CN108226961A - A kind of submersible and submersible system - Google Patents
A kind of submersible and submersible system Download PDFInfo
- Publication number
- CN108226961A CN108226961A CN201810134730.9A CN201810134730A CN108226961A CN 108226961 A CN108226961 A CN 108226961A CN 201810134730 A CN201810134730 A CN 201810134730A CN 108226961 A CN108226961 A CN 108226961A
- Authority
- CN
- China
- Prior art keywords
- buoyage
- water
- depth
- communication module
- under water
- 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
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
Abstract
The invention discloses submersible, including the device that moves under water under water, buoyage, release device, cable and length adjustment device；The underwater device that moves under water includes first communication module and the first water depth sensor；First water depth sensor is used to detect depth of water depth；Buoyage includes first processing module, second communication module, third communication module, satellite positioning module and the second water depth sensor；Satellite positioning module is used to obtain location information；Second water depth sensor is used to detect depth of water depth；Buoyage is moved under water on device under water by release device fixation；Third communication module can be communicated to connect by cable and first communication module, length adjustment device is used to adjusting the length of cable, and first processing module is used to the current location information of depth of water depth and buoyage that the device that moves under water under water is presently in being sent to user control terminal.Present invention configuration equipment cost is low, and location information is accurate.The invention also discloses a kind of submersible systems.
Description
Technical field
The present invention relates to electronic equipment field of locating technology, and in particular to a kind of submersible and submersible system.
Background technology
Frequently as the auxiliary tool searched and rescued under water, rescue worker needs to search out by underwater robot underwater robot
During object, the position of underwater robot is known, to know the specific location of object.
The prior art often positions submarine target by being equipped with the method for ultra short baseline locating system in robot under water
Object, operation principle are：Acoustic marker is installed under water, hull waterborne is equipped with ultra-short baseline basic matrix, underwater machine in robot
Acoustic marker on device people sends out acoustical signal, after the ultra-short baseline basic matrix on hull receives acoustical signal, calculates underwater robot
Target bearing and distance.However, this method needs to install acoustic marker in robot under water, hull waterborne installation is ultrashort
Baseline basic matrix, the deployment cost that the ultra short baseline locating system is configured are high.
Invention content
The technical problem to be solved by the invention is to provide a kind of submersible and diving systems, can be filled by length adjustment
Adjustment is put for connecting the length of buoyage and the cable for the device that moves under water under water, so that the position of buoyage with moving under water under water
The position of device is corresponding, and the depth of water depth of the location information where buoyage and the underwater device that moves under water is sent to user
Control terminal allows a user to accurately obtain the specific location for the device that moves under water under water, and configuration equipment cost is low, and location information is accurate
Really.
In order to solve the technical issues of above-mentioned, the present invention provides a kind of submersible, including：Underwater move under water device, buoy
Device, release device, the length adjustment device of cable and setting on the cables；
The underwater device that moves under water includes first communication module and first depth of water being connect with first communication module sensing
Device；First water depth sensor is used to detect the underwater depth of water depth that device is presently in of moving under water；
The buoyage include first processing module, second communication module, third communication module, satellite positioning module with
And second water depth sensor；The satellite positioning module is used to obtain the current location information of the buoyage；Described second
Water depth sensor is used to detect the depth of water depth that the buoyage is presently in；The second communication module is used to control with user
Terminal processed can communicate to connect；The first processing module and the second communication module, the third communication module, the satellite
Locating module and second water depth sensor connection；
The buoyage by the release device be fixed on it is described move under water on device under water, the release device is used for
In the control signal for receiving user control terminal transmission, the buoyage is discharged；
The third communication module can be communicated to connect by the cable and the first communication module, the length adjustment
Device obtains the depth of water depth that the underwater device that moves under water is presently in, logical by described first by the third communication module
Letter module obtains the depth of water depth that the buoyage is presently in, and in the depth of water for detecting the buoyage and being presently in
When depth is zero, the length of the cable is locked, so that the length of the cable is equal to the underwater device that moves under water and is presently in
Depth of water depth；
The first processing module is used to move under water what device was presently under water by described by the second communication module
Depth of water depth and the current location information of the buoyage are sent to user control terminal.
