Unmanned underwater vehicle buoyancy adjustment device and adjustment method

Abstract

The application relates to an unmanned underwater vehicle buoyancy adjusting device and adjusting method, and belongs to the technical field of unmanned underwater vehicles.The application is used to solve the problems of the prior art, such as complex device structure and high energy consumption of the underwater vehicle buoyancy adjusting device, narrow underwater operation space, difficult pipeline connection, low buoyancy adjusting efficiency in a shallow water environment, strong limitations and the like caused by the influence of waves and water flow on the water surface, and the like.The application comprises a pressure cabin, the pressure cabin is divided into an electrical cabin and a ballast water cabin connected with the electrical cabin, a buoyancy adjusting pump, an integrated valve group module and a control module are arranged in the electrical cabin, the control module controls the action of the buoyancy adjusting pump, water is injected into or drained from the ballast water cabin through the integrated valve group module, the weight of the unmanned underwater vehicle is changed, and posture adjustment and suspended depth control operation during the navigation of the unmanned underwater vehicle are completed.The application is used for the buoyancy adjustment of the unmanned underwater vehicle.

Description

[0001] For this application, the applicant claims priority to the prior Chinese invention patent application number CN2025112517252, entitled "Buoyancy Adjustment Device and Adjustment Method for Unmanned Underwater Vehicle," which was filed with the State Intellectual Property Office of the People's Republic of China on September 3, 2025. Technical Field

[0002] This invention relates to the field of underwater vehicle technology, specifically to a buoyancy adjustment device and method for an unmanned underwater vehicle. Background Technology

[0003] Underwater vehicles are autonomous underwater vehicles capable of carrying various sensors and mission modules. By incorporating these sensors and modules, they can perform a wide range of tasks, finding applications in marine science, marine engineering, and underwater rescue. They can operate autonomously underwater for extended periods and be recovered. The buoyancy adjustment device, as a core component, directly affects the underwater vehicle's capabilities, such as speed, range, and operating depth. Because seawater density increases with depth, underwater vehicles typically need to adjust their buoyancy when diving or surfacing.

[0004] When conducting deep-sea operations, existing underwater vehicles typically require buoyancy adjustment devices, which can be divided into two categories: adjustable ballast type and variable volume type. Adjustable ballast type buoyancy adjustment achieves weight changes by jettisoning ballast or by sucking in and discharging seawater. The former is generally suitable for deep-sea exploration, but the vehicle's motion is difficult to change during descent and ascent. The latter is generally used on vehicles and other facilities, but due to limitations in equipment size and power, it is generally difficult to apply to small AUVs and ROVs. Variable volume buoyancy adjustment systems primarily adjust by changing their own volume. They typically use an externally mounted, easily deformable container, such as a bladder, and change volume by inflating or filling it with oil. The amount of air or oil is precisely determined by calculating the flow rate, making it suitable for use in small underwater equipment. However, these buoyancy adjustment devices suffer from a contradiction between complex equipment structure and high energy consumption, limited underwater operating space, and difficult piping connections. Furthermore, in shallow water environments, buoyancy adjustment efficiency is low due to the influence of surface waves and currents, resulting in significant limitations. Summary of the Invention

[0005] The purpose of this invention is to solve the problems of complex structure and high energy consumption of buoyancy adjustment devices for underwater vehicles in the prior art, as well as the narrow space for underwater operation and difficult pipeline connection, and to provide a buoyancy adjustment device and adjustment method for unmanned underwater vehicles.

[0006] The technical solution adopted by the present invention to solve the above problems is: a buoyancy adjustment device for an unmanned underwater vehicle, including a pressure chamber, which is divided into an electrical compartment and a ballast water tank connected to the electrical compartment for buoyancy adjustment; the electrical compartment is equipped with a buoyancy adjustment pump, a pump motor, an integrated valve group module and a control module, the control module controls the operation of the buoyancy adjustment pump and injects or drains water into the ballast water tank through the integrated valve group module to change the weight of the unmanned underwater vehicle and complete the attitude adjustment and hovering depth control of the unmanned underwater vehicle during navigation.

[0007] Furthermore, the buoyancy regulating pump and the integrated valve group module are connected by a connecting mechanism, and the connecting mechanism has a flow channel.

[0008] Furthermore, the integrated valve group module includes an electromagnetic directional valve group, a relief valve, and a check valve. The electromagnetic directional valve group includes electromagnetic directional valve A, electromagnetic directional valve B, electromagnetic directional valve C, and electromagnetic directional valve D. The outlet of the buoyancy regulating pump is connected to the inlet of the check valve and the inlet of the relief valve, and the suction port of the buoyancy regulating pump is connected to the outlets of electromagnetic directional valve A and electromagnetic directional valve C. An electromagnet is installed on the upper part of directional valves A, B, C, and D to realize the opening and closing control function of directional valves A, B, C, and D.

[0009] Furthermore, the integrated valve module is equipped with four interfaces: a water tank port, a filter port, an inlet for the solenoid directional valve, and an outlet for the solenoid directional valve.

[0010] Furthermore, the buoyancy adjustment device also includes a filter located outside the electrical compartment, and the filter is connected to the filter port of the integrated valve assembly module.

[0011] Furthermore, a level gauge is installed in the ballast water tank.

[0012] Furthermore, both the electrical compartment and the ballast water tank are equipped with mounting clamps on their exteriors for secure installation on the aircraft.

[0013] Furthermore, the control module includes a central monitoring unit, a main controller, and a motor driver; the central monitoring unit and the main controller are electrically connected, and the motor driver and the I / O unit are respectively electrically connected to the main controller; the motor driver is electrically connected to the motor of the buoyancy regulating pump; the I / O unit is electrically connected to the electromagnetic reversing valve group; and the level gauge is electrically connected to the main controller.

