CN106741647A - A kind of resident ground tackle in UUV seabeds and method - Google Patents
A kind of resident ground tackle in UUV seabeds and method Download PDFInfo
- Publication number
- CN106741647A CN106741647A CN201710069638.4A CN201710069638A CN106741647A CN 106741647 A CN106741647 A CN 106741647A CN 201710069638 A CN201710069638 A CN 201710069638A CN 106741647 A CN106741647 A CN 106741647A
- Authority
- CN
- China
- Prior art keywords
- uuv
- anchor pole
- seabed
- hydraulic
- mud shovel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
- B63B21/50—Anchoring arrangements or methods for special vessels, e.g. for floating drilling platforms or dredgers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
- B63B21/24—Anchors
- B63B21/26—Anchors securing to bed
Abstract
The present invention provides a kind of resident ground tackle in UUV seabeds and method, is hydraulically operated arm, folding and unfolding anchor pole and can grab mud shovel composition.When UUV is during navigation, anchor pole and grab that mud shovel is integrated and folding and unfolding in UUV both sides, keeps the sweeping appearance of UUV in the presence of hydraulic-driven arm；When UUV needs park in seabed, being extended by hydraulic-driven arm is made anchor pole and grabs mud shovel and stretch out, and is made to grab under the collective effect of hydraulic-driven arm and gravity during mud shovel is embedded into soil, so that UUV is stably parked at seabed surface；When UUV needs to set sail from seabed, drive the anchor pole will to grab mud shovel and be extracted from soil by shrinking hydraulic-driven arm, and gradually withdraw anchor pole and grab mud shovel and realize that UUV seabeds are set sail.The invention can make UUV avoid producing displacement due to action of ocean current when seabed is resident or bury to obtain risk by silt.
Description
Technical field
The ground tackle and method being resident the present invention relates to a kind of UUV seabeds.
Background technology
UUV is when performing investigation under water, seabed ambuscade, serving as the tasks such as underwater communication node, it is necessary to pass through stabilization park
In seabed, the disguised high and extremely low latent operation of energy consumption is realized.And in order that UUV possesses energy-conservation and be easily manipulated in navigation
Characteristic, UUV is generally designed as buoyancy equal to gravity.So UUV is just highly prone to ocean current when seabed landing task is performed
Influence so that UUV drift out seat bottom position.Therefore, design is a kind of can be stably secured to the device in seabed for UUV by UUV
It is very necessary to perform for task is stationed in seabed.
On the one hand seabed ground tackle can ensure the stability that UUV is resident in seabed, prevent UUV from being floated by ocean current interference
From seat bottom position.On the other hand it is also prevented from silt to bury UUV, it is ensured that can smoothly set sail from seabed.Examined in CNKI
Suo Faxian, the Song Baowei of Northwestern Polytechnical University etc. exist《Firepower is controlled with commander》The article that (the 8th phase in 2010) delivers《Submarine
UAV navigation conceptual design》Carry out conceptual design to submarine UAV navigation, and devised two kinds hiding
Control mode --- hydraulic pressure support formula and anchor chain type, but two ways do not solve UUV by ocean current interference drift out seat bottom position
The problem put.Domestic and international pertinent literature is consulted, not yet there is the document report that the problem is solved by embedded anchoring approach at present.
The content of the invention
The purpose of the present invention be directed to UUV seabeds it is resident when, the problem for sitting bottom position is easily drifted out by ocean current interference
And a kind of resident ground tackle in UUV seabeds and method are provided, and the resident of stabilization can be realized.
The object of the present invention is achieved like this：A kind of resident ground tackle in UUV seabeds, including it is arranged on UUV main bodys
On four anchored structures, four anchored structures two-by-two to be arranged on one group of length direction along UUV main bodys, two of every group
Anchored structure is oppositely arranged on the both sides of UUV main bodys, and each anchored structure includes the hydraulic-driven being respectively hinged in UUV main bodys
The fork-shaped that arm and anchor pole and anchor pole end are hinged grabs mud shovel, and the end of hydraulic-driven arm is hinged with the middle and upper part of anchor pole, described
Be provided with UUV main bodys with the groove for the corresponding anchor pole of insertion, and the anchor pole is bowing bar, the radian and anchor of anchor pole
The radian of bar corresponding position in UUV main bodys is equal.
