Low-power deep-sea unmanned exploration submersible based on satellite communication

Abstract

The present invention discloses a low-power deep-sea unmanned exploration submersible based on satellite communication, which relates to the technical field of submersibles. The submersible comprises: a frame, the interior of the frame is rotatably connected to a propeller shaft, a power device for providing power to the propeller shaft is installed inside the frame, and a clutch device for transmitting power is installed between the output end of the power device and the propeller shaft. The present invention, through the arrangement of a limiting device and a charging device, enables the unmanned exploration submersible to be continuously charged by the ocean current when it moves along the ocean current and meets the moving speed required for detection by activating the charging device, and achieves contact with the seabed through the limiting device, thereby increasing the relative speed between the ocean current and the unmanned exploration submersible, thereby making the water flow speed entering the turbine blade power generation device greater, thereby ensuring the power generation effect of the turbine blade power generation device.

Description

Technical Field

[0001] The present invention relates to the technical field of submersibles, and in particular to a low-power consumption deep-sea unmanned exploration submersible based on satellite communications. Background Art

[0002] Satellite communication technology uses artificial satellites as relay stations to achieve radio communication between different locations on the earth. It has the advantages of wide coverage, long communication distance, and no geographical restrictions. It is particularly suitable for communication needs in remote areas such as the deep sea. Unmanned submersibles are devices that navigate underwater without a human driver and rely on remote control or automatic control. The location of unmanned submersibles can be tracked based on satellite communication technology.

[0003] For example, the patent publication number is "CN119773941A", and the name is "An unmanned underwater vehicle", which includes a head mechanism, a skeleton structure, a tail mechanism, an equipment box, a travel system and a shell. The head mechanism, shell and tail mechanism are connected in sequence, and the skeleton structure is arranged in the shell. The skeleton structure includes a vertebra and a rib assembly. There are multiple vertebrae, and silicone is arranged between each vertebra; the rib assembly and the vertebrae correspond to each other and are connected one by one. The rib structure includes a bearing and two rib frames connected to the bearing. The two rib frames generate relative rotation by being connected to the bearing. The rib frame is used to support and place the equipment box, and the equipment box is used to place instruments and equipment; it solves the problems of the existing technology submersibles generating large resistance when traveling underwater, insufficient travel flexibility, low space utilization, poor impact and deformation resistance, and easy tearing and breakage.

[0004] When the above patent is used to realize deep-sea exploration, the resistance of ocean currents will affect the movement of the unmanned submersible, thereby increasing energy consumption and causing insufficient energy supply during deep-sea exploration. In addition, the above device "can achieve precise left and right direction control and adjustment by setting a wire-controlled wire-drive drive, and then cooperate with the power of the turbine to make the overall movement of the submersible more flexible." Excessive power design will also lead to increased energy consumption, making it inconvenient to achieve long-term exploration work. For this reason, a low-power deep-sea unmanned exploration submersible based on satellite communication was invented. Summary of the Invention

[0005] The purpose of the present invention is to provide a low-power deep-sea unmanned exploration submersible based on satellite communication to solve the problems raised in the above background technology.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a low-power deep-sea unmanned exploration submersible based on satellite communications, the submersible comprising: a frame, a propeller shaft rotatably connected to the frame, a power device for providing power to the propeller shaft installed within the frame, and a clutch device for transmitting power installed between the output end of the power device and the propeller shaft;

[0007] A positioning device for limiting the position of the submersible in the deep sea is installed inside the frame;

[0008] A charging device for charging the submersible through deep ocean currents is installed inside the frame;

[0009] The positioning device includes a first telescopic assembly, which is installed inside the frame. The telescopic end of the first telescopic assembly is fixedly connected to a buffer assembly, and the moving end of the buffer assembly is fixedly connected to a limiting device for limiting the moving speed of the submersible;

[0010] The limiting device includes a storage cylinder, which is installed at the bottom end of the buffer assembly. A limiting member is slidably connected to the interior of the storage cylinder, and a transmission assembly is installed between the limiting member and the storage cylinder.

[0011] The transmission assembly includes a gear condition, the outer wall of the gear condition is slidably connected to the inside of the storage tube, the inside of the storage tube is rotatably connected to the placement tube, the inner wall of the limiting member is threadedly connected to a threaded rod, one end of the threaded rod is fixed to the inside of the placement tube, and one end of the placement tube is fixedly connected to a gear part for meshing with the tooth shape on the gear condition.

