CN107161303A - A kind of micro-unmanned submarine - Google Patents
A kind of micro-unmanned submarine Download PDFInfo
- Publication number
- CN107161303A CN107161303A CN201710365415.2A CN201710365415A CN107161303A CN 107161303 A CN107161303 A CN 107161303A CN 201710365415 A CN201710365415 A CN 201710365415A CN 107161303 A CN107161303 A CN 107161303A
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- CN
- China
- Prior art keywords
- submarine
- module
- observation device
- antenna
- sink
- 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
- 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
-
- 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
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Toys (AREA)
Abstract
A kind of micro-unmanned submarine, belong to autonomous underwater vehicle technical field, more particularly to a kind of micro-unmanned submarine, including submarine hull, submarine control module, submarine sink-float module, submarine tail vane drive link, power system, submarine horizontal vertical tail vane, submarine propeller, antenna and wireless communication module, observation device, searchlight, clasp, dynamical system.Its operation principle is：After submarine rises and falls module water-filling, unmanned submarine sinks, dynamical system drives submarine propeller, produce the thrust advanced, the information that observation device is detected is transferred to ground service end by antenna and wireless communication module, the shared of information is realized, service end can in time make a response according to the information observed.The micro-unmanned Submarine Structure of the present invention is simple, and the observation to the shoal of fish is convenient, lightweight, good concealment, maneuverability, efficiency high, wide adaptation range.
Description
Technical field
A kind of micro-unmanned submarine, belongs to autonomous underwater vehicle technical field, more particularly to a kind of micro-unmanned submarine.
Background technology
In the past in observation korneforos, in river or during the marine shoal of fish, water under diver is needed to hold shooting under conventional art
Machine is observed or carried out with underwater robot such work to the shoal of fish in water, but traditional method is time-consuming more, work
Amount is big, and the cost of investment is also very high and also extremely inconvenient to the various data for observing the shoal of fish.
The content of the invention
The purpose of the present invention is the various deficiencies for overcoming above-mentioned conventional art to observe the shoal of fish, and invention is a kind of more convenient,
Highly efficient unmanned submarine and entered the improvement unmanned submarine, the unmanned submarine can not only realize the observation to the shoal of fish, also
Fishing can be realized and sampled.
A kind of micro-unmanned submarine, including submarine hull, submarine submarine control module, submarine sink-float module, submarine tail vane
Drive link, power system, submarine horizontal vertical tail vane, submarine propeller, antenna and wireless communication module, observation device, searchlighting
Lamp and dynamical system；The observation device includes video camera and sensor, and observation device is placed in the front end of Method for Inside Submarine's, connects
Submarine control module, the information that observation device is collected can be transferred to ground service end by antenna and wireless communication module；Institute
Stating submarine sink-float module includes syringe, piston, motor and speed changer, and submarine sink-float module is placed in submarine hull inner bottom part, connected
Submarine control module, motor rotating band piston is advanced, and water releases water tank by syringe, and submarine, which lightens, realizes floating；Motor is anti-
Retreated to rotating band piston, water automatically flows into water tank by syringe, submarine becomes realizes dive again, and inflow can be moved according to piston
Dynamic position is accurately controlled；Speed change is realized equipped with speed changer on motor, piston advance and retreat speed is controlled, realizes in quick or slow dive
It is floating；The submarine propeller is placed in submarine hull tail end, connects dynamical system, and submarine propeller is to drive rotation by dynamical system
Turn, promote current, producing reaction force makes submarine advance；The horizontal vertical tail vane steering wheel is placed in submarine tail end, for controlling
The steering of submarine；The searchlight is placed in below submarine sink-float module, in deep sea diving endurance, is observation device illumination；The day
Line and wireless communication module are placed in submarine hull front upper, connect submarine control module；The antenna and wireless communication module
For being communicated with ground service end；The power system is placed in submarine hull, is observation device, submarine control module, antenna
And wireless communication module, sink-float submarine control module and searchlight are powered.
The submarine propeller is made of stainless steel, and it uses coaxial disrotatory propeller, with effective power save mode,
The moment of torsion produced by two propellers rotated against relative can be offset so that model power offsets power production without biasing
Raw offset distance moment of torsion.
The clasp is placed in below submarine sink-float module, can be carried Fishing tool ripe on the market, be realized to the shoal of fish
Sampling functions.
A kind of micro-unmanned submarine operation principle：After submarine rises and falls module water-filling, unmanned submarine sinks, dynamical system band
Dynamic submarine propeller, produces the thrust advanced, while service end is instructed by antenna and wireless communication module transmission, submarine control
Module makes corresponding reaction, controls the direction of motion of unmanned submarine and the work of observation device, and clasp work.Observation
The information that device is detected is transferred to ground service end by antenna and wireless communication module, realizes the shared of information, service end
Can in time it be made a response according to the information observed.
