CN102975833A - Teleoperation unmanned submersible for detecting and disposing submarine target - Google Patents

Teleoperation unmanned submersible for detecting and disposing submarine target Download PDF

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Publication number
CN102975833A
CN102975833A CN2012105250682A CN201210525068A CN102975833A CN 102975833 A CN102975833 A CN 102975833A CN 2012105250682 A CN2012105250682 A CN 2012105250682A CN 201210525068 A CN201210525068 A CN 201210525068A CN 102975833 A CN102975833 A CN 102975833A
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China
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submersible
sonar
control
manipulator
communication
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CN2012105250682A
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Chinese (zh)
Inventor
饶进军
张嘉毅
谢少荣
龚振邦
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上海大学
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Priority to CN2012105250682A priority Critical patent/CN102975833A/en
Publication of CN102975833A publication Critical patent/CN102975833A/en

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Abstract

The invention discloses a teleoperation unmanned submersible for detecting and disposing a submarine target, and is applied to the field of detecting and disposing technologies for submarine targets in the limpidity water area and the muddy water area. A power propulsion device of the teleoperation unmanned submersible comprises four screw propellers installed on a submersible body frame, wherein a cable interface and a signal interface are combined so as to form a photoelectric composite cable interface; underwater detection equipment comprises submersible front detection equipment and submersible lower detection equipment; a forward follow-up bright light searching lamp, a follow-up glimmer camera and an acoustic lens of a detection sonar are fixedly installed on a pitching rotation cradle head; the pitching rotation cradle head generates pitching rotation relative to the submersible body frame so as to adjust detection and viewing angles of the submersible front detection equipment fixed on the pitching rotation cradle head; and submersible position and attitude sensor group realize exact locating on positions and attitudes of an ROV (remotely-operated vehicle), thereby improving the service property of the unmanned submersible, and expanding the application area of the unmanned submersible.

Description

The distant operation unmanned submersible who is used for Underwater Target Detection and disposal

Technical field

The present invention relates to a kind of underwater exploration and work machine, particularly a kind of unmanned submersible is applied to limpid waters and muddy waters Underwater Target Detection and disposal technology field.

Background technology

Distant operation unmanned submersible (Remote Operated Vehiele, ROV) is underwater exploration and work machine, because it has used the correlation technique of robot widely, is called again at present under-water robot.Distant operation unmanned submersible system comprises that the submersible body with propelling unit, Underwater Camera, the cable that connects submersible and water surface system and water surface power generating system form.Because distant operation unmanned submersible can substitute people's detecting underwater object of diving beneath the water, and has greatly alleviated relevant operation to diver's dependence, has expanded human exploration scope, has improved simultaneously people operational capability and operational security under hazardous environment.In recent years, distant operation unmanned submersible has obtained increasing application, becomes one of international study hotspot.

Distant operation unmanned submersible majority is equipped with underwater photographic system, and on operating mode, operating personal carries out the operation of the first visual angle by the image that operating equipment observation ROV transmits up.Conventional ROV has clearly limitation in application facet:

At first, carry out remote manipulation by the first visual angle image and only limit to carry out underwater exploration in the clear water territory, be difficult to be applied to muddy waters.In fact, in the most waters of China, comprise that the water quality such as coastal waters, most cities inland river are muddy, sediment charge is high.Take Huangpu River as example, auxiliary lower at high light, the underwater observed range of camera only is about 5cm.Obviously the way that adopts pick up camera to detect in muddy waters under water almost lost efficacy.

Secondly, most of ROV do not have submarine target are operated and the ability of disposing.And in some application scenario, people require ROV not only can detect the discovery submarine target, and the operation that requires ROV to be correlated with to target, as catch, salvage suspicious object etc.

The 3rd, owing to usually lack under water obvious object of reference, under the first visual angle remote manipulation mode that adopts, operating personal judges by experience and operates that this has not only improved operation easier, and is difficult to realization to the accurate location of ROV.

The 4th, conventional ROV adopts cable transmission information, the limited bandwidth of its transmission distance and information.

Can realize that the purpose of the multi-functional ROV of muddy waters Underwater Target Detection and disposal is to improve the in-use performance of ROV, expand the field of application of ROV.In this respect, a large amount of work has been done by the maritime powers such as France, the U.S., but do not retrieve the correlation technique document that can overcome above-mentioned whole technological deficiencies, not yet produce the relevant submersible product that the failure-free that overcomes above-mentioned technological deficiency can be applied to muddy waters Underwater Target Detection and disposal yet.

Summary of the invention

In order to solve the prior art problem, the object of the invention is to overcome the defective of prior art, a kind of open-shelf distant operation unmanned submersible for Underwater Target Detection and disposal is provided, especially in order to realize muddy waters Underwater Target Detection and disposal, thereby improve unmanned submersible's in-use performance, expand its field of application.

Design of the present invention is:

1. for ROV all can be surveyed at clear water and muddy waters, underwater detection equipment adopts strong light searchlight and low-light camera to survey to satisfy clear water, also adopts in addition detection sonar to survey to realize mixed water.In order to control flexibly detection angle, at the anterior pitch rotation The Cloud Terrace of installing of ROV, the servo-actuated low-light camera on the The Cloud Terrace and the acoustic lens of split type detection sonar can rotate with tilt-top simultaneously.

