CN106394815B - Combined system of unmanned ship and unmanned submersible - Google Patents
Combined system of unmanned ship and unmanned submersible Download PDFInfo
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- CN106394815B CN106394815B CN201610965516.9A CN201610965516A CN106394815B CN 106394815 B CN106394815 B CN 106394815B CN 201610965516 A CN201610965516 A CN 201610965516A CN 106394815 B CN106394815 B CN 106394815B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
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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
- B63C11/36—Diving chambers with mechanical link, e.g. cable, to a base of closed type
- B63C11/42—Diving chambers with mechanical link, e.g. cable, to a base of closed type with independent propulsion or direction control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
- B63B2035/007—Unmanned surface vessels, e.g. remotely controlled autonomously operating
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Abstract
A combination system of an unmanned ship and an unmanned submersible vehicle comprises the unmanned ship positioned on the water surface and the unmanned submersible vehicle positioned under the water, wherein the unmanned ship and the unmanned submersible vehicle are connected through an umbilical cable, the umbilical cable contains a power supply twisted pair for power continuation and a signal wire for transmitting a control signal and a data signal, a pay-off system for automatically winding and unwinding the umbilical cable is arranged on the unmanned ship, and the pay-off system comprises a pay-off winch for winding the umbilical cable, a pay-off steering engine for controlling the pay-off winch to rotate to take up and pay off, and an encoder for measuring the length of the pay-off; and a docking and docking device is arranged between the unmanned ship and the unmanned submersible vehicle. According to the invention, the umbilical cable is wound and unwound through the pay-off system, so that the underwater positioning accuracy is improved; the unmanned submersible can be stably butted with the unmanned ship through the docking and docking device, and the unmanned ship drives the water surface to move, so that the navigation efficiency is improved; when underwater observation is needed, the unmanned submersible can be automatically separated from the unmanned ship, and the underwater depth of the unmanned ship is controlled through the pay-off system.
Description
Technical Field
The invention relates to a combined system of an unmanned ship and an unmanned submersible vehicle.
Background
The unmanned underwater robot is commonly provided with an unmanned Remote Operated Vehicle (ROV) and an autonomous underwater robot (AUV). The ROV obtains energy through the umbilical cable connected with the water surface, the power is sufficient, the operation time is not limited by the energy, and the operation efficiency is high. The AUV manages and controls the AUV to complete the assigned mission by depending on self autonomous ability, and has the advantages of large range of motion, good maneuverability, high intelligent degree and strong autonomy. The two underwater robots have the following defects: the ROV usually needs to be matched with a mother ship, the expenditure of the mother ship and a series of workers is huge, and the range of motion is limited; the AUV is limited by self-carried energy, and the endurance capacity is limited; and because long-distance wireless communication cannot be carried out underwater, data obtained by underwater detection of the AUV is difficult to return in real time.
Disclosure of Invention
The invention provides a combined system of an unmanned ship and an unmanned submersible vehicle, which has the advantages of reliable and rapid butt joint and separation, wide range of motion, strong cruising ability and timely data feedback.