In a kind of optional embodiment, the underwater device that moves under water further includes Second processing module；Described first is logical
Letter module is connect by the Second processing module with first water depth sensor.
In a kind of optional embodiment, the second communication module is wireless communication module.
In a kind of optional embodiment, second wireless communication module includes wireless communication unit and wireless communication
Antenna；The radio antenna is connect by the wireless communication unit with the first processing module, the wireless communication
Antenna is arranged on the buoyage.
In a kind of optional embodiment, the satellite positioning module includes satellite positioning unit and satellite positioning day
Line；The satellite positioning antennas is connect by satellite activity's unit with the first processing module, the satellite positioning day
Line is arranged on the buoyage.
In a kind of optional embodiment, indicator light is additionally provided on the buoyage.
In a kind of optional embodiment, loud speaker is additionally provided on the buoyage.
In a kind of optional embodiment, the cable is neutral buoyancy cable.
In order to solve the technical issues of identical, the present invention also provides a kind of submersible system, including diving as described above
Hydrophone further includes user control terminal；The user control terminal is sent under the operation of user to the second communication module
Control signal.In order to solve the technical issues of identical, the invention also provides a kind of submersible system, including diving as above
Device further includes user control terminal；User control terminal sends control signal under the operation of user, to second communication module.
Compared with the prior art, the advantageous effect of the embodiment of the present invention is：The present invention proposes a kind of submersible and diving
Device system by the way that buoyage is configured on the device that moves under water under water, and passes through cable connection and moves under water under water device and buoyage,
Realize information exchange；When user's control moves under water device arrival object under water, the control information of user is received to discharge buoy
Device, and cable length is controlled by length adjustment device, when detecting that buoyage rises to the water surface, lock the length of cable
Degree, so that the underwater device that moves under water is in the underface of buoyage, therefore, user can be by obtaining the location information of buoyage
And the depth of water depth for the device that moves under water under water, accurately know the specific location of the underwater device that moves under water；Device configuration letter in the present invention
It is single, it is at low cost, and the underwater device that moves under water can be accurately positioned.
Description of the drawings
In order to illustrate more clearly of technical scheme of the present invention, attached drawing needed in embodiment will be made below
Simply introduce, it should be apparent that, the accompanying drawings in the following description is only some embodiments of the present invention, general for this field
For logical technical staff, without creative efforts, other attached drawings are can also be obtained according to these attached drawings.
Fig. 1 is a kind of structure diagram of submersible provided in an embodiment of the present invention.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment shall fall within the protection scope of the present invention.
Referring to Fig. 1, it is a kind of structure diagram of submersible provided in an embodiment of the present invention.The embodiment of the present invention carries
A kind of submersible has been supplied, including：Underwater move under water and is arranged on device 100, buoyage 200, release device 300, cable 400
Length adjustment device 500 on the cable 400；
The underwater device 100 that moves under water include first communication module 11 and connect with the first communication module 11 the
One water depth sensor 12；First water depth sensor 12 is used to detect the underwater depth of water that device 100 is presently in of moving under water
Depth；
The buoyage 200 includes first processing module 21, second communication module 22, third communication module 23, satellite
24 and second water depth sensor 25 of locating module；The satellite positioning module 24 is current for obtaining the buoyage 200
Location information；Second water depth sensor 25 is used to detect the depth of water depth that the buoyage 200 is presently in；It is described
Second communication module 22 is used to communicate to connect with user control terminal；The first processing module 21 communicates mould with described second
Block 22, third communication module 23, satellite positioning module 24 and second water depth sensor 25 connect；
The buoyage 200 by the release device 300 be fixed on it is described move under water on device 100 under water, it is described to release
Device 300 is put in the control signal for receiving user control terminal transmission, discharging the buoyage 200；
The third communication module 23 can be communicated to connect by the cable 400 and the first communication module 11, described
It is deep that length adjustment device 500 by the third communication module 23 obtains the depth of water that the underwater device 100 that moves under water is presently in
Degree obtains the depth of water depth that the buoyage 200 is presently in by the first communication module 11, and described detecting
When the depth of water depth that buoyage 200 is presently in is zero, the length of the cable 400 is locked, so that the length of the cable 400
Degree is equal to the underwater depth of water depth that device 100 is presently in of moving under water；
The first processing module 21 is used for by the second communication module 22 that the underwater device 100 that moves under water is current
The current location information of residing depth of water depth and the buoyage 200 is sent to user control terminal.
