CN107813917A - A kind of underwater equipment with propeller control posture - Google Patents
A kind of underwater equipment with propeller control posture Download PDFInfo
- Publication number
- CN107813917A CN107813917A CN201711228652.0A CN201711228652A CN107813917A CN 107813917 A CN107813917 A CN 107813917A CN 201711228652 A CN201711228652 A CN 201711228652A CN 107813917 A CN107813917 A CN 107813917A
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- CN
- China
- Prior art keywords
- propeller
- depth
- transducer
- main control
- underwater
- 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
- 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
- B63G8/16—Control of attitude or depth by direct use of propellers or jets
-
- 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
- B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
- B63G2008/007—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled by means of a physical link to a base, e.g. wire, cable or umbilical
Abstract
The present invention relates to a kind of underwater equipment with propeller control posture.The technical scheme is that：The underwater equipment includes apparatus body, power supply, propeller, attitude transducer, depth transducer and main control chip, the propeller is arranged on apparatus body, the attitude transducer, depth transducer and main control chip are arranged in apparatus body, the propeller, attitude transducer, depth transducer are electrically connected with main control chip respectively, and the power supply is respectively apparatus body, propeller, attitude transducer, depth transducer and main control chip power supply.Present invention aims at provide a kind of propeller that is equipped with to provide thrust front and rear up and down, by attitude transducer and depth transducer come adjustment and depth, the underwater posture of control device body can be facilitated, including tilting, turn left and right, float, the underwater equipment with propeller control posture of forward-reverse.
Description
Technical field
The present invention relates to a kind of underwater equipment, more particularly to a kind of underwater with propeller control posture is set
It is standby.
Background technology
Current underwater equipment is substantially by propeller rotational to control the various postures of underwater installation, still
Design on propeller is varied, and in order to realize that underwater equipment can freely tilt, left and right is turned, on
Floating sinking, forward-reverse to underwater equipment, it is necessary to be improved to meet the demand of undersea detection.
The content of the invention
It is an object of the invention to provide a kind of propeller that is equipped with to provide thrust front and rear up and down, passes through attitude transducer
Come adjustment and depth with depth transducer, the underwater posture of control device body can be facilitated, including tilt, left and right
Turn, float, the underwater equipment with propeller control posture of forward-reverse.
To achieve the above object, the technical solution adopted by the present invention is：
A kind of underwater equipment with propeller control posture, the underwater equipment include apparatus body, power supply, spiral shell
Rotation oar, attitude transducer, depth transducer and main control chip, the propeller are arranged on apparatus body, the posture sensing
Device, depth transducer and main control chip are arranged in apparatus body, the propeller, attitude transducer, depth transducer difference
It is electrically connected with main control chip, the power supply is respectively apparatus body, propeller, attitude transducer, depth transducer and master control
Chip power supply.
The propeller comprises at least four, and with two for one group, every group of propeller is arranged in a mutually vertical manner the propeller
In on apparatus body.
Two of one group, and its propeller axle center and xs symmetrical by symmetrical centre of apparatus body in the propeller
Axle is parallel, for front and rear puopulsion equipment body；In the propeller two of another group it is symmetrical by symmetrical centre of apparatus body
Distribution, and its propeller axle center is parallel with z-axis, for upper and lower puopulsion equipment body.
Technology used by underwater equipment, be assembling four propellers, propeller with two be one group, every group of spiral
Oar is arranged in a mutually vertical manner on apparatus body, and two of one of which are symmetrical by symmetrical centre of apparatus body, and its spiral shell
It is parallel with x-axis to revolve the paddle shaft heart, for front and rear puopulsion equipment body, there is provided the thrust advanced with retrogressing；Two of another group are to set
Standby body is that symmetrical centre is symmetrical, and its propeller axle center is parallel with z-axis, for upper and lower puopulsion equipment body, Ke Yitong
Cross two propellers in control left and right and come adjustment and depth.
The design of this quadruple screw propeller can convenient control device body underwater posture, including tilt, left/right rotation
It is curved, float, forward-reverse, in order to control the statokinetic of underwater equipment and submerged depth, the underwater equipment
Attitude transducer and depth transducer are configured, to obtain attitude data and depth data, the rotating speed of propeller is divided into balance and depth
Two-part linear superposition is spent, before carrying out rotating speed processing, acquiescence propeller increase rotating speed then increases downward power.
