CN108945362B

CN108945362B - Submarine navigator

Info

Publication number: CN108945362B
Application number: CN201810752569.1A
Authority: CN
Inventors: 张凯; 王传婷; 廖立睿; 文梓达
Original assignee: Nanjing University of Science and Technology
Current assignee: Nanjing University of Science and Technology
Priority date: 2018-07-10
Filing date: 2018-07-10
Publication date: 2024-04-05
Anticipated expiration: 2038-07-10
Also published as: CN108945362A

Abstract

The invention discloses a submarine submersible vehicle, which comprises a parent submersible vehicle and a plurality of sub-submersible vehicles, wherein the parent submersible vehicle comprises a propulsion system, a course control system, a weapon emission system, a plurality of sub-submersible vehicle storage-charge-repair units, a parent total control system, a sonar emission and reception processing system, a parent air storage chamber, a nuclear power conversion system and a motor power system, the plurality of sub-submersible vehicle storage-charge-repair units are covered on the whole body of the parent submersible vehicle and fixedly connected with the parent submersible vehicle, and each sub-submersible vehicle storage-charge-repair unit comprises one sub-submersible vehicle; the submarine can well replace human beings to carry out a series of military tasks in the deep sea field, can be divided into a plurality of small submarine, realizes omnibearing three-dimensional reconnaissance, has multiple functions of information reconnaissance, information transmission, enemy hit and the like, and can complete activities such as cruising the pilot sea, reconnaissance in the deep sea and scientific research.

Description

Submarine navigator

Technical Field

The invention relates to the technical field of submarine detection, in particular to a submarine navigator.

Background

With the increasing demand of human beings for resources and the constant discovery of potential marine resources, marine interests are becoming a global hot topic. Each country develops its own navy military in order to guarantee its own interests in deep sea. China is also required to promote maintenance of the main right of the leading sea of China and exploration of the deep sea. Due to the complex deep sea environment, many emergency situations exist, and the method is not suitable for people to directly conduct activities.

Human awareness of the deep sea remains at a relatively low level compared to exploration of the sky and space. This is because the pressure of sea water is multiplied with the increase of depth, and the combined action of various complex ocean currents, submerged reefs, sea mountains and the like makes the human beings face much more difficulty in deep sea activities than in the air. Therefore, humans are far behind aircraft in the research of deep sea equipment.

With the progress and development of technology, the performance of the unmanned underwater vehicle is gradually mature and perfected. Starting from the 90 s of the 20 th century, western countries, beginning with the united states, began to be interested in this flexible new underwater combat effort, devoting tremendous funds to support its improved development. In 1988, the united states naval and national defense pre-research bureau established a development plan for a "full-coverage-in-water area" biomimetic submersible. In 1999, the U.S. naval developed the first generation of unmanned submarine reconnaissance systems for searching torpedoes. Currently, the united states navy has become the first unmanned submarine user. In addition to the united states, russia, united kingdom, france, japan, and the like, have proposed unmanned submarines with superior performance.

However, the existing submarine is plagued by the problems of narrow detection coverage, incomplete and inflexible information collection and the like.

Disclosure of Invention

The submarine craft provided by the invention can well replace human beings to carry out a series of military tasks in the deep sea field, realize omnibearing three-dimensional reconnaissance, simultaneously have multiple functions of information reconnaissance, information transmission, enemy hit and the like, and can complete cruising of the territory, reconnaissance of the deep sea, scientific research and the like.

In order to achieve the above purpose, the present invention provides the following technical solutions:

the submarine spacecraft comprises a parent submarine spacecraft and a plurality of child submarine spacecraft, wherein the parent submarine spacecraft comprises a propulsion system, a course control system, a weapon emission system, a plurality of child submarine spacecraft storage-energy charging-repairing units, a parent master control system, a sonar emission and receiving processing system, a parent air receiver, a nuclear power conversion system and a motor power system, the propulsion system is positioned at the tail end of the parent submarine spacecraft, the child submarine spacecraft storage-energy charging-repairing units are covered on the whole body of the parent submarine spacecraft and fixedly connected with the parent submarine spacecraft, each child submarine spacecraft storage-energy charging-repairing unit comprises a child submarine spacecraft, the parent master control system, a sonar emission and receiving processing system, a parent air receiver, a nuclear power conversion system and a motor power system are arranged inside the parent submarine spacecraft, and the child submarine spacecraft comprises at least one sensor system, a top shell, a sonar emission and receiving mechanism, a camera and a master control system and a power supply.

