Multifunctional large-capacity heavy buoyancy adjusting system and adjusting method thereof

Abstract

The invention belongs to the technical field of underwater vehicles, and discloses a multifunctional large-capacity heavy buoyancy adjusting system which comprises a bow heavy buoyancy adjusting system and a stern heavy buoyancy adjusting system which are arranged on a bow section and a stern section of an ultra-large UVV so as to increase the torque between the bow heavy buoyancy adjusting system and the stern heavy buoyancy adjusting system. The function of adjusting the pitching attitude of the ultra-large UUV is achieved; each of the bow heavy buoyancy adjusting system and the stern heavy buoyancy adjusting system comprises two sets of pump devices and three sets of water cabins, the three sets of water cabins comprise one main water cabin and two auxiliary water cabins, the main water cabin is arranged on the central axis of the ultra-large UUV, and the two auxiliary water cabins are arranged on the left side and the right side close to the wall of the ultra-large UUV; the ultra-large UUV has the capability of adjusting the rolling posture while the irregular space in the boat is fully utilized. The heavy buoyancy adjusting system can meet the heavy buoyancy adjusting requirement, the pitching attitude adjusting requirement and the rolling attitude adjusting requirement of the ultra-large UUV at the same time.

Description

Technical Field

[0001] The invention relates to the technical field, and in particular to a multifunctional large-capacity gravity buoyancy regulating system and a regulating method thereof. Background Art

[0002] The gravity and buoyancy adjustment system of an underwater unmanned vehicle (UUV) is a key system for the underwater unmanned vehicle to complete the floating and diving actions. It is also an important link to achieve rapid surfacing in an emergency to ensure the navigation safety of the underwater unmanned vehicle. The gravity and buoyancy adjustment system can adjust the gravity or buoyancy of the underwater unmanned vehicle itself. When the gravity of the underwater unmanned vehicle is greater than the buoyancy, the underwater unmanned vehicle dives, otherwise it floats. According to the working principle, it can be divided into a jettisoning type, a variable volume type, and a seawater suction and discharge type. Among them, the seawater suction and discharge type gravity and buoyancy adjustment system is often used in large underwater unmanned vehicles as a gravity and buoyancy adjustment method that can work in multiple cycles.

[0003] Most of the existing gravity buoyancy adjustment systems cannot simultaneously meet the performance requirements of kilometer-level working depth, gravity buoyancy adjustment speed of hundreds of liters per minute, and the functional requirements of gravity buoyancy adjustment, pitch attitude adjustment, and roll attitude adjustment. With the large-scale, deep-diving, and intelligent underwater unmanned vehicles, higher requirements are put forward for the adjustment amount, working depth, adjustment speed, and multifunctionality of the gravity buoyancy adjustment system. Therefore, based on the working principle of absorbing and discharging seawater, the present invention proposes a multifunctional large-capacity gravity buoyancy adjustment system and its adjustment method to meet the use requirements of modern ultra-large UUVs. Summary of the invention

[0004] The object of the present invention is to provide a multifunctional large-capacity gravity buoyancy adjustment system and an adjustment method thereof to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A multifunctional large-capacity weight buoyancy adjustment system, comprising a bow weight buoyancy adjustment system and a stern weight buoyancy adjustment system arranged at the bow section and stern section of an ultra-large UVV;

[0007] The bow weight buoyancy adjustment system comprises a bow main water tank arranged at the inner center of the ultra-large UVV bow section, a bow starboard pump device and a bow port pump device as well as a bow right auxiliary water tank and a bow left auxiliary water tank are symmetrically arranged outside the bow main water tank, the bow starboard pump device and the bow port pump device are respectively connected to the bow main water tank, the bow right auxiliary water tank and the bow left auxiliary water tank, and the bow starboard pump device and the bow port pump device are also respectively connected to external seawater;

[0008] The stern weight buoyancy adjustment system comprises a stern main water tank arranged at the inner center of the ultra-large UVV stern section, a stern starboard pump device and a stern port pump device as well as a stern right auxiliary water tank and a stern left auxiliary water tank are symmetrically arranged on the outer side of the stern main water tank, the stern starboard pump device and the stern port pump device are respectively connected to the stern main water tank, the stern right auxiliary water tank and the stern left auxiliary water tank, and the stern starboard pump device and the stern port pump device are also respectively connected to external seawater.

