CN107499508A - A kind of empty water is dwelt ROV more - Google Patents
A kind of empty water is dwelt ROV more Download PDFInfo
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- CN107499508A CN107499508A CN201710656452.9A CN201710656452A CN107499508A CN 107499508 A CN107499508 A CN 107499508A CN 201710656452 A CN201710656452 A CN 201710656452A CN 107499508 A CN107499508 A CN 107499508A
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 97
- 238000004891 communication Methods 0.000 claims abstract description 18
- 230000005540 biological transmission Effects 0.000 claims description 9
- 238000007667 floating Methods 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 3
- 238000000465 moulding Methods 0.000 claims description 2
- 230000007704 transition Effects 0.000 description 15
- 238000000034 method Methods 0.000 description 7
- 238000001514 detection method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 239000011159 matrix material Substances 0.000 description 3
- 239000000725 suspension Substances 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical compound [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000010006 flight Effects 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 229910001416 lithium ion Inorganic materials 0.000 description 1
- 230000033001 locomotion Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 229920000642 polymer Polymers 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
- 230000001052 transient effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 238000004078 waterproofing Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C35/00—Flying-boats; Seaplanes
- B64C35/005—Flying-boats; Seaplanes with propellers, rudders or brakes acting in the water
-
- 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
-
- 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
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
-
- 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
- B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
-
- 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
-
- 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
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Remote Sensing (AREA)
- Ocean & Marine Engineering (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Toys (AREA)
Abstract
Dwelt ROV, including ROV main body, control module, state handover module, net buoyancy adjustment module, power plant module, communication and navigation module and power module the invention discloses a kind of empty water more；ROV of being dwelt the empty water of the present invention realizes the switching of operational configuration by state handover module and net buoyancy adjustment module more, motor uses high rpm low torque during airflight, motor uses the slow-speed of revolution high torque when water surface and underwater navigation, realize ROV in the air, the water surface and underwater navigation；ROV of being dwelt the empty water of the present invention realizes the positioning and navigation of ROV using GPS, pressure sensor, accelerometer and gyroscope more, and sending instruction by remote control realizes that the navigation of ROV controls；ROV of being dwelt the empty water of the present invention can perform different task more under various complex environments, such as overhaul, and detect, take photo by plane, removal of mines etc. under water.
Description
Technical field
The present invention relates to ROV technical field, ROV of being dwelt particularly a kind of empty water more.
Background technology
On river, lake, border, forest, coastline, island etc., place with a varied topography realizes that environment measuring, the hydrology are surveyed
Measure, mapping of taking photo by plane, Forest Disaster police, border patrol, the field such as military surveillance are not suitable for the region of mankind's operation, make for the mankind
The problems such as dangerous property of industry, adaptability.
The content of the invention
Dwelt ROV it is an object of the invention to provide a kind of empty water simple in construction, easy to use, good reliability more.
The technical solution for realizing the object of the invention is：
A kind of empty water is dwelt ROV more, it is characterised in that including ROV main body, control module, state handover module, net buoyancy
Adjustment module, power plant module, communication and navigation module and power module；Each wing afterbody of the ROV main body passes through connecting rod
Sump room is connected with, the inside of the connecting rod is hollow chamber, and the bottom of connecting rod is provided with inlet opening；The ROV main body
Control module, communication and navigation module and power module are internally provided with, the control module is floated with state handover module, only respectively
Power adjustment module, power plant module, communication and navigation module, power module are connected；Each wing afterbody of the ROV main body
Stateful handover module is set, and the state handover module includes steering wheel and transmission device；The control terminal of the steering wheel and control
Module is mutually electrically connected with, and the power end of steering wheel is mutually electrically connected with power module, and the output end of steering wheel passes through transmission device and phase
Corresponding connecting rod is mutually connected；Net buoyancy adjustment module and power plant module are provided with each sump room；It is described net floating
Power adjustment module includes air pump, the air pump by flexible pipe by sump room with being connected inside connecting rod, the control terminal of air pump and control
Molding block is mutually electrically connected with；The power plant module includes motor and propeller, and the output end of the motor is mutually driven with propeller
Connection, the control terminal of motor are mutually electrically connected with control module, and the power end of motor is mutually electrically connected with power module.