[0012] Furthermore, the charging device includes: a shielding plate, one side of the shielding plate is rotatably connected to the interior of the frame;

[0013] A turbine blade power generation device, the turbine blade power generation device is fixedly installed inside the frame;

[0014] A filter plate is fixedly mounted on the water inlet end of the turbine blade power generation device;

[0015] The partition plate is used to cooperate with the shielding plate to form an isolation space and is fixedly installed on both sides of the frame. The interior of the partition plate is fixedly connected to a pump body for realizing communication between the isolation space and the outside world.

[0016] Furthermore, the No. 1 telescopic assembly includes a piston cylinder, which is fixedly installed inside the frame. The interior of the piston cylinder is movably connected to a piston rod, and the bottom end of the piston rod is fixed to the top end of the buffer assembly.

[0017] Furthermore, the clutch device includes a two-way clutch assembly, which is installed at one end of the propeller shaft. The output end of the power device is fixedly connected to a contact disk No. 1 for contacting one side of the two-way clutch assembly and realizing transmission. The interior of the frame is fixedly connected to a contact disk No. 2 for contacting the other side of the two-way clutch assembly and realizing transmission. One side of the No. 2 contact disk is fixed to the power input end of the energy storage device.

[0018] Furthermore, the buffer assembly includes a movable plate, the outer wall of the movable plate and the inner wall of the piston cylinder are slidingly connected, the interior of the movable plate is fixedly connected to a No. 1 pull rope, one end of the No. 1 pull rope is fixed to the top of the gear condition, one side of the movable plate is fixedly connected to a shock-absorbing spring pad, and a No. 1 spring shock-absorbing damper is fixedly connected between the gear condition and the storage cylinder.

[0019] Furthermore, the buffer assembly includes a connecting rope, the top end of the connecting rope is fixed to the bottom end of the piston rod, and the inner wall of the connecting rope is slidably connected to the outer wall of the first pull rope;

[0020] The limiting device also includes a horn, one end of which is fixed to the inside of the storage tube, the inner wall of the horn is rotatably connected to the outer wall of the placement tube, and the inside of the storage tube is fixedly connected to a second horn, the outer wall of the second horn is rotatably connected to the inner wall of the gear part.

[0021] The low-power deep-sea exploration method based on satellite communication adopts the low-power deep-sea unmanned exploration submersible based on satellite communication, and is characterized in that the detection method includes:

[0022] The unmanned exploration submersible realizes real-time communication with the control terminal based on satellite communication;

[0023] Establish a basic movement path based on the target area;

[0024] The control terminal obtains water flow data of the target area in real time;

[0025] The basic moving path is adjusted in real time by using the adjustment method and combining with the water flow data to obtain the real-time moving path;

[0026] Determine whether to adjust the basic moving path based on the water flow data through the judgment method, and if so, use the adjustment method to obtain the real-time moving path;

[0027] The determination method includes: obtaining the maximum navigation speed, the limited cruising detection speed, the maximum turning radius, and the maximum elevation and depression angles of the unmanned detection submersible, and analyzing the real-time water flow data to obtain the real-time water flow direction, real-time water flow speed, and water flow area;

[0028] The real-time water flow direction, real-time water flow speed and basic movement path establish a space vector, and the space vector is adjusted by adjusting the direction and speed of the unmanned exploration submersible. Based on the comparison between the maximum navigation speed of the unmanned exploration submersible and the space vector, it is determined whether the unmanned exploration submersible can move according to the basic movement path;

[0029] The adjustment method includes: establishing a mathematical simulation model to obtain the effective detection distance of the unmanned detection underwater vehicle, inputting the basic movement path, real-time water flow direction and real-time water flow speed into the mathematical simulation model to obtain the real-time movement path;

[0030] The real-time movement path is transmitted to the unmanned detection submersible via satellite communication. The unmanned detection submersible moves within the target area according to the real-time movement path and detects the target area during the movement.

[0031] Adjust the operating parameters of the internal power unit of the unmanned exploration submarine based on the real-time movement path;

[0032] Establish charging conditions based on a mathematical simulation model and enable the charging method when the charging conditions are met;

[0033] The charging conditions include: whether the first angle between the basic moving path and the ocean current vector is less than 30 degrees, and whether the ocean current vector combined with the first angle acting on the turbine blade power generation device can meet the power generation demand;

[0034] The charging method includes: limiting the position of the unmanned exploration submersible through a positioning device, based on achieving contact between the limiting device and the deep sea bottom, the limiting device increases the movement resistance of the unmanned exploration submersible, deploys a shield, and the water flows through a turbine blade power generation device to charge the unmanned exploration submersible.

