CN109050847A - Gravity adjusting device and method when a kind of execution multitask for AUV - Google Patents
Gravity adjusting device and method when a kind of execution multitask for AUV Download PDFInfo
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- CN109050847A CN109050847A CN201811090730.XA CN201811090730A CN109050847A CN 109050847 A CN109050847 A CN 109050847A CN 201811090730 A CN201811090730 A CN 201811090730A CN 109050847 A CN109050847 A CN 109050847A
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- loading module
- auv
- adjusting device
- counter weight
- gravity adjusting
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- 230000005484 gravity Effects 0.000 title claims abstract description 69
- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000012856 packing Methods 0.000 claims abstract description 22
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 17
- 239000000463 material Substances 0.000 claims description 12
- 230000001105 regulatory effect Effects 0.000 claims description 7
- 239000004677 Nylon Substances 0.000 claims description 6
- 230000000694 effects Effects 0.000 claims description 6
- 229920006351 engineering plastic Polymers 0.000 claims description 6
- 239000011521 glass Substances 0.000 claims description 6
- 238000003754 machining Methods 0.000 claims description 6
- 229920001778 nylon Polymers 0.000 claims description 6
- 229920000122 acrylonitrile butadiene styrene Polymers 0.000 claims description 5
- 230000003247 decreasing effect Effects 0.000 claims description 5
- 238000005213 imbibition Methods 0.000 claims description 5
- 238000013461 design Methods 0.000 claims description 4
- 238000012360 testing method Methods 0.000 claims description 4
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 3
- 229910052802 copper Inorganic materials 0.000 claims description 3
- 239000010949 copper Substances 0.000 claims description 3
- 230000008859 change Effects 0.000 description 5
- 238000004364 calculation method Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 241000245301 Nymphoides Species 0.000 description 1
- 235000000476 Nymphoides peltata Nutrition 0.000 description 1
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- 235000011613 Pinus brutia Nutrition 0.000 description 1
- 241000018646 Pinus brutia Species 0.000 description 1
- 239000002390 adhesive tape Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
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- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000010030 laminating Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 230000002093 peripheral effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
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
- B63G8/14—Control of attitude or depth
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention discloses it is a kind of for AUV execute multitask when gravity adjusting device and method, the device include loading module, counter weight strip and packing；Loading module is stitched together and is formed by three preceding loading module, intermediate loading module and rear loading module parts, and three parts are detachably connected；Intermediate loading module includes at least one load units, and the end face of load units is provided with several through-holes, after the through-hole alignment of the identical load units of all structures, is constituted several for placing the long holes of counter weight strip and packing；Packing is used to fill the gap between counter weight strip and long hole；The surface of intermediate loading module has at least one groove in the width direction, and hose clamp is placed in groove.The present invention can quickly and efficiently adjust its gravity size, position of centre of gravity, positive buoyancy needed for can meeting normal/cruise and posture after replacing different equipment in AUV.Apparatus of the present invention are simple to operate, simple and reliable for structure, low in cost, and applicability is wide.
Description
Technical field
The invention belongs to Autonomous Underwater Vehicle field, center of gravity when being related to a kind of execution multitask for AUV adjusts dress
It sets and method.
Background technique
Autonomous Underwater Vehicle (Autonomous Underwater Vehicle, abbreviation AUV) be it is a kind of nobody, it is untethered
Formula underwater robot realizes different functions by the equipment for carrying different, as Underwater Target Detection, the bottom are imaged, under water
Camera shooting, Hydrological Data Acquisition etc..In the actual use process, in order to improve the service efficiency of AUV, in primary outgoing experiment
Several different equipment of current test can be taken turns.Due under AUV in water stationary state positive buoyancy and posture the navigation of AUV is played
Very crucial effect, and after more exchange device, the gravity and buoyancy of AUV entirety would generally change, center of gravity and floating
Heart position also changes therewith, cannot reach the requirement of positive buoyancy and posture required for navigating by water, and then influences its motion control effect
Fruit, and the ship resistance of AUV may be increased, reduce radius.
