Buoyancy adjusting device and buoyancy adjusting method for unmanned underwater vehicle

Abstract

The invention discloses a buoyancy adjusting device and method for an unmanned underwater vehicle, and relates to the technical field of unmanned underwater vehicles. In the prior art, an underwater vehicle buoyancy adjusting device is complex in structure and high in energy consumption, underwater operation airborne landing is narrow, and pipeline connection is difficult; meanwhile, under the shallow water environment, due to the influence of water surface waves, water flow and the like, the buoyancy adjusting efficiency is low, and limitation is high. The device comprises a pressure-resistant cabin, wherein the pressure-resistant cabin is divided into an electrical cabin and a water ballast cabin connected with the electrical cabin; a sea water pump, an integrated valve group and a control unit are arranged in the electrical cabin, the control unit controls the sea water pump to act, water is injected into or drained from the water ballast tank through the integrated valve group, the weight of the unmanned underwater vehicle is changed, and posture adjustment and suspension depth-keeping operation of the unmanned underwater vehicle during navigation are completed. The method is used for buoyancy adjustment of the unmanned underwater vehicle.

Description

Technical Field

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

[0002] Underwater vehicles (UVs) can carry a variety of sensors and mission modules. These autonomous underwater vehicles can perform a variety of tasks and are applicable in fields such as marine science, marine engineering, and underwater rescue. They can operate autonomously underwater for extended periods and be recovered. As a core component, the performance of the buoyancy control device directly impacts the UV's operational capabilities, such as speed, range, and operating depth. Because seawater density increases with depth, UVs typically need to adjust their buoyancy when diving or surfacing.

[0003] Existing underwater vehicles conducting deep-sea operations typically require buoyancy adjustment devices, which can be categorized as either adjustable ballast or variable volume. Adjustable ballast systems achieve this by either discarding ballast blocks or by absorbing or expelling seawater. The former is generally suitable for deep-sea exploration, where the vehicle's motion is difficult to change during descent and ascent. The latter is typically used on vehicles and other equipment, but due to device size and power limitations, it is generally difficult to apply to small AUVs and ROVs. Variable volume buoyancy adjustment systems primarily adjust their buoyancy by changing their volume. They typically utilize an externally mounted, deformable container, such as a bladder, which is inflated with air or oil to adjust its volume. The amount of air or oil added is accurately calculated by flow rate, making them suitable for use in small underwater equipment. However, these buoyancy adjustment devices suffer from a complex structure and high energy consumption, resulting in a narrow underwater landing area and difficult pipe connections. Furthermore, in shallow water, buoyancy adjustment efficiency is low due to the influence of surface waves and currents, leading to significant limitations. Summary of the Invention

[0004] The purpose of the present invention is to solve the problems of the existing technology such as the complex structure and high energy consumption of the underwater vehicle buoyancy adjustment device, the narrow underwater operation airspace, and the difficulty of pipeline connection, and thus provide an unmanned underwater vehicle buoyancy adjustment device and adjustment method.

[0005] The technical solution adopted by the present invention to solve the above-mentioned problems is: a buoyancy adjustment device for an unmanned underwater vehicle, including a pressure cabin, which is divided into an electrical cabin and a ballast water tank connected to the electrical cabin for buoyancy adjustment; a seawater pump, an integrated valve group and a control unit are arranged inside the electrical cabin, and the control unit controls the operation of the seawater pump and fills or drains water into or out of the ballast water tank through the integrated valve group, thereby changing the weight of the unmanned underwater vehicle and completing the attitude adjustment and suspension depth control of the unmanned underwater vehicle during navigation.

[0006] Furthermore, the seawater pump and the integrated valve group are connected via a connecting valve block, and a flow channel is provided in the connecting valve block.

[0007] Furthermore, the integrated valve group includes a stop valve group and a balancing valve, and the stop valve group includes a stop valve A, a stop valve B, a stop valve C, a stop valve D and an electromagnet; the outlet of the seawater pump is connected to the inlet of the balancing valve, and the suction port of the seawater pump is connected to the outlets of the stop valve A and the stop valve C; the electromagnet is arranged on the upper part of the stop valve A, the stop valve B, the stop valve C and the stop valve D to realize the opening and closing control function of the stop valve A, the stop valve B, the stop valve C and the stop valve D.