[0035] Compared with the prior art, the present invention has the following beneficial effects:

[0036] This low-power deep-sea unmanned exploration submersible based on satellite communication, through the setting of a limiting device and a charging device, allows the unmanned exploration submersible to be continuously charged by the ocean current while moving along the ocean current and meeting the moving speed required for detection by activating the charging device, and achieves contact with the seabed through the limiting device, thereby increasing the relative speed between the ocean current and the unmanned exploration submersible, and further making the water flow speed entering the turbine blade power generation device greater, thereby ensuring the power generation effect of the turbine blade power generation device.

[0037] At the same time, the design of the submersible focuses on low-power consumption strategies. By optimizing the power system and charging device, the submersible can perform long-term autonomous operations in deep-sea environments. The submersible is equipped with a device for charging through deep-sea currents, and an intelligent control system that can use the speed and direction of ocean currents to adjust the moving path to reduce energy consumption. This design enables the submersible to conduct continuous deep-sea exploration, effectively reducing exploration costs and improving operational efficiency.

[0038] Through satellite communication technology, real-time communication and position tracking of deep-sea unmanned detection submersibles have been successfully achieved. In addition, satellite communication technology has been combined to achieve real-time adjustment of the moving path, and combined with the ocean current data of the target area, the working status of the unmanned detection submersible has been adjusted to reduce the high energy consumption of the unmanned detection submersible during movement. In this way, the unmanned detection submersible can be charged through ocean currents during movement, ensuring the long endurance of the unmanned detection submersible. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 is an isometric view of the present invention;

[0040] Figure 2 is a cross-sectional view of the charging device of the present invention;

[0041] Figure 3 is an isometric view of the clutch device of the present invention;

[0042] Figure 4 A partial cross-sectional view of the clutch device of the present invention;

[0043] Figure 5 It is a front view of the limiting device of the present invention;

[0044] Figure 6 It is a cross-sectional view of the first telescopic assembly and the buffer assembly of the present invention;

[0045] Figure 7 is a cross-sectional view of the restriction device of the present invention;

[0046] Figure 8 This is an expanded view of the charging device of the present invention in the charging state.

[0047] In the figure: 1. Frame; 2. Telescopic assembly No. 1; 201. Piston cylinder; 202. Piston rod; 3. Buffer assembly; 301. Moving plate; 302. Pull rope No. 1; 303. Spring shock absorber No. 1; 304. Shock-absorbing spring pad; 305. Connecting rope; 4. Limiting device; 401. Cylinder No. 1; 402. Cylinder No. 2; 403. Storage cylinder; 404. Placement cylinder; 405. Limiting member; 406. Gear condition; 407. Threaded rod; 408. Gear member; 5. Charging device; 501. Shielding plate; 502. Turbine blade power generation device; 503. Filter plate; 504. Partition plate; 6. Clutch device; 601. Two-way clutch assembly; 602. Contact plate No. 1; 603. Contact plate No. 2; 7. Propeller shaft. DETAILED DESCRIPTION

[0048] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making creative efforts are within the scope of protection of the present invention.

[0049] like Figures 1-8 As shown, the present invention provides a technical solution: a low-power deep-sea unmanned exploration submersible based on satellite communication, the submersible comprising: a frame 1, a propeller shaft 7 rotatably connected to the interior of the frame 1, a power device for providing power to the propeller shaft 7 installed inside the frame 1, and a clutch device 6 for transmitting power installed between the output end of the power device and the propeller shaft 7;

[0050] A positioning device for limiting the position of the submersible in the deep sea is installed inside the frame 1;

[0051] A charging device 5 for charging the submersible through deep ocean currents is installed inside the frame 1;

[0052] The positioning device includes a first telescopic assembly 2, which is installed inside the frame 1. The telescopic end of the first telescopic assembly 2 is fixedly connected to a buffer assembly 3, and the moving end of the buffer assembly 3 is fixedly connected to a limiting device 4 for limiting the moving speed of the submersible;

[0053] The limiting device 4 includes a storage tube 403, which is installed at the bottom end of the buffer assembly 3. A limiting member 405 is slidably connected to the interior of the storage tube 403, and a transmission assembly is installed between the limiting member 405 and the storage tube 403;

[0054] The transmission assembly includes a gear condition 406, the outer wall of the gear condition 406 is slidably connected to the inside of the storage tube 403, the inside of the storage tube 403 is rotatably connected to the placement tube 404, the inner wall of the limiting member 405 is threadedly connected to a threaded rod 407, one end of the threaded rod 407 is fixed to the inside of the placement tube 404, and one end of the placement tube 404 is fixedly connected to a gear part 408 for meshing with the teeth on the gear condition 406.

