CN108502133A - A kind of deep-sea unmanned submarine and its from cruise method - Google Patents
A kind of deep-sea unmanned submarine and its from cruise method Download PDFInfo
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- CN108502133A CN108502133A CN201810350841.3A CN201810350841A CN108502133A CN 108502133 A CN108502133 A CN 108502133A CN 201810350841 A CN201810350841 A CN 201810350841A CN 108502133 A CN108502133 A CN 108502133A
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- 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
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- 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
- B63G2008/004—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned autonomously operating
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- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of deep-sea unmanned submarine and its from cruise method, deep-sea unmanned submarine includes：Ship ontology, signal transceiver, front and back propeller, propeller, automatic controller switch and gas blow-off cock；Method includes：The navigation point for obtaining deep-sea unmanned submarine obtains predetermined navigation route according to navigation point, and whether have barrier, if so, avoidance is taken to operate if monitoring the yaw situation of deep-sea unmanned submarine and its front navigation channel in real time.The present invention can have more fuel oils to feed, to ensure the comprehensive of monitoring result by being set as unmanned submarine on submarine；Circuit is navigated by water by formulation, and the barrier situation in the yaw situation and navigation channel of deep-sea unmanned submarine is monitored in real time, deep-sea unmanned submarine is enable to cope with the obstacle situation of burst in time, real-time is stronger, the safety for greatly improving deep-sea unmanned submarine, the task to effectively complete navigation comprehensive monitoring provide huge help.
Description
Technical field
The present invention relates to submarine field more particularly to a kind of deep-sea unmanned submarine and its from cruise method.
Background technology
Submarine is a kind of naval vessels of can dive beneath the water activity and operation, also referred to as submarine, and submarine is in militant main work
With being：Nuclear attack is implemented to land strategic objective, destroys military enemy, politics, economic center；It eliminates transport naval vessel, destroy enemy
Square sea route；Attack large and medium-sized surface ship and submarine；Mine-laying, scouting are executed, rescues and repatriates extraordinary personnel and log in.
However, conventional submarine is required for special sailor to drive, at deep-sea etc. when more special field operation, deposit
In certain danger.Sometimes, it in order to investigate landform or enemy's situation, needs to be monitored deep seafloor course line, if still
Submarine is so driven by sailor, then sailor and submarine are required to bear huge pressure, it is dangerous bigger, simultaneously because latent
Supply in ship is certain, and the result of monitoring is also not necessarily comprehensive.
Invention content
In order to solve the above-mentioned technical problem, course line can be planned automatically the object of the present invention is to provide a kind of, and can effectively keep away
Open a kind of deep-sea unmanned submarine of barrier and its from cruise method.
The technical solution adopted in the present invention is：
A kind of deep-sea unmanned submarine, it is characterised in that：The submarine includes submarine ontology, the signal above submarine ontology
Transceiver, the front propeller in front of submarine ontology, positioned at submarine ontology rear rear screw shaft, be located at submarine ontology
The propeller of lower section, the automatic controller switch of submarine body interior and the gas blow-off cock positioned at submarine bodies top；Its
In, submarine ontology is segmentation structure, includes fuel compartment in the middle part of submarine ontology and equipment compartment, beside equipment compartment
Engine space, for automatic controller switch positioned at the top of engine space, gas blow-off cock is located at the top of engine space, before submarine ontology
Both ends are respectively equipped with the first buoyancy adjustment cabin and the second buoyancy adjustment cabin afterwards, there are one the rear end and bottom stage casing of submarine ontology are each
Automatic bidirectional pressure switch is arranged in each nacelle intersection in limbers, is set in the bottom in engine space and the first buoyancy adjustment cabin
A check valve being open to the first buoyancy adjustment cabin is set, the lower part of each nacelle communicates as a channel structure, submarine ontology front end
One camera is set.
As a kind of being further improved for deep-sea unmanned submarine, the outer shape of submarine ontology is ellipse, is moved
Power source in force controller is solid or liquid fuel, and fuel compartment and equipment compartment use firm double-layer structure, push away
It is spiral pipeline paddle structure into device, signal transceiver is Submarine Laser Communication equipment.
