Buoyancy reserve water tank for water surface / underwater ocean robot and use method of buoyancy reserve water tank

Abstract

The invention belongs to the technical field of autonomous underwater robots, and particularly relates to a water surface / underwater ocean robot buoyancy reserve water tank and a using method thereof.The water tank body is installed on an ocean robot and used for storing buoyancy reserve water, the water tank body is provided with a bottom valve and a one-way valve, and the one-way valve is used for ventilation in the water inlet and outlet process of the water tank body; the bottom valve is communicated with the ocean to finish water feeding and water discharging of the water tank body; the water inlet and outlet pumping station is arranged in the ocean robot and used for rapid water inlet and drainage of the water tank body, one end of the water inlet and outlet pipeline is communicated with the interior of the water tank body, the other end of the water inlet and outlet pipeline is communicated with one end of the water inlet and outlet pumping station, and the other end of the water inlet and outlet pumping station is communicated with outside seawater. The method comprises a water inlet use method with power and no power of the water tank body and a water drainage use method with power and no power of the water tank body, and then rapid switching of the ocean robot between the water surface mode and the underwater mode is achieved.

Description

Technical Field

[0001] This invention belongs to the field of autonomous underwater robot technology, specifically a buoyancy reserve water tank for surface / underwater marine robots and its usage method. Background Technology

[0002] Surface / underwater cross-domain marine robots have two operating modes: surface and underwater. Typically, these underwater robots employ a structure with a dorsal buoyancy reserve tank. In surface mode, water is drained from the buoyancy reserve tank to provide reserve buoyancy for the robot. In underwater mode, the buoyancy reserve tank is filled with water to bring the robot into a low-buoyancy state. The two operating modes are switched by the inflow and outflow of the buoyancy reserve tank. However, both the surface mode drainage and underwater mode filling rely solely on drainage pump stations, resulting in long drainage and filling times and low efficiency. Summary of the Invention

[0003] To address the problem of excessive time and energy consumption associated with simply using drainage pumping stations, and to further improve the efficiency of water intake and drainage, the present invention aims to provide a buoyancy storage tank for surface / underwater marine robots that can be used both powered and unpowered, and its method of use.

[0004] The objective of this invention is achieved through the following technical solution:

[0005] The buoyancy storage tank of the present invention includes an inlet / outlet pump station, an inlet / outlet pipeline, a tank body, a bottom valve, and a check valve. The tank body is installed on a marine robot for storing buoyancy storage water. The tank body is equipped with a bottom valve and a check valve. The check valve is used for venting during the inlet / outlet process of the tank body, and the bottom valve is used to connect with the ocean to complete the inlet and outlet of the tank body. The inlet / outlet pump station is located inside the marine robot for inlet and outlet of the tank body. One end of the inlet / outlet pipeline is connected to the interior of the tank body, and the other end of the inlet / outlet pipeline is connected to one end of the inlet / outlet pump station. The other end of the inlet / outlet pump station is connected to the outside seawater.

[0006] Wherein: the water tank body is installed on the top of the marine robot, and the shape of the water tank body is conformal to the shape of the marine robot, thereby reducing the navigation resistance of the marine robot.

[0007] There are multiple bottom valves, each installed at the bottom of the water tank body, and each bottom valve is connected to the outside seawater.

[0008] There are multiple one-way valves, each installed on the top of the water tank body.

[0009] The one-way valve is preferably a buoyancy valve, including a valve disc and a float connected to each other. The float floats up after water enters the water tank, thus opening the one-way valve. When there is no water in the water tank, the float closes the one-way valve under its own weight.

[0010] The present invention relates to a method for using a buoyancy reserve water tank for surface / underwater marine robots, including a water tank body that can be powered or unpowered for water intake and a water tank body that can be powered or unpowered for water drainage, thereby enabling the marine robot to quickly switch between surface and underwater modes.