Further, the propulsion system is a propeller propulsion system, the heading control system is positioned at the rear part of the parent submarine, and the weapon firing system is positioned at the bottom of the parent submarine.

Further, the main body control system is located at the position, close to the head, of the main body submarine craft, and is connected with the sonar transmitting and receiving processing system, the first main body air storage chamber, the nuclear power conversion system, the second main body air storage chamber and the motor power system sequentially through connecting pipelines, communication lines are arranged in the connecting pipelines, and the motor power system is connected with the propulsion system to provide power for the propulsion system.

Further, the storage-energy charging-repairing unit of the sub-submarine is of a cuboid structure, the upper surface of the sub-submarine is exposed out of seawater, the upper surface comprises a left cabin door and a right cabin door, and the left cabin door and the right cabin door can slide along cabin door rails on two sides of the upper surface in opposite directions so as to realize opening and closing of the cabin doors; the storage chamber is positioned in the storage-energy-filling-repairing unit in the cabin door, the sub-submarines can be accommodated in the storage chamber, the sub-submarines storage-energy-filling-repairing unit further comprises a drainage system communicated with the storage chamber and the upper surface, a cable channel is arranged on the side face, close to the lower surface, of the sub-submarines storage-energy-filling-repairing unit, and a communication cable for connecting the sub-submarines with the parent submarines is arranged in the cable channel.

Further, the sub-submarine further comprises a middle platform, the top shell covers the upper portion of the middle platform, the bottom of the top shell is fixedly connected with the middle platform, a sonar transmitting and receiving mechanism, a power supply, a camera and a jellyfish total control system are arranged on the middle platform inside the top shell, the top shell and the inner space of the top shell surrounded by the middle platform form the air storage chamber, the lower portion of the middle platform is connected with a propeller mechanism, the side edge of the middle platform is connected with a lower shell extending downwards, the lower shell contains the propeller mechanism, and at least one sensor system is connected to the outer portion of the lower shell.

Further, the top shell is a hemispherical shape, the middle platform is a circular platform, and the lower shell is a cylindrical shape.

Further, the top shell is coated glass with a unidirectional perspective function.

Further, the number of the sensor systems is 4, the sensor systems are uniformly distributed outside the lower shell, the number of the sonar transmitting and receiving mechanisms is 8, and the sensor systems are uniformly distributed on the upper surface of the middle platform.

Further, the propeller mechanism comprises 4 propellers, each of the 4 propellers being individually controllable.

Further, the power supply is a rechargeable battery.

Compared with the prior art, the invention has the beneficial effects that:

(1) The submarine submersible vehicle can realize full coverage detection of a water area, and the parent submersible vehicle adopts a nuclear power battery, so that the energy reserve is enough to supply the submarine vehicle and the child submersible vehicle carried by the submarine vehicle to execute tasks for a long time;

(2) The control system (carried by the parent submersible vehicle) and the detection system (carried by the child submersible vehicle) are adopted to control the parent submersible vehicle by a worker, and the parent submersible vehicle controls the child submersible vehicle, so that the control technology is greatly simplified;

(3) When a scientific research task is executed, the child submarines can be returned to the parent submarines at regular time to repair and charge, the damaged part parent control system can be automatically replaced, the utilization rate of the whole part is improved, and when the child submarines cannot be automatically returned to the parent due to the damage of emergency, the parent control system can position the child submarines for recovery;

(4) By adopting unmanned operation and remote control design, the navigation and cruising can be carried out according to a preset navigation path, and the parent submarine is used for controlling and communicating the submarine through sound waves, so that the development trend of modern science and technology is complied with;

(5) The son-the-submarine adopts the design of the shell imitating jellyfish, thereby increasing the concealment.

