CN105775079A - Underwater non-contact mobile docking device for underwater unmanned vehicle and water surface mobile platform - Google Patents
Underwater non-contact mobile docking device for underwater unmanned vehicle and water surface mobile platform Download PDFInfo
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- CN105775079A CN105775079A CN201610260569.0A CN201610260569A CN105775079A CN 105775079 A CN105775079 A CN 105775079A CN 201610260569 A CN201610260569 A CN 201610260569A CN 105775079 A CN105775079 A CN 105775079A
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 105
- 238000003032 molecular docking Methods 0.000 title claims abstract description 10
- 230000008054 signal transmission Effects 0.000 claims abstract description 27
- 238000004891 communication Methods 0.000 claims abstract description 23
- 230000000007 visual effect Effects 0.000 claims abstract description 13
- 239000000725 suspension Substances 0.000 claims description 13
- 238000010521 absorption reaction Methods 0.000 claims description 2
- 238000001514 detection method Methods 0.000 abstract description 8
- 230000005540 biological transmission Effects 0.000 abstract description 4
- 238000011084 recovery Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 230000000875 corresponding effect Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000004899 motility Effects 0.000 description 3
- 239000003643 water by type Substances 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an underwater non-contact mobile docking device for an underwater unmanned vehicle and a water surface mobile platform. The underwater non-contact mobile docking device comprises a water surface mobile platform side part and an underwater unmanned vehicle side part, wherein the water surface mobile platform side part mainly comprises a water surface mobile platform ship body, a non-contact docking main control unit, a flared guide hole, a non-contact electric energy transmission primary coil, a water surface mobile platform side signal transmission antenna, an electromagnet locking unit, a water surface mobile platform side acoustic communication positioning module and a cylindrical guide port; the underwater unmanned vehicle side part mainly comprises a visual guide assembly, an underwater unmanned vehicle side acoustic communication module, an underwater unmanned vehicle side signal transmission antenna, an underwater vehicle main body, a non-contact electric energy transmission secondary coil, an electromagnet locking block and a conical protection sleeve. By adopting the underwater non-contact mobile docking device, the detection range and relevant detection task execution flexibility of the underwater unmanned vehicle are enlarged and improved, and the recovery cost of the underwater unmanned vehicle is lowered.
Description
Technical field
The invention belongs to marine technology engineering field, relate to a kind of connecting device, connecting device is moved in the noncontact under water of especially a kind of autonomous underwater vehicle and water surface movable platform.
Background technology
21 century is the century of ocean, and the ocean accounting for global 71% area will be next century, also be the resource that future, the mankind depended on for existence.In recent years, autonomous underwater vehicle as the detection in marine environment, resource, geology etc. of the marine exploration platform with in research, have been obtained for increasingly being widely applied.But autonomous underwater vehicle flying power is poor, data transmission real-time is strong, lay and limit it with situations such as reclaiming complexity and be more widely applied.For this problem, the underwater mating technology of autonomous underwater vehicle was progressively risen in recent years.Patent CN201110178669.6 discloses a set of Autonomous Underwater Vehicle and submarine observation network docking facilities, Autonomous Underwater Vehicle through horn-like lead mouth guide can reliably rest in POP main body, it is achieved the transmission of electric energy and signal between Autonomous Underwater Vehicle and seabed observation network.Patent CN201310668750.1 disclose can be automatically adjusted towards docking platform system, this system can greatly improve docking successful probability.
But the above-mentioned docking platform system mentioned all is laid on seabed and is connected with submarine observation network.In order to complete the task of plugging into being correlated with, autonomous underwater vehicle needs navigation to fix place of plugging into seabed, so not only greatly limit the investigative range of autonomous underwater vehicle, and also makes marine exploration task have limitation owing to place of plugging into is fixing.Therefore, the motility of investigative range and correlation detection tasks carrying for increasing autonomous underwater vehicle, the present invention proposes the noncontact under water of autonomous underwater vehicle and water surface movable platform and moves connecting device.