[0011] Wherein: the water tank body has both powered and unpowered water inlet operation methods, including

[0012] Non-powered water intake operation method: The bottom valve is opened when powered on, the marine robot remains stationary, and seawater automatically enters the water tank body through the outlet of the bottom valve. The one-way valve is kept open by the buoyancy of the seawater in the water tank body. When the water tank body reaches the full liquid level, the bottom valve is closed, and the marine robot becomes a weak positive buoyancy state.

[0013] Powered water intake operation method: The bottom valve is opened when powered on, and the one-way valve is kept open by the buoyancy of the seawater in the water tank. The water inlet and outlet pump station is powered on and works. Water is introduced into the water tank through the water inlet and outlet pipelines and the bottom valve. When the water tank reaches the full liquid level, the water inlet and outlet pump station and the bottom valve are closed to complete the water intake of the water tank.

[0014] The bottom valve is multiple, and the water inlet speed of the water tank body is controlled by adjusting the number of bottom valves.

[0015] The water tank body has both powered and unpowered drainage methods, including

[0016] Non-powered drainage method: The bottom valve is opened when powered on, the marine robot travels on the water surface at a set speed, the outlet of the bottom valve generates a speed difference with the seawater to form a negative pressure, the one-way valve is kept open by the buoyancy of the seawater in the water tank, the seawater in the water tank flows out automatically through the bottom valve, the bottom valve is closed after the seawater in the water tank is drained to the set liquid level, and the one-way valve is closed automatically by its own gravity.

[0017] Powered drainage method: The bottom valve is opened when powered on, and the one-way valve is kept open by the buoyancy of the seawater in the water tank. The inlet and outlet pump station is powered on and works. The water tank is drained through the inlet and outlet pipelines and the bottom valve. When the seawater in the water tank reaches the set level, the inlet and outlet pump station and the bottom valve are closed. The one-way valve closes automatically by its own gravity, thus completing the drainage of the water tank.

[0018] The bottom valves are multiple, and the drainage speed of the water tank body is controlled by adjusting the sailing speed of the marine robot and the number of bottom valves opened and closed.

[0019] The advantages and positive effects of this invention are as follows:

[0020] 1. This invention can improve the efficiency of water intake and drainage, solve the problem of consuming a lot of time and energy by simply using drainage pumping stations, and further realize the rapid switching of surface / underwater modes for cross-domain marine robots.

[0021] 2. This invention can control the inlet and outlet speed of the water tank body by adjusting the sailing speed and the number of bottom valves. It can also further improve the inlet and outlet efficiency through the inlet and outlet pipelines, saving a lot of time and energy compared to simply using a drainage pump station. Attached Figure Description

[0022] Figure 1 This is one of the structural schematic diagrams of the buoyancy storage tank of the present invention;

[0023] Figure 2 This is the second schematic diagram of the buoyancy storage tank of the present invention;

[0024] Among them: 1 is the inlet and outlet pump station, 2 is the inlet and outlet pipeline, 3 is the water tank body, 4 is the bottom valve, 5 is the check valve, and 6 is the marine robot. Detailed Implementation

[0025] The invention will now be described in further detail with reference to the accompanying drawings.

[0026] The following description provides a detailed explanation of the embodiments of the present invention in a step-by-step manner. This description is only a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

[0027] In the description of this invention, it should be noted that the terms "inlet and outlet pump station", "water tank body", "bottom valve", "check valve", etc. are only used to describe this invention and simplify the description, and are not intended to indicate or imply that the device or element referred to must have a specific structural construction, and therefore should not be construed as a limitation of this invention.

[0028] like Figure 1 , Figure 2As shown, the buoyancy storage tank of the present invention includes an inlet / outlet pump station 1, an inlet / outlet pipeline 2, a tank body 3, a bottom valve 4, and a one-way valve 5. The tank body 3 is installed on a marine robot 6 and is used for storing buoyancy storage water. The tank body 3 is equipped with a bottom valve 4 and a one-way valve 5. The one-way valve 5 is used for ventilation during the inlet / outlet process of the tank body 3, and the bottom valve 4 is used to connect with the ocean to complete the inlet and outlet of the tank body 3. The inlet / outlet pump station 1 is located inside the marine robot 6 and is used for rapid inlet and outlet of the tank body 3. One end of the inlet / outlet pipeline 2 is connected to the interior of the tank body 3, and the other end of the inlet / outlet pipeline 2 is connected to one end of the inlet / outlet pump station 1. The other end of the inlet / outlet pump station 1 is connected to the outside seawater. When the inlet / outlet pump station 1 is working, it fills and drains water into the tank body 3 through the inlet / outlet pipeline 2. The connection point between the inlet / outlet pipeline 2 and the tank body 3 is the bottom of the tank body 3.

