CN111114725B - Autonomous underwater vehicle based on optical fiber communication buoy - Google Patents
Autonomous underwater vehicle based on optical fiber communication buoy Download PDFInfo
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- CN111114725B CN111114725B CN201911373215.7A CN201911373215A CN111114725B CN 111114725 B CN111114725 B CN 111114725B CN 201911373215 A CN201911373215 A CN 201911373215A CN 111114725 B CN111114725 B CN 111114725B
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- 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
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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
- B63B22/00—Buoys
- B63B22/04—Fixations or other anchoring arrangements
- B63B22/08—Fixations or other anchoring arrangements having means to release or urge to the surface a buoy on submergence thereof, e.g. to mark location of a sunken object
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- 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
- B63G2008/004—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned autonomously operating
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- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Optical Communication System (AREA)
Abstract
The invention discloses an autonomous underwater vehicle based on an optical fiber communication buoy, and belongs to the technical field of communication buoys. The real-time and large-capacity transmission of the detected information can be realized through the real-time communication between the optical fiber communication buoy provided with the high-speed wireless transmission equipment and the control system or the operation mother ship, and the constraint of optical fibers or cables and the like can be eliminated. The autonomous underwater vehicle comprises a vehicle body and an optical fiber communication buoy; the optical fiber communication buoy is detachably arranged on the vehicle body, and is connected with the underwater vehicle body through an optical fiber so as to transmit signals; the optical fiber communication buoy is provided with high-speed wireless communication equipment consisting of an antenna and a high-speed wireless transmission radio station circuit board; when the autonomous aircraft reaches a set water area and needs communication, the optical fiber communication buoy is separated from the aircraft body and floats to the water surface, and real-time communication between the aircraft body and a shore-based control system/operation mother ship is realized through high-speed wireless communication equipment.
Description
Technical Field
The invention relates to an autonomous underwater vehicle, in particular to an autonomous underwater vehicle based on an optical fiber communication buoy, and belongs to the technical field of underwater vehicles.
Background
The autonomous unmanned underwater vehicle finishes marine detection activities such as marine environment parameter acquisition, marine environment monitoring, underwater reconnaissance and communication, underwater target detection and identification positioning, underwater target searching and the like through self-carried energy and various detection devices. In recent years, with the development of sensor technology and information technology, underwater vehicles are more and more emphasized by various countries, and become development hotspots of ocean engineering, and the development of autonomous unmanned underwater vehicles to intellectualization, integration and refinement is further promoted. It is due to the autonomous activity of autonomous underwater vehicles that it requires faster data processing speeds and more timely communication capabilities.
The autonomous unmanned underwater vehicle is controlled by adopting a remote control mode and an autonomous mode, is communicated with a mother ship through acoustic equipment or a satellite, and is the most different from a cable-controlled unmanned underwater vehicle in that no cable or optical fiber for power supply and communication is arranged, and is communicated with the mother ship through underwater acoustic communication or the satellite. However, for an aircraft with limited size and weight, the installed underwater acoustic communication size is small, the transmission bandwidth is narrow, the transmission rate is low, the underwater acoustic environment has large influence under water, large-capacity information cannot be transmitted in real time, and only the underwater state of the aircraft can be monitored and information transmission under certain specific conditions, such as emergency treatment through underwater acoustic communication, is performed. The autonomous unmanned underwater vehicle can only download data by using a special communication interface or a wireless mode after recovery, and perform post analysis and processing, which is inefficient for tasks requiring timely processing and manually confirming target information. If optical fibers or cables are added on the aircraft, a working mother ship needs to be equipped to follow the aircraft to carry out underwater working tasks, so that the working difficulty and cost are greatly increased for places with complicated water areas or shallow water areas, the working efficiency is influenced, and the length of the added optical fibers or cables is effective.
Disclosure of Invention
In view of the above, the present invention provides an autonomous underwater vehicle based on an optical fiber communication buoy, which can realize real-time and large-capacity transmission of detected information and can get rid of the constraint of optical fibers or cables by means of real-time communication between the optical fiber communication buoy configured with a high-speed wireless transmission device and a control system or a mother work vessel.