Preferably, the central axis of the ROV main body is provided with main rudder machine, and the output end of main rudder machine is filled by being driven
Put and be mutually connected with central shaft, the control terminal of main rudder machine is mutually electrically connected with control module, the power end and power supply of main rudder machine
Module is mutually electrically connected with.
Preferably, antenna is provided with above the central shaft of the ROV main body, the top of antenna is provided with GPS, antenna
Bottom be connected with communication and navigation module.
Preferably, pressure sensor and laser range finder are provided with below the central shaft of the ROV main body, pressure passes
Sensor and laser range finder are mutually electrically connected with control module.
Preferably, the ROV main body is internally provided with accelerometer and gyroscope, accelerometer and gyroscope with
Control module is mutually electrically connected with.
Preferably, the shell of the ROV main body is made of waterproof material, control module, state handover module, net
Waterproof layer is provided with the outside of buoyancy adjustment module, power plant module, communication and navigation module and power module.
Preferably, the control module uses ARM9 control chips.
Preferably, the motor uses waterproof brushless electric machine.
Preferably, the propeller uses three-bladed propeller.
The present invention compared with prior art, its remarkable advantage：
（1）ROV of being dwelt the empty water of the present invention realizes cutting for operational configuration more by state handover module and net buoyancy adjustment module
Change, motor uses the slow-speed of revolution high torque when motor uses high rpm low torque, the water surface and underwater navigation during airflight, realizes
ROV in the air, the water surface and underwater navigation.
（2）ROV of being dwelt the empty water of the present invention realizes ROV more using GPS, pressure sensor, accelerometer and gyroscope
Positioning and navigation, by remote control send instruction realize ROV navigation control.
（3）ROV of being dwelt the empty water of the present invention can perform different task more under various complex environments, such as overhaul, detection, boat
Clap, removal of mines etc. under water.
The present invention is described in further detail below in conjunction with the accompanying drawings.
Brief description of the drawings
Fig. 1 is that the empty water of the present invention is dwelt the structural representation of ROV airflight state more.
Fig. 2 is that the empty water of the present invention is dwelt the structural representation of ROV water surface transition state more.
Fig. 3 is dwelt the ROV water surface and the structural representation of underwater navigation state more for the empty water of the present invention.
Embodiment
Embodiment 1：
As shown in Figure 1 to Figure 3, a kind of empty water is dwelt ROV more, including ROV main body 1, control module, state handover module,
Net buoyancy adjustment module, power plant module, communication and navigation module and power module；Each wing afterbody of the ROV main body 1
Sump room 2 is connected with by connecting rod, the inside of the connecting rod is hollow chamber, and the bottom of connecting rod is provided with inlet opening；The boat
Row device main body 1 is internally provided with control module, communication and navigation module and power module, and the control module is cut with state respectively
Mold changing block, net buoyancy adjustment module, power plant module, communication and navigation module, power module are connected；The ROV main body 1
Each wing afterbody sets stateful handover module, and the state handover module includes steering wheel 3 and transmission device；The steering wheel 3
Control terminal be mutually electrically connected with control module, the power end of steering wheel 3 is mutually electrically connected with power module, the output end of steering wheel 3
Mutually it is connected by transmission device and corresponding connecting rod；Be provided with each sump room 2 net buoyancy adjustment module and
Power plant module；The net buoyancy adjustment module includes air pump, and the air pump is by flexible pipe 4 by sump room 2 with being connected inside connecting rod
Logical, the control terminal of air pump is mutually electrically connected with control module；The power plant module includes motor 5 and propeller 6, the motor 5
Output end and the phase of propeller 6 be connected, the control terminal of motor 5 is mutually electrically connected with control module, the power end of motor 5 and
Power module is mutually electrically connected with；The central axis of the ROV main body 1 is provided with main rudder machine 7, and the output end of main rudder machine 7 passes through
Transmission device is mutually connected with central shaft, and the control terminal of main rudder machine 7 is mutually electrically connected with control module, the power supply of main rudder machine 7
End is mutually electrically connected with power module；Antenna 8 is provided with above the central shaft of the ROV main body 1, the top of antenna 8 is set
There is GPS, the bottom of antenna 8 is connected with communication and navigation module；Pressure biography is provided with below the central shaft of the ROV main body 1
Sensor and laser range finder, pressure sensor and laser range finder are mutually electrically connected with control module；The ROV main body 1
Be internally provided with accelerometer and gyroscope, accelerometer and gyroscope are mutually electrically connected with control module；The ROV
The shell of main body 1 is made of waterproof material, control module, state handover module, net buoyancy adjustment module, power plant module, logical
Waterproof layer is provided with the outside of letter navigation module and power module, and each junction is added at waterproof glue using waterproof grommet
Reason, internal each module, which uses, also does corresponding water-proofing treatment.
