CN111846170A - Autonomous underwater robot structure capable of cruising in large range - Google Patents

Autonomous underwater robot structure capable of cruising in large range Download PDF

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Publication number
CN111846170A
CN111846170A CN202010800188.3A CN202010800188A CN111846170A CN 111846170 A CN111846170 A CN 111846170A CN 202010800188 A CN202010800188 A CN 202010800188A CN 111846170 A CN111846170 A CN 111846170A
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robot body
autonomous underwater
robot
propeller
underwater vehicle
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CN202010800188.3A
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CN111846170B (en
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徐会希
尹远
刘青岳
赵红印
张洪彬
陈仲
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Shenyang Institute of Automation of CAS
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Shenyang Institute of Automation of CAS
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Priority to CN202010800188.3A priority Critical patent/CN111846170B/en
Publication of CN111846170A publication Critical patent/CN111846170A/en
Priority to PCT/CN2021/103036 priority patent/WO2022033212A1/en
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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • 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
    • 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
    • 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
    • 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
    • B63G8/39—Arrangements of sonic watch equipment, e.g. low-frequency, sonar
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N1/00—Sampling; Preparing specimens for investigation
    • G01N1/02—Devices for withdrawing samples
    • G01N1/10—Devices for withdrawing samples in the liquid or fluent state
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • 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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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Automation & Control Theory (AREA)
  • Remote Sensing (AREA)
  • Medical Informatics (AREA)
  • Chemical & Material Sciences (AREA)
  • Game Theory and Decision Science (AREA)
  • Evolutionary Computation (AREA)
  • Ocean & Marine Engineering (AREA)
  • Artificial Intelligence (AREA)
  • Hydrology & Water Resources (AREA)
  • Business, Economics & Management (AREA)
  • Analytical Chemistry (AREA)
  • Biochemistry (AREA)
  • General Health & Medical Sciences (AREA)
  • Immunology (AREA)
  • Pathology (AREA)
  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention relates to the technical field of underwater robots, in particular to an autonomous underwater robot structure for large-range cruising. The robot comprises a robot body, a horizontal channel propeller, a vertical channel propeller, a main propeller system and a stabilizer wing system, wherein the robot body is of a revolving body structure; the horizontal channel propeller and the vertical channel propeller are arranged on the bow part of the robot body and are vertical to each other; the main propeller system and the stabilizer system are disposed at a stern of the robot body. The invention has low resistance, high efficiency and high maneuverability, and is suitable for large-range and long-distance detection and sampling.

Description

Autonomous underwater robot structure capable of cruising in large range
Technical Field
The invention relates to the technical field of underwater robots, in particular to an autonomous underwater robot structure for large-range cruising.
Background
Under the strategic background of constructing a powerful ocean, the autonomous underwater robot has irreplaceable significance in the fields of ocean exploration and deep sea resource exploration. In the process of crossing from 'deep sea entry' to 'deep sea exploration and development', the autonomous underwater robot plays an indispensable important role all the time. With the increasing heavy detection and development tasks, the efficiency of large-scale detection operation needs to be improved urgently, so that an autonomous underwater robot which is low in resistance, high in maneuverability and suitable for large-scale and long-distance detection and sampling is urgently needed.
Disclosure of Invention
In view of the above problems, the present invention aims to provide an autonomous underwater robot structure for wide-range cruising, which has low resistance, high speed and high maneuverability and is suitable for large-scale and long-distance detection and sampling.
In order to achieve the purpose, the invention adopts the following technical scheme:
an autonomous underwater robot structure cruising in a large range is characterized by comprising a robot body, a horizontal channel propeller, a vertical channel propeller, a main propeller system and a stabilizer wing system, wherein the robot body is of a revolving body structure; the horizontal channel propeller and the vertical channel propeller are arranged on the bow part of the robot body and are vertical to each other; the main propeller system and the stabilizer system are disposed at a stern of the robot body.
The main propeller system comprises four main propellers, and the four main propellers are arranged in a cross shape at equal intervals along the circumferential direction.
The axis of the main propeller and the axis of the robot body form an included angle of 20-30 degrees.
The stabilizer system comprises four stabilizers distributed along the circumferential direction in an X shape, and the four stabilizers and the four main propellers are alternately arranged at intervals.
And small flaps are arranged on the two stabilizing wings on the left side or the right side, and the two small flaps are positioned in the same quadrant.