[0014] Another technical solution adopted by the present invention to solve the above problems is: a buoyancy adjustment method for an unmanned underwater vehicle, using a buoyancy adjustment device, comprising the following steps:

[0015] When the vehicle needs to dive, the motor of the buoyancy regulating pump is started by opening electromagnetic reversing valve B and electromagnetic reversing valve C, which drives the buoyancy regulating pump to operate and inject seawater from the marine environment into the ballast tank. The water injection function is achieved through the buoyancy regulating pump, electromagnetic reversing valve B, electromagnetic reversing valve C, as well as check valve and overflow valve.

[0016] During this process, the central monitoring unit sets the water injection volume for the system, and the system starts working. It calculates the water injection volume for each adjustment by reading the motor speed. When the water injection volume reaches the limit set by the central monitoring unit, the water injection stops and the current water volume of the ballast tank is fed back to the central monitoring unit. After the water injection is completed, the volume of the ballast tank remains unchanged, but the weight increases, thereby realizing the submersion function.

[0017] The third technical solution adopted by the present invention to solve the above problems is: a buoyancy adjustment method for an unmanned underwater vehicle, using a buoyancy adjustment device, comprising the following steps:

[0018] When the aircraft needs to surface, it opens electromagnetic reversing valve A and electromagnetic reversing valve D, and then starts the motor of the buoyancy regulating pump, which drives the buoyancy regulating pump to discharge seawater from the ballast tank into the marine environment. The drainage function is achieved through the buoyancy regulating pump, electromagnetic reversing valve A, electromagnetic reversing valve D, as well as check valves and overflow valves.

[0019] During this process, the central monitoring unit sets the system's drainage volume, and the system starts working. It calculates the single adjustment drainage volume by reading the motor speed. When the drainage volume reaches the limit set by the central monitoring unit, drainage stops and the current ballast water tank volume is fed back to the central monitoring unit. After drainage is completed, the volume of the ballast water tank remains unchanged, but its weight decreases, thus achieving the floating function.

[0020] The present invention has the following beneficial technical effects:

[0021] This invention relates to buoyancy adjustment for unmanned underwater vehicles. The buoyancy adjustment pump is driven by a pump motor. The entire device, including the pump and integrated valve assembly, adopts a modular design, simplifying pipeline connections and avoiding difficulties in connecting pipelines and insufficient installation space in confined areas. The electromagnetic reversing valve is integrated into the valve assembly, reducing the size and weight of the valve assembly, as well as the connecting pipelines and joints. Simultaneously, reduced pipeline friction loss facilitates self-priming of the buoyancy adjustment pump, improves the working efficiency of the buoyancy adjustment system, prevents cavitation, and simplifies use, maintenance, and assembly. This invention features a simple structure, reliable function, high integration of the control valve assembly, low energy consumption, high buoyancy adjustment efficiency, and a wide range of applications, suitable for underwater vehicles of various specifications.

[0022] This invention relates to a cylindrical double-end-cap pressure chamber, which consists of end caps and a cylindrical body. The end caps and the cylindrical body are sealed using double O-rings and secured with screws. The two end caps of the cylindrical body are connected to the outside environment using watertight screws, facilitating debugging, installation, and maintenance. The cylindrical design of the pressure chamber facilitates machining and actual installation. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the structure of the present invention;

[0024] Figure 2 This is an isometric view of the present invention;

[0025] Figure 3 This is a block diagram of the buoyancy adjustment system;

[0026] Figure 4 This is a schematic diagram of the buoyancy adjustment system;

[0027] Figure 5 This is a schematic diagram of the integrated valve assembly.

[0028] Figure 6 This is a structural schematic diagram of the pressure chamber;

[0029] Figure 7 This is the control principle diagram of the present invention;

[0030] Figure 8 This is a block diagram of a buoyancy adjustment system according to another embodiment of the present invention;

[0031] Figure 9 This is a schematic diagram of a buoyancy adjustment system according to another embodiment of the present invention;

[0032] Figure 10 This is a schematic diagram of the water injection process of the buoyancy adjustment system according to another embodiment of the present invention;

[0033] Figure 11 This is a schematic diagram of the drainage process of a buoyancy adjustment system according to another embodiment of the present invention;

[0034] Figure 12 This is a working principle diagram of a control valve assembly according to another embodiment of the present invention;

[0035] Figure 13 This is a schematic diagram of the integrated valve assembly according to another embodiment of the present invention;

[0036] Figure 14 This is a cross-sectional view of an integrated valve assembly according to another embodiment of the present invention;

[0037] Figure 15 This is a schematic diagram of the interface of a shut-off valve assembly according to another embodiment of the present invention;

[0038] Figure 16 This is a schematic diagram of the interface between the balance valve and the safety valve in another embodiment of the present invention;

[0039] Figure 17 This is a schematic diagram of the structure of a pressure-resistant chamber according to another embodiment of the present invention;

[0040] Figure 18 This is a schematic diagram of the structure of the pressure chamber cylinder and end cap sealing form of another embodiment of the present invention;

[0041] Figure 19 This is a control principle diagram of another embodiment of the present invention;

[0042] In the diagram, 1. Buoyancy regulating pump; 2. Electrical compartment; 3. Transformer; 4. Electrical connector; 5. Filter; 6. Mounting clamp; 7. Level gauge; 8. Connection mechanism; 9. Integrated valve module; 10. Main controller; 11. Motor driver; 12. Ballast water tank. Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. The specific embodiments described herein are only for explaining the invention and are not intended to limit the invention.