[0029] The marine robot 6 in this embodiment is also equipped with a control system and a power supply. The control system is existing technology and will not be described in detail here. The water tank body 3 in this embodiment is also equipped with a liquid level sensor. The liquid level sensor, bottom valve 4 and inlet / outlet pump station 1 are respectively connected to the control system. The power supply is used to power the inlet / outlet pump station 1, bottom valve 4 and liquid level sensor.

[0030] In this embodiment, the water tank body 3 is installed on top of the marine robot 6. The shape of the water tank body 3 is conformal to the shape of the marine robot 6, thereby reducing the navigation resistance of the marine robot 6.

[0031] In this embodiment, there are multiple bottom valves 4, which are installed at the bottom of the water tank body 3. Each bottom valve 4 opening is connected to the outside seawater.

[0032] In this embodiment, multiple one-way valves 5 are installed on the top of the water tank body 3. They are used for ventilation during the water tank body 3's water intake and drainage processes, preventing air from remaining in the water tank body 3 and causing the seawater inside the water tank body 3 to be incompletely filled or drained. The one-way valve 5 in this embodiment is a conventional buoyancy valve, including a valve disc and a float. The valve disc is connected to the float. When water enters the water tank body 3, the float rises and opens the one-way valve 5. When the water tank body 3 is empty, the float closes the one-way valve 5 under its own weight.

[0033] The present invention provides a method for using the buoyancy reserve water tank of a surface / underwater marine robot, including a water tank body 3 that can be used for both powered and unpowered water intake and a water tank body 3 that can be used for both powered and unpowered water drainage, thereby enabling the marine robot 6 to quickly switch between surface and underwater modes.

[0034] The water tank body 3 supports both powered and non-powered water intake methods, including...

[0035] Non-powered water intake operation: Bottom valve 4 is powered on and opened. The marine robot 6 remains stationary. Seawater automatically enters the water tank body 3 from the outlet of bottom valve 4. One-way valve 5 is kept open by the buoyancy of the seawater in the water tank body 3. The water intake speed of the water tank body 3 is controlled by adjusting the number of bottom valves 4. When the water tank body 3 reaches the full liquid level, bottom valve 4 is closed, and the marine robot 6 becomes weakly positive buoyant.

[0036] Powered water intake operation method: Bottom valve 4 is powered on and opened. One-way valve 5 is kept open by the buoyancy of seawater in the water tank body 3. Inlet and outlet pump station 1 is powered on and works. Water is introduced into the water tank body 3 through inlet and outlet pipes 2 and bottom valve 4. When the water tank body 3 reaches the full liquid level, inlet and outlet pump station 1 and bottom valve 4 are closed to complete the water intake of the water tank body 3.

[0037] The water tank body 3 has both powered and non-powered drainage methods, including...

[0038] Non-powered drainage method: Bottom valve 4 is powered on and opened. The marine robot 6 travels on the water surface at a set speed. The outlet of bottom valve 4 generates a speed difference with the seawater, creating a negative pressure. One-way valve 5 is kept open by the buoyancy of the seawater in the water tank body 3. The seawater in the water tank body 3 flows out automatically through bottom valve 4. The drainage speed of the water tank body 3 is controlled by adjusting the travel speed of the marine robot 6 and the number of times bottom valve 4 is opened and closed. After the seawater in the water tank body 3 is drained to the set level, bottom valve 4 is closed. One-way valve 5 closes automatically by its own gravity.

