CN105628019B

CN105628019B - A kind of Modularized micro AUV communication navigation module

Info

Publication number: CN105628019B
Application number: CN201510985886.4A
Authority: CN
Inventors: 武建国; 郭海新; 林兴华; 陈昭伟
Original assignee: Hebei University of Technology
Current assignee: Hebei University of Technology
Priority date: 2015-12-25
Filing date: 2015-12-25
Publication date: 2019-04-02
Anticipated expiration: 2035-12-25
Also published as: CN105628019A

Abstract

The invention discloses a kind of Modularized micro AUV communication navigation modules, including Anneta module, support rod, main casing and built-in frame, it further include GPS Beidou module, wireless communication module, terminal box, electronic compass and automatic pilot, the Anneta module is connected and sealed by support rod and main casing, Anneta module is electrically connected with the first aviation plug, the both ends of main casing are respectively equipped with the second aviation plug and third aviation plug, the inside of main casing is equipped with built-in frame, and built-in frame is equipped with terminal box, electronic compass and automatic pilot.The invention has the benefit that realizing the modularization of AUV design structure, so as to which easily head construction is reused, upgrade and repair, make it possible AUV seriation and marketization application, and reasonable structural arrangement, while guaranteeing its stability, installation space is saved.

Description

A kind of Modularized micro AUV communication navigation module

Technical field

The present invention relates to underwater robot technical field more particularly to a kind of Modularized micro AUV communication navigation modules.

Background technique

As to the increasing of ocean research and Exploratory behavior, underwater robot technical field is also increasingly subject to both at home and abroad The attention of researcher, but the equipment that underwater robot can carry is limited, especially microminiature underwater robot, this is obviously It is unable to satisfy the requirement of underwater robot functional diversities, therefore underwater robot architecture is carried out based on modular technology and is ground Study carefully, by modularization underwater robot reconstruct realize functional diversities be underwater robot technical field major issue it One.

The design of current miniature AUV generally uses overall formula design structure, and there are many adopt communication navigation inside modules part It is permanently fixed, cannot be dismantled with realizations such as glue, cannot achieve standardized production, and waste many materials.

Summary of the invention

The present invention provides a kind of Modularized micro AUV communication navigation modules, realize the modularization of AUV design structure, So as to which easily head construction is reused, upgrade and repair so that AUV seriation and the marketization application become can Can, and reasonable structural arrangement saves installation space while guaranteeing its stability.

In order to solve the above technical problems, the embodiment of the present application provides a kind of Modularized micro AUV communication navigation module, packet Anneta module, support rod, main casing and built-in frame are included, further includes GPS Beidou module, wireless communication module, terminal box, electronics sieve Disk and automatic pilot, the Anneta module are connected and sealed by support rod and main casing, Anneta module and the first boat Blind plug electrical connection, the both ends of main casing are respectively equipped with the second aviation plug and third aviation plug, and the inside of main casing is equipped with Built-in frame, built-in frame are equipped with terminal box, electronic compass and automatic pilot.

As the preferred embodiment of this programme, the shell of the Anneta module is by cylindrical pressure-resistant cover and hemispherical Translucent cover surround closed cavity, wherein pressure-resistant cover is POM material, and translucent cover is acrylic material, and pressure-resistant cover and translucent cover connect The place of connecing is sealed by O-ring seal, and junction is additionally provided with the first leakage sensor.

As the preferred embodiment of this programme, the both ends inside the Anneta module are respectively provided with a LED module, intermediate Position is equipped with GPS Beidou module and wireless communication module.

As the preferred embodiment of this programme, the material of the support rod is ABS, is hollow structure, and inside, which is equipped with, to be connected Wiring is equipped with the 4th leakage sensor with main casing junction.

As the preferred embodiment of this programme, the both ends of the main casing are respectively equipped with the second leakage sensor and third Leakage sensor.

As the preferred embodiment of this programme, the built-in frame is made of tie rod and fixed link, one end of built-in frame It is connected with fixed disk and is fixed, the other end and main casing inner wall of built-in frame connects.

As the preferred embodiment of this programme, the both ends of the tie rod are equipped with distensible ring, and distensible ring is matched with fixed disk Close connection.

One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

The modularization of AUV design structure is realized, so as to easily be reused, rise to communication navigation modular structure Grade and maintenance, make it possible AUV seriation and marketization application, and reasonable structural arrangement, while guaranteeing its stability, Save installation space.

Detailed description of the invention

In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this hair Bright some embodiments for those of ordinary skill in the art without any creative labor, can be with It obtains other drawings based on these drawings.

Fig. 1 is the structural schematic diagram of the embodiment of the present application；

Fig. 2 is the built-in frame structural schematic diagram of the embodiment of the present application.

In figure: 1, Anneta module, 2, pressure-resistant cover, the 3, first leakage sensor, 4, GPS Beidou module, 5, wireless telecommunications mould Block, 6, LED module, 7, translucent cover, 8, support rod, the 9, first aviation plug, 10, terminal box, 11, main casing, the 12, second aviation Plug, the 13, second leakage sensor, 14, electronic compass, 15, automatic pilot, 16, third leakage sensor, 17, third boat Blind plug, 18, built-in frame, 19, fixed disk, the 20, the 4th leakage sensor, 21, tie rod, 22, fixed link, 23, distensible ring.