[0044] Specific implementation method one: Combining Figure 1 Figure 7 illustrates this embodiment. In this embodiment, an unmanned underwater vehicle buoyancy adjustment device includes a pressure chamber, which is divided into an electrical compartment 2 and a ballast water tank 12 connected to the electrical compartment 2 for buoyancy adjustment. The electrical compartment 2 is equipped with a buoyancy adjustment pump 1, an integrated valve group module 9, and a control module. The electrical compartment 2 is also equipped with a transformer 3, which provides a suitable voltage for the device. Two electrical connectors 4 are installed on the transformer 3, which are connected to the battery compartment of the underwater vehicle.

[0045] The control module controls the buoyancy regulating pump 1 to operate and injects or drains water into the ballast tank 12 through the integrated valve group module 9, thereby changing the weight of the unmanned underwater vehicle and completing the attitude adjustment and hovering depth control of the unmanned underwater vehicle during navigation.

[0046] In a preferred embodiment, the buoyancy regulating pump 1 and the integrated valve group module 9 are connected by a connecting mechanism 8, which has a flow channel that serves as a seawater passage between the buoyancy regulating pump 1 and the integrated valve group module 9.

[0047] In a preferred embodiment, the integrated valve group module 9 includes an electromagnetic directional valve group, a relief valve, and a check valve. The electromagnetic directional valve group includes electromagnetic directional valve A, electromagnetic directional valve B, electromagnetic directional valve C, and electromagnetic directional valve D. The outlet of buoyancy regulating pump 1 is connected to the inlet of the check valve and the relief valve, and the suction port of buoyancy regulating pump 1 is connected to the outlet of electromagnetic directional valve A and electromagnetic directional valve C. An electromagnet is disposed on the upper part of directional valves A, B, C, and D to realize the opening and closing control function of directional valves A, B, C, and D.

[0048] In a preferred embodiment, the integrated valve module 9 is provided with four interfaces: a water tank port, a filter port, a solenoid valve inlet, and a solenoid valve outlet.

[0049] In a preferred embodiment, the buoyancy regulating device further includes a filter 5, which is disposed outside the electrical compartment 2 and connected to the filter port of the shut-off valve assembly. A level gauge 7 is installed in the ballast water tank 12.

[0050] In a preferred embodiment, both the electrical compartment 2 and the ballast water tank 12 are provided with mounting clamps 6 for securing them to the aircraft.

[0051] In a preferred embodiment, the control module includes a central monitoring unit, a main controller 10, and a motor driver 11; the central monitoring unit and the main controller 10 are electrically connected, and the motor driver 11 and the I / O unit are electrically connected to the main controller 10 respectively; the motor driver 11 is electrically connected to the motor of the buoyancy regulating pump 1; the I / O unit is electrically connected to the electromagnetic reversing valve group; and the level gauge 7 is electrically connected to the main controller 10.

[0052] Specific Implementation Method Two: Combining Figures 1 to 7 This embodiment describes a method for adjusting the buoyancy of an unmanned underwater vehicle during descent, using a buoyancy adjustment device, and includes the following steps:

[0053] When the vehicle needs to dive, the electromagnet opens the reversing valve B and reversing valve C, starts the motor of the buoyancy regulating pump 1, drives the buoyancy regulating pump 1 to operate, and injects seawater from the marine environment into the ballast water tank 12; the water injection function is realized by the buoyancy regulating pump 1, the electromagnetic reversing valve B, the electromagnetic reversing valve C and the balance valve.

[0054] During this process, the central monitoring unit sets the water injection volume for the system, and the system starts working. It calculates the water injection volume for each adjustment by reading the motor speed. When the water injection volume reaches the limit set by the central monitoring unit, the water injection stops and the current water volume of the ballast water tank 12 is fed back to the central monitoring unit. After the water injection is completed, the volume of the ballast water tank 12 remains unchanged, but its weight increases, thereby realizing the submersion function.

[0055] In a preferred embodiment, a method for adjusting the buoyancy of an unmanned underwater vehicle, using a buoyancy adjustment device, includes the following steps:

[0056] When the aircraft needs to surface, the electromagnet opens the reversing valve A and the reversing valve D, and then starts the motor of the buoyancy regulating pump 1, which drives the buoyancy regulating pump 1 to operate and discharge the seawater in the ballast tank 12 into the marine environment. The drainage function is achieved through the buoyancy regulating pump 1, the electromagnetic reversing valve A, the electromagnetic reversing valve D and the check valve.

[0057] During this process, the central monitoring unit sets the system's drainage volume, and the system starts working. It calculates the single adjustment drainage volume by reading the motor speed. When the drainage volume reaches the limit set by the central monitoring unit, the drainage stops and the current water volume of the ballast tank 12 is fed back to the central monitoring unit. After the drainage is completed, the volume of the ballast tank 12 remains unchanged, but its weight decreases, thereby achieving the floating function.

[0058] In a preferred embodiment, a level gauge 7 is installed in the system to measure the water volume of the ballast water tank 12. The main principle is to directly read the water level in the ballast water tank 12 using the level gauge 7, and then calculate the water volume of the ballast water tank 12 based on the water level using a tank volume curve. Because the ballast water tank 12 is completely sealed, the internal water pressure will gradually increase, and the internal water quality will become contaminated after prolonged operation. During the vehicle's navigation, the tank body will experience frequent turbulence. Therefore, considering the characteristics of contamination resistance and pressure resistance, a compatibility-resistant level gauge is selected to measure the water level when the ballast water tank 12 is stationary.