The autonomous underwater vehicle based on the optical fiber communication buoy comprises a vehicle body and the optical fiber communication buoy; the optical fiber communication buoy is detachably arranged on the vehicle body, and is connected with the underwater vehicle body through an optical fiber so as to transmit signals; the optical fiber communication buoy is provided with high-speed wireless communication equipment consisting of an antenna and a high-speed wireless transmission radio station circuit board;
when the autonomous aircraft reaches a set water area and needs communication, the optical fiber communication buoy is separated from the aircraft body and floats to the water surface, and real-time communication between the aircraft body and a shore-based control system/operation mother ship is realized through the high-speed wireless communication equipment.
Preferably, the optical fiber communication buoy further comprises: the optical fiber cable comprises a sealed cabin, a buoyancy material, a network switch, a battery, an optical transceiver, a power module, a locking and unlocking mechanism, an optical fiber spool and a buoy connector, wherein the buoyancy material, the network switch, the battery, the optical transceiver, the power module, the locking and unlocking mechanism, the optical fiber spool and the buoy connector are arranged inside the sealed cabin;
the sealed cabin is a pressure-bearing installation shell and comprises a circular platform section and a cylindrical section positioned at the large end of the circular platform section, and the end of the cylindrical section is connected with the aircraft body; one end of the antenna is hermetically arranged in the circular platform section of the sealed cabin, and the other end of the antenna extends out of the sealed cabin; and the interior of the sealing cabin circular platform section is filled with buoyancy materials; the end part of the cylindrical section of the sealed cabin is sealed by an end cover;
the battery is used for supplying power to all electronic equipment in the optical fiber communication buoy;
the power supply module is used for converting the power supply voltage of the battery into the voltage required by each electronic device;
the optical fiber spool is fixedly connected to the end cover, and optical fibers are stored in the optical fiber spool;
the optical transceiver is connected with the optical fiber, is used for converting optical signals and electric signals, and can convert the optical signals transmitted by the optical fiber into electric signals and send the electric signals to a shore-based control system/mother work ship or convert instructions sent by the shore-based control system/mother work ship into optical signals and forward the optical signals to the aircraft body through the optical fiber;
an optical transceiver connected with an optical fiber is correspondingly arranged in the aircraft body and used for converting the electric signal of the detection module into an optical signal, and then the converted optical signal is sent to an optical fiber communication buoy through the optical fiber, or the received optical signal is converted into an electric signal and sent to a corresponding control unit on the aircraft body;
the network switch is respectively connected with the optical transceiver and the high-speed wireless transmission radio station circuit board and is used for completing the conversion of communication modes;
one end of the buoy connector is connected with the navigation body, the other end of the buoy connector is connected with the locking and unlocking mechanism, and when the locking and unlocking mechanism is locked with the buoy connector, the optical fiber communication buoy is reliably connected with the navigation body; when the locking and unlocking mechanism and the buoy connector are unlocked, the optical fiber communication buoy is separated from the navigation body.
Preferably, the locking and unlocking mechanism includes: the device comprises a motor drive plate, a motor adaptor, a spring and a steel ball;
the motor is a linear motor;
the motor adaptor is of a hollow cylindrical structure, one end of the motor adaptor is fixedly connected with the motor, a motor output shaft extends into a central hole of the motor adaptor and can move along the axial direction of the motor adaptor, and the front end of the motor output shaft is of a conical structure; the other end of the motor adaptor penetrates through a mounting hole in the end cover, the motor adaptor is in sealing fit with the mounting hole through a sealing ring, and the motor adaptor is fixedly connected with the end cover;
more than two circular holes are uniformly distributed on the outer circumferential surface of the motor adaptor extending out of the end cover end at intervals along the circumferential direction, a steel ball is placed in each circular hole, and the steel balls are in contact with a conical structure at the front end of the motor output shaft;
one end of the buoy connector is of a hollow cylindrical structure, is coaxially sleeved outside the end where the steel ball of the motor adapter is located, and is provided with grooves which are in one-to-one correspondence with the steel ball in the circumferential direction; the other end is connected with the navigation body; a spring is sleeved outside the cylindrical structure of the buoy connector, one end of the spring is connected with or abutted against a shaft shoulder outside the buoy connector, and the other end of the spring is abutted against the end cover;
when the steel ball on the outer circumference of the motor adapter is positioned in the hemispherical groove on the inner circumferential surface of the buoy connector, the motor adapter and the buoy connector are locked, and the spring is in a compressed state; when the motor output shaft retracts to enable the steel ball to be separated from the groove, the locking between the motor adaptor and the buoy connector is released, the optical fiber communication buoy is separated from the aircraft body under the assistance of the spring, and the optical fiber communication buoy is released;
the motor driving board is used for receiving a release instruction sent by the aircraft body, and after the motor driving board receives the release instruction, the motor is started.