The control module is used to control ROV to move, and control module is used for controlling steering wheel using controller ARM9 chips
3 rotation, the rotating speed of motor 5, switch the working condition of ROV, handle locating navigation information；Motor 5 is turned using high in the air
Fast low torque makes ROV obtain lift, and in the water surface and underwater navigation, motor 5 causes propeller 6 using slow-speed of revolution high torque
There are enough powered ROVs navigating by water；Control module receives remote controller signal by communication and navigation module, and user holds
Remote control is remotely controlled to ROV.
The state handover module is used for the operational configuration for controlling ROV, is mainly filled by steering wheel 3 and supporting transmission
Put the relative angle of controls connecting rod and ROV main body 1；During in state of flight, the angle of connecting rod and ROV main body 1 is 0
Degree, connecting rod is parallel with ROV main body 1, and ROV main body 1 is in X-type；During water surface transition state, connecting rod and ROV main body 1
Angle is 0 degree, and connecting rod is parallel with ROV main body 1, and ROV main body 1 is in yi word pattern；During surface navigation state, connecting rod and navigation
The angle of device main body 1 is 90 degree, and connecting rod is vertical with ROV main body 1, and ROV main body 1 is in yi word pattern；During underwater navigation state,
Connecting rod and the angle of ROV main body 1 are generally 90 degree, can also be adjusted according to time situation, ROV main body 1 is in yi word pattern.
The net buoyancy adjustment module is used to controlling ROV that underwater hovering, underwater ascent to arrive from surface dive to underwater
The switching of the water surface；It is hollow chamber inside each connecting rod, bottom is provided with inlet opening, and the flexible pipe 4 by upper end is with being in sump room 2
Internal air pump is connected, and the water of regulation sump room 2 can realize the floating of ROV, dive, suspension, floating action；
When ROV is dropped on the water surface, the state of ROV is switched to by transient state by main rudder machine 7, then pass through steering wheel
3 by the angular adjustment of sump room 2 and ROV main body 1 to 90 degree, now the state is surface navigation state；Further, lead to
Cross air pump and hydraulic pressure is entered into sump room 2, the water for adjusting each sump room 2 causes ROV dive to underwater or suspension, now should
State is underwater navigation state；From underwater ascent to the water surface, water is discharged to realize by sump room 2 by air pump.
The power plant module uses waterproof brushless electric machine 5 and three-bladed propeller 6, and wherein waterproof brushless electric machine 5501,504 makes
With feathering, for waterproof brushless electric machine 5502,503 using anti-oar, the airflow direction that propeller 6 is blown out is opposite with the mounting surface of antenna 8；It is logical
Cross electricity and adjust the control for realizing the rotating speed moment of torsion of motor 5, in the air because atmospheric density, the coefficient of viscosity are small, resistance is small uses high rotating speed
Low torque controls the flight of ROV；In the water surface or under water because the density of water is big, the coefficient of viscosity is big, resistance is big high using the slow-speed of revolution
The course of torque drive ROV.
The communication and navigation module uses 2.4G WIFI controlled in wireless, and the top of antenna 8 is equipped with gps antenna 8, and navigate device
Body lower surface is provided with pressure sensor, strapdown inertia system of the inside installation using accelerometer and gyroscope as critical piece
System；The geographical position of ROV is determined during aerial and surface navigation by GPS, using pressure sensor as assistor during underwater navigation
Part, by the pressure for measuring pressure sensor, it is to be understood that the submerged depth h of ROV；Pass through accelerometer and top
Spiral shell instrument data calculate attitude matrix in real time, with attitude matrix that the boat body of navigation accelerometer measures is axial along ROV coordinate system
Acceleration information transform to navigational coordinate system, carry out navigation calculating, while posture and boat are extracted from the element of attitude matrix
To information.
The power module using multigroup lithium ion polymer battery power, by power supply chip provide different voltage to
Brushless electric machine 5, steering wheel 3, sensor, control module power supply.