[0008] Furthermore, the stop valve group is provided with four interfaces, namely, a water tank port, a filter port, a solenoid valve inlet and a solenoid valve outlet.

[0009] Furthermore, the buoyancy regulating device further comprises a filter, which is disposed outside the electrical compartment and is connected to a filter port of the shut-off valve assembly.

[0010] Furthermore, a liquid level gauge is provided in the ballast water tank.

[0011] Furthermore, the exterior of the electrical compartment and the ballast water tank are both provided with mounting clamps for fixed installation on the aircraft.

[0012] Furthermore, the control unit includes a central control unit, a main controller and a motor driver; the central control unit and the main controller are electrically connected, and the motor driver and the digital IO module are electrically connected to the main controller respectively; the motor driver and the motor of the seawater pump are electrically connected; the digital IO module is electrically connected to the floating stop valve and the diving stop valve; the liquid level meter is electrically connected to the main controller.

[0013] Another technical solution adopted by the present invention to solve the above-mentioned problem is: a method for adjusting the buoyancy of an unmanned underwater vehicle during diving, using a buoyancy adjustment device, comprising the following steps:

[0014] When the vehicle needs to dive, the electromagnet opens stop valves B and C, starts the seawater pump motor, drives the seawater pump to operate, and injects seawater from the marine environment into the ballast water tank; the water injection function is achieved through the seawater pump, stop valves B, stop valves C and the balancing valve;

[0015] During this process, the central control unit sets the system water injection volume, and the system starts working. The single adjustment water injection volume is calculated by reading the motor speed. When the water injection volume reaches the limit given by the central control unit, the water injection is stopped and the current ballast water tank water volume is fed back to the central control unit. After the water injection is completed, the volume of the ballast water tank remains unchanged, but the weight increases, thereby realizing the diving function.

[0016] The third technical solution adopted by the present invention to solve the above-mentioned problem is: a method for adjusting the buoyancy of an unmanned underwater vehicle, using a buoyancy adjustment device, comprising the following steps:

[0017] When the vessel needs to surface, the electromagnet opens stop valves A and D, and then starts the seawater pump motor, driving the seawater pump to operate and discharge the seawater in the ballast water tank into the marine environment. The drainage function is achieved by the seawater pump, stop valves A, D and the balancing valve.

[0018] During this process, the central control unit sets the system displacement, and the system starts working. It calculates the single adjustment displacement by reading the motor speed. When the displacement reaches the limit given by the central control unit, water injection is stopped and the current water volume in the ballast water tank is fed back to the central control unit. After the drainage is completed, the volume of the ballast water tank remains unchanged and the weight is reduced, thereby realizing the buoyancy function.

[0019] The present invention has the following beneficial technical effects:

[0020] The present invention is used for buoyancy regulation of unmanned underwater vehicles. The seawater pump is driven by a pump motor. The pump and integrated valve group of the entire device adopt a modular design, which simplifies pipeline connections and avoids the difficulties of pipeline connection in a small space and the problem of insufficient installation space. The shut-off valve is integrated into a valve group, which reduces the volume and weight of the valve group and the connecting pipes and joints. At the same time, the resistance loss along the pipeline is reduced, which is conducive to the self-priming of the seawater pump, improves the working efficiency of the buoyancy regulation system, avoids cavitation, and is easy to use, maintain, and assemble. The present invention has a simple structure and reliable functions, a high degree of integration of the control valve group, low device energy consumption, high buoyancy regulation efficiency, a wide range of applications, and is suitable for underwater vehicles of different specifications.

