured to adjust the air pressure in the bow equalization water tank 2 and the stern equalization water tank 3.

[0057] In this embodiment, the ventilation pipe system 6 adjusts the air pressure in the bow equalizing water tank 2 and the stern equalizing water tank 3 to achieve fine control of the buoyancy and attitude of the unmanned submersible. Specifically, the ventilation pipe system 6 is connected to the bow equalizing water tank 2 and the stern equalizing water tank 3, which means that the system can monitor and control the air pressure state inside these two water tanks. When the buoyancy or attitude of the submersible needs to be adjusted, the ventilation pipe system 6 will intervene. For example, if the submersible needs to increase buoyancy to rise, the ventilation pipe system 6 can fill gas into the bow equalizing water tank 2 or the stern equalizing water tank 3 to increase the air pressure in the water tank. Due to the increase in air pressure, the water in the water tank will be subjected to greater pressure, and some water may be squeezed out, resulting in a decrease in the effective drainage volume of the water tank, thereby increasing the buoyancy of the submersible. On the contrary, if it is necessary to reduce buoyancy for descent, the vent pipe system 6 can exhaust gas from the water tank to reduce the air pressure, so that the water tank can accommodate more water, thereby increasing the effective displacement volume and reducing buoyancy.

[0058] In combination with the first aspect, in one embodiment, Figure 1As shown, the automatic equalization system of the unmanned submersible also includes: a medium and low pressure air pipeline system 7, the medium and low pressure air pipeline system 7 is connected with the bow equalization water tank 2 and the stern equalization water tank 3, the medium pressure air of the medium and low pressure air pipeline system 7 is configured for emergency emptying of the bow equalization water tank 2 and the stern equalization water tank 3, and the low pressure air of the medium and low pressure air pipeline system 7 is configured for the stability of water transfer in the bow equalization water tank 2 and the stern equalization water tank 3.

[0059] In this embodiment, medium-pressure air emergency evacuation: when the medium-pressure air in the medium- and low-pressure air pipeline system 7 is activated, it can quickly empty the water in the bow equalizing water tank 2 and the stern equalizing water tank 3. This function is particularly important in emergency situations, such as when the submersible needs to quickly adjust its buoyancy to avoid collision or float to a safe surface. The rapid emptying capability of medium-pressure air can ensure that the submersible responds quickly and improves its survivability. Low-pressure air enhances water transfer stability: during normal water transfer, the low-pressure air in the medium- and low-pressure air pipeline system 7 is used to enhance the stability of water flow between the bow equalizing water tank 2 and the stern equalizing water tank 3. By precisely controlling the flow and pressure of the low-pressure air, it is possible to ensure the smooth flow of water in the water transfer system 4, reduce fluctuations and noise, and thus improve the concealment and stability of the submersible when performing its mission.

[0060] In combination with the first aspect, in one embodiment, Figure 1 As shown, the water transfer system 4 includes: two water transfer units, the two water transfer units are connected between the bow equalizing water tank 2 and the stern equalizing water tank 3, the first water transfer unit is configured so that the water in the bow equalizing water tank 2 flows into the stern equalizing water tank 3, and the second water transfer unit is configured so that the water in the stern equalizing water tank 3 flows into the bow equalizing water tank 2.

[0061] In this embodiment, specifically, the first water transfer unit ( Figure 1 The water transfer unit located above the medium and low pressure air pipeline system 7 is configured to transfer the water in the bow equalizing water tank 2 to the stern equalizing water tank 3. This function is particularly important when the attitude or buoyancy of the submersible needs to be adjusted. For example, when the submersible needs to increase the buoyancy of the stern to reduce the longitudinal tilt, the first water transfer unit will be activated to transfer the water from the bow to the stern. The second water transfer unit ( Figure 1The water transfer unit located below the medium and low pressure air pipeline system 7 is responsible for transferring the water in the stern equalizing water tank 3 to the bow equalizing water tank 2. This function is also critical when the submersible needs to adjust its attitude or buoyancy to cope with different marine environments. For example, when the submersible needs to increase the buoyancy of the bow or adjust its attitude to maintain horizontality, the second water transfer unit will start to transfer the water from the stern to the bow. These two water transfer units can achieve fine adjustment of the buoyancy and attitude of the submersible by accurately controlling the flow direction and flow rate of the water flow, thereby improving the stability and maneuverability of the submersible. At the same time, this two-way water flow regulation design also increases the flexibility and reliability of the system, allowing the submersible to better adapt to various complex marine environments.

[0062] In combination with the first aspect, in one embodiment, Figure 1 and Figure 2 As shown, the water transfer unit includes: a water transfer pipeline body 41, the water transfer pipeline body 41 is connected between the bow equalizing water tank 2 and the stern equalizing water tank 3, and the water transfer pipeline body 41 is sequentially installed with a stop valve 1 42, a filter 1 43, a pre-pump pressure sensor 44, a balancing pump 45, a post-pump pressure sensor 46, a water transfer and drainage electric valve 47, a water transfer and drainage flow regulating valve 48, a water transfer and injection flow meter 49, a water transfer and injection electric valve 410 and a stop valve 2 411.

