CN111874195A - Full-sea-depth offshore bottom autonomous underwater robot structure - Google Patents
Full-sea-depth offshore bottom autonomous underwater robot structure Download PDFInfo
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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
- B63G8/14—Control of attitude or depth
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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
- B63G8/38—Arrangement of visual or electronic watch equipment, e.g. of periscopes, of radar
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
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- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/39—Arrangements of sonic watch equipment, e.g. low-frequency, sonar
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- 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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
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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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Abstract
The invention belongs to the technical field of underwater robots, and particularly relates to an autonomous underwater robot structure at the offshore bottom of a full-sea depth. The robot comprises a robot body, a main thruster, a horizontal channel thruster and a vertical channel thruster, wherein the robot body is of a flat fish-shaped structure, and a rudder plate and a stabilizing wing are arranged at the stern part; the main propeller is arranged at the stern part of the robot body and used for realizing the freedom degree of the robot in moving along the X-axis direction and rotating around the Z-axis; the horizontal channel propeller is arranged on the robot body along the horizontal direction and is used for realizing the movement of the robot along the Y-axis direction and the rotational freedom degree around the Z-axis; and the vertical channel propeller is arranged on the robot body along the vertical direction and is used for realizing the freedom degree of the robot in moving along the Z-axis direction and rotating around the X, Y axis. The invention can be used in the sea area with the complex terrain in the whole sea depth, has the complex environment sensing and high-mobility autonomous collision avoidance capability, and realizes the offshore bottom optical detection of the whole sea depth high-mobility autonomous underwater robot.
Description
Technical Field
The invention belongs to the technical field of underwater robots, and particularly relates to an autonomous underwater robot structure at the offshore bottom of a full-sea depth.
Background
Under the strategic background of constructing a powerful ocean, the autonomous underwater robot plays an irreplaceable important role in the fields of ocean exploration and deep sea resource exploration. The complex marine environment near the sea bottom provides higher requirements for complex environment perception and high maneuvering autonomous collision avoidance capability of the autonomous underwater robot, and how to stably realize the offshore bottom acousto-optic detection of the full-sea-depth high maneuvering autonomous underwater robot becomes a difficult point.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a full-sea-depth offshore autonomous underwater robot structure, which can be used in a full-sea-depth complex-terrain sea area, and has complex environment sensing and high maneuvering autonomous collision avoidance capabilities, so as to implement offshore-bottom acousto-optic detection of a full-sea-depth high maneuvering autonomous underwater robot.
In order to achieve the purpose, the invention adopts the following technical scheme:
a full-sea deep offshore autonomous underwater robotic structure comprising:
the robot body is provided with a flat fish-shaped body structure, and a rudder plate and a stabilizing wing are arranged at the stern part;
the main propeller is arranged at the stern part of the robot body and used for realizing the freedom degree of the robot in moving along the X-axis direction and rotating around the Z-axis;
the horizontal channel propeller is arranged on the robot body along the horizontal direction and is used for realizing the movement of the robot along the Y-axis direction and the rotational freedom degree around the Z-axis;
and the vertical channel propeller is arranged on the robot body along the vertical direction and is used for realizing the freedom degree of the robot in moving along the Z-axis direction and rotating around the X, Y axis.
The main thrusters comprise a left main thruster and a right main thruster which are arranged on two sides of the robot body, and the axial lines of the left main thruster and the right main thruster form an included angle of 20-30 degrees with the axial line of the robot body;
when the left main thruster and the right main thruster propel in the same direction, the freedom degree of the robot moving along the X direction is realized;
when the left main propeller and the right main propeller are propelled in different directions, the degree of freedom of the robot rotating around the Z axis is realized.
The horizontal channel propeller comprises a front horizontal channel propeller and a rear horizontal channel propeller, the front horizontal channel propeller is arranged at the bow part of the robot body, and the rear horizontal channel propeller is arranged at the stern part of the robot body;
the current horizontal channel propeller and the rear horizontal channel propeller are propelled in the same direction, so that the degree of freedom of the robot in moving along the Y-axis direction is realized;
the current horizontal channel propeller and the rear horizontal channel propeller are propelled in different directions, and the degree of freedom of the robot rotating around the Z axis is realized.