[0021] The present invention's cylindrical double-end-cap pressure cabin consists of end caps and a cylinder, sealed with double O-rings and secured with screws. Watertight screws connect the two end caps to the outside world, facilitating commissioning, installation, and maintenance. The cylindrical design facilitates machining and installation. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0023] Figure 2 is an axonometric drawing of the present invention;

[0024] Figure 3 It is a block diagram of the buoyancy control system;

[0025] Figure 4 It is the schematic diagram of the buoyancy adjustment system;

[0026] Figure 5 It is a schematic diagram of the water filling process of the buoyancy adjustment system;

[0027] Figure 6 It is a schematic diagram of the drainage process of the buoyancy adjustment system;

[0028] Figure 7 It is the working principle diagram of the control valve group schematic;

[0029] Figure 8 It is a structural diagram of the integrated valve assembly;

[0030] Figure 9 is a cross-sectional view of the integrated valve assembly;

[0031] Figure 10 It is a schematic diagram of the interface of the stop valve assembly;

[0032] Figure 11 This is a schematic diagram of the interface between the balancing valve and the safety valve;

[0033] Figure 12 It is a structural diagram of the pressure cabin;

[0034] Figure 13 It is a structural diagram of the pressure tank cylinder and end cover sealing form;

[0035] Figure 14 It is the control principle diagram of the present invention;

[0036] In the figure, 1. Seawater pump; 2. Electrical compartment; 3. Transformer; 4. Electrical connector; 5. Filter; 6. Mounting clamp; 7. Liquid level gauge; 8. Connecting valve block; 9. Integrated valve group; 10. Main controller; 11. Motor driver; 12. Ballast water tank. DETAILED DESCRIPTION

[0037] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. The specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0038] Specific implementation method 1: Combination Figures 1 to 14 The present embodiment is described. In the present embodiment, a buoyancy adjustment device for an unmanned underwater vehicle includes a pressure cabin, which is divided into an electrical cabin 2 and a ballast water tank 12 connected to the electrical cabin 2 and used for buoyancy adjustment; a seawater pump 1, an integrated valve group 9 and a control unit are provided inside the electrical cabin 2, and a transformer 3 is also provided inside the electrical cabin 2. The transformer 3 provides a suitable voltage for the equipment. Two electrical connectors 4 are installed on the transformer 3, and the electrical connector 4 is connected to the battery compartment of the underwater vehicle.

[0039] The control unit controls the action of the seawater pump 1 and fills or drains water into or out of the ballast water tank 12 through the integrated valve group 9, thereby changing the weight of the unmanned underwater vehicle and completing the attitude adjustment and suspended depth control of the unmanned underwater vehicle during navigation.

[0040] In a preferred embodiment, the seawater pump 1 and the integrated valve group 9 are connected via a connecting valve block 8 , in which a flow channel is provided, serving as a seawater passage between the seawater pump 1 and the integrated valve group 9 .

[0041] In a preferred embodiment, the integrated valve group 9 includes a stop valve group and a balancing valve, the stop valve group includes a stop valve A, a stop valve B, a stop valve C, a stop valve D and an electromagnet; the outlet of the seawater pump 1 is connected to the inlet of the balancing valve, and the suction port of the seawater pump 1 is connected to the outlets of the stop valve A and the stop valve C; the electromagnet is arranged on the upper part of the stop valve A, the stop valve B, the stop valve C and the stop valve D to realize the opening and closing control function of the stop valve A, the stop valve B, the stop valve C and the stop valve D.

[0042] In a preferred embodiment, the stop valve assembly is provided with four interfaces, namely, a water tank port, a filter port, a solenoid valve inlet, and a solenoid valve outlet.

[0043] In a preferred embodiment, the buoyancy regulating device further comprises a filter 5 , which is disposed outside the electrical compartment 2 and is connected to a filter port of the stop valve assembly. A liquid level gauge 7 is disposed in the ballast water tank 12 .

[0044] In a preferred embodiment, the exterior of the electrical compartment 2 and the ballast water tank 12 are both provided with mounting clamps 6 for fixed installation on the aircraft.

[0045] In a preferred embodiment, the control unit includes a central control unit, a main controller 10 and a motor driver 11; the central control unit and the main controller 10 are electrically connected, and the motor driver 11 and the digital IO module are electrically connected to the main controller 10 respectively; the motor driver 11 and the motor of the seawater pump 1 are electrically connected; the digital IO module is electrically connected to the floating stop valve and the diving stop valve; the liquid level meter 7 is electrically connected to the main controller 10.