Existing trim scheme mainly includes following two: a kind of method be by mechanical device it is mobile inside pouring weight come
Adjust the pitching and roll of AUV；In Publication No. " CN 102145740A ", a kind of entitled " underwater robot center of gravity adjusting dress
Set " patent document in, it is noted that the technical solution of gravity adjusting device for underwater robot, but the technical solution on the one hand only
It is adjustable center of gravity, is not adjustable gravity, center of gravity when being adapted for carrying out single task role is adjusted；On the other hand its mechanical device occupies
Valuable inner space, while also increasing the cost of AUV.Another method is to be made into weight (such as stereotype) and AUV
The outside of AUV is directly fixed on after the identical shape of shell with adhesive tape or other modes, this mode is adjusted less
It is convenient, and for different tasks, the size of weight, position are usually different, in addition weight is paid no attention to AUV laminating degree
Think, the monnolithic case of AUV under different task caused to change, so AUV navigate by water when around flow field also change therewith, influence
Water performance.
Summary of the invention
In view of the above-mentioned deficiencies in the prior art, it is an object of the present invention to provide center of gravity when a kind of execution multitask for AUV
Regulating device, the technical problems to be solved by the present invention are: 1, can fast and effeciently adjust after more exchange device the gravity of AUV
And center of gravity, i.e., AUV is met to the operational configuration of certain positive buoyancy, pitch angle, roll angle with Heisei；2, the present invention is not take up AUV
Inner space makes each trim can be in AUV peripheral operation, and cabin without tearing AUV open improves control efficiency, avoids
Because dismounting AUV cabin bring system risk；3, the present invention is fixed on outside AUV, has fairshaped design, plays reduction resistance
The effect of power.
The purpose of the present invention is achieved through the following technical solutions: center of gravity when a kind of execution multitask for AUV
Regulating device, the device include loading module, counter weight strip and packing；The loading module is by preceding loading module, intermediate loading
Three parts of module and rear loading module are stitched together to be formed, and three parts are detachably connected；The intermediate loading module
Including at least one load units, the end face of load units is provided with several through-holes, the through-hole of the identical load units of all structures
After alignment, several long holes for being used to place counter weight strip and packing are constituted, to adjust the weight and roll of AUV；The packing
For filling the gap between counter weight strip and long hole, counter weight strip is avoided slide in slot hole；The surface of the intermediate loading module
Groove at least one in the width direction, hose clamp are placed in groove, for fixing gravity adjusting device and AUV shell
Connection.
Further, the counter weight strip selects high density material, including lead or copper；The packing selects density to connect with water
Closely (1.05g/cm3), water imbibition is low, meets intensity and resistance to pressure request, the material convenient for machining, including ABS, nylon, work
Engineering plastics, organic glass；The material selection density of the loading module and water are close to (1.05g/cm3), water imbibition is low, satisfaction is strong
Degree and resistance to pressure request, the material convenient for machining, including ABS, nylon, engineering plastics, organic glass.
Further, the counter weight strip is identical with the cross sectional dimensions of packing, can use vertical prismatic shape or cylinder,
The shape of the through-hole is matched with counterweight strip, is changed with the shape of counter weight strip.
Further, the end face that the preceding loading module/rear loading module is contacted with intermediate loading module is plane or tool
Have with the matched groove of long hole, the effect of preceding loading module and rear loading module be together with packing to counter weight strip provide one
Axial limit.
Further, the loading module is designed as the streamline shape being bonded with AUV shell, and entire center of gravity can be made to adjust
Device generates lesser resistance under sail.
Further, the preceding loading module, intermediate loading module and rear loading module all have perforative mounting hole, long
Screw rod passes through mounting hole, these three loading modules of connecting, and is fastened by fastener.
Further, the intermediate loading module uses modularized design, can increase and decrease of load units according to demand
Number, and then increase and decrease the space for accommodating counter weight strip.
A method of AUV center of gravity being adjusted using gravity adjusting device, this method comprises:
Counter weight strip quantity is estimated, by gravity adjusting device by hose clamp fixed on the shell of AUV；
After AUV is lauched: if positive buoyancy needed for navigation cannot be reached because of estimation error, increasing or decreasing counter weight strip number
Amount；
If AUV pitch angle has deviation, gravity adjusting device is axially moveable；
If AUV roll angle has deviation, in the counter weight strip swerved the weight in regulating device to different long holes；
AUV has executed trim again according to the above method after a subtask replaces test equipment again.
Further, when adjusting counter weight strip, preceding loading module or rear loading module are dismantled；Hose clamp is twisted when adjusting pitch angle
Pine moves axially gravity adjusting device.