The stern of the robot body is of a conical structure.
The top of the robot body is provided with a strobe light, a combined antenna, an acoustic communicator and an ultra-short baseline.
The bottom of the robot body is provided with a detection side-scan sonar combined system, a pressure-maintaining water sampling device, a floating load-throwing device, an altimeter, a multi-beam and shallow stratum profiler, a shallow section receiving array, DVL inertial navigation and deep height combined equipment and an image acquisition system.
The front end of the robot body is provided with a submerged load rejection device, a forward-looking sonar and an obliquely downward collision-preventing sonar; the rear end of the robot body is provided with a magnetometer.
The front end of the robot body is provided with a traction ring, and the middle position of the top of the robot body is provided with a lifting ring.
The invention has the advantages and positive effects that:
1. the invention adopts a vector layout main propeller system to assist and uses the cooperation of a horizontal channel propeller and a vertical channel propeller to realize the space high maneuverability under a high-speed cruising mode, and the vector layout of the propeller at 20-30 degrees provides longer moment parameters, so that the space maneuverability of the robot is stronger.
2. The invention adopts the X-shaped stabilizing wing system to realize the navigation stability in the high-speed cruise mode.
3. The invention adopts the deep sea pressure-maintaining water sampler to perform pressure-maintaining sampling on a deep sea water sample, and realizes the autonomous intervention of the autonomous underwater robot on the deep sea water environment.
4. The invention adopts the forward-looking sonar and the altimeter to realize the sensing and collision avoidance processing of the complex marine environment.
5. The invention adopts the line type design of the rotary body of the bow-dun stern cone, and obtains smaller navigation resistance on the premise of ensuring higher volume ratio of the robot.
Drawings
FIG. 1 is a front view of a large-scale cruise autonomous underwater robot configuration of the present invention;
FIG. 2 is a top view of FIG. 1;
FIG. 3 is a left side view of FIG. 1;
FIG. 4 is a right side view of FIG. 1;
FIG. 5 is a bottom view of FIG. 1;
fig. 6 is an isometric view of a wide range cruise autonomous underwater vehicle configuration of the present invention.
In the figure: the robot comprises a robot body 1, a front-view sonar 2, a traction ring 3, a strobe light 4, a combined antenna 5, a horizontal channel propeller 6, a lifting ring 7, an acoustic communicator 8, an ultra-short baseline 9, an upper right wing 10, a small flap 11, a magnetometer 12, a right propeller 13, a lower right wing 15, a detection side-scan sonar combined system 16, a pressure-maintaining water sampler 17, a vertical channel propeller 18, an upper left wing 19, an upper floating load rejection device 20, an altimeter 21, an illuminating lamp 22, a camera 23, a camera 24, a multi-beam 25, a shallow profiler 26, a shallow profile receiver 27, an inertial navigation and deep height combined device 28, a flash lamp 29, an upper propeller 30, a lower left wing 31, a lower propeller 32, a lower diving load rejection device 33, an oblique lower collision avoidance sonar 34 and a left propeller 35.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1-6, the present invention provides a large-scale cruise autonomous underwater robot structure, which comprises a robot body 1, a horizontal channel thruster 6, a vertical channel thruster 18, a main thruster system and a stabilizer wing system, wherein the robot body 1 is a revolving body structure; the horizontal channel thruster 6 and the vertical channel thruster 18 are arranged at the bow of the robot body 1 and are perpendicular to each other; the main propeller system and the stabilizer system are provided at the stern of the robot body 1.
In an embodiment of the invention, the main thruster system comprises four main thrusters, which are arranged circumferentially at equal intervals. Preferably, the axis of each main thruster is at an angle of 20-30 degrees to the axis of the robot body 1. Specifically, as shown in fig. 4, the four main thrusters are a right thruster 13, an upper thruster 30, a lower thruster 32, and a left thruster 35, respectively. The vector layout main propeller system formed by combining the upper propeller 30, the lower propeller 32, the left propeller 35 and the right propeller 13 is adopted, the horizontal channel propeller 6 and the vertical channel propeller 18 are matched to realize high space maneuverability in a high-speed cruise mode, and the vector layout of the propellers at 20-30 degrees provides longer moment parameters, so that the space maneuverability of the robot is stronger.
