CN110053741A - Based on the under-ce exploration system for being suitable for ice hole and laying recycling for capturing ROV - Google Patents
Based on the under-ce exploration system for being suitable for ice hole and laying recycling for capturing ROV Download PDFInfo
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- CN110053741A CN110053741A CN201910271308.2A CN201910271308A CN110053741A CN 110053741 A CN110053741 A CN 110053741A CN 201910271308 A CN201910271308 A CN 201910271308A CN 110053741 A CN110053741 A CN 110053741A
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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
- B63C11/34—Diving chambers with mechanical link, e.g. cable, to a base
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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
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- Ocean & Marine Engineering (AREA)
- Geophysics And Detection Of Objects (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Abstract
It is a kind of to be entered under water by the limited ice hole in aperture based on the under-ce exploration system for being suitable for ice hole and laying recycling for capturing ROV, including bearing cable, raising and decentralizing for under-ce exploration system is carried out in ice hole for hanging on；It plugs into cabin, is fixedly connected with bearing cable of its movement is driven, for capturing the underwater folding and unfolding of ROV and the charging continuation of the journey and data communication of under-ce exploration AUV；ROV is captured, connect with cabin of plugging into and is combined into the columned overall structure that can move in the limited ice hole in aperture and the cabin progress water sample or deposit acquires and under-ce exploration AUV plugs into of plugging into can be detached from when underwater；Under-ce exploration AUV, for it is underwater when be detached from and capture ROV and carry out undersea detection or plug into and be fixed on to capture in ROV to carry out charging continuation of the journey and data communication with capturing mobile be recycled in cabin of plugging into of ROV.The present invention will not collide with the wall surface in ice hole and damage components, improve system in the detection time and investigative range of subglacial, improve detection efficient.
Description
Technical field
The invention belongs to marine technology engineering field, it is related to a kind of laying recycling based on the ice hole that is suitable for for capturing ROV
Under-ce exploration system.
Background technique
There is sea-ice field and the ice shelfs in connection ocean and polar ice sheet at the two poles of the earth of the earth.To the detection of subglacial environment and
Sampling, including the observation of subglacial ocean thermohaline circulation, the detection of the subglacial marine eco-environment, subglacial seawater and deposit sampling etc. are
The important means for studying subglacial ocean thermohaline circulation, ice shelf and ocean interaction, has important scientific meaning.It is main at present
There are two types of the detections that mode carries out subglacial environment, first is that by drilling in ice face and being put into the instrument and equipment with cable wherein,
The instrument and equipment that this mode is laid is only limitted to range extremely limited under detection ice hole, not can be carried out subglacial and visits on a large scale
It surveys.Second is that passing through the Autonomous Underwater Vehicle (Autonomous Underwater Vehicle, AUV) navigated by water under water.It is this
AUV is usually then to be laid and recycled in biggish ice hole by chiseling ice sheet, but AUV cruising ability has under mode
Limit leads to detection time and is limited in scope, in addition, the mode that thin ice sheet can take open ice hole to lay, but for thickness
Ice sheet, such as Antarctic region thickness reach the ice shelf of upper km, and usually by polar region hot water drill hole of drilling machine, the ice hole opened is usually straight
Diameter is limited (in the magnitude of 35cm~80cm), therefore directly can not lay and recycle AUV in deep and narrow ice hole.
Existing under-ce exploration robot, such as a kind of under-ce exploration machine that Patent No. 201710886568.1 is announced
A kind of under-ce exploration robot that people and Patent No. 201810313651.4 are announced, being all can only be right by chiseling ice sheet
Laid and recycled in biggish ice hole afterwards so realize under-ce exploration, can not directly be laid in deep and narrow ice hole and
Recycle AUV.
Summary of the invention
The under-ce exploration system of recycling can be laid in the limited ice hole in aperture the present invention provides a kind of, it is therein autonomous
Sniffing robot independently can also nearby carry out docking charging and data transmission back to ice hole bottom, to increase under-ce exploration
Time and range.
The technical solution adopted by the present invention is that:
A kind of under-ce exploration system for being suitable for ice hole and laying recycling based on capture ROV, can be limited by aperture
Ice hole enters underwater, it is characterised in that: including
Bearing cable carries out raising and decentralizing for under-ce exploration system for hanging in ice hole；
It plugs into cabin, is fixedly connected with bearing cable of its movement is driven, for capturing ROV (Remotely Operated
Vehicle, cable control submersible) underwater folding and unfolding and under-ce exploration AUV charging continuation of the journey and data communication；
ROV is captured, the columned overall structure that is combined into and can move in the limited ice hole in aperture is connect with cabin of plugging into
And cabin of plugging into can be detached from when underwater and carry out water sample or deposit acquisition, moreover it is possible to actively capture under-ce exploration AUV and therewith
It plugs into；
Under-ce exploration AUV, for it is underwater when be detached from and capture ROV and carry out underwater autonomous exploration or plug into be fixed on to capture ROV
In carry out charging continuation of the journey and data communication with capturing mobile be recycled in cabin of plugging into of ROV；
In ice Kong Bufang or removal process, cabin of plugging into withdraws cable completely, capture ROV under the action of cable with plug into cabin
Coaxially fit together, under-ce exploration AUV also plugged into cabin and capture ROV be locked, the global shape of combined system
For with the cylindric of ladder.Overall structure of the invention be it is cylindric, will not collide with the wall surface in ice hole and damage zero
Part.Capture ROV and under-ce exploration AUV between by return under water it is docked refute in the way of system can be improved in the detection time of subglacial
And investigative range.It is complementary to capture detecting function between ROV and under-ce exploration AUV, improves detection efficient.