The technical scheme adopted by the invention is as follows:
a combination unmanned ship and unmanned submersible vehicle system comprising an unmanned ship at a surface of water, an unmanned submersible vehicle at a surface of water, and a remote operation control device, the unmanned ship and unmanned submersible vehicle being connected by an umbilical, the umbilical containing a power twisted pair for providing endurance and signal lines for transmitting control signals and data signals, the combination comprising: the unmanned ship is provided with a paying-off system for automatically winding and unwinding an umbilical cable, the paying-off system comprises a paying-off winch for winding the umbilical cable, a paying-off steering engine for controlling the paying-off winch to rotate to take up and pay off the umbilical cable and an encoder for measuring the paying-off length, the paying-off winch and the paying-off steering engine are both arranged in a cabin of the unmanned ship and connected through a first synchronization system, one end of the umbilical cable is connected with electronic equipment in the cabin through a slip ring for preventing the umbilical cable from knotting, the other end of the umbilical cable is connected with the electronic equipment in the unmanned submersible through a bow pulley fixed at the front end of the unmanned ship, the encoder is connected with the bow pulley through a second synchronization system, and a safety shield for preventing the umbilical cable from being separated from the bow pulley is arranged above the bow; the docking device comprises two L-shaped docking forks which are arranged at the bottom of the unmanned ship and protrude downwards, and a groove which is arranged in the top of the unmanned submersible vehicle and used for accommodating the docking forks, wherein a rubber pad for ensuring the adsorption force is arranged in the groove. According to the invention, the umbilical cable is wound and unwound through the pay-off system, the release amount of the umbilical cable can be automatically controlled through the encoder, and the accuracy of underwater positioning is improved; the unmanned submersible can be stably butted with the unmanned ship through the docking and docking device, and the unmanned ship drives the water surface to move, so that the navigation efficiency is improved; when underwater observation is needed, the unmanned submersible can be automatically separated from the unmanned ship, and the underwater depth of the unmanned ship is controlled through the pay-off system.
Furthermore, the unmanned submersible comprises a main cabin, a propeller and a gravity center adjusting module, wherein the main cabin is a sealed cabin, two sides of the main cabin are connected with side supporting plates, a fixing frame is arranged in the main cabin, and the fixing frame is provided with first electronic equipment for navigation control, first power supply control equipment, power carrier equipment for transmitting video signals to the unmanned ship, brushless electric regulation for controlling the speed of the propeller, a camera, a holder for controlling the direction of the camera and an LED lamp for illumination; the propellers comprise a left propeller, a right propeller and a vertically arranged central propeller, wherein the left propeller and the right propeller are respectively fixed on the supporting plates on the two side surfaces and are horizontally arranged, and the vertically arranged central propeller is arranged at the gravity center of the unmanned submersible; the gravity center adjusting module comprises two gravity center adjusting shafts arranged at the center of the unmanned submersible vehicle, and a gravity center adjusting block which changes a fixed position to adjust the transverse gravity center and changes the mass to adjust the longitudinal gravity center is sleeved on each gravity center adjusting shaft.
Further, the main cabin includes hyaline tube cover and both sides end cover, and the both sides end cover uses two O type sealing washer, threaded hole on the end cover outer lane is connected with the side backup pad through the bolt, through threaded rod fixed connection between the both sides face connecting plate, the watertight connector that is used for brushless electricity to transfer to be connected with the propeller is installed to the through-hole at end cover center, the end cover inner circle passes through connecting piece and mount fixed connection.
Furthermore, the first electronic device in the main cabin comprises a first main control circuit board for realizing signal acquisition and control and transmitting signals with the unmanned ship through a signal line, a depth meter for measuring external water pressure and converting the external water pressure to obtain the depth of the unmanned submersible vehicle, a first inertial sensor for measuring the triaxial acceleration and the angular velocity of the carrier and a first electronic compass for measuring the motion attitude and the heading angle in real time; the first power control device comprises a standby 3S lithium battery pack and a first power control board.
Furthermore, the camera is installed on the cloud platform and is connected with the main control circuit board of its switch of control, the cloud platform includes at rotatory steering wheel, the connecting plate of installing on the mount and fix the every single move steering wheel on the connecting plate.
Further, the unmanned ship comprises a ship body, the ship body is of a catamaran structure formed by connecting a cabin in the center and sheet bodies on two sides, second electronic equipment, wireless communication equipment, second power supply control equipment and video image transmission equipment for navigation control are installed in the cabin, a left propeller navigation propeller and a right propeller navigation propeller are installed on two sides of a stern of each sheet body respectively, a solar cell panel for increasing the duration time is installed on a deck of the ship body, the solar cell panel is connected with a power supply through a photovoltaic voltage controller in the cabin, and a ship-mounted camera is installed on a bow of the cabin.
