CN105752299B - A kind of sliding cable underwater robot of ocean profile monitoring - Google Patents
A kind of sliding cable underwater robot of ocean profile monitoring Download PDFInfo
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- CN105752299B CN105752299B CN201610247830.3A CN201610247830A CN105752299B CN 105752299 B CN105752299 B CN 105752299B CN 201610247830 A CN201610247830 A CN 201610247830A CN 105752299 B CN105752299 B CN 105752299B
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- underwater robot
- robot
- ocean
- guide cable
- annular frame
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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
- B63C11/34—Diving chambers with mechanical link, e.g. cable, to a base
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- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Geophysics And Detection Of Objects (AREA)
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Abstract
The invention discloses a kind of sliding cable underwater robot of ocean profile monitoring, it is characterised in that：System, guide cable and underwater robot are supported including the water surface, one end of the guide cable is tied up in water surface support system, the underwater robot connects the other end of guide cable；The underwater robot includes robot body, hydroplane and tail fin and guide cable attachment means, the hydroplane is arranged at the left and right sides of robot body, the tail fin is arranged at the rear end of robot body, and the guide cable attachment means are arranged at the front end of robot body.The present invention has the section sliding performance more excellent than towed body, the security higher than untethered submersible.
Description
Technical field
The present invention relates to a kind of sliding cable underwater robot of ocean profile monitoring, belong to internal wave of ocean detection technology field.
Background technology
The marine field observation of interior ripple is in field tools such as scientific research of seas, military oceanography research and ocean engineering construction
There are important scientific meaning and engineering application value.Interior ripple is typically in ocean time mesoscale, understands the pass of the yardstick ocean process
Key demand is the water body parameter in simultaneous observation vertically and horizontally space.The aliasing of interior ripple horizontal structure, is cutd open during in order to avoid detection
Face slope have to be larger than 0.2（Ullman, 2003）, this needs a kind of new measuring table, in sliding slope and horizontal resolution
Towed body, anchor system subsurface buoy, profile buoy and the towing CTD profiler of upper beyond tradition（Thermohaline depth sensor）.Although underwater glider
Can for a long time, the motion of wide-angle section, but limited speed is not suitable for similar interior ripple observation and is in hour/day rank time scale
Oceanographic survey, the design of untethered also contained the risk of security.
The content of the invention
The technical problems to be solved by the invention are that the defect for overcoming prior art slides cable there is provided a kind of monitoring of ocean profile
Underwater robot, can be enclosed on guide cable and realize that horizontal/vertical section is moved to slide up and down mode, fill up deep sea diving
One blank of hollow motion mode of device pedigree.Meanwhile, the cunning cable underwater robot can solve current internal wave of ocean monitoring hand
Section lacks Small and Medium Sized horizontal space structural resolution and live rapid deployment, the bottleneck of dynamic tracking capabilities, is that ocean is cutd open
Investigate it and new technological means and research method is provided in face.
In order to realize above-mentioned target, the present invention is adopted the following technical scheme that：
A kind of sliding cable underwater robot of ocean profile monitoring, it is characterised in that：System, guide cable and water are supported including the water surface
Lower robot, one end of the guide cable is tied up in water surface support system, and the underwater robot connects the other end of guide cable；
The underwater robot includes robot body, hydroplane and tail fin and guide cable attachment means, and the hydroplane is arranged at machine
The left and right sides of device human agent, the tail fin is arranged at the rear end of robot body, and the guide cable attachment means are arranged at machine
The front end of device human agent.
Further, the water surface supports system to be times in water surface unmanned boat, wave aerodone, buoy or anchor system subsurface buoy
Meaning is a kind of.
Further, the guide cable attachment means include connection ring and multigroup vibration absorption unit in parallel, and connection ring is arranged at
At the protecgulum of multigroup vibration absorption unit in parallel, multigroup vibration absorption unit in parallel is fixed in the groove of the front end of robot body.
Yet further, it is provided with lock in the connection ring.
Further, the water surface supports system to use the data transfer of wireless underwater acoustic communication with underwater robot.
Further, the underwater robot sheathing material is polyethylene, and the underwater robot is internally provided with ring
Shape framework, midship section line style size and the underwater robot shell line style size of the annular frame match, the annular
Frame material is stainless steel, and symmetrical above and below be provided with of the annular frame holds what size matched with underwater robot shell line style
Stainless steel rib support, the inside of the underwater robot be additionally provided with pressure-resistant electronic compartment, buoyant material, ocean measuring instrument and
Steering wheel is driven, the pressure-resistant electronic compartment is arranged at the bottom of annular frame, and the buoyant material is arranged at the top of annular frame,
The ocean measuring instrument is arranged at the rear portion of annular frame, and the driving steering wheel is arranged at the middle part of annular frame.