Preferably, inside the craft body there is also a spool of optical fiber for storing the optical fiber, able to release the optical fiber from both ends.
Preferably, the fiber optic communication buoy is detachably mounted at the tail of the aircraft body.
Has the advantages that:
(1) the optical fiber communication buoy is additionally arranged on the aircraft and provided with high-speed wireless transmission equipment, and when the aircraft reaches a set water area and needs communication, the optical fiber communication buoy is released; after the optical fiber communication buoy is released, the optical fiber communication buoy floats to the water surface due to the positive buoyancy of the optical fiber communication buoy, so that the real-time communication between the aircraft and a shore-based control system or a working mother ship is realized, the communication real-time performance of the aircraft is strong, the problem that the autonomous aircraft cannot return information in time is solved, the use efficiency and the detection capability of the aircraft are improved, and the identification probability of a target is enhanced; and the information transmission is carried out through the optical fiber communication buoy, the dragging of the aircraft and the navigation requirement on the mother ship under the condition of a cable are eliminated, and the water safety performance and the detection efficiency of the aircraft are greatly improved.
(2) The aircraft uploads detected target information to a shore-based control system or a control personnel on a working mother ship through high-speed data equipment with large capacity for confirmation through the optical fiber communication buoy, so that the operation efficiency and the target identification rate of the aircraft are greatly improved, the accurate control and target positioning of the aircraft are realized, and the operation range of the aircraft can be remarkably improved.
(3) The independence is strong: the optical fiber communication buoy can be detachably arranged at the tail part of the aircraft body, is convenient to install and detach and is easy to form a whole with the aircraft; and the use of the aircraft is not influenced after the aircraft is disassembled, so that the use scene and the application range of the aircraft are greatly improved. The inside storage function that possesses of navigation ware body, when need not carrying out surface of water and external communication, dismantle tail optical fiber communication buoy, the navigation ware can independent utility, has improved the application scene of navigation ware, has reduced the requirement to mother's ship.
(4) The expansibility is good: the optical fiber communication buoy is connected with the aircraft body through the release mechanism and horizontally arranged at the tail of the aircraft, so that the adaptability of the aircraft adopting two-side propulsion is strong, and the aircraft can adapt to different aircraft only by performing adaptive improvement on a buoy connector.
(5) The installation of the optical fiber communication buoy on the autonomous aircraft can also be applied to special tasks such as accurate confirmation and destruction of targets which need to be rapidly unfolded in dangerous scenes.
(6) The optical fiber communication buoy and the aircraft are provided with the optical fiber spools, and the two ends of the optical fiber communication buoy and the aircraft can be cabled, so that the buoy and the aircraft can be cabled in the movement process of the aircraft, and the possibility that one end of the optical fiber is easily broken is reduced.
Drawings
FIG. 1 is a schematic diagram of a fiber optic communications buoy;
FIG. 2 is a schematic structural diagram of the optical fiber communication buoy and the navigation body in a connection state;
FIG. 3 is a schematic diagram of the structure of the optical fiber communication buoy after release;
fig. 4 shows a specific implementation of the release mechanism and the float connector in example 2.
Wherein: 1-antenna, 2-buoyancy material, 3-high-speed wireless transmission radio circuit board, 4-network switch, 5-battery, 6-optical transmitter and receiver, 7-motor drive plate, 8-sealed cabin, 9-power module, 10-motor, 11-release mechanism, 12-optical fiber spool, 13-buoy connector, 14-navigation body, 15-optical fiber communication buoy, 16-optical fiber, 17-end cover, 18-motor adapter, 19-spring, 20-steel ball, 21-motor output shaft
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Example 1:
the embodiment provides an autonomous underwater vehicle based on an optical fiber communication buoy, and the problems that a general autonomous underwater vehicle cannot transmit information in a large capacity in time, a tail cable is restrained, information is not processed in time, the vehicle needs to be recovered when information is downloaded, and the like can be solved through real-time communication between the optical fiber communication buoy provided with high-speed wireless transmission equipment and an operation system or a mother operation ship.