[0009] Further preferably, the bow main water tank and the stern main water tank are respectively arranged on the central axis of the bow section and the stern section of the ultra-large UVV.

[0010] Further preferably, the bow right auxiliary water tank and the bow left auxiliary water tank symmetrically arranged outside the bow main water tank are respectively arranged on both sides of the inner part of the ultra-large UVV bow section close to the boat wall; the stern right auxiliary water tank and the stern left auxiliary water tank symmetrically arranged outside the stern main water tank are respectively arranged on both sides of the inner part of the ultra-large UVV stern section close to the boat wall.

[0011] Further preferably, the bow starboard pump device, the bow port pump device, the stern starboard pump device and the stern port pump device are all provided with a C1 water inlet, a C2 water inlet, a C3 water inlet and a C4 water inlet.

[0012] Further preferably, the C1 water inlets of the bow starboard pump device, the bow port pump device, the stern starboard pump device and the stern port pump device are respectively connected to the bow right auxiliary water tank, the bow left auxiliary water tank, the stern right auxiliary water tank and the stern left auxiliary water tank on the same side through pipelines; the C2 water inlets of the bow starboard pump device and the bow port pump device are respectively connected to the bow main water tank through pipelines; the C2 water inlets of the stern starboard pump device and the stern port pump device are respectively connected to the bow main water tank through pipelines. The C3 water inlets of the bow starboard pump device, the bow port pump device, the stern starboard pump device and the stern port pump device are respectively connected to the bow left auxiliary water tank, the bow right auxiliary water tank, the stern left auxiliary water tank and the stern right auxiliary water tank on the opposite sides thereof through pipelines; the C4 water inlets of the bow starboard pump device, the bow port pump device, the stern starboard pump device and the stern port pump device are respectively connected to external seawater through pipelines.

[0013] Further preferably, the C1 water inlet, C2 water inlet, C3 water inlet and C4 water inlet arranged on the bow starboard pump device, the bow port pump device, the stern starboard pump device and the stern port pump device are respectively provided with control valves.

[0014] The present invention also provides a method for regulating a multifunctional large-capacity gravity buoyancy regulating system: when the ultra-large UVV performs a rapid diving working mode, the bow starboard pump device, the bow port pump device, the stern starboard pump device and the stern port pump device are started simultaneously, the C4 water inlet of the bow starboard pump device, the bow port pump device, the stern starboard pump device and the stern port pump device is opened as a water suction port, the C2 water inlet is opened as a water discharge port, the bow gravity buoyancy regulating system and the stern gravity buoyancy regulating system absorb water to the bow main water tank and the stern main water tank at a maximum flow rate until the bow main water tank and the stern main water tank are filled. When the designated water level is reached, the C2 water inlet is closed, and the C1 water inlet is opened as a drainage outlet, and water is continuously sucked into the bow right auxiliary water tank, bow left auxiliary water tank, stern right auxiliary water tank and stern left auxiliary water tank at the maximum flow rate until the bow right auxiliary water tank, bow left auxiliary water tank, stern right auxiliary water tank and stern left auxiliary water tank reach the designated water level, and the C4 water inlet and C1 water inlet of the bow starboard pump device, bow port pump device, stern starboard pump device and stern port pump device are closed, and the bow starboard pump device, bow port pump device, stern starboard pump device and stern port pump device are stopped, and the rapid diving instruction is completed;

[0015] When the ultra-large UVV is in the rapid buoyancy working mode, the bow starboard pump device, the bow port pump device, the stern starboard pump device and the stern port pump device are started simultaneously, the C4 water inlet of the bow starboard pump device, the bow port pump device, the stern starboard pump device and the stern port pump device is opened as a discharge port, the C2 water inlet is opened as a water intake port, the bow gravity buoyancy regulating system and the stern gravity buoyancy regulating system discharge water from the bow main water tank and the stern main water tank to the sea at the maximum flow rate until the bow main water tank and the stern main water tank reach 0 water level, and then the C2 water inlet is closed. Open the C1 water inlet as a water intake, continue to drain water from the bow right auxiliary water tank, bow left auxiliary water tank, stern right auxiliary water tank and stern left auxiliary water tank to the sea at the maximum flow rate until the bow right auxiliary water tank, bow left auxiliary water tank, stern right auxiliary water tank and stern left auxiliary water tank reach zero water level, close the C4 water inlet and C1 water inlet of the bow starboard pump device, bow port pump device, stern starboard pump device and stern port pump device, stop the bow starboard pump device, bow port pump device, stern starboard pump device and stern port pump device from working, and complete the rapid surfacing instruction;