Further, the cabin of plugging into includes cylindrical housings, and control and cockpit are equipped in the circular cylindrical shell body, is connect
Cylinder is refuted, the battery core of the bearing cable is linked into control and cockpit, and winch driving electricity is equipped in the control and cockpit
Machine, the two sides of the winch driving motor are mounted on niggerhead, and the niggerhead coiling of side has neutral buoyancy main push-towing rope, described
The cable connection of control and cockpit is connect by winch slip ring with neutral buoyancy main push-towing rope in winch slip ring, the battery core of the cable,
The niggerhead coiling of the other side has a neutral buoyancy pair cable, the free end of the neutral buoyancy main push-towing rope and neutral buoyancy pair cable with capture
ROV connection；
The periphery of the cylinder of plugging into is sequentially installed with for whether detecting under-ce exploration AUV completely into the position for cylinder of plugging into
It sets sensor, filled for under-ce exploration AUV completely into the first locking being locked for carrying out under-ce exploration AUV after cylinder of plugging into
It sets, charging and the communication device of charge for under-ce exploration AUV continuation of the journey and data transmission.
Further, the fixed plate of hollow out, the control and cockpit and cylinder point of plugging into are installed in the circular cylindrical shell body
It is not fixed on the two sides of fixed plate, the cylindrical housings are mounted on for corresponding on the wall surface below each niggerhead
The leading block of neutral buoyancy cable limit and guiding, the bottoms of the cylindrical housings be equipped with for capture what ROV was docked
Butt junction location cone tank.
Further, for the cylinder of plugging into for cylindrical guide tube, it is gentle that bottom is equipped with limit when for under-ce exploration AUV docking
The cone tank of punching.
Further, the capture ROV includes hollow ROV outer cylinder, and the rear end of the ROV outer cylinder is equipped with hollow out annular shape
Back shroud, the inside of the back shroud be uniformly equipped with several driving capture ROV sub-aqua sports backward propeller, it is described
The edge installation of back shroud is fixed in the middle part of the back shroud and is used for and ice there are two the hanging ring that connect respectively with neutral buoyancy cable
The capture cylinder of lower detection AUV docking；The outside for capturing cylinder is equipped with ROV control cabinet and the second locking device, the ROV control
Main control board and impeller driven circuit board are installed, the propeller is connect with impeller driven circuit board in cabin processed；
It is radially disposed with close to front position for the Underwater Navigation position under-ce exploration AUV and view on the inside of the ROV outer cylinder
Feel the forward sight camera for being oriented to under-ce exploration AUV and plugging into, the headlamp for providing good visual effect, for under-ce exploration
When AUV makes a return voyage the ultra-short baseline of hydrolocation or underwater sound communication positioning (Ultrashort Baseline, USBL) transponder and
Several are used to acquire the hydrophore of subglacial water sample, the forward sight camera, headlamp, ultra-short baseline positioning transponder and Cai Shui
Device is electrically connected with main control board.All components including propeller of capture ROV of the invention, which are all located at, catches
The inside of ROV outer cylinder is caught, will not be with ice hole damaged in collision components, propeller is connected to external water stream in ROV outer cylinder, and raising pushes away
Into efficiency, the effect for reducing and capturing ROV advance resistance is also functioned to.
Further, the inner wall circumferencial direction of the ROV outer cylinder is evenly equipped with several sideways-acting propellers.The present invention arranges up and down
Sideways-acting propeller control capture ROV floating and dive, left and right arrangement sideways-acting propeller control capture ROV traversing, institute
Stating sideways-acting propeller arrangement can be improved the maneuverability for capturing ROV, so as to capture AUV more flexiblely.
Further, the circumferential surface of the ROV outer cylinder offers big hole close to the position of rear side propeller, can make external water
Stream can be good at being connected to propeller, improve propulsive efficiency.
Further, pass through several radially spokes between the external opening of the cylinder of plugging into and the front opening of ROV outer cylinder
The uniformly distributed taper gib block connection of strip.Taper gib block plays guiding role when under-ce exploration AUV is docked with capture ROV,
There is gap between taper gib block simultaneously, do not influence external water stream and be connected to propeller, also function to reduction and capture ROV advance resistance
The effect of power.
Further, the headlamp is arranged in the both sides of forward sight camera, and the hydrophore is located at ultra-short baseline positioning and answers
The two sides of device are answered, the forward sight camera is located at surface on the inside of ROV outer cylinder, and the ultra-short baseline positioning transponder is located at ROV
Immediately below on the inside of outer cylinder.
Further, the under-ce exploration AUV is the smooth torpedo-shaped of shell, and tail portion is equipped with vector propeller, the arrow
The maximum outside diameter for measuring propeller is less than the envelope outer diameter of under-ce exploration AUV；The front end of the under-ce exploration AUV is equipped with camera
(USBL) transceiver is positioned with the ultra-short baseline for hydrolocation communication；The antenna of the under-ce exploration AUV is mounted on outer
Shell inside cavity.