A kind of resident anchoring method in UUV seabeds：
(1) when detection UUV and seabed distance meets anchoring and require, while extending four hydraulic-driven arms for setting makes correspondence
Anchor pole extend downwardly from, grab mud shovel under the collective effect of gravity and anchor pole on the inside of UUV obliquely downward insertion soil, realize seabed
Anchoring；
(2) at the same shrink four hydraulic-driven arms anchor pole is withdrawn upwards, grab mud shovel in the presence of anchor pole to UUV on the outside of
Oblique upper is extracted from soil, until anchor pole makes UUV surface recoveries with grabbing mud shovel and fit together to be embedded into UUV surface grooves
It is streamlined, realize that seabed is unmoored.
Compared with prior art, the beneficial effects of the invention are as follows：When UUV is during navigation, anchor pole and grab mud shovel and be combined into
One and in the presence of hydraulic-driven arm folding and unfolding in UUV both sides, keep the sweeping appearance of UUV；When UUV is needed in seabed park
When, make anchor pole and grab mud shovel by hydraulic-driven arm elongation to stretch out, make to grab mud under the collective effect of hydraulic-driven arm and gravity
Shovel is embedded into soil, so that UUV stabilizations are parked at seabed surface；When UUV needs to set sail from seabed, by shrinking hydraulic pressure
Actuating arm drives the anchor pole will to grab mud shovel and be extracted from soil, and gradually withdraws anchor pole and grab mud shovel and realize that UUV seabeds are set sail.The hair
It is bright that UUV can be made to avoid producing displacement due to action of ocean current when seabed is resident or bury to obtain risk by silt.
Whole mechanism occupancy UUV inner spaces of the invention are small, simple structure, it is adaptable to which UUV is in big depth marine site seabed
Land, UUV is preset as gravity more than buoyancy without being thought of as realizing UUV stabilizations to sit bottom, UUV navigation efficiency can be improved.
The present invention has stronger practicality, easy to use in Project Realization.Corresponding anchoring method is by set structure, energy
It is simple to realize the resident of UUV stabilizations.
Brief description of the drawings
Fig. 1 is UUV seabeds ground tackle anchor pole and grabs mud shovel collapsed state structural representation；
Fig. 2 is UUV seabeds ground tackle anchor pole and grabs mud shovel and stretch out status architecture schematic diagram；
Fig. 3 is that UUV utilizes seabed ground tackle in seabed anchoring view.
In figure：1.UUV main bodys；2. right hydraulic-driven arm；3. mud shovel is grabbed on the right side；4. right anchor pole；5. left hydraulic-driven arm；6. left
Grab mud shovel；7. left anchor pole.
Specific embodiment
The present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings.
With reference to Fig. 1 to Fig. 3, a kind of UUV seabeds ground tackle of the invention is made up of four identical parts, four
Part is symmetrically installed two-by-two, and each pair includes that right hydraulic-driven arm 2 and left hydraulic-driven arm 5, right anchor pole 4 and the left anchor pole 5, right side are grabbed
Mud shovel 6 is grabbed on mud shovel 3 and a left side, namely is mainly hydraulically operated arm per part, is grabbed mud shovel and anchor pole this three each mechanism's composition；Each liquid
Pressure actuating arm one end is hinged in UUV main bodys 1, the other end is hinged on the middle part of corresponding anchor pole, when hydraulic-driven arm elongation
When anchor pole can be promoted outwards to extend downwardly from, and anchor pole can be pulled inwardly to withdraw upwards when hydraulic-driven arm is shunk, each
Anchor pole one end is hinged in UUV main bodys, the other end connects a forked type and grabs mud shovel with hinge arrangement, and grabbing mud shovel can be with anchor pole contract
Conjunction can also at an angle, when anchor pole stretches out grab mud shovel with anchor pole and can grab mud shovel and can be separated with anchor pole under gravity
At an angle, in inwardly downward insert soil posture, so as to realize incline insertion mud in, be illustrated in figure 2 anchor pole and stretch out
State；Anchor pole need to consider the profile of be applied to UUV in design with mud shovel is grabbed in the present invention, should make anchor pole and grab the curved of mud shovel
Bent radian is identical with its position UUV outer surfaces radian, so that anchor pole is embedded in outside UUV just with mud shovel is grabbed when packing up
In the reserved groove in surface, you can be fitted in UUV surfaces completely, keep the streamlined of UUV surfaces, as shown in Figure 1 for anchor pole is received
The state of rising.
