Depth control system and method for a lifting communication buoy based on a submarine system

Abstract

The application provides a lifting communication floating body depth control system and method based on a submerged marker system, belongs to the technical field of marine observation equipment, and comprises a first hydraulic two-position two-way electromagnetic valve, an inner cylinder, a displacement sensor, a seawater hydraulic motor pump set, a first hydraulic check valve, a second hydraulic two-position two-way electromagnetic valve, a second hydraulic check valve, a seawater filter, a hydraulic outlet and a hydraulic inlet. In the application, the underwater concealment capability is realized while the satellite communication quality is ensured, and the safety performance of the communication floating body is greatly enhanced. The underwater depth control is realized by precisely controlling the seawater ballast amount, the adjustment parameter has a linear response characteristic, the influence of the pressure fluctuation of the underwater environment on the depth control is significantly reduced compared with a pneumatic system, the floating body depth suspension precision is increased, the probability that the equipment is found and damaged is greatly reduced, and the survival capability of the communication floating body in sensitive application scenes such as military reconnaissance and marine scientific research can be greatly improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of ocean observation equipment, and particularly relates to a depth control system and method for a lifting communication float based on a subsurface buoy system. BACKGROUND

[0002] Ocean exploration has multi-dimensional value in revealing the origin of life on Earth, developing new energy, maintaining ecological balance, and promoting technological innovation, and its coverage of 71% of the Earth makes it an important support for human survival and development. In the process of ocean exploration, satellite remote sensing technology can macroscopically monitor the ocean surface temperature and ocean current dynamics, manned submersibles can directly collect deep-sea biological and geological samples, autonomous underwater vehicles (AUVs) and tethered robots (ROVs) undertake large-scale observation and fine operation tasks, respectively, and subsurface buoy systems constitute a long-term continuous observation network, which has become the backbone equipment for ocean environment monitoring due to its advantages of wide coverage, real-time transmission, high adaptability, and functional integration.

[0003] At present, the subsurface buoy system has a certain concealment in the ocean, but in order to communicate in time, a communication float is set on the sea surface. The existence of the communication float reduces the concealment performance of the subsurface buoy system and is also easily damaged by passing ships, resulting in failure of the communication link.

[0004] Therefore, it is very necessary to provide a depth control system and method for a lifting communication float based on a subsurface buoy system. SUMMARY

[0005] In order to solve the above technical problems, the application provides a depth control system and method for a lifting communication float based on a subsurface buoy system.

[0006] The depth control system for the lifting communication float based on the subsurface buoy system comprises a first hydraulic two-position two-way electromagnetic valve, an inner cylinder, a displacement sensor, a seawater hydraulic motor pump set, a first hydraulic check valve, a second hydraulic two-position two-way electromagnetic valve, a second hydraulic check valve, a seawater filter, a hydraulic outlet, and a hydraulic inlet. The seawater hydraulic motor pump set provides a power source. The first hydraulic two-position two-way electromagnetic valve, the second hydraulic two-position two-way electromagnetic valve, the first hydraulic check valve, and the second hydraulic check valve control the flow direction of seawater, and both of them suck in or discharge seawater. The inner cylinder stores seawater as a ballast container. The displacement sensor feeds back the amount of seawater in the inner cylinder. The seawater filter filters the sucked-in seawater.

[0007] The inner cylinder comprises a cylinder body, a piston, a sealing ring, a wear-resistant ring, a gas inlet and outlet and a seawater inlet and outlet, the cylinder body is a closed ballast tank, the piston is movably installed inside the cylinder body, the wear-resistant ring is installed at the middle position outside the piston and is located on the contact surface between the cylinder body and the piston, the sealing ring is installed outside the piston and is located on the contact surface between the cylinder body and the piston, and the sealing ring is located on the upper and lower sides of the wear-resistant ring, the gas inlet and outlet are arranged on the upper side of the cylinder body, and the seawater inlet and outlet are arranged on the lower side of the cylinder body.

[0008] Preferably, the size of the piston matches the inner size of the cylinder body, and the outer side of the piston is attached to the inner wall of the cylinder body; the size of the sealing ring matches the size of the piston, and the sealing ring is used to seal the contact position between the piston and the cylinder body; the size of the wear-resistant ring matches the size of the piston, and the wear-resistant ring is used to reduce the friction between the piston and the cylinder body, and the wear-resistant ring is used to provide guiding and supporting functions for the piston; the gas inlet and outlet are communicated with the inside of the cylinder body; and the seawater inlet and outlet are communicated with the inside of the cylinder body.