The vertical channel propeller comprises a left vertical channel propeller, a right vertical channel propeller and a stern channel propeller, wherein the left vertical channel propeller and the right vertical channel propeller are arranged at the bow part of the robot body, and the stern channel propeller is arranged at the stern part of the robot body;
when the left vertical channel propeller, the right vertical channel propeller and the stern channel propeller are propelled in the same direction, the freedom degree of the robot moving along the Z-axis direction is realized;
when the left vertical channel propeller, the right vertical channel propeller and the stern channel propeller are propelled in different directions, the degree of freedom of the robot rotating around the Y axis is realized;
when the left vertical channel propeller and the right vertical channel propeller are propelled in different directions, the degree of freedom of the robot rotating around the X axis is realized.
The rudder plate comprises a left rudder plate and a right rudder plate which are respectively arranged on two sides of the robot body, and the rotation angles of the left rudder plate and the right rudder plate are both positive and negative 45 degrees.
The stabilizing wing comprises an upper left wing plate, a lower left wing plate, an upper right wing plate and a lower right wing plate, wherein the upper left wing plate and the lower left wing plate are arranged on the left side of the robot body and are positioned in a vertical plane; and the right upper wing plate and the right lower wing plate are arranged on the right side of the robot body and are positioned in another vertical plane.
The front end of the robot body is provided with a front-looking sonar and an acoustic communication positioning all-in-one machine, and two sides of the front-looking sonar are provided with an optical navigation sensor I and an optical navigation sensor II.
The top of the robot body is provided with a combined antenna, a bow traction ring, a stern oscillation stopping ring and a lifting hook, wherein the bow traction ring and the stern oscillation stopping ring are respectively arranged at the bow part and the stern part of the robot body, and the lifting hook is arranged in the middle of the robot body.
The bottom of the robot body is provided with a multi-beam sonar system, emergency load rejection, DVL inertial navigation and deep height combined equipment, wireless charging and wireless transmission equipment, a deep-sea camera and a deep-sea flash lamp;
an oil-filled integrated control cabin is arranged at the bow part of the robot body; and a pressure maintaining water sampler is arranged in the oil-filled integrated control cabin.
The robot body adopts aluminum alloy keel frame structure to carry full-sea-depth oil-filled pressure-resistant equipment, the flat fish-shaped buoyancy material is wrapped outside the aluminum alloy keel frame structure, and the skin is wrapped outside the buoyancy material.
The invention has the advantages and positive effects that:
1. the invention adopts the bionic deep-sea flat fish-shaped body design, fully utilizes the fluid appearance body structure evolved by marine organisms, and obtains the high maneuvering collision prevention capability of underwater low-speed navigation.
2. The invention provides floating-free energy support and data transmission guarantee for long-term residence and detection operation of the robot at deep-sea and deep-sea bottom by adopting wireless charging and wireless transmission equipment.
3. The robot adopts five channel propellers to be matched with two main propellers which are arranged in a vector manner to realize controllable maneuverability layout with six degrees of freedom in space.
4. The invention adopts the deep sea pressure-maintaining water sampler to perform pressure-maintaining sampling on the deep sea water sample, and realizes the autonomous sampling detection of the autonomous underwater robot on the deep sea water environment.
5. The invention adopts a forward-looking collision-prevention sonar to realize depth perception and collision prevention processing on a complex marine environment.
6. The invention adopts the multi-beam sonar system to intelligently survey and draw the seabed fine topography and landform map on line in real time.
Drawings
FIG. 1 is a front view of a full-sea deep-offshore autonomous underwater vehicle 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 bottom view of FIG. 1;
FIG. 5 is an isometric view of a full-sea deep-sea sub-seabed autonomous underwater robot structure of the present invention;
fig. 6 is a schematic diagram of the working principle of the present invention.
