CN114180015A - Middle-sized deep sea open-frame type ARV - Google Patents
Middle-sized deep sea open-frame type ARV Download PDFInfo
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- CN114180015A CN114180015A CN202210000138.6A CN202210000138A CN114180015A CN 114180015 A CN114180015 A CN 114180015A CN 202210000138 A CN202210000138 A CN 202210000138A CN 114180015 A CN114180015 A CN 114180015A
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- arv
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- 230000001502 supplementing effect Effects 0.000 claims abstract description 21
- 210000001503 joint Anatomy 0.000 claims abstract description 10
- 230000001174 ascending effect Effects 0.000 claims description 7
- 239000000463 material Substances 0.000 claims description 7
- 229910052751 metal Inorganic materials 0.000 claims description 7
- 239000002184 metal Substances 0.000 claims description 7
- 230000005484 gravity Effects 0.000 claims description 6
- 238000003032 molecular docking Methods 0.000 claims description 6
- 230000001681 protective effect Effects 0.000 claims description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 5
- 229910000838 Al alloy Inorganic materials 0.000 claims description 3
- 239000010935 stainless steel Substances 0.000 claims description 3
- 229910001220 stainless steel Inorganic materials 0.000 claims description 3
- 239000013589 supplement Substances 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B3/00—Hulls characterised by their structure or component parts
- B63B3/14—Hull parts
- B63B3/26—Frames
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/08—Propulsion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/38—Arrangement of visual or electronic watch equipment, e.g. of periscopes, of radar
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B3/00—Hulls characterised by their structure or component parts
- B63B3/14—Hull parts
- B63B2003/145—Frameworks, i.e. load bearing assemblies of trusses and girders interconnected at nodal points
Abstract
The invention provides a medium-sized deep-sea open-shelf ARV, which is one of underwater robots. The whole open-frame structure is adopted, all parts are related and independent, the safety is higher, and the system has two working modes of autonomous navigation and cable control. The underwater automatic butt joint device can submerge to 2000 meters underwater for working, and can realize underwater autonomous butt joint and communication. The plurality of propellers and the camera shooting light supplementing device improve the flexibility of the movement of the robot and the underwater observation capability.
Description
Technical Field
The invention relates to the field of underwater robots, in particular to a medium-sized deep-sea open-frame type underwater robot.
Background
The deep sea environment is extremely harsh working environment, high pressure, darkness, dark current and other unknown factors all have great influence on the operation of robots, and few robots capable of submerging to deep sea work are available at present. The novel underwater robot provided by the invention is of an open-frame structure, has the diving capacity of 2000 m water depth, and can meet the requirements of underwater butt joint, autonomous navigation, real-time control and the like.
Disclosure of the invention
The invention relates to a medium-sized deep-sea open-frame type underwater robot which is medium in structure and reasonable in arrangement, adopts an open-frame type structure, has higher independent safety of each component, is provided with a plurality of camera light supplementing devices, can realize comprehensive observation tasks on the whole body of the underwater robot, improves the flexibility of underwater motion of the underwater robot due to the distribution of a plurality of propellers, and realizes the underwater communication capability of the robot due to a butt joint guiding device.
In order to solve the technical problems, the embodiment of the application provides a medium-sized deep sea open-frame type ARV, which comprises an underwater light supplementing device, an underwater camera device, a main propeller, a channel propeller, a control cabin, an energy cabin, an ascending load rejection, a descending load rejection, a DVL navigation cabin, an altimeter, a wireless communication module, a butt joint guide module, a metal frame, a buoyancy material, an anti-collision net, a propeller protective cover, a propeller guide cylinder, a butt joint guide module circuit, a navigation control module circuit and a standby battery; the device comprises an ARV, an underwater camera shooting device, an ARV, an underwater light supplementing device, an ARV and an ARV, wherein the underwater light supplementing device and the underwater camera shooting device are divided into six groups, the head of the ARV is provided with a group of the underwater light supplementing device and the underwater camera shooting device, the top of the ARV is provided with a group of the underwater light supplementing device and the underwater camera shooting device, the left side and the right side of the ARV are respectively provided with a group of the underwater light supplementing device and the underwater camera shooting device, and the tail of the ARV is provided with a group of the underwater light supplementing device and the underwater camera shooting device; the two pairs of the channel propellers are arranged, the head part and the tail part of the ARV are respectively provided with a pair of channel propellers which are vertically distributed, and the arrangement directions are respectively horizontal arrangement and vertical arrangement; the submerged throwing load is arranged right below the gravity center position of the ARV, and the ascending throwing load is arranged behind the gravity center position of the ARV; the control cabin and the energy cabin are distributed up and down, and the control cabin is arranged right above the energy cabin.