In the embodiment of the invention, as shown in fig. 4, the stabilizer system comprises four stabilizers distributed along the circumferential direction, the four stabilizers are in an X-shaped structure, the four stabilizers and the four main propellers are alternately arranged at intervals, and the stabilizer system can maintain the navigation stability in the high-speed cruise mode. Specifically, as shown in fig. 4, the four stabilizer wings are a right upper wing 10, a right lower wing 15, a left upper wing 19 and a left lower wing 31, the two stabilizer wings on the left side are provided with small flaps 11, and the two small flaps 11 are located in the same quadrant. Specifically, two small flaps 11 are arranged on opposite surfaces of the upper right wing 10 and the lower right wing 15, and the two small flaps 11 respectively form an included angle of 30-60 degrees with the upper right wing 10 and the lower right wing 15. The X-shaped stable wing system formed by combining the right upper wing 10, the right lower wing 15, the left upper wing 19 and the left lower wing 31 is adopted to realize the navigation stability in the high-speed cruise mode, and the small flaps 11 are combined to realize the quick spiral submergence and the quick spiral ascent of the robot by means of the stable wing system with the X-shaped layout.
In the embodiment of the invention, as shown in fig. 6, the stern part of the robot body 1 is in a conical structure, and the robot body 1 adopts the line design of a rotary body of a bow-dun stern cone, so that smaller navigation resistance is obtained on the premise of ensuring higher volume ratio of the robot.
On the basis of the above embodiment, as shown in fig. 1-2, the top of the robot body 1 is provided with a strobe lamp 4, a combined antenna 5, an acoustic communicator 8 and an ultra-short baseline 9, and the acoustic communicator 8 is adopted to perform acoustic signal communication and remote control on the robot; and positioning and monitoring acoustic signals of the robot by adopting the ultra-short baseline 9.
On the basis of the above embodiments, as shown in fig. 5, the bottom of the robot body 1 is provided with a detection side-scan sonar combination system 16, a pressure-maintaining water-sampling device 17, a floating load-throwing device 20, an altimeter 21, a multi-beam 25, a shallow profiler 26, a shallow profile receiving array 27, a DVL inertial navigation and deep height combination device 28 and an image acquisition system, and an acoustic detection mission is executed by the depth measurement side-scan sonar combination system 16 to complete the fine detection of the submarine micro-topography and the landform. Carrying out pressure-maintaining sampling on the deep sea water sample by adopting a pressure-maintaining water sampling device 17; shallow bottom layer profile measurement and substrate judgment are performed by using a shallow stratum profiler 26 and a shallow profile receiving array 27.
Specifically, as shown in fig. 5, the image capturing system includes an illumination lamp 22, a camera 23, a video camera 24, and a flash 29, and performs the optical detection of the near-sea bottom by means of the deep-sea camera 23, the flash 29, the illumination lamp 22, the video camera 24, and the like.
Further, as shown in fig. 3, a submerged slinger 33, a forward sonar 2, and an obliquely downward collision avoidance sonar 34 are provided at the front end of the robot body 1; as shown in fig. 1, a magnetometer 12 is provided at the rear end of the robot body 1, and the magnetometer 12 is used to detect magnetic anomaly data in the deep sea floor. The magnetometer 12 can be installed or disassembled according to actual detection requirements, and the disassembled robot is shorter in overall length and smaller in resistance. The robot adopts foresight sonar 2 and altimeter 21 to realize the perception and collision avoidance processing of the complex marine environment.
Furthermore, the front end of the robot body 1 is provided with a traction ring 3, and the middle position of the top is provided with a hoisting ring 7. When the robot finds an abnormal data point during the execution of the detection task, the robot can be automatically switched from the cruise mode to the high-mobility fine detection mode, fine investigation is performed on the operation point, and meanwhile, the pressure-maintaining water sampling device 17 is started to perform pressure-maintaining water sampling on the abnormal point.