[0055] The charging device 5 includes: a shielding plate 501, one side of the shielding plate 501 is rotatably connected to the interior of the frame 1;

[0056] The turbine blade power generation device 502 is fixedly installed inside the frame 1;

[0057] Filter plate 503, filter plate 503 is fixedly mounted on the water inlet end of turbine blade power generation device 502;

[0058] The partition plate 504 is used to cooperate with the shielding plate 501 to form an isolated space. The partition plate 504 is fixedly installed on both sides of the frame 1. The interior of the partition plate 504 is fixedly connected to a pump body for realizing communication between the isolated space and the outside world.

[0059] The No. 1 telescopic component 2 includes a piston cylinder 201, which is fixedly installed inside the frame 1. The interior of the piston cylinder 201 is movably connected to a piston rod 202, and the bottom end of the piston rod 202 is fixed to the top end of the buffer component 3.

[0060] The clutch device 6 includes a two-way clutch assembly 601, which is installed at one end of the propeller shaft 7. The output end of the power device is fixedly connected to a contact disk No. 1 602 for contacting one side of the two-way clutch assembly 601 and realizing transmission. The interior of the frame 1 is fixedly connected to a contact disk No. 2 603 for contacting the other side of the two-way clutch assembly 601 and realizing transmission. One side of the contact disk No. 2 603 is fixed to the power input end of the energy storage device.

[0061] The buffer assembly 3 includes a movable disk 301, the outer wall of the movable disk 301 is slidably connected to the inner wall of the piston cylinder 201, the interior of the movable disk 301 is fixedly connected to a pull rope No. 1 302, one end of the pull rope No. 1 302 is fixed to the top of the gear condition 406, a shock-absorbing spring pad 304 is fixedly connected to one side of the movable disk 301, and a spring shock-absorbing damper No. 1 303 is fixedly connected between the gear condition 406 and the storage tube 403.

[0062] The buffer assembly 3 includes a connecting rope 305, the top end of the connecting rope 305 is fixed to the bottom end of the piston rod 202, and the inner wall of the connecting rope 305 is slidably connected to the outer wall of the first pull rope 302;

[0063] The limiting device 4 also includes a horn 401, one end of which is fixed to the inside of the storage tube 403, the inner wall of the horn 401 is rotatably connected to the outer wall of the placement tube 404, the interior of the storage tube 403 is fixedly connected to the second horn 402, and the outer wall of the second horn 402 is rotatably connected to the inner wall of the gear part 408.

[0064] The low-power deep-sea exploration method based on satellite communication adopts the low-power deep-sea unmanned exploration submersible based on satellite communication, and is characterized in that the exploration method includes:

[0065] The unmanned exploration submersible realizes real-time communication with the control terminal based on satellite communication;

[0066] Establish a basic movement path based on the target area;

[0067] The control terminal obtains water flow data of the target area in real time;

[0068] The basic moving path is adjusted in real time by using the adjustment method and combining with the water flow data to obtain the real-time moving path;

[0069] Determine whether to adjust the basic moving path based on the water flow data through the judgment method, and if so, use the adjustment method to obtain the real-time moving path;

[0070] The judgment method includes: obtaining the maximum navigation speed, the limited cruising detection speed, the maximum turning radius, and the maximum elevation and depression angles of the unmanned detection submersible, and analyzing the real-time water flow data to obtain the real-time water flow direction, real-time water flow speed, and water flow area;

[0071] The real-time water flow direction, real-time water flow speed and basic movement path establish a space vector, and the space vector is adjusted by adjusting the direction and speed of the unmanned exploration submersible. Based on the comparison between the maximum navigation speed of the unmanned exploration submersible and the space vector, it is determined whether the unmanned exploration submersible can move according to the basic movement path;

[0072] The adjustment method includes: establishing a mathematical simulation model to obtain the effective detection distance of the unmanned detection underwater vehicle, inputting the basic movement path, real-time water flow direction and real-time water flow speed into the mathematical simulation model to obtain the real-time movement path;

[0073] The real-time movement path is transmitted to the unmanned detection submersible via satellite communication. The unmanned detection submersible moves within the target area according to the real-time movement path and detects the target area during the movement.