[0009] The depth control method of the lifting communication float based on the buoy system uses the lifting communication float depth control system based on the buoy system.

[0010] When the float is preset, the seawater hydraulic system does not work, and the inner cylinder is not filled with water.

[0011] When the float needs to dive after completing the work on the water surface, the seawater hydraulic motor pump set and the second hydraulic two-position two-way electromagnetic valve are opened, the seawater hydraulic system sucks seawater from the hydraulic inlet, through the seawater filter, the second hydraulic one-way valve and the second hydraulic two-position two-way electromagnetic valve into the inner cylinder, at this time, the float gradually sinks.

[0012] When the float needs to hide underwater, the seawater hydraulic motor pump set works, and seawater is discharged from the inner cylinder through the first hydraulic one-way valve from the hydraulic outlet, and the seawater hydraulic system is adjusted to maintain the float suspended within a certain depth range.

[0013] When the float needs to float underwater, the seawater hydraulic motor pump set works, and seawater is discharged from the inner cylinder through the first hydraulic one-way valve from the hydraulic outlet, at this time, the float starts to float.

[0014] Preferably, when the float wants to maintain a suspended state underwater, the depth gauge carried by the system detects the depth of the float, when the detected depth of the float increases, the seawater hydraulic motor pump set is opened, and the seawater hydraulic system discharges the calculated seawater from the hydraulic outlet through the first hydraulic one-way valve; when the detected depth of the float decreases, the first hydraulic two-position two-way electromagnetic valve is opened, under the action of seawater pressure, the seawater hydraulic system sucks the calculated seawater from the hydraulic inlet into the inner cylinder through the seawater filter, the second hydraulic one-way valve and the first hydraulic two-position two-way electromagnetic valve.

[0015] Preferably, when the device is in suspension control, the central controller sets a predetermined depth, the seawater ballast system works, the seawater ballast value calculated by the displacement sensor is fed back to control the ballast amount, and the real-time depth data of the depth gauge is fed back to control the depth of the device, forming a double closed-loop regulation.

[0016] Compared with the prior art, the present application has the following beneficial effects:

[0017] 1. In the present application, the underwater concealment capability is realized while ensuring the quality of satellite communication, greatly enhancing the safety performance of the communication float; the seawater hydraulic system is based on the incompressible characteristics of liquid, and the underwater depth control is realized by precisely controlling the seawater ballast amount, the adjustment parameters have linear response characteristics, and compared with the pneumatic system, the influence of the pressure fluctuation of the underwater environment on the depth control is significantly reduced, the precision of the float depth suspension is increased, the probability of the device being discovered and damaged is greatly reduced, and the survival capability of the communication float in sensitive application scenarios such as military reconnaissance and ocean scientific research can be greatly improved.

[0018] 2. In the present application, the central controller serves as the “brain” of the entire control system, and a target depth value is set in advance according to the task requirements. Subsequently, the seawater ballast system serves as an execution mechanism and starts working according to the instructions of the central controller. The depth gauge directly measures the actual depth of the float at present and feeds back the real-time data to the central controller. The central controller compares the actual depth with the preset target depth, forming the first closed-loop control loop. At the same time, the seawater ballast amount to be adjusted is calculated through an internal algorithm, the displacement sensor monitors and calculates the seawater ballast amount change in the inner cylinder in real time, and this value is quickly fed back to the central controller and compared with the calculated seawater ballast amount, forming the second closed-loop control loop. The central controller adjusts the output of the seawater hydraulic system according to the comparison result, so that the actual ballast amount gradually approaches the target ballast amount, thereby preliminarily stabilizing the suspension state of the device; through this double closed-loop regulation mechanism, the depth control strategy enables the float to have a certain ability to resist various interference factors (such as sea current, wave, etc.) in the ocean environment, and also ensures that the float can still be stably and accurately maintained at the preset depth position under complex and changeable ocean conditions, providing reliable technical support for the safety of the buoy link. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 is a structural schematic diagram of the present application.

[0020] Figure 2 is a structural schematic diagram of the inner cylinder of the present application.

[0021] Figure 3 is a depth control schematic diagram of the present application.

[0022] Figure 4 Figure 1 is a central controller information processing flowchart of the present application.

