Underwater long-distance gliding vehicle

Abstract

The utility model belongs to the technical field of marine vehicles, and particularly relates to an underwater long-distance gliding vehicle. The gravity and the buoyancy of the aircraft are changed by utilizing the water suction and drainage effect between the counter weight and the water pump water tank, so that the gravity center and the buoyancy center of the aircraft are further changed, the gliding motion of the aircraft under the water surface is realized, the energy consumption of the aircraft is low, and long-distance sailing work can be realized along the flow. Non-propeller type gliding motion is adopted, so that the self-noise of the aircraft is reduced, and the reliability of underwater environment data acquisition is facilitated. The buoys are installed on the two sides of the aircraft, the aircraft can float on the water surface to supplement energy through the solar panel, and collected data communication uploading and GPS positioning uploading can be achieved on the water surface.

Description

Technical Field

[0001] The utility model belongs to the technical field of marine vehicles, and particularly relates to an underwater long-distance gliding vehicle. Background Art

[0002] Most underwater vehicles are powered by batteries and use propellers for propulsion. They need to work for a long distance and for a long time to collect underwater information data and perform data communication and transmission back. The capacity of the battery is the key factor restricting the working distance and working time of the underwater vehicle. Content of the Utility Model

[0003] The purpose of the utility model is to provide an underwater long-distance gliding vehicle that does not use propellers for propulsion. By changing its own buoyancy and gravity to change the positions of the buoyancy center and the center of gravity, the gliding motion of the underwater vehicle can be realized, which can greatly reduce the power consumption of the underwater vehicle and thus achieve long-distance and long-time underwater work.

[0004] An underwater long-distance gliding vehicle includes a vehicle body shell, a hydrofoil module, a fixed counterweight module, a buoyancy adjustment module, a control and calculation module, and a power supply module; a solar panel is provided on the top surface of the front part of the upper deck of the vehicle body shell; the buoyancy adjustment module, the control and calculation module, and the power supply module are installed in the internal compartment of the vehicle body shell. The buoyancy adjustment module includes a water pump and a water tank. One end of the water pump is connected to the outside of the vehicle body shell through a first water pipe, and the other end is connected to the water tank through a second water pipe; buoyancy cylinders are provided on both sides of the bottom surface of the vehicle body shell, and the buoyancy cylinders are fixed to the vehicle body shell through connecting brackets.

[0005] Further, the hydrofoil module includes a front hydrofoil, a rear horizontal hydrofoil, a rear vertical hydrofoil, and a tail fin. The front hydrofoils are symmetrically installed on both sides of the front part of the vehicle body shell, the rear horizontal hydrofoils are symmetrically installed on both sides of the rear part of the vehicle body shell, the rear vertical hydrofoil is installed on the top surface of the rear upper deck of the vehicle body shell, and the tail fin is installed at the tail of the vehicle body shell.

[0006] Further, the fixed counterweight module includes a front counterweight, a rear counterweight, and a forward-inclined counterweight. The front counterweight is arranged in the front inner space of the vehicle body shell, and the rear counterweight is arranged in the rear inner space of the vehicle body shell; the forward-inclined counterweight is arranged below the bottom surface of the outside of the vehicle body shell and is installed on the connecting bracket.

[0007] Further, the forward-inclined counterweight includes a strip-shaped counterweight plate. The rear end of the counterweight plate does not exceed the buoyancy cylinder, and the front end of the counterweight plate extends beyond the front end of the vehicle body shell.

[0008] Further, rib plates and a keel are provided inside the vehicle body shell. The keel is fixed at the midline of the inner bottom of the vehicle body shell, and the rib plates and the keel are cross-installed and fixed.

[0009] Furthermore, the control and computing module is arranged in the space at the front inside the outer shell of the vehicle; there are multiple groups of water tanks, which are symmetrically arranged in the space at the middle inside the outer shell of the vehicle, and each group of water tanks is equipped with an independent water pump. All the water pumps are arranged in the space at the rear inside the outer shell of the vehicle, and both the water pumps and the water tanks are fixedly connected to the rib plates.

[0010] Furthermore, a partition plate is provided in the middle inside the outer shell of the vehicle. The water tanks are installed below the partition plate, and the power module is installed above the partition plate.