[0016] When the ultra-large UVV is in the rolling attitude adjustment working mode, the bow weight buoyancy adjustment system and the stern weight buoyancy adjustment system respectively start any one of the bow starboard pump device and the bow port pump device and the stern starboard pump device and the stern port pump device, and complete the rolling attitude adjustment by adjusting the water volume in the bow right auxiliary water tank and the bow left auxiliary water tank and the stern right auxiliary water tank and the stern left auxiliary water tank;

[0017] When the ultra-large UVV performs the pitch attitude adjustment working mode, the bow weight buoyancy adjustment system and the stern weight buoyancy adjustment system respectively start any one of the bow starboard pump device and the bow port pump device and the stern starboard pump device and the stern port pump device, and complete the pitch attitude adjustment by adjusting the water volume in the bow main water tank and the stern main water tank.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] The weight buoyancy adjustment system in the present invention is divided into two parts, the bow and the stern, which are respectively placed in the bow section and the stern section of the ultra-large UUV, so as to increase the torque between the bow and stern weight buoyancy adjustment systems, so that it has the function of adjusting the pitch attitude of the ultra-large UUV; the bow and stern weight buoyancy adjustment systems are completely the same, independent of each other and serve as backup for each other, so that the ultra-large UUV will not lose the ability to adjust buoyancy in extreme cases.

[0020] The bow and stern buoyancy adjustment systems each include two pump devices, two sets of auxiliary water tanks and one set of main water tanks. Under the condition that the total volume remains unchanged, the more water tanks there are, the stronger the pressure-bearing capacity of a single water tank and the stronger the ability to utilize irregular space. However, too many water tanks will cause waste of materials. In order to make full use of irregular space without causing waste of materials, the present invention proposes a 1 main + 2 auxiliary water tank design. The bow and stern buoyancy adjustment systems are respectively designed with 1 main water tank and 2 auxiliary water tanks. The main water tank is placed on the central axis of the ultra-large UUV, and the two auxiliary water tanks are arranged on the left and right sides close to the boat wall. This six-water tank design enables the ultra-large UUV to have the ability to adjust the rolling attitude while making full use of the irregular space inside the boat.

[0021] In order to meet the requirements of deep-sea work and rapid adjustment at the same time, a dual-pump working scheme is proposed. Two sets of pump devices are designed for the bow and stern weight buoyancy adjustment systems. The two sets of pump devices are placed on the left and right sides, respectively, and are connected to the main and auxiliary water tanks. When the two pumps work at the same time, they can achieve high-flow suction and drainage, and when they work alone, they can achieve low-energy precision adjustment. In addition, the two pumps are backup for each other, which increases the reliability and safety of the entire weight buoyancy adjustment system. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0023] In the figure: 1. bow weight buoyancy adjustment system; 2. bow starboard pump device; 3. bow right auxiliary water tank; 4. bow main water tank; 5. bow port pump device; 6. bow left auxiliary water tank; 7. stern weight buoyancy adjustment system; 8. stern starboard pump device; 9. stern right auxiliary water tank; 10. stern main water tank; 11. stern port pump device; 12. stern left auxiliary water tank. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] See also Figure 1 , the present invention provides a technical solution:

[0026] A multifunctional large-capacity weight buoyancy adjustment system, comprising a bow weight buoyancy adjustment system 1 and a stern weight buoyancy adjustment system 7 arranged at the bow section and stern section of an ultra-large UVV;

[0027] The bow weight buoyancy adjustment system 1 comprises a bow main water tank 4 arranged at the inner center of the ultra-large UVV bow section, a bow starboard pump device 2 and a bow port pump device 5 as well as a bow right auxiliary water tank 3 and a bow left auxiliary water tank 6 are symmetrically arranged outside the bow main water tank 4, the bow starboard pump device 2 and the bow port pump device 5 are respectively connected to the bow main water tank 4, the bow right auxiliary water tank 3 and the bow left auxiliary water tank 6, and the bow starboard pump device 2 and the bow port pump device 5 are also respectively connected to external seawater;