Further, second electronic equipment in the cabin includes second master control circuit board, second inertial sensor, second electron compass, wireless communication equipment includes data transmission ware, second power control equipment includes mainly 3S lithium cell group and second power control panel, video image transmission equipment includes signal demodulator, picture biography transmitter and watertight antenna, signal demodulator is connected with unmanned submersible and passes video signal for picture biography transmitter, and the watertight antenna comprises bottom mounting, antenna cover and the inside wireless communication antenna of installation, antenna top lid and the inside GPS antenna of installation. .
Further, the first main control circuit board and the second main control circuit board both adopt STM32L152 processors with ultra-low power consumption as main control chips, and each module adopts a partition power supply mode controlled by a corresponding power control board to supply power to the modules according to the requirements of corresponding functions. When the equipment does not need to work, the power supply control board is in a low power consumption mode to save electric quantity and increase the endurance time, the power supply control board controls the on-off of each module equipment and the switching between a main power supply on the unmanned ship and a standby power supply on the unmanned submersible vehicle, when the electric quantity of a main power supply on the unmanned ship is lower than a certain value, the standby power supply is started, and when the electric quantity of the main power supply on the ship is recovered, the standby power supply is restarted and simultaneously charged. The feedback of sensor data employs an interrupt request mechanism.
Further, the remote operation control device is an intelligent electronic device or a structure of a combination of a remote operator and a display device, and the intelligent electronic device is preferably an android mobile phone.
The invention has the beneficial effects that:
1. compared with the traditional ROV, the unmanned ship and unmanned submersible combined system has lower cost and larger moving range;
2. compared with the traditional AUV, the unmanned ship and unmanned submersible combined system can utilize solar energy to supply power, so that the endurance time is prolonged.
3. Real-time data return of the underwater detector is realized;
4. the automatic retraction and release of the unmanned submersible are realized, the release amount of the umbilical cable is automatically controlled, and the accuracy of underwater positioning is improved;
5. the unmanned submersible can be automatically recovered. Under the condition that underwater detection is not needed, the unmanned submersible is attached to the bottom of the unmanned ship, the unmanned submersible and the unmanned ship are integrated, the unmanned submersible can sail on the water surface, and when the unmanned submersible sails to a target area, the unmanned submersible is put down to perform underwater detection.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a perspective view of the unmanned submersible of the present invention.
Fig. 3 is a rear view of the unmanned submersible of the present invention.
Fig. 4 is an internal structural view of the unmanned submersible of the present invention.
FIG. 5 is a schematic view of the structure of the center of gravity adjustment module of the unmanned submersible vehicle of the present invention.
Fig. 6 is a front perspective view of the unmanned ship of the present invention.
Fig. 7 is a bottom perspective view of the unmanned boat of the present invention.
Fig. 8 is a schematic view of the internal structure of the unmanned ship of the present invention.
Fig. 9 is a schematic structural view of a pay-off system of the unmanned ship of the present invention.
FIG. 10 is a first schematic structural view of the docking station of the present invention.
FIG. 11 is a second schematic structural view of the docking station of the present invention.
Detailed Description
The present invention is further illustrated by the following examples, which are not intended to limit the invention to these embodiments. It will be appreciated by those skilled in the art that the present invention encompasses all alternatives, modifications and equivalents as may be included within the scope of the claims.
Referring to fig. 1, a combination unmanned ship and unmanned submersible vehicle system includes an unmanned ship 70 at the surface of the water, an unmanned submersible vehicle 80 at the bottom of the water, and a teleoperated control device, the unmanned ship 70 and the unmanned submersible vehicle 80 being connected by an umbilical 35. The unmanned ship 70 is provided with the solar cell panel 44, so that energy can be fully utilized, and the endurance time is greatly improved; underwater video and underwater detection data of the unmanned vehicle 80 may be transmitted to the unmanned ship 80 on the water surface through the umbilical cable 35, and transmitted to the shore base by the unmanned ship 80 through wireless communication. The umbilical 35 contains a power twisted pair that transmits video signals and supply current modulated together and signal lines that transmit status signals, sensor signals and control signals. The unmanned ship and the unmanned submersible vehicle can move cooperatively or separately. The combined system is controlled by remote control operation control equipment, the remote control operation control equipment is intelligent electronic equipment or a structure formed by combining a remote control operator and display equipment, and the android mobile phone is preferably selected as the intelligent electronic equipment.