Beneficial effects of the present invention:
1, under-ce exploration system is in ice Kong Bufang or removal process, and global shape is cylindric, and periphery is not any
The components of protrusion, therefore be suitble to carry out laying recycling in the limited ice hole in aperture, it will not be with ice hole damaged in collision components.
2, under-ce exploration system, which can use, captures the function that ROV realization under-ce exploration AUV can not be realized easily, for example adopts
Collect water sample and deposit sampling, realizes that detecting function is complementary.The model that ROV can be long in itself cable is captured in under-ce exploration system
Enclose it is interior detected, such as camera shooting, acquisition water sample etc. can also carry deposit if cable is long to be allowed to capture ROV and reach water-bed
Sampler is sampled benthal deposit.
3, it captures ROV and is equipped with forward sight camera, can be used for visual guidance and actively capture under-ce exploration AUV；Cabin of plugging into is set
There is the relevant structure of communication of plugging into and charge with under-ce exploration AUV, the detection time and detection model of AUV subglacial can be improved
It encloses, or realizes the recycling of under-ce exploration AUV.
4, all components of the ROV including propeller are captured and are all located at the inside for capturing ROV outer cylinder, it will not be with ice hole
Damaged in collision components；ROV outer cylinder has dug big hole and taper gib block along radial class close to the position of propeller respectively
It is evenly distributed with like spoke-like, these design features are connected to external water stream with propeller, improve propulsive efficiency, also function to reduction and catch
Catch the effect of ROV advance resistance.
5, ROV is captured to connect by two neutral buoyancy cables with cabin of plugging into.Butt junction location cone tank is utilized during take-up
Positioning and guiding role can make the hanging ring for capturing the tail portion ROV completely into arriving in butt junction location cone tank, this step completes
Capture the same shaft assignment of ROV and cabin of plugging into.Later under the tension force effect that neutral buoyancy cable is all withdrawn, in addition capturing ROV and connecing
It refutes the locking device on cabin while lockking AUV, so that capture ROV is coaxial with cabin of plugging into and is tightly bonded together, be combined into
One columned overall structure.Plus lock in AUV wherein, be combined with each other the overall structure close and firm, is suitble in ice
It lays and recycles in hole.
6, by return it is docked refute in the way of improve system in the detection time and investigative range of subglacial, capture ROV actively
The mode for capturing under-ce exploration AUV, which to plug into, to be easier to realize.It can freely be detected under water after under-ce exploration AUV release, when
When battery capacity is insufficient or needs to recycle AUV, it can use and make a return voyage under the guiding of USBL acoustics, then in the active for capturing ROV
Under capture, the docking for capturing ROV and AUV is realized, then under the two neutral buoyancy cables effects of the synchronous receipts in cabin of plugging into, so that capturing
ROV and cabin of plugging into are combined into an entirety, and AUV is moved on into cylinder of plugging at this time, realize charging continuation of the journey and data transmission, into
And the detection time and investigative range of subglacial are improved, or realize the recycling of under-ce exploration AUV.It captures ROV and actively captures AUV's
Mode, can be operator and is remotely controlled ROV and capture AUV, independently make a return voyage the mode plugged into relative to conventional AUV, simpler
Easily realize.The present invention realizes the combination for capturing ROV and cabin of plugging into using two neutral buoyancy cables, can to combine even closer
Securely.Will charging and communication function setting plug into cabin rather than on capturing ROV, it is possible to reduce capture the length of ROV, thus
Improve the mobility for capturing ROV.Sideways-acting propeller can be set on ROV in addition, capturing, can be further improved and capture ROV's
Mobility.
Detailed description of the invention
Fig. 1 is the status diagram that under-ce exploration system of the invention is transferred in ice hole.
Fig. 2 is the status diagram that capture ROV of the invention is detached from cabin of plugging into.
Fig. 3 is the backsight structural representation of capture ROV of the invention.
Fig. 4 is the forward sight structural schematic diagram of capture ROV of the invention.
Fig. 5 is of the invention to lay recovery method schematic diagram.
Fig. 6 is capture ROV and under-ce exploration AUV the mated condition schematic diagram of another structure of the invention.
Specific embodiment
Next combined with specific embodiments below invention is further explained, but does not limit the invention to these tools
Body embodiment.One skilled in the art would recognize that present invention encompasses may include in Claims scope
All alternatives, improvement project and equivalent scheme.
Embodiment one
Referring to Fig. 1, present embodiments provide a kind of based on the subglacial spy for being suitable for ice hole and laying recycling for capturing ROV
Examining system can be entered under water 3 by the limited ice hole 2 in aperture, including
Bearing cable 1 carries out raising and decentralizing for under-ce exploration system for hanging in ice hole 2；
It plugs into cabin 10, is fixedly connected with bearing cable 1 of its movement is driven, for capturing ROV20 (Remotely
Operated Vehicle, cable control submersible) underwater folding and unfolding and under-ce exploration AUV charging continuation of the journey and data communication；
ROV20 is captured, the columned entirety that is combined into and can move in the limited ice hole 2 in aperture is connect with cabin 10 of plugging into
Structure and under water 3 when, can be detached from cabin 10 of plugging into and carry out water sample or deposit acquisition, moreover it is possible to actively capture under-ce exploration
AUV50 simultaneously plugs into therewith；Cabin 10 plug into when withdrawing cable completely, capture ROV20 under the action of cable with plug into cabin 10 coaxially
It fits together, to be combined into a columned overall structure.