As shown in fig. 2, the autonomous underwater vehicle based on a fiber optic communication buoy comprises: a fiber communication buoy 15 and an aircraft body 14; the optical fiber communication buoy 15 is coaxially arranged at the tail part of the aircraft body 14 and forms a whole with the aircraft body 14; when the autonomous aircraft reaches a set water area and needs communication, the optical fiber communication buoy 15 is separated from the aircraft body 14 and floats to the water surface by virtue of the positive buoyancy of the autonomous aircraft after being released, at the moment, the optical fiber communication buoy 15 on the water surface is connected with the underwater aircraft body 14 through the optical fiber 16, the real-time communication between the aircraft body 14 and a shore-based control system/operation mother ship is realized through the optical fiber communication buoy 15, and information detected by a detection module on the aircraft body 14 is sent to the shore-based control system or the operation mother ship.
As shown in fig. 1, the optical fiber communication buoy includes: the antenna comprises an antenna 1, a sealed cabin 8, a buoyancy material 2 arranged inside the sealed cabin 8, a high-speed wireless transmission radio circuit board 3, a network switch 4, a battery 5, an optical transceiver 6, a motor driving board 7, a power supply module 9, a motor 10, a release mechanism 11, an optical fiber spool 12 located outside the sealed cabin 8 and a buoy connector 13.
The sealed cabin 8 is used as a pressure-bearing mounting shell and is used for mounting equipment required by the optical fiber communication buoy. The sealed cabin 8 comprises a circular platform section and a cylindrical section positioned at the large end of the circular platform section, and the end of the cylindrical section is connected with the aircraft body; one end of the antenna 1 is hermetically arranged in the round platform section of the sealed cabin 8, and the other end of the antenna extends out of the sealed cabin 8; and the buoyancy material 2 is filled in the round section of the sealed cabin 8, and the buoyancy material 2 is mainly used for improving the buoyancy of the optical fiber communication buoy, so that the optical fiber communication buoy can quickly float out of the water after being released, and meanwhile, the positioning of the antenna 1 can be realized. Wherein the pressure shell and the buoyancy material can be adapted according to the requirements of the aircraft, and can be suitable for the aircraft with different dimensions. The end of the cylindrical section of the capsule 8 is sealed by an end cap 17.
The antenna 1 and the high-speed wireless transmission radio circuit board 3 arranged in the cylindrical section of the sealed cabin 8 form high-speed wireless communication equipment which is used for completing long-distance high-speed communication between the optical fiber communication buoy and a shore-based control system or a working mother ship when the optical fiber communication buoy is on the water surface (namely the antenna 1 is in radio communication with the shore-based control system or the working mother ship), and communication data are target information detected by an aircraft body, such as target video images shot by a camera and the like, so that real-time data are provided for decision making of a command control person on the control system/the working mother ship.
The battery 5 is used for supplying power to all electronic equipment in the optical fiber communication buoy and adopts a lithium battery for 2 times; the power module 9 is used for converting the power supply voltage of the battery 5 into the voltage required by the motor drive board 7 and the high-speed wireless transmission radio station circuit board 3, so as to supply power to the motor drive board 7 and the high-speed wireless transmission radio station circuit board 3.
The optical fiber spool 12 is fixedly connected to an end cover 17 at the tail part of the aircraft body 14, optical fibers are stored in the optical fiber spool 12, the corresponding optical fiber spool for storing the optical fibers is also arranged in the aircraft body 14, one end of the optical fiber 16 is stored in the optical fiber spool 12 in the optical fiber communication buoy 15, and the other end of the optical fiber is stored in the optical fiber spool in the aircraft body 14; the optical fiber 16 is used for transmitting optical signals between the optical fiber communication buoy 15 and the aircraft body 14; and the optical fiber communication buoy and the aircraft are provided with the optical fiber spools, so that cables can be placed at two ends, and the possibility that the optical fiber placed at one end is easily broken is reduced.
The optical transceiver 6 is connected with one end of the optical fiber 16, which is located in the optical fiber communication buoy 15, is used for converting optical signals and electrical signals, and can convert the optical signals transmitted by the optical fiber 16 into electrical signals and send the electrical signals to a shore-based control system/mother work ship or convert instructions sent by the shore-based control system/mother work ship into optical signals and forward the optical signals to the aircraft body 14 through the optical fiber 16; an optical transceiver connected with the optical fiber 16 is correspondingly arranged in the aircraft body 14 and used for converting the electrical signal of the detection module into an optical signal, and then transmitting the converted optical signal to the optical fiber communication buoy 15 through the optical fiber 16, or converting the received optical signal into an electrical signal and transmitting the electrical signal to a corresponding control unit on the aircraft body 14; signal transmission between the shore-based maneuvering system or work mother vessel and the craft body 14 is thereby achieved through the fiber optic communication buoy 15.