[0063] In this embodiment, the core of the water transfer unit is the water transfer pipeline body 41, which serves as the main channel of water flow and connects the bow equalizing water tank 2 and the stern equalizing water tank 3. On the water transfer pipeline body 41, the following key components are installed in sequence: a stop valve 42, which is used to cut off the water flow when necessary to ensure the safety of the system and the convenience of maintenance; a filter 43: to filter out impurities in the water to prevent clogging of the pipeline and the water tank, and to ensure the cleanliness of the water flow; a pre-pump pressure sensor 44, which monitors the water pressure before the pump, provides data support for the operation of the equalizing pump 45, and ensures the efficient and stable operation of the pump; the equalizing pump 45, which provides power to drive the water flow in the water transfer pipeline body 41, is a key component for realizing water transfer between water tanks; a post-pump pressure sensor 46, which monitors the water pressure after the pump, and together with the pre-pump pressure sensor 44, constitutes a pressure monitoring system for evaluating the performance of the pump and the status of the pipeline; a transfer and drainage electric valve 47, which controls the opening and closing of the drainage process to achieve precise control of the water flow. The water displacement and drainage flow regulating valve 48 adjusts the drainage flow to meet the needs under different working conditions and improves the flexibility and adaptability of the system; the water displacement and injection flow meter 49 measures the water injection flow and provides the system with accurate flow data, which helps to achieve accurate management of the water volume in the water tank; the water displacement and injection electric valve 410 controls the opening and closing of the water injection process and cooperates with the water displacement and drainage electric valve 47 to achieve two-way water flow control between the water tanks; the stop valve 2 411, as the end valve of the system, is used to cut off the water flow when necessary to ensure the safety and stability of the system; the sequential installation and precise cooperation of these components enable the water displacement unit to efficiently and stably realize the water transfer between the bow equalizing water tank 2 and the stern equalizing water tank 3, thereby meeting the buoyancy and attitude adjustment requirements of the unmanned submersible under different working conditions.

[0064] In combination with the first aspect, in one embodiment, Figure 1 As shown, the water injection and drainage system 5 includes two water injection and drainage units, the first water injection and drainage unit is connected to the first water transfer unit (connected to the Figure 1 The first water injection and drainage unit is configured to inject water into the stern equalizing water tank 3 and drain water from the bow equalizing water tank 2, and the second water injection and drainage unit is connected to the second water transfer unit (connected to the water transfer unit above the medium and low pressure air pipeline system 7). Figure 1 The second water filling and drainage unit is configured to drain the stern equalizing water tank 3 and fill the bow equalizing water tank 2 with water.

[0065] In this embodiment, the water injection and drainage system 5 includes two water injection and drainage units, which are respectively connected to the bow equalizing water tank 2 and the stern equalizing water tank 3 through the water transfer unit. This design allows the system to flexibly select water injection and drainage operations according to the specific equalization state of the submersible; the first water injection and drainage unit: the unit is configured to inject water into the stern equalizing water tank 3 when needed, and can also drain water from the bow equalizing water tank 2. The second water injection and drainage unit: contrary to the first unit, this unit is configured to drain water from the stern equalizing water tank 3 when injecting water into the bow equalizing water tank 2.

[0066] In combination with the first aspect, in one embodiment, Figure 1 and Figure 3 As shown, the injection and drainage unit includes: an injection and drainage pipeline body 51, on which an injection and drainage flowmeter 52, a second filter 53, an injection and drainage electric valve 54 and a third stop valve 55 are sequentially installed.

[0067] In this embodiment, the injection and drainage unit mainly includes an injection and drainage pipeline body 51 and an injection and drainage flowmeter 52, a second filter 53, an injection and drainage electric valve 54 and a third stop valve 55 installed thereon in sequence. The injection and drainage pipeline body 51 is the main channel for water flow and is responsible for guiding the water flow to the target position (to the water transfer pipeline body 41 connected thereto). On the injection and drainage pipeline body 51, the injection and drainage flowmeter 52 is first installed to accurately measure the water flow through the pipeline and provide data support for the flow control and monitoring of the system; followed by the second filter 53, whose main function is to filter out impurities and particulate matter in the water to prevent these impurities from clogging or damaging the system, ensuring the cleanliness of the water flow and the stable operation of the system; the injection and drainage electric valve 54 is responsible for controlling the opening and closing of the water flow, realizing fast and accurate water flow control through electric drive, and meeting the injection and drainage needs of the system under different working conditions; finally, the third stop valve 55 is the end valve of the system, which is used to cut off the water flow when necessary to ensure the safety and stability of the system. It is designed so that in an emergency, the water flow can be quickly shut off to prevent water leaks or system runaway.

[0068] In combination with the first aspect, in one embodiment, Figure 1 As shown, the ventilation pipeline system 6 includes: two ventilation pipeline units, the first ventilation pipeline unit is connected to the bow equalizing water tank 2, and the second ventilation pipeline unit is connected to the stern equalizing water tank 3.

