CN109334922A - A kind of modular small deep-sea AUV - Google Patents
A kind of modular small deep-sea AUV Download PDFInfo
- Publication number
- CN109334922A CN109334922A CN201811437896.4A CN201811437896A CN109334922A CN 109334922 A CN109334922 A CN 109334922A CN 201811437896 A CN201811437896 A CN 201811437896A CN 109334922 A CN109334922 A CN 109334922A
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- module
- auv
- flange
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- keel
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Classifications
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- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B71/00—Designing vessels; Predicting their performance
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The present invention provides a kind of modular small deep-sea AUV, belong to underwater robot technical field, including fore body module, sensing module, energy module, main control module, stern module, it is characterized in that, a kind of modular small deep-sea AUV is open-shelf structure, with torpedo line style, fore body module, sensing module, energy module, main control module, stern module have the identical keel of interface structure, the sealed compartment of five modules uses identical sealing structure, has the sensors such as obstacle avoidance sonar, video camera, side scan sonar.The invention has the benefit that on the premise of ensuring performance, reducing the size of deep-sea AUV using modular design concept, to reduce requirement of the AUV to recyclable device is laid, use cost is reduced, deep-sea AUV is made to be more suitable for promoting.
Description
Technical field
The present invention relates to underwater robot technical field more particularly to a kind of modular small deep-sea autonomous underwater machines
People.
Background technique
With the development of intelligent marine settings, AUV technology also obtains very big progress.AUV in current practice
There is extramalization, especially deep-sea AUV, mostly based on large-scale or heavy type.The increase of AUV size can be improved the carrying energy of AUV
Power improves battery capacity, makes it have more fully function and more powerful cruising ability.But the increase of volume and quality increases
Add and laid recovery difficult, has limited the application of deep-sea AUV to a certain extent.In addition large-scale and heavy type AUV involves great expense, difficult
To be promoted in commercial market.
Summary of the invention
The present invention provides a kind of modular small deep-sea AUV, using modular design concept, before guaranteeing performance
It puts, reduces the size of deep-sea AUV, to reduce requirement of the AUV to recyclable device is laid, reduce use cost, make
Deep-sea AUV is more suitable for promoting.
In order to solve the above technical problems, the embodiment of the present application provides a kind of modular small deep-sea AUV, including fore body mould
Block, sensing module, energy module, main control module and stern module.It is characterized in that, a kind of modular small deep-sea
AUV is open-shelf structure, has torpedo line style, fore body module, sensing module, energy module, main control module, stern module have
The identical keel of interface structure, the sealed compartment of five modules use identical sealing structure, and the fore body module is hemispherical
Add cylindrical structure, dive electromagnet be equipped at the center of front side, is equipped with 3 obstacle avoidance sonars around dive electromagnet, respectively with AUV
Central axis court at 45 ° obliquely, oblique left, the oblique right side, be successively arranged preceding hanging ring, line-throwing appliance, fore body above dive electromagnet
Module is arranged right below preceding Sounding sonar, and preceding Sounding sonar rear is equipped with vertical electromagnet, and fore body module rear is equipped with sensing mould
Block, the sensing module downside are equipped with video camera, and video camera is equipped with side-scan sonar towards arranged just beneath, two sides, and upside is equipped with
Hoisting ring 1, sensing module rear are equipped with energy module, and the energy module left side is equipped with underwater switch, and inside, which is equipped with, to be filled
Oily battery pack, energy module rear are equipped with main control module, are equipped with master controller and inertial navigation inside the main control module
System, lower section are equipped with light compensating lamp and Doppler's acoustic speedometer, and light compensating lamp is arranged with AUV central axis at 60 ° of courts obliquely, main
It controls module upper front end and is equipped with hoisting ring 2, upside rear end is equipped with antenna, and main control module rear is equipped with stern module, the stern
Portion's module section is parabola, and top is equipped with acoustic communication machine, and lower section is provided with rear Sounding sonar, and outside is at " ten " font arrangement four
A propeller arranges four empennages at X-shaped, and rear, which is equipped with, only swings ring.