Another technical solution of the present invention is：
A kind of deep-sea unmanned submarine from cruise method, include the following steps：
A, remote control, the automatic controller for starting deep-sea unmanned submarine switch on the bank, the second buoyancy tune of deep-sea unmanned submarine
Section cabin constantly intakes, and deep-sea unmanned submarine sinks, and reaches designated depth and designated position；
B, the navigation point of deep-sea unmanned submarine is obtained by navigation point acquiring unit；
C, according to navigation point, automatic cell generation navigation circuit is formulated by course line or self-defined navigation circuit obtains predetermined navigation
Route；
D, deep-sea unmanned submarine monitors whether to yaw in real time by yawing monitoring unit, if so, adjustment course returns in advance
Determine navigation route；Conversely, then keeping current flight state constant；
E, deep-sea unmanned submarine monitors whether front course line has barrier by avoidance unit in real time, if so, avoidance is taken to grasp
Make；Conversely, then keeping current flight state constant；
F, deep-sea unmanned submarine is during entire navigation, can by camera captured in real-time to image and location information pass through
Signal transceiver is sent to control centre on the bank；After deep-sea unmanned submarine completes entire course line, start to make a return voyage, arrival refers to
Positioning postpones, and the second buoyancy adjustment cabin starts to drain, and deep-sea unmanned submarine floats.
As a kind of being further improved from cruise method of deep-sea unmanned submarine, the step B includes：
B1, according to navigation point, automatically generate navigation circuit or self-defined navigation circuit obtain predetermined navigation route；
B2, according to predetermined navigation route, calculate navigation direction and the steering side of each turning point of each coordinate points of navigation route
To and steering angle.
As a kind of being further improved from cruise method of deep-sea unmanned submarine, the step C includes：
C1, deep-sea unmanned submarine monitor current position coordinates and navigation direction in real time；
Whether it is inconsistent with the data of predetermined navigation route for C2, deep-sea unmanned submarine real-time judge, is returned in advance if so, calculating
Determine the steering direction of navigation route and steering angle and steering operation is executed according to steering direction and steering angle at once；Conversely,
Then keep current flight state constant.
As a kind of deep-sea unmanned submarine being further improved from cruise method, the step D includes：
D1, deep-sea unmanned submarine detect whether front course line has barrier by ultrasonic sensor in real time, if so, executing step
Rapid D2；Conversely, then keeping current flight state constant；
D2, by infrared inductor monitor front obstacle whether be biology on the move, if so, reduce headway or
Person stops navigation, is further continued for navigating by water when monitoring that biology on the move leaves predetermined navigation route；If it is not, suspending one
Monitor that front biology on the move does not still leave prebriefed pattern after fixing time, then the obstacle measured according to ultrasonic sensor
Object distance, is calculated the size and location of barrier, and then calculates steering direction and steering angle；
D3, according to steering direction and steering angle, whether have barrier in steering range by ultrasonic sensor detection, if
Then to recalculate steering direction and steering angle, until in steering range without barrier；
D4, deep-sea unmanned submarine are clearing the jumps according to the steering direction and steering angle progress steering operation after determination
After return to predetermined navigation route.
As a kind of being further improved from cruise method of deep-sea unmanned submarine, unit packet is formulated in the course line
It includes：
Airline generation unit, for according to navigation point, automatically generating navigation circuit or self-defined navigation circuit obtaining predetermined navigation
Route；
Course line computing unit, navigation direction for according to predetermined navigation route, calculating navigation each coordinate points of circuit and each
The steering direction and steering angle of turning point.
As a kind of being further improved from cruise method of deep-sea unmanned submarine, the yaw monitoring unit packet
It includes：
Position monitoring unit monitors current position coordinates and navigation direction in real time for deep-sea unmanned submarine；
Judging unit is yawed, whether the position coordinates for being monitored in real time according to deep-sea unmanned submarine and navigation direction judge it
It is inconsistent with the data of predetermined navigation circuit, if so, calculating the steering direction for returning to predetermined navigation route and steering angle simultaneously
Steering operation is executed according to steering direction and steering angle at once；Conversely, then keeping current flight state constant.
As a kind of being further improved from cruise method of deep-sea unmanned submarine, the avoidance unit includes：
Detection of obstacles unit detects whether front navigation channel has obstacle by ultrasonic sensor in real time for deep-sea unmanned submarine
Object, if so, executing obstacle classification unit；Conversely, then keeping current flight state constant；
Obstacle classification unit divides the barrier in front navigation channel by infrared inductor for deep-sea unmanned submarine
Class, if monitoring, barrier is biology on the move, reduces headway or stops navigation, when monitoring life on the move
When object leaves front navigation channel, restore navigation；Conversely, by before monitoring that biology on the move does not leave yet after a certain period of time
Fang Hangdao then executes steering computing unit；
Computing unit is turned to, returns to obtain navigation image in real time for passing through camera, and measure according to ultrasonic sensor
Obstacle distance, the size and location of barrier is calculated, and then calculate steering direction and steering angle；
Adjustment unit is turned to, for according to steering direction and steering angle, being detected in steering range by ultrasonic sensor
Whether have barrier, if so, recalculate steering direction and steering angle, until in steering range without barrier；
Back course unit, for deep-sea unmanned submarine according to after determination steering direction and steering angle carry out steering operation,
And predetermined navigation circuit is returned to after clearing the jumps.