[0069] In this embodiment, the first ventilation pipe unit is connected to the bow equalizing water tank 2, and the second ventilation pipe unit is connected to the stern equalizing water tank 3. This design allows the bow equalizing water tank 2 and the stern equalizing water tank 3 to exchange gases independently, thereby maintaining the stability of the air pressure in the tank and helping to adjust the buoyancy of the submersible.

[0070] In combination with the first aspect, in one embodiment, Figure 1 and Figure 4 As shown, the ventilation pipeline unit includes a ventilation pipeline 61 (a bow equalizing water tank 2 or a stern equalizing water tank 3 connected thereto) and a ventilation electric valve 62, a ventilation solenoid valve 63, and a muffler 64 which are sequentially installed on the ventilation pipeline 61.

[0071] In this embodiment, the ventilation pipeline 61 serves as the main channel for gas circulation and is responsible for guiding the gas to the target position (the bow equalizing water tank 2 or the stern equalizing water tank 3 connected thereto). On the ventilation pipeline 61, a ventilation electric valve 62 is first installed, which can realize fast and precise control of the gas through electric drive to meet the ventilation needs of the system under different working conditions. Next is the ventilation solenoid valve 63, which also plays the role of controlling the gas circulation, but may have higher control accuracy and response speed, and can further ensure the stable circulation of the gas and the safety of the system. Finally, a muffler 64 is installed at the end of the ventilation pipeline 61. Its main function is to reduce the noise generated during the gas circulation and improve the overall silent performance of the system, thereby creating a more comfortable use environment for users.

[0072] In combination with the first aspect, in one embodiment, Figure 1 and Figure 5 As shown, the medium- and low-pressure air pipeline system 7 includes a medium-pressure air bottle 71 and a medium-pressure air pipeline 72. The medium-pressure air bottle 71 is connected to the medium-pressure air pipeline 72. One end of the medium-pressure air pipeline 72 is connected to the medium-pressure air bottle 71, and the other end passes through a stop valve four 73, a pressure reducing module 74, a medium-pressure solenoid valve 75, a low-pressure solenoid valve 76, a displacement and drainage solenoid valve one 77 and a displacement and drainage solenoid valve two 78 in sequence, and the displacement and drainage solenoid valve one 77 is connected to the bow equalizing water tank 2, and the displacement and drainage solenoid valve two 78 is connected to the stern equalizing water tank 3. One end of the pressure reducing module 74 is connected to the medium-pressure air bottle 71 through the stop valve four 73, and after pressure reduction, they are respectively connected in parallel to the medium-pressure solenoid valve 75 and the low-pressure solenoid valve 76. The medium-pressure air bottle 71 is used to fill the near-medium-pressure air, the stop valve four 73 is used to debug and repair the pipeline or inflate, the pressure reduction module 74 is used to reduce the pressure of the near-medium-pressure air to obtain medium-pressure air and low-pressure air, the medium-pressure air is used for emergency emptying of the equalizing water tank, and the low-pressure air is used to ensure stability during large longitudinal tilt and water shifting, the medium-pressure solenoid valve 75 is used to control the on and off of the medium-pressure air, the low-pressure solenoid valve 76 is used to control the on and off of the low-pressure air, the water transfer solenoid valve one 77 is used to control the medium-pressure air or low-pressure air leading to the bow equalizing water tank 2, and the water transfer solenoid valve two 78 is used to control the medium-pressure air or low-pressure air leading to the stern equalizing water tank 3.

[0073] In combination with the first aspect, in one embodiment, Figure 1As shown, the balancing control box 8 issues a series of valve opening and pump starting instructions to realize gravity water injection, pump-driven drainage, pump-driven water transfer, pneumatic drainage and other operations in electric mode. The electric mode balancing adjustment method is the basis of the automatic mode.

[0074] In a second aspect, an embodiment of the present application provides an automatic balancing adjustment method of an automatic balancing system of an unmanned underwater vehicle as mentioned in some of the above embodiments, which comprises the following steps:

[0075] S100: calculating an adjustment amount of an unbalanced force and an adjustment amount of an unbalanced moment based on a stern rudder angle, a bow rudder angle, a trim angle, a zero lift coefficient, a zero lift moment coefficient, a rudder angle coefficient, a speed coefficient, and a righting moment coefficient;

[0076] S200: Determine the total filling and drainage amount of the bow equalizing water tank 2 and the stern equalizing water tank 3 based on the adjustment amount of the unbalanced force, and calculate the water transfer amount between the bow equalizing water tank 2 and the stern equalizing water tank 3 based on the adjustment amount of the unbalanced moment, the filling and drainage amount of the bow equalizing water tank 2, the distance between the volume center of the bow equalizing water tank 2 and the center of gravity of the submersible, the filling and drainage amount of the stern equalizing water tank 3, the distance between the volume center of the stern equalizing water tank 3 and the center of gravity of the submersible, and the distance between the volume center of the bow equalizing water tank 2 and the volume center of the stern equalizing water tank 3.

