CN219838688U - wave glider - Google Patents
wave glider Download PDFInfo
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- CN219838688U CN219838688U CN202320678599.9U CN202320678599U CN219838688U CN 219838688 U CN219838688 U CN 219838688U CN 202320678599 U CN202320678599 U CN 202320678599U CN 219838688 U CN219838688 U CN 219838688U
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 110
- 230000009189 diving Effects 0.000 claims abstract description 6
- 230000008602 contraction Effects 0.000 claims abstract description 4
- 238000005086 pumping Methods 0.000 claims description 4
- 238000012544 monitoring process Methods 0.000 claims description 3
- 239000003921 oil Substances 0.000 description 23
- 230000005484 gravity Effects 0.000 description 10
- 239000010720 hydraulic oil Substances 0.000 description 7
- 238000001514 detection method Methods 0.000 description 6
- 230000009471 action Effects 0.000 description 5
- 238000001228 spectrum Methods 0.000 description 5
- 238000013459 approach Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The utility model relates to the technical field of ocean unmanned aircrafts, and provides a wave glider, which comprises: the periphery of the water surface body is provided with a floating device; the instrument cabin is arranged on the water surface body, the floating device is communicated with the instrument cabin or communicated with a component in the instrument cabin, wherein the water surface body is in a floating state under the condition that the floating device is in expansion, and the water surface body is in a diving state under the condition that the floating device is in contraction; the underwater vehicle is connected with the water surface body and is used for driving the water surface body to move. According to the wave glider, the floating devices are arranged around the water surface body, so that the contact area between the water surface body and the water surface is increased when the floating devices are in an expanded state, and the buoyancy is further increased, and the water surface body floats on the water surface; when the floating device is in a contracted state, the contact area between the water surface body and the water surface is reduced, so that the buoyancy is reduced, the water surface body is submerged, the exposure of the wave glider can be avoided, and the concealment of the wave glider is improved.
Description
Technical Field
The utility model relates to the technical field of ocean unmanned aircrafts, in particular to a wave glider.
Background
The wave glider is a novel ocean unmanned submarine that appears in recent years, as a novel unmanned ocean detection platform, the wave glider converts ocean wave energy into self advancing power, meanwhile, the wave glider relies on the carried solar battery to supply power for each electric, so that the detection difficulty in large-scale and long-endurance is solved, the wave glider can also be used as an intermediate station to exchange instructions and data with other various detectors, and has very wide development prospect.
However, the existing wave glider can only float on the water surface and cannot submerge under the water, so that the wave glider is extremely easy to expose.
Disclosure of Invention
The utility model provides a wave glider, which is used for solving the defect that the wave glider in the prior art can only float on the water surface and cannot submerge under the water.
The present utility model provides a wave glider, comprising: the water surface body is provided with a floating device at the periphery, and the floating device and the water surface body form a whole; the instrument cabin is arranged on the water surface body, the floating device is communicated with the instrument cabin or communicated with components in the instrument cabin, wherein the water surface body is in a floating state under the condition that the floating device is in expansion, and the water surface body is in a diving state under the condition that the floating device is in contraction; the submerging body is connected with the water surface body and is used for driving the water surface body to move.
According to the present utility model, there is provided a wave glider, further comprising: hydrophones for monitoring the sound of a ship in the ocean; and the controller is used for controlling the expansion of the floating device according to the signals sent by the hydrophones.
According to the present utility model there is provided a wave glider, the submerging device comprising: the annular air bag is sleeved outside the water surface; the first control pipeline is connected with the annular air bag, and the annular air bag is in an expanded state under the condition that the first control pipeline is communicated with the annular air bag; and the second control pipeline is connected with the annular air bag, and the annular air bag is in a contracted state under the condition that the second control pipeline is communicated with the annular air bag.
According to the wave glider provided by the utility model, the first control pipeline comprises a first electromagnetic valve, and the first electromagnetic valve is electrically connected with the controller; the second control pipeline comprises a second electromagnetic valve, and the second electromagnetic valve is electrically connected with the controller; and under the condition that the controller receives the signal sent by the hydrophone, the controller controls the first electromagnetic valve to be closed and controls the second electromagnetic valve to be opened.
According to the utility model, the first control pipeline further comprises: the first pipeline is connected with the annular air bag and is provided with the first electromagnetic valve; the first pump is arranged in the instrument compartment and connected with the first pipeline, and the first pump is used for pumping gas in the instrument compartment into the annular air bag so as to expand the annular air bag.
