Underwater unmanned vehicle floating state compensation device and compensation method

Abstract

The invention provides a floating state compensation device and method for an underwater unmanned vehicle, and belongs to the technical field of underwater unmanned vehicles. The floating state compensation device comprises an air bag assembly, a compensation control cabin, a high-pressure air cylinder and an air pressure pipeline; the high-pressure gas cylinders are connected with the compensation control cabin through gas pressure pipelines, and the compensation control cabin is connected with the two gas bag assemblies through gas pressure pipelines. The air bag assembly comprises an air bag protection shell, N water permeable holes are formed in the air bag protection shell, and an air bag is arranged in the air bag protection shell; after the floating state compensation device receives a floating state compensation instruction, the compensation control cabin is converted into an exhaust state from a normally-closed state, so that gas in the air bag is quickly exhausted into the high-pressure gas cylinder through the air pressure pipeline, and quick floating state compensation is performed on the lost negative buoyancy after the load of the unmanned underwater vehicle is released. The floating state compensation device for the unmanned underwater vehicle has the advantages of being compact in overall structure, low in device self weight, good in stability control, capable of being repeatedly used, high in adaptability and the like.

Description

Technical Field

[0001] The present invention belongs to the technical field of underwater unmanned vehicles, and in particular relates to a buoyancy compensation device and a compensation method for underwater unmanned vehicles. Background Art

[0002] The exploration and development of marine resources have made underwater unmanned vehicles an ideal platform for carrying various functional payloads. With the uninterrupted and normalized work needs such as marine ecological environment monitoring and marine situation collection, new requirements have been put forward for the platform carrying function of underwater unmanned vehicles. In order to meet the needs of normalized work, each functional payload has an independent system to maintain its long-term residence on the seabed. At the same time, the underwater unmanned vehicle as a functional payload carrying platform should also have the ability to deliver payloads. Moreover, since the functional payload needs to meet the requirements of being deployed on the seabed and its own design is a large negative buoyancy, the underwater unmanned vehicle also needs to have the ability to compensate for the buoyancy of the underwater unmanned vehicle after delivery.

[0003] Since underwater unmanned vehicles have the problem of changing their buoyancy after dropping negative buoyancy functional payloads and rapidly floating up, making it impossible for the underwater unmanned vehicles to continue subsequent operational tasks, the current solutions to this problem mainly include negative buoyancy compensation by water filling the pressure chamber and buoyancy compensation by discarding positive buoyancy ballast. However, these compensation methods have some disadvantages such as complex device structure, heavy weight, non-reusability and exposure of the underwater unmanned vehicle to the target. If the ratio of the dropped payload to the weight of the underwater unmanned vehicle increases, the above-mentioned buoyancy compensation methods will be difficult to cope with such problems. Summary of the Invention

[0004] The purpose of the present invention is to provide a buoyancy compensation device and compensation method for an underwater unmanned vehicle, which solves the buoyancy compensation problem of the negative buoyancy loss of the underwater unmanned vehicle after the existing negative buoyancy load is released.

[0005] The purpose of the present invention is achieved through the following technical solutions:

[0006] A buoyancy compensation device for an underwater unmanned vehicle, comprising: an airbag assembly, a compensation control cabin, a high-pressure gas cylinder, and an air pressure pipeline;

[0007] The high-pressure gas cylinders are connected to the compensation control cabin through pressure pipes, and the compensation control cabin is connected to the two airbag assemblies through pressure pipes;

[0008] The airbag assembly comprises an airbag protection shell, N water-permeable holes are provided on the airbag protection shell, and an airbag is arranged inside the airbag protection shell.

[0009] Furthermore, the compensation control cabin includes a compensation control cabin pressure shell, a valve group control unit is installed inside the compensation control cabin pressure shell, and the valve group control unit is connected to the air pump unit.

[0010] Furthermore, the air pressure pipeline connects the airbag, the compensation control cabin, and the high-pressure gas cylinder through a high-pressure gas circuit to form a high-pressure gas system of the underwater unmanned vehicle buoyancy compensation device.