In balance posture, if underwater installation is in steady posture, need not change left symmetric screw propeller and
The rotating speed of right symmetric screw propeller；If underwater installation is in left-leaning posture, left symmetric screw propeller rotating speed is reduced, increases right balance spiral shell
Revolve oar rotating speed；If underwater installation is in Right deviation posture, right symmetric screw propeller rotating speed is reduced, increases left symmetric screw propeller rotating speed.
When handling depth posture, give tacit consent to underwater installation infinite approach neutral buoyancy but be greater than neutral buoyancy, i.e., equipment is close
Degree and water density infinite approach, it is but lower than water density, as long as therefore propeller somewhat accelerate, you can allow equipment dive, spiral
Oar stops operating, you can ensure the numerical value that equipment floats, and is obtained according to depth transducer, if numerical value is less than target depth, plus
Speed rotates propeller, if numerical value is more than target depth, underdrive propeller, propeller is constantly controlled by main control chip
Acceleration-deceleration, so as to allow underwater installation to be maintained at target depth.
By the two linear superpositions of Balance Treatment and advanced treating, you can ensure that underwater installation is kept by twin screw
Targeted attitude.
When promoting, when left propelling screws and right propelling screws both sides are promoted and accelerated, you can straight ahead, work as left and right
Both sides propelling screws reversely rotate, you can straight line retreats, when left propelling screws rotate forward, right propelling screws stop or
Reversely or less than left propelling screws rotating speed, then can bend to right, conversely, can then turn to the left.
Improved technology scheme as the present invention：
The underwater equipment also includes land computer end, and the land computer end is electrically connected with main control chip.
The main control chip of underwater equipment is communicated with land computer end by optical fiber, by cable connection and under water
Machinery equipment connects.The data returned by the attitude transducer on apparatus body, main control chip automatically adjust left-and-right spiral oar
For rotating speed with adjustment, land computer end sends submerged depth instruction, after main control chip receives instruction, detects current depth,
If necessary to dive, then rotating speed dive is increased, wait and reach purpose depth, reduce rotating speed, if necessary to float, then reduced and turn
Speed, purpose depth to be reached, increase rotating speed.
Improved technology scheme as the present invention：
The power supply is land power supply.
The power supply of underwater equipment work is provided by land 220V alternating currents.
After said structure, the present invention has the beneficial effect that：
Using the underwater equipment of the technology, it is possible to achieve many attitude, and it is applied to various water environments.Compared to other species
Underwater installation, some equipment are four symmetric screw propellers, and use this technology underwater equipment double symmetric screw propellers
Balance can be controlled and depth, some equipment only have a propeller, then can not make the posture to tilt, this is to use
The advantage of double symmetric screw propellers of the underwater equipment of this technology.
Brief description of the drawings
Fig. 1 is the schematic top plan view of underwater equipment of the present invention；
Fig. 2 is the schematic perspective view of underwater equipment of the present invention；
Fig. 3 is the profile of underwater equipment of the present invention；
Fig. 4 is the land underwater schematic diagram of underwater equipment of the present invention.
Drawing reference numeral：1, apparatus body；2, power supply；3, propeller；31, left symmetric screw propeller；32, right symmetric screw propeller；
33, left propelling screws；34, right propelling screws；4, attitude transducer；5, depth transducer；6, main control chip；7, land electricity
Brain end.
Embodiment
The present invention is further illustrated below in conjunction with the accompanying drawings.
As shown in Figure 1, Figure 2, Figure 3 and Figure 4, a kind of underwater equipment with propeller control posture, it is described underwater
Machinery equipment includes apparatus body 1, power supply 2, propeller 3, attitude transducer 4, depth transducer 5 and main control chip 6, the spiral shell
Rotation oar 3 is arranged on apparatus body 1, and the attitude transducer 4, depth transducer 5 and main control chip 6 are arranged on apparatus body 1
Interior, the propeller 3, attitude transducer 4, depth transducer 5 are electrically connected with main control chip 6 respectively, and the power supply 2 is respectively
Apparatus body 1, propeller 3, attitude transducer 4, depth transducer 5 and main control chip 6 are powered.
Above-mentioned propeller 3 comprises at least four, and with two for one group, every group of propeller 3 is mutually perpendicular to set the propeller 3
It is placed on apparatus body.
