Buoyancy adjustment device for underwater equipment and underwater equipment

Abstract

The buoyancy adjusting device of the underwater equipment comprises an outer oil bag, an inner oil bag assembly and a buoyancy driving part. The outer oil bag is arranged on the equipment shell to contact with the ambient liquid and is located in the vertical direction of the buoyancy center of the underwater equipment. The inner oil bag assembly can comprise a shell, a movable partition plate, an inner oil bag part and a vacuum part. The movable partition plate is movably arranged in the shell. The inner oil bag part is arranged at one end of the shell. The vacuum part is arranged at the other end of the shell and is spaced from the inner oil bag part by the movable partition plate. The buoyancy driving part comprises a high-pressure pump unit, a depth sensor, a first hydraulic valve and a second hydraulic valve. One end of the high-pressure pump unit is connected with the inner oil bag part. One end of the depth sensor is connected with the high-pressure pump unit and the other end is connected with the outer oil bag. One end of the first hydraulic valve is connected with the inner oil bag part and the other end is connected with the outer oil bag. One end of the second hydraulic valve is connected with the inner oil bag part and the other end is connected with the outer oil bag.

Description

Technical Field

[0001] This application relates to the field of underwater equipment technology, and more specifically, to a buoyancy adjustment device and an underwater device. Background Technology

[0002] Conventional AUVs (Autonomous Underwater Vehicles) primarily utilize propulsion as their power source. During propulsion, they adjust the hull's attitude using rudders or combinations of multiple propulsions, achieving ascent and descent through attitude adjustment and their own power.

[0003] However, the inventors of this application discovered that in the overall operating mode of a conventional AUV, the thrusters are constantly in operation, resulting in significant energy consumption and generally short flight time. Achieving long range often requires a larger size and more batteries.

[0004] The content of the background section is merely technology known to the public and does not necessarily represent existing technology in the field. Summary of the Invention

[0005] According to one aspect of this application, a buoyancy adjustment device for underwater equipment is provided. The underwater equipment includes a housing, and the buoyancy adjustment device includes an outer oil bladder, an inner oil bladder assembly, and a buoyancy drive unit. The outer oil bladder is disposed on the housing to contact the ambient liquid and is located in the vertical direction of the underwater equipment's buoyancy center. The inner oil bladder assembly may include a housing, a movable partition, an inner oil bladder portion, and a vacuum unit. The movable partition is movably disposed within the housing. The inner oil bladder portion is disposed at one end of the housing. The vacuum unit is disposed at the other end of the housing and is spaced apart from the inner oil bladder portion by the movable partition. The buoyancy drive unit includes a high-pressure pump unit, a depth sensor, a first hydraulic valve, and a second hydraulic valve. One end of the high-pressure pump unit is connected to the inner oil bladder; one end of the depth sensor is connected to the high-pressure pump unit, and the other end of the depth sensor is connected to the outer oil bladder; one end of the first hydraulic valve is connected to the inner oil bladder, and the other end of the first hydraulic valve is connected to the outer oil bladder; one end of the second hydraulic valve is connected to the inner oil bladder, and the other end of the second hydraulic valve is connected to the outer oil bladder; when the underwater equipment surfaces, the vacuum unit cancels the vacuum, and the high-pressure pump unit pumps the hydraulic oil in the inner oil bladder to the outer oil bladder; when the underwater equipment submerges, the first hydraulic valve or the second hydraulic valve opens, the vacuum unit forms a vacuum, thereby causing the hydraulic oil in the outer oil bladder to flow back to the inner oil bladder.

[0006] According to one aspect of this application, an underwater device is provided. The underwater device includes a buoyancy adjustment device as described above. Attached Figure Description

[0007] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0008] Figure 1 A schematic diagram of the structure of a buoyancy adjustment device according to an embodiment of this application is shown;

[0009] Figure 2 This is a schematic diagram of a buoyancy adjustment device according to an embodiment of the present application;

[0010] Figure 3 This invention provides a schematic diagram of the internal oil bladder assembly and buoyancy drive unit according to an embodiment of the present application.