[0028] The stern weight buoyancy adjustment system 7 includes a stern main water tank 10 arranged at the inner center of the ultra-large UVV stern section, and a stern starboard pump device 8, a stern port pump device 11, a stern right auxiliary water tank 9 and a stern left auxiliary water tank 12 are symmetrically arranged outside the stern main water tank 10. The stern starboard pump device 8 and the stern port pump device 11 are respectively connected to the stern main water tank 10, the stern right auxiliary water tank 9 and the stern left auxiliary water tank 12, and the stern starboard pump device 8 and the stern port pump device 11 are also respectively connected to external seawater.

[0029] In the present invention, the bow main water tank 4 and the stern main water tank 10 are respectively arranged at the central axis of the bow section and the stern section of the ultra-large UVV.

[0030] In the present invention, the bow right auxiliary water tank 3 and the bow left auxiliary water tank 6 symmetrically arranged outside the bow main water tank 4 are respectively arranged on both sides of the inner part of the ultra-large UVV bow section close to the boat wall; the stern right auxiliary water tank 9 and the stern left auxiliary water tank 12 symmetrically arranged outside the stern main water tank 10 are respectively arranged on both sides of the inner part of the ultra-large UVV stern section close to the boat wall.

[0031] In the present invention, the bow starboard pump device 2, the bow port pump device 5, the stern starboard pump device 8 and the stern port pump device 11 are all provided with C1 water inlet, C2 water inlet, C3 water inlet and C4 water inlet, and the C1 water inlet, C2 water inlet, C3 water inlet and C4 water inlet can all be water suction inlets or water discharge inlets. The C1 water inlets of the bow starboard pump device 2, the bow port pump device 5, the stern starboard pump device 8 and the stern port pump device 11 are respectively connected to the bow right auxiliary water tank 3, the bow left auxiliary water tank 6, the stern right auxiliary water tank 9 and the stern left auxiliary water tank 12 on the same side through pipelines; the C2 water inlets of the bow starboard pump device 2 and the bow port pump device 5 are respectively connected to the bow main water tank 4 through pipelines; the C2 water inlets of the stern starboard pump device 8 and the stern port pump device 11 are respectively connected to the stern The main water tank 10 is connected by pipelines; the C3 water inlets of the bow starboard pump device 2, the bow port pump device 5, the stern starboard pump device 8 and the stern port pump device 11 are respectively connected to the bow left auxiliary water tank 6, the bow right auxiliary water tank 3, the stern left auxiliary water tank 12 and the stern right auxiliary water tank 9 on the opposite sides thereof by pipelines; the C4 water inlets of the bow starboard pump device 2, the bow port pump device 5, the stern starboard pump device 8 and the stern port pump device 11 are respectively connected to the external seawater by pipelines. The C1 water inlet, C2 water inlet, C3 water inlet and C4 water inlet provided on the bow starboard pump device 2, the bow port pump device 5, the stern starboard pump device 8 and the stern port pump device 11 are respectively provided with control valves.

[0032] The present invention also provides a method for regulating a multifunctional large-capacity gravity buoyancy regulating system. When the ultra-large UVV performs a rapid diving working mode, the bow starboard pump device 2, the bow port pump device 5, the stern starboard pump device 8 and the stern port pump device 11 are started simultaneously, the C4 water inlet of the bow starboard pump device 2, the bow port pump device 5, the stern starboard pump device 8 and the stern port pump device 11 is opened as a water suction port, and the C2 water inlet is opened as a discharge port. The bow gravity buoyancy regulating system 1 and the stern gravity buoyancy regulating system 7 absorb water to the bow main water tank 4 and the stern main water tank 10 at a maximum flow rate until the bow main water tank 4 and the stern main water tank 10 are filled. When the designated water level is reached, the C2 water inlet is closed, and the C1 water inlet is opened as a drainage outlet, and water is continued to be sucked into the bow right auxiliary water tank 3, the bow left auxiliary water tank 6, the stern right auxiliary water tank 9 and the stern left auxiliary water tank 12 at the maximum flow rate, until the bow right auxiliary water tank 3, the bow left auxiliary water tank 6, the stern right auxiliary water tank 9 and the stern left auxiliary water tank 12 reach the designated water level, and the C4 water inlet and the C1 water inlet of the bow starboard pump device 2, the bow port pump device 5, the stern starboard pump device 8 and the stern port pump device 11 are closed, and the bow starboard pump device 2, the bow port pump device 5, the stern starboard pump device 8 and the stern port pump device 11 are stopped, and the rapid diving instruction is completed;