The micro-unmanned Submarine Structure of the present invention is simple, and the observation to the shoal of fish is convenient, lightweight, good concealment, maneuverability,
Efficiency high, wide adaptation range.
Brief description of the drawings
Fig. 1 is a kind of schematic diagram of midget submarine；Fig. 2 is sink-float module enlarged diagram；Fig. 3 is that observation device amplification is shown
It is intended to.
In figure, 1- observation devices, 11- video cameras, 12- sensors, 2- submarine control modules, 3- antennas and wireless telecommunications mould
Block, 4- submarines sink-float module, 41- syringes, 42- pistons, 43- motors, 44- speed changers, 5- searchlights, 6- clasps, 7- power trains
System, 8- dynamical systems, 9- horizontal vertical tail vanes, 10- submarine tail vane drive links, 11- submarine propellers, 12- submarine hulls.
Embodiment
The present invention is illustrated below in conjunction with the accompanying drawings：A kind of micro-unmanned submarine, including submarine hull 12, submarine control
Molding block 2, submarine sink-float module 4, submarine tail vane drive link 10, power system 7, submarine horizontal vertical tail vane 9, submarine propeller
11st, antenna and wireless communication module 3, observation device 1, searchlight 5, clasp 6 and dynamical system 8.
Observation device 1 includes video camera 11 and sensor 12；Observation device 1 is placed in the front end of Method for Inside Submarine's, and connection is latent
Ship control module 2, the information that observation device 1 is collected can be transferred to ground service end by antenna and wireless communication module 3.
Submarine sink-float module 4 includes syringe 41, piston 42, motor 43, speed changer 44, and submarine sink-float module 4 is placed in submarine
The inner bottom part of housing 12, connection submarine control module 2, the rotating band piston 42 of motor 43 is advanced, and water is released water by syringe 41
Cabinet so that submarine, which lightens, realizes floating；Motor 43 reversely rotates band piston 42 and retreated, and water flows into water tank by syringe so that
Submarine becomes realizes dive again.Inflow can accurately be controlled according to the shift position of piston 42, easily realized in water and hovered.On motor 43
Equipped with speed changer 44, the advance and retreat speed of piston 42 is controlled, realizes that quick or slow dive is floated.
Submarine propeller 11 is placed in the tail end of submarine hull 12, connects dynamical system 8, and submarine propeller 11 uses stainless steel
Into it uses coaxial disrotatory propeller, and with effective power save mode, the moment of torsion produced by two propellers rotated against can
Offset with relative so that model power offsets the offset distance moment of torsion of power generation without biasing；Submarine propeller 11 is to lean on power
System 8 drives rotation, promotes current, and producing reaction force makes submarine advance.
Horizontal vertical tail vane steering wheel 9 is placed in submarine tail end, the steering for controlling submarine.
Clasp 6 is placed in the lower section of submarine sink-float module 4, can carry Fishing tool ripe on the market, realization is adopted to the shoal of fish
Sample function.Searchlight 5 is placed in the lower section of submarine sink-float module 4, is that observation device 1 is illuminated in deep sea diving endurance in the front of clasp 6.
Antenna and wireless communication module 3 are placed in the front upper of submarine hull 12, connection submarine control module 2.Antenna and nothing
Line communication module 3 is used to communicate with ground service end.
Power system 7 is placed in submarine hull 12, is observation device 1, submarine control module 2, antenna and wireless telecommunications mould
Block 3, sink-float submarine control module 4 and searchlight 5 are powered.
A kind of micro-unmanned submarine operation principle：After submarine rises and falls 4 water-filling of module, unmanned submarine sinks, dynamical system 8
Submarine propeller 11 is driven, the thrust advanced is produced, while service end is instructed by antenna and the transmission of wireless communication module 3, dived
Ship control module 2 makes corresponding reaction, controls the direction of motion of unmanned submarine and the work of observation device 1, and clasp 6
Work.The information that observation device 1 is detected is transferred to ground service end by antenna and wireless communication module 3, realizes information
Shared, service end can in time make a response according to the information observed.
