CN110749938A - Unmanned primary and secondary ship underwater detection system - Google Patents
Unmanned primary and secondary ship underwater detection system Download PDFInfo
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- CN110749938A CN110749938A CN201911176517.5A CN201911176517A CN110749938A CN 110749938 A CN110749938 A CN 110749938A CN 201911176517 A CN201911176517 A CN 201911176517A CN 110749938 A CN110749938 A CN 110749938A
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- 238000004891 communication Methods 0.000 claims abstract description 16
- 230000009189 diving Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000011065 in-situ storage Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 241000251468 Actinopterygii Species 0.000 description 1
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- 230000004071 biological effect Effects 0.000 description 1
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Images
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V8/00—Prospecting or detecting by optical means
- G01V8/10—Detecting, e.g. by using light barriers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
-
- 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
- B63G8/16—Control of attitude or depth by direct use of propellers or jets
-
- 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
- B63G8/38—Arrangement of visual or electronic watch equipment, e.g. of periscopes, of radar
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/18—Water
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
- B63B2035/008—Unmanned surface vessels, e.g. remotely controlled remotely controlled
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
- B63G2008/007—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled by means of a physical link to a base, e.g. wire, cable or umbilical
Abstract
The invention provides an unmanned primary and secondary ship underwater detection system, which adopts the form of an unmanned primary and secondary ship, wherein a primary ship works on the water surface, a secondary ship works under the water surface, the secondary ship is connected with the primary ship through an umbilical cable, and the retraction and release of the umbilical cable are completed through a photoelectric winch. The equipment on the mother ship mainly comprises a power module, a satellite positioning module, a propulsion system, a control module, a communication module and a photoelectric winch, wherein the mother ship is responsible for carrying the son ships to reach an appointed water area, is responsible for carrying out retraction, power supply and communication on the son ships and is responsible for communicating with a ground station. The equipment on the sub-ship comprises a propulsion system, a camera system, a water quality sensor and a communication and control module, wherein the propulsion system is responsible for submerging the sub-ship and moving the sub-ship according to needs, the high-definition camera system is responsible for shooting the underwater environment, and the water quality sensor is used for detecting the water quality.
Description
Technical Field
The invention relates to underwater environment detection equipment, which is suitable for the field of underwater environment detection.
Background
The existing underwater environment detection mainly comprises means of specimen collection, diving photographing and camera shooting and sonar scanning, and the specimen collection method has high capital and time cost and can also cause death of organisms; the diving photography and camera shooting can only observe the living situation of aquatic organisms, but cannot provide information such as reasons and development trends causing the living situation, and has limitations on water depth and area; sonar scanning can only obtain underwater topography and fish school activity conditions macroscopically, and can not obtain accurate information such as biological species, population difference and the like.
The important factor of underwater environment is water quality, the current water quality detection generally adopts a mode of sampling first and then detecting or fixed-point detecting, a water sample obtained by the mode of sampling first and then detecting is not raw water at a corresponding position and a corresponding time, and the obtained detection data can not well reflect the actual state; the fixed-point detection mode can not timely adjust the detection position according to the biological activity range to obtain corresponding data.
Detection of the underwater environment, ideally in situ, i.e. detection of the target is accomplished without changing the relevant conditions within the target area. Therefore, there is a need for a device that can simultaneously perform the detection of the underwater environment and water quality, and that has a high cost-effectiveness ratio and a wide detection range.
Disclosure of Invention
The invention aims to provide an unmanned primary and secondary ship underwater detection system aiming at the requirements, which can navigate autonomously and can obtain underwater environment image information and related water quality data within a planned range.
In order to solve the technical problems, the following technical scheme is adopted: an unmanned primary and secondary ship underwater detection system adopts an unmanned primary and secondary ship form, a primary ship works on the water surface, a secondary ship works under the water surface, the secondary ship is connected with the primary ship through an umbilical cable, and the umbilical cable is wound and unwound through a photoelectric winch. During detection, the system can enable ground station personnel to obtain underwater images and water quality data in real time.