[0046] Specific implementation method 2: Combination Figures 1 to 14 This embodiment describes a method for adjusting the buoyancy of an unmanned underwater vehicle while diving, using a buoyancy adjustment device, including the following steps:

[0047] When the vehicle needs to dive, the electromagnet opens the stop valve B and stop valve C, starts the motor of the seawater pump 1, drives the seawater pump 1 to operate, and injects seawater from the marine environment into the ballast water tank 12; the water injection function is achieved by the seawater pump 1, stop valve B, stop valve C and the balancing valve;

[0048] During this process, the central control unit sets the system water injection volume, and the system starts working. The single adjustment water injection volume is calculated by reading the motor speed. When the water injection volume reaches the limit given by the central control unit, the water injection is stopped and the current water volume in the ballast water tank 12 is fed back to the central control unit. After the water injection is completed, the volume of the ballast water tank 12 remains unchanged, but the weight increases, thereby realizing the diving function.

[0049] In a preferred embodiment, a method for adjusting the buoyancy of an unmanned underwater vehicle using a buoyancy adjustment device includes the following steps:

[0050] When the vessel needs to surface, the electromagnet opens the stop valve A and stop valve D, and then starts the motor of the seawater pump 1, driving the seawater pump 1 to operate and discharge the seawater in the ballast water tank 12 into the marine environment. The drainage function is achieved by the seawater pump 1, stop valve A, stop valve D and the balancing valve.

[0051] During this process, the central control unit sets the system displacement, and the system starts working. It calculates the single adjustment displacement by reading the motor speed. When the displacement reaches the limit given by the central control unit, water injection is stopped and the current water volume in the ballast water tank 12 is fed back to the central control unit. After the drainage is completed, the volume of the ballast water tank 12 remains unchanged and the weight is reduced, thereby realizing the buoyancy function.

[0052] The working process of the buoyancy control system is divided into water injection and drainage conditions. Figure 5 and Figure 6 Explain the water injection and drainage conditions:

[0053] like Figure 5 As shown, the water injection function is primarily achieved through seawater pump 1, stop valves B and C, and a balancing valve. When the submersible needs to dive, the electromagnet opens stop valves B and C, starting the motor of seawater pump 1, driving it to operate and inject seawater from the marine environment into the ballast water tank 12.

[0054] During this process, the flight control computer sets the system water injection volume, and the system starts working. The single adjustment water injection volume is calculated by reading the motor speed. When the water injection volume reaches the limit given by the flight control computer, the water injection is stopped and the current water volume in the ballast water tank 12 is fed back to the flight control computer. After the water injection is completed, the volume of the ballast water tank 12 remains unchanged, but the weight increases, thereby realizing the diving function.

[0055] like Figure 6 As shown, the drainage function is primarily achieved through seawater pump 1, stop valves A and D, and a balancing valve. When the submersible needs to surface, the electromagnet opens stop valves A and D, which then starts the motor of seawater pump 1, driving it to operate and discharge the seawater in the ballast water tank 12 into the marine environment.

[0056] During this process, the flight control computer sets the system displacement, and the system starts working. It calculates the single adjustment displacement by reading the motor speed. When the displacement reaches the limit given by the flight control computer, water injection is stopped and the current water volume in the ballast water tank 12 is fed back to the flight control computer. After the drainage is completed, the volume of the ballast water tank 12 remains unchanged and the weight is reduced, thereby realizing the buoyancy function.

[0057] In a preferred embodiment, the system is equipped with a liquid level gauge 7 to measure the water volume in the ballast water tank 12. The main principle is to directly read the liquid level in the ballast water tank 12 through the liquid level gauge 7, and then convert the water level into the ballast water tank 12 volume based on the tank capacity curve. Because the ballast water tank 12 is completely enclosed, the internal water pressure will gradually increase. After long-term operation, the internal water quality will become dirty. During the navigation of the vessel, the tank body will frequently experience turbulence. Therefore, considering the characteristics of pollution resistance and pressure resistance, a compatible pollution-resistant liquid level gauge is selected to measure the water level when the ballast water tank 12 is stationary.

[0058] Other components and connection relationships are the same as those in the first embodiment.