[0077] S300: Based on the total filling and drainage volume of the bow equalizing water tank 2 and the stern equalizing water tank 3 and the water transfer volume between the bow equalizing water tank 2 and the stern equalizing water tank 3, automatic equalization adjustment of the unmanned submersible is achieved.

[0078] In this embodiment, S100 calculates the adjustment amount of unbalanced force and unbalanced moment. This step is based on multiple key parameters, including stern rudder angle, bow rudder angle, longitudinal inclination angle, zero lift coefficient, zero lift moment coefficient, rudder angle coefficient, speed coefficient and righting moment coefficient. Through a complex calculation process, the adjustment amount of unbalanced force and unbalanced moment currently applied to the submersible is calculated. These adjustments are the basis for subsequent equalization adjustments; S200 determines the total injection and displacement and water displacement. After obtaining the adjustment of the unbalanced force and unbalanced moment, this step first determines the total injection and displacement of the bow equalizing water tank 2 and the stern equalizing water tank 3 based on the adjustment of the unbalanced force. Then, based on the adjustment of the unbalanced moment and the injection and displacement of the bow and stern equalizing water tanks, the distance of the volume center from the center of gravity of the submersible, and the distance parameters between the volume center of the bow equalizing water tank 2 and the volume center of the stern equalizing water tank 3, further calculations are performed to obtain the bow equalizing water tank 2 and the stern equalizing water tank. 3. This step is the key to ensure that the submersible can eliminate both the unbalanced force and the unbalanced moment during the adjustment process; S300 realizes automatic balanced adjustment of the unmanned submersible. Finally, this step is based on the total injection and drainage volume and water transfer volume calculated previously. By controlling the injection and drainage unit and the ventilation pipeline system and other components, the bow equalizing water tank 2 and the stern equalizing water tank 3 are accurately injected and discharged, as well as the necessary water transfer operations, thereby realizing automatic balanced adjustment of the unmanned submersible. This process ensures that the submersible can maintain a stable posture and buoyancy state under various working conditions.

[0079] In conjunction with the second aspect, in one embodiment, in S300, the following steps are included:

[0080] S301: Use the bow equalizing water tank 2 or the stern equalizing water tank 3 alone to fill or drain water once, and transfer water between the bow equalizing water tank 2 and the stern equalizing water tank 3 once.

[0081] In this embodiment, in this step, firstly, the bow equalizing water tank 2 or the stern equalizing water tank 3 is used alone to perform a water filling and drainage operation. This means that, at this stage, only one of the water tanks is selected for adjustment, rather than performing them simultaneously, and then a water transfer operation is performed between the bow equalizing water tank 2 and the stern equalizing water tank 3 to further accurately adjust the balance state of the submersible. This step-by-step operation method helps to reduce system complexity and failure rate, and improve system reliability and safety.

[0082] In conjunction with the second aspect, in one embodiment, in S300, the following steps are included:

[0083] S302: Use the bow equalizing water tank 2 or the stern equalizing water tank 3 to fill and drain water once, and transfer water between the bow equalizing water tank 2 and the stern equalizing water tank 3 once.

[0084] In this embodiment, step S302 is different from this. Step S302 requires the bow equalizing water tank 2 and the stern equalizing water tank 3 to be filled and drained once respectively, which means that at this stage, both water tanks will be adjusted, and may be carried out simultaneously or successively. Subsequently, a water transfer operation will also be performed between the two water tanks. This method is suitable for equalization adjustment scenarios that require a larger adjustment amount or a faster response; wherein, S302 can also be before S301, regardless of the order of the steps.

[0085] In summary, a method for automatic balancing and adjusting an unmanned submersible is fully described as follows. Based on the above-mentioned automatic balancing system for the unmanned submersible, the data of the longitudinal inclination angle and the rudder angle of the unmanned submersible are obtained through the unmanned submersible navigation system and the sensor signal acquisition system, and the imbalance amount is calculated. Injection, drainage and water transfer operations are performed according to the calculation results of the imbalance amount.

[0086] The imbalance amount is calculated according to the following formula:

[0087]

[0088] Where ΔP is the adjustment of the unbalanced force, ΔM is the adjustment of the unbalanced torque; δ s is the stern rudder angle, δ b is the bow rudder angle, θ is the pitch angle, obtained from the navigation system and signal acquisition system of the submersible; Z′ 0 is the zero lift coefficient, M′ 0 is the zero lift moment coefficient, is the rudder angle coefficient, Z′ w , M′ w is the speed coefficient, M′ θ is the righting moment coefficient, which is obtained through theoretical calculation or hydrodynamic test.

