CN111268071A - Split towing cable type water surface-underwater unmanned aircraft - Google Patents
Split towing cable type water surface-underwater unmanned aircraft Download PDFInfo
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- CN111268071A CN111268071A CN202010091508.2A CN202010091508A CN111268071A CN 111268071 A CN111268071 A CN 111268071A CN 202010091508 A CN202010091508 A CN 202010091508A CN 111268071 A CN111268071 A CN 111268071A
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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
- 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
- B63G8/08—Propulsion
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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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- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a split towing cable type water surface-underwater unmanned aircraft, which comprises: an unmanned mother ship including at least a hull and a propeller as a power source of the hull; the unmanned underwater vehicle at least comprises a sealed cabin body and a plurality of pairs of underwater propellers; the unmanned mother ship and the unmanned underwater vehicle carry out information interaction through cables; the remote wireless control end is used for carrying out information interaction with the unmanned mother ship in a wireless communication mode; the invention organically combines the towline type unmanned aircraft with the small unmanned ship, realizes a cooperative type water surface-underwater unmanned aircraft which only needs to provide remote operation instructions, and greatly improves the operation radius and application range of a common ROV.
Description
Technical Field
The invention relates to the field of underwater vehicles, in particular to a remote control and split towing cable type unmanned vehicle combining an unmanned ship and an underwater robot.
Background
The existing underwater vehicles mainly comprise an Autonomous Underwater Vehicle (AUV) and a remote-control unmanned vehicle (ROV), wherein the AUV is communicated and controlled in a wireless mode, and the ROV is communicated and controlled in a wired mode through a cable. The AUV mostly adopts an underwater sound mode for underwater communication, the difficulty is high, the efficiency is low, and the communication floating out of the water surface is greatly reduced in the aspects of efficiency and concealment; the latter employs cables that greatly limit the maximum operating radius and application environment of the aircraft. Even so, both AUV and ROV are the current research focus of the naval ocean and inland rivers and lakes.
Compared with the wireless communication development of the AUV, the ROV has relatively low wired control difficulty and investment, and the success of the flood dragon provides case proof for the towline type aircraft to carry out large-scale operation. The technical and capital investment required to perform a large range of operations remains enormous, with the operating radius of the ROV being limited by the length of the cable and the operating area of the parent vessel. The ROV adopts cable communication, control signals are stable and are slightly interfered by the environment, but in order to obtain a wider working range, the length of the cable is continuously increased, the possibility that the cable is influenced by water flow and is wound is increased, and the influence on the motion control of the ROV is extremely adverse, so that the working radius of the common ROV is smaller. The mother ship is used as the origin of the working space of the ROV, the moving range of the mother ship directly influences the working radius of the ROV, but the manned mother ship needs to provide extra manpower for working, the ship body has large drainage, and common civil use is not utilized.
The method is applied to popular inland and coastal water areas, and if an underwater vehicle application technology which is low in cost, large in range, high in reliability and unmanned can be provided, exploration and utilization of underwater resources in China can be effectively promoted. The existing robot-oriented wireless communication technology is mature day by day, the direct connection communication distance can even reach more than 5km, and the satellite communication is adopted, so that the global real-time wireless communication and control can even be realized. If the ROV, the unmanned ship and the long-distance communication are combined to develop a low-cost split towing cable type underwater unmanned vehicle, the operation radius and the application range of the common ROV are greatly improved.
Disclosure of Invention
In view of the above, the invention organically combines a towline type unmanned vehicle (ROV) and a small Unmanned Ship (USV) to realize a cooperative type water surface-underwater unmanned vehicle which only needs to provide remote operation instructions. The USV is used for constructing a communication bridge between the ROV and an onshore operator, and meanwhile, the USV is used for carrying, releasing and recovering the ROV at a long distance; the ROV is a main body of underwater operation and is used for realizing underwater video acquisition and real-time shooting, and under the condition of being equipped with a manipulator, the ROV can be used for performing operations such as sample acquisition, resource salvage, product picking and the like.