[0011] Figure 4 A cross-sectional structural schematic diagram of an inner oil bladder assembly according to an embodiment of this application is shown;

[0012] Figure 5 A cross-sectional structural schematic diagram of an underwater device according to an embodiment of this application is shown;

[0013] Figure 6 This diagram shows a schematic structural diagram of a power unit according to an embodiment of the present application;

[0014] Figure 7 A schematic diagram of a streamlined rotating body of an underwater device according to an embodiment of this application is shown.

[0015] Explanation of reference numerals in the attached figures:

[0016] Buoyancy adjustment device 100.

[0017] Outer oil bladder 110; inner oil bladder assembly 120; buoyancy drive unit 130.

[0018] Housing 121; movable partition 122; inner oil bladder 123; vacuum section 124; guide rod 125; first position detection sensor 126.

[0019] High-pressure pump unit 131; depth sensor 132; first hydraulic valve 133; second hydraulic valve 134; check valve 135; throttle valve 136.

[0020] First fixed housing 1231; inner oil bladder 1232; hydraulic oil cavity 1233.

[0021] Second fixed housing 1241; first side housing 1242; pneumatic control valve 1243; vacuum pump 1244; vacuum chamber 1245.

[0022] High-pressure pump 1311; drive motor 1312.

[0023] Location marker 1251.

[0024] 200 underwater devices.

[0025] Main compartment 210; payload compartment 220; power unit 230.

[0026] Controller 211; First sealed chamber 212; Jet jettison module 213; First battery pack 214; Roll adjustment device 215; Pitch adjustment device 216; Second sealed chamber 217; Second battery pack 218; Antenna group 219.

[0027] Third sealed chamber 221; sonar device 222; load sensor 223; CTD 224.

[0028] Fourth sealed compartment 231; rudder module 232; propulsion module 233.

[0029] Servo motor 2321; servo shaft 2322.

[0030] Propeller 2331; Transmission unit 2332. Detailed Implementation

[0031] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided so that this application will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar parts, and therefore repeated descriptions of them will be omitted.

[0032] The described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a full understanding of embodiments of this disclosure. However, those skilled in the art will recognize that the technical solutions of this disclosure can be practiced without one or more of these specific details, or other methods, components, materials, devices, etc. In these cases, well-known structures, methods, devices, implementations, materials, or operations will not be shown or described in detail.

[0033] Furthermore, the terms “comprising” and “having”, and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the steps or units listed, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such process, method, product, or apparatus.

[0034] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order.

[0035] The technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0036] The inventors of this application have discovered that, among current underwater devices, underwater gliders operate in a sawtooth pattern, typically for depth profiling. Their trajectory control and positioning accuracy are low, and they may drift with the current in rough seas. Underwater gliders generally lack a propulsion system, making it impossible to achieve large-scale underwater direct navigation for searching or underwater hovering for close-range monitoring. Therefore, underwater gliders are suitable for depth profiling hydrological measurements, but their application in underwater cruising and search scenarios is somewhat limited.

[0037] Current AUVs that adjust their attitude via rudders rely on rudder effect for diving. However, at greater depths, the AUVs consume significant power during ascent and descent, resulting in shorter endurance. Current AUVs that jettison weights to assist diving suffer from limitations in mission scope and operational continuity.

[0038] When AUVs need to have long endurance and wide-range stealth cruise, underwater hovering and close-range monitoring, and perform low-power, depth-fixed, silent underwater tasks, the traditional AUV layout and application mode are no longer applicable.

[0039] According to one aspect of this application, a buoyancy adjustment device 100 for underwater equipment is provided. The underwater equipment may include a housing.

[0040] According to the example embodiments, underwater equipment can be devices that operate in an underwater environment or perform specific tasks. For example, underwater equipment can be an AUV, an autonomous underwater glider (AUG), a buoy device, and a remotely operated vehicle (ROV), etc.

[0041] See Figure 1 The buoyancy adjustment device 100 includes an outer oil bladder 110, an inner oil bladder assembly 120, and a buoyancy drive unit 130.