[0089] Furthermore, the water injection and displacement volume are expressed as follows,

[0090]

[0091] In the formula, ΔP 1b is the discharge amount of bow equalizing tank 2, ΔP 1s is the displacement of the stern equalizing tank 3, ΔP 2 is the amount of water transferred between the bow and stern equalizing tanks, x 0b 、x 0s is the distance between the center of the bow and stern equalizing water tank volume and the center of gravity of the submersible, l 0It is the distance between the volume center of the bow equalizing water tank 2 and the volume center of the stern equalizing water tank 3. The water injection volume should not exceed the remaining loadable capacity of the bow equalizing water tank 2 and the stern equalizing water tank 3, the displacement volume should not exceed the loading capacity of the bow equalizing water tank 2 and the stern equalizing water tank 3, and the water transfer volume should not exceed the smaller amount of the loading capacity of the source equalizing water tank and the remaining loadable capacity of the target equalizing water tank, otherwise it is adjusted by fixed ballast. The above-mentioned balancing function is achieved in the following two ways.

[0092] In the first method, the bow equalizing water tank 2 or the stern equalizing water tank 3 is filled and drained once, and water is transferred between the bow equalizing water tank and the stern equalizing water tank once.

[0093] If the bow equalizing tank 2 is used alone for filling and draining, the filling, draining and water transfer adjustment amounts are as follows:

[0094]

[0095] If the stern equalizing water tank 3 is used alone for filling and draining, the filling, draining and water transfer adjustment amounts are as follows:

[0096]

[0097] The second method is to fill and drain the bow equalizing water tank 2 and the stern equalizing water tank 3 once respectively. The filling and draining adjustment amount of the bow equalizing water tank 2 or the stern equalizing water tank 3 is as follows:

[0098]

[0099] After calculating the filling or drainage volume or water transfer volume of the bow and stern equalizing tanks, the filling and drainage operations are realized through electric or automatic mode equalizing adjustment. The electric mode equalizing adjustment is used for equalizing function debugging and is the basis of automatic mode equalizing adjustment.

[0100] Electric mode balancing adjustment, preferably, manually issue a series of valve opening and pump opening instructions through the balancing control box 8 to realize gravity water injection, pump-driven drainage, pump-driven water transfer, pneumatic drainage and other operations in the electric mode.

[0101] In the electric mode, gravity water injection is carried out, and the ventilation electric valve 62, the ventilation solenoid valve 63 of the first ventilation pipeline unit, the injection and drainage electric valve 54 of the second injection and drainage unit, and the transfer water electric valve 410 of the second water transfer unit are opened in sequence through the balancing control box 8 to carry out gravity water injection of the bow equalizing water tank 2. The water transfer flowmeter 49 of the second water transfer unit or the injection and drainage flowmeter 52 of the second injection and drainage unit is used to collect the water injection flow of the bow equalizing water tank 2 and transmit it to the balancing control box 8. The liquid level of the bow equalizing water tank 2 is collected by the liquid level meter 21 (the liquid level meter 21 can be a magnetic float liquid level meter) and transmitted to the balancing control box 8. After the electric water injection is completed, the injection and drainage electric valve 54 of the second injection and drainage unit, the transfer water electric valve 410 of the second water transfer unit, the ventilation electric valve 62 of the first ventilation pipeline unit, and the ventilation solenoid valve 63 are closed in sequence through the balancing control box 8. The ventilation electric valve 62 and the ventilation solenoid valve 63 of the second ventilation pipeline unit, the injection and drainage electric valve 54 of the first injection and drainage unit, and the water transfer electric valve 410 of the first water transfer unit are opened in sequence through the balancing control box 8 to perform gravity injection of the stern equalizing water tank 3. The water injection flow rate of the stern equalizing water tank 3 is collected by the water transfer flowmeter 49 of the first water transfer unit or the injection and drainage flowmeter 52 of the first injection and drainage unit and transmitted to the balancing control box 8. The liquid level of the stern equalizing water tank 3 is collected by the liquid level meter 31 and transmitted to the balancing control box 8. After the electric water injection is completed, the injection and drainage electric valve 54 of the first injection and drainage unit, the water transfer electric valve 410 of the first water transfer unit, the ventilation electric valve 62 and the ventilation solenoid valve 63 of the second ventilation pipeline unit are closed in sequence through the balancing control box 8.