Drawings

FIG. 1 is a schematic view of the structure of the submarine navigator according to the present invention.

Fig. 2 is a schematic view of the exterior of the parent submersible according to the invention.

FIG. 3 is a schematic view of the structure of the interior of the parent submersible vehicle of the invention.

FIG. 4 is a schematic diagram of a storage-charging-repair unit for a sub-submersible vehicle according to the present invention.

FIG. 5 is a schematic view of the exterior of the sub-submersible of the invention.

FIG. 6 is a schematic view of the structure of the interior of the child submersible vehicle of the invention.

In the figure: the system comprises a 2-sub-submarine, a 11-propulsion system, a 12-course control system, a 13-weapon emission system, a 14-sub-submarine storage-charging-repairing unit, a 15-parent main control system, a 16-sonar emission and receiving processing system, a 17-parent air storage chamber, a 18-nuclear power conversion system, a 19-motor power system, a 141-cable channel, a 142-drainage system, a 143-cabin door, a 144-cabin door track, a 145-storage chamber, a 21-sensor system, a 22-top shell, a 23-air storage chamber, a 24-propeller mechanism, a 25-sonar emission and receiving mechanism, a 26-camera and jellyfish main control system, a 27-power supply, a 28-middle platform and a 29-lower shell.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Referring to fig. 1-2, a submarine submersible comprises a parent submersible and a plurality of sub-submersible 2, wherein the parent submersible comprises a propulsion system 11, a course control system 12, a weapon emission system 13, a plurality of sub-submersible storage-charging-repair units 14, a parent total control system 15, a sonar emission and reception processing system 16, a parent air storage chamber 17, a nuclear power conversion system 18 and a motor power system 19, the propulsion system 11 is positioned at the tail end of the parent submersible, the plurality of sub-submersible storage-charging-repair units 14 are fixedly connected with the parent submersible in a covering mode, each sub-submersible storage-charging-repair unit 14 comprises one sub-submersible 2, the parent total control system 15, the sonar emission and reception processing system 16, the parent air storage chamber 17, the nuclear power conversion system 18 and the motor power system 19 are arranged inside the parent submersible, and the sub-submersible 2 comprises at least one sensor system 21, a top shell 22, an air storage chamber 23, a screw propeller mechanism 24, a receiving mechanism 25 and a power supply system 27.

Further, the propulsion system 11 is a propeller propulsion system, the heading control system 12 is located at the rear of the parent submarine, and the weapon firing system 13 is located at the bottom of the parent submarine.

Further, referring to fig. 1 and 3, the master main control system 15 is located at a position where the master submarine is close to the head, and the master main control system 15 is connected with the sonar transmitting and receiving processing system 16, the first master air storage chamber 17-1, the nuclear power conversion system 18, the second master air storage chamber 17-2 and the motor power system 19 sequentially through connecting pipelines, a communication line is arranged in the connecting pipelines, the motor power system 19 is connected with the propulsion system 11 to provide power for the propulsion system, and the master main control system 15 can realize communication control between ground control personnel and the master submarine and communication control between ground control personnel and the master submarine.

Further, referring to fig. 4, the storage-charging-repairing unit 14 of the sub-submersible vehicle has a rectangular parallelepiped structure, the upper surface of which is exposed to the sea water, the upper surface includes two left and right doors 143, and the left and right doors 143 can slide along the door rails 144 on both sides of the upper surface in opposite directions to open and close the doors 143; the storage chamber 145 is located inside the storage-charging-repairing unit 14 in the cabin door 143, the sub-submersible vehicle 2 may be accommodated in the storage chamber 145, the sub-submersible vehicle storage-charging-repairing unit 14 further includes a drainage system 142 communicating the storage chamber 145 with the upper surface, a cable channel 141 is disposed on a side of the sub-submersible vehicle storage-charging-repairing unit 14 near the lower surface, and a communication cable connecting the sub-submersible vehicle and the parent submersible vehicle is disposed in the cable channel 141.