When UUV needs to carry out seabed to anchor, UUV is pressed close to seabed by control first, by sensor detect UUV away from
When bottom distance off sea is less than rock-bolt length, seabed anchoring can be carried out.Carry out when seabed is anchored by controlling left and right hydraulic-driven
Arm extends so that then left and right anchor pole outwards extends downwardly from the presence of hydraulic-driven arm simultaneously, grabs mud shovel in gravity and anchor
Inwardly side-lower is embedded in soil simultaneously under the collective effect of bar, and sea is stably fixed in the UUV under mud power is acted on that grabs for grabbing mud shovel
Basal surface, can resist the disturbance of certain ocean current.
When UUV carries out seabed to unmoor, shunk by controlling left and right hydraulic-driven arm simultaneously so that left and right anchor pole exists simultaneously
Withdrawn upwards and then inwardly in the presence of hydraulic-driven arm, top is pulled out from soil laterally in the presence of anchor pole to grab mud shovel
Go out.Hydraulic-driven arm continues to shrink, and drives anchor pole to continue to withdraw, until anchor pole and grabbing mud shovel and being pasted into completely in UUV surface grooves
Make UUV surface recoveries streamlined, complete the seabed anchor of UUV.Only need to control hydraulic pressure during the entire process of anchoring and anchor
The elongation of actuating arm and shorten, with control it is simple the characteristics of.
The seabed anchoring method that UUV carries out when seabed is resident using the device includes：
When UUV carries out seabed to anchor, UUV is set to press close to seabed by control, detection UUV is less than anchor pole apart from seabed distance
During length, at the same control left and right hydraulic-driven arm elongation, left and right anchor pole simultaneously in the presence of hydraulic-driven arm outwards then to
Under stretch out, grabbing mud shovel simultaneously inwardly below skew back in embedded soil, fixes UUV stabilizations under the collective effect of gravity and anchor pole
On seabed surface.
When UUV carries out seabed to unmoor, while controlling left and right hydraulic-driven arm to shrink, left and right anchor pole is simultaneously in hydraulic-driven
In the presence of arm upwards then inwardly withdraw, grab mud shovel in the presence of anchor pole laterally top from soil extract, anchor pole after
Continuous withdrawal is up to anchor pole and grabbing during mud shovel is pasted into UUV surface grooves completely makes UUV surface recoveries streamlined, and UUV floats.
Claims (2)
1. the ground tackle that a kind of UUV seabeds are resident, it is characterised in that：Including four anchored structures being arranged in UUV main bodys,
Two-by-two to be arranged on one group of length direction along UUV main bodys, every group of two anchored structures are oppositely arranged four anchored structures
In the both sides of UUV main bodys, each anchored structure includes the hydraulic-driven arm and anchor pole and the anchor pole that are respectively hinged in UUV main bodys
The fork-shaped that end is hinged grabs mud shovel, and the end of hydraulic-driven arm is hinged with the middle and upper part of anchor pole, be provided with the UUV main bodys with
For the groove of embedded correspondence anchor pole, and the anchor pole is bowing bar, and the radian of anchor pole is corresponding in UUV main bodys with anchor pole
Position radian it is equal.