Two of one group are that symmetrical centre is symmetrical with apparatus body 1 in above-mentioned propeller 3, and its axle center of propeller 3
It is parallel with x-axis, for front and rear puopulsion equipment body 1；During two of another group are symmetrical with apparatus body 1 in the propeller 3
The heart is symmetrical, and its axle center of propeller 3 is parallel with z-axis, for upper and lower puopulsion equipment body 1.
Above-mentioned underwater equipment also includes land computer end 7, and the land computer end 7 is electrically connected with main control chip 6.
Above-mentioned power supply 2 is land power supply.
Technology used by underwater equipment, be assembling four propellers 3, propeller 3 with two be one group, every group of spiral shell
Rotation oar 3 is arranged in a mutually vertical manner on apparatus body 1, and two of one of which are symmetrical for symmetrical centre with apparatus body 1, and
Its axle center of propeller 3 is parallel with x-axis, for front and rear puopulsion equipment body 1, there is provided the thrust advanced with retrogressing；The two of another group
It is individual symmetrical for symmetrical centre with apparatus body 1, and its axle center of propeller 3 is parallel with z-axis, for upper and lower puopulsion equipment body
1, can be by controlling two propellers 3 in left and right come adjustment and depth.
The design of this quadruple screw propeller can convenient control device body 1 underwater posture, including tilt, left/right rotation
It is curved, float, forward-reverse, in order to control the statokinetic of underwater equipment and submerged depth, the underwater equipment
Configure attitude transducer 4 and depth transducer 5, to obtain attitude data and depth data, the rotating speed of propeller 3 be divided into balance with
The two-part linear superposition of depth, before carrying out rotating speed processing, acquiescence propeller 3, which increases rotating speed, then increases downward power.
In balance posture, if underwater installation is in steady posture, left symmetric screw propeller 31 need not be changed
With the rotating speed of left symmetric screw propeller 32；If underwater installation is in left-leaning posture, the left rotating speed of symmetric screw propeller 31 is reduced, increase is left
The rotating speed of symmetric screw propeller 32；If underwater installation is in Right deviation posture, the left rotating speed of symmetric screw propeller 32 is reduced, increases left balance spiral shell
Revolve the rotating speed of oar 31.
When handling depth posture, give tacit consent to underwater installation infinite approach neutral buoyancy but be greater than neutral buoyancy, i.e., equipment is close
Degree and water density infinite approach, it is but lower than water density, as long as therefore propeller 3 somewhat accelerate, you can allow equipment dive, spiral
Oar 3 stops operating, you can ensure the numerical value that equipment floats, and is obtained according to depth transducer, if numerical value is less than target depth, plus
Speed rotates propeller 3, if numerical value is more than target depth, underdrive propeller 3, spiral is constantly controlled by main control chip 6
The acceleration-deceleration of oar 3, so as to allow underwater installation to be maintained at target depth.
By the two linear superpositions of Balance Treatment and advanced treating, you can ensure that underwater installation is protected by twin screw 3
Hold targeted attitude.
When promoting, when left propelling screws 33 and the both sides of right propelling screws 34 are promoted and accelerated, you can straight ahead, when
The right and left propelling screws 3 reversely rotate, you can and straight line retreats, when left propelling screws 33 rotate forward, right propulsion spiral
Oar 34 stops or reversely or less than the left rotating speed of propelling screws 33, then can bent to right, conversely, can then turn to the left.
The main control chip 6 of underwater equipment is communicated with land computer end 7 by optical fiber, passes through cable connection and water
Lower machinery equipment connection.The data returned by the attitude transducer 4 on apparatus body 1, main control chip 6 automatically adjust left and right spiral shell
The rotating speed of oar 3 is revolved with adjustment, and land computer end 7 sends submerged depth instruction, and after main control chip 6 receives instruction, detection is worked as
Preceding depth, if necessary to dive, then rotating speed dive is increased, wait and reach purpose depth, reduce rotating speed, if necessary to float,
Rotating speed is then reduced, purpose depth to be reached, increases rotating speed.
The power supply 2 of underwater equipment work is provided by land 220V alternating currents.
Using the underwater equipment of the technology, it is possible to achieve many attitude, and it is applied to various water environments.Compared to other
The underwater installation of species, some equipment are four symmetric screw propellers, and use the double flat weighing apparatus spiral shell of the underwater equipment of this technology
Rotation oar can control balance and depth, some equipment only have a propeller, then can not make the posture to tilt, this is
Using the advantage of double symmetric screw propellers of the underwater equipment of this technology.