[0033] When the ultra-large UVV is in the rapid buoyancy working mode, the bow starboard pump device 2, the bow port pump device 5, the stern starboard pump device 8 and the stern port pump device 11 are started simultaneously, the C4 water inlet of the bow starboard pump device 2, the bow port pump device 5, the stern starboard pump device 8 and the stern port pump device 11 is opened as a discharge port, the C2 water inlet is opened as a water intake port, the bow weight buoyancy regulating system 1 and the stern weight buoyancy regulating system 7 discharge water from the bow main water tank 4 and the stern main water tank 10 to the sea at the maximum flow rate until the bow main water tank 4 and the stern main water tank 10 reach the zero water level, and then the C2 water inlet is closed. , open the C1 water inlet as the water intake, continue to drain water from the bow right auxiliary water tank 3, the bow left auxiliary water tank 6, the stern right auxiliary water tank 9 and the stern left auxiliary water tank 12 to the sea at the maximum flow rate, until the bow right auxiliary water tank 3, the bow left auxiliary water tank 6, the stern right auxiliary water tank 9 and the stern left auxiliary water tank 12 reach 0 water level, close the C4 water inlet and C1 water inlet of the bow starboard pump device 2, the bow port pump device 5, the stern starboard pump device 8 and the stern port pump device 11, stop the bow starboard pump device 2, the bow port pump device 5, the stern starboard pump device 8 and the stern port pump device 11 from working, and complete the rapid buoyancy instruction;

[0034] When the ultra-large UVV is in the roll attitude adjustment working mode, the bow weight buoyancy adjustment system 1 and the stern weight buoyancy adjustment system 7 respectively start any one of the bow starboard pump device 2 and the bow port pump device 5 and the stern starboard pump device 8 and the stern port pump device 11, and complete the roll attitude adjustment by adjusting the water volume in the bow right auxiliary water tank 3 and the bow left auxiliary water tank 6 and the stern right auxiliary water tank 9 and the stern left auxiliary water tank 12;

[0035] When the ultra-large UVV is in the pitch attitude adjustment working mode, the bow weight buoyancy adjustment system 1 and the stern weight buoyancy adjustment system 7 respectively start any one of the bow starboard pump device 2 and the bow port pump device 5 and the stern starboard pump device 8 and the stern port pump device 11, and complete the pitch attitude adjustment by adjusting the water volume in the bow main water tank 4 and the stern main water tank 10.

[0036] Working principle: When the ultra-large UVV is in the fast diving working mode, the bow starboard pump device 2, the bow port pump device 5, the stern starboard pump device 8 and the stern port pump device 11 are started at the same time, and the C4 water inlet of the bow starboard pump device 2, the bow port pump device 5, the stern starboard pump device 8 and the stern port pump device 11 is the water suction port. First, the bow starboard pump device 2, the bow port pump device 5, the stern starboard pump device 8 and the stern port pump device 11 are started at the same time. The C2 water inlets of the pump device 8 and the stern port side pump device 11 are opened as the drainage outlet, and the bow weight buoyancy adjustment system 1 and the stern weight buoyancy adjustment system 7 absorb water to the bow main water tank 4 and the stern main water tank 10 at the maximum flow rate until the bow main water tank 4 and the stern main water tank 10 reach the specified water level, and then the C2 of the bow starboard pump device 2, the bow port side pump device 5, the stern starboard pump device 8 and the stern port side pump device 11 are closed. Open the C1 water inlet of the bow starboard pump device 2, bow port pump device 5, stern starboard pump device 8 and stern port pump device 11 as the discharge outlet, and continue to suck water at the maximum flow rate to the bow right auxiliary water tank 3, bow left auxiliary water tank 6, stern right auxiliary water tank 9 and stern left auxiliary water tank 12 on the same side of the bow starboard pump device 2, bow port pump device 5, stern starboard pump device 8 and stern port pump device 11 until the bow right auxiliary water tank 3, bow left auxiliary water tank 6, stern right auxiliary water tank 9 and stern left auxiliary water tank 12 are filled with water. When the right auxiliary water tank 3, the bow left auxiliary water tank 6, the stern right auxiliary water tank 9 and the stern left auxiliary water tank 12 reach the specified water level, the C4 water inlet and the C1 water inlet of the bow starboard pump device 2, the bow port pump device 5, the stern starboard pump device 8 and the stern port pump device 11 are closed, the bow starboard pump device 2, the bow port pump device 5, the stern starboard pump device 8 and the stern port pump device 11 are stopped, and the rapid diving instruction is completed;