[0011] Furthermore, the payload is installed at a lower middle position inside the underwater unmanned vehicle.

[0012] Furthermore, the two airbag assemblies are symmetrically installed on both sides of the load.

[0013] Furthermore, the compensation control cabin is located in a middle position above the payload to ensure the balance of the underwater vehicle.

[0014] Furthermore, the high-pressure gas cylinder is located directly above the compensation control cabin.

[0015] The present invention may also include:

[0016] A compensation method for the above-mentioned underwater unmanned vehicle buoyancy compensation device, the method comprising the following steps:

[0017] Step 1: When the underwater unmanned vehicle releases a functional payload and a negative buoyancy loss requires buoyancy compensation, the buoyancy compensation device receives a buoyancy compensation instruction, and the valve group control unit opens the air circuit and starts the air pump unit at the same time;

[0018] Step 2: The high-pressure gas passage is opened and the air pump unit is put into operation to quickly discharge the gas in the left and right airbags into the high-pressure gas cylinder until the airbags change from the expanded state to the contracted state;

[0019] Step 3: The valve group control unit closes the air circuit and turns off the air pump unit.

[0020] Furthermore, when the buoyancy compensation instruction is activated, the valve group control unit opens the air circuit and starts the air pump unit to discharge the gas in the airbag into the high-pressure gas cylinder through the air pressure pipeline, thereby completing the equal buoyancy compensation of the negative buoyancy after the underwater unmanned vehicle releases the functional payload.

[0021] The beneficial effects of the present invention are:

[0022] The underwater unmanned vehicle buoyancy compensation device of the present invention realizes the function of buoyancy compensation in the case of negative buoyancy loss after the underwater unmanned vehicle releases a negative buoyancy load, and also greatly reduces the layout space and structural deadweight of the underwater unmanned vehicle buoyancy compensation device, improves the reliability, economy and concealment of the underwater unmanned vehicle buoyancy compensation function, and meets the requirements of rapidity and stability of the buoyancy compensation work in the case of negative buoyancy loss after the underwater unmanned vehicle releases a negative buoyancy load.

[0023] The buoyancy compensation device for the unmanned vehicle of the present invention has a compact structure and good adaptability; the design of using airbag exhaust to provide lost negative buoyancy for buoyancy compensation is reusable; it meets the requirements of underwater unmanned vehicles for low dead weight of the buoyancy compensation device; during buoyancy compensation, the airbag gas is discharged into the high-pressure gas cylinder to meet the concealment requirements of the underwater unmanned vehicle under special circumstances.

[0024] The present invention realizes the rapid response capability of the underwater unmanned vehicle's buoyancy compensation function, the ability to control the stable posture, and the ability of the vehicle to continue the mission instructions underwater after the functional payload is delivered. In particular, the buoyancy compensation function of the present invention has more advantages when the delivered payload and the weight of the underwater unmanned vehicle account for a large proportion.

[0025] The present invention performs adaptive design of the buoyancy compensation device based on constraints such as the compensation amount required after the load is released, the outfitting space, and the envelope surface. In particular, the airbag components can be designed to have a common envelope, which reduces the difficulty of outfitting the buoyancy compensation device and improves the envelope volume utilization rate of the underwater unmanned vehicle.

[0026] The airbag of the present invention can be inflated again to perform tasks after the underwater unmanned vehicle buoyancy compensation is completed, which greatly reduces the use cost of the underwater unmanned vehicle buoyancy compensation and greatly improves the economy of the underwater unmanned vehicle deployment task. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Attachment Figure 1 It is a structural schematic diagram of the present invention;

[0028] Attachment Figure 2 is a cross-sectional view of the airbag assembly of the present invention before exhaust;

[0029] Attachment Figure 3 It is attached Figure 2 A partial enlarged view of middle A;

[0030] Attachment Figure 4 is a schematic diagram of the airbag assembly of the present invention after exhaust;

[0031] Attachment Figure 5 It is a structural schematic diagram of the compensation control cabin of the present invention.