A split towing-cable type surface-underwater unmanned vehicle, comprising:
an unmanned mother ship including at least a hull and a propeller as a power source of the hull;
the unmanned underwater vehicle at least comprises a sealed cabin body and a plurality of pairs of underwater propellers; the unmanned mother ship and the unmanned underwater vehicle carry out information interaction through cables;
and the remote wireless control terminal is used for carrying out information interaction with the unmanned mother ship in a wireless communication mode.
Further, the ship body comprises two identical sub ship bodies and a connecting plate fixedly connected between the two sub ship bodies; the connecting plate is provided with a wire barrel for winding the cable, a winding and unwinding motor for driving the wire barrel to rotate forwards or reversely and a conductive slip ring for realizing the connection of electric energy and signals between the cable and the unmanned mother ship;
further, the unmanned mother ship is symmetrically provided with two clamping devices for fixing the unmanned underwater vehicle in a retracted state; the clamping device comprises a clamping driving motor, a crank fixed on an output shaft of the clamping driving motor, a hook hinged to the connecting plate and a connecting rod hinged between the crank and the hook; the crank, the connecting rod, the hook and the connecting plate form a crank rocker mechanism together.
Further, the unmanned mother ship and the unmanned underwater vehicle are both provided with an attitude and position self-stabilization PID controller, and the PID controller receives autonomous and manual pose motion control commands of a remote wireless control end at the same time.
Furthermore, the two propeller thrusters are symmetrically arranged at the tail part of the unmanned mother ship; the number of the underwater propellers is four, and the underwater propellers are symmetrically distributed on two sides of the sealed cabin body through the connecting frame.
Further, the unmanned mother ship carries a battery for supplying power to the ship body and the unmanned underwater vehicle; the unmanned mother ship can also carry a generator.
Furthermore, the unmanned mother ship and the unmanned underwater vehicle can be provided with attitude sensors, encoders, positioners, video collectors and/or electric quantity monitors.
The invention has the beneficial effects that:
(1) wide working range
In the invention, the movable range of the unmanned mother ship is only limited by the water area and the wireless communication range, and the relative working radius of the unmanned underwater vehicle is only limited by the length of the cable. Therefore, the operation range of the whole system can theoretically reach all connected water areas of a network coverage area, and the operation range of the unmanned aircraft is greatly expanded.
(2) Long endurance time
The main energy consumption components during the operation of the system are a propeller thruster of the unmanned mother ship, an underwater thruster of an underwater unmanned aircraft, a retraction motor, a clamping driving motor, sensing and communication equipment, a controller and the like, and the unmanned mother ship adopts a catamaran design to provide larger load capacity, so that the mother ship can carry a lithium power supply with larger capacity, even a generator, and the endurance time is greatly prolonged.
(3) The system has small volume and low cost
Because the water surface and underwater operation systems are unmanned, activity space does not need to be provided for operators, extra investment does not need to be provided for personnel safety, the volume of the system can be effectively reduced, and the system is convenient to transport, store and use on a large scale.
(4) The system stability is high
The unmanned mother ship adopts a catamaran structure, so that the restoring moment of the ship body during the inclination is increased, the mother ship is not easy to overturn, and the stability is higher; the underwater unmanned vehicle adopts four pairs of underwater propellers and a parallel power arrangement mode, can realize the rapid adjustment of the position and the posture in a differential mode, and the strong power can effectively resist the influence of underwater turbulence.
(5) Large expandable space
The underwater unmanned vehicle adopts a driving mode of cable power supply and parallel installation of four underwater propellers, can provide large underwater pose adjusting force and moment, has strong load capacity, is suitable for carrying various operation functional modules, and can adapt to high-difficulty operation tasks such as underwater salvaging, mining, overhauling and the like.
(6) Low operation risk and flexible control
The mother ship and the underwater vehicle are unmanned devices, and operators can remotely control the mother ship and the underwater vehicle on the shore, so that the threat of water to the operators is effectively reduced; the operator can move in a wide range and has high flexibility.