Yet further, the pressure-resistant electronic compartment right angle setting, the pressure-resistant electronic compartment includes lithium battery group, detection electricity
Road, control plate circuit and drive module, the inside of pressure-resistant electronic compartment are disposed with lithium battery group, detection circuit, control from top to bottom
Making sheet road and drive module.
Further, Doppler's flow velocity section plotter is respectively installed in the top and bottom of the underwater robot, described many
The general mounting seat for strangling fluid velocity profile instrument is connected with the annular frame.
Yet further, the mounting seat of Doppler's flow velocity section plotter is fixed with the annular frame by ring flange
Connection.
The beneficial effect that the present invention is reached：
（1）The sliding cable underwater robot of a kind of ocean profile monitoring of the present invention, under lash ship towing, by horizontal lift of rudder
Realize that section glides, can also rely on unpowered buoyancy regulation heave movement, separate unit is stable in water layer optional position, or many layerings
Integration of operation, lash ship rapid deployment saves deck and receives payout operation, with the section sliding performance more excellent than towed body, compares untethered
The higher security of submersible.
（2）Ocean profile investigation operation is can be widely applied to, rapid deployment can be both pulled by lash ship and is entered to care marine site
The multi-point layered fast investigation of row, could be secured to a certain water layer position and carries out long-continued oceanographic data collection, measure content
Temperature, salinity, ocean current and other environment parameters including each water layer in ocean.
（3）Long-term marine environment time-space data sequence can be obtained, continuous high-resolution is provided for researcher
Rate level/vertical profile data, the field data for analyzing the especially interior wave characteristic of state of marine environment for laying region
Extraction is provided a great convenience.
Brief description of the drawings
Fig. 1 is the stereogram of underwater robot in the present invention；
Fig. 2 is the three-dimensional installation diagram of underwater robot in the present invention；
Fig. 3 is the guide cable attachment means parts explosion of underwater robot in the present invention；
Fig. 4 is schematic diagram of the system in the present invention in guide cable higher slice operation.
The implication of reference in figure：
1st, underwater robot, 2, guide cable, 3, the water surface support system, 11, robot body, 12, hydroplane, 13, tail
Fin, 14, guide cable attachment means, 141, connection ring, 142, spring, 143, multigroup vibration absorption unit in parallel.
Embodiment
The invention will be further described below in conjunction with the accompanying drawings.Following examples are only used for clearly illustrating the present invention
Technical scheme, and can not be limited the scope of the invention with this.
Referring to Fig. 1 to Fig. 4, the sliding cable underwater robot of a kind of ocean profile monitoring of the invention, it is characterised in that：Cut open ocean
Monitoring sliding cable underwater robot system in face includes the water surface and supports system 3, guide cable 2 and underwater robot 1, one end of guide cable 2
Tie up to the water surface to support in system 3, underwater robot 1 connects the other end of guide cable 2, and underwater robot 1 is under water along guiding
Cable 2 makees elevating movement；Underwater robot 1 is designed from charged pool using streamlined low-resistance, including robot body 11, hydroplane
12 and tail fin 13 and guide cable attachment means 14, with neutral buoyancy, hydroplane 12 is arranged at the left and right sides of robot body 11,
Tail fin 13 is arranged at the rear end of robot body 11, and guide cable attachment means 14 are arranged at the front end of robot body 11, under water
Robot 1 realizes that section glides under lash ship towing by the lift of hydroplane 12, can also rely on unpowered buoyancy regulation heave fortune
Dynamic, separate unit underwater robot 1 is stable in water layer optional position, or many layering integrations of operation of underwater robot 1, can both pass through mother
Ship pulls rapid deployment to the multi-point layered fast investigation of marine site progress is concerned about, could be secured to a certain water layer position and is connected for a long time
Continuous oceanographic data is collected, and saves the operation of deck folding and unfolding guide cable, latenter than untethered with the section sliding performance more excellent than towed body
The higher security of hydrophone.
The water surface supports system 3 to be located at lash ship deck, and towed speed when underwater robot 1 is navigated by water by lash ship is along guiding
Cable 2 is lifted repeatedly under the effect of the lift of hydroplane 12 according to the track of programming, and control sensor group is sampled and recorded in water body
Data.
The water surface supports system 3 to carry flat for any one in water surface unmanned boat, wave aerodone, buoy or anchor system subsurface buoy
Platform, underwater robot 11 can be also arranged in water surface unmanned boat, wave aerodone, buoy or anchor system subsurface buoy, by the nothing of itself
Power adjustment produces surplus buoyancy along the heave movement repeatedly of guide cable 2.