[0037] When the ultra-large UVV is in the rapid buoyancy working mode, the bow starboard pump device 2, the bow port pump device 5, the stern starboard pump device 8 and the stern port pump device 11 are started at the same time, and the C4 water inlets of the bow starboard pump device 2, the bow port pump device 5, the stern starboard pump device 8 and the stern port pump device 11 are used as the drainage outlets. First, the bow starboard pump device 2, the bow port pump device 5, the stern starboard pump device 8 and the The C2 water inlet of the stern port side pump device 11 is opened as a water intake, and the bow weight buoyancy adjustment system 1 and the stern weight buoyancy adjustment system 7 discharge water from the bow main water tank 4 and the stern main water tank 10 to the sea at the maximum flow rate until the bow main water tank 4 and the stern main water tank 10 reach 0 water level, and then the C2 water inlets of the bow starboard side pump device 2, the bow port side pump device 5, the stern starboard side pump device 8 and the stern port side pump device 11 are closed. Open the C1 water inlet of the bow starboard pump device 2, bow port pump device 5, stern starboard pump device 8 and stern port pump device 11 as the water intake, and continue to drain water from the bow right auxiliary water tank 3, bow left auxiliary water tank 6, stern right auxiliary water tank 9 and stern left auxiliary water tank 12 on the same side of the bow starboard pump device 2, bow port pump device 5, stern starboard pump device 8 and stern port pump device 11 to the sea at the maximum flow rate until the bow right auxiliary water tank 3, bow port auxiliary water tank 6, stern right auxiliary water tank 9 and stern left auxiliary water tank 12 are drained to the sea at the maximum flow rate until the bow right auxiliary water tank 2, bow port pump device 5, stern starboard pump device 8 and stern port pump device 11 are drained to the sea at the maximum flow rate until the bow right auxiliary water tank 3, bow port auxiliary water tank 6, stern right auxiliary water tank 9 and stern left auxiliary water tank 12 are drained to the sea at the maximum flow rate until the bow right auxiliary water tank 3, bow port auxiliary water tank 3, stern starboard pump device 8 and stern port pump device 1 ... The bow right auxiliary water tank 3, the bow left auxiliary water tank 6, the stern right auxiliary water tank 9 and the stern left auxiliary water tank 12 reach 0 water level, the C4 water inlet and the C1 water inlet of the bow starboard pump device 2, the bow port pump device 5, the stern starboard pump device 8 and the stern port pump device 11 are closed, the bow starboard pump device 2, the bow port pump device 5, the stern starboard pump device 8 and the stern port pump device 11 are stopped, and the rapid surfacing instruction is completed;

[0038] When the ultra-large UVV is in the roll attitude adjustment working mode, the bow weight buoyancy adjustment system 1 and the stern weight buoyancy adjustment system 7 respectively start any one of the bow starboard pump device 2 and the bow port pump device 5 and the stern starboard pump device 8 and the stern port pump device 11, and complete the roll attitude adjustment by adjusting the water volume in the bow right auxiliary water tank 3 and the bow left auxiliary water tank 6 and the stern right auxiliary water tank 9 and the stern left auxiliary water tank 12;

[0039] When the ultra-large UVV is in the pitch attitude adjustment working mode, the bow weight buoyancy adjustment system 1 and the stern weight buoyancy adjustment system 7 respectively start any one of the bow starboard pump device 2 and the bow port pump device 5 and the stern starboard pump device 8 and the stern port pump device 11, and complete the pitch attitude adjustment by adjusting the water volume in the bow main water tank 4 and the stern main water tank 10.