The beneficial effects of the present invention are: the present invention provides a kind of gravity adjusting devices being installed on outside AUV, in AUV
Its gravity size, position of centre of gravity can be quickly and efficiently adjusted after replacing different equipment, can be met needed for normal/cruise
Positive buoyancy and posture.Intermediate loading module of the invention can increase and decrease the number of load units according to demand, adjustable
Sphere of gravity is larger.Entire gravity adjusting device is connected to outside AUV by two hose clamps, when adjusting counter weight strip, dress before dismantling
Module or rear loading module are carried, the counter weight strip and packing of the inside can be taken out；Hose clamp is unscrewed when adjusting pitch angle, foundation is estimated
The distance of calculation is axially swerved the weight regulating device；Counter weight strip is moved to corresponding position i.e. by the value demarcated when adjusting roll
It can.Gravity adjusting device fine can must be bonded with the shape of AUV, and shape is streamlined, can reduce resistance when navigation.This
Invention gravity adjusting device is simple to operate, and the simple and reliable for structure, low in cost of whole device, applicability are wide.
Detailed description of the invention
Fig. 1 is the component part of gravity adjusting device；
Fig. 2 is the gravity adjusting device after combination；
Fig. 3 is the gravity adjusting device being fixed on AUV；
Fig. 4 is intermediate loading module section.
Specific embodiment
Invention is further described in detail in the following with reference to the drawings and specific embodiments.
Gravity adjusting device when a kind of execution multitask for AUV provided by the invention, the gravity adjusting device include
Loading module 1, counter weight strip 2 and packing 3；The loading module 1 is by preceding loading module 11, intermediate loading module 12 and rear loading
13 3 parts of module are stitched together to be formed, and three parts are detachably connected；The intermediate loading module 12 includes at least
One load units 121 (number of load units 121 is chosen according to the required length for loading counter weight strip 2), load units 121
End face be provided with several through-holes 4, after the through-hole alignment of the identical load units 121 of all structures, constitute and several match for placing
The long hole of weight item 2 and packing 3, to adjust the weight and roll of AUV7；The packing 3 is for filling counter weight strip 2 and long hole
Between gap, avoid counter weight strip 2 slide in slot hole；The surface of the intermediate loading module 12 has at least one along width
The groove 5 in direction, hose clamp 6 are placed in groove 5, for gravity adjusting device to be fixedly connected with the shell of AUV7.
Further, the counter weight strip 2 selects high density material, including lead or copper；The packing 3 selects density and water
Close to (1.05g/cm3), water imbibition is low, meets intensity and resistance to pressure request, the material convenient for machining, including ABS, nylon,
Engineering plastics, organic glass；The material selection density of the loading module 1 and water are close to (1.05g/cm3), water imbibition it is low, full
Sufficient intensity and resistance to pressure request, the material convenient for machining, including ABS, nylon, engineering plastics, organic glass.
Further, the counter weight strip 2 is identical with the cross sectional dimensions of packing 3, can use vertical prismatic shape or cylinder
The shape of shape, the through-hole 4 is matched with 2 shape of counter weight strip, is changed with the shape of counter weight strip 2.
Further, the end face that loading module 13 is contacted with intermediate loading module 12 after the preceding loading module 11/ is flat
Face or have with the matched groove of long hole, the effect of preceding loading module 11 and rear loading module 13 is with packing 3 together to matching
Weight item 2 provides the limit of an axial direction.
Further, the loading module 1 is designed as the streamline shape being bonded with the shell of AUV7, can make entire center of gravity
Regulating device generates lesser resistance under sail.Respectively to without gravity adjusting device, band blunt form gravity adjusting device,
Simulation calculation is carried out with the AUV under three kinds of states of streamlined gravity adjusting device, resistance when its direct route is obtained, is shown in Table 1.
1 gravity adjusting device of table brings resistance to change
| Sail through to resistance | |
| Without gravity adjusting device | D |
| Band blunt form gravity adjusting device | 1.18D |
| With streamlined gravity adjusting device | 1.09D |
Further, the preceding loading module 11, intermediate loading module 12 and rear loading module 13 all have perforative peace
Hole 8 is filled, long bolt 9 passes through mounting hole 8, these three loading modules of connecting, and is fastened by fastener 10.
Further, the intermediate loading module 12 uses modularized design, can increase and decrease load units 121 according to demand
Number, and then increase and decrease accommodate counter weight strip 2 space.