Summary of the invention
It is an object of the invention to provide the noncontact under water of a kind of autonomous underwater vehicle and water surface movable platform and move connecting device, the task of plugging into is moved realizing autonomous underwater vehicle, thus increasing the investigative range of autonomous underwater vehicle and the motility of correlation detection tasks carrying in the plug into noncontact of platform of any waters and the water surface.
The noncontact under water of the autonomous underwater vehicle of the present invention and water surface movable platform is moved connecting device and is included water surface movable platform side part and autonomous underwater vehicle side part；
nullDescribed water surface movable platform sides divides and includes water surface movable platform hull、Noncontact is plugged into main control unit、Video monitor module、Horn-like guide port、Transmitting non-contact electric energy primary coil、Water surface movable platform side antenna signal transmission、Electric magnet locking unit、Locking unit fixture、Water surface movable platform side acoustics communication locating module、Cylinder type guide port、Guide lamp fixture、Guide lamp under water、Suspension linkage member，Horn-like guide port osculum end and transmitting non-contact electric energy primary coil coaxial line and be rigidly connected，Locking unit fixture is that circumference is uniformly distributed and is rigidly connected with transmitting non-contact electric energy primary coil about horn-like guide port central shaft，Be rigidly connected on each locking unit fixture an electric magnet locking unit，Cylinder type guide port and locking unit fixture be rigidly connected and with horn-like guide port coaxial line，Water surface movable platform side acoustics communication locating module is all rigidly connected with cylinder type guide port with guiding lamp fixture，And the beam position that water surface movable platform side acoustics communication locating module sends is water-bed，Under water guide lamp with guide lamp fixture be rigidly connected and with cylinder type guide port coaxial line，Guide lamp under water to emit beam by the cylinder type guide port horn-like guide port of sensing，Water surface movable platform side antenna signal transmission is parallel with transmitting non-contact electric energy primary coil axis and is rigidly connected，Suspension linkage member upper end and water surface movable platform hull are rigidly connected，Suspension linkage member lower end is rigidly connected with transmitting non-contact electric energy primary coil and cylinder type guide port respectively，Video monitor module is fixed in suspension linkage member and its visual angle towards horn-like guide port、Its center axis is parallel to the central axis of horn-like guide port，Noncontact main control unit of plugging into is fixedly secured in water surface movable platform hull.
Described autonomous underwater vehicle sidepiece divides and includes visual guidance assembly, autonomous underwater vehicle side acoustics communication module, autonomous underwater vehicle side antenna signal transmission, submarine navigation device main body, transmitting non-contact electric energy secondary coil, electromagnetic locking block, taper protection set, visual guidance assembly and autonomous underwater vehicle side acoustics communication module are fixed on inside the cavity in submarine navigation device main body portion, and the axis of the two is all parallel with the axis of submarine navigation device main body, transmitting non-contact electric energy secondary coil, electromagnetic locking block and taper protection set are coaxially fixed by socket aircraft main body under water, autonomous underwater vehicle side antenna signal transmission is parallel with transmitting non-contact electric energy secondary coil axis and is rigidly connected.
Described locking unit fixture and electric magnet locking unit are three.