2. for ROV is had submarine target is operated and the ability of disposing, machinery and electric interfaces at ROV reservation manipulator carry out mechanical connection by attachment strap and bolt between manipulator and the submersible, are electrically connected by the plug type connecting line.Manipulator can be for convenience detach with install, do not affect the detecting function of submersible after the manipulator dismounting.The connection mode that adopts is convenient for changing installs and uses multi-form manipulator, such as clasp manipulator, tuck net type manipulator, mechanical arm etc., to satisfy the needs of disposal operations under water of different modes.

3. for realizing ROV is accurately located, at ROV the location is installed, decides appearance sensor group.The sensor group comprises attitude reference system, sonar altimeter, hydraulic gage and ultra-short baseline fixed sonar responser.Wherein attitude reference system can obtain the real-time attitude of submersible, comprises magnetic heading angle, roll angle and pitch angle; The sonar altimeter can obtain submersible apart from the riverbed or the height of sea bed; Hydraulic gage is used for obtaining the underwater penetration of submersible; Ultra-short baseline fixed sonar responser is by cooperating with the ultra-short baseline fixed sonar system of lash ship, to determine that submersible is with respect to the position of lash ship.

4. in order to improve the airborne communication distance of ROV and communication bandwidth, between ROV and surface control station, adopt ferry optics comunication.The ferry optics comunication circuit card can be modulated into one tunnel optical signal transmission with two-way image and the multiply digital signals merging of access.

5. in order to satisfy the power needs of ROV, the adjustable direct supply of 24V ~ 48V is exported in conversion behind the source of AC of the power storehouse access of ROV, and the horsepower output of maximum 3600W is provided for a plurality of propellers; Internal heat generation device in power management storehouse cools off by the water-cooled module.

According to the foregoing invention design, the present invention adopts following technical proposals:

A kind of distant operation unmanned submersible for Underwater Target Detection and disposal, comprise the submersible body frame, floatage body, Powerpush Unit, underwater detection equipment, the power management storehouse, the communication and control storehouse, cable interface and signaling interface, the top secure bond of floatage body and submersible body frame is installed, power management storehouse and communication and control storehouse fixedly are loaded on the submersible body frame, the cable that is connected with cable interface accesses the power management storehouse and provides electric energy to Powerpush Unit and underwater detection equipment, and the signal cable access communications that is connected with signaling interface also is connected with the underwater detection equipment signal with Powerpush Unit respectively with the control storehouse; Powerpush Unit comprises four propellers that are installed on the submersible body frame, two afterbody propelling units are arranged at the submersible afterbody wherein, namely be respectively afterbody right side propelling unit and afterbody left side propelling unit, the propelling unit that wherein rises and falls is arranged at the submersible top, wherein the sidesway propelling unit is arranged at the submersible left side, the motion of communication and control storehouse control control propeller, thus make that submersible is realized advancing, retreats, turned left, any one motion or any several aggregate motion in right-hand rotation, fixed point rotary, come-up, dive and the left and right sides translation; Cable interface and signaling interface merge and form the optoelectronic composite cable interface, by photoelectricity compound interface access optoelectronic composite cable, thereby for submersible provides power supply, and provide photo-signal channel for bidirectional optical between submersible and the upper computer; Underwater detection equipment comprises submersible the place ahead detecting devices and submersible below detecting devices, submersible the place ahead detecting devices comprises fixedly strong light searchlight of forward direction, the servo-actuated strong light searchlight of forward direction, servo-actuated low-light camera and detection sonar equipment, detection sonar equipment consists of with treater is split type for acoustic lens and the sonar control by detection sonar, sonar control is connected with the signal input part signal of the acoustic lens of detection sonar with the signal receiving end of treater, forward direction fixedly strong light searchlight and the servo-actuated strong light searchlight of forward direction provides floor light for servo-actuated low-light camera, submersible below detecting devices comprises bottom low-light camera and bottom strong light searchlight, the bottom strong light searchlight is that bottom low-light camera passes through floor light, forward direction is strong light searchlight fixedly, sonar control and treater, bottom low-light camera and bottom strong light searchlight are fixedly installed on the submersible body frame, communication and control storehouse control forward direction is strong light searchlight fixedly, the switch of the servo-actuated strong light searchlight of forward direction and bottom strong light searchlight, servo-actuated low-light camera and bottom low-light camera are controlled in the communication and control storehouse, and carry out zoom the place ahead and the below of submersible are taken, the servo-actuated strong light searchlight of forward direction, the acoustic lens of servo-actuated low-light camera and detection sonar is fixedly installed on the pitch rotation The Cloud Terrace, the permanent seat of pitch rotation The Cloud Terrace is installed on the submersible body frame, the control command signal is sent to the The Cloud Terrace actuator in the communication and control storehouse, and then make The Cloud Terrace driver drives pitch rotation The Cloud Terrace produce pitch rotation with respect to the submersible body frame, be fixed in detection and the viewing angle of the submersible the place ahead detecting devices on the pitch rotation The Cloud Terrace with adjustment; The signal receiving end in communication and control storehouse also is connected with the signal output part of submersible position with the attitude sensor group, the power management storehouse provides electric energy to submersible position and attitude sensor group, submersible position and attitude sensor group are installed on the submersible body frame, submersible position and attitude sensor group comprise the submersible attitude reference system, the sonar altimeter, hydraulic gage and ultra-short baseline fixed sonar responser, ultra-short baseline fixed sonar responser is installed in the top of submersible body frame, wherein the submersible attitude reference system can obtain and comprise at least the magnetic heading angle, roll angle and pitch angle are at the real-time attitude data of interior submersible, wherein the sonar altimeter can be measured and obtain submersible apart from the riverbed or the altitude information of sea bed, wherein hydraulic gage can be calculated the underwater penetration data of submersible, and wherein ultra-short baseline fixed sonar responser by cooperating to determine that with the ultra-short baseline fixed sonar system of lash ship submersible is with respect to the position data of lash ship; Submersible net buoyancy in water still can emerge safely submersible near himself gravity and greater than himself gravity when running out of steam.