[0059] Specific implementation method three: Combination Figures 1 to 14 This embodiment describes a control valve assembly consisting of one safety valve, one balancing valve, and four high-pressure shutoff valves: shutoff valve A, shutoff valve B, shutoff valve C, and shutoff valve D. The filter is connected to the control valve assembly via external rigid tubing. Each shutoff valve is equipped with a solenoid-operated switch at its upper end to control its opening.

[0060] like Figure 7-11 As shown, the stop valve A, stop valve B, stop valve C and stop valve D in the control valve group are integrated into a stop valve assembly. The stop valve assembly is provided with four interfaces, namely the water tank port, the filter port, the solenoid valve inlet and the solenoid valve outlet. The stop valve assembly is provided with a flow channel, the water tank port is connected to the ballast water tank 12, the filter port is connected to the filter 5, and the filter 5 is provided outside the pressure-resistant cabin and connected to the sea port (filter port) of the integrated valve group.

[0061] The outlet 1 of the seawater pump is connected to the inlet of the balancing valve, the suction port of the seawater pump 1 is connected to the outlets of the stop valve A and the stop valve C, the outlet of the solenoid valve is the outlet of the stop valve A and the stop valve C, the outlet of the balancing valve is connected to the inlet of the solenoid valve, and the inlet of the solenoid valve is the inlet of the stop valve B and the stop valve D; the inlet of the safety valve is connected to the pipeline between the seawater pump outlet and the balancing valve, and the outlet of the safety valve is connected to the pipeline between the seawater pump inlet and the outlet of the solenoid valve.

[0062] The balancing valve in the buoyancy control system plays two main roles:

[0063] 1) When the seawater pump is running, the balancing valve is opened to control the flow direction of seawater. At the same time, the opening pressure of the balancing valve should not be too high to prevent the seawater pump motor from being subjected to excessive load;

[0064] 2) When the seawater pump is not working, the balancing valve needs to ensure effective sealing.

[0065] In the buoyancy control system, the safety valve mainly plays the following role: when the load of the seawater pump is abnormally large and the seawater pump motor cannot work normally, the safety valve is the last protective barrier.

[0066] The control valve group needs to ensure a good sealing effect when it is not in operation, and can realize the switching between the two working conditions of seawater pump filling and seawater pump drainage. Therefore, the stop valve in the control valve group needs to have a good sealing effect; the internal flow of the entire valve group also needs to have a small fluid resistance to improve the self-priming performance of the seawater pump, such as Figure 7 As shown:

[0067] 1) Water injection conditions

[0068] The electromagnets corresponding to stop valves B and C are energized, opening them and starting the seawater pump motor. The pump then pumps seawater from the ocean into the ballast tank, completing the water filling process and allowing the submersible to descend. Once the water filling is complete, the seawater pump motor is shut off, and the electromagnets corresponding to stop valves B and C are de-energized, closing them. This completes the water filling process.

[0069] 2) Drainage conditions

[0070] The electromagnets corresponding to stop valves A and D are energized, opening them and starting the seawater pump motor. The pump then discharges seawater from the ballast tanks into the marine environment, completing the drainage process and allowing the submersible to surface. Once drainage is complete, the seawater pump motor is turned off, and the electromagnets corresponding to stop valves A and D are de-energized, closing them. This completes the drainage process.

[0071] Other components and connection relationships are the same as those in the first embodiment.

[0072] Specific implementation method four: Combination Figures 1 to 14 In this embodiment, a common cylindrical double-end cover pressure cabin is mainly composed of end covers and a pressure cabin cylinder. The structural diagram is as follows: Figure 12 He Ru Figure 13 As shown, double O-rings are often used to seal the end cap and the pressure vessel, secured with screws. Preferably, O-rings are installed between the outer side of the end cap and the inner side of the pressure vessel; alternatively, O-rings are installed between the outer side of the end cap and the inner side of the pressure vessel, as well as between the bottom of the end cap and the bottom of the pressure vessel. A cylinder is a geometric solid formed by two parallel circular surfaces (the base) and a curved surface (the side) connecting the two bases.