The equipment on the sub-ship comprises a propulsion system, a camera system, a water quality sensor and a communication and control module, wherein the propulsion system is responsible for submerging the sub-ship and moving the sub-ship according to needs, the camera system is responsible for shooting the underwater environment, and the water quality sensor is used for detecting the water quality.
The umbilical cable is a photoelectric composite cable, bearing fibers are embedded in the umbilical cable, and the umbilical cable is responsible for towing the sub-ships and supplying power to the sub-ships, is responsible for transmitting electric signals and optical signals between the sub-ships and the sub-ships, and is responsible for transmitting high-flux data.
The photoelectric winch is installed on the mother ship, and when the umbilical cable is wound and released, the photoelectric winch can ensure the transmission of electric energy, electric signals and optical signals between the umbilical cable and other equipment on the mother ship.
The equipment on the mother ship mainly comprises a power module, a satellite positioning module, a propulsion system, a control module, a communication module and a photoelectric winch, wherein the mother ship is responsible for carrying the son ships to reach an appointed water area, is responsible for carrying out retraction, power supply and communication on the son ships and is responsible for communicating with a ground station.
The technical effects obtained after the technical scheme is adopted are as follows: the underwater environment detection system is suitable for detection of various water areas in the form of unmanned primary and secondary ships, and is high in efficiency-cost ratio by acquiring coordinates of detection points, underwater images and water quality data in real time through in-situ detection.
Drawings
Fig. 1 is a schematic right side view of the mother ship structure.
Fig. 2 is a diagrammatic, front view of the mother vessel structure.
Fig. 3 is a schematic view of the bottom view of the mother ship structure.
Fig. 4 is a schematic view of a structure of a sub-ship.
In the figure: the system comprises a mother ship 1, a mother ship propeller 2, a son ship 3, an umbilical cable 4, a photoelectric winch 5, a communication antenna 6, an equipment cabin 7, a son ship propeller 31, a watertight cabin 32, a camera system 33 and a water quality sensor 34.
Detailed Description
The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.
The two mother ship propellers 2 are arranged at the rear part of the mother ship 1 and are responsible for the forward, backward and steering actions of the mother ship 1. The secondary ship 3 is connected with the primary ship 1 through the umbilical cable 4, the umbilical cable 4 is wound on the photoelectric winch 5, the photoelectric winch 5 is installed on the primary ship 1, the photoelectric winch 5 and the umbilical cable 4 are responsible for winding and unwinding the secondary ship 3 together, and the secondary ship 3 is powered and communicated when winding and unwinding. A communication antenna 6 is mounted above the equipment bay 7 and is responsible for communication with the ground station. The equipment cabin 7 is arranged on the mother ship 1, and a power module, a satellite positioning module, a mother ship propeller 2 driving module, a control module and a communication processing module are arranged in the equipment cabin 7.
On the sub-ship 3, the watertight cabin 32 is a cylindrical pressure-resistant sealed cabin, is positioned on the longitudinal axis of the sub-ship 3, and is internally provided with a sub-ship propeller 31 driving module, a camera system, a water quality detection circuit and a communication and control module. Eight sub-ship propellers 31 are arranged around the watertight compartment 32, four of the eight sub-ship propellers are vertically arranged and are positioned symmetrically about the longitudinal axis and the transverse axis of the sub-ship 3, and the rest four horizontal planes are arranged at four corners of the horizontal diagonal of the sub-ship 3 and are vertical to the diagonal. The sub-ship propeller 31 and the driving module thereof are responsible for the actions of floating, steering, translating, pitching and side-turning of the sub-ship 3. The camera system 33 is mounted at the front end of the watertight compartment 32. The water quality sensor 34 may include a thermometer, a pH meter, a salinity meter, a turbidity meter, a depth meter, a dissolved oxygen meter, a light meter, a chlorophyll meter, etc. as necessary, and is attached to the rear end of the watertight compartment 32.