The operation principle of the embodiment of the present invention is：The buoyage 200 is fixed on described by the release device 300
It moves under water on device 100 under water, it is described to release when the underwater device 100 that moves under water reaches object, and sends out release control signal
It puts device 300 and discharges the buoyage 200, so that the buoyage 200 rises according to natural buoyancy；Second depth of water
Sensor 25 detects the depth of water depth of the buoyage 200 in real time, when the buoyage 200 is in propradation, institute
It states length adjustment device 500 and gradually discharges 400 length of cable；When the buoyage 200 reaches the water surface and described the
Two water depth sensors 25 detect the depth of water depth that the buoyage 200 is presently in when being zero, the length adjustment device
500 locking 400 length of cable, thus, 400 length of cable is equal to the depth of water of the underwater device 100 that moves under water at this time
Depth, i.e., the described underwater device 100 that moves under water is located at the underface of the buoyage 200, at this point, on the buoyage 200
The location information that gets of satellite positioning module 24, also represent the location information of the underwater device 100 that moves under water；At this point, institute
First processing module 21 is stated by the second communication module 22 by the current location information of the buoyage 200 and the water
Dive luggage puts 100 depth of water depth being presently in and is sent to user control terminal, enables users to according to the buoyage 200
Current location information and the underwater depth of water depth that device 100 is presently in of moving under water accurately know the underwater device 100 that moves under water
Specific location.
In a kind of optional embodiment, the underwater device 100 that moves under water further includes Second processing module 13；Described
One communication module 11 is connect by the Second processing module 13 with first water depth sensor 12.The Second processing module
13 are used to the depth of water Simulation of depth signal that the water depth sensor detects being converted to digital signal, and it is logical to pass through described first
Letter module 11 is transmitted.
In a kind of optional embodiment, the second communication module 22 is wireless communication module.
In a kind of optional embodiment, second wireless communication module 22 includes wireless communication unit 221 and nothing
Line communication antenna 222；The radio antenna 222 passes through the wireless communication unit 221 and the first processing module 21
Connection, the radio antenna 222 are arranged on the buoyage 200.The radio antenna 222 is arranged on institute
It states on buoyage 200, is conducive to when the buoyage 200 floats up to the water surface, the communication of the wireless communication module is not
It is influenced by complicated underwater environment, ensures the validity of communication.
In a kind of optional embodiment, the satellite positioning module 24 includes satellite positioning unit 241 and satellite
Position antenna 242；The satellite positioning antennas 242 is connect by satellite activity's unit with the first processing module 21, institute
Satellite positioning antennas 242 is stated to be arranged on the buoyage 200.The satellite positioning antennas 242 is arranged on the buoy
On device 200, be conducive to when the buoyage 200 floats up to the water surface, the communication of the satellite positioning antennas 242 is not by multiple
Miscellaneous underwater environment influences, and ensures the accuracy of positioning.
In a kind of optional embodiment, indicator light 25 is additionally provided on the buoyage 200.The indicator light 25 is used
In when the buoyage 200 floats up to the water surface, surrounding user is prompted, so that user quickly knows the buoyage 200
Position.
In a kind of optional embodiment, loud speaker 26 is additionally provided on the buoyage 200.The loud speaker 26 is used
In when the buoyage 200 floats up to the water surface, surrounding user is prompted, so that user quickly knows the buoyage 200
Position.