[0059] The other components and connections are the same as in Specific Implementation Method 1.

[0060] Specific implementation method three: Combining Figures 1 to 7 This embodiment describes a control valve assembly comprising one relief valve, one check valve, and four high-pressure directional valves, designated as High-Pressure Directional Valve A, High-Pressure Directional Valve B, High-Pressure Directional Valve C, and High-Pressure Directional Valve D. A filter is connected to the integrated valve assembly via an external rigid pipe. Each high-pressure directional valve is equipped with a solenoid switch at its upper end for controlling its opening; these high-pressure directional valves are electromagnetic directional valves.

[0061] like Figures 4-5 As shown, the integrated valve group integrates solenoid directional valves A, B, C, and D into a solenoid directional valve assembly. The solenoid directional valve assembly has four ports: a water tank port, a filter port, a solenoid valve inlet, and a solenoid valve outlet. The solenoid directional valve assembly has a flow channel. The water tank port is connected to the ballast water tank 12, and the filter port is connected to the filter 5. The filter 5 is located outside the pressure tank and connected to the sea outlet (filter port) of the integrated valve group.

[0062] The outlet of buoyancy regulating pump 1 is connected to the inlet of a check valve. The suction port of buoyancy regulating pump 1 is connected to the outlets of solenoid directional valves A and C. The outlet of the solenoid valve is the outlet of directional valves A and C. The outlet of the check valve is connected to the inlet of the solenoid valve. The inlet of the solenoid valve is the inlet of directional valves B and D. The inlet of the overflow valve is connected to the pipeline between the outlet of the buoyancy regulating pump and the inlet of the check valve. The outlet of the overflow valve is connected to the pipeline between the inlet of the buoyancy regulating pump and the outlet of the solenoid valve.

[0063] In a buoyancy control system, the check valve mainly serves two functions:

[0064] 1) When the buoyancy regulating pump is running, the check valve opens to control the direction of seawater flow. At the same time, the opening pressure of the check valve should not be too high to prevent the buoyancy regulating pump motor from being subjected to excessive load.

[0065] 2) When the buoyancy regulating pump is not working, the check valve needs to ensure an effective seal.

[0066] In a buoyancy regulating system, the overflow valve mainly serves the following functions: when the load on the buoyancy regulating pump is abnormally large and the buoyancy regulating pump motor cannot work normally, the overflow valve is the last line of defense.

[0067] Integrated valve assemblies need to maintain a good seal when not in operation and be able to switch between two operating conditions: water injection and drainage for the buoyancy regulating pump. Therefore, the reversing valve in the integrated valve assembly needs to have a good sealing effect; the internal flow of the entire valve assembly also needs to have low fluid resistance to improve the self-priming performance of the buoyancy regulating pump, such as... Figure 4 As shown:

[0068] 1) Water injection condition

[0069] When the electromagnets corresponding to electromagnetic directional valves B and C are energized, they open valves B and C, activating the buoyancy regulating pump motor. The buoyancy regulating pump then injects seawater from the marine environment into the ballast tank, completing the water injection process and allowing the submersible to descend. After water injection is completed, the buoyancy regulating pump motor is shut off, and then the electromagnets corresponding to electromagnetic directional valves B and C are de-energized, closing electromagnetic directional valves B and C, thus ending the water injection process.

[0070] 2) Drainage conditions

[0071] When the electromagnets corresponding to electromagnetic directional valves A and D are energized, they open valves A and D, activating the buoyancy regulating pump motor. The buoyancy regulating pump then discharges seawater from the ballast tanks into the marine environment, completing the drainage process and allowing the submersible to surface. After drainage is complete, the buoyancy regulating pump motor is shut off, and then the electromagnets corresponding to electromagnetic directional valves A and D are de-energized, closing the valves and ending the drainage operation.

[0072] The other components and connections are the same as in Specific Implementation Method 1.

[0073] Specific implementation method four: Combination Figures 1 to 7 This embodiment describes a common cylindrical double-end-cap pressure chamber, which mainly consists of end caps and a pressure chamber body. A simplified structural diagram is shown below. Figure 6 As shown, a double O-ring seal is typically used to seal the end cap and the pressure chamber shell, with screws used for fastening. Preferably, an O-ring seal is used between the outer side of the end cap and the inner side of the pressure chamber shell; alternatively, O-ring seals can be used between the outer side of the end cap and the inner side of the pressure chamber shell, as well as between the bottom surface of the end cap and the bottom surface of the pressure chamber shell. A cylinder is a geometric shape formed by parallel circles (bases) and curved surfaces (side surfaces) connecting the two bases.

[0074] In this embodiment, the structure has the following advantages: the end caps of the pressure chamber are connected to the outside through watertight joints, which facilitates debugging, installation and maintenance; the cylindrical pressure shell design facilitates machining and actual installation of the pressure chamber; the double O-ring seals can achieve compression sealing, which has a simple structure, good sealing effect and wide application, and there are pre-made series of O-ring seals, which are convenient to purchase and use.

[0075] The other components and connections are the same as in Specific Implementation Method 1.

[0076] Specific Implementation Method Five: Combining Figures 1 to 7 This embodiment describes a buoyancy adjustment system design that employs an embedded controller as the main controller. This controller communicates in real-time with the central monitoring unit of the vessel, receiving buoyancy adjustment commands from the central monitoring unit. Based on the commands sent by the central monitoring unit, the main controller performs internal logic checks and then sends commands to the actuators, such as the buoyancy adjustment pump motor and the electromagnetic reversing valve assembly, to achieve buoyancy adjustment control. The system also collects real-time data on the water tank level and feeds this data back to the central monitoring unit for display.