Above-mentioned forward direction fixedly strong light searchlight preferably includes two, is fixedly installed in respectively to the left and right both sides of submersible bow.

The pitch rotation angular range of above-mentioned pitch rotation The Cloud Terrace is preferably 60 °.

Improvement as technical solution of the present invention, ultra-short baseline fixed sonar responser adopts independent lithium battery power supply, when optoelectronic composite cable disconnection, communication and control storehouse signal fault or the submersible of submersible disconnect owing to unpredictalbe extreme case causes submersible to be communicated by letter with upper computer, ultra-short baseline fixed sonar responser still can work alone, and the position data of search and affirmation submersible is provided for lash ship.

Further improvement as technical solution of the present invention, the floatage body upper surface is equipped with crashproof flow deflector, the free end vertex of crashproof flow deflector is higher than the height of the outstanding floatage body upper surface of ultra-short baseline fixed sonar responser, crashproof flow deflector is installed near the ultra-short baseline fixed sonar responser along the setting of submersible fore-and-aft direction, and being installed in the place ahead with respect to ultra-short baseline fixed sonar responser, protection ultra-short baseline fixed sonar responser thereafter avoids being subject to direct bump; Transition portion between floatage body and the submersible body frame is equipped with rubber buffer ring protects floatage body, and the bump of outside to submersible cushioned.

As further improving again of technical solution of the present invention, the sensible heat that device produces in power management storehouse and the communication and control storehouse cools off by the water-cooled module, be furnished with circulation net road and current gangway in the water-cooled module, wherein flow inlet towards the submersible bow to, wherein water export towards the submersible stern to, during the submersible ahead running, when flowing through the water cooled mo(u)ld piece under the kinetic pressure effect, current take away heat.

Another kind as technical solution of the present invention further improves again, ferry optics comunication circuit card and circuit of measurement and control plate are arranged in the communication and control storehouse, the ferry optics comunication circuit card can be modulated into one tunnel optical signal transmission with each road picture signal and other each railway digital detectable signal merging of access, wherein picture signal is only carried out unidirectional transmission from submersible to the upper computer direction, and the non-image digital signal in each road is carried out the full-duplex data transmission between submersible and upper computer, and the circuit of measurement and control plate will be crossed the ferry optics comunication circuit card from the information exchange of submersible position and the collection of attitude sensor group and be transferred to upper computer, receive the control signal that is sent by upper computer by the ferry optics comunication circuit card simultaneously.

Further improve again as also having of technical solution of the present invention is a kind of, the manipulator mechanical mounting interface of manipulator also is set on the submersible body frame, the communication and control storehouse also is provided with the manipulator electric interfaces, manipulator is connected with communication and control storehouse signal by the manipulator electric interfaces, and the suspicious item under water that the control command that manipulator sends according to the communication and control storehouse is found submersible is disposed.Preferably carry out mechanical connection by attachment strap and bolt between submersible body frame and the manipulator, bolt is connected by screw thread fit with the manipulator mechanical mounting interface of submersible body frame, and manipulator is clasp manipulator or tuck net type manipulator.Manipulator preferably is electrically connected by the manipulator electric interfaces in plug type connecting line and communication and control storehouse.

