CN106526226B - Installation device of remote underwater vehicle velocimeter - Google Patents
Installation device of remote underwater vehicle velocimeter Download PDFInfo
- Publication number
- CN106526226B CN106526226B CN201610933041.5A CN201610933041A CN106526226B CN 106526226 B CN106526226 B CN 106526226B CN 201610933041 A CN201610933041 A CN 201610933041A CN 106526226 B CN106526226 B CN 106526226B
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- Prior art keywords
- velocimeter
- underwater vehicle
- remote underwater
- doppler velocimeter
- shell
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P5/00—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft
- G01P5/24—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft by measuring the direct influence of the streaming fluid on the properties of a detecting acoustical wave
- G01P5/241—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft by measuring the direct influence of the streaming fluid on the properties of a detecting acoustical wave by using reflection of acoustical waves, i.e. Doppler-effect
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C13/00—Surveying specially adapted to open water, e.g. sea, lake, river or canal
- G01C13/008—Surveying specially adapted to open water, e.g. sea, lake, river or canal measuring depth of open water
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Multimedia (AREA)
- Aviation & Aerospace Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Hydrology & Water Resources (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses a mounting device of a remote underwater vehicle velocimeter, which is used at a navigation control section of a remote underwater vehicle and is characterized by comprising the following components: the Doppler velocimeter comprises a shell, a first sensor, a second sensor, a first signal processing module and a second signal processing module, wherein an opening is formed in the shell, and one end of the Doppler velocimeter is inversely installed in the shell through the opening; the other end of the Doppler velocimeter is connected with the transition flange through a fastener; the Doppler velocimeter is characterized by further comprising a control center, wherein the three-dimensional speed and the navigation depth measured by the Doppler velocimeter in the self-navigation process are monitored in real time, and signals are transmitted to the control center through a lead. Has the characteristics of simple structure and convenient use.
Description
Technical Field
The invention belongs to the technical field of ship and ocean engineering and navigation, and particularly relates to a mounting device of a remote underwater vehicle velocimeter.
Background
The Doppler velocimeter is an instrument for measuring the velocity of an underwater moving body. During underwater motion of an underwater vehicle, it is necessary to obtain the absolute velocity of the vehicle relative to the seabed, and usually, the underwater vehicle obtains the velocity value by installing a doppler velocity meter. And the Doppler installed on the underwater vehicle can generate measurement errors due to the existence of vapor bubbles.
Disclosure of Invention
In order to realize real-time monitoring of three-dimensional speed and navigation depth of a remote underwater vehicle in the self-navigation process, the invention provides a method for using a Doppler velocimeter on the remote underwater vehicle, and the installation of the Doppler velocimeter on the remote underwater vehicle is designed, so that water bubbles on the surface of an energy transducer of the Doppler velocimeter are eliminated, and speed measurement errors are reduced.
A mounting device for a remote underwater vehicle velocimeter for use at a navigation control section of a remote underwater vehicle, comprising: the Doppler velocimeter comprises a shell, a first sensor, a second sensor, a first signal processing module and a second signal processing module, wherein an opening is formed in the shell, and one end of the Doppler velocimeter is inversely installed in the shell through the opening;
the other end of the Doppler velocimeter is connected with the transition flange through a fastener;
the Doppler velocimeter is characterized by further comprising a control center, wherein the three-dimensional speed and the navigation depth measured by the Doppler velocimeter in the self-navigation process are monitored in real time, and signals are transmitted to the control center through a lead.
In a preferred embodiment of the invention, the diameter of the opening is 20-60mm larger than the maximum diameter of the velocimeter.
In a preferred embodiment of the invention, the transition flange further comprises a hole seat which is assembled at the opening, and the hole seat is connected with the transition flange through a fastener.
In a preferred embodiment of the present invention, after the open end of the transition body is aligned with the open end of the hole seat, the transition body and the hole seat are assembled and connected to form the deflector ring.
In a preferred embodiment of the present invention, the open end of the transition body and the open end of the hole seat form an included angle of 45 ° with the horizontal plane.
In a preferred embodiment of the invention, the top end face of the transition flange is provided with a hole, and a pressure balance exhaust pipe positioned outside the transition flange is led out from the hole and is connected with an exhaust hole on the shell.