In the figure: 1 is a robot body, 2 is a front sonar, 3 is an acoustic communication positioning integrated machine, 4 is a bow traction ring, 5 is a front horizontal channel propeller, 6 is a left skin, 7 is a lifting hook, 8 is a rear horizontal channel propeller, 9 is a combined antenna, 10 is a stern oscillation stopping ring, 11 is a left upper wing plate, 12 is a left rudder plate, 13 is a left main propeller, 14 is a left lower wing plate, 15 is a left vertical channel propeller, 16 is a pressure maintaining water sampler, 17 is a right vertical channel propeller, 18 is an oil-filled integrated control cabin, 19 is a right skin, 20 is a multi-beam sonar system, 21 is a right wing plate, 22 is a right upper wing plate, 23 is a right upper wing plate, 24 is a right main propeller, 25 is a stern channel propeller, 26 is a left wing plate, 27 is an optical navigation sensor I, 28 is an optical navigation sensor II, 29 is an emergency load, 30 is a DVL inertial navigation and depth combined device, 31 is a wireless charging and wireless transmission device, a deep-sea camera 32, a lower right wing 33, a deep-sea flash 34, a full-sea deep robot a docking station B.
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 to 5, the present invention provides a full-sea deep offshore bottom autonomous underwater vehicle structure, comprising: the robot comprises a robot body 1, a main thruster, a horizontal channel thruster and a vertical channel thruster, wherein the robot body 1 is of a flat fish-shaped structure, and a rudder plate and a stabilizer wing are arranged at a stern part; the main propeller is arranged at the stern part of the robot body 1 and used for realizing the freedom degree of the robot in moving along the X-axis direction and rotating around the Z-axis; the horizontal channel propeller is arranged on the robot body 1 along the horizontal direction and is used for realizing the movement of the robot along the Y-axis direction and the rotational freedom degree around the Z-axis; and the vertical channel propeller is arranged on the robot body 1 along the vertical direction and is used for realizing the freedom degree of the robot in moving along the Z-axis direction and rotating around the X, Y axis.
In the embodiment of the present invention, as shown in fig. 2, the main thrusters include a left main thruster 13 and a right main thruster 24 respectively disposed at both sides of the robot body 1, and the axes of the left main thruster 13 and the right main thruster 24 form an included angle of 20 to 30 ° with the axis of the robot body 1; when the left main thruster 13 and the right main thruster 24 are propelled in the same direction, the freedom degree of the robot moving along the X direction is realized; when the left main propeller 13 and the right main propeller 24 propel in different directions, the robot can rotate around the Z axis.
In the embodiment of the invention, as shown in fig. 1, the horizontal channel thruster comprises a front horizontal channel thruster 5 and a rear horizontal channel thruster 8, wherein the front horizontal channel thruster 5 is arranged at the bow part of the robot body 1, and the rear horizontal channel thruster 8 is arranged at the stern part of the robot body 1; the current horizontal channel propeller 5 and the rear horizontal channel propeller 8 propel in the same direction, so that the degree of freedom of the robot moving along the Y-axis direction is realized; the current horizontal channel propeller 5 and the rear horizontal channel propeller 8 propel in different directions, and the degree of freedom of the robot rotating around the Z axis is achieved.
In the embodiment of the present invention, as shown in fig. 2, the vertical channel thruster includes a left vertical channel thruster 15, a right vertical channel thruster 17, and a stern channel thruster 25, wherein the left vertical channel thruster 15 and the right vertical channel thruster 17 are disposed at the bow of the robot body 1, and the stern channel thruster 25 is disposed at the stern of the robot body 1; when the left vertical channel propeller 15, the right vertical channel propeller 17 and the stern channel propeller 25 are propelled in the same direction, the freedom degree of the robot moving along the Z-axis direction is realized; when the left vertical channel propeller 15, the right vertical channel propeller 17 and the stern channel propeller 25 are propelled in different directions, the degree of freedom of the robot rotating around the Y axis is realized; when the left vertical channel propeller 15 and the right vertical channel propeller 17 are propelled in different directions, the degree of freedom of the robot rotating around the X axis is realized.
In the embodiment of the present invention, as shown in fig. 2, the rudder plate includes a left rudder plate 12 and a right rudder plate 22 respectively disposed at both sides of the robot body 1, and the rotation angles of the left rudder plate 12 and the right rudder plate 22 are both plus or minus 45 °.
In the embodiment of the present invention, as shown in fig. 5, the stabilizing wing includes a left upper wing plate 11, a left lower wing plate 14, a right upper wing plate 23 and a right lower wing plate 33, wherein the left upper wing plate 11 and the left lower wing plate 14 are disposed on the left side of the robot body 1 and are located in a vertical plane; the right upper wing plate 23 and the right lower wing plate 33 are provided on the right side of the robot body 1, and are located in another vertical plane. A stern channel propeller 25 is arranged between the left upper wing plate 11 and the right upper wing plate 23.