[0023] In the figure:

[0024] 1, first hydraulic two-position two-way electromagnetic valve; 2, inner cylinder; 21, cylinder body; 22, piston; 23, sealing ring; 24, wear ring; 25, gas inlet and outlet; 26, seawater inlet and outlet; 3, displacement sensor; 4, seawater hydraulic motor pump group; 5, first hydraulic check valve; 6, second hydraulic two-position two-way electromagnetic valve; 7, second hydraulic check valve; 8, seawater filter; 9, hydraulic outlet; 10, hydraulic inlet. DETAILED DESCRIPTION

[0025] The present application is further described below in conjunction with the accompanying drawings:

[0026] Embodiment:

[0027] As shown in the accompanying drawings Figure 1 to the accompanying drawings Figure 4 as shown

[0028] The present application provides a lifting communication float depth control system based on a submarine system, comprising a first hydraulic two-position two-way electromagnetic valve 1, an inner cylinder 2, a displacement sensor 3, a seawater hydraulic motor pump group 4, a first hydraulic check valve 5, a second hydraulic two-position two-way electromagnetic valve 6, a second hydraulic check valve 7, a seawater filter 8, a hydraulic outlet 9 and a hydraulic inlet 10, the seawater hydraulic motor pump group 4 provides a power source; the first hydraulic two-position two-way electromagnetic valve 1, the second hydraulic two-position two-way electromagnetic valve 6, the first hydraulic check valve 5 and the second hydraulic check valve 7 control the flow direction of seawater, both of which suck in or discharge seawater; the inner cylinder 2 stores seawater as a ballast container; the value of the displacement sensor 3 feeds back the amount of seawater in the inner cylinder; the seawater filter 8 filters the sucked seawater;

[0029] In this embodiment, the inner cylinder 2 includes a cylinder body 21, a piston 22, a sealing ring 23, a wear ring 24, a gas inlet and outlet 25 and a seawater inlet and outlet 26, the cylinder body 21 is a closed ballast tank; the piston 22 is movably installed inside the cylinder body 21; the wear ring 24 is installed at the middle position of the outer side of the piston 22, and the wear ring 24 is located on the contact surface of the cylinder body 21 and the piston 22; the sealing ring 23 is installed on the outer side of the piston 22, and the sealing ring 23 is located on the contact surface of the cylinder body 21 and the piston 22, the sealing ring 23 is located on the upper and lower sides of the wear ring 24; the gas inlet and outlet 25 is opened on the upper side of the cylinder body 21; the seawater inlet and outlet 26 is opened on the lower side of the cylinder body 21.

[0030] In this embodiment, the size of the piston 22 matches the internal size of the cylinder 21, and the outer side of the piston 22 is attached to the inner wall of the cylinder 21; the size of the sealing ring 23 matches the size of the piston 22, and the sealing ring 23 is used to seal the contact between the piston 22 and the cylinder 21; the size of the wear ring 24 matches the size of the piston 22, and the wear ring 24 is used to reduce the friction between the piston 22 and the cylinder 21, and the wear ring 24 is used to provide guidance and support for the piston 22; the gas inlet and outlet 25 communicates with the inside of the cylinder 21; the seawater inlet and outlet 26 communicates with the inside of the cylinder 21.

[0031] The depth control method of the lifting communication float based on the buoy system uses the lifting communication float depth control system based on the buoy system described above:

[0032] When the float is preset, the seawater hydraulic system does not work, and the inner cylinder 2 is not filled with water.

[0033] When the float needs to dive after completing the work on the water surface, the seawater hydraulic motor pump set 4 and the second hydraulic two-position two-way electromagnetic valve 6 are opened, and the seawater hydraulic system sucks seawater from the hydraulic inlet 10, through the seawater filter 8, the second hydraulic one-way valve 7, and the second hydraulic two-position two-way electromagnetic valve 6 into the inner cylinder 2, at this time, the float gradually sinks.

[0034] When the float needs to be hidden underwater, the system does not need to maintain a large negative buoyancy state, and needs to discharge part of the excess seawater. Based on this, the seawater hydraulic motor pump set 4 works to discharge seawater from the inner cylinder 2 through the first hydraulic one-way valve 5 from the hydraulic outlet 9, the system weight decreases, the net buoyancy increases, and the float is maintained within a certain depth range. At this time, the depth gauge carried by the system will monitor the depth of the float, and when it is detected that the depth of the float increases, that is, the negative buoyancy of the float is large, the amount of ballast seawater needs to be reduced. The central controller of the float derives the running speed and acceleration of the float according to the depth data, combines other system related parameters, calculates the preliminary adjustment amount, and then opens the seawater hydraulic motor pump set 4, and the hydraulic system discharges the seawater calculated by the central controller from the hydraulic outlet 9 through the first hydraulic one-way valve 5; when it is detected that the depth of the float decreases, that is, the positive buoyancy of the float is large, the amount of ballast seawater needs to be increased. The central controller opens the first hydraulic two-position two-way electromagnetic valve 1, and under the action of seawater pressure, the hydraulic system sucks the seawater calculated from the hydraulic inlet 10, through the seawater filter 8, the second hydraulic one-way valve 7, and the first hydraulic two-position two-way electromagnetic valve 1 into the inner cylinder 2;

[0035] When the float needs to float underwater, the seawater hydraulic motor pump set 4 works to discharge seawater from the inner cylinder 2 through the first hydraulic one-way valve 5 from the hydraulic outlet 9, at this time, the float starts to float.