The network switch 4 is respectively connected with the optical transceiver 6 and is used for completing the conversion of the communication modes; the network switch 4 is connected with the high-speed radio transmission radio station circuit board 3, and then sends out the signal through the high-speed radio communication equipment that is formed by the antenna 1 and the high-speed radio transmission radio station circuit board 3.
The buoy connector 13 realizes the connection between the optical fiber communication buoy 15 and the navigation body 14; the fiber optic communications buoy 15 is attached to the tail of the aircraft by the buoy connector 13 to facilitate installation, release and removal of the fiber optic communications buoy. The optical fiber communication buoy 15 is arranged at the tail part of the aircraft body 14, the defect that the autonomous aircraft cannot transmit information back in real time is overcome, meanwhile, the optical fiber communication buoy can also be disassembled, the aircraft can be used independently after being disassembled, and the application range and the scene of the aircraft are greatly improved.
The motor drive plate 7, the motor 10 and the release mechanism 11 are matched to realize the release function of the optical fiber communication buoy 15, wherein one end of the release mechanism 11 is connected with the buoy connector 13, the other end of the release mechanism 11 is connected with the motor 10, when the release mechanism 11 is locked with the buoy connector 13, the optical fiber communication buoy 15 can be reliably connected with the navigation body 14, and when the release mechanism 11 is unlocked with the buoy connector 13, the connection between the optical fiber communication buoy 15 and the navigation body 14 is disconnected at the position of the release mechanism 11. The motor drive board 7 is used for receiving a release instruction issued by the aircraft body 14, and after the motor drive board 7 receives the release instruction, the motor 10 is started, so that the connection between the buoy connector 13 and the aircraft body 14 is failed, and the optical fiber communication buoy 15 is released.
The working process of the autonomous underwater vehicle based on the optical fiber communication buoy is as follows:
firstly, the optical fiber communication buoy is installed at the tail of an aircraft, the aircraft is integrally debugged, and after the optical fiber communication buoy is arranged in water, navigation is carried out according to a planned path. When the aircraft navigates to a preset target point, if communication is needed, the motor 10 is powered on through the aircraft body, a release instruction is provided for the motor drive plate 7, the motor drive plate 7 starts the motor 10 after receiving the release instruction, the connection between the buoy connector 13 and the aircraft body is disabled through the release structure 11, so that the optical fiber communication buoy 15 is separated from the aircraft body 14, the optical fiber communication buoy 15 is released, and the separation of the optical fiber communication buoy 15 and the aircraft body 14 is realized.
After the optical fiber communication buoy 15 is released, the buoy floats to the water surface through self buoyancy. The aircraft body 14 uploads information such as target video images or image information in other formats detected by a camera or other detection equipment to the optical fiber communication buoy through an optical fiber and an optical transceiver of the aircraft body, the optical transceiver 6 in the optical fiber communication buoy converts received optical signals into electric signals, and then the information such as the target video images is remotely transmitted to a shore-based control system/operation mother ship through high-speed wireless transmission equipment consisting of an antenna 1 and a high-speed wireless transmission radio circuit board 3; and after the finger control personnel on the shore-based control system/operation mother ship manually judge information such as target video images and the like, the decision-making instruction is sent to the optical fiber communication buoy 15 and is forwarded to the aircraft body 14 through the optical fiber communication buoy 15, and the aircraft body 14 performs the next action according to the issued instruction.
After the optical fiber communication buoy 15 completes the transmission task, if the aircraft body needs to be recovered, the optical fiber communication buoy 15 is discarded.
The autonomous underwater vehicle adopts high-speed, broadband and large-capacity wireless transmission equipment, solves the problem that the autonomous vehicle needs to emerge when transmitting large-capacity data, improves the service efficiency of the vehicle, and realizes the function of manually confirming target information or performing subsequent manual intervention and issuing decision under certain special tasks.