[0042] According to the example embodiment, the external fuel bladder 110 can be disposed on the equipment shell to contact the ambient liquid and located in the vertical direction of the underwater equipment's center of buoyancy. For example, the external fuel bladder 110 can be centrally disposed in the main compartment of the AUV, and the external fuel bladder 110 can coincide with the AUV's center of buoyancy. This arrangement can reduce the impact of weight changes on the AUV's attitude adjustment during diving or surfacing, thereby saving energy and improving endurance. The ambient liquid can be seawater, etc.

[0043] See Figures 2-4 The inner oil bladder assembly may include a housing 121, a movable partition 122, an inner oil bladder portion 123, and a vacuum portion 124.

[0044] The movable partition 122 is movably disposed in the housing 121. The inner oil bladder 123 is disposed at one end of the housing 121. The vacuum section 124 is disposed at the other end of the housing 121, and the vacuum section 124 and the inner oil bladder 123 are separated by the movable partition 122.

[0045] See Figure 2 and Figure 3 The buoyancy drive unit 130 includes a high-pressure pump unit 131, a depth sensor 132, a first hydraulic valve 133, and a second hydraulic valve 134.

[0046] According to an example embodiment, one end of the high-pressure pump unit 131 is connected to the inner oil bladder portion 123. See also Figure 3 The high-pressure pump unit 131 may include a high-pressure pump 1311 and a drive motor 1312. The drive motor 1312 can drive the high-pressure pump 1311 to cause hydraulic oil in the inner oil bladder 123 to flow out of the inner oil bladder 123. For example, the high-pressure pump 1311 can be one of a plunger pump, gear pump, screw pump, or vane pump. Plunger pumps have the characteristics of high working pressure and small installation space, and a miniature plunger pump can be selected to provide power for discharging oil from the outer oil bladder.

[0047] One end of the depth sensor 132 is connected to the high-pressure pump unit 131, and the other end of the depth sensor 132 is connected to the outer oil bladder 110. For example, the depth sensor 132 can be a pressure sensor, which can determine the depth of the underwater equipment in the ambient liquid by measuring the pressure of the ambient liquid.

[0048] One end of the first hydraulic valve 133 is connected to the inner oil bladder 123, and the other end of the first hydraulic valve 133 is connected to the outer oil bladder 110. The first hydraulic valve 133 can control the hydraulic oil in the outer oil bladder 110 to flow back to the inner oil bladder 123.

[0049] One end of the second hydraulic valve 134 is connected to the inner oil bladder 123, and the other end of the second hydraulic valve 134 is connected to the outer oil bladder 110. The second hydraulic valve 134 can control the hydraulic oil in the outer oil bladder 110 to flow back to the inner oil bladder 123.

[0050] The buoyancy adjustment device can include three operating modes.

[0051] Operating mode 1, oil discharge and buoyancy. When the underwater equipment surfaces, the vacuum unit 124 cancels the vacuum. Both the first hydraulic valve 133 and the second hydraulic valve 134 are closed, and the high-pressure pump unit 131 pumps the hydraulic oil in the inner oil bladder 123 to the outer oil bladder 110.

[0052] Operating Mode 2, Submersion at the Surface of the Ambient Liquid. When the underwater equipment submerges at the surface of the ambient liquid (e.g., at the surface of seawater), as the underwater equipment begins to submerge, the first hydraulic valve 133 opens, the second hydraulic valve 134 closes, and the vacuum section 124 creates a vacuum, causing the hydraulic oil in the outer oil bladder 110 to flow back to the inner oil bladder 123, and the underwater equipment begins to submerge. As the underwater equipment submerges deeper, the pressure of the ambient liquid compressing the outer oil bladder 110 increases, and the hydraulic oil return speed increases.

[0053] Operating Mode 3: Adjusting Diving Depth in Ambient Liquid. When the underwater equipment adjusts its diving depth in ambient liquid (e.g., in deep water), the depth sensor 132 can detect the current depth. If the target depth is not reached at the current depth, the first hydraulic valve 133 closes, the second hydraulic valve 134 opens, and a preset volume of hydraulic oil flows back into the inner oil sac 123.

[0054] The preset capacity can be calculated based on the difference between the density of seawater at the mission depth and the density of surface seawater, as well as the drainage volume of the underwater equipment, thereby ensuring that the underwater equipment can safely surface after diving to the mission depth.

