CN103114774A - 深海auv入坞电磁锁紧与释放系统 - Google Patents

深海auv入坞电磁锁紧与释放系统 Download PDF

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Publication number
CN103114774A
CN103114774A CN2013100634040A CN201310063404A CN103114774A CN 103114774 A CN103114774 A CN 103114774A CN 2013100634040 A CN2013100634040 A CN 2013100634040A CN 201310063404 A CN201310063404 A CN 201310063404A CN 103114774 A CN103114774 A CN 103114774A
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China
Prior art keywords
auv
docking
guiding cylinder
guide
electromagnet
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CN2013100634040A
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Inventor
杨灿军
蔡业豹
李德骏
史剑光
金波
方凤玲
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Zhejiang University ZJU
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Zhejiang University ZJU
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Abstract

本发明公开的深海AUV电磁锁紧与释放系统包括机座、喇叭口导筒、圆筒状导筒和安装在AUV外壳上的金属块、圆筒状导筒与机座紧固，圆筒状导筒一端的端面安装有位置传感器，圆筒状导筒的另一端通过连接件与喇叭口导筒的窄筒端相连，在喇叭口导筒与圆筒状导筒连接处安装有与金属块对应的电磁铁，该电磁铁通电消磁，断电时有磁。该系统结构简单，控制方便，能对入坞后的AUV可靠锁紧与释放。

Description

深海AUV入坞电磁锁紧与释放系统
技术领域
本发明涉及深海AUV电磁锁紧与释放系统。
背景技术
AUV（自主式水下航行体）在深海下入坞后需要锁紧，防止AUV在洋流影响下滑移，保证AUV可靠地充电和数据传输，完成这些任务后，安全释放AUV。目前还未有通过电磁作用实现对入坞后的AUV进行锁紧与释放的系统。
发明内容
本发明的目的是提供一种深海AUV入坞电磁锁紧与释放系统，实现对入坞后的AUV的可靠锁紧与释放。
本发明的深海AUV电磁锁紧与释放系统包括机座、喇叭口导筒、圆筒状导筒和安装在AUV外壳上的金属块、圆筒状导筒与机座紧固，圆筒状导筒一端的端面安装有位置传感器，圆筒状导筒的另一端通过连接件与喇叭口导筒的窄筒端相连，在喇叭口导筒与圆筒状导筒连接处安装有与金属块对应的电磁铁，该电磁铁通电消磁，断电时有磁。
上述的机座与海底固定，为整个系统提供有效物理支撑；喇叭口导筒在AUV入坞初始阶段起导向作用，使得AUV能够初步入坞；圆筒状导筒对AUV进行径向定位，避免AUV过度偏心；安装在AUV外壳上的金属块是锁紧过程中的受力体；电磁铁是锁紧过程中的施力体，它断电情况下有强大磁力，而通电后磁力消失；电磁铁的通断通过位置传感器的感应信号来控制。
本发明的深海AUV入坞电磁锁紧与释放系统结构简单，控制方便，能实现对入坞后的AUV的可靠锁紧与释放。
附图说明
图1为深海AUV电磁锁紧与释放系统的示意图。
具体实施方式
以下结合附图进一步说明本发明。
参照图1，包括机座1、喇叭口导筒4、圆筒状导筒2和安装在AUV5外壳上的金属块6、圆筒状导筒2与机座1紧固，圆筒状导筒2一端的端面安装有位置传感器8，圆筒状导筒2的另一端通过连接件3与喇叭口导筒4的窄筒端相连，在喇叭口导筒4与圆筒状导筒2连接处安装有与金属块6对应的电磁铁7，金属块6可以安装在圆筒状导筒2的端口，也可以安装在喇叭口导筒4的端口，电磁铁7通电消磁，断电时有磁。
工作原理：当AUV行驶至喇叭口导筒附近，并且在导向范围内时，在喇叭口导筒的作用下，AUV头部逐渐进入到圆筒状导筒中，在AUV头部刚刚进入圆筒状导筒时，位置传感器接受感应信号，电磁铁通电消磁，直到AUV头部全部进入圆筒状导筒中，安装在AUV外壳上的金属块接触电磁铁时，位置传感器再次接受感应信号，电磁铁断电，并且产生强大的磁力将金属块和AUV吸住，实现对AUV的锁紧。
当AUV完成充电和数据传输任务后，电磁铁通电，金属块不再受磁力作用，AUV反向退出圆筒状导筒，当AUV完全退出圆筒状导筒时，位置传感器接受
感应信号，电磁铁断电，此时电磁铁产生的磁场对AUV不再有吸引力，之后AUV完全退出喇叭口导筒。

Claims (1)

1.深海AUV电磁锁紧与释放系统，其特征是包括机座（1）、喇叭口导筒（4）、圆筒状导筒（2）和安装在AUV（5）外壳上的金属块（6）、圆筒状导筒（2）与机座（1）紧固，圆筒状导筒（2）一端的端面安装有位置传感器（8），圆筒状导筒（2）的另一端通过连接件（3）与喇叭口导筒（4）的窄筒端相连，在喇叭口导筒（4）与圆筒状导筒（2）连接处安装有与金属块（6）对应的电磁铁（7），该电磁铁（7）通电消磁，断电时有磁。
CN2013100634040A 2013-02-28 2013-02-28 深海auv入坞电磁锁紧与释放系统 Pending CN103114774A (zh)

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CN105577514A (zh) * 2015-12-15 2016-05-11 浙江大学 基于水下高速无线通讯的深海auv接驳平台信息交互系统
CN106167079A (zh) * 2016-08-11 2016-11-30 浙江大学 一种用于深海自主式水下航行器的水下释放装置
KR20220033379A (ko) * 2020-09-09 2022-03-16 엘아이지넥스원 주식회사 충전용 도킹 시스템

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105577514A (zh) * 2015-12-15 2016-05-11 浙江大学 基于水下高速无线通讯的深海auv接驳平台信息交互系统
CN105577514B (zh) * 2015-12-15 2018-05-22 浙江大学 基于水下高速无线通讯的深海auv接驳平台信息交互系统
CN106167079A (zh) * 2016-08-11 2016-11-30 浙江大学 一种用于深海自主式水下航行器的水下释放装置
CN106167079B (zh) * 2016-08-11 2018-02-06 浙江大学 一种用于深海自主式水下航行器的水下释放装置
KR20220033379A (ko) * 2020-09-09 2022-03-16 엘아이지넥스원 주식회사 충전용 도킹 시스템
KR102456162B1 (ko) * 2020-09-09 2022-10-18 엘아이지넥스원 주식회사 충전용 도킹 시스템

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Application publication date: 20130522