[0039] Powered drainage method: Bottom valve 4 is energized and opened. Check valve 5 is kept open by the buoyancy of seawater in the water tank body 3. Inlet and outlet pump station 1 is energized and works. Through inlet and outlet pipes 2 and bottom valve 4, water tank body 3 is drained. When the seawater in water tank body 3 is drained to the set level, inlet and outlet pump station 1 and bottom valve 4 are closed. Check valve 5 is automatically closed by its own gravity, completing the drainage work of water tank body 3.

[0040] The liquid level inside the water tank body 3 is measured by a liquid level sensor and the signal is transmitted to the control system. This is existing technology and will not be described in detail here.

[0041] The water inlet and outlet pump station 1, water tank body 3, one-way valve 5, bottom valve 4, etc. of the present invention can be in various structural forms and in various quantities, and are not limited to the structure and quantity restrictions disclosed in the present invention.

[0042] The surface / underwater marine robot 6 of the present invention has two working modes: surface and underwater. In the surface mode, seawater is discharged from the water tank body 3 to provide reserve buoyancy for the marine robot 6; in the underwater mode, the water tank body 3 is filled with seawater to make the marine robot 6 a weak buoyancy state. The two working modes are switched by the water tank body 3 filling and draining water.

[0043] When the marine robot 6 switches from underwater to surface operation mode, the water tank 3 is full. At this time, the bottom valve 4 is opened, and the marine robot 6 travels on the surface at a set speed. The velocity difference between the outlet of the bottom valve 4 and the seawater creates a negative pressure, causing the seawater in the water tank 3 to flow out automatically. The faster the marine robot 6 travels, the greater the negative pressure at the outlet of the bottom valve 4, and the greater the water flow rate from the water tank 3. This method allows for rapid and unpowered drainage of the water tank 3. Once the seawater in the water tank 3 reaches the set level, the bottom valve 4 is closed. The drainage speed of the water tank 3 can be controlled by adjusting the travel speed of the marine robot 6 and the number of times the bottom valve 4 is opened and closed.

[0044] When the marine robot 6 switches from surface operation mode to underwater operation mode, the bottom valve 4 is opened. The marine robot 6 remains stationary, and seawater automatically enters the water tank 3 through the outlet of the bottom valve 4, achieving the purpose of filling with water. When the water tank 3 reaches the full liquid level, the bottom valve 4 is closed, and the marine robot 6 enters a state of weak positive buoyancy. The water inflow rate of the water tank 3 can be controlled by opening and closing the bottom valve 4.

[0045] When seawater enters the water tank body 3 through the one-way valve 5 and accumulates to the drainage level in the surface working mode of the marine robot 6, the inlet and outlet pump station 1 can be powered on to drain the water through the inlet and outlet pipe 2. The inlet and outlet pump station 1 can also perform corresponding drainage actions on the water tank body 3 during the drainage process through the inlet and outlet pipe 2, further shortening the drainage time of the water tank body 3.

[0046] When the marine robot 6 switches from surface working mode to underwater working mode, it can also be powered on by the inlet and outlet pump station 1 to fill the water tank body 3 with water through the inlet and outlet pipeline 2, further shortening the water filling time of the water tank body 3.

Claims

1. A buoyancy storage tank for surface / underwater marine robots, characterized in that: The system includes an inlet / outlet pump station (1), an inlet / outlet pipeline (2), a water tank body (3), a bottom valve (4), and a check valve (5). The water tank body (3) is installed on the marine robot (6) and is used for buoyancy-reserved water storage. The water tank body (3) is equipped with a bottom valve (4) and a check valve (5). The check valve (5) is used for ventilation during the inlet / outlet process of the water tank body (3). The bottom valve (4) is used to connect with the ocean and thus complete the inlet and outlet of the water tank body (3). The inlet / outlet pump station (1) is located inside the marine robot (6) and is used for the inlet and outlet of the water tank body (3). One end of the inlet / outlet pipeline (2) is connected to the inside of the water tank body (3), and the other end of the inlet / outlet pipeline (2) is connected to one end of the inlet / outlet pump station (1). The other end of the inlet / outlet pump station (1) is connected to the outside seawater.