[0055] When the current depth exactly reaches the target depth, both the first hydraulic valve 133 and the second hydraulic valve 134 are closed. If the current depth exceeds the target depth, oil needs to be drained for buoyancy adjustment, and the vacuum unit 124 releases the vacuum. Both the first hydraulic valve 133 and the second hydraulic valve 134 are closed, and the high-pressure pump unit 131 pumps hydraulic oil from the inner oil bladder 123 to the outer oil bladder 110. The buoyancy adjustment device 100's operating mode allows it to reach the predetermined water depth in a single task, improving operational efficiency.

[0056] Through the above embodiments, the buoyancy adjustment device of this application can minimize the impact of changes in the volume of the outer oil bladder on the pitch attitude of the underwater equipment by aligning the outer oil bladder with the center of buoyancy of the underwater equipment. This reduces the impact of changes in the weight of the underwater equipment during diving or surfacing on the attitude adjustment of the underwater equipment, thereby eliminating the need for pitch adjustment or rudder effect balancing of the underwater equipment's attitude, achieving the goal of low power consumption, and improving the endurance of the underwater equipment.

[0057] The buoyancy adjustment device provided in this application can achieve the underwater equipment's descent by relying on the hydraulic oil flow between the inner and outer oil bladders during the underwater equipment's descent adjustment process. This can reduce the need for additional electrical devices to drive the hydraulic oil of the outer oil bladder, thereby saving energy for the underwater equipment and achieving the goal of low power consumption.

[0058] Optionally, see Figure 2 and Figure 3 The buoyancy drive unit 130 also includes a one-way valve 135. One end of the one-way valve 135 is connected to the high-pressure pump unit 131, and the other end is connected to the depth sensor 132. The one-way valve 135 can control the unidirectional flow of hydraulic oil, so that in the oil path of the inner oil bladder 123, the high-pressure pump unit 131, the depth sensor 132, and the outer oil bladder 110, the flow direction of hydraulic oil is only from the inner oil bladder 123 to the outer oil bladder 110. When hydraulic oil flows back from the outer oil bladder 110 to the inner oil bladder 123, it flows back through the first hydraulic valve 133 or the second hydraulic valve 134.

[0059] Optionally, see Figure 2 and Figure 3 The buoyancy drive unit 130 also includes a throttle valve 136. One end of the throttle valve 136 is connected to the inner oil bladder 123, and the other end is connected to the second hydraulic valve 134. The throttle valve 136 can regulate the return flow rate of hydraulic oil from the outer oil bladder 110 to the inner oil bladder 123. For example, the throttle valve 136 can reduce the return flow rate of hydraulic oil in deep, high-pressure water environments.

[0060] Optionally, see Figure 4 The inner oil bladder 123 includes a first fixed housing 1231 and an inner oil bladder 1232. The first fixed housing 1231 is disposed at one end of the housing 121. The inner oil bladder 1232 surrounds the outer periphery of the first fixed housing 1231. One end of the inner oil bladder 1232 is fixedly connected to the outer periphery of the first fixed housing 1231, and the other end of the inner oil bladder 1232 is fixedly connected to the outer periphery of the movable partition 122. The inner oil bladder 1232 can be made of elastic rubber or other materials. The inner oil bladder 1232, the first fixed housing 1231, and the movable partition 122 form a hydraulic oil cavity 1233. The hydraulic oil cavity 1233 can store hydraulic oil.

[0061] See Figure 3The vacuum section 124 includes a second fixed housing 1241, a first side housing 1242, a pneumatic control valve 1243, and a vacuum pump 1244. The second fixed housing 1241 is disposed at the other end of the housing 121. The first side housing 1242 surrounds the outer periphery of the second fixed housing 1241, with one end of the first side housing 1242 fixedly connected to the outer periphery of the second fixed housing 1241 and the other end of the first side housing 1242 fixedly connected to the outer periphery of the movable partition 122. The first side housing 1242, the second fixed housing 1241, and the movable partition 122 form a vacuum cavity 1245.

[0062] Pneumatic control valve 1243 is connected to vacuum chamber 1245, and can control the vacuum environment of vacuum chamber 1245. Vacuum pump 1244 is connected to vacuum chamber 1245, and can extract gas from vacuum chamber 1245, so that vacuum chamber 1245 forms a vacuum environment.