The present invention has following apparent outstanding substantive distinguishing features and remarkable advantage compared with prior art:

1. employing double frequency identification sonar and under water low-light camera can both be surveyed ROV in clear water and muddy waters, thereby improve unmanned submersible's in-use performance, expand its field of application;

2. adopt the pitch rotation The Cloud Terrace, the servo-actuated low-light camera on the The Cloud Terrace and the acoustic lens of split type detection sonar can rotate with tilt-top, have improved the alerting ability of surveying;

3.ROV machinery and the electric interfaces of upper reservation manipulator, carry out mechanical connection by attachment strap and bolt between manipulator and the submersible, be electrically connected by the plug type connecting line, manipulator can be for convenience detach with install, do not affect the detecting function of submersible after the manipulator dismounting;

4. the connection mode that adopts is convenient for changing installs and uses multi-form manipulator, such as clasp manipulator, tuck net type manipulator, mechanical arm etc., to satisfy the needs of disposal operations under water of different modes, ROV can operate and dispose lower target behind the installation manipulator;

5.ROV upper installation is located, is decided appearance sensor group, can realize ROV is carried out accurate positioning and orientation;

6. between ROV and surface control station, adopt ferry optics comunication, improve the airborne communication distance of ROV and communication bandwidth;

7. internal heat generation device in power management storehouse cools off by the water-cooled module, be furnished with circulation net road and gangway in the water-cooled module, entrance towards the submersible bow to, outlet towards the submersible stern to, during the submersible ahead running, take away heat when current are flowed through the water cooled mo(u)ld piece under the kinetic pressure effect, guaranteed the reliable and stable of power supply.

Description of drawings

Fig. 1 is the embodiment of the invention one distant operation unmanned submersible's structural representation one.

Fig. 2 is the embodiment of the invention one distant operation unmanned submersible's structural representation two.

Fig. 3 is the lateral plan of the clasp manipulator expanded configuration of the embodiment of the invention six distant operation unmanned submersibles installations.

Fig. 4 is the front elevation of the clasp manipulator expanded configuration of the embodiment of the invention six distant operation unmanned submersibles installations.

Fig. 5 is that the clasp manipulator that the embodiment of the invention six distant operation unmanned submersibles install draws the front elevation of structure in.

The specific embodiment

Details are as follows for the preferred embodiments of the present invention:

Embodiment one:

Referring to Fig. 1 and Fig. 2, a kind of distant operation unmanned submersible for Underwater Target Detection and disposal, comprise submersible body frame 5, floatage body 2, Powerpush Unit, underwater detection equipment, power management storehouse 4, communication and control storehouse 7, cable interface and signaling interface, floatage body 2 is installed with the top secure bond of submersible body frame 5, power management storehouse 4 and communication and control storehouse 7 fixedly are loaded on the submersible body frame 5, the cable that is connected with cable interface accesses power management storehouse 4 and provides electric energy to Powerpush Unit and underwater detection equipment, and the signal cable access communications that is connected with signaling interface also is connected with the underwater detection equipment signal with Powerpush Unit respectively with control storehouse 7; Powerpush Unit comprises four propellers that are installed on the submersible body frame 5, two afterbody propelling units are arranged at the submersible afterbody wherein, namely be respectively afterbody right side propelling unit 19 and afterbody left side propelling unit 21, the propelling unit 14 that wherein rises and falls is arranged at the submersible top, wherein sidesway propelling unit 15 is arranged at the submersible left side, the 7 control control propeller motions of communication and control storehouse, thus make submersible realize advancing, retreat, turn left, turn right, fixed point rotary, come-up, any one motion or any several aggregate motion in dive and the left and right sides translation; Cable interface and signaling interface merge formation optoelectronic composite cable interface 20, by photoelectricity compound interface 20 access optoelectronic composite cables, thereby for submersible provides power supply, and provide photo-signal channel for bidirectional optical between submersible and the upper computer, between ROV and surface control station, set up fiber optic communication channel, improve the airborne communication distance of ROV and communication bandwidth; Underwater detection equipment comprises submersible the place ahead detecting devices and submersible below detecting devices, submersible the place ahead detecting devices comprises fixedly strong light searchlight 8 of forward direction, the servo-actuated strong light searchlight 9 of forward direction, servo-actuated low-light camera 10 and detection sonar equipment, detection sonar equipment is for consisting of by the acoustic lens 11 of detection sonar and sonar control and treater 22 are split type, sonar control is connected with the signal input part signal of the acoustic lens 11 of detection sonar with the signal receiving end of treater 22, forward direction fixedly strong light searchlight 8 and the servo-actuated strong light searchlight 9 of forward direction provides floor light for servo-actuated low-light camera 10, submersible below detecting devices comprises bottom low-light camera 12 and bottom strong light searchlight 13, bottom strong light searchlight 13 passes through floor light for bottom low-light camera 12, forward direction is strong light searchlight 8 fixedly, sonar control and treater 22, bottom low-light camera 12 and bottom strong light searchlight 13 are fixedly installed on the submersible body frame 5, communication and control storehouse 7 control forward directions are strong light searchlight 8 fixedly, the switch of the servo-actuated strong light searchlight 9 of forward direction and bottom strong light searchlight 13, the communication and control storehouse 7 servo-actuated low-light camera 10 of control and bottom low-light cameras 12, and carry out zoom the place ahead and the below of submersible are taken, the servo-actuated strong light searchlight 9 of forward direction, the acoustic lens 11 of servo-actuated low-light camera 10 and detection sonar is fixedly installed on the pitch rotation The Cloud Terrace, the permanent seat of pitch rotation The Cloud Terrace is installed on the submersible body frame 5, the control command signal is sent to The Cloud Terrace actuator 6 in communication and control storehouse 7, and then make The Cloud Terrace actuator 6 drive the pitch rotation The Cloud Terrace with respect to submersible body frame 5 generation pitch rotation, be fixed in detection and the viewing angle of the submersible the place ahead detecting devices on the pitch rotation The Cloud Terrace with adjustment, servo-actuated low-light camera 10 on the pitch rotation The Cloud Terrace can rotate with tilt-top with the acoustic lens 11 of split type detection sonar, has improved the alerting ability of surveying; The signal receiving end in communication and control storehouse 7 also is connected with the signal output part of submersible position with the attitude sensor group, power management storehouse 4 provides electric energy to submersible position and attitude sensor group, submersible position and attitude sensor group are installed on the submersible body frame 5, submersible position and attitude sensor group comprise submersible attitude reference system 16, sonar altimeter 17, hydraulic gage and ultra-short baseline fixed sonar responser 18, ultra-short baseline fixed sonar responser 18 is installed in the top of submersible body frame 5, wherein submersible attitude reference system 16 can obtain and comprise at least the magnetic heading angle, roll angle and pitch angle are at the real-time attitude data of interior submersible, wherein sonar altimeter 17 can be measured and obtain submersible apart from the riverbed or the altitude information of sea bed, wherein hydraulic gage can be calculated the underwater penetration data of submersible, and wherein ultra-short baseline fixed sonar responser 18 by cooperating to determine that with the ultra-short baseline fixed sonar system of lash ship submersible is with respect to the position data of lash ship; Submersible net buoyancy in water still can emerge safely submersible near himself gravity and greater than himself gravity when running out of steam.In the present embodiment, convertible 24V ~ 48V adjustable DC the power supply that is output as behind the source of AC of power management storehouse 4 accesses, what adopt is the NHWY-60V-100A type large power supply of Jinan happy general power supply Science and Technology Ltd., and the horsepower output of maximum 3600W is provided for 4 propellers 14,15,19,21; Submersible net buoyancy in water is slightly larger than gravity, thereby guarantees that submersible still can emerge when running out of steam; The Cloud Terrace actuator 6 can be controlled the pitch rotation The Cloud Terrace and produce pitch rotation, is fixed in detection and the viewing angle of the underwater detection equipment 9 ~ 11 on the pitch rotation The Cloud Terrace with adjustment; The submersible position that sensor group 16 ~ 18 obtains and attitude information access communications and control storehouse 7 can be transferred to upper computer and show after the processing; Submersible has been reserved machinery and the electric interfaces of manipulator, the disposal such as the suspicious item under water that manipulator finds underwater detection equipment is caught to install as required and to control, salvaging.