As shown in fig. 2-4, the unmanned underwater vehicle 80 of the present invention comprises a main chamber 3, a propeller, a top docking device 12 and a gravity center adjusting module 10, wherein the main chamber is a sealed chamber and comprises a transparent tube cover, a left end cover 5 and a right end cover 4, the two end covers use double O-ring seals 13, the outer rings of the end covers are provided with through holes and are connected with side support plates 1 through bolts, the through holes in the centers of the end covers are provided with watertight connectors 7, the inner rings of the end covers fix fixing frames 18 through connecting pieces, the support plates on the two sides are connected and fixed through threaded rods 2, and the unmanned underwater vehicle 80 is integrally flat; the propeller includes: the left propeller thruster 9 and the right propeller thruster 11 which are horizontally arranged at the two sides of the unmanned submersible 80 move forward and backward, turn and turn on site; the unmanned underwater vehicle 80 has a vertically arranged central propeller 6 at the center of gravity for diving and floating movement.
As shown in fig. 4, a first electronic device for controlling an aircraft is installed in the main cabin 3, the first electronic device includes a first main control circuit board 26, a depth meter 14, a first inertial sensor 22 and a first electronic compass 27, the depth meter 14 is used for measuring external water pressure and then converting to obtain the depth of the aircraft, the first main control circuit board 26 realizes signal acquisition and control of the unmanned submersible 80, and transmits signals to the unmanned ship 70 through a signal line in the umbilical cable 35, the first electronic compass 27 adopts a high-performance microprocessor and an advanced dynamic calculation and kalman dynamic filtering algorithm, and can quickly measure the real-time motion attitude and heading angle of the unmanned submersible 80, and the first inertial sensor 22 is used for measuring the three-axis acceleration and angular velocity of the carrier and controlling the navigation, positioning and motion carrier; a first power supply control device is arranged in the main cabin 3, and comprises a standby 3S lithium battery pack 16 and a first power supply control board 24 which are fixed on a fixed frame 18; the main cabin 3 is internally provided with a power carrier device 20 for transmitting video signals, the video signals and the electric signals are mixed and transmitted to the unmanned ship 70 through a power twisted pair, unidirectional transmission is carried out from a map transmitter on the unmanned ship 70 to the direction of an upper computer, bidirectional transmission is carried out between the unmanned submersible vehicle 80 and the unmanned ship 70 through a signal line for control signals, state signals and sensor signals, bidirectional transmission is carried out between the unmanned ship 70 and the upper computer through a data transmission device on the unmanned ship, and the second main control circuit board 64 on the unmanned ship 70 receives the control signals transmitted by the upper computer while the state signals and the sensor signals are transmitted back to the upper computer; a brushless electric speed regulator 19 is arranged in the main cabin 3 and is connected with the propeller through a watertight connector 7; the middle part of the main cabin 3 is provided with a cradle head and a camera 21, the cradle head comprises a rotary steering engine 17 on a fixed frame 18, a connecting plate 23 and a pitching steering engine 25 fixed on the connecting plate, the camera 21 is fixed on the cradle head, and the first main control circuit board 26 controls the switch of the camera 21; the main cabin 3 is internally provided with an LED lamp 15 for illumination, the main control circuit board controls 26 the on-off and the brightness of the lamp, and the brightness of the LED lamp can be regulated in four stages;
as shown in fig. 5, the center of gravity adjusting module 10 includes two center of gravity adjusting shafts 29, 31 disposed at the center of the unmanned underwater vehicle 80, and the center of gravity adjusting shafts 29, 31 are each fitted with a center of gravity adjusting block for adjusting the lateral center of gravity by changing the fixing position and for adjusting the longitudinal center of gravity by changing the mass. The transverse gravity center position is adjusted by changing the fixing position of the front gravity center adjusting block 28, the front gravity center adjusting block 28 is sleeved on a gravity center adjusting shaft 29 which is transversely arranged, the front gravity center adjusting block 28 can move on the shaft and is fixed by a set screw, and the longitudinal gravity center position is changed by adjusting the mass of the gravity center adjusting block 28 or 30 on the front shaft and the rear shaft.