It is as follows that connecting device work process is moved in autonomous underwater vehicle and the noncontact under water of water surface movable platform:
Assign noncontact and plug into after task, water surface movable platform is at presumptive area surface navigation, autonomous underwater vehicle independent navigation is to this waters, and is asked the positional information of water surface movable platform to water surface movable platform side acoustics communication locating module by autonomous underwater vehicle side acoustics communication module.Autonomous underwater vehicle is after water surface movable platform; under visual guidance assembly is assisted, autonomous underwater vehicle navigation extremely horn-like guide port guide area, and under horn-like guide port guide function; entering cylinder type guide port, in this process, taper protection set plays and slows down impact force effect.Autonomous underwater vehicle docks after successfully with water surface movable platform, noncontact plug into main control unit control open electric magnet locking unit, make electric magnet locking unit absorption electromagnetic locking block, thus water surface movable platform completes the locking function to autonomous underwater vehicle.After success is locked, autonomous underwater vehicle and water surface movable platform form a fixed connection, and navigate by water together.Noncontact main control unit of plugging into opens the task of non-contact electric energy and signal transmission, realize the water surface movable platform transmitting non-contact electric energy to autonomous underwater vehicle by the coupling of transmitting non-contact electric energy primary coil and transmitting non-contact electric energy secondary coil, realized the two-way non contact signal transmission of water surface movable platform and autonomous underwater vehicle by water surface movable platform side antenna signal transmission and autonomous underwater vehicle side antenna signal transmission.After autonomous underwater vehicle completes non-contact electric energy and signal transformation task, noncontact main control unit of plugging into closes electric magnet locking unit, and autonomous underwater vehicle contrary turning propeller exits water surface movable platform, opens the detection mission in next cycle.Whole process can be played video monitor effect by video monitor module, and operator can monitor unusual condition in time, and carries out corresponding emergency processing.
Connecting device is moved in the noncontact under water of the autonomous underwater vehicle of the present invention and water surface movable platform, make use of the advantage that water surface movable platform is flexible, and plug into equipment by corresponding noncontact, function of plugging into is moved in the noncontact achieving the two, relative to traditional seabed noncontact connection modes, this device increases the investigative range of autonomous underwater vehicle and the motility of correlation detection tasks carrying, and reduces the cost recovery of autonomous underwater vehicle.
Accompanying drawing explanation
Fig. 1 is water surface movable platform structure schematic diagram；
Fig. 2 is autonomous underwater vehicle structural representation；
Fig. 3 is the schematic diagram after autonomous underwater vehicle normally docks with water surface movable platform.
In figure: 1. water surface movable platform hull, 2. noncontact is plugged into main control unit, 3. video monitor module, 4. horn-like guide port, 5. transmitting non-contact electric energy primary coil, 6. water surface movable platform side antenna signal transmission, 7. electric magnet locking unit, 8. locking unit fixture, 9. water surface movable platform side acoustics communication locating module, 10. cylinder type guide port, 11. guide lamp fixture, 12. guide lamp under water, 13. suspension linkage member, 14. visual guidance assembly, 15. autonomous underwater vehicle side acoustics communication module, 16. autonomous underwater vehicle side antenna signal transmission, 17. submarine navigation device main body, 18. transmitting non-contact electric energy secondary coil, 19. electromagnetic locking block, 20. taper protection set.
Detailed description of the invention
The present invention is further illustrated below in conjunction with accompanying drawing.
Reference Fig. 1-Fig. 3, the noncontact under water of the autonomous underwater vehicle of the present invention and water surface movable platform is moved connecting device and is included water surface movable platform side part and autonomous underwater vehicle side part；
nullDescribed water surface movable platform sides divides and includes water surface movable platform hull 1、Noncontact is plugged into main control unit 2、Video monitor module 3、Horn-like guide port 4、Transmitting non-contact electric energy primary coil 5、Water surface movable platform side antenna signal transmission 6、Three electric magnet locking units 7、Three locking unit fixtures 8、Water surface movable platform side acoustics communication locating module 9、Cylinder type guide port 10、Guide lamp fixture 11、Guide lamp 12 under water、Suspension linkage member 13，Horn-like guide port 4 osculum end and transmitting non-contact electric energy primary coil 5 coaxial line and be rigidly connected，Three locking unit fixtures 8 are that circumference is uniformly distributed (120 degree of interval) and is rigidly connected with transmitting non-contact electric energy primary coil 5 about horn-like guide port 4 central shaft，Three electric magnet locking units 7 are rigidly connected with corresponding locking unit fixture 8，Cylinder type guide port 10 and locking unit fixture 8 be rigidly connected and with horn-like guide port 4 coaxial line，Water surface movable platform side acoustics communication locating module 9 is all rigidly connected with cylinder type guide port 10 with guiding lamp fixture 11，And the beam position that water surface movable platform side acoustics communication locating module 9 sends is water-bed，Guide lamp 12 under water with guide lamp fixture 11 be rigidly connected and with cylinder type guide port 10 coaxial line，Guiding lamp 12 emits beam and is pointed to horn-like guide port 4 by cylinder type guide port 10 under water，Water surface movable platform side antenna signal transmission 6 is parallel with transmitting non-contact electric energy primary coil 5 axis and is rigidly connected，Suspension linkage member 13 upper end and water surface movable platform hull 1 are rigidly connected，Suspension linkage member 13 lower end is rigidly connected with transmitting non-contact electric energy primary coil 5 and cylinder type guide port 10 respectively，Video monitor module 3 is fixed in suspension linkage member 13 and its visual angle towards horn-like guide port 4、Its center axis is parallel to the central axis of horn-like guide port 4，Noncontact main control unit 2 of plugging into is fixedly secured in water surface movable platform hull 1.