According to the present utility model, there is provided a wave glider, the second control line further comprising: the second pipeline is communicated with the first pipeline, the connection point of the second pipeline and the first pipeline is positioned between the first electromagnetic valve and the annular air bag, and the second electromagnetic valve is arranged on the second pipeline; and the second pump is connected with the second pipeline and is used for pumping out the gas in the annular air bag so as to enable the annular air bag to contract.
The wave glider provided by the utility model further comprises an air pressure sensor which is arranged in the instrument cabin and used for detecting air pressure in the instrument cabin.
The wave glider provided by the utility model further comprises a hydraulic sensor which is arranged in the instrument cabin and used for detecting the diving depth of the water surface body.
According to the present utility model, there is provided a wave glider, further comprising: the solar cell panel is arranged at the top of the water surface body; the battery compartment is arranged on the water surface body and is electrically connected with the solar cell panel.
According to the wave glider provided by the utility model, the floating device comprises an annular oil bag, and the annular oil bag is sleeved outside the water surface; the oil cylinder is arranged in the instrument cabin and is communicated with the annular oil bag.
According to the wave glider provided by the utility model, the floating devices are arranged around the water surface body, so that the contact area between the water surface body and the water surface is increased when the floating devices are in an expanded state, and the buoyancy is further increased, and the water surface body floats on the water surface; when the floating device is in a contracted state, the contact area between the water surface body and the water surface is reduced, so that the buoyancy is reduced, the water surface body is submerged, the exposure of the wave glider can be avoided, and the concealment of the wave glider is improved.
Drawings
In order to more clearly illustrate the utility model or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the utility model, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of a structure of a submerging device in a wave glider according to the present utility model;
reference numerals:
10: an instrument pod; 20: an annular air bag; 21: a first pipe; 22: a first electromagnetic valve; 23: a first pump; 24: a second pipe; 25: a second electromagnetic valve; 26: a second pump; 30: a hydraulic pressure sensor; 40: an air pressure sensor.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present utility model more apparent, the technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present utility model, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
The features of the utility model "first", "second" and the like in the description and in the claims may be used for the explicit or implicit inclusion of one or more such features. In the description of the present utility model, unless otherwise indicated, the meaning of "a plurality" is two or more.
The wave glider of the present utility model is described below with reference to fig. 1.
In an embodiment of the utility model, a wave glider comprises: a surface body, an instrument pod 10, a submerging device and a submerging body. The periphery of the water surface body is provided with a floating device, and the floating device and the water surface body form a whole. The instrument pod 10 is provided on a water surface body, and the submerging device is communicated with the instrument pod 10 or communicated with components in the instrument pod 10, wherein the water surface body is in a floating state under the condition that the submerging device is in expansion, and the water surface body is in a submerged state under the condition that the submerging device is in contraction. The underwater vehicle is connected with the water surface body and is used for driving the water surface body to move.
Specifically, the water surface body is connected with the submarine body through the towing rope, so that the submarine body can be stably under water under the condition of high wave and sudden wave. The water surface body is a hull, and in this embodiment, the water surface body is a V-shaped hull to increase the load capacity and self-righting ability. The underwater vehicle is in a shape similar to a torpedo, two sides of the underwater vehicle are respectively provided with a row of paddles, and the paddles can freely turn up and down for 45 degrees. When the submarine rises under the action of waves, the rear edges of the paddles naturally droop, the rotation is stopped when the submarine overturns to 45 degrees, then the submarine rotates in the opposite direction, and the submarine stops when the submarine overturns to 45 degrees; when the submerged body sinks under the action of waves, the submerged body sinks under the action of dead weight, the rear edges of the paddles naturally turn upwards, rotate to 45 degrees, then rotate in the opposite direction, and repeatedly generate thrust just like a scull, so that the submerged body is pushed to drive the water body to move forwards.
Further, the floating device is arranged around the water surface body and is integrated with the water surface body. When the air in the instrument cabin 10 is pumped into the floating device, the floating device is in an expansion state, at the moment, the volume of the floating device is increased, the integral volume formed by the floating device and the water surface body is increased, which is equivalent to increasing the contact area between the water surface body and the water surface, so that the buoyancy is increased, and when the buoyancy is greater than the gravity, the water surface body floats upwards under the condition that the integral weight formed by the water surface body and the floating device is unchanged; when the buoyancy is equal to the gravity, the water surface body is in a floating state; when the buoyancy device discharges the gas in the buoyancy device into the instrument cabin 10, the volume of the buoyancy device is reduced, the contact area between the water surface body and the water surface is reduced, the buoyancy is smaller than the gravity, and the water surface body is submerged.