As shown in fig. 6-9, the unmanned ship 70 according to the present invention includes a hull, a propeller, a pay-off winch 66, an encoder 43, an onboard camera 33, a watertight antenna 62, and a solar panel 44; the ship body adopts a catamaran structure and comprises a cabin at the center, sheet bodies 40 at two sides and a ship bottom butt joint device 50, a deck on the ship and the ship bottom are fixed by a rubber gasket 39 through screws, the butt joint device adopts clamping connection, when the butt joint device is in butt joint with the unmanned submersible vehicle 80, a groove of the butt joint device 12 at the top of the unmanned submersible vehicle is in butt joint with a butt joint fork at the bottom of the unmanned submersible vehicle, a rubber pad in the groove can absorb the butt joint fork, the butt joint is firmer when the unmanned submersible vehicle advances, and the unmanned submersible vehicle can be separated only by a certain force when being separated; the left propeller sailing propeller 45 and the right propeller sailing propeller 32 for controlling forward, backward and turning motions are arranged below the waterline on two sides of the stern of the sheet body 40; a solar cell panel 44 is arranged on a deck of the ship, and solar energy is used for charging the battery, so that the endurance time is increased; an encoder 43 is arranged on the ship bow, a ship-mounted camera 33 is arranged on the ship bow, a pulley shaft 51 is connected with the ship body through a shaft bearing 38, the encoder 43 is connected with the ship bow pulley shaft 51 through a second synchronous belt 37 and a second synchronous wheel 42, the paying-off length is measured, and the ship-mounted camera 33 is used for observing the water surface condition; the stern is provided with a watertight antenna 62, and the watertight antenna 62 consists of a bottom fixing piece 46, an antenna cover 47, a wireless communication antenna arranged in the watertight antenna 62, an antenna top cover 48 and a GPS antenna 49 arranged in the watertight antenna.
As shown in fig. 8, the paying-off winch 66 is connected with a slip ring 67, the slip ring 67 is used for transmitting power and data signals between the rotating paying-off winch and the fixed cabin when the paying-off winch continuously rotates, and a photovoltaic voltage controller 56 is installed in the cabin, controls the solar input voltage, and is connected with the main 3S lithium battery pack 52 in the cabin; the second electronic equipment, the wireless communication equipment, the second power supply control equipment and the video image transmission equipment are installed in the cabin, the second electronic equipment comprises a second main control circuit board 64, a second inertial sensor 59 and a second electronic compass 57, the wireless communication equipment comprises a data transmitter 63, the second power supply control equipment comprises a main 3S lithium battery pack 52 and a second power supply control board 61, the video image transmission equipment comprises a signal demodulator 60, an image transmission transmitter 58 and a GPS antenna 62, the signal demodulator 60 is connected with the unmanned underwater vehicle 80 and transmits video signals to the image transmission transmitter 58, and the GPS antenna 62 is installed at the stern.
As shown in fig. 8 and 9, the paying-off system for automatically paying off and paying off the umbilical cable according to the present invention comprises a paying-off winch 66 for winding the umbilical cable 35, a paying-off steering engine 54 for controlling the paying-off winch to rotate to pay off and pay off, and an encoder 43 for measuring the length of the paying-off, wherein the paying-off winch 66 is connected with the paying-off steering engine 54 through a first synchronous belt 53 and a first synchronous wheel 55, the paying-off steering engine 54 is controlled to operate through a signal of a rotation angle of a pulley shaft 51 fed back by the encoder 43, the paying-off winch 66 is controlled to rotate through the paying-off steering engine 54, one end of the umbilical cable 35 is connected with a second electronic device in a cabin through a slip ring 67, the other end of the umbilical cable is connected with a first electronic device in an unmanned vehicle 80 through a bow pulley 36 fixed at the front end of the unmanned vehicle 70, the encoder 43 is arranged at the bow, the paying-off winch 66 and the paying-off steering engine 54 are, the upper part is provided with a rain shield 41, the safety shield 34 on the bow pulley 36 is fixed on the bow to prevent the umbilical cable 35 from separating, and the bow is attached with a rubber pad to reduce the abrasion.