The empty water of the present invention is dwelt the mode of operation of ROV more：
Under offline mode, now ROV is similar with the control method of the quadrotor of routine, the boat under offline mode
Row device can realize forward-reverse and lifting.
Under water surface transition mode, by visual observation or laser range finder ranging, ROV is set steadily slowly to drop to
The water surface, by controlling the motion sump room of steering wheel perpendicular to ROV main body and submerging under water, regulation sump inflow makes
ROV bottom part body completely attaches to the water surface and swims in the water surface；Rotating speed by adjusting brushless electric machine controls ROV in the water surface
Headway, control left and right motor speed discrepancy realize turn to；
Under water under sail mode, on the basis of surface navigation, the inflow of sump is further adjusted so that ROV dive
To underwater or suspension, submerged depth is no more than the length of antenna, the sub-aqua sport control and surface navigation control of ROV
Method is consistent；Can measure the submerged depth of ROV when navigating by water under water by pressure sensor, the subsurface communication of ROV according to
By the antenna being exposed at outside the water surface；To float on the water surface, by the way that the water in sump is drained, pass through the effect of buoyancy, navigation
Device will float up to the water surface, and ROV state returns to surface navigation state；Control steering wheel gets connecting rod back, returns to flight shape
During state, ROV can take off on the water surface.
A kind of empty water is dwelt the control method of ROV more, is comprised the following steps：
（1）Dwell ROV initialization and self-tests more：Each module of ROV enters initialization and self-test state after start, if respectively
Then state is normal in the normal range (NR) of setting for module, and ROV state of flight resets（Acquiescence original state is state of flight）,
State is abnormal if each module is not in the normal range (NR) of setting, and abnormal conditions are shown by hand-held remote controller terminal, with
Convenient to operate personnel solve manually；
（2）The state control of aircraft flights of dwelling more：State is divided into 4 states：State of flight, water surface transition state（ROV
Swim on the water surface）, surface navigation state（Four connecting rods of ROV are submerged in water, and ROV bottom part body contacts with the water surface,
Top is exposed on the water surface）, underwater navigation state（ROV integrally submerges underwater, and only some antennas is exposed on the water surface）；
A, ROV receives flight directive, and system performs state detection processes：
Situation one：ROV is parked in land, and ROV performs the inspection and initialization before taking off, steering wheel work, ROV four
It is in X-type and body parallel that individual connecting rod, which is opened, and ROV takes off；
Situation two：ROV is in water surface transition state, and ROV performs the inspection and initialization before taking off, steering wheel work, boat
Four connecting rods of row device switch to X-type from in-line and taken off with ROV body parallel, ROV；
Situation three：ROV is in surface navigation state, and propeller is stopped, and four connecting rods are retracted to puts down with ROV main body
OK, air pump works, and by the water emptying in sump, air pump is stopped, and ROV enters ROV water surface transition state, performs feelings
The step of shape two, ROV takes off；
Situation four：ROV is in underwater navigation state, and propeller is stopped, and air pump work, the outside draining of sump, makes navigation
The body top of device stops draining after exposing the surface, four connecting rods are retracted to work on ROV body parallel, air pump, will
Water emptying in sump, air pump are stopped, and ROV enters ROV water surface transition state, the step of performing situation two, boat
Row device takes off；
B, ROV receives water surface transition instruction, and system performs state detection processes：
Situation one：ROV is in state of flight, and ROV is in state of flight, passes through laser range finder ranging, control navigation
Slowly smoothly it is parked on the water surface, steering wheel work, two main bodys of ROV are merged into in-line from X-shaped, now at ROV
In water surface transition state；
Situation two：ROV is in surface navigation state, and propeller is stopped, and four connecting rods are retracted to puts down with ROV main body
OK, air pump works, and by the water emptying in sump, air pump is stopped, and ROV enters ROV water surface transition state；
Situation three：ROV is in underwater navigation state, and propeller is stopped, and air pump work, the outside draining of sump, makes navigation
The body top of device stops draining after exposing the surface, four connecting rods are retracted to work on ROV body parallel, air pump, will
Water emptying in sump, air pump are stopped, and ROV enters ROV water surface transition state；
C, ROV receives surface navigation instruction, and system performs state detection processes：
Situation one：ROV is in water surface transition state, and four connecting rods of control move to underwater so that connecting rod vertically with navigation
Device main body, air pump, which works, causes sump pressure water, and the bottom for adjusting the main body of ROV is contacted with the water surface so that ROV is swum in
On the water surface, propeller works；