Under-ce exploration AUV50 is detached from when under water 3 and captures ROV20 progress undersea detection or be docked in capture ROV20
Charging continuation of the journey and data communication are carried out with mobile be recycled in cabin 10 of plugging into of ROV20 is captured；
In ice Kong Bufang or removal process, cabin of plugging into withdraws cable completely, capture ROV20 under the action of cable with plug into
Cabin 10 coaxially fits together, under-ce exploration AUV50 also plugged into cabin 10 and capture ROV20 be locked, combined system
Global shape be with the cylindric of ladder.Overall structure of the invention be it is cylindric, will not collide with the wall surface in ice hole
And damage components.Capture between ROV20 and under-ce exploration AUV50 by return under water it is docked refute in the way of system can be improved exist
The detection time and investigative range of subglacial.It is complementary to capture detecting function between ROV20 and under-ce exploration AUV50, improves detection effect
Rate.
Referring to fig. 2, cabin 20 of plugging into described in the present embodiment includes cylindrical housings 120, peace in the cylindrical housings 120
Equipped with control and cockpit 108, cylinder 112 of plugging into, the through-hole that bearing cable 1 passes through 20 central upper portion of cabin setting of plugging into enters, and
It is linked into control and cockpit 108, control will power with cockpit 108 and signal wire is exported as whole stock cable and winch slip ring
102 connect, and the battery core on cable is connected to neutral buoyancy main push-towing rope 104 of the disk on niggerhead 101 by winch slip ring 102.
Winch slip ring 102 and niggerhead 101 are fixed, and niggerhead 101 is connected on winch driving motor 103 by winch driving motor
103 driving rotations are drawn over to one's side or cable laying.In the other side of winch driving motor 103, a same fixed niggerhead 101,
The niggerhead 101 is wound around neutral buoyancy pair cable 105.The neutral buoyancy pair cable 105 is identical as 104 specification of neutral buoyancy main push-towing rope, area
Not being that the battery core inside neutral buoyancy pair cable 105 does not have an electrical connection with other components, i.e., it only plays the role of hawser, and
Function without transmission electric energy and signal.Winch driving motor 103 drives two niggerheads 101 to rotate synchronously simultaneously, thus real
Show neutral buoyancy main push-towing rope 104 and row's cable of neutral buoyancy pair cable 105 and synchronous draw-in and draw-off function.The cylindrical housings 120 are twisted at two
The lower section of vehicle reel 101 is respectively arranged with leading block 109 close to the position of cavity wall, is used for neutral buoyancy main push-towing rope 104 and zero
The limit and guiding of buoyancy pair cable 105.Two neutral buoyancy cables are after leading block 109, by leaning below cabin 20 of plugging into
Two butt junction location cone tanks 114 of edge setting are pierced by, and are connect with two hanging rings 204 for capturing the tail portion ROV20.It plugs into cabin
10 when withdrawing cable completely fastly, captures two hanging rings 204 of the tail portion ROV20 near butt junction location cone tank 114, winch at this time
Continue take-up, positioning and guiding role using butt junction location cone tank 114 can make hanging ring 204 completely into fixed to docking
In the cone tank 114 of position, process is drawn over to one's side in the then winch completion that stops operating.At this point, capture ROV20 under the action of cable with plug into cabin
10 coaxially fit together, and have been combined into a columned overall structure, and periphery is without the components of any protrusion.Institute
It states winch driving motor 103 to be fixed in control and cockpit 108, the control is fixed on the fixation of hollow out with cockpit 108
The center of plate 107.The fixed plate 107 is mounted on the inside in cabin 10 of plugging into.It installs the front center of fixed plate 107
It plugs into cylinder 112, cylinder 112 of plugging into is the cylindrical guide tube of the entrance after under-ce exploration AUV50 is docked, and bottom is equipped with cone
Shape slot, for the limit and buffering in under-ce exploration AUV docking operation.Along the outside for cylinder 112 of plugging into, it is sequentially installed with position
Sensor 110, the first locking device 111, charging and communication device 113.The preferred inductance type of the position sensor 110 is close to be opened
It closes or hall sensor, for whether detecting under-ce exploration AUV50 completely into cylinder of plugging into.As under-ce exploration AUV50
When plugging into 112 bottom pyramidal slot of cylinder completely into cylinder 112 of plugging into, i.e., the head under-ce exploration AUV50 touches, under-ce exploration
The head AUV50 is also contacted with position sensor 110 simultaneously, trigger position sensor 110.First locking device 111 is connecing
112 outer annular of cylinder arrangement is refuted, for under-ce exploration AUV50 completely into the locking of under-ce exploration AUV50 after cylinder 112 of plugging into
It is fixed.The locking device preferentially uses scroll chuck formula or the opposite mode clamped of two collets, can keep subglacial in this way
Detecting will not be eccentric when AUV50 is fixed, and the driving of the first locking device 111 preferentially uses electromagnetism or motor driven.It is described to fill
Electricity and communication device 113 charge to under-ce exploration AUV50 by the transmitting non-contact electric energy mode based on magnetic field coupling,
The signal transmission preferences plugged between cabin 10 and under-ce exploration AUV50 use the short haul connection based on WiFi.It plugs into cylinder 112
External opening be cone, guiding role can be played when under-ce exploration AUV50 enters and plugs into tin.The present embodiment is non-contact
The mode of electric energy transmission can be the transmitting non-contact electric energy based on magnetic field coupling.Neutral buoyancy cable in the present embodiment was making
Cheng Zhong, by adjust foaming layer thickness and density, keep cable global density identical as density of sea water, neither sink, also not on
It is floating, reduce the influence to equipment operation.Material composition is as follows: insulation: anti-sea water mixing raw material；Tensile structure: polyester yarn fiber/
High-strength tensile Kev wire drawing；Inner sheath: it is customizable that modified low viscosity strength squeezes inner sheath；Shielded layer: tin plating copper mesh braiding
Shielding, 80% or more density, aluminium foil is wrapped, density 100% (optional)；Around packaging material: non-woven fabrics；Oversheath: the anti-poly- ammonia of seawater
Ester neutral buoyancy foamed material.