2. a kind of anchoring method of the resident ground tackle in UUV seabeds described in application claim 1：It is characterized in that：
(1) when detection UUV and seabed distance meets anchoring and require, while extending four hydraulic-driven arms for setting makes corresponding anchor
Bar is extended downwardly from, and grabs mud shovel under the collective effect of gravity and anchor pole to insertion soil in obliquely downward on the inside of UUV, realizes seabed anchor
Pool；
(2) anchor pole is withdrawn upwards while shrinking four hydraulic-driven arms, grab mud shovel in the presence of anchor pole on skew back outside UUV
Side extracts from soil, until anchor pole makes UUV surface recovery streamlines with grabbing mud shovel and fit together to be embedded into UUV surface grooves
Type, realizes that seabed is unmoored.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710069638.4A CN106741647B (en) | 2017-02-08 | 2017-02-08 | A kind of ground tackle and method that the seabeds UUV are resident |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710069638.4A CN106741647B (en) | 2017-02-08 | 2017-02-08 | A kind of ground tackle and method that the seabeds UUV are resident |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106741647A true CN106741647A (en) | 2017-05-31 |
| CN106741647B CN106741647B (en) | 2018-10-26 |
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| CN201710069638.4A Active CN106741647B (en) | 2017-02-08 | 2017-02-08 | A kind of ground tackle and method that the seabeds UUV are resident |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108731671A (en) * | 2018-04-17 | 2018-11-02 | 哈尔滨工程大学 | A kind of UUV approaches the passive location device and its localization method being resident for a long time in seabed |
| CN113148081A (en) * | 2021-06-09 | 2021-07-23 | 西北工业大学 | AUV shape-preserving supporting type staying device and AUV |
| CN113212655A (en) * | 2021-06-11 | 2021-08-06 | 西北工业大学 | Suction anchor device for unmanned underwater vehicle to reside on seabed and control method thereof |
| CN113978633A (en) * | 2021-11-02 | 2022-01-28 | 长江河湖建设有限公司 | Mud pump moving platform |
| CN114084281A (en) * | 2021-10-27 | 2022-02-25 | 浙江东溟科技有限公司 | Built-in water injection pressure control anchor |
| CN115009483A (en) * | 2022-06-11 | 2022-09-06 | 西北工业大学 | Single-use underwater vehicle underwater anchoring and parking device and method |
| CN115071926A (en) * | 2022-05-16 | 2022-09-20 | 西北工业大学 | Petri network-based autonomous underwater vehicle anchoring and bottoming task control method |
| CN116812118A (en) * | 2023-08-30 | 2023-09-29 | 自然资源部第一海洋研究所 | AUV seabed landing device and method based on conformal support |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108731671A (en) * | 2018-04-17 | 2018-11-02 | 哈尔滨工程大学 | A kind of UUV approaches the passive location device and its localization method being resident for a long time in seabed |
| CN113148081A (en) * | 2021-06-09 | 2021-07-23 | 西北工业大学 | AUV shape-preserving supporting type staying device and AUV |
| CN113148081B (en) * | 2021-06-09 | 2023-01-03 | 西北工业大学 | AUV shape-preserving supporting type staying device and AUV |
| CN113212655A (en) * | 2021-06-11 | 2021-08-06 | 西北工业大学 | Suction anchor device for unmanned underwater vehicle to reside on seabed and control method thereof |
| CN114084281A (en) * | 2021-10-27 | 2022-02-25 | 浙江东溟科技有限公司 | Built-in water injection pressure control anchor |
| CN113978633A (en) * | 2021-11-02 | 2022-01-28 | 长江河湖建设有限公司 | Mud pump moving platform |
| CN115071926A (en) * | 2022-05-16 | 2022-09-20 | 西北工业大学 | Petri network-based autonomous underwater vehicle anchoring and bottoming task control method |
| CN115071926B (en) * | 2022-05-16 | 2023-12-19 | 西北工业大学 | Autonomous underwater vehicle anchoring bedding task control method based on Petri network |
| CN115009483A (en) * | 2022-06-11 | 2022-09-06 | 西北工业大学 | Single-use underwater vehicle underwater anchoring and parking device and method |
| CN116812118A (en) * | 2023-08-30 | 2023-09-29 | 自然资源部第一海洋研究所 | AUV seabed landing device and method based on conformal support |
| CN116812118B (en) * | 2023-08-30 | 2023-12-22 | 自然资源部第一海洋研究所 | AUV seabed landing device and method based on conformal support |
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| CN106741647B (en) | 2018-10-26 |
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