Situation two：ROV is in underwater navigation state, and propeller is stopped, and air pump work, the outside draining of sump, makes navigation
The body top of device stops draining after exposing the surface, ROV is now in surface navigation state, propeller works；
Situation three：ROV is in state of flight, and by laser range finder ranging, control navigation is slowly smoothly parked in the water surface
On, two main bodys of ROV are merged into in-line from X-shaped, and now ROV is in water surface transition state, perform situation one；
D, ROV receives underwater navigation instruction, and system performs state detection processes：
Situation one：ROV is in water surface transition state, and four connecting rods of control move to underwater so that connecting rod vertically with navigation
Device main body, air pump, which works, causes sump pressure water so that ROV dive to underwater, air pump are stopped, propeller works；
Situation two：ROV is in surface navigation state, and propeller is stopped, air pump work sump pressure water so that ROV
Dive is stopped to underwater, air pump, propeller works；
Situation three：ROV is in state of flight, and by laser range finder ranging, control navigation is slowly smoothly parked in the water surface
On, two main bodys of ROV are merged into in-line from X-shaped, and now ROV is in water surface transition state, perform situation one；
（3）The system of ROV detects current signal strength, battery electric quantity less than in setting safe range in real time, then returns automatically
Boat.
When ROV is in state of flight, motor is worked by the way of the low torsion of high rotating speed, now ROV and existing
Quadrotor control strategy it is consistent；When ROV is in surface navigation or underwater navigation state, motor uses the slow-speed of revolution
The mode that height reverses works, and the speed of a ship or plane of navigation and steering can be controlled by the rotating speed of controlled motor and the speed discrepancy of left and right motor
System.
In summary, ROV of being dwelt the empty water of the present invention passes through state handover module more and net buoyancy adjustment module realizes navigation
The switching of state, motor is turned round using the slow-speed of revolution is high when motor uses high rpm low torque, the water surface and underwater navigation during airflight
Square, realize ROV in the air, the water surface and underwater navigation；The empty water of the present invention dwell more ROV using GPS, pressure sensor,
Accelerometer and gyroscope realize the positioning and navigation of ROV, are sent by remote control and instruct the navigation control for realizing ROV
System；ROV of being dwelt the empty water of the present invention can perform different task more under various complex environments, such as overhaul, detect, take photo by plane, underwater drainage
Thunder etc., the empty water of the present invention dwell more ROV installation process by the way that the balance of ROV suitably can be reached by increasing counterweight.
Claims (9)
1. a kind of empty water is dwelt ROV more, it is characterised in that including ROV main body, control module, state handover module, net floating
Power adjustment module, power plant module, communication and navigation module and power module；Each wing afterbody of the ROV main body passes through company
Bar is connected with sump room, and the inside of the connecting rod is hollow chamber, and the bottom of connecting rod is provided with inlet opening；The ROV main body
Be internally provided with control module, communication and navigation module and power module, the control module respectively with state handover module, net
Buoyancy adjustment module, power plant module, communication and navigation module, power module are connected；Each wing tail of the ROV main body
Portion sets stateful handover module, and the state handover module includes steering wheel and transmission device；The control terminal of the steering wheel and control
Molding block is mutually electrically connected with, and the power end of steering wheel is mutually electrically connected with power module, the output end of steering wheel by transmission device with
Corresponding connecting rod is mutually connected；Net buoyancy adjustment module and power plant module are provided with each sump room；It is described net
Buoyancy adjustment module includes air pump, the air pump by flexible pipe by sump room with being connected inside connecting rod, the control terminal of air pump with
Control module is mutually electrically connected with；The power plant module includes motor and propeller, and output end and the propeller of the motor pass on from one to another
Dynamic connection, the control terminal of motor are mutually electrically connected with control module, and the power end of motor is mutually electrically connected with power module.
The ROV 2. empty water according to claim 1 is dwelt more, it is characterised in that the central axis of the ROV main body is set
Main rudder machine is equipped with, the output end of main rudder machine is mutually connected by transmission device with central shaft, the control terminal of main rudder machine and control
Module is mutually electrically connected with, and the power end of main rudder machine is mutually electrically connected with power module.
The ROV 3. empty water according to claim 1 is dwelt more, it is characterised in that above the central shaft of the ROV main body
Antenna is provided with, the top of antenna is provided with GPS, and the bottom of antenna is connected with communication and navigation module.