[0011] Furthermore, it further includes a communication, positioning and acquisition module. The communication, positioning and acquisition module includes an upload communication antenna, a GPS positioning antenna, a water pressure sensor, a current meter, a CTD (Conductivity, Temperature, Depth) instrument, a hydrological acquisition instrument and a forward-looking sonar; the upload communication antenna, the GPS positioning antenna, the water pressure sensor, the CTD instrument and the hydrological acquisition instrument are installed on the top surface of the upper deck of the outer shell of the vehicle. The upload communication antenna, the GPS positioning antenna and the water pressure sensor are arranged between the solar panel and the rear vertical fin. The CTD instrument and the hydrological acquisition instrument are respectively arranged on both sides of the rear vertical fin through fixing rings; the current meter and the forward-looking sonar are installed at the front end of the outer shell of the vehicle.

[0012] The beneficial effects of the present utility model are as follows:

[0013] The present utility model provides an underwater long-distance gliding vehicle. By using the suction and drainage effect between the counterweight and the water tanks of the water pumps, the gravity and buoyancy of the vehicle are changed, and thus the center of gravity and the center of buoyancy of the vehicle are changed to realize the gliding motion of the vehicle under the water surface. The vehicle has low energy consumption and can achieve long-distance navigation work along the flow. The present utility model adopts a non-propeller gliding motion, which reduces the self-noise of the vehicle and is beneficial to the reliability of underwater environment data acquisition. In the present utility model, floats are installed on both sides of the vehicle, and the vehicle can float on the water surface to supplement energy using the solar panel, and can realize the upload of data communication and GPS positioning on the water surface. Description of the Drawings

[0014] Figure 1 It is a three-dimensional structural schematic diagram of an underwater long-distance gliding vehicle in the present utility model.

[0015] Figure 2 It is a front view of an underwater long-distance gliding vehicle in the present utility model.

[0016] Figure 3 It is a side view of an underwater long-distance gliding vehicle in the present utility model.

[0017] Figure 4 It is a top view of an underwater long-distance gliding vehicle in the present utility model.

[0018] Figure 5This is the bottom view of an underwater long-distance gliding vehicle in the present utility model.

[0019] Figure 6 This is the axonometric view of the internal structure of an underwater long-distance gliding vehicle in the present utility model.

[0020] Figure 7 This is the side view of the internal structure of an underwater long-distance gliding vehicle in the present utility model.

[0021] Figure 8 This is the sectional view of the internal structure of an underwater long-distance gliding vehicle in the present utility model. Detailed implementation mode

[0022] The present utility model will be further described below with reference to the accompanying drawings.

[0023] The present utility model provides an underwater long-distance gliding vehicle, which adjusts the buoyancy of the vehicle by pumping water into and out of the water tank, and combines with the influence of fixed weights to change the center of gravity and the center of buoyancy of the vehicle, so as to realize the diving and floating of the vehicle. When the vehicle is on the water surface, it absorbs solar energy through a solar panel for charging, changes the center of gravity and the center of buoyancy by pumping water into and out of the water tank to realize floating and diving, and cooperates with the hydrofoil structure to realize long-distance gliding along the current underwater.

[0024] An underwater long-distance gliding vehicle includes a vehicle body shell 1, a hydrofoil module, a fixed weight module, a buoyancy adjustment module, a control and calculation module, a power supply module, a communication positioning and acquisition module; a solar panel 19 is provided on the top surface of the front part of the upper deck 2 of the vehicle body shell 1; the buoyancy adjustment module, the control and calculation module and the power supply module are installed in the internal compartment of the vehicle body shell 1, and the buoyancy adjustment module includes a water pump 27 and a water tank 28. One end of the water pump 27 is connected to the outside of the vehicle body shell 1 through a first water pipe 29, and the other end is connected to the water tank 28 through a second water pipe 30; floating cylinders 31 are provided on both sides of the bottom surface of the vehicle body shell 1, and the floating cylinders 31 are fixed to the vehicle body shell 1 through a connecting bracket 32.

[0025] The hydrofoil module includes a front wing 4, a rear horizontal wing 5, a rear vertical wing 6 and a tail wing 7. The front wing 4 is symmetrically installed on both sides of the front part of the vehicle body shell 1, the rear horizontal wing 5 is symmetrically installed on both sides of the rear part of the vehicle body shell 1, the rear vertical wing 6 is installed on the top surface of the upper deck 2 of the rear part of the vehicle body shell 1, and the tail wing 7 is installed at the tail of the vehicle body shell 1.