As the preferred embodiment of this programme, the sealed compartment, including screw, spring washer, flange 1, flange 2, flange card
Ring, sealing ring 1, sealing ring 2, hatchcover 1, cabin and hatchcover 2, two hatchcovers are hemispherical, the end face of hatchcover and cabin
End face is equipped with the annulus of protrusion, and flange 1 is stuck on the annulus of 1 protrusion of hatchcover, and flange 2 is stuck in cabin protrusion by flange snap ring
Annulus on, flange 1 and flange 2 are tensed by screw, and sealing ring 1, sealing ring 2 squeeze among flange 2 and cabin, hatchcover 2 and
The connection and sealing of cabin use identical structure.
As the preferred embodiment of this programme, the keel maternal interface and keel public access mouth are respectively provided with round positioning and tie
Structure, the two are connect by keel fixing bolt with keel fixture nut.
As the preferred embodiment of this programme, the fore body module, sensing module, energy module, main control module, stern
Module uses 5A06 aluminium alloy as keel, and buoyant material is wrapped up in periphery, and the gravity of each module in water is equal to buoyancy.
As the preferred embodiment of this programme, the AUV diameter is 350mm, length 3600mm, quality 310kg.
One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:
With volume and weight, the series of advantages such as small, low cost, easy to use, can substantially reduce it and lay and recycle
Requirement to ancillary equipment and lash ship, use are easier.It is generally open-shelf, there is modular structure, support function fast
Speed extension improves function, it can be achieved that structure is exchanged and electrical interconnection between module with firm structure connection between module
The ability that can be combined and extend can adapt to a variety of different working environments.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this hair
Bright some embodiments for those of ordinary skill in the art without any creative labor, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the schematic view of the front view of the embodiment of the present application；
Fig. 2 is the present invention looks up structural representation of the embodiment of the present application；
Fig. 3 is the left view structural representation of the embodiment of the present application；
Fig. 4 is the keel structure detailed schematic of the embodiment of the present application；
Fig. 5 is the sealing structure detailed schematic of the embodiment of the present application.
In Fig. 1-Fig. 5,1, fore body module, 2, sensing module, 3, energy module, 4, main control module, 5, stern module, 6, preceding
Hanging ring, 7, side-scan sonar, 8, sealed compartment, 9, hoisting ring 1,10, oil-filled battery pack, 11, underwater switch, 12, hoisting ring 2,13, day
Line, 14, acoustic communication machine, 15, propeller, 16, empennage, 17, only swing ring, 18, keel fixing bolt, 19, keel fixture nut,
20, preceding Sounding sonar, 21, vertical electromagnet, 22, video camera, 23, light compensating lamp, 24, Doppler's acoustic speedometer, 25, rear survey height
Sonar, 26, line-throwing appliance, 27, dive electromagnet, 28, obstacle avoidance sonar, 29, screw, 30, spring washer, 31, flange 1,32, flange 2,
33, flange snap ring, 34, sealing ring 1,35, sealing ring 2,36, hatchcover 1,37, cabin, 38, hatchcover 2,39, keel maternal interface, 40,
Keel public access mouth.
Specific embodiment
The present invention provides a kind of modular small deep-sea AUV, using modular design concept, before guaranteeing performance
It puts, reduces the size of deep-sea AUV, to reduce requirement of the AUV to recyclable device is laid, reduce use cost, make
Deep-sea AUV is more suitable for promoting.
In order to better understand the above technical scheme, in conjunction with appended figures and specific embodiments to upper
Technical solution is stated to be described in detail.
As shown in Figure 1, a kind of modular small deep-sea AUV, including fore body module 1, sensing module 2, energy module 3, master
Control module 4, stern module 5, which is characterized in that a kind of modular small deep-sea AUV is open-shelf structure, has torpedo
Line style, fore body module 1, sensing module 2, energy module 3, main control module 4, stern module 5 have the identical keel of interface structure,
The sealed compartment 8 of five modules uses identical sealing structure, and the fore body module 1 is that hemispherical adds cylindrical structure, front side
Be equipped with dive electromagnet 27 at center, 3 obstacle avoidance sonars 28 be equipped with around dive electromagnet 27, respectively with AUV central axis at
45 ° of courts obliquely, oblique left, the oblique right side, hanging ring 6, line-throwing appliance 26 before being successively arranged above dive electromagnet 27, fore body module 1
Sounding sonar 20 before being arranged right below, preceding 20 rear of Sounding sonar are equipped with vertical electromagnet 21, and 1 rear of fore body module is equipped with sensing
Module 2 is equipped with video camera 22 on the downside of the sensing module 2, and video camera 22 is equipped with side-scan sonar 7 towards arranged just beneath, two sides,
Upside is equipped with hoisting ring 19, and sensing module rear is equipped with energy module 3, and 3 left side of energy module is equipped with underwater switch
11, inside is equipped with oil-filled battery pack 10, and 3 rear of energy module is equipped with main control module 4, is equipped with master inside the main control module 4
Controller and inertial navigation system, lower section are equipped with light compensating lamp 23 and Doppler's acoustic speedometer 24, light compensating lamp 23 and the center AUV
Axis arranges that 4 upper front end of main control module is equipped with hoisting ring 212 at 60 ° of courts obliquely, and upside rear end is equipped with antenna 13, master control
4 rear of module is equipped with stern module 5, and 5 section of stern module is parabola, and top is equipped with acoustic communication machine 14, and lower section is
Equipped with rear Sounding sonar 25, four propellers 15 are arranged at " ten " font in outside, arrange four empennages 16 at X-shaped, rear is set
Have and only swings ring 17.