Drawings
The invention is further described below with reference to the following figures and examples:
FIG. 1 is an isometric view of the overall structure of the system;
FIG. 2 is a front view of the overall system structure;
FIG. 3 is a rear view of the overall structure of the system;
FIG. 4 is a top view of the overall system configuration;
FIG. 5 is a front view of the parent unmanned ship;
FIG. 6 is a front view of an unmanned underwater vehicle;
FIG. 7 is a top view of an underwater unmanned vehicle;
FIG. 8 is a schematic view of an unmanned underwater vehicle in a recovery state;
fig. 9 is a schematic diagram of an underwater unmanned vehicle in an operational state.
Detailed Description
The embodiment discloses a split towing cable type surface-underwater unmanned aircraft, which comprises:
an unmanned mother ship 6 including at least a hull and a propeller 3 as a power source of the hull; as shown in fig. 1, the hull of the mother unmanned ship 6 comprises two identical sub-hulls and a connecting plate fixedly connected between the two sub-hulls; the two propeller thrusters 3 are respectively arranged at the tails of the two boat bodies, and the connecting plate is used as a 'deck' to bear all working parts; the distance between the two sub-ships is larger than the transverse size of the unmanned underwater vehicle 5, so that the unmanned underwater vehicle can be recovered between the two sub-ships; the unmanned mother ship 6 adopts a double-hull structure, so that the bearing capacity of the mother ship 6 can be improved, and the stability of the mother ship 6 is obviously improved; in addition, when the unmanned underwater vehicle 5 can be retracted between the two sub-bodies, the overall compactness of the system is improved.
The unmanned underwater vehicle 5 at least comprises a sealed cabin body and four pairs of underwater propellers 4 connected outside the sealed cabin body through connecting frames, wherein the four pairs of underwater propellers 4 are symmetrically arranged at four corners of the sealed cabin body in an axis vertical mode; the unmanned underwater vehicle 5 can meet the requirements of complex postures and positions in an underwater three-dimensional space by controlling the steering and rotating speeds of the four pairs of underwater propellers 4. The single-direction power provided by the four propellers 4 can realize the rapid underwater displacement; in addition to the vertical mode of motion, the propeller 4 is required to provide additional power to maintain the required underwater depth, and the power required to maintain the depth is low because the current can provide sufficient buoyancy.
The unmanned mother ship 6 and the unmanned underwater vehicle 5 perform information interaction through cables (in the embodiment, zero-buoyancy cables are adopted); the connecting plate is provided with a wire barrel 1 for winding the wire cable, a winding and unwinding motor 8 for driving the wire barrel 1 to rotate forwards or reversely, and a conductive slip ring 2 for realizing the connection of electric energy and signals between the wire cable and the unmanned mother ship 6; as shown in fig. 1, a square hole is formed in the middle of a connecting plate to enable a wire barrel 1 to be embedded, a central rotating shaft of the wire barrel 1 is crossarm-mounted on the connecting plate through a conductive slip ring 2, and signal and electric energy connection between a cable and a mother ship 6 is realized through the conductive slip ring 2; the cable winding and unwinding are realized by the winding and unwinding motor 8 through the rotation of the driving wire barrel 1.
The unmanned mother ship 6 is symmetrically provided with two clamping devices 7 for fixing the unmanned underwater vehicle 5 in a retracted state; the clamping device 7 comprises a clamping driving motor 9, a crank 10 fixed on an output shaft of the clamping driving motor 9, a hook 12 hinged to the connecting plate and a connecting rod 11 hinged between the crank 10 and the hook 12; the crank 10, the connecting rod 11, the hook 12 and the connecting plate form a crank rocker mechanism together; a through hole for the hook to pass through is formed in the connecting plate, the clamping driving motor 9 is fixed on the top surface of the connecting plate, and when the clamping driving motor drives the crank 10 to rotate, the connecting rod 11 drives the hook 12 to swing; clamping grooves are formed in two sides of the unmanned underwater vehicle 5, and the hooks can be clamped into the clamping grooves, so that the underwater vehicle 5 and the mother ship 6 are relatively fixed.
The unmanned mother ship 6 is provided with a lithium battery for supplying power to the ship body and the unmanned underwater vehicle 5, and can also be provided with a generator according to use requirements; thereby remarkably improving the endurance time of the whole system.