[0077] The central monitoring unit is electrically connected to the main controller 10, the motor driver 11 and the IO unit are electrically connected to the main controller 10 respectively; the motor driver 11 is electrically connected to the motor of the buoyancy regulating pump 1; the IO unit is electrically connected to the electromagnetic reversing valve group; the level gauge 7 is electrically connected to the main controller 10.

[0078] Based on hydraulic principles, the overall control block diagram is as follows: Figure 7 As shown.

[0079] (1) Surfacing: When the main controller receives the surfacing command (displacement volume) sent by the central monitoring unit, the main controller will control the motor to turn on, solenoid directional valves A and D to open, and solenoid directional valves B and C to remain closed. The main controller sends a running command to the motor driver 11 via bus communication to start the buoyancy regulating pump 1. The buoyancy regulating pump 1 draws water from the ballast tank 12 and discharges seawater into the marine environment through a one-way valve. After the command is completed, the system stops working and simultaneously reports the capacity of the ballast tank 12.

[0080] (2) Descent: The central monitoring unit issues a descent (water injection) command. The main controller turns on the control motor, opens electromagnetic reversing valves B and C, and keeps electromagnetic reversing valves A and D closed. The main controller sends an operation command to the motor driver 11 via bus communication, starting the buoyancy regulating pump 1. The buoyancy regulating pump 1 draws water from the marine environment through the filter 5 and injects water into the ballast tank 12 through electromagnetic reversing valves B and C, thereby achieving descent control. After the command is completed, the system stops working and simultaneously reports the capacity of the ballast tank 12.

[0081] The main controller employs an STM32-based embedded controller. The device is based on a high-performance Arm® Cortex®-M4 32-bit RISC core, operating at frequencies up to 180MHz. The Cortex-M4 core features a single-precision floating-point unit (FPU) that supports all Arm® single-precision data processing instructions and data types. It also implements a complete set of DSP instructions and a memory protection unit (MPU) to enhance application security.

[0082] The controller includes high-speed embedded memory (up to 2MB of flash memory and up to 256KB of SRAM), backup SRAM up to 4KB, and a variety of enhanced I / O and peripheral devices connected to two APB buses, two AHB buses, and a 32-bit multi-AHB bus matrix.

[0083] The controller features three 12-bit ADCs, two DACs, one low-power RTC, and twelve general-purpose 16-bit timers, including two PWM timers for motor control and two general-purpose 32-bit timers. It has both standard and advanced communication interfaces. The controller is surge protected, short-circuit protected, and resistant to electromagnetic interference. It is powered by DV24V and consumes 10W.

[0084] The other components and connections are the same as in Specific Implementation Method 1.

[0085] Specific Implementation Method Six: Combination Figures 8 to 19This embodiment describes a buoyancy adjustment device for an unmanned underwater vehicle, comprising a pressure chamber, which is divided into an electrical compartment 2 and a ballast water tank 12 connected to the electrical compartment 2 for buoyancy adjustment. The electrical compartment 2 is equipped with a buoyancy adjustment pump 1, an integrated valve module 9, and a control unit. The electrical compartment 2 is also equipped with a transformer 3, which provides a suitable voltage for the device. Two electrical connectors 4 are installed on the transformer 3, which are connected to the battery compartment of the underwater vehicle.

[0086] The control unit controls the buoyancy regulating pump 1 to operate and injects or drains water into the ballast tank 12 through the integrated valve module 9, thereby changing the weight of the unmanned underwater vehicle and completing the attitude adjustment and hovering depth control of the unmanned underwater vehicle during navigation.

[0087] In a preferred embodiment, the buoyancy regulating pump 1 and the integrated valve group module 9 are connected by a connecting mechanism 8, which has a flow channel that serves as a seawater passage between the buoyancy regulating pump 1 and the integrated valve group module 9.

[0088] In a preferred embodiment, the integrated valve group module 9 includes a shut-off valve group and a balancing valve. The shut-off valve group includes shut-off valve A, shut-off valve B, shut-off valve C, shut-off valve D, and an electromagnet. The outlet of the seawater pump 1 is connected to the inlet of the balancing valve, and the suction port of the buoyancy regulating pump 1 is connected to the outlets of shut-off valves A and C. The electromagnet is disposed on the upper part of shut-off valves A, B, C, and D to realize the opening and closing control function of shut-off valves A, B, C, and D.

[0089] In a preferred embodiment, the shut-off valve assembly is provided with four interfaces: a water tank port, a filter port, a solenoid valve inlet, and a solenoid valve outlet.

[0090] In a preferred embodiment, the buoyancy regulating device further includes a filter 5, which is disposed outside the electrical compartment 2 and connected to the filter port of the shut-off valve assembly. A level gauge 7 is installed in the ballast water tank 12.

[0091] In a preferred embodiment, both the electrical compartment 2 and the ballast water tank 12 are provided with mounting clamps 6 for securing them to the aircraft.

[0092] In a preferred embodiment, the control unit includes a central control unit, a main controller 10, and a motor driver 11; the central control unit and the main controller 10 are electrically connected, and the motor driver 11 and the digital I / O module are electrically connected to the main controller 10 respectively; the motor driver 11 is electrically connected to the motor of the buoyancy regulating pump 1; the digital I / O module is electrically connected to the buoyancy stop valve and the submersion stop valve; and the level gauge 7 is electrically connected to the main controller 10.