Capture ROV20 described in the present embodiment is hollow tubular structure, the capture that under-ce exploration AUV50 can be passed through
Cylinder 207 is docked with cabin 10 of plugging into.In capturing ROV20, two neutral buoyancy cables are connect with two hanging rings 204 respectively, and hanging ring 204 is solid
It is scheduled on the marginal position of back shroud 203, back shroud 203 is the circular ring shape of hollow out, annulus diameter of bore and the capture cylinder for capturing ROV
207 is consistent, and under-ce exploration AUV is passed through and is docked afterwards with cabin 10 of plugging into, in addition, the anchor ring of back shroud 203 is equipped with
The hole of hollow out, it is therefore an objective to enable water flow better by promotion hydrodynamic performance.The back shroud 203 and ROV outer cylinder 201
It is threadably secured connection, ROV outer cylinder 201 is made of metal cylinder with the buoyant material for being coated on outside.203 centre bit of back shroud
Set be fixed with it is hollow it is cylindrical capture cylinder 207, be capture ROV20 capture after under-ce exploration AUV50 under-ce exploration AUV50 into
The cylindrical drum entered.The external opening for capturing cylinder 207 is connect with taper gib block 210, the other end and ROV of taper gib block 210
The front opening of outer cylinder 201 connects, as shown in figure 4, the taper gib block 210 is evenly distributed with along radial similar to spoke-like,
Capture when ROV20 captures under-ce exploration AUV50 and play guiding role, simultaneously as it is hollow out, do not influence external water stream with
Propeller connection, also functions to the effect for reducing and capturing ROV20 advance resistance.Along the inside of ROV outer cylinder 201 on back shroud 203
4 backward propellers 205 (as shown in Figure 3) are uniformly fixed wtih, revolving speed and the steering of 4 backward propellers 205 are controlled,
Advance, retrogressing, pitching and the yawing rotation of capture ROV20 may be implemented, capture the underwater movement of ROV20 to control.This
Embodiment is in the middle position of ROV outer cylinder 201, and upper and lower and left and right circumferentially is evenly distributed with 4 sideways-acting propellers 206, up and down
2 sideways-acting propellers 206 control of arrangement captures the floating and dive of ROV20,2 sideways-acting propellers 206 control of left and right arrangement
System captures the traversing of ROV20.The sideways-acting propeller 206, which is arranged, can be improved the maneuverability for capturing ROV20, so as to more
Neatly capture AUV.Along the outside for capturing cylinder 207, it is sequentially installed with ROV control cabinet 202 and the second locking device 208.Institute
State the pressure-resistant seal cabin that ROV control cabinet 202 is annular, the master control electricity that inside is equipped with impeller driven circuit board, captures ROV20
The electronic circuits such as road plate, impeller driven circuit board and main control board are electrically connected, the backward propeller 205 with propulsion
The connection of device drive circuit board.The locking device is capturing cylinder outer annular arrangement, captures AUV after AUV for capturing ROV
Be locked.The locking device preferentially uses scroll chuck formula or the opposite mode clamped of two collets, can protect in this way
Holding will not be eccentric when AUV is fixed, and the driving of locking device preferentially uses electromagnetism or motor driven.
As shown in Figure 2 and Figure 4, the position that front end is leaned in the inside of ROV outer cylinder 201, is radially disposed with forward sight camera
209, headlamp 214, ultra-short baseline positioning (Ultrashort Baseline, USBL) transponder 211 and hydrophore 213.It is described
Forward sight camera 209 is directly on top, can be respectively arranged headlamp 214 in its right and left as needed.The USBL is answered
Answer the hydrolocation that device is located directly below, when making a return voyage for under-ce exploration AUV50, while with underwater sound communication function, it can be with
Realize the mutual underwater sound communication for capturing ROV20 and under-ce exploration AUV50.The two sides of the USBL transponder, which are respectively disposed with, adopts water
Device 213 according to actual needs, can be along radial more some hydrophores of arrangement for the acquisition of subglacial water sample.The forward sight is taken the photograph
As head, headlamp, ultra-short baseline positioning transponder and hydrophore are electrically connected with main control board.Specifically, the USBL
Transponder is connect by RS-232 serial ports with main control board；Headlamp and hydrophore pass through RS-485 universal serial bus and master control electricity
The connection of road plate, main control board can control the switch of headlamp by RS-485 bus and adjust brightness, can trigger and adopt water
Device sampling；Main control board is connect by Ethernet interface or USB interface with forward sight camera.