In the present embodiment, what servo-actuated low-light camera 10 and bottom low-light camera 12 all adopted is 25 times of high-definition intelligent integrated cameras of Samsung SCZ-2250P type, detection sonar adopts the split type double frequency identification sonar of U.S. Didson 300 types, split type detection sonar comprises that acoustic lens 11 and sonar control form with treater 22, and wherein the acoustic lens 11 of detection sonar rotates with tilt-top.Submersible attitude reference system 16 adopts U.S. 3DM-GX1 type, and it can obtain the real-time attitude of submersible, comprises magnetic heading angle, roll angle and pitch angle; Sonar altimeter 17 adopts the PSA-916 type sonar altimeter of U.S. Benthos company, and it can obtain submersible apart from the riverbed or the height of sea bed; Hydraulic gage adopts the NS-I/300kPa pressure transformer, is used for obtaining the underwater penetration of submersible; Ultra-short baseline fixed sonar responser 18 adopts the Tracklink1500 type of U.S. LinkQuest company, and it is by cooperating with the ultra-short baseline fixed sonar system of lash ship, to determine that submersible is with respect to the position of lash ship.

Present embodiment has been realized muddy waters Underwater Target Detection and disposal, has improved distant operation unmanned submersible's practical value, has widened simultaneously unmanned submersible's field of application.

In the present embodiment, referring to Fig. 1 and Fig. 2, floatage body 2 upper surfaces preferably are equipped with crashproof flow deflector 1, the free end vertex of crashproof flow deflector 1 is higher than the height of ultra-short baseline fixed sonar responser 18 outstanding floatage body 2 upper surfaces, crashproof flow deflector 1 is installed near the ultra-short baseline fixed sonar responser 18 along the setting of submersible fore-and-aft direction, and being installed in the place ahead with respect to ultra-short baseline fixed sonar responser 18, protection ultra-short baseline fixed sonar responser 18 thereafter avoids being subject to direct bump; Transition portion between floatage body 2 and the submersible body frame 5 preferably is equipped with rubber buffer ring 3 protects floatage body 2, and the bump of outside to submersible cushioned.Above-mentioned floatage body 2 adopts the material that density is little, strength-to-density ratio is high, and such as the wooden work of Ba Sha, its size can be carried out Customization Module to be fit to different buoyancy needs as required from volume; Crashproof flow deflector 1 is housed to protect the thereafter ultra-short baseline responser 18 of projection on the floatage body 2; Install and fix by bolt and self lock nut between floatage body 2 and the submersible framework 5, change and easy accessibility; Transition portion between floatage body 2 and the framework 5 is equipped with rubber buffer ring 3 with the less floatage body 2 of protection absolute strength, and external impact is cushioned.The function that has realized the submersible stable operation is transformed in above active buffer structure and protection, makes the present embodiment submersible more practical, can tackle the under-water operation environment of Various Complex.