As shown in fig. 10 and 11, the docking and docking device according to the present invention is composed of two L-shaped docking forks of the bottom docking device 50 of the unmanned ship 70 and a groove of the top docking device 12 of the unmanned underwater vehicle 80, when the unmanned ship 70 is docked with the unmanned underwater vehicle 80, the system receives a docking command, retracts the umbilical cable 35 through the paying-off system to enable the top docking device 12 of the unmanned underwater vehicle 80 to reach a certain height, and at this time, the guidance of the L-shaped docking forks at the bottom of the unmanned ship 70 is used to realize that the top docking device 12 of the unmanned underwater vehicle 80 is clamped into the L-shaped docking forks at the bottom of the unmanned ship 70, and the rubber pad 69 in the groove of the unmanned underwater vehicle 80 ensures the docking stability, so that the unmanned underwater vehicle 80 is attached to the bottom of the unmanned ship 70, and the two devices form a whole body and can move together. The unmanned underwater vehicle 80 moves forward relative to the unmanned ship 70, and can leave the L-shaped docking fork by breaking away the adsorption force of the rubber pad 69, and can move freely.
The main control circuit boards of the unmanned submersible vehicle 80 and the unmanned ship 70 both adopt STM32L152 processors with ultra-low power consumption as main control chips, and each module supplies power in a subarea mode and supplies power to the modules according to the requirements of corresponding functions. When the equipment does not need to work, the equipment is in a low power consumption mode so as to save electric quantity and increase the endurance time. The power supply control board controls the on-off of each module device and the switching of the main power supply on the unmanned ship 70 and the standby power supply on the unmanned submersible vehicle 80, the standby power supply is started when the electric quantity of the main power supply on the unmanned ship 70 is lower than a certain value, and the standby power supply is restarted and charged when the electric quantity of the main power supply on the ship is recovered. The feedback of sensor data employs an interrupt request mechanism.
When the unmanned underwater vehicle is in work, the unmanned underwater vehicle 80 with a depth meter, an inertial sensor, an electronic compass, a camera and the like submerges to the required depth, the position of a work place is located through dead reckoning, underwater image information is transmitted to the unmanned underwater vehicle 70 through the camera 21, the unmanned vehicle 70 transmits video to a control system on a shore base through a wireless transmission module, the returned image information and state parameters serve as feedback, and the unmanned vehicle and the unmanned underwater vehicle are remotely controlled through a human-computer interaction interface to observe a target. The unmanned ship 70 and the unmanned submersible vehicle 80 are connected by an umbilical 35, and the umbilical 35 includes a power twisted pair and a signal line.
The unmanned ship 70 and the unmanned underwater vehicle 80 can move cooperatively or separately. When the combined system is remotely controlled by a mobile phone, the mobile phone remote control can realize control in two modes, firstly, the movement of the unmanned ship 70 and the unmanned submersible 80 is controlled by buttons on an interface of control software on the mobile phone, each control button can respectively control the unmanned submersible 80 to move back and forth under water, float up, dive and the like, and adjust the light brightness and the angle of a camera, and the switching interface can control the movement of the unmanned ship such as front and back steering and the like. The data are transmitted remotely through Wi-Fi, so that the state of the unmanned submersible 80, such as the position, the posture, the battery power and the like of the unmanned submersible 80, can be monitored and displayed in real time on an interface; displaying information of a sensor of the sensor, such as displaying triaxial acceleration and angle in real time, displaying readings of sensors such as a magnetometer and the like; monitoring information can be stored in a txt or excel format, and the monitoring information comprises a time stamp of sampling time; the video information uploaded by the unmanned underwater vehicle 80 can be received, and the video shot by the unmanned underwater vehicle 80 is displayed; secondly, the position condition of the combined system is known through a mobile phone software interface, the position condition comprises the position of the unmanned submersible vehicle 80, the position of the unmanned ship 70, underwater pictures, underwater state information and the like, positioning and navigation are carried out, and the combined system can automatically go to a destination. The control software is written by using Android Studio based on a socket network protocol. The whole communication process mainly comprises a lower computer communication module, a data conversion module, a data transmission module and an upper computer communication module, and bidirectional communication is carried out.