[0032] In the attached figure: 1. Airbag assembly; 2. Compensation control cabin; 3. High-pressure gas cylinder; 4. Air pressure pipeline; 1-1. Airbag protective shell; 1-2. Airbag; 2-1. Compensation control cabin pressure shell; 2-2. Valve group control unit; 2-3. Air pump unit. DETAILED DESCRIPTION

[0033] The present invention will be further described below with reference to the accompanying drawings.

[0034] The present invention provides a buoyancy compensation device for underwater unmanned vehicles, as shown in the attached Figure 1-5As shown, it includes: an airbag assembly 1, a compensation control cabin 2, a high-pressure gas cylinder 3, and an air pressure pipeline 4;

[0035] The high-pressure gas cylinders 3 are connected to the compensation control cabin 2 through pressure pipes, and the compensation control cabin 2 is connected to the two airbag assemblies 1 through pressure pipes;

[0036] As attached Figure 2 As shown, the load is installed in the middle position below the interior of the underwater unmanned vehicle; the two airbag assemblies 1 are symmetrically installed on both sides of the load to ensure the stability of the center of gravity of the underwater unmanned vehicle after buoyancy compensation; the compensation control cabin 2 is located in the middle position above the load to ensure the balance of the underwater vehicle; the high-pressure gas cylinder is located directly above the compensation control cabin 2.

[0037] The airbag assemblies are provided on both sides of the dropped load, and the center of gravity of the airbag assemblies on the left and right sides coincides with the center of gravity of the load, ensuring that the center of gravity of the underwater unmanned vehicle is stable after the buoyancy compensation is completed after the load is dropped. This not only provides the underwater unmanned vehicle with the ability to compensate for the buoyancy after the load is dropped, but also maintains the stability of the center of gravity of the underwater unmanned vehicle after drop.

[0038] As attached Figure 2-4 As shown, the airbag assembly consists of an airbag protective shell 1-1 and an airbag 1-2; the airbag protective shell 1-1 has an airbag 1-2 inside, wherein the airbag protective shell 1-1 is provided with a large number of water-permeable holes in all directions, providing a water replenishment channel when the airbag 1-2 is exhausted to compensate for the negative buoyancy, and at the same time, this shell provides outfitting space and protection for the airbag 1-2; the airbag 1-2 is exhausted from the expanded state to the high-pressure gas cylinder 3 and then changes to the contracted state, thereby realizing equal compensation for the negative buoyancy loss after the negative buoyancy load of the underwater unmanned vehicle is released.

[0039] As attached Figure 5 As shown, the compensation control cabin 2 includes a compensation control cabin pressure hull 2-1, within which is mounted a valve control unit 2-2 connected to an air pump unit 2-3. The compensation control cabin changes state via the internal valve control according to commands from the underwater unmanned vehicle. To complete the actions commanded by the underwater unmanned vehicle, the cabin switches between a normally closed state, an exhaust state, and an inflated state, depending on functional requirements.

[0040] The pressure-resistant shell 2-1 of the compensation control cabin provides outfitting space and pressure protection for the equipment inside the cabin; the valve group control unit 2-2 controls the opening and closing of the air pressure pipeline 4 according to the instructions of the underwater unmanned vehicle platform and controls whether the air pump unit 2-3 works as required; the air pump unit 2-3 can discharge the gas in the airbag 1-2 into the high-pressure gas cylinder 3 when it works.

[0041] In this embodiment, the air pressure pipeline 4 connects the airbags 1-2, the compensation control cabin 2, and the high-pressure gas cylinder 3 through a high-pressure gas circuit to form a high-pressure gas system of the underwater unmanned vehicle floating compensation device.