[0063] See Figure 4 The inner oil bladder assembly 120 also includes a guide rod 125 and a first position detection sensor 126.

[0064] A guide rod 125 is disposed within the housing 121, and passes horizontally through the hydraulic oil chamber 1233, the movable partition 122, and the vacuum chamber 1245 in sequence. At least two position markers 1251 are evenly spaced on the guide rod 125. A first position detection sensor 126 is fixedly disposed on the inner wall of the vacuum chamber 1245 communicating with the movable partition 122. The first position detection sensor 126 detects the position of the movable partition 122 based on the position markers 1251. The movable partition 122 moves horizontally along the guide rod 125 to change the volume of the hydraulic oil chamber 1233 and the vacuum chamber 1245.

[0065] In operating mode 1, the equipment floats to the surface. When the underwater device 200 floats, the pneumatic control valve 1243 opens, and the vacuum chamber 1245 cancels the vacuum. The first hydraulic valve 133 and the second hydraulic valve 134 are both closed, and the high-pressure pump unit 131 pumps the hydraulic oil in the hydraulic oil chamber 1233 of the inner oil bladder 123 to the outer oil bladder 110.

[0066] Operating Mode 2, Submersion at the Surface of the Ambient Liquid. When the underwater device 200 submerges at the surface of the ambient liquid (e.g., at the surface of seawater), as the underwater device 200 begins its descent, the first hydraulic valve 133 opens, the second hydraulic valve 134 closes, and the pneumatic control valve 1243 closes. The vacuum pump 1244 operates, creating a vacuum in the vacuum chamber 1245, causing the hydraulic oil in the outer oil bladder 110 to flow back into the hydraulic oil chamber 1233, and the underwater device 200 begins its descent. As the underwater device 200 descends deeper, the pressure of the ambient liquid compressing the outer oil bladder 110 increases, and the hydraulic oil return speed increases.

[0067] Operating Mode 3: Adjusting Diving Depth in Ambient Liquid. When the underwater device 200 adjusts its diving depth in ambient liquid (e.g., in deep water), the depth sensor 132 can detect the current depth. If the target depth is not reached at the current depth, the first hydraulic valve 133 closes and the second hydraulic valve 134 opens, returning a preset volume of hydraulic oil to the hydraulic oil chamber 1233.

[0068] The first position detection sensor 126 can measure the position mark 1251 to determine the position of the movable partition 122, thereby determining the volume of the hydraulic oil chamber 1233 and the vacuum chamber 1245. The capacity of hydraulic oil flowing back into the hydraulic oil chamber 1233 can be determined by controlling the horizontal movement of the movable partition 122.

[0069] When the current depth exactly reaches the target depth, both the first hydraulic valve 133 and the second hydraulic valve 134 are closed. When the current depth exceeds the target depth, oil needs to be drained for buoyancy. The pneumatic control valve 1243 is opened, and the vacuum chamber 1245 is de-vacuumed. Both the first hydraulic valve 133 and the second hydraulic valve 134 are closed, and the high-pressure pump unit 131 pumps the hydraulic oil in the hydraulic oil chamber 1233 to the outer oil bladder 110.

[0070] The first position detection sensor 126, vacuum pump 1244, and pneumatic control valve 1243 can be low-power hardware devices.

[0071] Through the above embodiments, the buoyancy adjustment device provided in this application can achieve the underwater equipment's descent by relying on the hydraulic oil flow between the inner and outer oil bladders during the underwater equipment's descent adjustment process. This can reduce the need for additional electrical devices to drive the hydraulic oil of the outer oil bladder, thereby saving energy for the underwater equipment and achieving the goal of low power consumption.

[0072] According to another aspect of this application, an underwater device 200 is provided. The underwater device includes a buoyancy adjustment device 100 as described above.

[0073] Optionally, see Figure 5The underwater equipment 200 includes a main compartment 210, which includes a controller 211, a first sealed compartment 212, a jettison module 213, a first battery pack 214, a roll adjustment device 215, a pitch adjustment device 216, a second sealed compartment 217, and a second battery pack 218. The main compartment 210 also includes the buoyancy adjustment device 100 described above.