In a kind of optional embodiment, the cable 400 is neutral buoyancy cable.
The embodiment of the present invention also proposed a kind of submersible system, including submersible as above, further include user's control end
End；The user control terminal sends control signal under the operation of user, to the second communication module.
Compared with the prior art, the advantageous effect of the embodiment of the present invention is：The present invention proposes a kind of submersible and diving
Device system by the way that buoyage is configured on the device that moves under water under water, and passes through cable connection and moves under water under water device and buoyage,
Realize information exchange；When user's control moves under water device arrival object under water, the control information of user is received to discharge buoy
Device, and cable length is controlled by length adjustment device, when detecting that buoyage rises to the water surface, lock the length of cable
Degree, so that the underwater device that moves under water is in the underface of buoyage, therefore, user can be by obtaining the location information of buoyage
And the depth of water depth for the device that moves under water under water, accurately know the specific location of the underwater device that moves under water；Device configuration letter in the present invention
It is single, it is at low cost, and the underwater device that moves under water can be accurately positioned.
Above disclosed is only a kind of preferred embodiment of the present invention, cannot limit the power of the present invention with this certainly
Sharp range one of ordinary skill in the art will appreciate that realizing all or part of flow of above-described embodiment, and is weighed according to the present invention
Profit requires made equivalent variations, still falls within and invents covered range.
Claims (9)
1. a kind of submersible, which is characterized in that including：Underwater move under water device, buoyage, release device, cable and setting
Length adjustment device on the cables；
Underwater first water depth sensor that device includes first communication module and connect with first communication module that moves under water；Institute
The first water depth sensor is stated for detecting the underwater depth of water depth that device is presently in of moving under water；
The buoyage includes first processing module, second communication module, third communication module, satellite positioning module and the
Two water depth sensors；The satellite positioning module is used to obtain the current location information of the buoyage；Second depth of water
Sensor is used to detect the depth of water depth that the buoyage is presently in；The second communication module is used for and user's control end
End can communicate to connect；The first processing module and the second communication module, the third communication module, the satellite positioning
Module and second water depth sensor connection；
The buoyage by the release device be fixed on it is described move under water on device under water, the release device is for connecing
When receiving the control signal of user control terminal transmission, the buoyage is discharged；
The third communication module can be communicated to connect by the cable and the first communication module, the length adjustment device
Depth of water depth that the underwater device that moves under water is presently in is obtained, by the described first communication mould by the third communication module
Block obtains the depth of water depth that the buoyage is presently in, and in the depth of water depth for detecting that the buoyage is presently in
When being zero, the length of the cable is locked, so that the length of the cable is equal to the underwater water that device is presently in that moves under water
Deep degree；
The first processing module is used for the depth of water for being presently in the underwater device that moves under water by the second communication module
Depth and the current location information of the buoyage are sent to user control terminal.
2. submersible as claimed in claim 1, which is characterized in that the underwater device that moves under water further includes Second processing module；It is described
First communication module is connect by the Second processing module with first water depth sensor.
3. submersible as claimed in claim 1, which is characterized in that the second communication module is wireless communication module.
4. submersible as claimed in claim 3, which is characterized in that second wireless communication module includes wireless communication unit and nothing
Line communication antenna；The radio antenna is connect by the wireless communication unit with the first processing module, the nothing
Line communication antenna is arranged on the buoyage.
5. submersible as claimed in claim 1, which is characterized in that the satellite positioning module includes satellite positioning unit and satellite
Position antenna；The satellite positioning antennas is connect by satellite activity's unit with the first processing module, the satellite
Position antenna is arranged on the buoyage.
6. submersible as claimed in claim 1, which is characterized in that be additionally provided with indicator light on the buoyage.
7. submersible as claimed in claim 1, which is characterized in that be additionally provided with loud speaker on the buoyage.
8. submersible as claimed in claim 1, which is characterized in that the cable is neutral buoyancy cable.