Through the scheme, the technical effects of the invention are as follows:
the Doppler velocimeter is mounted on a remote underwater vehicle to monitor the three-dimensional speed and the navigation depth in the self-navigation process in real time, and a flow guide ring and a pressure balance exhaust pipe are additionally arranged on the aspect of mounting the Doppler velocimeter and are respectively used for reducing the influence of flow noise at the mounting part of the Doppler velocimeter and avoiding bubble attachment on the sound surface of the Doppler velocimeter, and the contact surface of the Doppler velocimeter and seawater in the working process is increased to improve the navigation accuracy.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1: doppler velocimeter simple position diagram of remote underwater vehicle
FIG. 2: doppler velocity meter installation diagram of remote underwater vehicle
1-navigation control section 2-shell 3-control center 4-exhaust hole 5-transition flange 6-Doppler velocity meter 7-hole seat 8-opening 9-transition body 10-pressure balance exhaust pipe 11-lead 12-O-shaped sealing ring 13-first screw 14-second screw 15-space 16-third screw 17-hole
Detailed Description
The invention will now be further described with reference to the accompanying drawings in which:
referring to fig. 1 and 2, the problem to be solved by the invention is: the remote underwater vehicle can monitor the three-dimensional speed and the navigation depth in real time in the self-navigation process, and the stability of the remote underwater vehicle in the self-navigation process can be realized through the control of the control center. Based on this, the present invention adopts the doppler velocimeter to realize the basic functions described above.
The working process comprises the following steps: the Doppler velocimeter 6 measures the three-dimensional speed and the real-time water depth of the remote underwater vehicle in the self-navigation process by utilizing sound waves according to a Doppler principle, converts data into signals, transmits the signals into the control center 3 through a lead, and controls the course according to the obtained signals by the control center 3 so as to keep the stability in the self-navigation process.
In addition, the installation of the doppler velocimeter 6 is another problem to be solved by the present invention.
A mounting device for a remote underwater vehicle velocimeter for use at a navigation control section of a remote underwater vehicle, comprising: the Doppler velocimeter comprises a shell, a first sensor, a second sensor, a first signal processing module and a second signal processing module, wherein an opening is formed in the shell, and one end of the Doppler velocimeter is inversely installed in the shell through the opening;
the other end of the Doppler velocimeter is connected with the transition flange through a fastener;
the Doppler velocimeter is characterized by further comprising a control center, wherein the three-dimensional speed and the navigation depth measured by the Doppler velocimeter in the self-navigation process are monitored in real time, and signals are transmitted to the control center through a lead.
Typically, the diameter of the opening is 20-60mm greater than the maximum diameter of the velocimeter. In the installation process, firstly, the hole seat 7 is welded at the opening 8, the flat end face of the hole seat 7 faces the inside of the shell 2 to ensure that the other end face of the hole seat 7 is tangent to the outer surface of the shell 2, the flat end face of the hole seat 7 is matched with the transition flange 5 through the second screw 14, and the O-shaped sealing ring 12 is placed in the groove of the matching surface to enhance the sealing performance and stability.
Then, the Doppler velocity meter 6 is inversely arranged at an opening 8 of the navigation section 1 of the remote underwater vehicle, the bottom end of the Doppler velocity meter is connected with a transition flange 5 fixed inside the remote underwater vehicle through a third screw 16, the top end surface of the Doppler velocity meter is tangent to the outer surface of the shell 2, and a lead 11 is led out from a plug at the bottom end of the Doppler velocity meter 6 and is connected with the control center 3 for signal transmission.
Finally, the 45-degree opening end of the transition body 9 is aligned with the 45-degree opening end of the hole seat 7, and the transition body and the hole seat are connected through the first screw 13, so that on one hand, the transition body and the hole seat form a flow guide ring, the influence of flow noise of an installation part of the Doppler velocimeter can be reduced, and on the other hand, the inner wall of the transition body 9 fixed with the hole seat 7 is matched with the cylindrical part of the Doppler velocimeter 6, and the effect of further fixing the Doppler velocimeter 6 is achieved.
In the invention, the hole seat 7 and the transition body 9 are designed to have 45-degree opening inclined planes on one surface, so that the transmission of sound waves in the working process of the Doppler velocimeter 6 is not influenced.
Because the opening 8 is not sealed, the space 15 can enter seawater in the self-navigation process of the remote underwater vehicle, and the more the Doppler velocimeter 6 is in contact with the seawater in the working process, the better the effect is. In order to ensure the good working effect of the doppler velocity meter 6, the doppler velocity meter 6 in the working process needs to be in full contact with the seawater, that is, the space 15 is filled with the seawater. Based on this, the invention is provided with a hole 17 on the transition flange 5, one end of the pressure balance exhaust pipe 10 is sealed on the hole 17, and the other end is connected with the exhaust hole 4, which is used for exhausting the gas in the space 15, so as to ensure the full contact of the Doppler velocimeter 6 and the seawater in the working process.