[0074] Adjust the operating parameters of the internal power unit of the unmanned exploration submarine based on the real-time movement path;

[0075] Establish charging conditions based on a mathematical simulation model and enable the charging method when the charging conditions are met;

[0076] The charging conditions include: whether the first angle between the basic moving path and the ocean current vector is less than 30 degrees, and whether the ocean current vector combined with the first angle acting on the turbine blade power generation device 502 can meet the power generation demand;

[0077] The charging method includes: limiting the position of the unmanned exploration submersible through a positioning device, based on achieving contact between the limiting device 4 and the deep sea bottom, the limiting device 4 increases the movement resistance of the unmanned exploration submersible, unfolding the shielding plate 501, and the water flow passes through the turbine blade power generation device 502 to charge the unmanned exploration submersible.

[0078] Since it is sailing in the deep sea, in order to reduce the impact of solid matter from the deep sea on the turbine blade power generation device, a filter plate 503 is provided to reduce the impact of solid matter on the turbine blades. When following the ocean current, the charging device 5 will be turned on to charge the unmanned detection submarine.

[0079] Based on satellite communication, the real-time detection of the position of the unmanned detection submersible can be achieved. The cruise detection limit speed refers to the moving speed of the unmanned detection submersible when performing detection operations, that is, the detection of the unmanned detection submersible can be achieved at this speed. The cruise detection limit speed is a speed range, and this speed refers to the relative speed of the unmanned detection submersible relative to the deep seabed. When moving along the ocean current, the ocean current may cause the speed of the unmanned detection submersible to exceed the range of the cruise detection limit speed. At this time, the unmanned detection submersible needs to be decelerated. Therefore, the limiting device 4 is used to realize the control of the unmanned detection submersible. To decelerate the unmanned exploration submersible, the telescopic end of the No. 1 telescopic assembly 2 moves, pushing the piston rod 202 in the piston cylinder 201 through the sea water map, so that the buffer assembly 3 and the limiting device 4 move, thereby making the limiting device 4 come into contact with the seabed surface, thereby increasing the friction between the unmanned exploration submersible and the seabed surface, thereby achieving deceleration. The frictional movement will generate vibration and combined with the unevenness of the seabed surface, the vibration transmitted to the unmanned exploration submersible by the limiting device 4 can be reduced by the shock-absorbing spring pad 304, the No. 1 spring shock-absorbing damper 303 and the No. 1 pull rope 302, and the connecting rope 305 can also reduce shock.

[0080] like Figure 6 and Figure 7As shown, the speed limit of the unmanned detection submersible position can be achieved by the limiting device 4 at the same time. The limiting member 405 contacts the seabed, and the transmission device in the storage cylinder 403 causes the limiting member 405 to move out of the storage cylinder 403. During the pushing process, since the storage cylinder 403 and the limiting member 405 are in sliding connection, the limiting member 405 is affected by the rotation and moves, and seawater is poured into the piston cylinder 201, so that the moving disk 301 and the piston rod 202 move synchronously, thereby realizing the contact between the limiting device 4 and the seabed, and then the area between the moving disk 301 and the piston rod 202 is poured with seawater, so that the area between the moving disk 301 and the piston rod 202 is The gap between them becomes larger, the connecting rope 305 and the No. 1 pull rope 302 move relative to each other, the No. 1 pull rope 302 applies force to the gear condition 406 and the No. 1 spring shock absorber 303, the gear condition 406 moves, and through the transmission of the gear condition 406, the gear part 408, the placement tube 404 and the threaded rod 407, the threaded rod 407 and the limiting part 405 are threadedly connected, and the limiting part 405 and the storage tube 403 are slidingly connected, so that the limiting part 405 extends out of the storage tube 403, thereby achieving further contact with the seabed surface, achieving deceleration or even fixation, and when the position of the unmanned detection submersible is relatively fixed, combined with the ocean current, the charging effect is guaranteed.

[0081] When the limiting device 4 is used to limit the submersible in the deep sea, the ocean current will affect the submersible. Therefore, a buffer assembly 3 is set on the limiting device 4 to absorb vibration. The two-way clutch assembly 601 is a prior art. The propeller shaft 7 and the power input end of the two-way clutch assembly 601 are fixed. The No. 1 telescopic member inside the two-way clutch assembly 601 is used to control the movement of the power output end of the two-way clutch assembly 601, so that the power output end of the two-way clutch assembly 601 can achieve contact with the No. 1 contact disk 602 and the No. 2 contact disk 603 and transmit power. A device for realizing power transmission is installed between the power input end of the two-way clutch assembly 601 and the power output end of the two-way clutch assembly 601.