The combined system may also be controlled by a conventional remote control plus a display screen. The display screen displays the position of the unmanned submersible vehicle 80, the position of the unmanned ship 70, underwater pictures, underwater state information and the like, and the movement of the combined system is adjusted through the proportion of the operating rod on the remote controller.
Claims (8)
1. A combination unmanned ship and unmanned submersible vehicle system comprising an unmanned ship at a surface of water, an unmanned submersible vehicle at a surface of water, and a remote operation control device, the unmanned ship and unmanned submersible vehicle being connected by an umbilical, the umbilical containing a power twisted pair for providing endurance and signal lines for transmitting control signals and data signals, the combination comprising: the unmanned ship is provided with a paying-off system for automatically winding and unwinding an umbilical cable, the paying-off system comprises a paying-off winch for winding the umbilical cable, a paying-off steering engine for controlling the paying-off winch to rotate to take up and pay off, and an encoder for measuring the length of the paying-off, the paying-off winch and the paying-off steering engine are both arranged in a cabin of the unmanned ship and connected through a first synchronization system, one end of the umbilical cable is connected with electronic equipment in the cabin through a sliding ring, the other end of the umbilical cable bypasses a bow pulley fixed at the front end of the unmanned ship and is connected with the electronic equipment in the unmanned submersible, the encoder is connected with the bow pulley through a second synchronization system, and a safety protection cover for preventing the umbilical cable from being separated is arranged above the bow pulley; a docking and docking device is arranged between the unmanned ship and the unmanned submersible vehicle, the docking and docking device comprises two L-shaped docking forks which are arranged at the bottom of the unmanned ship and protrude downwards and a groove which is arranged in the top of the unmanned submersible vehicle and is used for accommodating the docking forks, a rubber pad for ensuring the adsorption force is arranged in the groove, when the unmanned ship is docked with the unmanned submersible vehicle, the system receives a docking instruction and retracts the umbilical cable through a paying-off system to enable the docking device at the top of the unmanned submersible vehicle to reach a certain height, at the moment, the guidance of the L-shaped docking forks at the bottom of the unmanned submersible vehicle is utilized in cooperation with the retraction and release of the umbilical cable and the movement of the unmanned submersible vehicle, the top docking device of the unmanned submersible vehicle is clamped into the L-shaped docking forks at the bottom of the unmanned ship, the rubber pad in the groove of the unmanned submersible vehicle ensures the docking stability, so that the unmanned submersible vehicle is attached to the lower part of the unmanned ship and can move together as a whole, the unmanned submersible vehicle moves forwards relative to the unmanned ship, and can leave the L-shaped butt joint fork by breaking away the adsorption force of the rubber pad to move freely; the unmanned ship comprises a ship body, wherein the ship body is of a catamaran structure formed by connecting a cabin in the center and sheet bodies on two sides, and a left propeller sailing propeller and a right propeller sailing propeller are respectively installed on two sides of a stern of each sheet body;
the deck of the ship body is provided with a solar cell panel for increasing the endurance time, the solar cell panel is connected with a power supply through a photovoltaic voltage controller in the cabin, the first main control circuit board of the unmanned submersible vehicle and the second main control circuit board of the unmanned ship both adopt an STM32L152 processor with ultra-low power consumption as a main control chip, each module of the unmanned submersible vehicle and the unmanned ship adopts a subarea power supply mode controlled by a corresponding power control panel, when the equipment does not need to work, the equipment is in a low power consumption mode to save electric quantity and increase the endurance time, the power supply control board realizes the control of the on-off of each module equipment and the switching of a main power supply on the unmanned ship and a standby power supply on the unmanned submersible vehicle, when the electric quantity of the main power supply on the unmanned ship is lower than a certain value, the standby power supply is started, and when the electric quantity of the main power supply on the unmanned ship is recovered, the standby power supply is restarted and simultaneously charged.