The beneficial effects of the invention are as follows：
A kind of deep-sea unmanned submarine of the present invention and its can have on submarine more by being set as unmanned submarine from cruise method
Fuel oil supply, ensure submarine the abyssalbenthic activity duration abundance, to ensure the comprehensive of monitoring result；Pass through formulation
Circuit is navigated by water, and monitors the barrier situation in the yaw situation and navigation channel of deep-sea unmanned submarine in real time so that is deep-sea unmanned to dive
Ship can cope with the obstacle situation of burst in time, the case where effectively avoiding knocking barrier, and predetermined boat can be returned to after avoidance
Walking along the street line, real-time is stronger, greatly improves the safety of deep-sea unmanned submarine.
Description of the drawings
The specific implementation mode of the present invention is described further below in conjunction with the accompanying drawings：
Fig. 1 is a kind of schematic diagram of deep-sea unmanned submarine of the present invention.
Specific implementation mode
With reference to figure 1, a kind of deep-sea unmanned submarine of the present invention, it is characterised in that：The submarine includes submarine ontology 1, position
Signal transceiver 2 above submarine ontology 1, positioned at 1 front of submarine ontology front propeller 3, be located at submarine ontology 1 after
The rear screw shaft 4 of side, the propeller 5 positioned at the lower section of submarine ontology 1, the automatic controller switch 6 inside submarine ontology 1 and it is located at
The gas blow-off cock 7 at 1 top of submarine ontology；Wherein, submarine ontology 1 is segmentation structure, including is located at 1 middle part of submarine ontology
Fuel compartment 11 and equipment compartment 12, the engine space 13 beside equipment compartment, automatic controller switch 6 be located at the upper of engine space 13
Side, gas blow-off cock 7 are located at the top of engine space 13, and 1 rear and front end of submarine ontology is respectively equipped with the first buoyancy adjustment cabin 14
With the second buoyancy adjustment cabin 15, the rear end and bottom stage casing of submarine ontology 1 are respectively there are one limbers 16, in each nacelle intersection
Two-way switch 17 is set, and being arranged one in the bottom in engine space 13 and the first buoyancy adjustment cabin 14 is open to the first buoyancy adjustment cabin
The lower part of 14 check valve 18, each nacelle communicates as a channel structure 19,1 front end of submarine ontology setting, one camera 20.Combustion
Material cabin 11 provides every energy needed for deep-sea unmanned submarine, including needed for electric power and passenger's daily life；Equipment compartment 12 is to put
The place of various monitoring devices is set, including but not limited to：Unit, yaw are formulated in automatic controller, navigation point acquiring unit, navigation
Monitoring unit and avoidance unit；The top of engine space 13 set there are one gas discharge card close 7, when in engine space 13 air pressure increase
When, automatic controller controls gas blow-off cock 7 and opens, so as to reduce the air pressure in cabin；Two before and after submarine ontology 1
The propeller 5 of 1 bottom of two propellers and submarine ontology at end controls submarine movement.
As a kind of being further improved for deep-sea unmanned submarine, the outer shape of submarine ontology 1 is ellipse, is moved
Power source in force controller 6 is solid or liquid fuel, fuel compartment 11 and equipment compartment 12 using the firm double-deck knot
Structure, propeller 5 are spiral pipeline paddle structure, and signal transceiver 2 is Submarine Laser Communication equipment.