[0102] In the electric mode, the pump drives the drainage. The ventilation electric valve 62, the ventilation solenoid valve 63 and the drainage electric valve 47 of the first water transfer unit of the first ventilation pipeline unit are opened in sequence through the balancing control box 8, the balancing pump 45 of the first water transfer unit is started, and the drainage flow regulating valve 48 of the first water transfer unit is opened. After the difference between the pump rear pressure sensor 46 and the pump front pressure sensor 44 of the first water transfer unit reaches the pressure value corresponding to the required drainage head, the injection and drainage electric valve 54 of the first injection and drainage unit is opened to drain the bow balancing water tank 2. The drainage flow of the bow balancing water tank 2 is collected by the injection and drainage flowmeter 52 of the first injection and drainage unit and transmitted to the balancing control box 8. The liquid level of the bow balancing water tank 2 is collected by the liquid level meter 21 and transmitted to the balancing control box 8. After the electric drainage is completed, the corresponding balancing pumps 45 are stopped in sequence through the balancing control box 8, and the drainage flow regulating valve 48, the ventilation electric valve 62, the ventilation solenoid valve 63 and the drainage electric valve 47 are closed. The ventilation electric valve 62, the ventilation solenoid valve 63 and the displacement and drainage electric valve 47 of the second water transfer unit are opened in sequence through the balancing control box 8, the balancing pump 45 of the second water transfer unit is started, and the displacement and drainage flow regulating valve 48 of the second water transfer unit is opened. After the difference between the pump rear pressure sensor 46 and the pump front pressure sensor 44 of the second water transfer unit reaches the pressure value corresponding to the required drainage head, the injection and drainage electric valve 54 of the second injection and drainage unit is opened to drain the stern balancing water tank 3. The drainage flow of the stern balancing water tank 3 is collected by the injection and drainage flowmeter 52 of the second injection and drainage unit and transmitted to the balancing control box 8. The liquid level of the stern balancing water tank 3 is collected by the liquid level meter 31 and transmitted to the balancing control box 8. After the electric drainage is completed, the corresponding balancing pumps 45 are stopped in sequence through the balancing control box 8, and the displacement and drainage flow regulating valve 48, the ventilation electric valve 62, the ventilation solenoid valve 63 and the displacement and drainage electric valve 47 are closed.

[0103] In electric mode, the pump is used to move water. Before moving water, the low-pressure solenoid valve 76, the shifting and drainage solenoid valve 1 77, and the shifting and drainage solenoid valve 2 78 are controlled by the balancing control box 8 to keep the bow equalizing water tank 2 and the stern equalizing water tank 3 in a certain low-pressure state. The low-pressure state of the water tank is determined according to the maximum water level difference that may occur between the bow equalizing water tank 2 and the stern equalizing water tank 3 of the submersible, and is collected by the pump-front pressure sensor 44 of the first water shifting unit and the pump-front pressure sensor 44 of the second water shifting unit. During the water shifting process, the shifting and drainage solenoid valve 1 77 and the shifting and drainage solenoid valve 2 78 are kept in the open state, and the low-pressure solenoid valve 76 is closed. The water transfer electric valve 47 of the first water transfer unit is opened in sequence through the balancing control box 8, the balancing pump 45 of the first water transfer unit is started, and the water transfer flow regulating valve 48 of the first water transfer unit is opened. After the difference between the pressure sensor 46 after the pump and the pressure sensor 44 before the pump of the first water transfer unit reaches the pressure value corresponding to the head required for water transfer, the water transfer and injection electric valve 410 of the first water transfer unit is started to transfer water from the bow balancing water tank 2 to the stern balancing water tank 3. The water transfer flow from the bow to the stern is collected by the water transfer and injection flowmeter 49 and transmitted to the balancing control box 8. After the water transfer is completed, the corresponding balancing pump 45, the water transfer electric valve 47, the water transfer flow regulating valve 48, and the water transfer and injection electric valve 410 are closed in sequence. The water transfer electric valve 47 of the second water transfer unit is opened in sequence through the balancing control box 8, the balancing pump 45 of the second water transfer unit is started, and the water transfer flow regulating valve 48 of the second water transfer unit is opened. After the difference between the pressure sensor 46 after the pump and the pressure sensor 44 before the pump of the second water transfer unit reaches the pressure value corresponding to the head required for water transfer, the water transfer and injection electric valve 410 of the second water transfer unit is started to transfer water from the stern balancing water tank 3 to the bow balancing water tank 2. The water transfer flow rate from the stern to the bow is collected by the water transfer and injection flowmeter 49 of the second water transfer unit and transmitted to the balancing control box 8. After the water transfer is completed, the corresponding balancing pump 45, the water transfer electric valve 47, the water transfer flow regulating valve 48, and the water transfer and injection electric valve 410 are closed in sequence.

[0104] For pneumatic drainage in electric mode, keep the ventilation electric valve 62 and the ventilation solenoid valve 63 of the first ventilation pipeline unit in closed state, and open the medium-pressure solenoid valve 75, the displacement and drainage solenoid valve 77, the injection and drainage electric valve 54 of the second injection and drainage unit and the transfer and injection electric valve 410 of the second transfer unit in sequence through the balancing control box 8 to pneumatically drain the bow equalizing water tank 2. After drainage is completed, close the corresponding injection and drainage electric valve 54, the transfer and injection electric valve 410, the medium-pressure solenoid valve 75 and the transfer and drainage solenoid valve 77 in sequence through the balancing control box 8. Keep the ventilation electric valve 62 and the ventilation solenoid valve 63 of the second ventilation pipeline unit in a closed state, and open the medium-pressure solenoid valve 75, the second displacement solenoid valve 78, the injection and drainage electric valve 54 of the first injection and drainage unit and the first water transfer unit The injection and water transfer electric valve 410 is opened in sequence through the balancing control box 8 to pneumatically drain the stern equalizing water tank 3. After the drainage is completed, the corresponding injection and drainage electric valve 54, the water transfer electric valve 410, the medium-pressure solenoid valve 75, and the second displacement solenoid valve 78 are closed in sequence through the balancing control box 8.