2. The buoyancy reserve water tank for surface / underwater marine robots according to claim 1, characterized in that: The water tank body (3) is installed on the top of the marine robot (6). The shape of the water tank body (3) is conformal to the shape of the marine robot (6), thereby reducing the navigation resistance of the marine robot (6).

3. The buoyancy reserve water tank for surface / underwater marine robots according to claim 1, characterized in that: There are multiple bottom valves (4), which are installed at the bottom of the water tank body (3) and are connected to the outside seawater.

4. The buoyancy reserve water tank for surface / underwater marine robots according to claim 1, characterized in that: Multiple one-way valves (5) are installed on the top of the water tank body (3).

5. The buoyancy reserve water tank for surface / underwater marine robots according to claim 1, characterized in that: The one-way valve (5) is preferably a buoyancy valve, including a valve disc and a float connected to each other. The float floats up after water enters the water tank body (3) to open the one-way valve (5). When there is no water in the water tank body (3), the float closes the one-way valve (5) under its own weight.

6. A method of using the buoyancy reserve water tank for a surface / underwater marine robot as described in any one of claims 1 to 5, characterized in that: This includes a water tank body (3) with both powered and unpowered water intake methods and a water tank body (3) with both powered and unpowered water drainage methods, thereby enabling the marine robot (6) to quickly switch between surface and underwater modes.

7. The method of use according to claim 6, characterized in that: The water tank body (3) has both powered and non-powered water intake methods, including Non-powered water intake method: When the bottom valve (4) is powered on and opened, the marine robot (6) remains still and seawater automatically enters the water tank body (3) through the outlet of the bottom valve (4). The one-way valve (5) is kept open by the buoyancy of the seawater in the water tank body (3). When the water tank body (3) reaches the full liquid level, the bottom valve (4) is closed and the marine robot (6) becomes weak positive buoyancy. Powered water intake operation method: The bottom valve (4) is powered on and opened. The one-way valve (5) is kept open by the buoyancy of the seawater in the water tank body (3). The water inlet and outlet pump station (1) is powered on and works. Water is introduced into the water tank body (3) through the water inlet and outlet pipeline (2) and the bottom valve (4). When the water tank body (3) reaches the full liquid level, the water inlet and outlet pump station (1) and the bottom valve (4) are closed to complete the water intake of the water tank body (3).

8. The method of use according to claim 7, characterized in that: There are multiple bottom valves (4), and the water inlet speed of the water tank body (3) is controlled by adjusting the number of bottom valves (4).

9. The method of use according to claim 6, characterized in that: The water tank body (3) has both powered and non-powered drainage methods, including Non-powered drainage method: The bottom valve (4) is opened by power, the marine robot (6) sails on the water surface at a set speed, the outlet of the bottom valve (4) generates a speed difference with the seawater to form a negative pressure, the one-way valve (5) is kept open by the buoyancy of the seawater in the water tank body (3), the seawater in the water tank body (3) flows out automatically through the bottom valve (4), the bottom valve (4) is closed after the seawater in the water tank body (3) is drained to the set liquid level, and the one-way valve (5) is closed automatically by its own gravity; Powered drainage method: The bottom valve (4) is energized and opened, and the one-way valve (5) is kept open by the buoyancy of the seawater in the water tank body (3). The inlet and outlet pump station (1) is energized and works. The water tank body (3) is drained through the inlet and outlet pipeline (2) and the bottom valve (4). When the seawater in the water tank body (3) is drained to the set liquid level, the inlet and outlet pump station (1) and the bottom valve (4) are closed. The one-way valve (5) is automatically closed by its own gravity, thus completing the drainage work of the water tank body (3).

10. The method of use according to claim 9, characterized in that: There are multiple bottom valves (4), and the drainage speed of the water tank body (3) is controlled by adjusting the sailing speed of the marine robot (6) and the number of bottom valves (4).

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