The content of above embodiment is only the preferred embodiments of the present invention, and above preferred embodiment is not used for limiting
The practical range of the fixed present invention；Every various equivalents made according to its scope of the claims of the invention,
Covered by its scope of the claims of the invention.
Claims (5)
- A kind of 1. underwater equipment with propeller control posture, it is characterised in that：The underwater equipment includes setting Standby body, power supply, propeller, attitude transducer, depth transducer and main control chip, the propeller are arranged on apparatus body On, the attitude transducer, depth transducer and main control chip are arranged in apparatus body, the propeller, attitude transducer, Depth transducer is electrically connected with main control chip respectively, and the power supply is respectively apparatus body, propeller, attitude transducer, depth Spend sensor and main control chip power supply.
- 2. underwater equipment according to claim 1, it is characterised in that：The propeller is described including at least four With two for one group, every group of propeller is arranged in a mutually vertical manner on apparatus body propeller.
- 3. underwater equipment according to claim 2, it is characterised in that：Two of one group are with equipment in the propeller Body is that symmetrical centre is symmetrical, and its propeller axle center is parallel with x-axis, for front and rear puopulsion equipment body；The spiral In oar two of another group it is symmetrical by symmetrical centre of apparatus body, and its propeller axle center is parallel with z-axis, for upper and lower Puopulsion equipment body.
- 4. underwater equipment according to claim 1, it is characterised in that：The underwater equipment also includes land electricity Brain end, the land computer end are electrically connected with main control chip.
- 5. underwater equipment according to claim 1, it is characterised in that：The power supply is land power supply.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711228652.0A CN107813917A (en) | 2017-11-29 | 2017-11-29 | A kind of underwater equipment with propeller control posture |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711228652.0A CN107813917A (en) | 2017-11-29 | 2017-11-29 | A kind of underwater equipment with propeller control posture |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107813917A true CN107813917A (en) | 2018-03-20 |
Family
ID=61605104
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711228652.0A Pending CN107813917A (en) | 2017-11-29 | 2017-11-29 | A kind of underwater equipment with propeller control posture |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107813917A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111208841A (en) * | 2020-02-27 | 2020-05-29 | 中国科学院自动化研究所 | Bionic robot fish posture stabilizing device based on reaction wheel |
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| CN206087245U (en) * | 2016-10-14 | 2017-04-12 | 福建海图智能科技有限公司 | Five small -size dimensions motion underwater robot |
| JP2017149195A (en) * | 2016-02-22 | 2017-08-31 | 株式会社Ihi | Underwater floating device and depth control method |
| CN107207083A (en) * | 2014-11-12 | 2017-09-26 | 洛桑联邦理工学院 | Underwater propulsion unit for submarine navigation device |
| CN207631449U (en) * | 2017-11-29 | 2018-07-20 | 北京圣世信通科技发展有限公司 | A kind of underwater equipment with propeller control posture |
-
2017
- 2017-11-29 CN CN201711228652.0A patent/CN107813917A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103921949A (en) * | 2014-04-30 | 2014-07-16 | 哈尔滨工业大学 | Autonomous quad-rotor flight vehicle based on Renesas chip R5F100LEA |
| CN104199458A (en) * | 2014-08-15 | 2014-12-10 | 浙江大学 | Underwater operation robot |
| CN107207083A (en) * | 2014-11-12 | 2017-09-26 | 洛桑联邦理工学院 | Underwater propulsion unit for submarine navigation device |
| CN105539781A (en) * | 2015-12-07 | 2016-05-04 | 广州丰谱信息技术有限公司 | Axial orthogonal adjustable propeller array-based underwater unmanned detector |
| JP2017149195A (en) * | 2016-02-22 | 2017-08-31 | 株式会社Ihi | Underwater floating device and depth control method |
| CN206087245U (en) * | 2016-10-14 | 2017-04-12 | 福建海图智能科技有限公司 | Five small -size dimensions motion underwater robot |
| CN207631449U (en) * | 2017-11-29 | 2018-07-20 | 北京圣世信通科技发展有限公司 | A kind of underwater equipment with propeller control posture |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111208841A (en) * | 2020-02-27 | 2020-05-29 | 中国科学院自动化研究所 | Bionic robot fish posture stabilizing device based on reaction wheel |
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