9. a kind of submersible system, which is characterized in that include the submersible of any one of such as claim 1 to 8, further include user's control
Terminal processed；The user control terminal sends control signal under the operation of user, to the second communication module.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810134730.9A CN108226961A (en) | 2018-02-09 | 2018-02-09 | A kind of submersible and submersible system |
| CN201811034054.4A CN109353473A (en) | 2018-02-09 | 2018-09-05 | A kind of submersible and submersible system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810134730.9A CN108226961A (en) | 2018-02-09 | 2018-02-09 | A kind of submersible and submersible system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108226961A true CN108226961A (en) | 2018-06-29 |
Family
ID=62661355
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810134730.9A Pending CN108226961A (en) | 2018-02-09 | 2018-02-09 | A kind of submersible and submersible system |
| CN201811034054.4A Pending CN109353473A (en) | 2018-02-09 | 2018-09-05 | A kind of submersible and submersible system |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811034054.4A Pending CN109353473A (en) | 2018-02-09 | 2018-09-05 | A kind of submersible and submersible system |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN108226961A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111413118A (en) * | 2020-03-19 | 2020-07-14 | 哈尔滨工程大学 | Underwater depth data acquisition system |
| CN111976929A (en) * | 2020-07-16 | 2020-11-24 | 哈尔滨工程大学 | Unmanned underwater vehicle with emergency self-rescue buoy and control method thereof |
| CN112113563A (en) * | 2020-09-18 | 2020-12-22 | 苏州臻迪智能科技有限公司 | Unmanned ship positioning system and unmanned ship positioning method |
| CN113682451A (en) * | 2021-09-16 | 2021-11-23 | 哈尔滨工程大学 | Retractable underwater robot wireless communication device and communication method thereof |
| CN114199224A (en) * | 2021-11-02 | 2022-03-18 | 天津海翼科技有限公司 | Positioning system and positioning method of underwater robot and underwater robot assembly |
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| CN110171536A (en) * | 2019-05-21 | 2019-08-27 | 中国船舶重工集团公司第七一九研究所 | A kind of untethered alarm float based on Beidou satellite navigation system |
| CN110381117A (en) * | 2019-06-19 | 2019-10-25 | 广东工业大学 | A kind of submariner communication system based on extendible buoy |
| CN114179969A (en) * | 2021-11-02 | 2022-03-15 | 天津海翼科技有限公司 | Float for angling |
| CN116772829A (en) * | 2023-08-28 | 2023-09-19 | 华海通信技术有限公司 | Anti-lost system and method for underwater equipment |
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2018
- 2018-02-09 CN CN201810134730.9A patent/CN108226961A/en active Pending
- 2018-09-05 CN CN201811034054.4A patent/CN109353473A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111413118A (en) * | 2020-03-19 | 2020-07-14 | 哈尔滨工程大学 | Underwater depth data acquisition system |
| CN111413118B (en) * | 2020-03-19 | 2021-12-10 | 哈尔滨工程大学 | Underwater depth data acquisition system |
| CN111976929A (en) * | 2020-07-16 | 2020-11-24 | 哈尔滨工程大学 | Unmanned underwater vehicle with emergency self-rescue buoy and control method thereof |
| CN111976929B (en) * | 2020-07-16 | 2022-04-05 | 哈尔滨工程大学 | Unmanned underwater vehicle with emergency self-rescue buoy and control method thereof |
| CN112113563A (en) * | 2020-09-18 | 2020-12-22 | 苏州臻迪智能科技有限公司 | Unmanned ship positioning system and unmanned ship positioning method |
| CN113682451A (en) * | 2021-09-16 | 2021-11-23 | 哈尔滨工程大学 | Retractable underwater robot wireless communication device and communication method thereof |
| CN114199224A (en) * | 2021-11-02 | 2022-03-18 | 天津海翼科技有限公司 | Positioning system and positioning method of underwater robot and underwater robot assembly |
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|---|---|
| CN109353473A (en) | 2019-02-19 |
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