Under-ce exploration AUV50 described in the present embodiment is torpedo-shaped, without the manipulation rudder being exposed at outside AUV shell, tail portion
Propeller maximum outside diameter is less than the envelope outer diameter of AUV, and the tail portion propeller is vector propeller, i.e. propeller itself can be put
It is dynamic, to control pitching and the course of AUV while promoting AUV.The front end of under-ce exploration AUV is equipped with camera and is used for water
The USBL transceiver of acoustic fix ranging communication.The under-ce exploration AUV without the antenna that is exposed at outside AUV shell and other attachmentes,
The antenna of AUV is mounted on inside cavity.
As shown in figure 5, of the invention lays recovery method:
(1) on ice shelf or it is thick drilled on ice using technological means such as ice shelf hot water drilling machines, obtain logical from ice face
To the ice hole 2 of subglacial water.
(2) erect winch support on 2 top of ice hole, sling under-ce exploration system by ice face winch, ice face winch by
Step release bearing cable 1, transfers under-ce exploration system along ice hole 2.The neutral buoyancy cable in cabin 10 of plugging at this time is whole receipts
The state of returning, the locking device for capturing ROV20 and plugging on cabin 10 are switched on, under-ce exploration AUV50 are completely fixed.It is floating zero
Under the tension force effect that power cable is all withdrawn, the locking device on cabin 10 while under-ce exploration is lockked in addition capturing ROV20 and plugging into
AUV50, capture ROV20 is coaxial with cabin 10 of plugging into and is tightly bonded together, and has been combined into a columned overall structure.
(3) when ROV20 to be captured submerges in water and plugs into cabin 10 also in ice hole, ice face winch stops decentralization.It allows and plugs into
The purpose that cabin 10 stays in ice hole 2 is to play position-limiting action to it using ice hole, so as not to water flow transverse shakiness, in this way
The stabilized source of neutral buoyancy cable is more advantageous to and captures the underwater motion control of ROV20, while being also beneficial to entire subglacial
The recycling of detection system.
(4) it plugs into cabin 10 and the locking device that captures in ROV20 all discharges, the reversion of the propeller of under-ce exploration AUV50.?
Under the action of deboost, under-ce exploration AUV50 and capture ROV20 are detached from, to freely detect under water.Meanwhile it plugging into
Cabin 10 start discharge neutral buoyancy cable, allow capture ROV20 pull the plug, can be imaged in the length range of neutral buoyancy cable with
And water sample is acquired using hydrophore.
(5) when the battery capacity of under-ce exploration AUV50 is insufficient or needs to recycle AUV, under-ce exploration AUV50 passes through super
Short baseline USBL navigates to itself relative to the position for capturing ROV20, and establishes underwater sound communication, under-ce exploration with ROV20 is captured
AUV50 is returned to and is captured near ROV20 by the guiding of USBL.
(6) capture ROV20 receives under-ce exploration AUV50 and returns to neighbouring signal, according to circumstances opens headlamp 214, leads to
The position that forward sight camera 209 navigates to under-ce exploration AUV50 is crossed, ROV20 is captured and actively goes close to under-ce exploration AUV50.It connects
, it captures ROV20 active movement and under-ce exploration AUV50 is entered in the capture cylinder 207 of itself.ROV20 is captured actively to find
The process for capturing under-ce exploration AUV50 can be capture ROV20 and intelligently go to capture using vision and hydrolocation information active
Under-ce exploration AUV50 is also possible to operator by remote control and captures ROV20 to capture under-ce exploration AUV50.Wherein
The mode that operator's remote control captures ROV20 simpler can easily be realized.
(7) it captures ROV20 and judges whether under-ce exploration AUV50 enters capture by the vision of forward sight camera 209
In cylinder 207, when being judged as "Yes", under-ce exploration AUV50 is locked by the movement of the second locking device 208.
(8) rotation of winch driving motor 103 in cabin 10 of plugging into, which starts to synchronize, draws over to one's side, and will capture ROV20 and retracts, draws over to one's side
In the process using the positioning of butt junction location cone tank 114 and guiding role, the hanging ring 204 for capturing the tail portion ROV20 can be made complete
It enters in butt junction location cone tank 114, process is drawn over to one's side in the then winch completion that stops operating.At this point, capturing ROV20 in the work of cable
It is coaxially fit together with lower with cabin 10 of plugging into, has been combined into a columned overall structure.
(9) while capturing the second locking device 208 release on ROV20, the tail portion propeller of under-ce exploration AUV50
It rotates forward, under the action of thrust, under-ce exploration AUV50 is moved on, and enters plugging into cylinder 112 for cabin 10 of plugging into.Subglacial is visited
Survey AUV50 completely into plug into cylinder 112 when, trigger position sensor 110 then captures ROV20 and the locking plugged on cabin 10
Device is switched on, while under-ce exploration AUV50 being locked.If task is charging continuation of the journey and transmission data, go to step
(10)；If task is recycling under-ce exploration system, (12) are gone to step.