[0073] In this embodiment, the structure has the following advantages: the two end covers of the pressure cabin cylinder are connected to the outside world using watertight screws, which is convenient for debugging, installation and maintenance; the design of the cylindrical pressure shell is convenient for machining and actual installation of the pressure cabin; the double O-ring can achieve extrusion sealing, which has a simple structure, good sealing effect, and wide application, and the O-ring has a molded series of products, which is easy to purchase and use.

[0074] Other components and connection relationships are the same as those in the first embodiment.

[0075] Specific implementation method five: Combination Figures 1 to 14 This embodiment, based on a float adjustment system design, utilizes an embedded controller as the main controller for the buoyancy adjustment system. This controller communicates with the vessel's central monitoring unit in real time, receiving buoyancy adjustment commands from the central monitoring unit. Based on the commands sent by the central monitoring unit, the main controller, after internal logic analysis, issues commands to actuators such as the main motor, control motor, and solenoid valve to achieve buoyancy control. The system also collects the water tank liquid level in real time and transmits this information to the central monitoring unit for display.

[0076] The central control unit is electrically connected to the main controller 10. The motor driver 11 and the digital I / O module are also electrically connected to the main controller 10. The motor driver 11 is electrically connected to the motor of the seawater pump 1. The digital I / O module is electrically connected to the floating stop valve and the submersible stop valve. The liquid level gauge 7 is electrically connected to the main controller 10. The floating stop valves are stop valve A and stop valve D, respectively, and the submersible stop valves are stop valve B and stop valve C, respectively.

[0077] According to the hydraulic principle, the overall control block diagram is as follows Figure 14 shown.

[0078] (1) Floating: When the main controller receives the floating instruction (water injection volume) sent by the central monitoring unit, the main controller will control the motor to open, shut-off valves A and D to open, and shut-off valves B and C to remain closed. The main controller sends the operating instruction to the motor driver 11 through bus communication to start the seawater pump 1. The seawater pump 1 draws water from the ballast water tank 12 and discharges the seawater into the marine environment through the balancing valve. After the instruction is completed, the system stops working and the capacity of the ballast water tank 12 is fed back.

[0079] (2) Diving: The central monitoring unit issues a diving (displacement) command, and the main controller controls the motor to open, shutoff valves B and C to open, and shutoff valves A and D to remain closed. The main controller sends an operating command to the motor driver 11 via bus communication, starting the seawater pump 1. The seawater pump 1 draws water from the marine environment through the filter 5 and fills the ballast water tank 12 through the solenoid valves B and C, thereby achieving diving control. After the command is completed, the system stops working and the capacity of the ballast water tank 12 is fed back.

[0080] The main controller is an STM32-based embedded controller, powered by a high-performance Arm® Cortex®-M4 32-bit RISC core operating at up to 180MHz. The Cortex-M4 core features a single-precision floating-point unit (FPU) and supports all Arm® single-precision data processing instructions and data types. It also implements a full set of DSP instructions and a memory protection unit (MPU) to enhance application security.

[0081] The controller contains high-speed embedded memory (up to 2MB Flash and up to 256KB SRAM), up to 4KB backup SRAM, and a wide range of enhanced I / O and peripheral devices connected to two APB buses, two AHB buses, and a 32-bit multi-AHB bus matrix.

[0082] The controller features three 12-bit ADCs, two DACs, a low-power RTC, twelve general-purpose 16-bit timers, including two PWM timers for motor control, and two general-purpose 32-bit timers. It also has standard and advanced communication interfaces. It is surge-proof, short-circuit-proof, and immune to electromagnetic interference. It draws power from a 24V DC supply and consumes 10W.

[0083] Other components and connection relationships are the same as those in the first embodiment.

[0084] 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 shall be included within the scope of protection of the present invention.

Claims

1. A buoyancy regulating device for an unmanned underwater vehicle, characterized in that: It comprises a pressure-resistant cabin, wherein the pressure-resistant cabin is divided into an electrical cabin (2) and a ballast water tank (12) connected to the electrical cabin (2); A seawater pump (1), an integrated valve group (9) and a control unit are provided inside the electrical compartment (2). The control unit controls the operation of the seawater pump (1) and fills or drains water into or out of the ballast water tank (12) through the integrated valve group (9), thereby changing the weight of the unmanned underwater vehicle and completing attitude adjustment and suspended depth control during navigation of the vehicle.