[0042] In this embodiment, when the underwater unmanned vehicle needs buoyancy compensation after releasing the negative buoyancy load, the buoyancy compensation device receives the buoyancy compensation instruction, and the normally closed compensation control cabin changes to the exhaust state and starts the air pump in the cabin to quickly discharge the gas in the airbag into the high-pressure gas cylinder through the air pressure pipeline, as shown in the attached figure. Figure 4 As shown, the airbag is quickly discharged from the expanded state to the contracted state, and the positive buoyancy is lost to compensate for the buoyancy of the underwater unmanned vehicle after the negative buoyancy load is released. The equal amount of negative buoyancy lost during the release is provided for the buoyancy compensation of the underwater unmanned vehicle, ensuring the stability of the center of gravity of the underwater unmanned vehicle after the negative buoyancy load is released, and completing the buoyancy compensation of the underwater unmanned vehicle quickly and smoothly.

[0043] This embodiment also includes:

[0044] A compensation method for the above-mentioned underwater unmanned vehicle buoyancy compensation device, the method comprising the following steps:

[0045] Step 1: When the underwater unmanned vehicle releases a functional payload and the negative buoyancy loss requires buoyancy compensation, the buoyancy compensation device receives a buoyancy compensation instruction, and the valve group control unit 2-2 opens the air circuit and simultaneously starts the air pump unit 2-3;

[0046] Step 2: The high-pressure gas passage is opened and the air pump unit 2-3 is put into operation to quickly discharge the gas in the left and right airbags 1-2 into the high-pressure gas cylinder 3 until the airbags 1-2 change from the expanded state to the contracted state;

[0047] Step 3: The valve group control unit 2-2 closes the air circuit and turns off the air pump unit 2-3.

[0048] Furthermore, when the buoyancy compensation instruction is activated, the valve group control unit 2-2 opens the air circuit and starts the air pump unit 2-3 to discharge the gas in the airbag 1-2 into the high-pressure gas cylinder 3 through the air pressure pipeline 4, thereby completing the equal buoyancy compensation of the negative buoyancy after the underwater unmanned vehicle releases the functional payload.

[0049] The outfitting implementation process of the underwater unmanned vehicle platform of the underwater unmanned vehicle buoyancy compensation device of the present invention is as follows:

[0050] like Figure 3 As shown, the airbag assembly 1 of the deflated airbag 1-2 is outfitted and fixed according to the airbag assembly assembly design requirements to ensure that the overall center of gravity of the airbag assemblies on the left and right sides coincides with the center of gravity of the delivered load; Figure 1As shown, the compensation control cabin 2 and the high-pressure gas cylinder 3 are successively outfitted and fixed according to their assembly design requirements; finally, the various pipelines of the air pressure pipeline 4 are respectively connected with the airbags 1-2, the compensation control cabin 2, and the high-pressure gas cylinder 3 according to their assembly design requirements to complete the construction of the high-pressure gas circuit of the floating compensation device; the valve group control unit 2-2 changes the state of the compensation control cabin from the normally closed state to the inflated state according to the airbag inflation instruction issued by the vehicle platform, and the pipelines between the high-pressure gas cylinder 3 and the left and right airbags 1-2 are connected so that the gas in the bottle enters the left and right airbags 1-2 for inflation, and the inflation of the airbags is completed when the left and right airbags 1-2 are completely changed from the contracted state to the expanded state; at this point, all the outfitting work of the floating compensation device of the underwater unmanned vehicle is completed.

[0051] The specific implementation process of the buoyancy compensation device for underwater unmanned vehicles of the present invention is as follows:

[0052] When the underwater unmanned vehicle needs to compensate for the negative buoyancy loss after releasing the functional payload, after the buoyancy compensation device receives the buoyancy compensation instruction issued by the underwater unmanned vehicle platform, the compensation control cabin 2 changes from the normally closed state to the exhaust state and starts the air pump unit 2-3 to quickly discharge the gas in the air bags 1-2 on the left and right sides into the high-pressure gas cylinder 3 through the air pressure pipeline. At the same time, the air bags 1-2 that are quickly discharged change from the dilated state to the contracted state and lose positive buoyancy, thereby performing buoyancy compensation of equal amount of negative buoyancy for the negative buoyancy loss after the underwater unmanned vehicle releases the functional payload, ensuring the stability of the center of gravity of the underwater unmanned vehicle after the negative buoyancy load is released; the compensation control cabin 2 changes from the exhaust state to the normally closed state and turns off the air pump unit 2-3; at this point, the buoyancy compensation device quickly and smoothly completes the buoyancy compensation work of the underwater unmanned vehicle.