[0105] In the automatic mode, gravity water injection is carried out, and the water injection command (ΔP 1b , ΔP 1s ), the balancing control box 8 opens the corresponding valves in sequence according to the gravity water injection process in the electric mode, and performs gravity water injection. The water injection process is controlled by the water volume adjustment algorithm. When the water injection is completed, the balancing control box 8 closes the corresponding valves in sequence according to the gravity water injection process in the electric mode. The injection and drainage flowmeter 52 of the first injection and drainage unit corresponds to the gravity water injection of the stern equalizing water tank 3, and the injection and drainage flowmeter 52 of the second injection and drainage unit corresponds to the gravity water injection of the bow equalizing water tank 2.

[0106] Furthermore, the water volume regulation algorithm performs numerical integration based on the flow rate signals fed back by the injection and drainage flow meter 52 of the first injection and drainage unit and the injection and drainage flow meter 52 of the second injection and drainage unit, which is expressed as follows:

[0107]

[0108] Among them, ΔP 1 is the amount of water required for gravity injection, t 1 is the water injection start time, t 2 is the end time of water injection, and v(t) is the flow rate fed back by the flow meter during water adjustment.

[0109] In automatic mode, the pump drives the water out, and the water discharge ΔP is issued through the balance control box 8 1 Instruction, the balance control box 8 opens the corresponding valves and the balance pump in sequence according to the pump-driven drainage process in the above electric mode to perform pump-driven drainage. The drainage process is controlled by the above water volume regulation algorithm. When the drainage ΔP 1After completion, the equalization control box 8 closes the corresponding valves and the equalization pump in sequence according to the pump-driven drainage process in the above-mentioned electric mode. The injection and drainage flowmeter 52 of the second injection and drainage unit corresponds to the pump-driven water injection of the bow equalization water tank 2, and the injection and drainage flowmeter 52 of the first injection and drainage unit corresponds to the pump-driven water injection of the stern equalization water tank 3.

[0110] In automatic mode, the pump moves water, and the water movement ΔP is issued through the balance control box 8 1 The water transfer instruction is calculated based on the above imbalance. The balance control box 8 opens the corresponding valves and the balance pump in sequence according to the pump-driven water transfer process in the above electric mode to perform pump-driven water transfer. The water transfer process is controlled by the above water volume adjustment algorithm. When the water transfer ΔP 1 After completion, the equalization control box 8 sequentially closes the corresponding valves and the equalization pump according to the pump-driven water transfer process in the above-mentioned electric mode. The water transfer flowmeter 49 of the first water transfer unit corresponds to the water transfer from the bow equalization water tank 2 to the stern equalization water tank 3, and the water transfer flowmeter 49 of the second water transfer unit corresponds to the water transfer from the stern equalization water tank 3 to the bow equalization water tank 2.

[0111] In the automatic mode, the pneumatic drainage command is issued through the balance control box 8, and the balance control box 8 opens the corresponding valves in sequence according to the pneumatic drainage process in the electric mode to perform pneumatic drainage. After the water tank is emptied, the balance control box 8 closes the corresponding valves in sequence according to the pneumatic drainage process in the electric mode. The emptying of the water tank is calculated as follows according to the opening time of the solenoid valve:

[0112]

[0113] Among them, V 0 The total water volume in the water tank, A is the pipe cross-sectional area, P is the pressure of the pressure sensor before the pump, ρ is the water density, g is the acceleration of gravity, H is the water depth, and C is the flow coefficient, which can be taken as 0.7 and corrected according to the actual test conditions.

[0114] In the description of the present application, it should be noted that the terms "upper", "lower", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying 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 a limitation on the present application. Unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it 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 application can be understood according to the specific circumstances.

[0115] It should be noted that, in this application, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0116] The above description is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest range consistent with the principles and novel features applied for herein.

Claims

1. An automatic balancing system for an unmanned underwater vehicle, characterized in that: It includes: A pressure-resistant cabin (1), wherein a bow equalizing water tank (2) is provided at the bow of the pressure-resistant cabin (1), and a stern equalizing water tank (3) is provided at the stern of the pressure-resistant cabin (1), wherein a first liquid level gauge (21) is installed in the bow equalizing water tank (2), and a second liquid level gauge (31) is installed in the stern equalizing water tank (3); A water transfer system (4), the water transfer system (4) being connected between the bow equalizing water tank (2) and the stern equalizing water tank (3), and the water transfer system (4) being configured to allow water in the bow equalizing water tank (2) and the stern equalizing water tank (3) to flow in both directions; An injection and drainage system (5), the injection and drainage system (5) being connected to the water transfer system (4), the injection and drainage system (5) being configured so that the water transfer system (4) discharges water to the outside of the pressure-resistant cabin (1) or the pressure-resistant cabin (1) injects water into the water transfer system (4).