Further, referring to fig. 5-6, the sub-submersible vehicle 2 further includes a middle platform 28, the top casing 22 covers the upper portion of the middle platform 28, the bottom of the top casing 22 is fixedly connected with the middle platform 28, a sonar transmitting and receiving mechanism 25, a power supply 27, a camera and jellyfish total control system 26 are disposed on the middle platform 28 inside the top casing 22, the air storage chamber 23 is formed by the top casing 22 and the inner space of the top casing 22 surrounded by the middle platform 28, a propeller mechanism 24 is connected to the lower portion of the middle platform 28, a lower casing 29 extending downwards is connected to the side edge of the middle platform 28, the lower casing 29 accommodates the propeller mechanism 24, and at least one sensor system 21 is connected to the outer portion of the lower casing 29.

Further, the top housing 22 is a hemispherical shape, the middle platform 28 is a circular platform, and the lower housing 29 is a cylindrical shape.

Further, the top case 22 is a one-way perspective coated glass which enables an external view to be observed from the inside of the case 22 and an internal view to be not observed from the outside of the case 22, thereby isolating the inside of the case from the outside.

Further, the number of the sensor systems 21 is 4, they are uniformly distributed outside the lower housing 29, the number of the sonar transmitting and receiving mechanisms 25 is 8, and they are uniformly distributed on the upper surface of the middle platform 28.

Further, the propeller mechanism 24 includes 4 propellers, each of which 4 propellers is individually controllable.

Further, the power supply 27 is a rechargeable battery

The working principle of the invention is as follows:

parent submarine vessel:

after the command personnel control the main control system 15 of the parent body by using a control program on the shore, the parent body runs according to the navigation system, the propulsion system 11 provides power, the heading control system 12 controls the heading, the parent body air storage chamber 17 controls the internal air storage amount to control the submerging depth, and after reaching a specified sea area, under the control of the program, a certain number of sub-submarines are released at each submerging depth of twenty meters, sonar data connection and control are carried out on each sub-submariner, so that the whole coverage of a certain water area is realized.

The main body control system 15 sends out action instructions, the action instructions are transmitted to the eight sonar transmitting and receiving mechanisms 25 of all the sub-submarines by the sonar transmitting and receiving processing system 16, the sub-submarines are controlled by the main body control system 26 to complete the task of collecting information (such as seabed morphology, seabed biological distribution condition, water quality information, enemy seabed military information and the like) and return to the sub-submarines storage-charging-repairing unit 14, and the collected information is transmitted to the main body control system 15 through the cable passage 141 and is repaired and charged.

Sub-submarines:

the cabin door 143 is opened, the son-mother submarine is controlled by the jellyfish total control system 26, the gas storage capacity is adjusted by the jellyfish gas storage chamber 23 to lift, the direction of the water flow is changed by forming the differential rotation of the four independent propeller mechanisms 24, and the information of the water areas distributed by the sensor system 21 and the cameras is collected; meanwhile, the sonar transmitting and receiving mechanism 25 is used for receiving information of the parent submersible vehicle at any time so as to keep high vigilance of danger and detection timeliness of the whole water area, after the information acquisition is finished, the child submersible vehicle returns to the child submersible vehicle storage-energy charging-repairing unit 14 in the parent, the cabin door 143 is closed, the drainage system 142 discharges surplus water, and the child submersible vehicle performs data transmission and energy charging repairing.

If the position is exposed, the parent submarine is returned to the safe area. The parent submarine is used for giving instructions to the child submarine, and if necessary, the program self-explosion is started. Once the enemy location is determined during the return voyage, the parent submersible can also be attacked by the martial arts launcher system 13.

The invention is not limited to the above embodiments, and based on the technical solution disclosed in the invention, those skilled in the art can make some simple modifications, equivalent changes and modifications to some technical features without creative efforts according to the disclosed technical content, which all fall within the scope of the technical solution of the invention.