The installation of the Doppler velocity instrument 6 is three-dimensionally configured through software, and the fact that the installation device is reasonable in design and feasible in installation method is found, and the installation reliability and stability of the Doppler velocity instrument can be effectively guaranteed.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (5)
1. A mounting device of a remote underwater vehicle velocimeter for a remote underwater vehicle navigation control segment, comprising: the Doppler velocimeter comprises a shell, a first sensor, a second sensor, a first signal processing module and a second signal processing module, wherein an opening is formed in the shell, and one end of the Doppler velocimeter is inversely installed in the shell through the opening;
the other end of the Doppler velocimeter is connected with the transition flange through a fastener;
the Doppler velocimeter is characterized by also comprising a control center, wherein the three-dimensional speed and the navigation depth measured in the self-navigation process of the Doppler velocimeter are monitored in real time, and signals are transmitted to the control center through a lead;
the top end face of the transition flange is provided with a hole, one end of a pressure balance exhaust pipe positioned outside the transition flange is sealed on the hole, and the other end of the pressure balance exhaust pipe is connected with an exhaust hole in the shell;
still include the transition body and assemble the hole seat at the opening part, the transition body and hole seat all are equipped with 45 degrees open ends, and 45 degrees open ends of both align to link to each other with first screw.
2. The mounting arrangement of a remote underwater vehicle velocimeter according to claim 1, characterised in that: the diameter of the opening is 20-60mm larger than the maximum diameter of the velocimeter.
3. The mounting arrangement of a remote underwater vehicle velocimeter according to claim 1, characterised in that: the hole seat is assembled at the opening and connected with the transition flange through a fastener.
4. The mounting arrangement of a remote underwater vehicle velocimeter according to claim 3, characterized in that: and after the open end of the transition body is aligned with the open end of the hole seat, the transition body and the hole seat are assembled and connected to form a flow guide ring.
5. The mounting arrangement of a remote underwater vehicle velocimeter according to claim 4, characterized in that: the open end of the transition body and the open end of the hole seat form an included angle of 45 degrees with the horizontal plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610933041.5A CN106526226B (en) | 2016-10-25 | 2016-10-25 | Installation device of remote underwater vehicle velocimeter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610933041.5A CN106526226B (en) | 2016-10-25 | 2016-10-25 | Installation device of remote underwater vehicle velocimeter |
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| Publication Number | Publication Date |
|---|---|
| CN106526226A CN106526226A (en) | 2017-03-22 |
| CN106526226B true CN106526226B (en) | 2019-12-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610933041.5A Active CN106526226B (en) | 2016-10-25 | 2016-10-25 | Installation device of remote underwater vehicle velocimeter |
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| CN (1) | CN106526226B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2133904Y (en) * | 1992-09-01 | 1993-05-19 | 重庆钢铁公司 | Automatic exhauster for instrument |
| CN1632592A (en) * | 2003-12-23 | 2005-06-29 | 中国科学院声学研究所 | Method and system for measuring ocean current profile flow velocity using acoustic Doppler ocean current section plotter |
| CN203670290U (en) * | 2013-06-05 | 2014-06-25 | 宁波方太厨具有限公司 | Open type water pump and application thereof |
| CN105842474A (en) * | 2016-03-16 | 2016-08-10 | 哈尔滨工程大学 | Combined velocity measuring system suitable for micro UUV |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2912407A4 (en) * | 2012-10-29 | 2016-06-29 | Teledyne Instruments Inc | System and method for water column aided navigation |
-
2016
- 2016-10-25 CN CN201610933041.5A patent/CN106526226B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2133904Y (en) * | 1992-09-01 | 1993-05-19 | 重庆钢铁公司 | Automatic exhauster for instrument |
| CN1632592A (en) * | 2003-12-23 | 2005-06-29 | 中国科学院声学研究所 | Method and system for measuring ocean current profile flow velocity using acoustic Doppler ocean current section plotter |
| CN203670290U (en) * | 2013-06-05 | 2014-06-25 | 宁波方太厨具有限公司 | Open type water pump and application thereof |
| CN105842474A (en) * | 2016-03-16 | 2016-08-10 | 哈尔滨工程大学 | Combined velocity measuring system suitable for micro UUV |
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| Publication number | Publication date |
|---|---|
| CN106526226A (en) | 2017-03-22 |
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Effective date of registration: 20210819 Address after: 210000 4th floor, west section, building D4, Hongfeng Science Park, Nanjing Economic and Technological Development Zone, Jiangsu Province Patentee after: Nanjing Lanhai Intelligent Technology Co.,Ltd. Address before: 710000 No. 11637, 16 / F, unit 1, building 3, yicuiyuan Xi'an (phase II), east of Tangyan South Road, high tech Zone, Xi'an, Shaanxi Province Patentee before: XI'AN BLUESEA POWER TECHNOLOGY Co.,Ltd. |