[0082] The power output end of the two-way clutch assembly 601 is controlled by the No. 1 telescopic member to move to realize contact transmission between it and the No. 1 contact disk 602. The output end of the power device rotates through the transmission of the two-way clutch assembly 601, thereby rotating the propeller shaft 7 and the propeller member to realize the movement of the unmanned detection submersible. The power output end of the two-way clutch assembly 601 is controlled by the No. 1 telescopic member to move to realize contact transmission between it and the No. 2 contact disk 603. The propeller shaft 7 is driven by the two-way clutch assembly 601 to rotate the power input end of the energy storage device, thereby causing the energy storage device to store electricity. Since the propeller member mainly realizes the movement of the submersible in the water, the power generation effect of the propeller member is actually not ideal, so it is necessary to realize the relative fixation of the position of the unmanned detection submersible.

[0083] Compared with moving with the ocean current and charging during the movement, the effect of fixing the position of the submersible through the restriction device 4 and then charging is better. When the position of the submersible is fixed, the relative speed between the ocean current and the submersible will be greater, so the force exerted on the turbine blade power generation device 502 will be greater.

[0084] During the movement detection, a rotating device for controlling the rotation of the shielding plate 501 is installed inside the frame 1. An isolated space is established by the shielding plate 501 and the partition plate 504. The use of the filter plate 503 reduces the possibility of solids entering the turbine blade power generation device 502. The seawater inside the isolated space can be pumped out by the pump body, thereby changing the overall seal of the submersible, thereby assisting the submersible to rise and dive. When the shielding plate 501 is rotated, the pump body is first used to make seawater exist on both the inside and outside of the shielding plate 501, thereby reducing the rotation of the shielding plate 501. The shielding plate 501 is driven to move by the power component inside the frame 1. When the shielding plate 501 is unfolded, the resistance of the unmanned detection submersible during movement is increased, so that the ocean current can charge the submersible through the turbine blade power generation device 502. After charging is completed, the shielding plate 501 is rotated to seal the turbine blade power generation device 502. At this time, the seawater inside the shielding plate 501 is isolated from the outside world, and the seawater inside the isolated space can be pumped out by the pump body, thereby changing the overall sealing of the unmanned detection submersible.

[0085] The speed of the ocean current is compared with the maximum moving speed of the unmanned detection submersible, but the maximum moving speed of the unmanned detection submersible is much greater than the speed of the ocean current. However, in order to achieve the purpose of low power consumption, the unmanned detection submersible will try not to face the ocean current head-on. When following the ocean current, the energy storage device can be activated. The ocean current provides power to the unmanned detection submersible through the energy storage device. At the same time, the energy storage device is turned on, thereby increasing the contact area between the ocean current and the unmanned detection submersible.

[0086] By setting up the limiting device 4 and the charging device 5, the unmanned detection submersible can be continuously charged by the ocean current when it moves along the ocean current and meets the moving speed required for detection by activating the charging device 5. The limiting device 4 is used to achieve contact with the seabed, thereby increasing the relative speed between the ocean current and the unmanned detection submersible, thereby making the water flow speed entering the turbine blade power generation device 502 greater, thereby ensuring the power generation effect of the turbine blade power generation device 502. At the same time, the design of the submersible focuses on low power consumption strategies. By optimizing the power system and the charging device 5, the submersible can perform long-term autonomous operations in a deep-sea environment. The submersible is equipped with a device for charging through deep-sea currents, and an intelligent control system that can use the speed and direction of the ocean current to adjust the moving path to reduce energy consumption. This design enables the submersible to continue deep-sea exploration, effectively reducing exploration costs and improving operating efficiency.

[0087] The mathematical simulation model is a model that performs real-time calculations based on data. There is existing technology that can calculate the real-time movement path by inputting data into the mathematical simulation model. Based on the real-time movement path, high-resistance river basins can be avoided, energy consumption can be reduced, and charging can be enabled when moving along the ocean current in combination with charging conditions.