[0026] The fixed counterweight module includes a front counterweight 24, a rear counterweight 25, and a forward-tilted counterweight 26. The front counterweight 24 is arranged in the front inner space of the hull 1 of the vehicle, and the rear counterweight 25 is arranged in the rear inner space of the hull 1 of the vehicle; the forward-tilted counterweight 26 is arranged below the outer bottom surface of the hull 1 of the vehicle and is installed on the connecting bracket 32. The forward-tilted counterweight 26 uses a strip-shaped counterweight plate, the rear end of the counterweight plate does not exceed the buoy 31, and the front end of the counterweight plate extends beyond the front end of the hull 1 of the vehicle.

[0027] Inside the hull 1 of the vehicle, there are rib plates 21 and a keel 23. The keel 23 is fixed at the midline of the inner bottom of the hull 1 of the vehicle, and the rib plates 21 and the keel 23 are cross-mounted and fixed. The control and calculation module is arranged in the front inner space of the hull 1 of the vehicle; there are multiple groups of water tanks 28, which are symmetrically arranged in the middle inner space of the hull 1 of the vehicle. Each group of water tanks 28 is equipped with a set of independent water pumps 27. All the water pumps 27 are arranged in the rear inner space of the hull 1 of the vehicle. The water pumps 27 and the water tanks 28 are both fixedly connected to the rib plates 21. In the middle of the inside of the hull 1 of the vehicle, there is a partition plate 22. The water tanks 28 are installed below the partition plate 22, and the power supply module is installed above the partition plate 22.

[0028] The communication positioning and acquisition module includes an upload communication antenna 9, a GPS positioning antenna 10, a water pressure sensor 11, a flowmeter 12, a CTD thermosalinograph 13, a hydrological acquisition instrument 14, and a forward-looking sonar 15; the upload communication antenna 9, the GPS positioning antenna 10, the water pressure sensor 11, the CTD thermosalinograph 13, and the hydrological acquisition instrument 14 are installed on the top surface of the upper deck 2 of the hull 1 of the vehicle. The upload communication antenna 9, the GPS positioning antenna 10, and the water pressure sensor 11 are arranged between the solar panel 19 and the rear vertical wing 6. The CTD thermosalinograph 13 and the hydrological acquisition instrument 14 are respectively arranged on both sides of the rear vertical wing 6 through the fixing ring 18; the flowmeter 12 and the forward-looking sonar 15 are installed at the front end of the hull 1 of the vehicle.

[0029] Example 1:

[0030] See Figures 1-8Description of this embodiment: An underwater long-distance gliding vehicle includes a housing 1, an upper deck 2, hydrofoils, a collection module, a solar panel 19, a battery 20, a counterweight, a water pump 27, and a water tank 28. The hydrofoils are symmetrically installed on both sides of the housing 1. The collection module, the battery 20, the counterweight, the water pump 27, and the water tank 28 are installed inside the housing 1. The housing 1 and the upper deck 2 form a closed structure. The solar panel 19 is installed on the upper deck 2. The water pump 27 sucks and discharges water into the water tank 28 to adjust the buoyancy of the vehicle, and combines with the influence of the fixed counterweight to change the center of gravity and the center of buoyancy of the vehicle, realizing the diving and floating of the vehicle. When this vehicle is on the water surface, it absorbs solar energy through the solar panel 19 for charging, changes the center of gravity and the center of buoyancy by sucking and discharging water through the water pump 27 to achieve floating and diving, and cooperates with the hydrofoil structure to achieve long-distance downstream gliding underwater.

[0031] In this embodiment, there is a sealing ring 3 between the housing 1 and the upper deck 2. The housing 1 and the upper deck 2 are connected by bolts to compress the sealing ring 3 to form a waterproof and airtight structure. The hydrofoils include a front wing 4, a rear horizontal wing 5, a rear vertical wing 6, and a tail wing 7. The front wing 4 is symmetrically and fixedly installed on the front part of the housing 1 on both sides. The rear horizontal wing 5 is symmetrically and fixedly installed on the rear part of the housing 1 on both sides. The rear vertical wing 6 is fixedly installed on the upper part of the rear side of the housing 1. The tail wing 7 is fixedly installed at the tail of the housing 1.

[0032] In this embodiment, the collection module includes a water pressure sensor 11, a flow meter 12, a CTD (Conductivity, Temperature, Depth) instrument 13, and a hydrological collector 14. The water pressure sensor 11 is installed on the plane of the upper deck 2. The flow meter 12 is installed at the front end of the housing 1. The CTD instrument 13 and the hydrological collector are symmetrically installed on the rear side of the upper deck 2 through a fixing ring 18. The solar panel 19 is installed on the plane of the upper deck 2. In addition, an equipment switch 8, an upload communication antenna 9, and a GPS positioning antenna 10 are also installed on the plane of the upper deck 2.