(10) task is charging continuation of the journey and transmission data, then charging and communication device are opened, and passes through transmitting non-contact electric energy
Mode charge to under-ce exploration AUV50, while the detection data of storage is transferred to cabin of plugging by under-ce exploration AUV50,
And receive new assignment instructions.Cabin 10 of plugging into can be transferred data in ice face by cable.
(11) after completing charging and data transmission, step (4) is gone to and execute new task.
(12) task is recycling under-ce exploration system, and the movement of ice face winch slings under-ce exploration system from ice hole, real
The recycling of existing under-ce exploration system.
Under-ce exploration system of the invention is in ice Kong Bufang or removal process, and global shape is cylindric, and periphery does not have
There are the components of any protrusion, therefore is suitble to carry out laying recycling in the limited ice hole in aperture, it will not be with ice hole damaged in collision
Components.Under-ce exploration system, which can use, captures the function that ROV realization under-ce exploration AUV can not be realized easily, for example acquires
Water sample and deposit sampling, realize that detecting function is complementary.ROV is captured in under-ce exploration system can be in the long range of itself cable
It is detected, such as camera shooting, acquisition water sample etc., allows capture ROV arrival water-bed if cable is long, deposit sampling can also be carried
Device is sampled benthal deposit.It captures ROV and is equipped with forward sight camera, can be used for visual guidance and actively capture under-ce exploration
AUV；By return it is docked refute in the way of improve system in the detection time and investigative range of subglacial, capture ROV and actively capture ice
The mode of lower detection AUV, which to plug into, to be easier to realize.It can freely be detected under water after under-ce exploration AUV release, when battery electricity
When amount is insufficient or needs to recycle AUV, it can use and make a return voyage under the guiding of USBL acoustics, then in the case where the active for capturing ROV captures,
The docking for capturing ROV and AUV is realized, then under the two neutral buoyancy cables effects of the synchronous receipts in cabin of plugging into, so that capturing ROV and plugging into
Cabin is combined into an entirety, and AUV is moved on into cylinder of plugging at this time, realizes charging continuation of the journey and data transmission, and then improve ice
Under detection time and investigative range, or realize under-ce exploration AUV recycling.The mode that ROV actively captures AUV is captured, it can
To be that operator is remotely controlled ROV and captures AUV, independently make a return voyage the mode plugged into relative to conventional AUV, simpler easy realization.
The present invention realizes the combination for capturing ROV and cabin of plugging into using two neutral buoyancy cables, can to combine even closer secured.It will
Charging and communication function setting plug into cabin rather than on capturing ROV, it is possible to reduce capture the length of ROV, caught to improve
Catch the mobility of ROV.Sideways-acting propeller can be set on ROV in addition, capturing, can be further improved the mobility for capturing ROV.
It captures all components of the ROV including propeller and is all located at the inside for capturing ROV outer cylinder, it will not be with ice hole damaged in collision zero
Component；Big hole has been dug in the position of ROV outer cylinder close to propeller respectively, and the fixed plate inside ROV is hollow out and taper
Gib block is evenly distributed with along radial similar to spoke-like, these design features are connected to external water stream with propeller, is improved and is promoted
Efficiency also functions to the effect for reducing and capturing ROV advance resistance.
Embodiment two
Referring to Fig. 6, the present embodiment and embodiment one the difference is that, the present embodiment captures ROV20 and is not provided with laterally
Propeller 206, the in this way maneuverability of capture ROV20 can be slightly not good enough, but benefit be capture the axial length of ROV20 can be with
It reduces.And big hole 216 has been dug respectively, it is therefore an objective to make external water stream to the position of propeller 205 after ROV outer cylinder 201 is close
It can be more preferably connected to backward propeller, improve propulsive efficiency.
Remaining structure and function is the same as example 1.
Claims (10)
1. it is a kind of based on the under-ce exploration system for being suitable for ice hole and laying recycling for capturing ROV, the limited ice in aperture can be passed through
Hole enters underwater, it is characterised in that: including
Bearing cable carries out raising and decentralizing for under-ce exploration system for hanging in ice hole；
It plugs into cabin, is fixedly connected with bearing cable of its movement is driven, for capturing underwater folding and unfolding and the under-ce exploration of ROV
The charging continuation of the journey of AUV and data communication；
Capture ROV, connect with cabin of plugging into be combined into the columned overall structure that can be moved in the limited ice hole in aperture and in
It can be detached from cabin of plugging into when underwater and carry out water sample or deposit acquisition, moreover it is possible to actively capture under-ce exploration AUV and connect therewith
It refutes；
Under-ce exploration AUV, for it is underwater when be detached from capture ROV carry out underwater autonomous exploration or plug into be fixed on capture in ROV with
It captures mobile be recycled in cabin of plugging into of ROV and carries out charging continuation of the journey and data communication；
In ice Kong Bufang or removal process, cabin of plugging into withdraws cable completely, and it is coaxial with cabin of plugging under the action of cable to capture ROV
Ground fits together, and under-ce exploration AUV, which is also plugged into, cabin and to be captured ROV and be locked, and the global shape of combined system is band
Ladder it is cylindric.