Claims

1. A submarine submersible vehicle comprising a parent submersible vehicle and a plurality of child submersible vehicles (2), characterized in that,

the parent submersible comprises a propulsion system (11), a course control system (12), a weapon emission system (13), a plurality of child submersible storage-charge-repair units (14), a parent total control system (15), a sonar emission and reception processing system (16), a parent air storage chamber (17), a nuclear power conversion system (18) and a motor power system (19), wherein the propulsion system (11) is positioned at the tail end of the parent submersible, the plurality of child submersible storage-charge-repair units (14) are covered on the whole body of the parent submersible and fixedly connected with the parent submersible, each child submersible storage-charge-repair unit (14) comprises one child submersible (2), the parent total control system (15), the sonar emission and reception processing system (16), the parent air storage chamber (17), the nuclear power conversion system (18) and the motor power system (19) are arranged inside the parent submersible,

the sub-submarine craft (2) comprises at least one sensor system (21), a top shell (22), an air storage chamber (23), a propeller mechanism (24), a sonar transmitting and receiving mechanism (25), a camera and jellyfish total control system (26) and a power supply (27);

the child submersible vehicle storage-energy charging-repairing unit (14) is of a cuboid structure, the upper surface of the child submersible vehicle storage-energy charging-repairing unit is exposed out of seawater, the upper surface of the child submersible vehicle storage-energy charging-repairing unit comprises a left cabin door and a right cabin door (143), and the left cabin door and the right cabin door (143) can slide in opposite directions along cabin door rails (144) on two sides of the upper surface so as to open and close the cabin doors (143); the storage-energy charging-repairing unit (14) of the sub-submersible vehicle comprises a storage chamber (145), the storage chamber (145) is positioned in the storage-energy charging-repairing unit (14) in a cabin door (143), the sub-submersible vehicle (2) can be accommodated in the storage chamber (145), the storage-energy charging-repairing unit (14) of the sub-submersible vehicle further comprises a drainage system (142) communicated with the storage chamber (145) and the upper surface, a cable channel (141) is arranged on the side surface, close to the lower surface, of the storage-energy charging-repairing unit (14) of the sub-submersible vehicle, and a communication cable for connecting the sub-submersible vehicle and the parent submersible vehicle is arranged in the cable channel (141);

the sub-submarine craft (2) further comprises a middle platform (28), the top shell (22) covers the upper portion of the middle platform (28) and the bottom of the top shell (22) is fixedly connected with the middle platform (28), a sonar transmitting and receiving mechanism (25), a power supply (27) and a camera and jellyfish total control system (26) are arranged on the middle platform (28) inside the top shell (22), an air storage chamber (23) is formed in the inner space of the top shell (22) surrounded by the middle platform (28), a propeller mechanism (24) is connected to the lower portion of the middle platform (28), a lower shell (29) extending downwards is connected to the side edge of the middle platform (28), the lower shell (29) contains the propeller mechanism (24), and at least one sensor system (21) is connected to the outer portion of the lower shell (29).

2. The submarine craft according to claim 1, characterized in that the propulsion system (11) is a propeller propulsion system, the heading control system (12) is located at the rear of the parent craft and the weapon launch system (13) is located at the bottom of the parent craft.

3. The submarine spacecraft according to claim 1, wherein the master control system (15) is located near the head of the submarine spacecraft, the master control system (15) is connected with a sonar transmitting and receiving processing system (16), a first master air storage chamber (17-1), a nuclear power conversion system (18), a second master air storage chamber (17-2) and a motor power system (19) sequentially through connecting pipelines, a communication line is arranged in the connecting pipelines, and the motor power system (19) is connected with the propulsion system (11) to provide power for the motor power system.

4. The submarine craft according to claim 1, wherein the top shell (22) is hemispherical, the intermediate platform (28) is a circular platform, and the lower shell (29) is cylindrical.

5. The submarine craft according to claim 4, wherein the top case (22) is a single perspective coated glass.

6. The submarine navigation device according to claim 4, wherein the number of the sensor systems (21) is 4, the sensor systems are uniformly distributed outside the lower shell (29), the number of the sonar transmitting and receiving mechanisms (25) is 8, and the sensor systems are uniformly distributed on the upper surface of the middle platform (28).

7. The submarine craft according to claim 1, wherein the propeller mechanism (24) comprises 4 propellers, each of the 4 propellers being individually controllable.

8. Submarine craft according to claim 1, wherein the power supply (27) is a rechargeable battery.