[0033] In this embodiment, a keel 23 is fixedly installed at the midline of the inner bottom of the housing 1. The rib plates 21 are cross-installed and fixed with the keel 23. The water pump 27 and the water tank 28 are fixedly installed with the rib plates 21. A partition plate 22 is installed above the water pump 27. The battery 20 is fixed above the partition plate 22. A forward-looking sonar 15 is installed at the front end of the housing 1. The control module 16 and the calculation module are fixedly installed on the rib plates 21 on the front side of the inner space of the housing 1.

[0034] In this embodiment, the water pumps 27 are symmetrically arranged at the rear side inside the housing 1, and the water tanks 28 are symmetrically arranged in the middle inside the housing 1. One end of the water pump 27 is connected to a first water pipe 29 to the outside of the housing 1, and the other end is connected to a second water pipe 30 to the water tank 28. A connection bracket 32 is installed at the bottom of the housing 1. The floats 31 arranged on both sides of the vehicle are connected to the bottom of the housing 1 through the connection bracket 32.

[0035] In this embodiment, the counterweight includes a front counterweight 24, a rear counterweight 25, and a forward-tilt counterweight 26. The front counterweight 24 is arranged in the front internal space of the housing 1, the rear counterweight 25 is arranged in the rear internal space of the housing 1, and the forward-tilt counterweight 26 is fixedly installed on the connecting bracket 32.

[0036] In this embodiment, this vehicle realizes floating and diving actions by sucking and discharging water into and out of the water tank 28 through the water pump 27. The counterweight on the vehicle keeps the vehicle balanced when the water tank 28 is empty. At this time, the vehicle floats on the water surface relying on the floating bodies on both sides. When the water pump 27 fills the water tank 28 with water, the gravity of the vehicle increases and it sinks. Relying on the influence of the forward-tilt counterweight 26, the vehicle realizes wave-like gliding under the water surface.

[0037] In this embodiment, when the vehicle is suspended on the water surface, it relies on the solar panel 19 to convert light energy into electrical energy to provide energy for the battery 20. The battery 20 supplies power to the acquisition module, communication antenna, positioning antenna, forward-looking sonar 15, control module 16, calculation and processing module 17, and water pump 27. When the vehicle is underwater, the acquisition module, forward-looking sonar 15, control module 16, and water pump 27 work. When the vehicle floats on the water surface, the communication antenna, positioning antenna, and calculation and processing module 17 work.

[0038] In this embodiment, the switch 8 is responsible for turning on and off the vehicle. When the water pump 27 does not inject water into the water tank 28, the vehicle floats on the water surface relying on the buoyancy of the housing 1 itself and the buoy 31. At this time, the water pressure sensor 11 does not detect the water pressure. The calculation and processing module 17 of the vehicle will process the acquisition data of the flowmeter 12, CTD thermosalinograph 13, and hydrological acquisition instrument 14 in the acquisition module, and send the data to the shore end through the upload communication antenna 9, and send and receive positioning data through the GPS positioning antenna 10. After the data is sent, the water pump 27 starts to inject water into the water tank 28, and the gravity of the vehicle increases and it starts to sink into the water. At this time, the water pressure sensor 11 detects the water pressure, the flowmeter 12, CTD thermosalinograph 13, and hydrological acquisition instrument 14 in the acquisition module start to work to acquire data, the forward-looking sonar works to detect obstacles in the front end, the vehicle makes floating and sinking movements under the change of gravity, and starts to make long-distance floating and sinking gliding to acquire underwater information under the influence of the forward-tilt counterweight 26 and the hydrofoil. When the battery 20 has a low power level, the water pump 27 discharges the water in the water tank 28, and the vehicle floats to the water surface to supplement the power through the solar panel 19.

[0039] The upload communication antenna 9, GPS positioning antenna 10, calculation and processing module 17, and forward-looking sonar are all controlled by the control module 16. The data acquired by the water pressure sensor 11, flowmeter 12, CTD thermosalinograph 13, and hydrological acquisition instrument 14 in the acquisition module are processed by the calculation and processing module 17.