Optionally, an oil cylinder may be disposed in the instrument pod 10, where the oil cylinder is communicated with the floating device, and when the oil cylinder pumps hydraulic oil into the floating device, the floating device is in an expanded state, and at this time, the volume of the floating device is increased, the contact area between the water surface body and the water surface is increased, the buoyancy is increased, and when the buoyancy is equal to the gravity, the water surface body is in a floating state; when the oil cylinder withdraws hydraulic oil in the floating device, the volume of the floating device is reduced when the floating device is in a contracted state, the contact area between the water surface body and the water surface is reduced, the buoyancy is reduced, and when the buoyancy is smaller than the gravity, the water surface body is submerged.
According to the wave glider provided by the embodiment of the utility model, the floating devices are arranged around the water surface body, so that the contact area between the water surface body and the water surface is increased when the floating devices are in an expanded state, and further the buoyancy is increased, and the water surface body floats on the water surface; when the floating device is in a contracted state, the contact area between the water surface body and the water surface is reduced, so that the buoyancy is reduced, the water surface body is submerged, the exposure of the wave glider can be avoided, and the concealment of the wave glider is improved.
In an embodiment of the utility model, the wave glider further comprises: hydrophone and controller. The hydrophone is used for monitoring the sound of the ship in the ocean, and the controller is used for controlling the expansion of the submergence device according to the signals sent by the hydrophone.
Specifically, the signal detection methods of the hydrophone mainly comprise two types, namely an energy detection method and a line spectrum detection method based on frequency domain signals. When no ship appears near the wave glider, the collected signal is background noise, so the energy is small and no obvious line spectrum exists in the frequency domain. When the ship approaches, the energy of the signal is changed from weak to strong, and in general, the ship signal also has some line spectrum characteristics, and when the energy of the signal or the line spectrum intensity of the signal exceeds a set threshold, the ship approaches, and at the moment, the hydrophone sends the signal to the controller. If the energy of the signal or the line spectrum intensity of the signal does not exceed the set threshold, the ship is judged to be far away, and the hydrophone does not send the signal to the controller. The setting of the threshold is not fixed but is automatically adjusted according to some criteria, in particular, such as the global 3 sigma criterion and the local 3 sigma criterion. When the detection signal exceeds the threshold, the hydrophone sends a signal controller, the controller controls the submerged device to discharge gas or hydraulic oil in the submerged device, the volume of the submerged device is reduced, the buoyancy is correspondingly reduced, and the water body is submerged in water. When the controller does not receive the signal sent by the hydrophone, the controller controls the gas or hydraulic oil in the instrument cabin to be injected into the submerging device, so that the submerging device is inflated, and the buoyancy of the submerging device is further increased, so that the water surface body floats on the water surface.
According to the wave glider provided by the embodiment of the utility model, through the arrangement of the hydrophone and the controller, the wave glider can be controlled to submerge when a ship approaches, and the wave glider is controlled to float out of the water when the ship moves away, so that the concealment and safety of the wave glider are improved.
As shown in fig. 1, in one embodiment of the present utility model, a submerging device includes: an annular bladder 20, a first control line and a second control line. The annular air bag 20 is sleeved outside the water surface, the first control pipeline is connected with the annular air bag 20, and the annular air bag 20 is in an expanded state under the condition that the first control pipeline is communicated with the annular air bag 20. The second control line is also connected to the annular bladder 20, and the annular bladder 20 is in a contracted state when the second control line is in communication with the annular bladder 20.
Specifically, in order to avoid a significant deviation between the center of buoyancy and the center of gravity caused by a volume change in different states, in this embodiment, the annular air bag 20 is used, and the annular air bag 20 may be made of a material having corrosion resistance due to a complex and severe marine environment. The first control pipeline is used for controlling the gas in the instrument cabin 10 to be pumped into the annular air bag 20, and when the controller does not receive a signal sent by the hydrophone, the controller controls the first control pipeline to be communicated with the annular air bag 20, and the annular air bag 20 is inflated to increase buoyancy. The second control pipeline is used for controlling the annular air bag 20 to discharge the gas in the annular air bag into the instrument cabin 10, and when the controller receives a signal sent by the hydrophone, the controller controls the second control pipeline to be communicated with the annular air bag 20, and the annular air bag 20 contracts so as to reduce buoyancy.