The remote wireless control end is used for carrying out information interaction with the unmanned mother ship 6 in a wireless communication mode; the remote wireless control end can be a handheld remote controller developed based on a single chip microcomputer, a PC carrying a wireless communication module and a short-distance oriented smart phone. In addition, the remote wireless control end and the unmanned mother ship 6 are simultaneously configured with protocols based on long-distance wireless, wifi and 5G communication, so that real-time interaction of control instructions, state data and video information can be realized; and the mother ship 6 and the underwater vehicle 5 carry out information interaction through cables, so that the obstacle of underwater communication is avoided.
The unmanned mother ship 6 and the unmanned underwater vehicle 5 are all provided with an attitude and position self-stabilization PID controller, an encoder, a positioner, a video collector and/or an electric quantity monitor, wherein the PID controller receives autonomous and manual pose motion control commands of a remote wireless control end at the same time. The unmanned system adopts a closed-loop control mode of a human-in-loop. The shore remote wireless control end and the operator are used as the input end of the system together; the mother ship 6 provides signal relays for the shore wireless end and the underwater vehicle 5; the propeller thruster 3 of the mother ship 6, the underwater thruster 4 of the underwater vehicle 5 and other motors are used as actuators; and the attitude sensor, the encoder, the positioner, the video collector, the electric quantity monitor and the like are used as feedback sensors. The control signal is transmitted to the antenna of the mother ship 6 from the shore remote wireless control end in a wireless mode; the controller of the mother ship 6 analyzes the control signal, faces to the propulsion subsystem of the mother ship 6, the retraction subsystem of the underwater vehicle 5, the underwater communication subsystem and other subsystems, and issues a control and communication instruction; the controller of the underwater vehicle 5 receives and analyzes the communication signal transmitted by the cable, and controls the actuator; and the controllers at all levels pack and send the collected sensing data to a shore control end for processing, and finally display in a digital and graphical mode.
As shown in fig. 8 and 9, the flow of the operation using the split towing-cable type surface-underwater unmanned vehicle 5 of the present invention includes transportation, release, operation, recovery, return, and the like. Two workers place the unmanned system on the water surface at the bank side, and operate the unmanned mother ship 6 to convey the underwater vehicle 5 to an area to be operated; the mother ship 6 opens the hook of the clamping device 7, and the retraction motor 8 rotates in the releasing direction until the underwater vehicle 5 reaches the designated operation depth; during the release process, the underwater vehicle 5 enters an operable state, related operations are carried out based on signals of the control end, and the mother ship 6 can move simultaneously during the period; after the operation is finished, the mother ship 6 controls the retraction motor 8 to rotate towards the recovery direction until the recovery is finished; and the mother ship 6 moves to a specified position under the instruction of the control end to finish the task.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and those skilled in the art can make various modifications and variations; any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (7)
1. A split towing-cable type underwater unmanned vehicle is characterized by comprising:
an unmanned mother ship including at least a hull and a propeller as a power source of the hull;
the unmanned underwater vehicle at least comprises a sealed cabin body and a plurality of pairs of underwater propellers; the unmanned mother ship and the unmanned underwater vehicle carry out information interaction through cables;
and the remote wireless control terminal is used for carrying out information interaction with the unmanned mother ship in a wireless communication mode.
2. The split streamer type surface-underwater unmanned vehicle of claim 1, wherein: the ship body comprises two identical sub ship bodies and a connecting plate fixedly connected between the two sub ship bodies; and the connecting plate is provided with a wire barrel for winding the cable, a winding and unwinding motor for driving the wire barrel to rotate forwards or reversely and a conductive slip ring for realizing the connection of electric energy and signals between the cable and the unmanned mother ship.
3. The split streamer type surface-underwater unmanned vehicle of claim 2, wherein: the unmanned mother ship is symmetrically provided with two clamping devices for fixing the unmanned underwater vehicle in a retracted state; the clamping device comprises a clamping driving motor, a crank fixed on an output shaft of the clamping driving motor, a hook hinged to the connecting plate and a connecting rod hinged between the crank and the hook; the crank, the connecting rod, the hook and the connecting plate form a crank rocker mechanism together.