A kind of deep-sea unmanned submarine of the present invention from cruise method, include the following steps：
A, remote control, the automatic controller for starting deep-sea unmanned submarine switch on the bank, the second buoyancy tune of deep-sea unmanned submarine
It saves cabin 15 constantly to intake, deep-sea unmanned submarine sinks, and reaches designated depth and designated position；
B, the navigation point of deep-sea unmanned submarine is obtained by navigation point acquiring unit；
C, according to navigation point, automatic cell generation navigation circuit is formulated by course line or self-defined navigation circuit obtains predetermined navigation
Route；
D, deep-sea unmanned submarine monitors whether to yaw in real time by yawing monitoring unit, if so, adjustment course returns in advance
Determine navigation route；Conversely, then keeping current flight state constant；
E, deep-sea unmanned submarine monitors whether front course line has barrier by avoidance unit in real time, if so, avoidance is taken to grasp
Make；Conversely, then keeping current flight state constant；
F, deep-sea unmanned submarine is during entire navigation, can by 20 captured in real-time of camera to image and location information lead to
It crosses signal transceiver 2 and is sent to control centre on the bank；After deep-sea unmanned submarine completes entire course line, starts to make a return voyage, support
Up to after designated position, the second buoyancy adjustment cabin 15 starts to drain, and deep-sea unmanned submarine floats.
As a kind of being further improved from cruise method of deep-sea unmanned submarine, the step B includes：
B1, according to navigation point, automatically generate navigation circuit or self-defined navigation circuit obtain predetermined navigation route；
B2, according to predetermined navigation route, calculate navigation direction and the steering side of each turning point of each coordinate points of navigation route
To and steering angle.
As a kind of being further improved from cruise method of deep-sea unmanned submarine, the step C includes：
C1, deep-sea unmanned submarine monitor current position coordinates and navigation direction in real time；
Whether it is inconsistent with the data of predetermined navigation route for C2, deep-sea unmanned submarine real-time judge, is returned in advance if so, calculating
Determine the steering direction of navigation route and steering angle and steering operation is executed according to steering direction and steering angle at once；Conversely,
Then keep current flight state constant.
As a kind of deep-sea unmanned submarine being further improved from cruise method, the step D includes：
D1, deep-sea unmanned submarine detect whether front course line has barrier by ultrasonic sensor in real time, if so, executing step
Rapid D2；Conversely, then keeping current flight state constant；
D2, by infrared inductor monitor front obstacle whether be biology on the move, if so, reduce headway or
Person stops navigation, is further continued for navigating by water when monitoring that biology on the move leaves predetermined navigation route；If it is not, suspending one
After fixing time, preferably 10min monitors that front biology on the move does not still leave prebriefed pattern, is then passed according to ultrasonic wave
The obstacle distance that sensor measures, is calculated the size and location of barrier, and then calculates steering direction and steering angle；
D3, according to steering direction and steering angle, whether have barrier in steering range by ultrasonic sensor detection, if
Then to recalculate steering direction and steering angle, until in steering range without barrier；
D4, deep-sea unmanned submarine are clearing the jumps according to the steering direction and steering angle progress steering operation after determination
After return to predetermined navigation route.
As a kind of being further improved from cruise method of deep-sea unmanned submarine, unit packet is formulated in the course line
It includes：
Airline generation unit, for according to navigation point, automatically generating navigation circuit or self-defined navigation circuit obtaining predetermined navigation
Route；
Course line computing unit, navigation direction for according to predetermined navigation route, calculating navigation each coordinate points of circuit and each
The steering direction and steering angle of turning point.
As a kind of being further improved from cruise method of deep-sea unmanned submarine, the yaw monitoring unit packet
It includes：
Position monitoring unit monitors current position coordinates and navigation direction in real time for deep-sea unmanned submarine；
Judging unit is yawed, whether the position coordinates for being monitored in real time according to deep-sea unmanned submarine and navigation direction judge it
It is inconsistent with the data of predetermined navigation circuit, if so, calculating the steering direction for returning to predetermined navigation route and steering angle simultaneously
Steering operation is executed according to steering direction and steering angle at once；Conversely, then keeping current flight state constant.
As a kind of being further improved from cruise method of deep-sea unmanned submarine, the avoidance unit includes：
Detection of obstacles unit detects whether front navigation channel has obstacle by ultrasonic sensor in real time for deep-sea unmanned submarine
Object, if so, executing obstacle classification unit；Conversely, then keeping current flight state constant；
Obstacle classification unit divides the barrier in front navigation channel by infrared inductor for deep-sea unmanned submarine
Class, if monitoring, barrier is biology on the move, reduces headway or stops navigation, when monitoring life on the move
When object leaves front navigation channel, restore navigation；Conversely, by before monitoring that biology on the move does not leave yet after a certain period of time
Fang Hangdao then executes steering computing unit；
Computing unit is turned to, returns to obtain navigation image in real time for passing through camera, and measure according to ultrasonic sensor
Obstacle distance, the size and location of barrier is calculated, and then calculate steering direction and steering angle；
Adjustment unit is turned to, for according to steering direction and steering angle, being detected in steering range by ultrasonic sensor
Whether have barrier, if so, recalculate steering direction and steering angle, until in steering range without barrier；
Back course unit, for deep-sea unmanned submarine according to after determination steering direction and steering angle carry out steering operation,
And predetermined navigation circuit is returned to after clearing the jumps.