Example 2:
on the basis of the above embodiment 1, the present embodiment provides a specific implementation manner of the release mechanism 11 and the float connector 13:
as shown in fig. 4, the release mechanism 11 includes a motor adaptor 18, a spring 19, and a steel ball 20;
the motor 10 is a linear motor, the motor adaptor 18 is a hollow cylindrical structure (i.e. a sleeve), one end of the motor adaptor is fixedly connected with the motor 10 (a fixed seat of the motor 10), the motor output shaft 21 extends into a central hole of the motor adaptor 18 and can move along the axial direction of the motor adaptor 18, and the front end of the motor output shaft 21 is of a conical structure; the other end of the motor adaptor 18 penetrates through a mounting hole in the end cover 17, the motor adaptor 18 is in sealing fit with the mounting hole in the end cover 17 through a sealing ring, and the motor adaptor 18 is fixed on the end cover 17 through a nut. Four round holes are uniformly distributed on the outer circumferential surface of the end, extending out of the end cover 17, of the motor adaptor 18 at intervals along the circumferential direction, a steel ball 20 is placed in each round hole, and the steel balls 20 are in contact with a conical structure at the front end of the motor output shaft 21.
One end of the buoy connector 13 is of a hollow cylindrical structure, is coaxially sleeved outside the end where the steel ball of the motor adaptor is positioned, and is provided with hemispherical grooves which are in one-to-one correspondence with the steel balls 21 along the circumferential direction on the inner circumferential surface; the other end is connected with the navigation body 14 through a claw. The exterior of the cylindrical structure of the buoy connector 13 is sleeved with a spring 19, one end of the spring 19 is connected with or abutted against a shaft shoulder on the exterior of the buoy connector 13, and the other end of the spring is abutted against the end cover 17.
When the steel ball on the outer circumference of the motor adapter 18 is positioned in the hemispherical groove on the inner circumference of the buoy connector 13, the motor adapter 18 and the buoy connector 13 are locked, so that the optical fiber communication buoy 15 is reliably connected with the aircraft body 14, and the spring is in a compressed state. After the motor drive plate 7 receives the release instruction, the motor 10 is started, the motor output shaft 21 retracts and does not contact the steel ball 20, so that the steel ball 20 is separated from the hemispherical groove and falls into the round hole in the motor adaptor 18, and the locking of the steel ball is released. At this time, the motor adaptor 18 is not connected to the float connector 13, and the optical fiber communication float 15 is separated from the aircraft body 14 by the assistance of the spring, thereby releasing the optical fiber communication float 15.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (2)
1. An autonomous underwater vehicle based on a fiber optic communication buoy, comprising a vehicle body (14), characterized in that it further comprises: a fiber optic communication buoy (15); the optical fiber communication buoy (15) is detachably arranged at the tail part of the aircraft body (14) and is integrated with the aircraft body (14); the optical fiber communication buoy (15) is connected with an underwater vehicle body (14) through an optical fiber (16) to carry out signal transmission; the optical fiber communication buoy (15) is provided with high-speed wireless communication equipment consisting of an antenna (1) and a high-speed wireless transmission radio circuit board (3);
when the autonomous aircraft reaches a set water area and needs communication, the optical fiber communication buoy (15) is separated from the aircraft body (14), the optical fiber communication buoy floats to the water surface, and real-time communication between the aircraft body (14) and a shore-based control system/operation mother ship is realized through the high-speed wireless communication equipment; when the water surface and external communication is not needed, the optical fiber communication buoy (15) is disassembled, and the aircraft body (14) can be independently used after the optical fiber communication buoy (15) is disassembled;
the fiber optic communications buoy (15) further comprises: the device comprises a sealed cabin (8), a buoyancy material (2) arranged inside the sealed cabin (8), a network switch (4), a battery (5), an optical transceiver (6), a power supply module (9), a locking and unlocking mechanism, an optical fiber spool (12) and a buoy connector (13) which are arranged outside the sealed cabin (8);
the sealed cabin (8) is a pressure-bearing installation shell and comprises a circular platform section and a cylindrical section positioned at the large end of the circular platform section, and the end of the cylindrical section is connected with the aircraft body (14); one end of the antenna (1) is hermetically arranged in the circular truncated cone section of the sealed cabin (8), and the other end of the antenna extends out of the sealed cabin (8); the buoyancy material (2) is filled in the round platform section of the sealed cabin (8); the end part of the cylindrical section of the sealed cabin (8) is sealed by an end cover (17);