[0088] During detection, the unmanned detection submersible is dropped into the sea by a ship. A hook is provided on the frame 1, which can be used to move the unmanned detection submersible. At the same time, during recovery, the unmanned detection submersible can be made to float to the sea surface, and then the unmanned detection submersible can be recovered by the hook. The unmanned detection submersible can adjust its overall density. For example, the submersible is usually equipped with a ballast water tank, and the buoyancy is adjusted by filling or draining water into the water tank. When diving, the water tank is filled with water to increase the weight of the submersible, making its buoyancy less than gravity, thereby achieving diving. When rising, the water in the water tank is discharged to reduce the weight, making the buoyancy greater than gravity, thereby achieving the diving and ascent of the unmanned detection submersible.

[0089] The unmanned detection submersible dives to the target location to be detected, and the continuous detection of the deep seabed is achieved through the detectors inside the unmanned detection submersible. The detection of the deep seabed is achieved through the detection devices and radar and other devices inside the unmanned detection submersible, and the propeller of the unmanned detection submersible can be used to move the unmanned detection submersible.

[0090] The unmanned detection submersible can communicate with the control terminal through satellite communication. The control terminal can obtain the overall water flow data of the target area through external settings. The unmanned detection submersible can only detect the water flow data of the area where it is located and a small part of the surrounding area.

[0091] Through the water flow data of the target area, the moving path of the unmanned detection submersible can be changed through satellite communication, and the water flow data can be obtained. The water flow data includes the direction and speed of the water flow. Combined with the initial moving path of the unmanned detection submersible, the initial moving path is adjusted. Since the water flow data is real-time data, the initial moving path is adjusted in real time based on the real-time water flow data, thereby achieving the purpose of low energy consumption. Through satellite communication technology, real-time communication and position tracking of deep-sea unmanned detection submersibles are successfully realized, and real-time adjustment of the moving path is achieved by combining satellite communication technology. In combination with the ocean current data of the target area, the working state of the unmanned detection submersible is adjusted to reduce the high energy consumption of the unmanned detection submersible during movement, thereby achieving the charging effect of the unmanned detection submersible through the ocean current during movement, ensuring the long endurance of the unmanned detection submersible.

[0092] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is limited by the accompanying embodiments and their equivalents.

Claims

1. A low-power deep-sea unmanned exploration submersible based on satellite communication, characterized by: The submersible comprises: a frame (1), the interior of the frame (1) being rotatably connected to a propeller shaft (7), a power device for providing power to the propeller shaft (7) being installed inside the frame (1), and a clutch device (6) for transmitting power being installed between an output end of the power device and the propeller shaft (7); A positioning device for limiting the position of the submersible in the deep sea is installed inside the frame (1); A charging device (5) for charging the submersible via deep ocean currents is installed inside the frame (1); The positioning device comprises a first telescopic assembly (2), the first telescopic assembly (2) being mounted inside the frame (1), the telescopic end of the first telescopic assembly (2) being fixedly connected to a buffer assembly (3), and the moving end of the buffer assembly (3) being fixedly connected to a limiting device (4) for limiting the moving speed of the submersible; The limiting device (4) comprises a storage cylinder (403), the storage cylinder (403) is mounted at the bottom end of the buffer assembly (3), a limiting member (405) is slidably connected inside the storage cylinder (403), and a transmission assembly is mounted between the limiting member (405) and the storage cylinder (403); The transmission assembly includes a gear condition (406), the outer wall of the gear condition (406) is slidably connected to the interior of the storage cylinder (403), the interior of the storage cylinder (403) is rotatably connected to the placement cylinder (404), the inner wall of the limiting member (405) is threadedly connected to a threaded rod (407), one end of the threaded rod (407) is fixed to the interior of the placement cylinder (404), and one end of the placement cylinder (404) is fixedly connected to a gear member (408) for meshing with the teeth on the gear condition (406); The first telescopic assembly (2) includes a piston cylinder (201), the piston cylinder (201) is fixedly mounted inside the frame (1), the piston cylinder (201) is movably connected to a piston rod (202) inside, and the bottom end of the piston rod (202) is fixed to the top end of the buffer assembly (3); The buffer assembly (3) includes a movable disk (301), the outer wall of the movable disk (301) and the inner wall of the piston cylinder (201) are slidably connected, the interior of the movable disk (301) is fixedly connected to a No. 1 pull rope (302), one end of the No. 1 pull rope (302) is fixed to the top end of the gear condition (406), a shock-absorbing spring pad (304) is fixedly connected to one side of the movable disk (301), and a No. 1 spring shock-absorbing damper (303) is fixedly connected between the gear condition (406) and the storage cylinder (403); The buffer assembly (3) includes a connecting rope (305), the top end of the connecting rope (305) is fixed to the bottom end of the piston rod (202), and the inner wall of the connecting rope (305) is slidably connected to the outer wall of the first pull rope (302); The limiting device (4) further comprises a trumpet (401), one end of which is fixed to the interior of a receiving cylinder (403), an inner wall of which is rotatably connected to an outer wall of a placement cylinder (404), a second trumpet (402) being fixedly connected to the interior of the receiving cylinder (403), and an outer wall of which is rotatably connected to an inner wall of a gear member (408).