[0036] In this embodiment, when the floating body wants to keep suspended state underwater, the depth gauge carried by the system detects the depth of the floating body, when the increase of the depth of the floating body is detected, the seawater hydraulic motor pump group 4 is started, and the seawater hydraulic system will calculate and discharge seawater from the hydraulic outlet 9 through the first hydraulic one-way valve 5; when the decrease of the depth of the floating body is detected, the first hydraulic two-position two-way electromagnetic valve 1 is started, and under the action of seawater pressure, the seawater hydraulic system will calculate and suck seawater from the hydraulic inlet 10 into the inner cylinder 2 through the seawater filter 8, the second hydraulic one-way valve 7 and the first hydraulic two-position two-way electromagnetic valve 1.

[0037] In this embodiment, when the device is in suspension control, the central controller sets a predetermined depth, the seawater ballast system works, the seawater ballast value calculated by the displacement sensor 3 is fed back to control the ballast amount, and the real-time depth data of the depth gauge is fed back to control the depth of the device, forming a double closed-loop regulation.

[0038] Working principle

[0039] In the present application, the underwater concealment capability is realized while the quality of satellite communication is ensured, and the safety performance of the communication floating body is greatly enhanced; the seawater hydraulic system is based on the incompressibility of liquid, and the underwater depth control is realized by precisely controlling the seawater ballast amount, the adjustment parameters have linear response characteristics, compared with the pneumatic system, the influence of the pressure fluctuation of the underwater environment on the depth control is significantly reduced, the precision of the floating body depth suspension is increased, the probability of the device being discovered and damaged is greatly reduced, and the survival capability of the communication floating body in sensitive application scenarios such as military reconnaissance and ocean scientific research can be greatly improved.

[0040] In the present application, the central controller serves as the “brain” of the whole control system, and sets a target depth value according to the task requirement. Then, the seawater ballast system starts to work as an executing mechanism according to the instruction of the central controller. The depth gauge directly measures the actual depth of the floating body currently located, and feeds back the real-time data to the central controller. The central controller compares the actual depth with the preset target depth, forming the first closed-loop control loop. At the same time, the seawater ballast amount to be adjusted is calculated through an internal algorithm, and the seawater ballast amount change in the inner cylinder is monitored and calculated by the displacement sensor, and this value is quickly fed back to the central controller and compared with the calculated seawater ballast amount, forming the second closed-loop control loop. The central controller adjusts the output of the seawater hydraulic system according to the comparison result, so that the actual ballast amount gradually approaches the target ballast amount, thereby preliminarily stabilizing the suspension state of the device; through the double closed-loop regulation mechanism, the depth control strategy enables the floating body to have a certain ability to resist various interference factors (such as sea current, wave, etc.) in the marine environment, and also ensures that the floating body can still be stably and accurately maintained at the preset depth position under complex and changeable marine conditions, thereby providing reliable technical support for the safety of the buoy link.

[0041] The central controller information processing flowchart of the present application is shown in Figure 4 As shown for convenient analysis, let the upward direction be the positive direction; in the initial stage, set the depth value and error range, detect the depth data in real time when the communication float is sinking; after reaching the predetermined depth, the device needs to be suspended in the water, the seawater amount calculated by the central controller is discharged through the seawater hydraulic system to reduce the weight of the device and increase the net buoyancy, and the state transition of the device from negative buoyancy to near-zero buoyancy is completed; at the same time, the depth control starts timing; after the buoyancy adjustment in the last stage is completed, the depth data is continuously collected, when the depth of the communication float is within the error range, the remaining time is detected, and the depth data is monitored; when the depth of the communication float is outside the error range, the depth data change trend is analyzed by the depth gauge, and a certain amount of seawater is sucked in or discharged through internal algorithm analysis and calculation to break the current motion state of the device and make it move towards the target depth; after timing is completed, the depth control is ended, all seawater is discharged, and the communication float is floated up.

[0042] The technical solutions of the present application or the technical solutions inspired by the present application can be used to design similar technical solutions to achieve the above technical effects, which are all within the protection scope of the present application.