Method using gravity adjusting device adjustment AUV center of gravity is specific as follows:
2 quantity of counter weight strip is estimated, by gravity adjusting device by hose clamp fixed on the shell of AUV7；
After AUV7 is lauched: if positive buoyancy needed for navigation cannot be reached because of estimation error, increasing or decreasing the number of counter weight strip 2
Amount；
If AUV pitch angle has deviation, gravity adjusting device is axially moveable；
If AUV roll angle has deviation, the counter weight strip 2 swerved the weight in regulating device is arrived in different long holes, for example will match
Weight item 2 is moved to the long hole of middle position from the long hole of the extreme side；
AUV has executed trim again according to the above method after a subtask replaces test equipment again.
When adjusting counter weight strip 2, loading module 11 or rear loading module 13 before dismantling；Hose clamp 6 is unscrewed when adjusting pitch angle,
Move axially gravity adjusting device.
Before using gravity adjusting device, it is thus necessary to determine that the hull position of AUV, and be marked on AUV；By AUV
It adjusts to the posture of needs, using this posture as reference；
If increasing/reducing n equipment on this basis, weight is respectively m1, m2 ..., mn, the position point apart from centre of buoyancy
Not Wei X1, X2 ..., Xn need to maintain above-mentioned posture by counter weight strip reduction/increase (m1+ in gravity adjusting device
M2+ ... ,+mn) weight, while by gravity adjusting device be axially displaced to offset generate pitching moment, mobile distance
X is denoted as,
After additional equipment, a rolling moment can be generated to the central axes of AUV, so that the roll angle of AUV be made to change；
Assuming that the weight of n equipment is respectively m1, m2 ..., mn, the angle minute of the line and vertical plane put in equipment center of gravity and central axes
It is not θ 1, θ 2 ..., θ n, the quality of a certain counter weight strip is m in gravity adjusting device, then the counter weight strip needs mobile angle, θ
Are as follows:
The hole column pitch of gravity adjusting device is fixed, if the adjusting that a counter weight strip is not able to satisfy roll angle needs
Ask, can more counter weight strips adjust together.
Above-described embodiment is used to illustrate the present invention, rather than limits the invention, in spirit of the invention and
In scope of protection of the claims, to any modifications and changes that the present invention makes, protection scope of the present invention is both fallen within.
Claims (9)
1. it is a kind of for AUV execute multitask when gravity adjusting device, which is characterized in that including loading module, counter weight strip and
Packing；The loading module is stitched together shape by preceding loading module, intermediate three parts of loading module and rear loading module
At, and three parts are detachably connected；The intermediate loading module includes at least one load units, and the end face of load units is opened
There are several through-holes, after the through-hole alignment of the identical load units of all structures, constitutes several for placing counter weight strip and packing
Long hole, to adjust the weight and roll of AUV；The packing is used to fill the gap between counter weight strip and long hole, avoids matching
Weight item is slide in slot hole；The surface of the intermediate loading module has at least one groove in the width direction, and hose clamp is placed
In in groove, for gravity adjusting device to be fixedly connected with AUV shell.
2. gravity adjusting device when a kind of execution multitask for AUV according to claim 1, which is characterized in that institute
It states counter weight strip and selects high density material, including lead or copper；The packing selects density and water close to (1.05g/cm3), water suction
Property is low, meets intensity and resistance to pressure request, the material convenient for machining, including ABS, nylon, engineering plastics, organic glass；Institute
The material selection density and water for stating loading module are close to (1.05g/cm3), water imbibition is low, meets intensity and resistance to pressure request, is convenient for
The material of machining, including ABS, nylon, engineering plastics, organic glass.
3. gravity adjusting device when a kind of execution multitask for AUV according to claim 1, which is characterized in that institute
It is identical with the cross sectional dimensions of packing to state counter weight strip, can use vertical prismatic shape or cylinder, the shape of the through-hole with match
Weight strip matching, changes with the shape of counter weight strip.
4. gravity adjusting device when a kind of execution multitask for AUV according to claim 1, which is characterized in that institute
State the end face that preceding loading module/rear loading module contact with intermediate loading module be plane or with the matched groove of long hole,
The effect of preceding loading module and rear loading module is to provide the limit of an axial direction to counter weight strip together with packing.
5. gravity adjusting device when a kind of execution multitask for AUV according to claim 1, which is characterized in that institute
State loading module and be designed as the streamline shape being bonded with AUV shell, can make entire gravity adjusting device generate under sail compared with
Small resistance.