[0093] This embodiment discloses a buoyancy adjustment method for an unmanned underwater vehicle, which uses a buoyancy adjustment device and includes the following steps:

[0094] When the vehicle needs to dive, the electromagnet opens the shut-off valves B and C, starts the motor of the buoyancy regulating pump 1, and drives the buoyancy regulating pump 1 to inject seawater from the marine environment into the ballast water tank 12. The water injection function is achieved through the buoyancy regulating pump 1, shut-off valves B and C, and the balance valve.

[0095] During this process, the central control unit sets the water injection volume for the system, and the system starts working. It calculates the water injection volume for each adjustment by reading the motor speed. When the water injection volume reaches the limit set by the central control unit, the water injection stops and the current water volume of the ballast water tank 12 is fed back to the central control unit. After the water injection is completed, the volume of the ballast water tank 12 remains unchanged, but the weight increases, thereby realizing the submersion function.

[0096] In a preferred embodiment, a method for adjusting the buoyancy of an unmanned underwater vehicle, using a buoyancy adjustment device, includes the following steps:

[0097] When the aircraft needs to surface, the electromagnet opens the shut-off valves A and D, and then starts the motor of the buoyancy regulating pump 1, which drives the buoyancy regulating pump 1 to operate and discharge the seawater in the ballast tank 12 into the marine environment. The drainage function is achieved through the buoyancy regulating pump 1, shut-off valves A and D, and the balance valve.

[0098] During this process, the central control unit sets the system's drainage volume, and the system starts working. It calculates the single adjustment drainage volume by reading the motor speed. When the drainage volume reaches the limit set by the central control unit, it stops water injection and feeds back the current water volume of the ballast water tank 12 to the central control unit. After the drainage is completed, the volume of the ballast water tank 12 remains unchanged, but its weight decreases, thereby achieving the floating function.

[0099] The buoyancy adjustment system operates in two phases: water injection and drainage. Figure 10 and Figure 11 Explanation of water injection and drainage conditions:

[0100] like Figure 10 As shown, the water injection function is mainly achieved through the buoyancy regulating pump 1, shut-off valve B, shut-off valve C, and balance valve. When the submersible needs to dive, the electromagnet opens shut-off valves B and C, starts the motor of buoyancy regulating pump 1, drives buoyancy regulating pump 1 to operate, and injects seawater from the marine environment into the ballast water tank 12.

[0101] During this process, the flight control computer sets the water injection volume for the system, and the system starts working. It calculates the water injection volume for each adjustment by reading the motor speed. When the water injection volume reaches the limit set by the flight control computer, the water injection stops and the current water volume of the ballast tank 12 is fed back to the flight control computer. After the water injection is completed, the volume of the ballast tank 12 remains unchanged, but its weight increases, thereby realizing the diving function.

[0102] like Figure 11 As shown, the drainage function is mainly achieved through buoyancy regulating pump 1, shut-off valve A, shut-off valve D, and balance valve. When the submersible needs to surface, shut-off valves A and D are opened by electromagnet, and then the motor of buoyancy regulating pump 1 is started, driving buoyancy regulating pump 1 to operate and discharge seawater in ballast tank 12 into the marine environment.

[0103] During this process, the flight control computer sets the system displacement, and the system starts working. It calculates the single adjustment displacement by reading the motor speed. When the displacement reaches the limit set by the flight control computer, water injection stops and the current water volume of ballast tank 12 is fed back to the flight control computer. After the water is discharged, the volume of ballast tank 12 remains unchanged, but its weight decreases, thereby achieving the floating function.

[0104] In a preferred embodiment, a level gauge 7 is installed in the system to measure the water volume of the ballast water tank 12. The main principle is to directly read the water level in the ballast water tank 12 using the level gauge 7, and then calculate the water volume of the ballast water tank 12 based on the water level using a tank volume curve. Because the ballast water tank 12 is completely sealed, the internal water pressure will gradually increase, and the internal water quality will become contaminated after prolonged operation. During the vehicle's navigation, the tank body will experience frequent turbulence. Therefore, considering the characteristics of contamination resistance and pressure resistance, a compatibility-resistant level gauge is selected to measure the water level when the ballast water tank 12 is stationary.

[0105] In this embodiment, the control valve assembly includes one safety valve, one balancing valve, and four high-pressure shut-off valves, namely shut-off valve A, shut-off valve B, shut-off valve C, and shut-off valve D. The filter is connected to the control valve assembly via an external rigid pipe. Each shut-off valve has a solenoid valve mounted on its upper end for controlling its opening.

[0106] like Figures 12-16 As shown, in the control valve group, shut-off valves A, B, C and D are integrated into a shut-off valve assembly. The shut-off valve assembly has four interfaces: water tank port, filter port, solenoid valve inlet and solenoid valve outlet. The shut-off valve assembly has a flow channel. The water tank port is connected to ballast water tank 12, and the filter port is connected to filter 5. Filter 5 is connected to the sea outlet (filter port) of the integrated valve group outside the pressure tank.

[0107] The outlet of the seawater pump 1 is connected to the inlet of the balance valve. The suction port of the buoyancy regulating pump 1 is connected to the outlets of stop valves A and C. The outlet of the solenoid valve is the outlet of stop valves A and C. The outlet of the balance valve is connected to the inlet of the solenoid valve. The inlet of the solenoid valve is the inlet of stop valves B and D. The inlet of the safety valve is connected to the pipeline between the outlet of the seawater pump and the balance valve. The outlet of the safety valve is connected to the pipeline between the inlet of the seawater pump and the outlet of the solenoid valve.

[0108] In a buoyancy regulation system, the balance valve mainly serves two functions:

[0109] 1) When the seawater pump is running, the balance valve is opened to control the direction of seawater flow. At the same time, the opening pressure of the balance valve should not be too high to prevent the seawater pump motor from being subjected to excessive load.