The working principle of the invention is as follows:
in the water surface standby stage of the robot, the self-contained iridium satellite and the like need to be calibrated on the deck. The robot lifts the cloth from the deck through the lifting hook 7 and the hook is recovered, and when the sea state is poor, the swing stopping and swing preventing control is carried out by means of tensioning the traction ring 3 at the bow part through the return rope. The low resistance characteristic is combined with the symmetrical arrangement of two small flap plates at the stern part, the rapid spiral submergence of the robot can be realized by matching with a submergence load rejection device adsorbed by a submergence electromagnet, the waiting time of the submergence with large depth is greatly saved, meanwhile, the waiting time of water surface recovery can be greatly shortened by spiral surfacing and the low resistance characteristic when the submersible finishes working and returns to a voyage, and the working efficiency of oceanic scientific investigation is greatly improved. After entering water, the X-shaped stabilizer system can keep the navigation stability in a high-speed cruise mode. The four main propellers arranged by means of the stern vector combine with the horizontal and vertical channel propellers arranged redundantly at the bow to realize the rapid and high maneuvering response capability symmetrical in the horizontal plane and the vertical plane. The ultra-low resistance characteristic is realized by means of the fluid line type of the rotary body of the Bowden stern cone, and the long-range index of large endurance under a large-scale high-speed cruise mode is realized. The robot judges whether the diving depth reaches the preset depth according to the DVL inertial navigation and depth and height combination equipment and the altimeter, and then autonomously decides to continue diving or starts a diving load rejection device to start detection operation. If the set depth is reached and the submerged load rejection device is started, the robot completes the switching from the negative buoyancy to the positive buoyancy state, at the moment, a pre-programmed set detection mission is executed, the depth perception is carried out on the deep sea seabed environment by means of a forward-looking sonar and an obliquely downward collision-preventing sonar, and the autonomous learning mode of the robot is started to start the acousto-optical detection operation.
The invention has various positioning, communication and monitoring combination equipment under water and on water, and provides support for remote monitoring, online real-time short message calling, water surface position indicating and searching of the robot. The robot has the capability of independent detection operation of the acoustic system and the optical system, and can be independently replaced according to detection requirements. Load expansion can be carried out according to detection requirements in different detection modes, and stronger detection operation capacity is realized.
The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims (10)

1. An autonomous underwater robot structure with wide cruising range is characterized by comprising a robot body (1), a horizontal channel propeller (6), a vertical channel propeller (18), a main propeller system and a stabilizer wing system, wherein,
the robot body (1) is of a revolving body structure;
the horizontal channel propeller (6) and the vertical channel propeller (18) are arranged at the bow part of the robot body (1) and are vertical to each other;
the main propeller system and the stabilizer system are arranged at the stern of the robot body (1).
2. The structure of a cruise-wide autonomous underwater vehicle according to claim 1, characterized in that said system of main thrusters comprises four main thrusters arranged circumferentially at equal intervals in a cross.
3. The wide range cruise autonomous underwater vehicle structure according to claim 2, characterized in that the axis of the main thruster makes an angle of 20-30 degrees with the axis of the robot body (1).
4. The structure of claim 2, wherein the fin system comprises four fins distributed along the circumference and in an "X" shape, and the four fins are alternately spaced from the four main propellers.
5. The structure of a cruise autonomous underwater vehicle with a large range according to claim 4, characterized in that on both said stabilizer wings, located on the left or on the right, are provided small flaps (11), both said small flaps (11) being located in the same quadrant.
6. The wide range cruise autonomous underwater vehicle structure according to claim 1, characterized in that the stern of said robot body (1) is a cone structure.
7. The structure of an autonomous underwater vehicle cruising at large range according to claim 1, characterized in that the top of the robot body (1) is provided with a strobe light (4), a combined antenna (5), an acoustic communicator (8) and an ultra short baseline (9).
8. The structure of the wide-range cruise autonomous underwater vehicle according to claim 1, characterized in that a detection side-scan sonar combined system (16), a pressure-maintaining water-sampling device (17), a floating load-throwing device (20), an altimeter (21), multiple beams (25), a shallow stratum profiler (26), a shallow profile receiving array (27), a DVL inertial navigation and deep height combined device (28) and an image acquisition system are arranged at the bottom of the robot body (1).
9. The wide-range cruise autonomous underwater vehicle structure according to claim 1, characterized in that the front end of the robot body (1) is provided with a submerged slinger (33), a forward-looking sonar (2) and an obliquely downward collision-preventing sonar (34); the rear end of the robot body (1) is provided with a magnetometer (12).
10. The structure of the wide-range cruise autonomous underwater vehicle as claimed in claim 1, characterized in that the front end of the robot body (1) is provided with a traction ring (3) and the top middle position is provided with a lifting ring (7).
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PCT/CN2021/103036 WO2022033212A1 (en) 2020-08-11 2021-06-29 Large-range cruise autonomous underwater robot structure

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