the battery (5) is used for supplying power to all electronic equipment in the optical fiber communication buoy;
the power supply module (9) is used for converting the power supply voltage of the battery (5) into the voltage required by each electronic device;
the optical fiber spool (12) is fixedly connected to the end cover (17), and optical fibers are stored in the optical fiber spool (12); inside the craft body (14) there is also a spool of optical fiber for storing the optical fiber, the optical fiber (16) being able to be released from both ends;
the optical transceiver (6) is connected with the optical fiber (16), the optical transceiver (6) is used for converting between optical signals and electric signals, and can convert the optical signals transmitted by the optical fiber (16) into electric signals and send the electric signals to a shore-based control system/mother work ship or convert instructions sent by the shore-based control system/mother work ship into optical signals and forward the optical signals to the aircraft body (14) through the optical fiber (16);
an optical transceiver connected with an optical fiber (16) is correspondingly arranged in the aircraft body (14) and used for converting an electric signal of the detection module into an optical signal, and then the converted optical signal is sent to an optical fiber communication buoy (15) through the optical fiber (16), or the received optical signal is converted into an electric signal and sent to a corresponding control unit on the aircraft body (14);
the network switch (4) is respectively connected with the optical transceiver (6) and the high-speed wireless transmission radio station circuit board (3) and is used for completing the conversion of communication modes;
one end of the buoy connector (13) is connected with the aircraft body (14), the other end of the buoy connector is connected with the locking and unlocking mechanism, and when the locking and unlocking mechanism is locked with the buoy connector (13), the optical fiber communication buoy (15) is reliably connected with the aircraft body (14); the fiber optic communication buoy (15) is detached from the vehicle body (14) when unlocked between the locking and unlocking mechanism and the buoy connector (13).
2. The autonomous underwater vehicle based on a fiber optic communication buoy of claim 1, characterized in that said locking and unlocking mechanism comprises: the device comprises a motor driving plate (7), a motor (10), a motor adaptor, a spring and a steel ball;
the motor (10) is a linear motor;
the motor adaptor is of a hollow cylindrical structure, one end of the motor adaptor is fixedly connected with the motor (10), a motor output shaft extends into a central hole of the motor adaptor and can move along the axial direction of the motor adaptor, and the front end of the motor output shaft is of a conical structure; the other end of the motor adaptor penetrates through a mounting hole in an end cover (17), the motor adaptor is in sealing fit with the mounting hole through a sealing ring, and the motor adaptor is fixedly connected with the end cover (17);
more than two circular holes are uniformly distributed on the outer circumferential surface of the end, extending out of the end cover (17), of the motor adaptor at intervals along the circumferential direction, a steel ball is placed in each circular hole, and the steel balls are in contact with a conical structure at the front end of the motor output shaft;
one end of the buoy connector (13) is of a hollow cylindrical structure, is coaxially sleeved outside the end where the steel ball of the motor adaptor is located, and is provided with grooves which are in one-to-one correspondence with the steel ball in the circumferential direction; the other end is connected with the aircraft body (14); a spring is sleeved outside the cylindrical structure of the buoy connector (13), one end of the spring is connected with or abutted against a shaft shoulder outside the buoy connector (13), and the other end of the spring is abutted against the end cover (17);
when the steel ball on the outer circumference of the motor adapter is positioned in the hemispherical groove on the inner circumferential surface of the buoy connector (13), the motor adapter and the buoy connector (13) are locked, and the spring is in a compressed state; when the motor output shaft retracts to enable the steel ball to be separated from the groove, the locking between the motor adaptor and the buoy connector (13) is released, the optical fiber communication buoy (15) is separated from the aircraft body (14) under the assistance of the spring, and the optical fiber communication buoy (15) is released;
the motor driving plate (7) is used for receiving a release instruction sent by the aircraft body (14), and after the motor driving plate (7) receives the release instruction, the motor (10) is started.
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| CN114697607A (en) * | 2020-12-29 | 2022-07-01 | 中国科学院沈阳自动化研究所 | Satellite remote control ROV control system and method |
| CN114475990B (en) * | 2021-12-29 | 2023-06-20 | 宜昌测试技术研究所 | Water inlet self-sinking device suitable for underwater cabin |
| CN115092359A (en) * | 2022-08-26 | 2022-09-23 | 浙江九段智能科技有限公司 | Buoy type autonomous underwater vehicle |
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