The ROV 4. empty water according to claim 1 is dwelt more, it is characterised in that below the central shaft of the ROV main body
Pressure sensor and laser range finder are provided with, pressure sensor and laser range finder are mutually electrically connected with control module.
The ROV 5. empty water according to claim 1 is dwelt more, it is characterised in that the ROV main body is internally provided with
Accelerometer and gyroscope, accelerometer and gyroscope are mutually electrically connected with control module.
The ROV 6. empty water according to claim 1 is dwelt more, it is characterised in that the shell of the ROV main body is using anti-
Water material is made, control module, state handover module, net buoyancy adjustment module, power plant module, communication and navigation module and power supply mould
Waterproof layer is provided with the outside of block.
The ROV 7. empty water according to claim 1 is dwelt more, it is characterised in that the control module is using ARM9 control cores
Piece.
The ROV 8. empty water according to claim 1 is dwelt more, it is characterised in that the motor uses waterproof brushless electric machine.
The ROV 9. empty water according to claim 1 is dwelt more, it is characterised in that the propeller uses three-bladed propeller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710656452.9A CN107499508B (en) | 2017-08-03 | 2017-08-03 | Air-water multi-purpose aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710656452.9A CN107499508B (en) | 2017-08-03 | 2017-08-03 | Air-water multi-purpose aircraft |
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| CN108146636A (en) * | 2017-12-27 | 2018-06-12 | 深迪半导体(上海)有限公司 | A kind of aircraft and combinations thereof bodies of dwelling suitable for multichip carrier environment more |
| CN108423145A (en) * | 2018-05-09 | 2018-08-21 | 大连理工大学 | A kind of quadrotor submarine navigation device that vector promotes |
| CN109229371A (en) * | 2018-07-12 | 2019-01-18 | 哈尔滨工程大学 | A kind of novel aircraft of dwelling based on quadrotor more |
| CN109229374A (en) * | 2018-10-11 | 2019-01-18 | 上海海事大学 | A kind of cabin formula structure flight submariner device |
| CN110696574A (en) * | 2018-07-10 | 2020-01-17 | 中国科学院沈阳自动化研究所 | Rotor wing air-sea amphibious robot capable of switching sailing postures |
| CN111634415A (en) * | 2020-06-09 | 2020-09-08 | 王大祥 | High-endurance water environment monitoring device for regional lake |
| GB2593022A (en) * | 2019-11-29 | 2021-09-15 | Univ Jilin | Reconstructable air-underwater amphibious robot |
| CN114852300A (en) * | 2022-07-07 | 2022-08-05 | 中国空气动力研究与发展中心空天技术研究所 | Vector-propelled underwater vehicle and navigation method thereof |
| CN117227372A (en) * | 2023-11-10 | 2023-12-15 | 青岛海洋地质研究所 | Water surface navigation switching system of air-sea amphibious aircraft |
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| CN108146636A (en) * | 2017-12-27 | 2018-06-12 | 深迪半导体(上海)有限公司 | A kind of aircraft and combinations thereof bodies of dwelling suitable for multichip carrier environment more |
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| CN110696574A (en) * | 2018-07-10 | 2020-01-17 | 中国科学院沈阳自动化研究所 | Rotor wing air-sea amphibious robot capable of switching sailing postures |
| CN109229371A (en) * | 2018-07-12 | 2019-01-18 | 哈尔滨工程大学 | A kind of novel aircraft of dwelling based on quadrotor more |
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| CN111634415A (en) * | 2020-06-09 | 2020-09-08 | 王大祥 | High-endurance water environment monitoring device for regional lake |
| CN111634415B (en) * | 2020-06-09 | 2021-08-27 | 王大祥 | High-endurance water environment monitoring device for regional lake |
| CN114852300A (en) * | 2022-07-07 | 2022-08-05 | 中国空气动力研究与发展中心空天技术研究所 | Vector-propelled underwater vehicle and navigation method thereof |
| CN117227372A (en) * | 2023-11-10 | 2023-12-15 | 青岛海洋地质研究所 | Water surface navigation switching system of air-sea amphibious aircraft |
| CN117227372B (en) * | 2023-11-10 | 2024-01-30 | 青岛海洋地质研究所 | Water surface navigation switching system of air-sea amphibious aircraft |
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