[0074] For example, underwater equipment 200 can be AUV, AUG, buoy equipment, and ROV, etc. Figure 5 As shown, underwater equipment 200 can be an AUV.

[0075] According to the example embodiment, the jettison module 213 is centrally located at the bottom of the outer side of the first sealed compartment 212, and is detachably connected to the first sealed compartment 212. Before jettisoning, the underwater device 200 is in a horizontal position on the water surface. The jettison module 213 is arranged in the middle of the main compartment 210. After jettisoning, the underwater device 200 still maintains a horizontal position, ensuring that the communication antenna of the underwater device 200 is exposed above the water surface in an emergency for location and recovery. The jettison module 213 is located at the bottom, increasing the center of gravity and making the cruise of the underwater device 200 more stable.

[0076] According to an example embodiment, the first battery pack 214 is movably disposed within the first sealed chamber 212. The first battery pack 214 can supply power to various devices, such as the roll adjustment device 215, the pitch adjustment device 216, the buoyancy adjustment device 100, and the controller 211.

[0077] A roll adjustment device 215 is disposed within the first sealed chamber 212. The roll adjustment device 215 includes a second position detection sensor and a first drive unit (not shown in the figure). The second position detection sensor detects a first signal generated by the roll angle of the first battery pack 214 and sends the first signal to the controller 211. The first drive unit receives a first drive command from the controller 211 in response to the first signal and adjusts the roll position of the first battery pack 214 according to the first drive command.

[0078] The first signal can be the roll angle signal sent by the second position detection sensor. The first drive command can be a drive command generated based on the first signal for adjusting the roll position.

[0079] The pitch adjustment device 216 is disposed within the first sealed chamber 212. The pitch adjustment device 216 includes a third position detection sensor and a second drive unit (not shown in the figure). The third position detection sensor detects a second signal generated by the pitch angle of the first battery pack 214 and sends the second signal to the controller 211. The second drive unit receives a second drive command from the controller 211 in response to the second signal and adjusts the pitch position of the first battery pack according to the second drive command.

[0080] The second signal can be the pitch angle signal sent by the third position detection sensor. The second drive command can be a drive command generated based on the second signal for adjusting the pitch position.

[0081] The second sealed chamber 217 is horizontally spaced from the first sealed chamber 212. The outer oil bladder 110 can be disposed at the interval between the first sealed chamber 212 and the second sealed chamber 217. The second battery pack 218 is fixedly disposed inside the second sealed chamber 217.

[0082] The controller 211 is fixedly installed inside the second sealed chamber 217. The inner oil bladder assembly 120 and the buoyancy drive unit 130 are installed inside the second sealed chamber 217.

[0083] The second battery pack 218 can be a backup battery. The first battery pack 214 and the second battery pack 218 can be high-energy-density, multi-unit primary battery packs. The control board 211 can use low-power control board hardware.

[0084] The sealing chamber cylinders of the first sealing chamber 212 and the second sealing chamber 217 can be made of carbon fiber, while the end caps at both ends and the intermediate connecting ring of the main chamber 210 are made of aluminum alloy.

[0085] Through the above embodiments, the underwater equipment provided in this application can minimize the impact of changes in the volume of the external oil bladder on the pitch attitude of the underwater equipment by aligning the external oil bladder with the center of buoyancy of the underwater equipment. This reduces the impact of changes in the weight of the underwater equipment during diving or surfacing on the attitude adjustment of the underwater equipment, thereby eliminating the need for pitch adjustment or rudder effect balancing of the underwater equipment's attitude, achieving the goal of low power consumption, and improving the endurance of the underwater equipment.

[0086] The underwater equipment provided in this application can reduce the need for additional hydraulic oil drive devices for external oil bladders by using a low-cost water pressure return oil method during the underwater equipment's diving adjustment process, thereby saving energy for the underwater equipment.

[0087] The underwater equipment of this application is characterized by high cost-effectiveness and maneuverability, and can achieve long-term, long-distance, and fixed-depth underwater navigation to complete large-scale underwater observation of specific elements.