4. The split streamer type surface-underwater unmanned vehicle of claim 3, wherein: the unmanned mother ship and the unmanned underwater vehicle are both provided with an attitude and position self-stabilization PID controller, and the PID controller receives autonomous and manual attitude motion control commands of a remote wireless control end at the same time.
5. The split streamer type surface-underwater unmanned vehicle of claim 4, wherein: the two propeller thrusters are symmetrically arranged at the tail part of the unmanned mother ship; the number of the underwater propellers is four, and the underwater propellers are symmetrically distributed on two sides of the sealed cabin body through the connecting frame.
6. The split streamer type surface-underwater unmanned vehicle of claim 5, wherein: the unmanned mother ship carries a battery for supplying power to the ship body and the unmanned underwater vehicle; the unmanned mother ship can also carry a generator.
7. The split streamer type surface-underwater unmanned vehicle of claim 6, wherein: the unmanned mother ship and the unmanned underwater vehicle can be provided with an attitude sensor, an encoder, a locator, a video collector and/or an electric quantity monitor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010091508.2A CN111268071A (en) | 2020-02-13 | 2020-02-13 | Split towing cable type water surface-underwater unmanned aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010091508.2A CN111268071A (en) | 2020-02-13 | 2020-02-13 | Split towing cable type water surface-underwater unmanned aircraft |
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| CN111268071A true CN111268071A (en) | 2020-06-12 |
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| CN202010091508.2A Pending CN111268071A (en) | 2020-02-13 | 2020-02-13 | Split towing cable type water surface-underwater unmanned aircraft |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR102196850B1 (en) * | 2020-10-22 | 2020-12-30 | (주)금하네이벌텍 | Boat having Launch and Recovery System for Underwater Vehicle |
| CN112230566A (en) * | 2020-10-29 | 2021-01-15 | 哈尔滨工程大学 | Unpowered floating body cooperative positioning control method using multi-surface ship |
| CN112550571A (en) * | 2020-12-15 | 2021-03-26 | 中国科学院沈阳自动化研究所 | Small unmanned water surface vehicle capable of standing for long time under high sea condition |
| CN113204237A (en) * | 2021-04-19 | 2021-08-03 | 鹏城实验室 | Collaborative operation system of underwater vehicle and unmanned ship |
| CN114394202A (en) * | 2021-12-28 | 2022-04-26 | 深圳潜行创新科技有限公司 | Unmanned ship control system |
| CN115709785A (en) * | 2022-11-18 | 2023-02-24 | 深海技术科学太湖实验室 | Underwater test guarantee method for unpowered large submersible |
-
2020
- 2020-02-13 CN CN202010091508.2A patent/CN111268071A/en active Pending
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR102196850B1 (en) * | 2020-10-22 | 2020-12-30 | (주)금하네이벌텍 | Boat having Launch and Recovery System for Underwater Vehicle |
| CN112230566A (en) * | 2020-10-29 | 2021-01-15 | 哈尔滨工程大学 | Unpowered floating body cooperative positioning control method using multi-surface ship |
| CN112230566B (en) * | 2020-10-29 | 2023-05-05 | 哈尔滨工程大学 | Unpowered floating body cooperative positioning control method using multi-surface ship |
| CN112550571A (en) * | 2020-12-15 | 2021-03-26 | 中国科学院沈阳自动化研究所 | Small unmanned water surface vehicle capable of standing for long time under high sea condition |
| CN112550571B (en) * | 2020-12-15 | 2022-01-14 | 中国科学院沈阳自动化研究所 | Small unmanned water surface vehicle capable of standing for long time under high sea condition |
| CN113204237A (en) * | 2021-04-19 | 2021-08-03 | 鹏城实验室 | Collaborative operation system of underwater vehicle and unmanned ship |
| CN114394202A (en) * | 2021-12-28 | 2022-04-26 | 深圳潜行创新科技有限公司 | Unmanned ship control system |
| CN115709785A (en) * | 2022-11-18 | 2023-02-24 | 深海技术科学太湖实验室 | Underwater test guarantee method for unpowered large submersible |
| CN115709785B (en) * | 2022-11-18 | 2023-10-20 | 深海技术科学太湖实验室 | Underwater test guaranteeing method for unpowered large-scale submersible |
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