Described autonomous underwater vehicle sidepiece divides and includes visual guidance assembly 14, autonomous underwater vehicle side acoustics communication module 15, autonomous underwater vehicle side antenna signal transmission 16, submarine navigation device main body 17, transmitting non-contact electric energy secondary coil 18, electromagnetic locking block 19, taper protection set 20, visual guidance assembly 14 and autonomous underwater vehicle side acoustics communication module 15 are fixed on inside the cavity in 17 portions of submarine navigation device main body, and the axis of the two is all parallel with the axis of submarine navigation device main body 17, transmitting non-contact electric energy secondary coil 18, electromagnetic locking block 19 and taper protection set 20 are coaxially fixed by socket aircraft main body 17 under water, autonomous underwater vehicle side antenna signal transmission 16 is parallel with transmitting non-contact electric energy secondary coil 18 axis and is rigidly connected.
It is as follows that connecting device work process is moved in autonomous underwater vehicle and the noncontact under water of water surface movable platform:
Assign noncontact and plug into after task, water surface movable platform is at presumptive area surface navigation, autonomous underwater vehicle independent navigation is to this waters, and is asked the positional information of water surface movable platform to water surface movable platform side acoustics communication locating module 9 by autonomous underwater vehicle side acoustics communication module 15.Autonomous underwater vehicle is after water surface movable platform; under visual guidance assembly 14 is assisted; autonomous underwater vehicle navigation is to horn-like guide port 4 guide area; and under horn-like guide port 4 guide function; entering cylinder type guide port 10, in this process, taper protection set 20 plays and slows down impact force effect.Autonomous underwater vehicle docks after successfully with water surface movable platform, noncontact plug into main control unit 2 control open electric magnet locking unit 7, electric magnet locking unit 7 is made to adsorb electromagnetic locking block 19, thus water surface movable platform completes the locking function to autonomous underwater vehicle.After success is locked, autonomous underwater vehicle and water surface movable platform form a fixed connection, and navigate by water together.Noncontact main control unit 2 of plugging into opens the task of non-contact electric energy and signal transmission, realize the water surface movable platform transmitting non-contact electric energy to autonomous underwater vehicle by the coupling of transmitting non-contact electric energy primary coil 5 and transmitting non-contact electric energy secondary coil 18, realized the two-way non contact signal transmission of water surface movable platform and autonomous underwater vehicle by water surface movable platform side antenna signal transmission 6 and autonomous underwater vehicle side antenna signal transmission 16.After autonomous underwater vehicle completes non-contact electric energy and signal transformation task, noncontact main control unit 2 of plugging into closes electric magnet locking unit 7, and autonomous underwater vehicle contrary turning propeller exits water surface movable platform, opens the detection mission in next cycle.Whole process can be played video monitor effect by video monitor module 3, and operator can monitor unusual condition in time, and carries out corresponding emergency processing.