Further, as shown in fig. 1, in the embodiment of the present utility model, the first control pipeline includes a first solenoid valve 22, and the first solenoid valve 22 is electrically connected to the controller. The second control pipeline comprises a second electromagnetic valve 25, and the second electromagnetic valve 25 is also electrically connected with the controller. Under the condition that the controller does not receive the signal sent by the hydrophone, the controller controls the first electromagnetic valve 22 to be opened, the second electromagnetic valve 25 to be closed, gas in the instrument cabin 10 enters the annular air bag 20, the annular air bag 20 is inflated, and buoyancy is increased. When the controller receives the signal sent by the hydrophone, the controller controls the first electromagnetic valve 22 to be closed and the second electromagnetic valve 25 to be opened, the gas in the annular air bag 20 is discharged into the instrument cabin 10, the annular air bag 20 is contracted, and the buoyancy is reduced.
Specifically, as shown in fig. 1, in an embodiment of the present utility model, the first control line further includes: a first conduit 21 and a first pump 23. The first pipe 21 is connected to the annular air bag 20, and the first pipe 21 is provided with a first electromagnetic valve 22. A first pump 23 is provided in the nacelle 10, the first pump 23 being connected to the first conduit 21, the first pump 23 being adapted to pump gas in the nacelle 10 into the annular bladder 20 to inflate the annular bladder.
Specifically, in the case where the controller does not receive the signal sent by the hydrophone, the controller controls the first electromagnetic valve 22 to open and the second electromagnetic valve 25 to close, and the gas in the instrument pod 10 enters the annular air bag 20 through the first pipe 21 under the action of the first pump 23, so that the annular air bag 20 is inflated.
Further, the second control line further includes: a second conduit 24 and a second pump 26. The second pipeline 24 is communicated with the first pipeline 21, a connection point of the second pipeline 24 and the first pipeline 21 is positioned between the first electromagnetic valve 22 and the annular air bag 20, and a second electromagnetic valve 25 is arranged on the second pipeline 24. A second pump 26 is connected to the second conduit 24, the second pump 26 being configured to pump out the gas within the annular bladder 20 to deflate the annular bladder 20.
Specifically, when the controller receives the signal sent from the hydrophone, the controller controls the first electromagnetic valve 22 to be closed and the second electromagnetic valve 25 to be opened, and the gas in the annular air bag 20 is discharged into the instrument pod 10 under the action of the second pump 26, so that the annular air bag 20 is contracted.
As shown in fig. 1, in an embodiment of the utility model, the wave glider further comprises a hydraulic sensor 30. A hydraulic sensor 30 is provided in the instrument pod 10 for detecting the diving depth of the water surface body.
Specifically, the hydraulic sensor 30 is configured to detect the depth of the water surface body submerged in the water, in this embodiment, the depth of the water surface body submerged in the water is between 20m and 30m, and the second electromagnetic valve 25 is controlled to be closed when the hydraulic sensor 30 detects that the depth of the water surface body submerged in the water is between 20m and 30m during the process of the annular air bag 20 being exhausted and submerged, and the annular air bag 20 stops exhausting air into the instrument pod 10.
As shown in fig. 1, in an embodiment of the present utility model, the wave glider further includes an air pressure sensor 40. An air pressure sensor 40 is provided in the instrument pod 10, and the air pressure sensor 40 is configured to detect air pressure in the instrument pod 10.
Specifically, the air pressure sensor 40 detects the air pressure in the instrument pod 10 in real time while the first pump 23 pumps the air in the instrument pod 10 to the annular air bag 20, and the controller controls the first solenoid valve 22 to be closed and the first pump 23 to stop operating when the air pressure in the instrument pod 10 is less than 200 kpa.
In another embodiment of the utility model, the submerging device comprises an annular oil bag which is sleeved outside the water surface. An oil cylinder is arranged in the instrument cabin 10 and is communicated with the annular oil bag.
Specifically, when the controller does not receive a signal sent by the hydrophone, the controller controls the oil cylinder to act, hydraulic oil in a rodless cavity of the oil cylinder is injected into the annular oil bag, so that the annular oil bag is expanded, the buoyancy is increased, and the water surface body is positioned above the water surface; when the controller receives the signal sent by the hydrophone, the controller controls the oil cylinder to suck hydraulic oil in the annular oil bag into the rodless cavity of the oil cylinder, so that the annular oil bag is contracted, buoyancy is reduced, and the water surface body is submerged.