Because guide cable 2 is similar to peripheral flow under the conditions of stream is met, in fact it could happen that broadband sound source causes vibration, therefore, water
Lower robot 1 employs special guide cable attachment means 14 and designed, and guide cable attachment means 14 include connection ring 141 and multigroup
Vibration absorption unit 143 in parallel, connection ring 141 is arranged at the protecgulum of multigroup vibration absorption unit in parallel 143, multigroup vibration absorption unit in parallel
143 are fixed in the groove of the front end of robot body 11, and connection ring 141 is used to connect guide cable 2, spring 142 and robot
Main body 11 is connected, and multigroup vibration absorption unit 143 in parallel is positioned in guide cable attachment means 14, passes through the bullet with robot body 11
The type of attachment of spring and multigroup damper unit in parallel, guide cable attachment means 14 can effectively eliminate the buffeting of guide cable 2 under water
The influence of robot 1.
Preferably, lock is provided with connection ring 141, lock can be easy to de- cable operation by being opened manually and closing.
The water surface supports system 3 and data transfer of the underwater robot 1 using wireless underwater acoustic communication.Meanwhile, the conduct of guide cable 2
Common signal cable, by the magnet ring of induction type modem and the water surface/under water, the data that the underwater robot is measured are with being
System state is real-time transmitted to the water surface and supports system 3, realizes accurate manual intervention and fine oceanographic survey operation.
Further, underwater robot 1 is using the streamlined light shell of polythene material, and the inside of underwater robot 1 is set
Annular frame is equipped with, midship section line style size and the shell line style size of underwater robot 1 of annular frame match, ring frame
Frame material is stainless steel, annular frame is symmetrical above and below be provided with the shell line style of underwater robot 1 hold that size matches it is stainless
Steel rib support, the inside of underwater robot 1 is additionally provided with pressure-resistant electronic compartment, buoyant material, ocean measuring instrument and driving rudder
Machine, pressure-resistant electronic compartment is arranged at the bottom of annular frame, and buoyant material is arranged at the top of annular frame, and ocean measuring instrument is set
The rear portion of annular frame is placed in, driving steering wheel is arranged at the middle part of annular frame.Pressure-resistant electronic compartment right angle setting, pressure-resistant electronic compartment
Including lithium battery group, detection circuit, control plate circuit and drive module, the inside of pressure-resistant electronic compartment is disposed with lithium from top to bottom
Battery pack, detection circuit, control plate circuit and drive module.The top and bottom of underwater robot 1 are respectively installed by one doppler flow
Fast section plotter, measures the three-dimensional flow of upper and lower, with reference to the deep sensor of thermohaline（CTD）, the physical oceanography parameter of standard can be achieved
Investigation, measurement content includes temperature, salinity, ocean current and the other environment parameters of each water layer in ocean, Doppler's flow velocity section plotter
Mounting seat is connected with the annular frame, and the mounting seat of Doppler's flow velocity section plotter is fixed with annular frame by ring flange
Connection.
The maximum depth profiled of underwater robot 1 reaches 7000m, and sliding slope is more than 0.3 under the conditions of stream is met, downhill race slope
More than 1.0, vertical velocity is more than 1.0m/s, and continuous high-resolution level/vertical profile data are provided for researcher.
The deep sensor of thermohaline that choosing adds（CTD）Including：The sensors such as dissolved oxygen, fluorescence, turbidity.
Described above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, some improvement and deformation can also be made, these improve and deformed
Also it should be regarded as protection scope of the present invention.
Claims (9)
1. a kind of sliding cable underwater robot of ocean profile monitoring, it is characterised in that：System, guide cable and under water are supported including the water surface
Robot, one end of the guide cable is tied up in water surface support system, and the underwater robot connects the other end of guide cable；Institute
Stating underwater robot includes robot body, hydroplane and tail fin and guide cable attachment means, and the hydroplane is arranged at machine
The left and right sides of human agent, the tail fin is arranged at the rear end of robot body, and the guide cable attachment means are arranged at machine
The front end of human agent, the underwater robot is enclosed on guide cable, and surplus buoyancy is produced by the unpowered regulation of itself,
It can be enclosed on guide cable and realize heave movement repeatedly to slide up and down mode.
2. a kind of sliding cable underwater robot of ocean profile monitoring according to claim 1, it is characterised in that：The water surface branch
It is any one in water surface unmanned boat, wave aerodone, buoy or anchor system subsurface buoy to hold system.
3. a kind of sliding cable underwater robot of ocean profile monitoring according to claim 1, it is characterised in that：The guide cable
Attachment means include connection ring and multigroup vibration absorption unit in parallel, and connection ring is arranged at the protecgulum of multigroup vibration absorption unit in parallel, many
Group vibration absorption unit in parallel is fixed in the groove of the front end of robot body.
4. a kind of sliding cable underwater robot of ocean profile monitoring according to claim 3, it is characterised in that：The connection ring
On be provided with lock.