On the basis of the above embodiment, as shown in fig. 3, the front end of the robot body 1 is provided with a forward-looking sonar 2 and an acoustic communication positioning all-in-one machine 3, the depth perception and collision avoidance processing of the complex marine environment is realized through the forward-looking sonar 2, and the acoustic signal communication and positioning are performed on the robot through the acoustic communication positioning all-in-one machine 3. Optical navigation sensors I27 and II 28 are arranged on two sides of the front-looking sonar 2 for optical navigation. The combination of the optical navigation sensor I27 and the optical navigation sensor II 28 can realize bionic binocular optical fine navigation control. The optical navigation sensor I27 has large wide-angle and close-range fine environment sensing and navigation capabilities; the optical navigation sensor II 28 has small wide angle, remote fine environment perception and navigation capability, and binocular capability complementation and cooperative work, and completes high-precision optical fine environment perception and navigation control together.
On the basis of the above embodiments, as shown in fig. 5, the top of the robot body 1 is provided with a combined antenna 9, a fore traction ring 4, a stern oscillation stop ring 10 and a lifting hook 7, wherein the fore traction ring 4 and the stern oscillation stop ring 10 are respectively arranged at the fore part and the stern part of the robot body 1, and the lifting hook 7 is arranged at the middle position of the robot body 1.
In addition to the above embodiments, as shown in fig. 4, the bottom of the robot body 1 is provided with a multi-beam sonar system 20, an emergency load rejection 29, a DVL inertial navigation and deep height combination device 30, a wireless charging and wireless transmission device 31, a deep sea camera 32, and a deep sea flash 34; wherein multi-beam sonar system 20 can survey and draw the meticulous topography geomorphologic map of seabed in real time on line intelligently. The wireless charging and wireless transmission equipment 31 is adopted to provide floating-free energy support and data transmission guarantee for the robot to perform long-term residence and detection operation at deep-sea and deep-sea bottom; near wireless seafloor optical detection is performed by a deep sea camera 32 and a deep sea flash 34.
On the basis of the above embodiment, as shown in fig. 2, the oil-filled integrated control cabin 18 is arranged at the bow of the robot body 1, and the pressure-maintaining water sampler 16 is arranged in the oil-filled integrated control cabin 18, so that the pressure-maintaining water sampling in deep sea can be realized. The oil-filled integrated control cabin 18 is adopted to carry out oil-filled weight-reducing design on the robot pressure-bearing group components, and the problem that the residual buoyancy is insufficient in the structural design of the full-sea-depth robot is solved.
In the embodiment of the invention, the robot body 1 adopts an aluminum alloy keel frame structure to carry full-sea-depth oil-filling pressure-resisting equipment, a flat fish-shaped buoyancy material is wrapped outside the aluminum alloy keel frame structure, and a skin is wrapped outside the buoyancy material. The design scheme of the outer covering solves the problem of insufficient reliability of the deep-Brillouin buoyancy material execution long-term residence technology. Specifically, the skin includes a left skin 6 and a right skin 19. The invention adopts the full-sea deep oil-filled pressure-resistant design to realize the greatly optimized weight-reducing design of the robot, solves the contradiction of small residual buoyancy of the full-sea deep buoyancy material and heavy carrying equipment, and realizes the design target of higher index and ultrahigh maneuverability.