[0088] Optionally, see Figure 5 The main compartment 210 also includes an antenna assembly 219. The antenna assembly 219 is fixedly mounted on the outside of the second sealed compartment 217. The antenna assembly 219 is used for long-range satellite communication and short-range radio data transmission. The antenna assembly 219 can communicate with the controller 211.

[0089] Optionally, see Figure 5 The underwater equipment 200 also includes a payload unit 220, which includes a third sealed chamber 221, a sonar device 222, and a load sensor 223. The third sealed chamber 221 is horizontally connected to the first sealed chamber 212.

[0090] A sonar device 222 is mounted at the head of the third sealed chamber 221. The sonar device 221 enables the underwater equipment 200 to avoid obstacles. A load sensor 223 is mounted inside the third sealed chamber 221. The load sensor 223 can detect the load on the underwater equipment.

[0091] The payload unit 220 may also include a CTD 224 (CTD, Conductivity Temperature Depth profiler). The CTD 224 is relatively large and can be externally mounted on the outside of the main compartment. The CTD 224 can continuously and in real time measure temperature, salinity, and depth data of different water layers.

[0092] Optionally, see Figure 5 and Figure 6 The underwater equipment 200 also includes a power unit 230. The power unit 230 includes a fourth sealed compartment 231, a rudder module 232, and a propulsion module 233. The fourth sealed compartment 231 is horizontally connected to the second sealed compartment 217.

[0093] The rudder module 232 includes a servo motor 2321 and a rudder shaft 2322. The servo motor 2321 is located on the outside of the fourth sealed compartment 231. The rudder shaft 2322 is located inside the fourth sealed compartment 231 and is connected to the servo motor 2321. The rudder module 232 can use a "one-to-four" configuration of servo motor modules for horizontal and vertical channel control.

[0094] The propulsion module 233 includes a propeller 2331 and a transmission unit 2332. The propeller 2331 is located on the outside of the fourth sealed compartment 231. One end of the transmission unit 2332 is connected to the propeller 2331, and the other end of the transmission unit 2332 is connected to the servo motor 2321. The transmission unit 2332 can adopt a magnetic coupling transmission form, and the propeller 2331 can adopt a high-efficiency, low-speed blade type, such as a large-pitch two-bladed blade.

[0095] Through the above embodiments, the rudder module and propulsion module can adjust the rudder attitude to achieve horizontal steering and pitch adjustment of the underwater equipment. This allows the underwater equipment to conduct both wide-area searches and small-range maneuvers in deep waters, enabling close-range monitoring. It ensures the underwater equipment can operate directly underwater.

[0096] Optionally, see Figure 7 The underwater equipment 200 is a streamlined rotating body, comprising a bow section, a midsection, and a stern section. The bow section adopts a Myring low-drag hull shape. The midsection adopts a parallel midbody shape. The stern section adopts a Myring low-drag hull shape. The streamlined shape of the rotating body reduces drag and improves motion stability.

[0097] Through the above embodiments, the underwater device of this application can dive to a depth of 3300 meters, operate continuously for 35 days, and retain approximately 30% of its battery power. It can achieve the function of hovering underwater at a specified depth and be safely retrieved to shore.