2. The low-power consumption deep-sea unmanned exploration submersible based on satellite communication according to claim 1, characterized in that: The charging device (5) comprises: a shielding plate (501), one side of the shielding plate (501) being rotatably connected to the interior of the frame (1); A turbine blade power generation device (502), the turbine blade power generation device (502) is fixedly installed inside the frame (1); A filter plate (503), the filter plate (503) is fixedly mounted on the water inlet end of the turbine blade power generation device (502); A partition plate (504) is used to cooperate with the shielding plate (501) to form an isolated space. The partition plate (504) is fixedly installed on both sides of the frame (1). The interior of the partition plate (504) is fixedly connected to a pump body for realizing communication between the isolated space and the outside world.

3. The low-power consumption deep-sea unmanned exploration submersible based on satellite communication according to claim 1, characterized in that: The clutch device (6) comprises a bidirectional clutch assembly (601), the bidirectional clutch assembly (601) being mounted on one end of a propeller shaft (7), the output end of the power device being fixedly connected to a first contact disc (602) for contacting one side of the bidirectional clutch assembly (601) and achieving transmission, the interior of the frame (1) being fixedly connected to a second contact disc (603) for contacting the other side of the bidirectional clutch assembly (601) and achieving transmission, and one side of the second contact disc (603) being fixed to a power input end of the energy storage device.

4. A low-power deep-sea exploration method based on satellite communication, which uses the low-power deep-sea unmanned exploration submersible based on satellite communication according to any one of claims 1 to 3, characterized in that: The detection method comprises: The unmanned exploration submersible realizes real-time communication with the control terminal based on satellite communication; Establish a basic movement path based on the target area; The control terminal obtains water flow data of the target area in real time; The basic moving path is adjusted in real time by using the adjustment method and combining with the water flow data to obtain the real-time moving path; Determine whether to adjust the basic moving path based on the water flow data through the judgment method, and if so, use the adjustment method to obtain the real-time moving path; The determination method includes: obtaining the maximum navigation speed, the limited cruising detection speed, the maximum turning radius, and the maximum elevation and depression angles of the unmanned detection submersible, and analyzing the real-time water flow data to obtain the real-time water flow direction, real-time water flow speed, and water flow area; The real-time water flow direction, real-time water flow speed and basic movement path establish a space vector, and the space vector is adjusted by adjusting the direction and speed of the unmanned exploration submersible. Based on the comparison between the maximum navigation speed of the unmanned exploration submersible and the space vector, it is determined whether the unmanned exploration submersible can move according to the basic movement path; The adjustment method includes: establishing a mathematical simulation model to obtain the effective detection distance of the unmanned detection underwater vehicle, inputting the basic movement path, real-time water flow direction and real-time water flow speed into the mathematical simulation model to obtain the real-time movement path; The real-time movement path is transmitted to the unmanned detection submersible via satellite communication. The unmanned detection submersible moves within the target area according to the real-time movement path and detects the target area during the movement. Adjust the operating parameters of the internal power unit of the unmanned exploration submarine based on the real-time movement path; Establish charging conditions based on a mathematical simulation model and enable the charging method when the charging conditions are met; The charging device (5) comprises: a shielding plate (501), one side of the shielding plate (501) being rotatably connected to the interior of the frame (1); A turbine blade power generation device (502), the turbine blade power generation device (502) is fixedly installed inside the frame (1); The charging conditions include: whether the first angle between the basic moving path and the ocean current vector is less than 30 degrees, and whether the ocean current vector combined with the first angle acting on the turbine blade power generation device (502) can meet the power generation demand; The charging method comprises: limiting the position of the unmanned exploration submersible by using a positioning device; based on achieving contact between the limiting device (4) and the deep sea bottom, the limiting device (4) increases the movement resistance of the unmanned exploration submersible, unfolds the shielding plate (501), and the water flows through the turbine blade power generation device (502) to charge the unmanned exploration submersible.

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