[0040] The above are only the preferred embodiments of the present utility model and are not intended to limit the present utility model. For those skilled in the art, the present utility model may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. An underwater long-distance gliding vehicle, characterized in that: The invention comprises a navigation body shell (1), a hydrofoil module, a fixed counterweight module, a buoyancy adjustment module, a control and calculation module and a power supply module; a solar panel (19) is provided on the front top surface of the upper deck (2) of the navigation body shell (1); the buoyancy adjustment module, the control and calculation module and the power supply module are installed in the internal cabin of the navigation body shell (1); the buoyancy adjustment module comprises a water pump (27) and a water tank (28); one end of the water pump (27) is connected to the outside of the navigation body shell (1) through a first water pipe (29), and the other end is connected to the water tank (28) through a second water pipe (30); buoys (31) are provided on both sides of the bottom surface of the navigation body shell (1), and the buoys (31) are fixed to the navigation body shell (1) through a connecting bracket (32).

2. The underwater long-distance gliding vehicle according to claim 1, characterized in that: The hydrofoil module comprises a front wing (4), a rear horizontal wing (5), a rear vertical wing (6) and a tail wing (7); the front wing (4) is symmetrically mounted on both sides of the front of the vehicle shell (1); the rear horizontal wing (5) is symmetrically mounted on both sides of the rear of the vehicle shell (1); the rear vertical wing (6) is mounted on the top surface of the upper deck (2) at the rear of the vehicle shell (1); and the tail wing (7) is mounted at the rear of the vehicle shell (1).

3. The underwater long-distance gliding vehicle according to claim 2, characterized in that: The fixed counterweight module comprises a front counterweight (24), a rear counterweight (25) and a forward-leaning counterweight (26); the front counterweight (24) is arranged in the front space inside the outer shell of the vehicle (1); the rear counterweight (25) is arranged in the rear space inside the outer shell of the vehicle (1); the forward-leaning counterweight (26) is arranged below the outer bottom surface of the outer shell of the vehicle (1) and is mounted on a connecting bracket (32).

4. The underwater long-distance gliding vehicle according to claim 3, characterized in that: The forward-leaning counterweight (26) comprises a long strip-shaped counterweight plate, the rear end of which does not exceed the buoy (31), and the front end of which exceeds the front end of the outer shell (1) of the navigation body.

5. The underwater long-distance gliding vehicle according to claim 3, characterized in that: The outer shell (1) of the navigation body is provided with ribs (21) and keels (23), and the keels (23) are fixed at the center line of the bottom inside the outer shell (1) of the navigation body, and the ribs (21) and the keels (23) are cross-mounted and fixed.

6. The underwater long-distance gliding vehicle according to claim 5, characterized in that: The control and computing module is arranged in the space at the front inner side of the outer shell (1) of the navigation body; there are multiple groups of water tanks (28), which are symmetrically arranged in the space at the middle inner side of the outer shell (1) of the navigation body, and each group of water tanks (28) is equipped with a group of independent water pumps (27), and all water pumps (27) are arranged in the space at the rear inner side of the outer shell (1) of the navigation body, and the water pumps (27) and water tanks (28) are fixedly connected to the ribs (21).

7. The underwater long-distance gliding vehicle according to claim 6, characterized in that: A partition plate (22) is provided in the middle of the interior of the navigation body shell (1), a water tank (28) is installed below the partition plate (22), and a power supply module is installed above the partition plate (22).

8. The underwater long-distance gliding vehicle according to claim 7, characterized in that: The invention also comprises a communication positioning and acquisition module, wherein the communication positioning and acquisition module comprises an upload communication antenna (9), a GPS positioning antenna (10), a water pressure sensor (11), a current meter (12), a CTD temperature-salinity-depth instrument (13), a hydrological acquisition instrument (14) and a forward-looking sonar (15); the upload communication antenna (9), the GPS positioning antenna (10), the water pressure sensor (11), the CTD temperature-salinity-depth instrument (13) and the hydrological acquisition instrument (14) are installed on the top surface of the upper deck (2) of the outer shell of the navigation body (1); the upload communication antenna (9), the GPS positioning antenna (10) and the water pressure sensor (11) are arranged between the solar panel (19) and the rear vertical wing (6); the CTD temperature-salinity-depth instrument (13) and the hydrological acquisition instrument (14) are respectively arranged on both sides of the rear vertical wing (6) through a fixing ring (18); and the current meter (12) and the forward-looking sonar (15) are installed at the front end of the outer shell of the navigation body (1).

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