Claims (3)
1. a kind of micro-unmanned submarine, it is characterised in that：Including submarine hull（12）, submarine control module（2）, submarine sink-float mould
Block（4）, submarine tail vane drive link（10）, power system（7）, submarine horizontal vertical tail vane（9）, submarine propeller（11）, antenna
And wireless communication module（3）, observation device（1）, searchlight（5）And dynamical system（8）；Observation device（1）Including video camera
（11）And sensor（12）；Observation device（1）Connect submarine control module（2）, observation device（1）The information collected can pass through
Antenna and wireless communication module（3）It is transferred to ground service end；Submarine sink-float module（4）Including syringe（41）, piston（42）, horse
Reach（43）And speed changer（44）, submarine sink-float module（4）It is placed in submarine hull（12）Inner bottom part, connects submarine control module（2）,
Motor（43）Rotating band piston（42）Advance, water is passed through syringe（41）Release water tank so that submarine, which lightens, realizes floating；Horse
Reach（43）Reversely rotate band piston（42）Retreat, water flows into water tank by syringe so that submarine becomes realizes dive, inflow again
Can be according to piston（42）Shift position is accurately controlled, and is easily realized in water and is hovered；Motor（43）It is upper that speed changer is housed（44）, control
Piston（42）Advance and retreat speed, realizes that quick or slow dive is floated；Submarine propeller（11）It is placed in submarine hull（12）Tail end, even
Connect dynamical system（8）；Searchlight（5）It is placed in submarine sink-float module（4）Lower section, is observation device in deep sea diving endurance（1）According to
It is bright；Antenna and wireless communication module（3）It is placed in submarine hull（12）Front upper, connects submarine control module（2）；Antenna and nothing
Line communication module（3）For being communicated with ground service end；Power system（7）It is placed in submarine hull（12）It is interior, it is observation device
（1）, submarine control module（2）, antenna and wireless communication module（3）, sink-float submarine control module（4）And searchlight（5）Power supply.
2. a kind of micro-unmanned submarine according to claim 1, it is characterised in that：Submarine propeller（11）Using stainless steel
It is made, using coaxial disrotatory propeller.
3. a kind of micro-unmanned submarine according to claim 1 or 2, it is characterised in that：Clasp（6）It is placed in submarine sink-float mould
Block（4）Lower section, carries Fishing tool.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710365415.2A CN107161303A (en) | 2017-05-22 | 2017-05-22 | A kind of micro-unmanned submarine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710365415.2A CN107161303A (en) | 2017-05-22 | 2017-05-22 | A kind of micro-unmanned submarine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107161303A true CN107161303A (en) | 2017-09-15 |
Family
ID=59816759
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710365415.2A Pending CN107161303A (en) | 2017-05-22 | 2017-05-22 | A kind of micro-unmanned submarine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107161303A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110723268A (en) * | 2019-10-30 | 2020-01-24 | 上海海洋大学 | Underwater robot for ocean fishery |
| CN111806660A (en) * | 2019-04-12 | 2020-10-23 | 西安天衡计量仪表有限公司 | Unmanned submarine device facing water quality monitoring and method thereof |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2592510Y (en) * | 2003-01-07 | 2003-12-17 | 上海劲钻实业公司 | Line-controlled robot fish |
| CN1618695A (en) * | 2004-12-09 | 2005-05-25 | 上海交通大学 | Linkaged piston type under water glide carrier capable of being driven in sea |
| CN201132604Y (en) * | 2007-12-13 | 2008-10-15 | 郑忠悦 | Fish-driving and bleeding submarines for aquiculture |
| CN201761634U (en) * | 2010-03-30 | 2011-03-16 | 中国船舶重工集团公司第七〇二研究所 | High-speed remote fish detection robot |
| CN102975835A (en) * | 2012-12-03 | 2013-03-20 | 哈尔滨工程大学 | Seawater piston adjusting type gliding submarine |
-
2017
- 2017-05-22 CN CN201710365415.2A patent/CN107161303A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2592510Y (en) * | 2003-01-07 | 2003-12-17 | 上海劲钻实业公司 | Line-controlled robot fish |
| CN1618695A (en) * | 2004-12-09 | 2005-05-25 | 上海交通大学 | Linkaged piston type under water glide carrier capable of being driven in sea |
| CN201132604Y (en) * | 2007-12-13 | 2008-10-15 | 郑忠悦 | Fish-driving and bleeding submarines for aquiculture |
| CN201761634U (en) * | 2010-03-30 | 2011-03-16 | 中国船舶重工集团公司第七〇二研究所 | High-speed remote fish detection robot |
| CN102975835A (en) * | 2012-12-03 | 2013-03-20 | 哈尔滨工程大学 | Seawater piston adjusting type gliding submarine |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111806660A (en) * | 2019-04-12 | 2020-10-23 | 西安天衡计量仪表有限公司 | Unmanned submarine device facing water quality monitoring and method thereof |
| CN110723268A (en) * | 2019-10-30 | 2020-01-24 | 上海海洋大学 | Underwater robot for ocean fishery |
| CN110723268B (en) * | 2019-10-30 | 2021-10-01 | 上海海洋大学 | Underwater robot for ocean fishery |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170915 |
|
| RJ01 | Rejection of invention patent application after publication |