Claims

1. A depth control system for a buoyant communication float based on a submerged marker system, characterized in that: The application relates to a depth control method for a lifting communication floating body based on a submarine marker system, and relates to a depth control system for the lifting communication floating body based on the submarine marker system. The inner cylinder (2) comprises a cylinder body (21), a piston (22), a sealing ring (23), a wear-resistant ring (24), a gas inlet and outlet (25) and a seawater inlet and outlet (26), the cylinder body (21) is a closed ballast tank; the piston (22) is movably arranged in the inner cylinder (21); the wear-resistant ring (24) is arranged at the middle position of the outer side of the piston (22) and is located on the contact surface between the cylinder body (21) and the piston (22); the sealing ring (23) is arranged on the outer side of the piston (22) and is located on the contact surface between the cylinder body (21) and the piston (22), and the sealing ring (23) is arranged on the upper and lower sides of the wear-resistant ring (24); the gas inlet and outlet (25) is arranged on the upper side of the cylinder body (21); and the seawater inlet and outlet (26) is arranged on the lower side of the cylinder body (21).

2. The submersible system based depth control system for a lift communication buoy of claim 1, wherein: The size of the piston (22) matches the inner size of the cylinder body (21), and the outer side of the piston (22) is attached to the inner wall of the cylinder body (21).

3. The submersible system based buoyant communication float depth control system of claim 1, wherein: The size of the sealing ring (23) matches the size of the piston (22), and the sealing ring (23) is used for sealing the contact position between the piston (22) and the cylinder body (21).

4. The submersible system based buoyant communication float depth control system of claim 1, wherein: The size of the wear-resistant ring (24) matches the size of the piston (22), and the wear-resistant ring (24) is used for reducing the friction between the piston (22) and the cylinder body (21) and providing guiding and supporting actions for the piston (22).

5. The submersible system based lift-communication buoy depth control system of claim 1, wherein: The gas inlet and outlet (25) is communicated with the inner part of the cylinder body (21); and the seawater inlet and outlet (26) is communicated with the inner part of the cylinder body (21).

6. The depth control method for the lifting communication floating body based on the submarine marker system, uses the depth control system for the lifting communication floating body based on the submarine marker system according to any one of claims 1-5, and is characterized in that: When the floating body is preset, the seawater hydraulic system does not work, and the inner cylinder (2) is not filled with water; When the floating body needs to be submerged after working on the water surface, the seawater hydraulic motor pump set (4) and the second hydraulic two-position two-way electromagnetic valve (6) are opened, the seawater hydraulic system sucks seawater from the hydraulic inlet (10) into the inner cylinder (2) through the seawater filter (8), the second hydraulic one-way valve (7) and the second hydraulic two-position two-way electromagnetic valve (6), at this time, the floating body gradually sinks; When the floating body needs to be hidden underwater, the seawater hydraulic motor pump group (4) works, and the seawater in the inner cylinder (2) is discharged from the hydraulic outlet (9) through the first hydraulic one-way valve (5), and the seawater hydraulic system is adjusted to maintain the floating body in a certain depth range. When the floating body needs to float underwater, the seawater hydraulic motor pump group (4) works, and the seawater in the inner cylinder (2) is discharged from the hydraulic outlet (9) through the first hydraulic one-way valve (5), at this time, the floating body starts to float.

7. The method for depth control of a lift communication buoy based on a submerged marker system according to claim 6, characterized in that: When the floating body wants to maintain the suspended state underwater, the depth gauge carried by the system detects the depth of the floating body, and when the depth of the floating body is detected to increase, the seawater hydraulic motor pump group (4) is started, and the seawater hydraulic system discharges the calculated seawater from the hydraulic outlet (9) through the first hydraulic one-way valve (5).

8. The depth control method of a riser buoy system based on a submerged buoy as claimed in claim 6, characterized in that: When the depth of the floating body is detected to decrease, the first hydraulic two-position two-way electromagnetic valve (1) is opened, and under the action of seawater pressure, the seawater hydraulic system absorbs the calculated seawater from the hydraulic inlet (10) through the seawater filter (8), the second hydraulic one-way valve (7), the first hydraulic two-position two-way electromagnetic valve (1), and the inner cylinder (2).

9. The depth control method of a riser buoy system based on a submerged buoy as claimed in claim 6, characterized in that: When the device is in suspension control, the central controller sets the predetermined depth, the seawater ballast system works, the seawater ballast value calculated by the displacement sensor (3) is fed back to control the ballast amount, and the real-time depth data of the depth gauge is fed back to control the depth of the device, forming a double closed-loop regulation.

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