Claims (2)
1. autonomous underwater vehicle moves connecting device with the noncontact under water of water surface movable platform, it is characterized in that including water surface movable platform side part and autonomous underwater vehicle side part；
nullDescribed water surface movable platform sides divides and includes water surface movable platform hull (1)、Noncontact is plugged into main control unit (2)、Video monitor module (3)、Horn-like guide port (4)、Transmitting non-contact electric energy primary coil (5)、Water surface movable platform side antenna signal transmission (6)、Some electric magnet locking units (7)、Some locking unit fixtures (8)、Water surface movable platform side acoustics communication locating module (9)、Cylinder type guide port (10)、Guide lamp fixture (11)、Guide lamp (12) under water、Suspension linkage member (13)，Horn-like guide port (4) osculum end and transmitting non-contact electric energy primary coil (5) coaxial line and be rigidly connected，Locking unit fixture (8) is that circumference is uniformly distributed and is rigidly connected with transmitting non-contact electric energy primary coil (5) about horn-like guide port (4) central shaft，Be rigidly connected on each locking unit fixture (8) an electric magnet locking unit (7) respectively，Cylinder type guide port (10) and locking unit fixture (8) be rigidly connected and with horn-like guide port (4) coaxial line，Water surface movable platform side acoustics communication locating module (9) is all rigidly connected with cylinder type guide port (10) with guiding lamp fixture (11)，And the beam position that water surface movable platform side acoustics communication locating module (9) sends is water-bed，Guide under water lamp (12) with guide lamp fixture (11) be rigidly connected and with cylinder type guide port (10) coaxial line，Guide lamp (12) under water to emit beam and point to horn-like guide port (4) via cylinder type guide port (10)，Water surface movable platform side antenna signal transmission (6) is parallel with transmitting non-contact electric energy primary coil (5) axis and is rigidly connected，Suspension linkage member (13) upper end and water surface movable platform hull (1) are rigidly connected，Suspension linkage member (13) lower end is rigidly connected with transmitting non-contact electric energy primary coil (5) and cylinder type guide port (10) respectively，Video monitor module (3) is fixed in suspension linkage member (13) and its visual angle towards horn-like guide port (4)、Its center axis is parallel to the central axis of horn-like guide port (4)，Noncontact main control unit (2) of plugging into is fixedly secured in water surface movable platform hull (1).
nullDescribed autonomous underwater vehicle sidepiece divides and includes visual guidance assembly (14)、Autonomous underwater vehicle side acoustics communication module (15)、Autonomous underwater vehicle side antenna signal transmission (16)、Submarine navigation device main body (17)、Transmitting non-contact electric energy secondary coil (18)、Electromagnetic locking block (19)、Taper protection set (20)，Visual guidance assembly (14) and autonomous underwater vehicle side acoustics communication module (15) are fixed on inside the cavity of submarine navigation device main body (17) bow、And the axis of the two is all parallel with the axis of submarine navigation device main body (17)，Transmitting non-contact electric energy secondary coil (18)、Electromagnetic locking block (19) and taper protection set (20) are coaxially fixed by socket aircraft main body (17) under water，Autonomous underwater vehicle side antenna signal transmission (16) is parallel with transmitting non-contact electric energy secondary coil (18) axis and is rigidly connected；
Water surface movable platform side part and autonomous underwater vehicle side part docking after, noncontact plug into main control unit (2) control open electric magnet locking unit (7) absorption electromagnetic locking block (19), it is achieved locking；Transmitting non-contact electric energy secondary coil (18) couples with transmitting non-contact electric energy primary coil (5) and realizes transmitting non-contact electric energy；Autonomous underwater vehicle side antenna signal transmission (16) and water surface movable platform side antenna signal transmission (6) carry out two-way non contact signal transmission.
2. autonomous underwater vehicle according to claim 1 moves connecting device with the noncontact under water of water surface movable platform, it is characterized in that, described electric magnet locking unit (7) and locking unit fixture (8) are three.
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