The working principle of the invention is as follows:
and (5) the robot is in a water surface standby submerging stage, and comprehensive inspection operation before submerging is completed. During the inspection operation, the self-contained iridium GPS antenna and the like in the combined antenna 9 need to be calibrated on the water surface. At this time, as shown in fig. 6, the full-sea-depth robot a and the docking station B are fixedly connected and locked by the locking mechanism. And then the full-sea deep robot A and the deep-Yuan base station are hoisted and put into water together from the operation deck, the docking station B stably sits at the bottom after the full-sea deep robot A and the deep-Yuan base station are submerged together to a deep-Yuan operation area, the full-sea deep robot A firstly performs self-detection, fault diagnosis and self-repair operation, and performs undocking operation with the docking station B according to a preset mission program after the self-detection, fault diagnosis and self-repair operation is completed. The undocked full-sea deep robot A firstly senses the depth environment and starts an autonomous learning mode to perform near-bottom optical detection operation on deep-sea resources. In the operation process, an optical navigation sensor I27 and an optical navigation sensor II 28 are adopted for optical navigation, and the DVL inertial navigation and deep altimeter combined equipment 30 is used for assisting in the offshore bottom high maneuvering optical detection operation. After the detection operation is completed, the docking station B returns to the docking station B and is docked with the docking station B, the detection data is uploaded with the wireless transmission equipment 31 through wireless charging, wireless charging operation is carried out simultaneously, after the data transmission is completed and the battery is fully charged, the mission task of the next potential is read from the docking station B through the wireless transmission equipment, and then the previous process is repeated. In the whole operation flow, the robot is not required to be thrown and loaded to return to the water surface for distribution and recovery operation after single diving, a large amount of manpower, material resources and time are saved, a mother ship is greatly liberated, the scale of a scientific investigation support team is simplified, and meanwhile the working efficiency of scientific investigation operation is greatly improved.
In the embodiment of the invention, the six-degree-of-freedom implementation manner of the robot is that as shown in fig. 5, the robot is propelled in the same direction by the left vertical channel propeller 15, the right vertical channel propeller 17 and the stern channel propeller 25, so that the robot can move along the Z-axis direction in a degree of freedom; the left main thruster 13 and the right main thruster 24 are used for propelling in the same direction, so that the freedom degree of the robot moving along the X-axis direction is realized; the front horizontal channel propeller 5 and the rear horizontal channel propeller 8 are used for propelling in the same direction, so that the freedom degree of the robot moving along the Y-axis direction is realized; the robot is propelled in different directions by the left vertical channel propeller 15, the right vertical channel propeller 17 and the stern channel propeller 25, so that the degree of freedom of rotation of the robot around the Y axis is realized; the robot can rotate around the X axis by means of the opposite propulsion of the left vertical channel propeller 15 and the right vertical channel propeller 17; the front horizontal channel propeller 5 and the rear horizontal channel propeller 8 are used for propelling in different directions, so that the degree of freedom of the robot rotating around the Z axis is realized; meanwhile, the left main propeller 13 and the right main propeller 24 can be used for performing incongruous propulsion, so that the degree of freedom of the robot in rotation around the Z axis is realized, and the propulsion capability of the redundant degree of freedom of rotation around the Z axis further enhances the high maneuvering steering and maneuvering capability of the robot in the horizontal plane.
The high-efficiency redundant propeller layout is matched with a left rudder plate and a right rudder plate which can rotate by 45 degrees in the positive and negative directions, and the high-precision optical navigation technology is assisted, so that the offshore bottom high-mobility optical detection operation in a full-sea-depth complex submarine topography area is realized. Wherein, the full sea depth means the submergence depth is not less than 11000 m.
The invention provides a full-sea deep offshore high-mobility optical autonomous underwater robot structure, which obtains underwater low-speed navigation high-mobility collision avoidance capability through the design of a bionic deep-sea flat fish-shaped body. The robot adopts five channel thrusters to match with two main thrusters arranged in a vector manner to realize controllable maneuverability layout with six degrees of freedom in space.
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. A full-sea deep offshore autonomous underwater vehicle structure, comprising:
the robot comprises a robot body (1) and a tail part, wherein the robot body has a flat fish-shaped structure, and a rudder plate and a stabilizing wing are arranged at the tail part;
the main propeller is arranged at the stern part of the robot body (1) and is used for realizing the freedom degree of the robot in moving along the X-axis direction and rotating around the Z-axis;
the horizontal channel propeller is arranged on the robot body (1) along the horizontal direction and is used for realizing the moving of the robot along the Y-axis direction and the rotational freedom degree around the Z-axis;
the vertical channel propeller is arranged on the robot body (1) along the vertical direction and is used for realizing the freedom degree of the robot in moving along the Z-axis direction and rotating around the X, Y axis.
2. Full-sea deep offshore autonomous underwater vehicle structure according to claim 1, characterized in that said main thrusters comprise a left main thruster (13) and a right main thruster (24) arranged on either side of said robot body (1), the axes of the left main thruster (13) and of the right main thruster (24) being at an angle of 20-30 ° with respect to the axis of said robot body (1);
when the left main propeller (13) and the right main propeller (24) propel in the same direction, the freedom degree of the robot moving along the X direction is realized;
when the left main propeller (13) and the right main propeller (24) are propelled in different directions, the degree of freedom of the robot rotating around the Z axis is realized.