During detection, when the ship sails on the water surface, the mother ship 1 receives a ground station instruction through the communication antenna 6, the ship carries the child ship 3 to travel to a preset water area, the photoelectric winch 5 drives the umbilical cable 4, the child ship 3 is placed into the water, the child ship 3 is unfolded in the water for detection, the child ship 3 transmits acquired image information and water quality data to the mother ship 1 through the umbilical cable 4, and the mother ship 1 transmits the detection data to the ground station through the communication antenna 6.
Claims (4)
1. An unmanned primary and secondary ship underwater detection system comprises a primary ship (1), a secondary ship (3) and an umbilical cable (4), wherein the primary ship (1) is connected with the secondary ship (3) through the umbilical cable (4); the mother ship (1) structurally comprises a mother ship propeller (2), a photoelectric winch (5), a communication antenna (6) and an equipment cabin (7), wherein the mother ship propeller (2) is positioned at the tail of the mother ship (1), the photoelectric winch (5) is installed at the upper part of the mother ship (1), the equipment cabin (7) is arranged on the mother ship (1), and the communication antenna (6) is installed on the equipment cabin (7); the structure of the sub-ship (3) comprises a sub-ship propeller (31), a watertight cabin (32), a camera system (33) and a water quality sensor (34), wherein the camera system (33) is installed at the front end of the watertight cabin (32), the water quality sensor (34) is installed at the tail end of the watertight cabin (32), and the sub-ship propeller (31) is installed around the watertight cabin (32).
2. The unmanned mother-son ship underwater detection system according to claim 1, characterized in that: the parent ship (1) carries the child ship (3) to travel rapidly in a wide range.
3. The unmanned mother-son ship underwater detection system according to claim 1, characterized in that: when the mother ship (1) arrives at a designated water area for underwater detection, the mother ship (1) receives and releases the son ships (3) through the photoelectric winch (5) and the umbilical cable (4).
4. The unmanned mother-son ship underwater detection system according to claim 1, characterized in that: the mother ship (1) is in power supply and communication with the son ship (3) through the photoelectric winch (5) and the umbilical cable (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911176517.5A CN110749938A (en) | 2019-11-26 | 2019-11-26 | Unmanned primary and secondary ship underwater detection system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911176517.5A CN110749938A (en) | 2019-11-26 | 2019-11-26 | Unmanned primary and secondary ship underwater detection system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110749938A true CN110749938A (en) | 2020-02-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201911176517.5A Pending CN110749938A (en) | 2019-11-26 | 2019-11-26 | Unmanned primary and secondary ship underwater detection system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111189435A (en) * | 2020-02-28 | 2020-05-22 | 国家海洋技术中心 | Arm-hanging and dragging type water depth measuring system and method |
| CN111452924A (en) * | 2020-03-19 | 2020-07-28 | 哈尔滨工业大学 | Water surface garbage cleaning robot |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103019179A (en) * | 2012-11-20 | 2013-04-03 | 江苏科技大学 | System and method for reconnoitring surface ship |
| CN106394815A (en) * | 2016-10-28 | 2017-02-15 | 杭州电子科技大学 | Combined system of unmanned ship and unmanned submersible |
| CN108284922A (en) * | 2018-02-28 | 2018-07-17 | 深圳市东方祺胜实业有限公司 | One kind being used for the clean Intelligent unattended lighter aboard ship of the water surface and its control method |
-
2019
- 2019-11-26 CN CN201911176517.5A patent/CN110749938A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103019179A (en) * | 2012-11-20 | 2013-04-03 | 江苏科技大学 | System and method for reconnoitring surface ship |
| CN106394815A (en) * | 2016-10-28 | 2017-02-15 | 杭州电子科技大学 | Combined system of unmanned ship and unmanned submersible |
| CN108284922A (en) * | 2018-02-28 | 2018-07-17 | 深圳市东方祺胜实业有限公司 | One kind being used for the clean Intelligent unattended lighter aboard ship of the water surface and its control method |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111189435A (en) * | 2020-02-28 | 2020-05-22 | 国家海洋技术中心 | Arm-hanging and dragging type water depth measuring system and method |
| CN111452924A (en) * | 2020-03-19 | 2020-07-28 | 哈尔滨工业大学 | Water surface garbage cleaning robot |
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