Wherein, in practical applications, the sealed compartment 8, including screw 29, spring washer 30, flange 131, flange 232, method
Blue snap ring 33, sealing ring 134, sealing ring 235, hatchcover 136, cabin 37 and hatchcover 238, two hatchcovers are hemispherical, cabin
The end face of lid and the end face of cabin are equipped with the annulus of protrusion, and flange 131 is stuck on the annulus of 136 protrusion of hatchcover, and flange 232 is logical
Flange snap ring 33 to be crossed to be stuck on the annulus of 37 protrusion of cabin, flange 131 is tensed with flange 232 by screw 29, sealing ring 134,
Sealing ring 235 squeezes among flange 232 and cabin 37, and the connection and sealing of hatchcover 238 and cabin 37 use identical structure.
Wherein, in practical applications, the keel maternal interface 39 and keel public access mouth 40 are respectively provided with round positioning and tie
Structure and flange connection, the two are connect by keel fixing bolt 18 with keel fixture nut 19.
Wherein, in practical applications, the fore body module 1, sensing module 2, energy module 3, main control module 4, stern
Module 5 uses 5A06 aluminium alloy as keel, and periphery package buoyant material, the gravity of each module in water is equal to floating
Power.
Wherein, in practical applications, AUV diameter is 350mm, length 3600mm, quality 310kg.
The above described is only a preferred embodiment of the present invention, be not intended to limit the present invention in any form, though
So the present invention has been disclosed as a preferred embodiment, and however, it is not intended to limit the invention, any technology people for being familiar with this profession
Member, without departing from the scope of the present invention, when the technology contents using the disclosure above make a little change or modification
For the equivalent embodiment of equivalent variations, but anything that does not depart from the technical scheme of the invention content, according to the technical essence of the invention
Any simple modification, equivalent change and modification to the above embodiments, all of which are still within the scope of the technical scheme of the invention.
Claims (5)
1. a kind of modular small deep-sea AUV, including fore body module (1), sensing module (2), energy module (3), main control module
(4), stern module (5), which is characterized in that a kind of modular small deep-sea AUV is open-shelf structure, has torpedo line
Type, including fore body module (1), sensing module (2), energy module (3), main control module (4) and stern module (5), five modules
Sealed compartment (8) between be attached with keel public access mouth (40) by keel maternal interface (39), the fore body module (1) is
Hemispherical adds cylindrical structure, is equipped with dive electromagnet (27) at the center of front side, 3 collision preventions are equipped with around dive electromagnet (27)
Sonar (28), 3 obstacle avoidance sonars (28) respectively with AUV central axis court at 45 ° obliquely, oblique left, the oblique right side, dive electromagnetism
It is successively arranged preceding hanging ring (6), line-throwing appliance (26) above iron (27), fore body module (1) is arranged right below preceding Sounding sonar (20), preceding
Sounding sonar (20) rear is equipped with vertical electromagnet (21), and fore body module (1) rear is equipped with sensing module (2), the sensing
Video camera (22) are equipped on the downside of module (2), video camera (22) is equipped with side-scan sonar (7) towards arranged just beneath, two sides, and upside is equipped with
Hoisting ring 1 (9), sensing module rear are equipped with energy module (3), and the energy module (3) left side is equipped with underwater switch
(11), internal to be equipped with oil-filled battery pack (10), energy module (3) rear is equipped with main control module (4), the main control module (4)
Inside is equipped with master controller and inertial navigation system, and lower section is equipped with light compensating lamp (23) and Doppler's acoustic speedometer (24), mends
Light lamp (23) arranges that main control module (4) upper front end is equipped with hoisting ring 2 (12) with AUV central axis obliquely at 60 ° of courts, on
Side rear end is equipped with antenna (13), and main control module (4) rear is equipped with stern module (5), and stern module (5) section is parabolic
Line, top are equipped with acoustic communication machine (14), and lower section is equipped with rear Sounding sonar (25), and four propellers are arranged at " ten " font in outside
(15) and at X-shaped four empennages (16) are arranged, rear, which is equipped with, only swings ring (17).