[0040] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-limiting from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention, and any reference numerals in the claims should not be regarded as limiting the claims involved.

[0041] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A multifunctional large-capacity gravity buoyancy adjustment system, characterized in that: It comprises a bow weight buoyancy adjustment system (1) and a stern weight buoyancy adjustment system (7) which are arranged at the bow section and stern section of an ultra-large UVV; The bow weight buoyancy adjustment system (1) comprises a bow main water tank (4) arranged at the inner center of the bow section of the ultra-large UVV; a bow starboard pump device (2) and a bow port pump device (5) as well as a bow right auxiliary water tank (3) and a bow left auxiliary water tank (6) are symmetrically arranged outside the bow main water tank (4); the bow starboard pump device (2) and the bow port pump device (5) are respectively connected to the bow main water tank (4), the bow right auxiliary water tank (3) and the bow left auxiliary water tank (6); and the bow starboard pump device (2) and the bow port pump device (5) are also respectively connected to external seawater; The stern weight buoyancy adjustment system (7) comprises a stern main water tank (10) arranged at the center of the interior of the ultra-large UVV stern section, a stern starboard pump device (8) and a stern port pump device (11) as well as a stern right auxiliary water tank (9) and a stern left auxiliary water tank (12) are symmetrically arranged outside the stern main water tank (10), the stern starboard pump device (8) and the stern port pump device (11) are respectively connected to the stern main water tank (10), the stern right auxiliary water tank (9) and the stern left auxiliary water tank (12), and the stern starboard pump device (8) and the stern port pump device (11) are also respectively connected to external seawater.

2. A multifunctional large-capacity gravity buoyancy adjustment system according to claim 1, characterized in that: The bow main water tank (4) and the stern main water tank (10) are respectively arranged on the central axis of the bow section and the stern section of the ultra-large UVV.

3. A multifunctional large-capacity gravity buoyancy adjustment system according to claim 1, characterized in that: The bow right auxiliary water tank (3) and the bow left auxiliary water tank (6) symmetrically arranged outside the bow main water tank (4) are respectively arranged on both sides of the interior of the ultra-large UVV bow section close to the boat wall; the stern right auxiliary water tank (9) and the stern left auxiliary water tank (12) symmetrically arranged outside the stern main water tank (10) are respectively arranged on both sides of the interior of the ultra-large UVV stern section close to the boat wall.

4. A multifunctional large-capacity gravity buoyancy adjustment system according to claim 1, characterized in that: The bow starboard pump device (2), the bow port pump device (5), the stern starboard pump device (8) and the stern port pump device (11) are all provided with a C1 water inlet, a C2 water inlet, a C3 water inlet and a C4 water inlet.

5. A multifunctional large-capacity gravity buoyancy adjustment system according to claim 4, characterized in that: The C1 water inlets of the bow starboard pump device (2), the bow port pump device (5), the stern starboard pump device (8) and the stern port pump device (11) are respectively connected to the bow right auxiliary water tank (3), the bow left auxiliary water tank (6), the stern right auxiliary water tank (9) and the stern left auxiliary water tank (12) on the same side through pipelines; the C2 water inlets of the bow starboard pump device (2) and the bow port pump device (5) are respectively connected to the bow main water tank (4) through pipelines; the C2 water inlets of the stern starboard pump device (8) and the stern port pump device (11) are respectively connected to the stern main water tank (4) through pipelines. The main water tank (10) is connected through pipelines; the C3 water inlets of the bow starboard pump device (2), the bow port pump device (5), the stern starboard pump device (8) and the stern port pump device (11) are respectively connected to the bow left auxiliary water tank (6), the bow right auxiliary water tank (3), the stern left auxiliary water tank (12) and the stern right auxiliary water tank (9) on the opposite sides thereof through pipelines; and the C4 water inlets of the bow starboard pump device (2), the bow port pump device (5), the stern starboard pump device (8) and the stern port pump device (11) are respectively connected to external seawater through pipelines.