The medium-sized deep-sea open-shelf ARV according to claim 1, wherein the metal frame is made of 316L stainless steel and is integrally welded by circular pipes.
The middle-sized deep-sea open-shelf type ARV according to claim 1, wherein the inner cabin body of the middle-sized deep-sea open-shelf type ARV is made of aluminum alloy, and has a weight of 380kg, a total length of 3000mm, a width of 400mm and a height of 560 mm.
The medium-sized deep-sea open-shelf ARV according to claim 1, wherein the control cabin comprises a docking guidance module circuit, a navigation control module circuit and a backup battery.
The medium-sized open-shelf type ARV according to claim 1, wherein the medium-sized open-shelf type ARV is an open-shelf type distribution structure, the cabins are connected with each other by watertight cables, and the ARV is wholly wrapped by buoyancy materials and PP plates.
The medium-sized deep-sea open-shelf ARV according to claim 1, wherein the main thruster is covered by an anti-collision net, the water inlet and outlet of each channel thruster are respectively covered by a thruster shield, and a pair of thruster guide cylinders are respectively installed in the middle of the shield.
One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:
the underwater robot is moderate in structure, reasonable in arrangement, high in independent safety of each part due to the adoption of an open frame structure, capable of achieving comprehensive observation tasks of the whole body of the underwater robot due to the fact that a plurality of camera light supplementing devices are arranged, capable of improving flexibility of underwater motion of the underwater robot due to the fact that a plurality of propellers are distributed, and capable of achieving underwater communication of the robot due to the fact that the docking guiding devices are connected.
Drawings
In order to more clearly illustrate the novel embodiments or the technical solutions in the prior art of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the novel invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural layout diagram of an embodiment of the present application.
Fig. 2 is an overall appearance diagram of an example of the present application.
Fig. 3 is a schematic view of the interior layout of a control cabin according to an example of the present application.
Fig. 4 is a schematic three-dimensional structure of a propeller pod of an example of the present application.
In the figures 1-4, 1 is an underwater light supplement device, 2 is an underwater camera device, 3 is a main propeller, 4 is a channel propeller, 5 is a control cabin, 6 is an energy cabin, 7 is an ascending load rejection, 8 is a descending load rejection, 9 is a DVL navigation cabin, 10 is an altimeter, 11 is a wireless communication module, 12 is a butt joint guide module, 13 is a metal frame, 14 is a buoyancy material, 15 is an anti-collision net, 16 is a propeller protective cover, 17 is a propeller guide cylinder, 18 is a guide module circuit, 19 is a navigation control module circuit, and 20 is a standby battery.
Detailed Description
The invention provides a medium-sized deep-sea open-frame type underwater robot which is medium in structure and reasonable in arrangement, adopts an open-frame type structure, has higher independent safety of each component, is provided with a plurality of camera light supplementing devices, can realize comprehensive observation tasks on the whole body of the underwater robot, improves the flexibility of underwater motion of the underwater robot due to the distribution of a plurality of propellers, and realizes the underwater communication capability of the robot due to the butt joint guiding device.
In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.
As shown in fig. 1-4, a novel bionic lateral line sensor comprises a medium-sized deep-sea open-frame ARV, which comprises an underwater light supplement device 1, an underwater camera device 2, a main propeller 3, a channel propeller 4, a control cabin 5, an energy cabin 6, an ascending load rejection 7, a descending load rejection 8, a DVL navigation cabin 9, an altimeter 10, a wireless communication module 11, a docking guide module 12, a metal frame 13, a buoyancy material 14, an anti-collision net 15, a propeller protective cover 16, a propeller guide cylinder 17, a docking guide module circuit 18, a navigation control module circuit 19 and a backup battery 20; the device comprises six groups of underwater light supplementing devices 1 and six groups of underwater cameras 2, wherein the head of the ARV is provided with one group of underwater light supplementing devices 1 and one group of underwater cameras 2, the top of the ARV is provided with one group of underwater light supplementing devices 1 and one group of underwater cameras 2, the left side and the right side of the ARV are respectively provided with one group of underwater light supplementing devices 1 and one group of underwater cameras 2, and the tail of the ARV is provided with one group of underwater light supplementing devices 1 and one group of underwater cameras 2; the channel propellers 4 are two pairs, the head part and the tail part of the ARV are respectively provided with a pair of channel propellers 4 which are vertically distributed, and the arrangement directions are respectively horizontal arrangement and vertical arrangement; the submerged load rejection device is arranged right below the gravity center position 8 of the ARV, and the ascending load rejection device 7 is arranged behind the gravity center position of the ARV; the control cabin 5 and the energy cabin 6 are distributed up and down, and the control cabin 5 is arranged right above the energy cabin 6.