6. gravity adjusting device when a kind of execution multitask for AUV according to claim 1, which is characterized in that institute
It states preceding loading module, intermediate loading module and rear loading module and all has perforative mounting hole, long bolt passes through mounting hole, series connection
These three loading modules, and fastened by fastener.
7. gravity adjusting device when a kind of execution multitask for AUV according to claim 1, which is characterized in that institute
The number of load units can be increased and decreased using modularized design according to demand by stating intermediate loading module, and then is increased and decreased and accommodated counterweight
The space of item.
8. a kind of method using any one of claim 1-7 described device adjustment AUV center of gravity, which is characterized in that this method packet
It includes:
Counter weight strip quantity is estimated, by gravity adjusting device by hose clamp fixed on the shell of AUV；
After AUV is lauched: if positive buoyancy needed for navigation cannot be reached because of estimation error, increasing or decreasing counter weight strip quantity；
If AUV pitch angle has deviation, gravity adjusting device is axially moveable；
If AUV roll angle has deviation, in the counter weight strip swerved the weight in regulating device to different long holes；
AUV has executed trim again according to the above method after a subtask replaces test equipment again.
9. according to the method described in claim 8, it is characterized in that, dismantling preceding loading module or rear loading when adjusting counter weight strip
Module；Hose clamp is unscrewed when adjusting pitch angle, moves axially gravity adjusting device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811090730.XA CN109050847B (en) | 2018-09-18 | 2018-09-18 | Gravity center adjusting device and method for AUV (autonomous Underwater vehicle) in multitasking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811090730.XA CN109050847B (en) | 2018-09-18 | 2018-09-18 | Gravity center adjusting device and method for AUV (autonomous Underwater vehicle) in multitasking |
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| Publication Number | Publication Date |
|---|---|
| CN109050847A true CN109050847A (en) | 2018-12-21 |
| CN109050847B CN109050847B (en) | 2023-12-15 |
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|---|---|---|---|
| CN201811090730.XA Active CN109050847B (en) | 2018-09-18 | 2018-09-18 | Gravity center adjusting device and method for AUV (autonomous Underwater vehicle) in multitasking |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111204428A (en) * | 2019-12-18 | 2020-05-29 | 杭州电子科技大学 | Towed body suitable for diving area |
| CN111301725A (en) * | 2020-03-20 | 2020-06-19 | 上海大学 | Balancing structure and balancing method of mechanical wrist |
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| KR20000032191A (en) * | 1998-11-13 | 2000-06-05 | 김종수 | Device for dividing weight sinker of underwater equipment by using explosion bolt |
| CN103587666A (en) * | 2013-11-15 | 2014-02-19 | 华中科技大学 | Center-of-mass adjusting device of deep sea glider |
| CN204279898U (en) * | 2014-08-15 | 2015-04-22 | 国家深海基地管理中心 | Split blade type load-carrying block and loader mechanism thereof |
| CN205524895U (en) * | 2016-02-29 | 2016-08-31 | 中海蓝水自动化装备有限公司 | A counter weight device for underwater vehicle |
| US20170369137A1 (en) * | 2016-06-22 | 2017-12-28 | Riptide Autonomous Solutions, LLC | Unmanned underwater vehicle |
| CN208760876U (en) * | 2018-09-18 | 2019-04-19 | 浙江九段智能科技有限公司 | A kind of gravity adjusting device when the execution multitask for AUV |
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2018
- 2018-09-18 CN CN201811090730.XA patent/CN109050847B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20000032191A (en) * | 1998-11-13 | 2000-06-05 | 김종수 | Device for dividing weight sinker of underwater equipment by using explosion bolt |
| CN103587666A (en) * | 2013-11-15 | 2014-02-19 | 华中科技大学 | Center-of-mass adjusting device of deep sea glider |
| CN204279898U (en) * | 2014-08-15 | 2015-04-22 | 国家深海基地管理中心 | Split blade type load-carrying block and loader mechanism thereof |
| CN205524895U (en) * | 2016-02-29 | 2016-08-31 | 中海蓝水自动化装备有限公司 | A counter weight device for underwater vehicle |
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| CN111301725A (en) * | 2020-03-20 | 2020-06-19 | 上海大学 | Balancing structure and balancing method of mechanical wrist |
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| CN109050847B (en) | 2023-12-15 |
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