6. A multifunctional large-capacity gravity buoyancy regulating system according to claim 4, characterized in that: Control valves are respectively provided at the C1 water inlet, C2 water inlet, C3 water inlet and C4 water inlet arranged on the bow starboard pump device (2), the bow port pump device (5), the stern starboard pump device (8) and the stern port pump device (11).

7. A method for adjusting a multifunctional large-capacity gravity buoyancy adjustment system according to any one of claims 1 to 6, characterized in that: When the ultra-large UVV is in a fast diving working mode, the bow starboard pump device (2), the bow port pump device (5), the stern starboard pump device (8) and the stern port pump device (11) are started simultaneously, the C4 water inlet of the bow starboard pump device (2), the bow port pump device (5), the stern starboard pump device (8) and the stern port pump device (11) is opened as a water intake, the C2 water inlet is opened as a water discharge, the bow gravity buoyancy adjustment system (1) and the stern gravity buoyancy adjustment system (7) absorb water to the bow main water tank (4) and the stern main water tank (10) at the maximum flow rate until the bow main water tank (4) and the stern main water tank (10) reach the specified water level, and then the C2 water inlet is closed and the C2 water inlet is opened. The C1 water inlet is a drainage outlet, and water is continuously sucked into the bow right auxiliary water tank (3), the bow left auxiliary water tank (6), the stern right auxiliary water tank (9) and the stern left auxiliary water tank (12) at the maximum flow rate until the bow right auxiliary water tank (3), the bow left auxiliary water tank (6), the stern right auxiliary water tank (9) and the stern left auxiliary water tank (12) reach the specified water level, and the C4 water inlet and the C1 water inlet of the bow starboard pump device (2), the bow port pump device (5), the stern starboard pump device (8) and the stern port pump device (11) are closed, and the bow starboard pump device (2), the bow port pump device (5), the stern starboard pump device (8) and the stern port pump device (11) are stopped from working, and the rapid diving instruction is completed; When the ultra-large UVV is in a rapid buoyancy operation mode, the bow starboard pump device (2), the bow port pump device (5), the stern starboard pump device (8) and the stern port pump device (11) are started simultaneously, the C4 water inlet of the bow starboard pump device (2), the bow port pump device (5), the stern starboard pump device (8) and the stern port pump device (11) are opened as a water discharge port, the C2 water inlet is opened as a water intake port, the bow gravity buoyancy adjustment system (1) and the stern gravity buoyancy adjustment system (7) discharge water from the bow main water tank (4) and the stern main water tank (10) into the sea at the maximum flow rate until the bow main water tank (4) and the stern main water tank (10) reach zero water level, and then the C2 water inlet is closed and the C4 water inlet is opened. The 1 water inlet is a water intake, and water is continuously discharged from the bow right auxiliary water tank (3), the bow left auxiliary water tank (6), the stern right auxiliary water tank (9) and the stern left auxiliary water tank (12) to the sea at the maximum flow rate until the bow right auxiliary water tank (3), the bow left auxiliary water tank (6), the stern right auxiliary water tank (9) and the stern left auxiliary water tank (12) reach zero water level, and the C4 water inlet and the C1 water inlet of the bow starboard pump device (2), the bow port side pump device (5), the stern starboard pump device (8) and the stern port side pump device (11) are closed, and the bow starboard pump device (2), the bow port side pump device (5), the stern starboard pump device (8) and the stern port side pump device (11) are stopped from working, and the rapid buoyancy instruction is completed; When the ultra-large UVV is in a roll attitude adjustment working mode, the bow weight buoyancy adjustment system (1) and the stern weight buoyancy adjustment system (7) respectively start any one of the bow starboard pump device (2) and the bow port pump device (5) and the stern starboard pump device (8) and the stern port pump device (11), and complete the roll attitude adjustment by adjusting the water volume in the bow right auxiliary water tank (3) and the bow left auxiliary water tank (6) and the stern right auxiliary water tank (9) and the stern left auxiliary water tank (12); When the ultra-large UVV is in a pitch attitude adjustment working mode, the bow weight buoyancy adjustment system (1) and the stern weight buoyancy adjustment system (7) respectively start any one of the bow starboard pump device (2) and the bow port pump device (5) and the stern starboard pump device (8) and the stern port pump device (11), and complete the pitch attitude adjustment by adjusting the water volume in the bow main water tank (4) and the stern main water tank (10).

Images