[0110] 2) When the seawater pump is not working, the balancing valve needs to be kept in a good seal.

[0111] In a buoyancy control system, the safety valve mainly serves the following functions: when the load on the seawater pump is abnormally large and the pump motor cannot work properly, the safety valve acts as the last line of defense.

[0112] The control valve assembly needs to maintain a good seal when not in operation and be able to switch between seawater pump injection and drainage modes. Therefore, the shut-off valves in the control valve assembly need to have excellent sealing performance; the internal flow of the entire valve assembly also needs to have low fluid resistance to improve the self-priming performance of the seawater pump, such as... Figure 12 As shown:

[0113] 1) Water injection condition

[0114] When the electromagnets corresponding to shut-off valves B and C are energized, they open valves B and C, starting the seawater pump motor. The pump then injects seawater from the marine environment into the ballast tank, enabling the submersible to descend during the water injection process. After water injection is completed, the seawater pump motor is turned off, and the electromagnets corresponding to shut-off valves B and C are de-energized, closing valves B and C, thus ending the water injection operation.

[0115] 2) Drainage conditions

[0116] When the electromagnets corresponding to shut-off valves A and D are energized, they open valves A and D, starting the seawater pump motor. The pump then discharges seawater from the ballast tank into the marine environment, allowing the submersible to surface during the drainage process. After drainage is complete, the seawater pump motor is shut off, and the electromagnets corresponding to shut-off valves A and D are de-energized, closing valves A and D and ending the drainage operation.

[0117] In this embodiment, the common cylindrical double-end-cap pressure chamber mainly consists of end caps and a pressure chamber body, as shown in the simplified structural diagram below. Figure 17 He Ru Figure 18As shown, a double O-ring seal is typically used to seal the end cap and the pressure chamber shell, and screws are used for fixing. Preferably, an O-ring seal is used between the outer side of the end cap and the inner side of the pressure chamber shell; alternatively, O-ring seals are used between the outer side of the end cap and the inner side of the pressure chamber shell, as well as between the bottom surface of the end cap and the bottom surface of the pressure chamber shell. A cylinder is a geometric shape formed by parallel circles (bases) and curved surfaces (side surfaces) connecting the two bases.

[0118] In this embodiment, the structure has the following advantages: the end caps of the pressure chamber are connected to the outside world using watertight screws, which facilitates debugging, installation and maintenance; the cylindrical pressure shell design facilitates machining and actual installation of the pressure chamber; the double O-ring seals can achieve compression sealing, which has a simple structure, good sealing effect and wide application, and there are pre-made series of O-ring seals, which are convenient to purchase and use.

[0119] In this embodiment, based on the buoyancy adjustment system design, an embedded controller is used as the main controller of the buoyancy adjustment system. It communicates in real-time with the central monitoring unit of the aircraft and receives buoyancy adjustment commands from the central monitoring unit. Based on the commands sent by the central monitoring unit, the main controller performs internal logic checks and sends commands to the main motor, control motor, solenoid valves, and other actuators to achieve buoyancy adjustment control. The water tank level is collected in real-time and fed back to the central monitoring unit for display.

[0120] The central control unit and main controller 10 are electrically connected; the motor driver 11 and the digital I / O module are electrically connected to the main controller 10 respectively; the motor driver 11 is electrically connected to the motor of the buoyancy regulating pump 1; the digital I / O module is electrically connected to the buoyancy stop valve and the submersion stop valve; the level gauge 7 is electrically connected to the main controller 10. The buoyancy stop valves are stop valve A and stop valve D, and the submersion stop valves are stop valve B and stop valve C. Based on the hydraulic principle, the overall control block diagram is as follows: Figure 19 As shown.

[0121] (1) Surfacing: When the main controller receives the surfacing command (water injection volume) sent by the central monitoring unit, the main controller will control the motor to open, the shut-off valves A and D to open, and the shut-off valves B and C to remain closed. The main controller sends the running command to the motor driver 11 via bus communication to start the buoyancy regulating pump 1. The buoyancy regulating pump 1 draws water from the ballast tank 12 and discharges seawater into the marine environment through the balance valve. After the command is completed, the system stops working and simultaneously reports the capacity of the ballast tank 12.

[0122] (2) Diving: The central monitoring unit issues a diving (displacement) command, and the main controller turns on the control motor, opens shut-off valves B and C, and keeps shut-off valves A and D closed. The main controller sends a running command to the motor driver 11 via bus communication, starting the buoyancy regulating pump 1. The buoyancy regulating pump 1 draws water from the marine environment through the filter 5 and injects water into the ballast tank 12 through solenoid valves B and C, thereby realizing diving control. After the command is completed, the system stops working and simultaneously reports the capacity of the ballast tank 12.

[0123] The main controller employs an STM32-based embedded controller. The device is based on a high-performance Arm® Cortex®-M4 32-bit RISC core, operating at frequencies up to 180MHz. The Cortex-M4 core features a single-precision floating-point unit (FPU) that supports all Arm® single-precision data processing instructions and data types. It also implements a complete set of DSP instructions and a memory protection unit (MPU) to enhance application security.

[0124] The controller includes high-speed embedded memory (up to 2MB of flash memory and up to 256KB of SRAM), backup SRAM up to 4KB, and a variety of enhanced I / O and peripheral devices connected to two APB buses, two AHB buses, and a 32-bit multi-AHB bus matrix.

[0125] The controller features three 12-bit ADCs, two DACs, one low-power RTC, and twelve general-purpose 16-bit timers, including two PWM timers for motor control and two general-purpose 32-bit timers. It has both standard and advanced communication interfaces. The controller is surge protected, short-circuit protected, and resistant to electromagnetic interference. It is powered by DV24V and consumes 10W.