2. The automatic balancing system for an unmanned underwater vehicle according to claim 1, characterized in that: The unmanned underwater vehicle automatic balancing system also includes: A ventilation pipeline system (6), wherein the ventilation pipeline system (6) is connected to the bow equalizing water tank (2) and the stern equalizing water tank (3), and the ventilation pipeline system (6) is configured to adjust the air pressure in the bow equalizing water tank (2) and the stern equalizing water tank (3).

3. The automatic balancing system for an unmanned underwater vehicle according to claim 1, characterized in that: The unmanned underwater vehicle automatic balancing system also includes: A medium-low pressure air pipeline system (7), wherein the medium-low pressure air pipeline system (7) is connected to the bow equalizing water tank (2) and the stern equalizing water tank (3), the medium-pressure air of the medium-low pressure air pipeline system (7) is configured to emergency empty the bow equalizing water tank (2) and the stern equalizing water tank (3), and the low-pressure air of the medium-low pressure air pipeline system (7) is configured to ensure the stability of water transfer in the bow equalizing water tank (2) and the stern equalizing water tank (3).

4. The automatic balancing system for an unmanned underwater vehicle according to claim 1, characterized in that: The water transfer system (4) comprises: Two water transfer units are connected between the bow equalizing water tank (2) and the stern equalizing water tank (3). The first water transfer unit is configured so that the water in the bow equalizing water tank (2) flows into the stern equalizing water tank (3), and the second water transfer unit is configured so that the water in the stern equalizing water tank (3) flows into the bow equalizing water tank (2).

5. The automatic balancing system for an unmanned underwater vehicle as claimed in claim 4, characterized in that: The water transfer unit comprises: A water transfer pipeline body (41), wherein the water transfer pipeline body (41) is connected between the bow equalizing water tank (2) and the stern equalizing water tank (3), and the water transfer pipeline body (41) is sequentially installed with a stop valve 1 (42), a filter 1 (43), a pre-pump pressure sensor (44), a balancing pump (45), a post-pump pressure sensor (46), a water transfer and drainage electric valve (47), a water transfer and drainage flow regulating valve (48), a water transfer and injection flow meter (49), a water transfer and injection electric valve (410) and a stop valve 2 (411).

6. The automatic balancing system for an unmanned underwater vehicle as claimed in claim 4, characterized in that: The water injection and drainage system (5) comprises: Two filling and drainage units, the first of which is connected to the first water transfer unit, and the first of which is configured to fill the stern equalizing water tank (3) with water and drain the bow equalizing water tank (2), and the second of which is connected to the second water transfer unit, and the second of which is configured to drain the stern equalizing water tank (3) and fill the bow equalizing water tank (2) with water.

7. The automatic balancing system for an unmanned underwater vehicle as claimed in claim 6, characterized in that: The injection and drainage unit comprises: The injection and drainage pipeline body (51) is provided with an injection and drainage flow meter (52), a second filter (53), an injection and drainage electric valve (54) and a third stop valve (55) in sequence.

8. An automatic balancing adjustment method for an automatic balancing system of an unmanned underwater vehicle according to any one of claims 1 to 7, characterized in that: It includes the following steps: Based on the stern rudder angle, the bow rudder angle, the trim angle, the zero lift coefficient, the zero lift moment coefficient, the rudder angle coefficient, the speed coefficient and the righting moment coefficient, the unbalanced force adjustment amount and the unbalanced moment adjustment amount are calculated; The total filling and discharging amount of the bow equalizing water tank (2) and the stern equalizing water tank (3) is determined based on the adjustment amount of the unbalanced force, and the water displacement between the bow equalizing water tank (2) and the stern equalizing water tank (3) is calculated based on the adjustment amount of the unbalanced moment, the filling and discharging amount of the bow equalizing water tank (2), the distance between the volume center of the bow equalizing water tank (2) and the center of gravity of the submersible, the filling and discharging amount of the stern equalizing water tank (3), the distance between the volume center of the stern equalizing water tank (3) and the center of gravity of the submersible, and the distance between the volume center of the bow equalizing water tank (2) and the volume center of the stern equalizing water tank (3). Based on the total filling and drainage volume of the bow equalizing water tank (2) and the stern equalizing water tank (3) and the water transfer volume between the bow equalizing water tank (2) and the stern equalizing water tank (3), automatic equalization adjustment of the unmanned underwater vehicle is achieved.

9. The automatic balancing adjustment method of the automatic balancing system of an unmanned underwater vehicle according to claim 8, characterized in that: The method of realizing automatic balancing and adjustment of the unmanned underwater vehicle comprises: The bow equalizing water tank (2) or the stern equalizing water tank (3) is used alone to fill and drain water once, and water is transferred between the bow equalizing water tank (2) and the stern equalizing water tank (3) once.

10. The automatic balancing adjustment method of the automatic balancing system of an unmanned underwater vehicle according to claim 8, characterized in that: The method of realizing automatic balancing and adjustment of the unmanned underwater vehicle comprises: The bow equalizing water tank (2) or the stern equalizing water tank (3) is used to fill and drain water once, and water is transferred between the bow equalizing water tank (2) and the stern equalizing water tank (3) once.

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