In practical application, the metal frame 13 is made of 316L stainless steel, and is integrally welded by circular pipes.
In practical application, the cabin body in the medium-sized deep-sea open-shelf type ARV is made of aluminum alloy, the weight is 380kg, the total length is 3000mm, the width is 400mm, and the height is 560 mm.
In practical applications, the control cabin 5 includes a docking guidance module circuit 18, a navigation control module circuit 19, and a backup battery 20.
In practical application, the medium-sized deep sea open-shelf type ARV is of an open-shelf type distribution structure, the cabin bodies are connected through watertight cables, and the ARV is completely wrapped through the buoyancy material 14 and the PP plate.
In practical application, the main propeller 3 is wrapped by the anti-collision net 15, a water inlet and a water outlet of each channel propeller are respectively shielded by a propeller protective cover 16, and a pair of propeller guide cylinders 17 are respectively arranged in the middle of the protective cover.
Although the present invention has been described with reference to the preferred embodiments, it is to be understood that the invention is not limited to the details of the foregoing description, and that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (6)
1. A medium-sized deep sea open-frame type ARV comprises an underwater light supplement device (1), an underwater camera device (2), a main propeller (3), a channel propeller (4), a control cabin (5), an energy cabin (6), an ascending load rejection (7), a submerging load rejection (8), a DVL navigation cabin (9), an altimeter (10), a wireless communication module (11), a butt joint guide module (12), a metal frame (13), a buoyancy material (14), an anti-collision net (15), a propeller protective cover (16), a propeller guide cylinder (17), a butt joint guide module circuit (18), a navigation control module circuit (19) and a standby battery (20); the device comprises six groups of underwater light supplementing devices (1) and six groups of underwater camera devices (2), wherein the head of the ARV is provided with one group of underwater light supplementing devices (1) and one group of underwater camera devices (2), the top of the ARV is provided with one group of underwater light supplementing devices (1) and one group of underwater camera devices (2), the left side and the right side of the ARV are respectively provided with one group of underwater light supplementing devices (1) and one group of underwater camera devices (2), and the tail of the ARV is provided with one group of underwater light supplementing devices (1) and one group of underwater camera devices (2); the two pairs of the channel propellers (4) are arranged, the head part and the tail part of the ARV are respectively provided with a pair of channel propellers (4) which are vertically distributed, and the arrangement directions are respectively horizontal arrangement and vertical arrangement; the submerged throwing load is arranged right below the gravity center position (8) of the ARV, and the ascending throwing load (7) is arranged behind the gravity center position of the ARV; the control cabin (5) and the energy cabin (6) are distributed up and down, and the control cabin (5) is arranged right above the energy cabin (6).
2. The medium-sized deep-sea open-shelf ARV according to claim 1, wherein the metal frame (13) is made of 316L stainless steel and is integrally welded by circular pipes.
3. The middle-sized deep-sea open-shelf type ARV according to claim 1, wherein the inner cabin body of the middle-sized deep-sea open-shelf type ARV is made of aluminum alloy, and has a weight of 380kg, a total length of 3000mm, a width of 400mm and a height of 560 mm.
4. The medium-sized deep-sea open-shelf ARV according to claim 1, wherein the control cabin (5) comprises a docking guidance module circuit (18), a navigation control module circuit (19) and a backup battery (20) therein.
5. The medium-sized open-shelf ARV according to claim 1, wherein the medium-sized open-shelf ARV is an open-shelf distribution structure, the cabins are connected by watertight cables, and the ARV is entirely wrapped by buoyancy material (14) and PP plate.