5. a kind of sliding cable underwater robot of ocean profile monitoring according to claim 1, it is characterised in that：The water surface branch
Hold the data transfer that system uses wireless underwater acoustic communication with underwater robot.
6. a kind of sliding cable underwater robot of ocean profile monitoring according to claim 1, it is characterised in that：The machine under water
Device people sheathing material is polyethylene, and being internally provided with for the underwater robot is cross-sectional in annular frame, the annular frame
Upper thread molded dimension matches with underwater robot shell line style size, and the annular frame material is stainless steel, the ring frame
Frame is symmetrical above and below to be provided with the stainless steel rib support matched with underwater robot shell line style size, the underwater robot
Inside be additionally provided with pressure-resistant electronic compartment, buoyant material, ocean measuring instrument and driving steering wheel, the pressure-resistant electronic compartment is arranged at
The bottom of annular frame, the buoyant material is arranged at the top of annular frame, and the ocean measuring instrument is arranged at ring frame
The rear portion of frame, the driving steering wheel is arranged at the middle part of annular frame.
7. a kind of sliding cable underwater robot of ocean profile monitoring according to claim 6, it is characterised in that：The resistance to piezoelectricity
Sub- cabin right angle setting, the pressure-resistant electronic compartment includes lithium battery group, detection circuit, control plate circuit and drive module, pressure-resistant electronics
The inside in cabin is disposed with lithium battery group, detection circuit, control plate circuit and drive module from top to bottom.
8. a kind of sliding cable underwater robot of ocean profile monitoring according to claim 6, it is characterised in that：The machine under water
The top and bottom of device people are respectively installed by one Doppler's flow velocity section plotter, the mounting seat of Doppler's flow velocity section plotter and institute
State annular frame connection.
9. a kind of sliding cable underwater robot of ocean profile monitoring according to claim 8, it is characterised in that：The Doppler
The mounting seat of fluid velocity profile instrument is fixedly connected with the annular frame by ring flange.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610247830.3A CN105752299B (en) | 2016-04-20 | 2016-04-20 | A kind of sliding cable underwater robot of ocean profile monitoring |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610247830.3A CN105752299B (en) | 2016-04-20 | 2016-04-20 | A kind of sliding cable underwater robot of ocean profile monitoring |
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| Publication Number | Publication Date |
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| CN105752299A CN105752299A (en) | 2016-07-13 |
| CN105752299B true CN105752299B (en) | 2017-09-26 |
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| CN201610247830.3A Active CN105752299B (en) | 2016-04-20 | 2016-04-20 | A kind of sliding cable underwater robot of ocean profile monitoring |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106530660A (en) * | 2016-12-06 | 2017-03-22 | 北京臻迪机器人有限公司 | Underwater unmanned ship control system |
| CN107643159A (en) * | 2017-08-07 | 2018-01-30 | 熊学军 | Ripple observation procedure in underwater glider |
| CN112849349B (en) * | 2021-01-18 | 2022-02-01 | 清华大学深圳国际研究生院 | Online internal wave early warning system and method |
| CN115574785B (en) * | 2022-12-12 | 2023-02-28 | 河海大学 | Hydraulic engineering safety monitoring method and platform based on data processing |
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| CN201132603Y (en) * | 2007-12-03 | 2008-10-15 | 周德俊 | Tugboat split type pocket-sized sightsee submarines |
| CN203158221U (en) * | 2013-04-16 | 2013-08-28 | 浙江海洋学院 | Child-mother intelligent marine environment detecting robot |
| CN205602078U (en) * | 2016-04-20 | 2016-09-28 | 河海大学 | Smooth cable underwater robot of ocean section monitoring |
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| JP2898050B2 (en) * | 1990-03-15 | 1999-05-31 | 学校法人東海大学 | Underwater exploration system |
| KR20090069536A (en) * | 2007-12-26 | 2009-07-01 | 한국해양연구원 | Underwater vehicle system with manned and unmanned functions and its operation method |
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Patent Citations (3)
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|---|---|---|---|---|
| CN201132603Y (en) * | 2007-12-03 | 2008-10-15 | 周德俊 | Tugboat split type pocket-sized sightsee submarines |
| CN203158221U (en) * | 2013-04-16 | 2013-08-28 | 浙江海洋学院 | Child-mother intelligent marine environment detecting robot |
| CN205602078U (en) * | 2016-04-20 | 2016-09-28 | 河海大学 | Smooth cable underwater robot of ocean section monitoring |
Non-Patent Citations (1)
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| 11000米ARV总体设计与关键技术研究;徐鹏飞;《中国博士学位论文全文库工程科技Ⅱ辑》;20141215(第12期);第19-22，52-53，56页 * |
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