3. The full-sea deep offshore autonomous underwater vehicle structure of claim 1, characterized in that said horizontal channel thrusters comprise a front horizontal channel thruster (5) and a rear horizontal channel thruster (8), the front horizontal channel thruster (5) being arranged at the bow of said robot body (1) and the rear horizontal channel thruster (8) being arranged at the stern of said robot body (1);
the current horizontal channel propeller (5) and the rear horizontal channel propeller (8) are propelled in the same direction, so that the degree of freedom of the robot in moving along the Y-axis direction is realized;
the current horizontal channel propeller (5) and the rear horizontal channel propeller (8) are propelled in different directions, and the degree of freedom of the robot rotating around the Z axis is realized.
4. The full-sea deep offshore autonomous underwater vehicle structure of claim 1, characterized in that said vertical channel thrusters comprise a left vertical channel thruster (15), a right vertical channel thruster (17) and a stern channel thruster (25), wherein the left vertical channel thruster (15), the right vertical channel thruster (17) are arranged at the bow of said robot body (1) and the stern channel thruster (25) is arranged at the stern of the robot body (1);
when the left vertical channel propeller (15), the right vertical channel propeller (17) and the stern channel propeller (25) are propelled in the same direction, the freedom degree of the robot moving along the Z-axis direction is realized;
when the left vertical channel propeller (15), the right vertical channel propeller (17) and the stern channel propeller (25) are propelled in different directions, the degree of freedom of the robot rotating around the Y axis is realized;
when the left vertical channel propeller (15) and the right vertical channel propeller (17) are propelled in different directions, the degree of freedom of the robot rotating around the X axis is realized.
5. Full-sea depth offshore autonomous underwater vehicle structure according to claim 1, characterized in that said rudder plates comprise a left rudder plate (12) and a right rudder plate (22) respectively arranged on both sides of said robot body (1), the turning angles of the left rudder plate (12) and the right rudder plate (22) being both positive and negative 45 °.
6. Full-sea deep offshore autonomous underwater robot structure according to claim 1, characterized in that said stabilizer wings comprise a left upper wing plate (11), a left lower wing plate (14), a right upper wing plate (23) and a right lower wing plate (33), wherein the left upper wing plate (11) and the left lower wing plate (14) are arranged on the left side of the robot body (1) and in a vertical plane; the right upper wing plate (23) and the right lower wing plate (33) are arranged on the right side of the robot body (1) and are positioned in another vertical plane.
7. The full-sea-depth offshore bottom autonomous underwater vehicle structure according to claim 1, characterized in that a forward-looking sonar (2) and an acoustic communication positioning integrated machine (3) are arranged at the front end of the robot body (1), and an optical navigation sensor I (27) and an optical navigation sensor II (28) are arranged on two sides of the forward-looking sonar (2).
8. The full-sea deep offshore autonomous underwater vehicle structure according to claim 1, characterized in that the top of said robot body (1) is provided with a combined antenna (9), a bow towing ring (4), a stern oscillation stopping ring (10) and a lifting hook (7), wherein the bow towing ring (4) and the stern oscillation stopping ring (10) are respectively arranged at the bow and stern of said robot body (1), and the lifting hook (7) is arranged at the middle position of said robot body (1).
9. The full-sea-depth offshore bottom autonomous underwater vehicle structure according to claim 1, characterized in that the bottom of the robot body (1) is provided with a multi-beam sonar system (20), an emergency load rejection (29), a DVL inertial navigation and deep altitude combination device (30), a wireless charging and wireless transmission device (31), a deep-sea camera (32) and a deep-sea flashlight (34);
an oil-filled integrated control cabin (18) is arranged at the bow part of the robot body (1); a pressure maintaining water sampler (16) is arranged in the oil-filled integrated control cabin (18).
10. The full-sea-depth offshore autonomous underwater vehicle structure according to claim 1, characterized in that the robot body (1) carries full-sea-depth oil-filled pressure-resistant equipment by adopting an aluminum alloy keel frame structure, a flat fish-shaped buoyancy material is wrapped outside the aluminum alloy keel frame structure, and a skin is wrapped outside the buoyancy material.
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