[0053] The underwater unmanned vehicle buoyancy compensation device of the present invention adopts a design of providing negative buoyancy buoyancy compensation by exhausting airbags. The device has a compact structure and low deadweight, and maximizes the load carrying efficiency of the underwater unmanned vehicle while meeting the buoyancy compensation function of the underwater unmanned vehicle. When the underwater unmanned vehicle buoyancy compensation device performs buoyancy compensation, the gas in the airbags 1-2 is discharged into the high-pressure gas cylinder. This internal circulation and no material disposal design makes the underwater unmanned vehicle more concealed when dropping the load.

[0054] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A buoyancy compensation device for an underwater unmanned vehicle, characterized in that: include: Airbag assembly (1), compensation control cabin (2), high-pressure gas cylinder (3), air pressure pipeline (4); The high-pressure gas cylinders (3) are connected to the compensation control cabin (2) through air pressure pipelines, and the compensation control cabin (2) is connected to the two airbag assemblies (1) through air pressure pipelines; The airbag assembly (1) comprises an airbag protection shell (1-1), N water-permeable holes are provided on the airbag protection shell (1-1), and an airbag (1-2) is arranged inside the airbag protection shell (1-1).

2. The underwater unmanned vehicle buoyancy compensation device according to claim 1, characterized in that: The compensation control cabin (2) comprises a compensation control cabin pressure shell (2-1), a valve group control unit (2-2) is installed inside the compensation control cabin pressure shell (2-1), and the valve group control unit (2-2) is connected to the air pump unit (2-3).

3. The underwater unmanned vehicle buoyancy compensation device according to claim 1 or 2, characterized in that: The air pressure pipeline (4) connects the airbags (1-2), the compensation control cabin (2), and the high-pressure gas cylinder (3) through a high-pressure gas circuit to form a high-pressure gas system of the underwater unmanned vehicle floating compensation device.

4. The underwater unmanned vehicle buoyancy compensation device according to claim 3, characterized in that: The payload is installed at a lower middle position inside the underwater unmanned vehicle.

5. The underwater unmanned vehicle buoyancy compensation device according to claim 4, characterized in that: The two airbag assemblies (1) are symmetrically mounted on both sides of the load.

6. The underwater unmanned vehicle buoyancy compensation device according to claim 5, characterized in that: The compensation control cabin (2) is located in a middle position above the load to ensure the balance of the underwater vehicle.

7. The underwater unmanned vehicle buoyancy compensation device according to claim 6, characterized in that: The high-pressure gas cylinder is located directly above the compensation control cabin (2).

8. A compensation method for the underwater unmanned vehicle buoyancy compensation device according to any one of claims 1 to 7, characterized in that: The method comprises the following steps: Step 1: When the underwater unmanned vehicle releases a functional payload and the negative buoyancy loss requires buoyancy compensation, the buoyancy compensation device receives a buoyancy compensation instruction, and the valve group control unit (2-2) opens the air circuit and simultaneously starts the air pump unit (2-3); Step 2: The high-pressure gas passage is opened and the air pump unit (2-3) is put into operation to quickly discharge the gas in the air bags (1-2) on the left and right sides into the high-pressure gas cylinder (3) until the air bags (1-2) change from a dilated state to a contracted state; Step 3: The valve group control unit (2-2) closes the air circuit and turns off the air pump unit (2-3).

9. The compensation method of the underwater unmanned vehicle buoyancy compensation device according to claim 8, characterized in that: When the buoyancy compensation instruction is activated, the valve group control unit (2-2) opens the air circuit and starts the air pump unit (2-3) to discharge the gas in the air bag (1-2) into the high-pressure gas cylinder (3) through the air pressure pipeline (4), thereby completing the equal buoyancy compensation of the negative buoyancy after the underwater unmanned vehicle releases the functional payload.

Images