In the present embodiment, referring to Fig. 1, forward direction fixedly strong light searchlight 8 preferably includes two, be fixedly installed in respectively to the left and right both sides of submersible bow, two forward directions fixedly strong light searchlight 8 when increasing submersible the place ahead illuminating effect, make the light energy distribution of submersible the place ahead light field more even, can obtain more uniformly High Precision Underwater photo of shadow.

Embodiment two:

Present embodiment and embodiment one are basic identical, and special feature is:

In the present embodiment, ultra-short baseline fixed sonar responser 18 adopts independent lithium battery power supply, when optoelectronic composite cable disconnection, communication and control storehouse 7 signal faults or the submersible of submersible disconnect owing to unpredictalbe extreme case causes submersible to be communicated by letter with upper computer, ultra-short baseline fixed sonar responser 18 still can work alone, and the position data of search and affirmation submersible is provided for lash ship.Ultra-short baseline fixed sonar responser 18 adopts independent lithium battery power supply, under unpredictalbe extreme cases such as submersible composite rope disconnection, still can work alone for a long time, salvage to determine position and the wait of losing submersible, improved the ability of submersible reply complex job environment, reduce the loss of detection data data, the guarantee underwater monitoring carries out smoothly with the disposal operation.

Embodiment three:

Present embodiment and embodiment one are basic identical, and special feature is:

In the present embodiment, the pitch rotation angular range of pitch rotation The Cloud Terrace is preferably 60 °.It is 60 ° pitch rotation that pitch rotation cradle head controllor 6 can drive The Cloud Terrace generation scope, can realize that wide view surveys, and to adjust detection and the viewing angle of underwater detection equipment, realizes surveying without the dead angle under water.

Embodiment four:

Present embodiment and embodiment one are basic identical, and special feature is:

In the present embodiment, the sensible heat that power management storehouse 4 and communication and control storehouse 7 interior devices produce cools off by the water-cooled module, be furnished with circulation net road and current gangway in the water-cooled module, wherein flow inlet towards the submersible bow to, wherein water export towards the submersible stern to, during the submersible ahead running, when flowing through the water cooled mo(u)ld piece under the kinetic pressure effect, current take away heat.Power management storehouse 4 internal heat generation devices cool off by the water-cooled module, and cooling mechanism and refrigerating module physique are simple, have guaranteed the reliable and stable of power supply.

Embodiment five:

Present embodiment and embodiment one are basic identical, and special feature is:

In the present embodiment, ferry optics comunication circuit card and circuit of measurement and control plate are arranged in the communication and control storehouse 7, the ferry optics comunication circuit card can be modulated into one tunnel optical signal transmission with each road picture signal and other each railway digital detectable signal merging of access, wherein picture signal is only carried out unidirectional transmission from submersible to the upper computer direction, and the non-image digital signal in each road is carried out the full-duplex data transmission between submersible and upper computer, and the circuit of measurement and control plate will be crossed the ferry optics comunication circuit card from the information exchange of submersible position and the collection of attitude sensor group and be transferred to upper computer, receive the control signal that is sent by upper computer by the ferry optics comunication circuit card simultaneously.In the present embodiment, the ferry optics comunication circuit card adopts the OC-2 type Optical Interface Board of communication institute of Shanghai University research and development, the two-way image of access is modulated into one tunnel optical signal transmission with the multiply digital signals merging that comprises one road double frequency identification sonar information, wherein the image transmitting direction only is from the submersible to the upper computer, and each is counted digital signal and can realize full-duplex data transmission; The circuit of measurement and control plate adopts Shanghai University's machine from the SUSD-02 type control and testing board of institute's research and development, be transferred to upper computer in order to the information that gathers submersible sensor group and by the ferry optics comunication circuit card, receive the control signal that transmitted by upper computer and after treatment by the ferry optics comunication circuit card simultaneously, control propeller 14,15,19,21, pitch rotation The Cloud Terrace and manipulator 23 motions, control camera zoom is controlled under water search lamp switch etc.

Embodiment six:

Present embodiment and embodiment one are basic identical, and special feature is:

In the present embodiment, referring to Fig. 3~Fig. 5, the manipulator mechanical mounting interface of manipulator 23 also is set on submersible body frame 5, communication and control storehouse 7 also is provided with the manipulator electric interfaces, manipulator 23 is connected with communication and control storehouse 7 signals by the manipulator electric interfaces, the preferred plug type connection mode that adopts, make manipulator 23 can be for convenience detach with install, and making the detecting function that does not affect submersible after manipulator 23 dismounting, the suspicious item under water that the control command that manipulator 23 sends according to communication and control storehouse 7 is found submersible is disposed.