2. a kind of modular small deep-sea AUV according to claim 1, which is characterized in that the sealed compartment (8), packet
Include screw (29), spring washer (30), flange 1 (31), flange 2 (32), flange snap ring (33), sealing ring 1 (34), sealing ring 2 (35),
Hatchcover 1 (36), cabin (37) and hatchcover 2 (38), two hatchcovers are hemispherical, and the end face of hatchcover and the end face of cabin are all provided with
There is the annulus of protrusion, flange 1 (31) is stuck on the annulus of hatchcover 1 (36) protrusion, and flange 2 (32) is stuck in by flange snap ring (33)
On the annulus of cabin (37) protrusion, flange 1 (31) and flange 2 (32) are tensed by screw (29), sealing ring 1 (34), sealing ring 2
(35) it squeezes among flange 2 (32) and cabin (37), the connection and sealing of hatchcover 2 (38) and cabin (37) use identical knot
Structure.
3. a kind of modular small deep-sea AUV according to claim 1, which is characterized in that the keel maternal interface
(39) round location structure is respectively provided with keel public access mouth (40), and (the two structures are independent in attached drawing with flange connection
Put an enlarged drawing), the two is connect by keel fixing bolt (18) with keel fixture nut (19).
4. a kind of modular small deep-sea AUV according to claim 1, which is characterized in that the fore body module (1),
Sensing module (2), energy module (3), main control module (4), stern module (5) use 5A06 aluminium alloy as keel, periphery
Buoyant material is wrapped up, the gravity of each module in water is equal to buoyancy.
5. a kind of modular small deep-sea AUV according to claim 1, which is characterized in that the modular small is deep
Extra large AUV diameter is 350mm, length 3600mm, quality 310kg.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811437896.4A CN109334922A (en) | 2018-11-29 | 2018-11-29 | A kind of modular small deep-sea AUV |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811437896.4A CN109334922A (en) | 2018-11-29 | 2018-11-29 | A kind of modular small deep-sea AUV |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109334922A true CN109334922A (en) | 2019-02-15 |
Family
ID=65318616
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811437896.4A Pending CN109334922A (en) | 2018-11-29 | 2018-11-29 | A kind of modular small deep-sea AUV |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109334922A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109941410A (en) * | 2019-04-26 | 2019-06-28 | 安徽理工大学 | A kind of modularization AUV |
| CN111928841A (en) * | 2020-09-15 | 2020-11-13 | 天津瀚海蓝帆海洋科技有限公司 | Modular pipeline surveying underwater robot |
| CN113086135A (en) * | 2021-03-30 | 2021-07-09 | 苏州永鼎智联科技有限公司 | Modularized underwater coupling cruising robot |
| CN114740461A (en) * | 2022-06-07 | 2022-07-12 | 深圳市晟达通讯设备有限公司 | Sonar system and be used for this sonar system's underwater positioning antenna |
-
2018
- 2018-11-29 CN CN201811437896.4A patent/CN109334922A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109941410A (en) * | 2019-04-26 | 2019-06-28 | 安徽理工大学 | A kind of modularization AUV |
| CN111928841A (en) * | 2020-09-15 | 2020-11-13 | 天津瀚海蓝帆海洋科技有限公司 | Modular pipeline surveying underwater robot |
| CN113086135A (en) * | 2021-03-30 | 2021-07-09 | 苏州永鼎智联科技有限公司 | Modularized underwater coupling cruising robot |
| CN114740461A (en) * | 2022-06-07 | 2022-07-12 | 深圳市晟达通讯设备有限公司 | Sonar system and be used for this sonar system's underwater positioning antenna |
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