In the above-described embodiment, both the floating and the submerging of the water surface body can be realized by providing the annular air bag 20 and the annular oil bag, but the principle of the floating and the submerging of the annular air bag 20 is that the water surface body floats by changing the volume of the annular air bag 20 on the premise of constant self weight, namely, changing the buoyancy on the premise of constant gravity, when the buoyancy is larger than the gravity; when the buoyancy is equal to the gravity, the water surface body is in a floating state; when the buoyancy is less than the gravity, the water surface body is submerged. Because the air has no weight, the self weight of the whole structure can be reduced, and the device is suitable for the wave glider with the submergence depth not more than 30 m. The weight of the annular oil bag can be increased after the hydraulic oil is injected into the annular oil bag, and the annular oil bag is suitable for a deep sea high-pressure environment.
In an embodiment of the utility model, the wave glider further comprises: the solar cell panel is arranged at the top of the water surface body, and the battery compartment is arranged on the water surface body and is electrically connected with the solar cell panel.
Specifically, the solar panel converts solar energy into electrical energy for storage in a battery compartment that provides electrical energy to the first pump 23, the first solenoid valve 22, the second solenoid valve 25, the second pump 26, the hydrophone, the controller, the hydraulic sensor 30, the air pressure sensor 40, and other electrical components within the instrument pod 10 so that the wave glider can operate on the sea for a long period of time.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present utility model, and are not limiting; although the utility model has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present utility model.
Claims (10)
1. A wave glider, comprising:
the water surface body is provided with a floating device at the periphery, and the floating device and the water surface body form a whole;
the instrument cabin is arranged on the water surface body, the floating device is communicated with the instrument cabin or communicated with components in the instrument cabin, wherein the water surface body is in a floating state under the condition that the floating device is in expansion, and the water surface body is in a diving state under the condition that the floating device is in contraction;
the submerging body is connected with the water surface body and is used for driving the water surface body to move.
2. The wave glider according to claim 1, further comprising:
hydrophones for monitoring the sound of a ship in the ocean;
and the controller is used for controlling the expansion of the floating device according to the signals sent by the hydrophones.
3. The wave glider according to claim 2, wherein the submerging device comprises:
the annular air bag is sleeved outside the water surface;
the first control pipeline is connected with the annular air bag, and the annular air bag is in an expanded state under the condition that the first control pipeline is communicated with the annular air bag;
and the second control pipeline is connected with the annular air bag, and the annular air bag is in a contracted state under the condition that the second control pipeline is communicated with the annular air bag.
4. The wave glider of claim 3, wherein the first control line comprises a first solenoid valve electrically connected to the controller;
the second control pipeline comprises a second electromagnetic valve, and the second electromagnetic valve is electrically connected with the controller;
and under the condition that the controller receives the signal sent by the hydrophone, the controller controls the first electromagnetic valve to be closed and controls the second electromagnetic valve to be opened.
5. The wave glider of claim 4, wherein the first control line further comprises:
the first pipeline is connected with the annular air bag and is provided with the first electromagnetic valve;
the first pump is arranged in the instrument compartment and connected with the first pipeline, and the first pump is used for pumping gas in the instrument compartment into the annular air bag so as to expand the annular air bag.
6. The wave glider of claim 5, wherein the second control line further comprises:
the second pipeline is communicated with the first pipeline, the connection point of the second pipeline and the first pipeline is positioned between the first electromagnetic valve and the annular air bag, and the second electromagnetic valve is arranged on the second pipeline;
and the second pump is connected with the second pipeline and is used for pumping out the gas in the annular air bag so as to enable the annular air bag to contract.
7. The wave glider according to claim 1 or 2, further comprising an air pressure sensor provided in the instrument pod for detecting air pressure in the instrument pod.
8. The wave glider according to claim 1 or 2, further comprising a hydraulic sensor disposed in the instrument pod for detecting the diving depth of the water surface body.
9. The wave glider according to claim 1, further comprising:
the solar cell panel is arranged at the top of the water surface body;
the battery compartment is arranged on the water surface body and is electrically connected with the solar cell panel.
10. The wave glider according to claim 1 or 2, wherein the submerging device comprises an annular oil bag which is sleeved outside the water surface;
the oil cylinder is arranged in the instrument cabin and is communicated with the annular oil bag.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320678599.9U CN219838688U (en) | 2023-03-30 | 2023-03-30 | wave glider |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320678599.9U CN219838688U (en) | 2023-03-30 | 2023-03-30 | wave glider |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219838688U true CN219838688U (en) | 2023-10-17 |
Family
ID=88302883
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320678599.9U Active CN219838688U (en) | 2023-03-30 | 2023-03-30 | wave glider |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219838688U (en) |
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2023
- 2023-03-30 CN CN202320678599.9U patent/CN219838688U/en active Active
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