In the present embodiment, preferably carry out mechanical connection by attachment strap 25 and bolt 24 between above-mentioned submersible body frame 5 and the manipulator 23, bolt 24 is connected by screw thread fit with the manipulator mechanical mounting interface of submersible body frame 5, manipulator 23 is clasp manipulator or tuck net type manipulator, with the needs of the disposal operations under water that satisfies different modes.

The above is illustrated the embodiment of the invention; but the invention is not restricted to above-described embodiment; can also make multiple variation according to the purpose of innovation and creation of the present invention; all according to technical solution of the present invention Spirit Essence and principle under make change, modification, substitute, combination, simplify; all should be the substitute mode of equivalence; as long as goal of the invention according to the invention; only otherwise deviate from know-why and the inventive concept that the present invention is used for Underwater Target Detection and the distant unmanned submersible of operation of disposal, all belong to protection scope of the present invention.

Claims (10)

1. distant operation unmanned submersible who is used for Underwater Target Detection and disposal, comprise submersible body frame (5), floatage body (2), Powerpush Unit, underwater detection equipment, power management storehouse (4), communication and control storehouse (7), cable interface and signaling interface, described floatage body (2) is installed with the top secure bond of submersible body frame (5), described power management storehouse (4) and described communication and control storehouse (7) fixedly are loaded on the described submersible body frame (5), the cable that is connected with described cable interface accesses described power management storehouse (4) and provides electric energy to described Powerpush Unit and described underwater detection equipment, the signal cable that is connected with described signaling interface access described communication and control storehouse (7) and respectively with described Powerpush Unit be connected the underwater detection equipment signal and be connected
It is characterized in that: described Powerpush Unit comprises four propellers that are installed on the described submersible body frame (5), two afterbody propelling units are arranged at the submersible afterbody wherein, namely be respectively afterbody right side propelling unit (19) and afterbody left side propelling unit (21), the propelling unit (14) that wherein rises and falls is arranged at the submersible top, wherein sidesway propelling unit (15) is arranged at the submersible left side, the described propeller motion of described communication and control storehouse (7) control control, thus make submersible realize advancing, retreat, turn left, turn right, fixed point rotary, come-up, any one motion or any several aggregate motion in dive and the left and right sides translation;
Cable interface and signaling interface merge and form optoelectronic composite cable interface (20), by described photoelectricity compound interface (20) access optoelectronic composite cable, thereby for submersible provides power supply, and provide photo-signal channel for bidirectional optical between submersible and the upper computer;
Described underwater detection equipment comprises submersible the place ahead detecting devices and submersible below detecting devices, described submersible the place ahead detecting devices comprises fixedly strong light searchlight (8) of forward direction, the servo-actuated strong light searchlight of forward direction (9), servo-actuated low-light camera (10) and detection sonar equipment, described detection sonar equipment is by the acoustic lens (11) of detection sonar and sonar control and the split type formation of treater (22), described sonar control is connected with the signal input part signal of the acoustic lens (11) of described detection sonar with the signal receiving end of treater (22), described forward direction fixedly strong light searchlight (8) and the servo-actuated strong light searchlight of described forward direction (9) provides floor light for described servo-actuated low-light camera (10), described submersible below detecting devices comprises bottom low-light camera (12) and bottom strong light searchlight (13), described bottom strong light searchlight (13) passes through floor light for described bottom low-light camera (12), described forward direction is strong light searchlight (8) fixedly, described sonar control and treater (22), described bottom low-light camera (12) and described bottom strong light searchlight (13) are fixedly installed on the described submersible body frame (5), the described forward direction of described communication and control storehouse (7) control is strong light searchlight (8) fixedly, the switch of the servo-actuated strong light searchlight of described forward direction (9) and described bottom strong light searchlight (13), described communication and control storehouse (7) control described servo-actuated low-light camera (10) and described bottom low-light camera (12), and carry out zoom the place ahead and the below of submersible are taken, the servo-actuated strong light searchlight of described forward direction (9), the acoustic lens (11) of described servo-actuated low-light camera (10) and described detection sonar is fixedly installed on the pitch rotation The Cloud Terrace, the permanent seat of described pitch rotation The Cloud Terrace is installed on the described submersible body frame (5), the control command signal is sent to The Cloud Terrace actuator (6) in described communication and control storehouse (7), and then make described The Cloud Terrace actuator (6) drive described pitch rotation The Cloud Terrace with respect to described submersible body frame (5) generation pitch rotation, be fixed in detection and the viewing angle of the described submersible the place ahead detecting devices on the described pitch rotation The Cloud Terrace with adjustment;