2. it is as described in claim 1 a kind of based on the under-ce exploration system for being suitable for ice hole and laying recycling for capturing ROV, it is special
Sign is: the cabin of plugging into includes cylindrical housings, and control and cockpit, cylinder of plugging into, institute are equipped in the circular cylindrical shell body
The battery core for stating bearing cable is linked into control and cockpit, is equipped with winch driving motor in the control and cockpit, described
The two sides of winch driving motor are mounted on niggerhead, and the niggerhead coiling of side has a neutral buoyancy main push-towing rope, the control and
The cable connection of cockpit is connect by winch slip ring with neutral buoyancy main push-towing rope in winch slip ring, the battery core of the cable, the other side
Niggerhead coiling have a neutral buoyancy pair cable, the free end of the neutral buoyancy main push-towing rope and neutral buoyancy pair cable with capture ROV and connect；
The periphery of the cylinder of plugging into be sequentially installed with for detect under-ce exploration AUV whether completely into the position for cylinder of plugging into pass
Sensor, for under-ce exploration AUV completely into after cylinder of plugging into carry out under-ce exploration AUV the first locking device being locked,
Charging and communication device for under-ce exploration AUV charging continuation of the journey and data transmission.
3. it is as claimed in claim 2 a kind of based on the under-ce exploration system for being suitable for ice hole and laying recycling for capturing ROV, it is special
Sign is: the fixed plate of hollow out is equipped in the circular cylindrical shell body, the control and cockpit and cylinder of plugging into are separately fixed at
The two sides of fixed plate, the cylindrical housings are mounted on for corresponding neutral buoyancy cable on the wall surface below each niggerhead
The leading block of limit and guiding, the bottom of the cylindrical housings are equipped with the butt junction location for docking with capture ROV
Cone tank.
4. it is as claimed in claim 2 a kind of based on the under-ce exploration system for being suitable for ice hole and laying recycling for capturing ROV, it is special
Sign is: for the cylinder of plugging into for cylindrical guide tube, bottom is equipped with the taper of limit gentle punching when for under-ce exploration AUV docking
Slot.
5. a kind of based on the under-ce exploration system for being suitable for ice hole and laying recycling for capturing ROV as described in one of Claims 1 to 4
System, it is characterised in that: the capture ROV includes hollow ROV outer cylinder, and the rear end of the ROV outer cylinder is equipped with hollow out annular shape
Back shroud, the inside of the back shroud be uniformly equipped with several driving capture ROV sub-aqua sports backward propeller, it is described
The edge installation of back shroud is fixed in the middle part of the back shroud and is used for and ice there are two the hanging ring that connect respectively with neutral buoyancy cable
The capture cylinder of lower detection AUV docking；The outside for capturing cylinder is equipped with ROV control cabinet and the second locking device, the ROV control
Main control board and impeller driven circuit board are installed, the propeller electrically connects with impeller driven circuit board in cabin processed
It connects；
It is radially disposed on the inside of the ROV outer cylinder close to front position and is led for the Underwater Navigation position under-ce exploration AUV and vision
The forward sight camera plugged into under-ce exploration AUV, the headlamp for providing good visual effect are returned for under-ce exploration AUV
The ultra-short baseline of endurance hydrolocation or underwater sound communication positioning transponder is used to acquire the hydrophore of subglacial water sample, institute with several
Forward sight camera, headlamp, ultra-short baseline positioning transponder and hydrophore is stated to be electrically connected with main control board.
6. it is as claimed in claim 5 a kind of based on the under-ce exploration system for being suitable for ice hole and laying recycling for capturing ROV, it is special
Sign is: the inner wall circumferencial direction of the ROV outer cylinder is evenly equipped with several sideways-acting propellers.
7. it is as claimed in claim 5 a kind of based on the under-ce exploration system for being suitable for ice hole and laying recycling for capturing ROV, it is special
Sign is: the circumferential surface of the ROV outer cylinder offers big hole close to the position of backward propeller.
8. it is as claimed in claim 5 a kind of based on the under-ce exploration system for being suitable for ice hole and laying recycling for capturing ROV, it is special
Sign is: radially spoke-like uniformly distributed by several between the external opening of the cylinder of plugging into and the front opening of ROV outer cylinder
Taper gib block connection.
9. it is as claimed in claim 5 a kind of based on the under-ce exploration system for being suitable for ice hole and laying recycling for capturing ROV, it is special
Sign is: the headlamp is arranged in the both sides of forward sight camera, and the hydrophore is located at the two of ultra-short baseline positioning transponder
Side, the forward sight camera are located at surface on the inside of ROV outer cylinder, and the ultra-short baseline positioning transponder is located on the inside of ROV outer cylinder
Underface.
10. a kind of under-ce exploration system for being suitable for ice hole and laying recycling based on capture ROV as described in claim 1,
Be characterized in that: the under-ce exploration AUV is the smooth torpedo-shaped of shell, and tail portion is equipped with vector propeller, and the vector promotes
The maximum outside diameter of device is less than the envelope outer diameter of under-ce exploration AUV；The front end of the under-ce exploration AUV is equipped with camera and is used for water
The ultra-short baseline positioning transceiver of acoustic fix ranging communication；The antenna of the under-ce exploration AUV is mounted on inside enclosure cavity.
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