From the foregoing it can be that a kind of deep-sea unmanned submarine of the present invention and its latent by being set as nobody from cruise method
Ship can have on submarine more fuel oils to feed, and ensure submarine in abundance of abyssalbenthic activity duration, to ensure monitoring knot
Fruit it is comprehensive；Circuit is navigated by water by formulation, and monitors the barrier in the yaw situation and navigation channel of deep-sea unmanned submarine in real time
Situation so that deep-sea unmanned submarine can cope with the obstacle situation of burst in time, the case where effectively avoiding knocking barrier, and energy
Predetermined navigation route is returned to after avoidance, real-time is stronger, greatly improves the safety of deep-sea unmanned submarine, to effectively complete
The task of navigation comprehensive monitoring provides huge help.
It is to be illustrated to the preferable implementation of the present invention, but the invention is not limited to the implementation above
Example, those skilled in the art can also make various equivalent variations or be replaced under the premise of without prejudice to spirit of that invention
It changes, these equivalent deformations or replacement are all contained in the application claim limited range.
Claims (9)
1. a kind of deep-sea unmanned submarine, it is characterised in that：The submarine includes submarine ontology, the letter above submarine ontology
Number transceiver, the front propeller in front of submarine ontology, positioned at submarine ontology rear rear screw shaft, be located at submarine sheet
The automatic controller switch of propeller, submarine body interior below body and the gas blow-off cock positioned at submarine bodies top；
Wherein, submarine ontology is segmentation structure, includes fuel compartment in the middle part of submarine ontology and equipment compartment, is located at beside equipment compartment
Engine space, for automatic controller switch positioned at the top of engine space, gas blow-off cock is located at the top of engine space, submarine ontology
Rear and front end is respectively equipped with the first buoyancy adjustment cabin and the second buoyancy adjustment cabin, and the rear end and bottom stage casing of submarine ontology respectively have one
Automatic bidirectional pressure switch is arranged in each nacelle intersection in a limbers, in the bottom of engine space and the first buoyancy adjustment cabin
One check valve being open to the first buoyancy adjustment cabin is set, and the lower part of each nacelle communicates as a channel structure, before submarine ontology
One camera of end setting.
2. a kind of deep-sea unmanned submarine according to claim 1, it is characterised in that：The outer shape of submarine ontology is ellipse
Shape, the power source in power controller are solid or liquid fuel, fuel compartment and equipment compartment using the firm double-deck knot
Structure, propeller are spiral pipeline paddle structure, and signal transceiver is Submarine Laser Communication equipment.
3. a kind of deep-sea unmanned submarine according to claim 1 or 2 from cruise method, include the following steps：
A, remote control, the automatic controller for starting deep-sea unmanned submarine switch on the bank, the second buoyancy tune of deep-sea unmanned submarine
Section cabin constantly intakes, and deep-sea unmanned submarine sinks, and reaches designated depth and designated position；
B, the navigation point of deep-sea unmanned submarine is obtained by navigation point acquiring unit；
C, according to navigation point, automatic cell generation navigation circuit is formulated by course line or self-defined navigation circuit obtains predetermined navigation
Route；
D, deep-sea unmanned submarine monitors whether to yaw in real time by yawing monitoring unit, if so, adjustment course returns in advance
Determine navigation route；Conversely, then keeping current flight state constant；
E, deep-sea unmanned submarine monitors whether front course line has barrier by avoidance unit in real time, if so, avoidance is taken to grasp
Make；Conversely, then keeping current flight state constant；
F, deep-sea unmanned submarine is during entire navigation, can by camera captured in real-time to image and location information pass through
Signal transceiver is sent to control centre on the bank；After deep-sea unmanned submarine completes entire course line, start to make a return voyage, arrival refers to
Positioning postpones, and the second buoyancy adjustment cabin starts to drain, and deep-sea unmanned submarine floats.
4. a kind of deep-sea unmanned submarine according to claim 3 from cruise method, it is characterised in that：The step B packets
It includes：
B1, according to navigation point, automatically generate navigation circuit or self-defined navigation circuit obtain predetermined navigation route；
B2, according to predetermined navigation route, calculate navigation direction and the steering side of each turning point of each coordinate points of navigation route
To and steering angle.