6. The medium-sized deep-sea open-shelf ARV according to claim 1, wherein the main thruster (3) is covered by an anti-collision net (15), the water inlet and outlet of each channel thruster are respectively covered by a thruster shield (16), and a pair of thruster guide cylinders (17) are respectively installed in the middle of the shield.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210000138.6A CN114180015A (en) | 2022-01-02 | 2022-01-02 | Middle-sized deep sea open-frame type ARV |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210000138.6A CN114180015A (en) | 2022-01-02 | 2022-01-02 | Middle-sized deep sea open-frame type ARV |
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| Publication Number | Publication Date |
|---|---|
| CN114180015A true CN114180015A (en) | 2022-03-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210000138.6A Pending CN114180015A (en) | 2022-01-02 | 2022-01-02 | Middle-sized deep sea open-frame type ARV |
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| Country | Link |
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| CN (1) | CN114180015A (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4010619A (en) * | 1976-05-24 | 1977-03-08 | The United States Of America As Represented By The Secretary Of The Navy | Remote unmanned work system (RUWS) electromechanical cable system |
| KR20140013209A (en) * | 2012-07-20 | 2014-02-05 | 삼성중공업 주식회사 | Subsea equipment, underwater operation system and underwater operation method |
| KR20160062972A (en) * | 2014-11-26 | 2016-06-03 | 한국해양과학기술원 | Underwater robot having variable stucture capable of chaging thruster configuration |
| US20170355431A1 (en) * | 2016-06-13 | 2017-12-14 | Korea Institute Of Ocean Science & Technology | Glass sphere type pressure housing including titanium band and a multi-joint underwater robot system for deep sea exploration using the same |
| CN109774900A (en) * | 2017-11-15 | 2019-05-21 | 中国科学院沈阳自动化研究所 | A kind of high motor-driven autonomous underwater robot in 6000 meter level deep-seas |
| CN110386238A (en) * | 2018-04-19 | 2019-10-29 | 中国科学院沈阳自动化研究所 | A kind of complete extra large depth ARV underwater robot structure |
| WO2020210918A1 (en) * | 2019-04-18 | 2020-10-22 | Poseidon Ocean Systems Ltd. | Underwater vehicle with an omnidirectional camera, and method of controlling movement of the same |
| CN111874195A (en) * | 2020-08-11 | 2020-11-03 | 中国科学院沈阳自动化研究所 | Full-sea-depth offshore bottom autonomous underwater robot structure |
| CN112722217A (en) * | 2020-12-31 | 2021-04-30 | 浙江大学 | Seabed charging type crawling dual-mode underwater vehicle |
| CN112859823A (en) * | 2019-11-27 | 2021-05-28 | 中国科学院沈阳自动化研究所 | Control system and control method for full-sea-depth autonomous remote control underwater robot |
-
2022
- 2022-01-02 CN CN202210000138.6A patent/CN114180015A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4010619A (en) * | 1976-05-24 | 1977-03-08 | The United States Of America As Represented By The Secretary Of The Navy | Remote unmanned work system (RUWS) electromechanical cable system |
| KR20140013209A (en) * | 2012-07-20 | 2014-02-05 | 삼성중공업 주식회사 | Subsea equipment, underwater operation system and underwater operation method |
| KR20160062972A (en) * | 2014-11-26 | 2016-06-03 | 한국해양과학기술원 | Underwater robot having variable stucture capable of chaging thruster configuration |
| US20170355431A1 (en) * | 2016-06-13 | 2017-12-14 | Korea Institute Of Ocean Science & Technology | Glass sphere type pressure housing including titanium band and a multi-joint underwater robot system for deep sea exploration using the same |
| CN109774900A (en) * | 2017-11-15 | 2019-05-21 | 中国科学院沈阳自动化研究所 | A kind of high motor-driven autonomous underwater robot in 6000 meter level deep-seas |
| CN110386238A (en) * | 2018-04-19 | 2019-10-29 | 中国科学院沈阳自动化研究所 | A kind of complete extra large depth ARV underwater robot structure |
| WO2020210918A1 (en) * | 2019-04-18 | 2020-10-22 | Poseidon Ocean Systems Ltd. | Underwater vehicle with an omnidirectional camera, and method of controlling movement of the same |
| CN112859823A (en) * | 2019-11-27 | 2021-05-28 | 中国科学院沈阳自动化研究所 | Control system and control method for full-sea-depth autonomous remote control underwater robot |
| CN111874195A (en) * | 2020-08-11 | 2020-11-03 | 中国科学院沈阳自动化研究所 | Full-sea-depth offshore bottom autonomous underwater robot structure |
| CN112722217A (en) * | 2020-12-31 | 2021-04-30 | 浙江大学 | Seabed charging type crawling dual-mode underwater vehicle |
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