2. The unmanned ship and unmanned submersible combination system of claim 1, wherein: the unmanned submersible comprises a main cabin, a propeller and a gravity center adjusting module, wherein the main cabin is a sealed cabin, two sides of the main cabin are connected with side supporting plates, a fixing frame is arranged in the main cabin, and the fixing frame is provided with first electronic equipment for navigation control, first power supply control equipment, power carrier equipment for transmitting video signals to the unmanned ship, brushless electric regulators for controlling the speed of the propeller, a camera, a holder for controlling the position of the camera and an LED lamp for illumination; the propellers comprise a left propeller, a right propeller and a vertically arranged central propeller, wherein the left propeller and the right propeller are respectively fixed on the supporting plates on the two side surfaces and are horizontally arranged, and the vertically arranged central propeller is arranged at the gravity center of the unmanned submersible; the gravity center adjusting module comprises two gravity center adjusting shafts arranged at the center of the unmanned submersible vehicle, and a gravity center adjusting block which changes a fixed position to adjust the transverse gravity center and changes the mass to adjust the longitudinal gravity center is sleeved on each gravity center adjusting shaft.
3. The unmanned ship and unmanned submersible combination system of claim 2, wherein: the main cabin comprises a transparent pipe cover and two side end covers, the two side end covers use double-O-shaped sealing rings, threaded holes are formed in the end cover outer rings and connected with side supporting plates through bolts, the two side supporting plates are fixedly connected through threaded rods, watertight connectors used for brushless electricity adjustment and connected with a propeller are installed through holes in the centers of the end covers, and inner rings of the end covers are fixedly connected with a fixing frame through connecting pieces.
4. The unmanned ship and unmanned submersible combination system of claim 2, wherein: the first electronic device in the main cabin comprises a first main control circuit board, a depth gauge, a first inertial sensor and a first electronic compass, wherein the first main control circuit board is used for realizing signal acquisition and control and transmitting signals with the unmanned ship through a signal line, the depth gauge is used for measuring external water pressure and converting the external water pressure to obtain the depth of the unmanned submersible, the first inertial sensor is used for measuring the three-axis angular speed of a carrier, and the first electronic compass is used for measuring a motion attitude and a course angle in real time; the first power control device comprises a standby 3S lithium battery pack and a first power control board.
5. The unmanned ship and unmanned submersible combination system of claim 2, wherein: the camera is installed on the cloud platform and is connected with the main control circuit board of its switch of control, the cloud platform is including installing rotatory steering wheel, the connecting plate on the mount and fixing the every single move steering wheel on the connecting plate.
6. The unmanned ship and unmanned submersible vehicle combination of claim 1 ~ 5, wherein the cabin is provided with a second electronic device for navigation control, a wireless communication device, a second power control device and a video image transmission device, and a camera mounted on a ship is mounted on a bow of the cabin.
7. The unmanned ship and unmanned submersible combination system of claim 6, wherein: second electronic equipment in the cabin includes second master control circuit board, second inertial sensor, second electron compass, wireless communication equipment includes data transmission ware, second power control equipment includes mainly 3S lithium cell group and second power control board, video image transmission equipment includes signal demodulator, picture biography transmitter and watertight antenna, signal demodulator is connected with unmanned submersible and is passed the video signal to the picture and pass the transmitter, the watertight antenna comprises bottom mounting, antenna cover and the inside wireless communication antenna of installation, antenna top lid and the inside GPS antenna of installation.
8. The unmanned ship and unmanned submersible combination system of claim 7, wherein: the remote operation control device is an intelligent electronic device or a structure combining a remote operator and a display device.
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