5. a kind of being further improved from cruise method of deep-sea unmanned submarine according to claim 3, it is characterised in that：
The step C includes：
C1, deep-sea unmanned submarine monitor current position coordinates and navigation direction in real time；
Whether it is inconsistent with the data of predetermined navigation route for C2, deep-sea unmanned submarine real-time judge, is returned in advance if so, calculating
Determine the steering direction of navigation route and steering angle and steering operation is executed according to steering direction and steering angle at once；Conversely,
Then keep current flight state constant.
6. a kind of deep-sea unmanned submarine according to claim 3 from cruise method, it is characterised in that：The step D packets
It includes：
D1, deep-sea unmanned submarine detect whether front course line has barrier by ultrasonic sensor in real time, if so, executing step
Rapid D2；Conversely, then keeping current flight state constant；
D2, by infrared inductor monitor front obstacle whether be biology on the move, if so, reduce headway or
Person stops navigation, is further continued for navigating by water when monitoring that biology on the move leaves predetermined navigation route；If it is not, suspending one
Monitor that front biology on the move does not still leave prebriefed pattern after fixing time, then the obstacle measured according to ultrasonic sensor
Object distance, is calculated the size and location of barrier, and then calculates steering direction and steering angle；
D3, according to steering direction and steering angle, whether have barrier in steering range by ultrasonic sensor detection, if
Then to recalculate steering direction and steering angle, until in steering range without barrier；
D4, deep-sea unmanned submarine are clearing the jumps according to the steering direction and steering angle progress steering operation after determination
After return to predetermined navigation route.
7. a kind of deep-sea unmanned submarine according to claim 3 from cruise method, it is characterised in that：It formulates in the course line
Unit includes：
Airline generation unit, for according to navigation point, automatically generating navigation circuit or self-defined navigation circuit obtaining predetermined navigation
Route；
Course line computing unit, navigation direction for according to predetermined navigation route, calculating navigation each coordinate points of circuit and each
The steering direction and steering angle of turning point.
8. a kind of deep-sea unmanned submarine according to claim 3 from cruise method, it is characterised in that：The yaw monitoring
Unit includes：
Position monitoring unit monitors current position coordinates and navigation direction in real time for deep-sea unmanned submarine；
Judging unit is yawed, whether the position coordinates for being monitored in real time according to deep-sea unmanned submarine and navigation direction judge it
It is inconsistent with the data of predetermined navigation circuit, if so, calculating the steering direction for returning to predetermined navigation route and steering angle simultaneously
Steering operation is executed according to steering direction and steering angle at once；Conversely, then keeping current flight state constant.
9. a kind of deep-sea unmanned submarine according to claim 3 from cruise method, it is characterised in that：The avoidance unit
Including：
Detection of obstacles unit detects whether front navigation channel has obstacle by ultrasonic sensor in real time for deep-sea unmanned submarine
Object, if so, executing obstacle classification unit；Conversely, then keeping current flight state constant；
Obstacle classification unit divides the barrier in front navigation channel by infrared inductor for deep-sea unmanned submarine
Class, if monitoring, barrier is biology on the move, reduces headway or stops navigation, when monitoring life on the move
When object leaves front navigation channel, restore navigation；Conversely, by before monitoring that biology on the move does not leave yet after a certain period of time
Fang Hangdao then executes steering computing unit；
Computing unit is turned to, returns to obtain navigation image in real time for passing through camera, and measure according to ultrasonic sensor
Obstacle distance, the size and location of barrier is calculated, and then calculate steering direction and steering angle；
Adjustment unit is turned to, for according to steering direction and steering angle, being detected in steering range by ultrasonic sensor
Whether have barrier, if so, recalculate steering direction and steering angle, until in steering range without barrier；
Back course unit, for deep-sea unmanned submarine according to after determination steering direction and steering angle carry out steering operation,
And predetermined navigation circuit is returned to after clearing the jumps.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112198845A (en) * | 2020-09-03 | 2021-01-08 | 深圳市云洲创新科技有限公司 | Offshore service prevention system |
| CN116300660A (en) * | 2023-05-15 | 2023-06-23 | 海南坤联科技有限公司 | Submarine control method and system |
| CN116499461A (en) * | 2023-06-27 | 2023-07-28 | 中国科学院深海科学与工程研究所 | Marine animal behavior monitoring device and method |
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Application publication date: 20180907 |