[0098] Finally, it should be noted that the above description is merely a preferred embodiment of this application and is not intended to limit this application. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions of the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A buoyancy adjustment device for underwater equipment, the underwater equipment comprising a housing, characterized in that, include: An external oil bladder is disposed on the outer shell of the device to come into contact with the ambient liquid and is located in the vertical direction of the buoyancy center of the underwater device; The internal oil bladder assembly includes: case; A movable partition is movably disposed within the housing; An inner oil bladder is disposed at one end of the housing; A vacuum section is located at the other end of the housing and is separated from the inner oil bladder section by the movable partition. The buoyancy drive unit includes: A high-pressure pump unit, one end of which is connected to the inner oil bladder; The depth sensor is connected at one end to the high-pressure pump unit and at the other end to the external oil bladder; The first hydraulic valve has one end connected to the inner oil bladder and the other end connected to the outer oil bladder. The second hydraulic valve has one end connected to the inner oil bladder and the other end connected to the outer oil bladder. When the underwater equipment surfaces, the vacuum unit cancels the vacuum, and the high-pressure pump unit pumps the hydraulic oil in the inner oil bladder to the outer oil bladder. When the underwater equipment is submerged, the first hydraulic valve or the second hydraulic valve opens, and the vacuum section forms a vacuum, thereby causing the hydraulic oil in the outer oil bladder to flow back to the inner oil bladder section; The inner oil bladder includes: A first fixed housing is disposed at one end of the housing; An inner oil bladder surrounds the outer periphery of the first fixed housing, and the inner oil bladder, the first fixed housing, and the movable partition form a hydraulic oil cavity; The vacuum section includes: A second fixed housing is disposed at the other end of the housing; A first side shell surrounds the outer periphery of the second fixed shell, and the first side shell, the second fixed shell, and the movable partition form a vacuum cavity; A pneumatic control valve is connected to the vacuum chamber; A vacuum pump is connected to the vacuum chamber; The internal oil bladder assembly also includes: A guide rod is disposed in the housing and passes through the hydraulic oil cavity, the movable partition and the vacuum cavity in sequence along the horizontal direction. The guide rod is provided with at least two position marks at even intervals. A first position detection sensor is fixedly installed on the inner wall of the vacuum cavity that communicates with the movable partition. The first position detection sensor detects the position of the movable partition according to the position mark. The movable partition moves horizontally along the guide rod to change the volume of the hydraulic oil chamber and the vacuum chamber.

2. The buoyancy adjustment device according to claim 1, characterized in that, The buoyancy drive unit also includes: A one-way valve is connected at one end to the high-pressure pump unit and at the other end to the depth sensor.

3. The buoyancy adjustment device according to claim 1, characterized in that, The buoyancy drive unit also includes: The throttle valve is connected at one end to the inner oil bladder and at the other end to the second hydraulic valve.

4. An underwater device, characterized in that, Includes the buoyancy adjustment device as described in any one of claims 1-3.

5. The underwater device according to claim 4, characterized in that, The underwater equipment includes a main compartment, which comprises: Controller; First sealed compartment; The ejection module is centrally located at the bottom of the outer side of the first sealed chamber and is detachably connected to the first sealed chamber. The first battery pack is movably disposed within the first sealed chamber; A roll adjustment device, disposed within the first sealed chamber, includes: The second position detection sensor detects the roll angle of the first battery pack, generates a first signal, and sends the first signal to the controller; The first drive unit receives a first drive command sent by the controller in response to the first signal, and adjusts the roll position of the first battery pack according to the first drive command. Pitch adjustment device, disposed within the first sealed chamber, includes: A third position detection sensor detects a second signal generated by the pitch angle of the first battery pack and sends the second signal to the controller; The second drive unit receives a second drive command sent by the controller in response to the second signal, and adjusts the pitch position of the first battery pack according to the second drive command. The second sealed chamber is horizontally spaced from the first sealed chamber; The second battery pack is fixedly installed inside the second sealed chamber; The controller is fixedly installed inside the second sealed chamber; The internal oil bladder assembly and the buoyancy drive unit are disposed inside the second sealed chamber.

6. The underwater device according to claim 5, characterized in that, The main cabin also includes: The antenna assembly is fixedly installed on the outside of the second sealed chamber.

7. The underwater device according to claim 5, characterized in that, The underwater equipment also includes a payload unit, which comprises: The third sealed chamber is horizontally connected to the first sealed chamber; The sonar device is located at the head of the third sealed chamber; The load sensor is located inside the third sealed chamber.

8. The underwater device according to claim 5, characterized in that, The underwater equipment also includes a power unit, which comprises: The fourth sealed chamber is horizontally connected to the second sealed chamber. The rudder module includes: The servo motor is located on the outside of the fourth sealed compartment. The rudder shaft is located inside the fourth sealed compartment and is connected to the rudder motor. The propulsion module includes: The propeller is located outside the stern of the fourth sealed compartment; The transmission unit is connected to the propeller at one end and to the servo motor at the other end.

9. The underwater device according to claim 4, characterized in that, The underwater equipment is a streamlined rotating body, which includes: The bow section adopts the Myring low-drag hull form; The intermediate compartment adopts a parallel mid-body design; The stern section adopts the Myring low-drag hull design.

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