The signal receiving end in described communication and control storehouse (7) also is connected with the signal output part of submersible position with the attitude sensor group, described power management storehouse (4) provides electric energy to submersible position and attitude sensor group, described submersible position and attitude sensor group are installed on the described submersible body frame (5), described submersible position and attitude sensor group comprise submersible attitude reference system (16), sonar altimeter (17), hydraulic gage and ultra-short baseline fixed sonar responser (18), described ultra-short baseline fixed sonar responser (18) is installed in the top of described submersible body frame (5), wherein said submersible attitude reference system (16) can obtain and comprise at least the magnetic heading angle, roll angle and pitch angle are at the real-time attitude data of interior submersible, wherein said sonar altimeter (17) can be measured and obtain submersible apart from the riverbed or the altitude information of sea bed, wherein said hydraulic gage can be calculated the underwater penetration data of submersible, and wherein said ultra-short baseline fixed sonar responser (18) is by cooperating to determine that with the ultra-short baseline fixed sonar system of lash ship submersible is with respect to the position data of lash ship;
The complete water-immersed net buoyancy of submersible still can emerge safely submersible near himself gravity and greater than himself gravity when running out of steam.
2. the distant operation unmanned submersible for Underwater Target Detection and disposal according to claim 1, it is characterized in that: described ultra-short baseline fixed sonar responser (18) adopts independent lithium battery power supply, when optoelectronic composite cable disconnection, described communication and control storehouse (7) signal fault or the submersible of submersible disconnect owing to unpredictalbe extreme case causes submersible to be communicated by letter with upper computer, described ultra-short baseline fixed sonar responser (18) still can work alone, and the position data of search and affirmation submersible is provided for lash ship.
3. the distant operation unmanned submersible for Underwater Target Detection and disposal according to claim 1 and 2, it is characterized in that: described floatage body (2) upper surface is equipped with crashproof flow deflector (1), the free end vertex of described crashproof flow deflector (1) is higher than the height of outstanding described floatage body (2) upper surface of described ultra-short baseline fixed sonar responser (18), described crashproof flow deflector (1) is erect along the submersible fore-and-aft direction and is installed in described ultra-short baseline fixed sonar responser (18) nearby, and being installed in the place ahead with respect to described ultra-short baseline fixed sonar responser (18), protection described ultra-short baseline fixed sonar responser (18) thereafter avoids being subject to direct bump; Transition portion between described floatage body (2) and the described submersible body frame (5) is equipped with rubber buffer ring (3) protects floatage body (2), and the bump of outside to submersible cushioned.
4. the distant operation unmanned submersible for Underwater Target Detection and disposal according to claim 1 and 2, it is characterized in that: the pitch rotation angular range of described pitch rotation The Cloud Terrace is 60 °.
5. the distant operation unmanned submersible for Underwater Target Detection and disposal according to claim 3, it is characterized in that: described forward direction fixedly strong light searchlight (8) comprises two, is fixedly installed in respectively to the left and right both sides of submersible bow.
6. the distant operation unmanned submersible for Underwater Target Detection and disposal according to claim 3, it is characterized in that: the sensible heat that the interior device in described power management storehouse (4) and described communication and control storehouse (7) produces cools off by the water-cooled module, be furnished with circulation net road and current gangway in the described water-cooled module, wherein flow inlet towards the submersible bow to, wherein water export towards the submersible stern to, during the submersible ahead running, when flowing through the water cooled mo(u)ld piece under the kinetic pressure effect, current take away heat.
7. the distant operation unmanned submersible for Underwater Target Detection and disposal according to claim 3, it is characterized in that: ferry optics comunication circuit card and circuit of measurement and control plate are arranged in the described communication and control storehouse (7), described ferry optics comunication circuit card can be modulated into one tunnel optical signal transmission with each road picture signal and other each railway digital detectable signal merging of access, wherein picture signal is only carried out unidirectional transmission from submersible to the upper computer direction, and the non-image digital signal in each road is carried out the full-duplex data transmission between submersible and upper computer, and described circuit of measurement and control plate will be crossed described ferry optics comunication circuit card from the information exchange of described submersible position and the collection of attitude sensor group and be transferred to upper computer, receive the control signal that is sent by upper computer by described ferry optics comunication circuit card simultaneously.
8. the distant operation unmanned submersible for Underwater Target Detection and disposal according to claim 3, it is characterized in that: the manipulator mechanical mounting interface that manipulator (23) also is set on described submersible body frame (5), described communication and control storehouse (7) also is provided with the manipulator electric interfaces, described manipulator (23) is connected with described communication and control storehouse (7) signal by the manipulator electric interfaces, and the suspicious item under water that the control command that described manipulator (23) sends according to described communication and control storehouse (7) is found submersible is disposed.
9. the distant operation unmanned submersible for Underwater Target Detection and disposal according to claim 8, it is characterized in that: carry out mechanical connection by attachment strap (25) and bolt (24) between described submersible body frame (5) and the described manipulator (23), described bolt (24) is connected by screw thread fit with the manipulator mechanical mounting interface of described submersible body frame (5), and described manipulator (23) is clasp manipulator or tuck net type manipulator.
10. the distant operation unmanned submersible for Underwater Target Detection and disposal according to claim 9, it is characterized in that: described manipulator (23) is electrically connected by the manipulator electric interfaces in plug type connecting line and described communication and control storehouse (7).
CN2012105250682A 2012-12-10 2012-12-10 Teleoperation unmanned submersible for detecting and disposing submarine target CN102975833A (en)

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