2. The buoyancy regulating device for an unmanned underwater vehicle according to claim 1, characterized in that: The seawater pump (1) and the integrated valve group (9) are connected via a connecting valve block (8), and a flow channel is provided in the connecting valve block (8).

3. The buoyancy regulating device for an unmanned underwater vehicle according to claim 1, characterized in that: The integrated valve group (9) includes a stop valve group and a balancing valve, and the stop valve group includes a stop valve A, a stop valve B, a stop valve C, a stop valve D and an electromagnet; The (1) outlet of the seawater pump is connected to the inlet of the balancing valve, and the suction port of the seawater pump (1) is connected to the outlets of the stop valve A and the stop valve C; the electromagnet is arranged on the upper part of the stop valve A, the stop valve B, the stop valve C and the stop valve D to realize the opening and closing control function of the stop valve A, the stop valve B, the stop valve C and the stop valve D.

4. The buoyancy regulating device for an unmanned underwater vehicle according to claim 3, characterized in that: The stop valve group is provided with four interfaces, namely, a water tank port, a filter port, a solenoid valve inlet and a solenoid valve outlet.

5. The buoyancy regulating device for an unmanned underwater vehicle according to claim 1, characterized in that: The buoyancy regulating device further comprises a filter (5), wherein the filter (5) is arranged outside the electrical compartment (2), and the filter (5) is connected to a filter port of the stop valve assembly.

6. The buoyancy regulating device for an unmanned underwater vehicle according to claim 1, characterized in that: A liquid level gauge (7) is provided in the ballast water tank (12).

7. The buoyancy regulating device for an unmanned underwater vehicle according to claim 1, characterized in that: The exteriors of the electrical compartment (2) and the ballast water compartment (12) are both provided with mounting clamps (6).

8. The buoyancy regulating device for an unmanned underwater vehicle according to claim 1, characterized in that: The control unit includes a central control unit, a main controller (10) and a motor driver (11); The central control unit is electrically connected to the main controller (10); the motor driver (11) and the digital IO module are electrically connected to the main controller (10) respectively; the motor driver (11) is electrically connected to the motor of the seawater pump (1); the digital IO module is electrically connected to the floating stop valve and the diving stop valve; and the liquid level meter (7) is electrically connected to the main controller (10).

9. A method for adjusting the buoyancy of an unmanned underwater vehicle during diving, characterized in that: Using the buoyancy regulating device according to any one of claims 1 to 8 comprises the following steps: When the vehicle needs to dive, the stop valve B and the stop valve C are opened by the electromagnet, the motor of the seawater pump (1) is started, and the seawater pump (1) is driven to operate, and the seawater in the marine environment is injected into the ballast water tank (12); the water injection function is realized by the seawater pump (1), the stop valve B, the stop valve C and the balance valve; During this process, the central control unit sets the system water injection amount, and the system starts working. The single adjustment water injection amount is calculated by reading the motor speed. When the water injection amount reaches the limit given by the central control unit, the water injection is stopped and the current water amount in the ballast water tank (12) is fed back to the central control unit. After the water injection is completed, the volume of the ballast water tank (12) remains unchanged, but the weight increases, thereby realizing the diving function.

10. A method for adjusting the buoyancy of an unmanned underwater vehicle, characterized by: Using the buoyancy regulating device according to any one of claims 1 to 8 comprises the following steps: When the vessel needs to surface, the stop valve A and the stop valve D are opened by the electromagnet, and then the motor of the seawater pump (1) is started to drive the seawater pump (1) to operate and discharge the seawater in the ballast water tank (12) into the marine environment; the drainage function is achieved by the seawater pump (1), the stop valve A, the stop valve D and the balancing valve; During this process, the central control unit sets the system displacement, and the system starts working. The single adjustment displacement is calculated by reading the motor speed. When the displacement reaches the limit given by the central control unit, water injection is stopped and the current water volume in the ballast water tank (12) is fed back to the central control unit. After the drainage is completed, the volume of the ballast water tank (12) remains unchanged and the weight is reduced, thereby achieving the buoyancy function.

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