Specific embodiment

The present invention provides a kind of Modularized micro AUV communication navigation modules, realize the modularization of AUV design structure, So as to which easily communication navigation modular structure is reused, upgrade and repair so that AUV seriation and the marketization application It is possibly realized, and reasonable structural arrangement, while guaranteeing its stability, saves installation space.

In order to better understand the above technical scheme, in conjunction with appended figures and specific embodiments to upper Technical solution is stated to be described in detail.

As Figure 1-Figure 2, a kind of Modularized micro AUV communication navigation module described in the present embodiment, including antenna mould Block 1, support rod 8, main casing 11 and built-in frame 18 further include GPS Beidou module 4, wireless communication module 5, terminal box 10, electronics Compass 14 and automatic pilot 15, the Anneta module 1 are connected and sealed by support rod 8 with main casing 11, antenna mould Block 1 is electrically connected with the first aviation plug 9 carries out signal communication, and the both ends of main casing 11 are respectively equipped with the second aviation plug 12 and the Three aviation plugs 17, are equipped with built-in frame 18 inside main casing 11, and built-in frame 18 is equipped with terminal box 10, electronic compass 14 and automatic Pilot 15.

Wherein, in practical applications, the Anneta module 1 is enclosed by cylindrical pressure-resistant cover 2 and hemispheric translucent cover 7 At closing shell, wherein pressure-resistant cover 2 is POM material, and translucent cover 7 is acrylic material, in the connection of pressure-resistant cover 2 and translucent cover 7 Place is sealed by O-ring seal, and junction is simultaneously equipped with the first leakage sensor 3, and pressure-resistant cover 2 is guaranteeing structural strength In the case of, overall quality can be mitigated, the light that translucent cover 7 can be such that the LED module 6 at both ends issues is scattered, convenient for seeing Observe the position of AUV.

Wherein, in practical applications, the both ends inside the Anneta module 1 are respectively provided with a LED module 6, middle part Position is equipped with GPS Beidou module 4 and wireless communication module 5, to generate information exchange with the external world.

Wherein, in practical applications, the material of the support rod 8 is ABS, is hollow structure, and inside is equipped with connecting line, It is equipped with the 4th leakage sensor 20 with 11 junction of main casing, has certain thickness, can bear certain pressure, prevent Support rod 8 fractures AUV in the process of running.

Wherein, in practical applications, the both ends junction of the main casing 11 is respectively equipped with the second leakage sensor 13 With third leakage sensor 16, it can be monitored to situation is sealed in entire warehouse, prevent water leakage situation.

Wherein, in practical applications, the built-in frame 18 is made of tie rod 21 and fixed link 22, wherein one end and solid Price fixing 19, which is connected, to be fixed, and prevents its rotation and movement, the other end from contacting with 11 inner wall of main casing, plays the mobile work of limitation With.

Wherein, in practical applications, the both ends of the tie rod 21 are equipped with distensible ring 23, and one end is matched with fixed disk 19 It closes, the material of fixed disk 19 is ABS, has certain elasticity, makes 19 distending of left and right fixed disk by tie rod 21, be fixed on master On shell 11, when distensible ring 23 is expanded, fixed disk 19 is expanded together with distensible ring 23.

The above described is only a preferred embodiment of the present invention, be not intended to limit the present invention in any form, though So the present invention has been disclosed as a preferred embodiment, and however, it is not intended to limit the invention, any technology people for being familiar with this profession Member, without departing from the scope of the present invention, when the technology contents using the disclosure above make a little change or modification For the equivalent embodiment of equivalent variations, but anything that does not depart from the technical scheme of the invention content, according to the technical essence of the invention Any simple modification, equivalent change and modification to the above embodiments, all of which are still within the scope of the technical scheme of the invention.

Claims

1. a kind of Modularized micro AUV communication navigation module, including Anneta module (1), support rod (8), main casing (11) and interior Set frame (18), which is characterized in that further include GPS Beidou module (4), wireless communication module (5), terminal box (10), electronic compass (14) it is connected and sealed by support rod (8) with main casing (11) with automatic pilot (15), the Anneta module (1), And by the first aviation plug (9) carry out signal communication, the both ends of main casing (11) be respectively equipped with the second aviation plug (12) and Third aviation plug (17), it is internal to be equipped with terminal box (10), electronic compass (14) and automatic pilot by built-in frame (18) (15), first aviation plug (9) is mounted on support rod (8) inside, main casing (11) the both ends installation There is bracket, the flange hole on the second aviation plug (12) and third aviation plug (17) is fixed by screws on bracket, described Anneta module (1) closing shell is surrounded by cylindrical pressure-resistant cover (2) and hemispheric translucent cover (7), wherein pressure-resistant cover (2) For POM material, translucent cover (7) is acrylic material, is sealed in junction by O-ring seal, and be equipped with the first leak Sensor (3), the internal both ends of the Anneta module (1) are respectively provided with a LED module (6), and intermediate position is equipped with GPS Beidou Module (4) and wireless communication module (5), the material of the support rod (8) are ABS, are hollow structure, and inside is equipped with connection Line is being equipped with the 4th leakage sensor (20) with main casing (11) junction, and the both ends of the main casing (11) connect punishment Not She You the second leakage sensor (13) and third leakage sensor (16), the built-in frame (18) is by tie rod (21) and solid Fixed pole (22) is constituted, and wherein one end is connected with fixed disk (19) and is fixed, and the other end is contacted with main casing (11) inner wall, institute The both ends for the tie rod (21) stated are equipped with distensible ring (23), and cooperate respectively with fixed disk (19).