[0126] The other components and connections are the same as in Specific Implementation Method 1.

[0127] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A buoyancy adjustment device for an unmanned underwater vehicle, characterized in that: It includes a pressure tank, which is divided into an electrical compartment (2) and a ballast water tank (12) connected to the electrical compartment (2). The electrical compartment (2) is equipped with a buoyancy regulating pump (1), an integrated valve group module (9) and a control module. The control module controls the buoyancy regulating pump (1) to operate and injects or drains water into the ballast water tank (12) through the integrated valve group module (9) to change the weight of the unmanned underwater vehicle and complete the attitude adjustment and hovering depth control of the vehicle during navigation.

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

3. The buoyancy adjustment device for an unmanned underwater vehicle according to claim 1, characterized in that: The integrated valve group module (9) includes a shut-off valve group and a balance valve. The shut-off valve group includes shut-off valve A, shut-off valve B, shut-off valve C, shut-off valve D and an electromagnet. The outlet of the buoyancy regulating pump (1) is connected to the inlet of the balance valve, and the suction port of the buoyancy regulating pump (1) is connected to the outlets of the stop valves A and C. The electromagnet is installed on the upper part of the stop valves A, B, C and D to realize the opening and closing control function of the stop valves A, B, C and D. The stop valve group is provided with four interfaces: water tank port, filter port, solenoid valve inlet and solenoid valve outlet.

4. The buoyancy adjustment device for an unmanned underwater vehicle according to claim 1, characterized in that: The integrated valve group module (9) includes a solenoid directional valve group, an overflow valve and a check valve. The solenoid directional valve group includes solenoid directional valve A, solenoid directional valve B, solenoid directional valve C and solenoid directional valve D. The outlet of the buoyancy regulating pump (1) is connected to the inlet of the check valve, and the suction port of the buoyancy regulating pump (1) is connected to the outlet of the electromagnetic reversing valve A and the electromagnetic reversing valve C; the outlet of the buoyancy regulating pump (1) is connected to the inlet of the overflow valve and the inlet of the check valve, and the outlet of the check valve is connected to the inlet of the electromagnetic reversing valve B and the electromagnetic reversing valve D; the electromagnet is set on the upper part of the reversing valve A, reversing valve B, reversing valve C and reversing valve D to realize the opening and closing control function of the reversing valve A, reversing valve B, reversing valve C and reversing valve D; the integrated valve group module (9) is provided with four interfaces: water tank port, filter port, electromagnetic reversing valve inlet and electromagnetic reversing valve outlet.

5. The buoyancy adjustment device for an unmanned underwater vehicle according to claim 1, characterized in that: The buoyancy adjustment device also includes a filter (5), which is located outside the electrical compartment (2) and is connected to the filter port of the integrated valve group module (9).

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

7. The buoyancy adjustment device for an unmanned underwater vehicle according to claim 1, characterized in that: Both the electrical compartment (2) and the ballast water tank (12) are equipped with mounting clamps (6) on their exteriors.

8. The buoyancy adjustment device for an unmanned underwater vehicle according to claim 1, characterized in that: The control module includes a central monitoring and control unit, a main controller (10), and a motor driver (11). The central monitoring unit and the main controller (10) are electrically connected. The motor driver (11) and the IO unit are electrically connected to the main controller (10) respectively. The motor driver (11) and the motor of the buoyancy regulating pump (1) are electrically connected. The IO unit is electrically connected to the electromagnetic reversing valve group. The level gauge (7) and the main controller (10) are electrically connected.

9. A method for adjusting the buoyancy of an unmanned underwater vehicle during descent, characterized in that: Using the buoyancy adjustment device as described in any one of claims 1-8, the method includes the following steps: When the aircraft needs to dive, the electromagnet opens the reversing valve B and the reversing valve C, starts the motor of the buoyancy regulating pump (1), drives the buoyancy regulating pump (1) to operate, and injects seawater from the marine environment into the ballast tank (12); the water injection function is realized through the buoyancy regulating pump (1), the electromagnetic reversing valve B, the electromagnetic reversing valve C and the check valve. During this process, the central monitoring unit gives the system the water injection volume, and the system starts to work. It calculates the water injection volume for each adjustment by reading the motor speed. When the water injection volume reaches the limit given by the central monitoring unit, the water injection stops and the current water volume of the ballast water tank (12) is fed back to the central monitoring unit. After the water injection is completed, the volume of the ballast water tank (12) remains unchanged, but the weight increases, thereby realizing the submersion function.

10. A method for adjusting the buoyancy of an unmanned underwater vehicle, characterized in that: Using the buoyancy adjustment device as described in any one of claims 1-8, the method includes the following steps: When the aircraft needs to surface, the electromagnet opens the reversing valve A and the reversing valve D, and then starts the motor of the buoyancy regulating pump (1), which drives the buoyancy regulating pump (1) to run and discharge the seawater in the ballast tank (12) into the marine environment. The drainage function is achieved through the buoyancy regulating pump (1), the electromagnetic reversing valve A, the electromagnetic reversing valve D and the check valve. During this process, the central monitoring unit gives the system the drainage volume, the system starts to work, and calculates the single adjustment drainage volume by reading the motor speed. When the drainage volume reaches the limit given by the central monitoring unit, the drainage stops and the current water volume of the ballast tank (12) is fed back to the central monitoring unit. After the drainage is completed, the volume of the ballast tank (12) remains unchanged and the weight decreases, thereby realizing the floating function.

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