CN112298501A - Winged electric extrusion propulsion type intelligent underwater unmanned vehicle - Google Patents
Winged electric extrusion propulsion type intelligent underwater unmanned vehicle Download PDFInfo
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- CN112298501A CN112298501A CN202011125133.3A CN202011125133A CN112298501A CN 112298501 A CN112298501 A CN 112298501A CN 202011125133 A CN202011125133 A CN 202011125133A CN 112298501 A CN112298501 A CN 112298501A
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- unmanned vehicle
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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
- B63G8/14—Control of attitude or depth
- B63G8/16—Control of attitude or depth by direct use of propellers or jets
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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
- B63G8/18—Control of attitude or depth by hydrofoils
-
- 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
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Toys (AREA)
Abstract
The invention discloses a winged electric extrusion propulsion type intelligent underwater unmanned aircraft, which comprises a cabin body, a water supply device, wings and a control module, wherein the cabin body is provided with a water inlet and a water outlet; the cabin body sequentially comprises an engine cabin, a power material storage cabin and a power reaction cabin from right to left; a water supply device is fixedly arranged on the power reaction cabin; the power reaction cabin is separated from the power material storage cabin by a partition plate, and power materials in the power material storage cabin can enter the power reaction cabin; a propeller is arranged on the left central bulkhead of the power reaction cabin; the control module is fixed on the cabin body; the wings are distributed on two sides of the cabin body; an electric propulsion device is arranged in the engine room and comprises an electric cylinder and a piston. The underwater unmanned vehicle can well execute tasks such as sea patrol reconnaissance, marine relay communication, marine environment investigation, polluted water area monitoring and the like, and has strong environment self-adaption capability, good maneuverability and high safety.
Description
Technical Field
The invention relates to the technical field of underwater robots, in particular to an intelligent underwater unmanned vehicle with wings and electric extrusion propulsion.
Background
The seabed world contains a great deal of energy and abundant resources, and plays an important role in understanding the world and social development of human beings. The intelligent underwater vehicle is an underwater vehicle carried by airplanes, surface ships, submarines and the like, has the main functions of searching, rescuing and autonomously executing ocean exploration, and can also be carried by detectors, underwater prefabricated weapons, mines and the like, can autonomously complete a series of tasks, is widely valued by all countries in the world at present, and is an effective tool for modern society to realize the ocean and develop and utilize the ocean.
At present, most of intelligent underwater vehicles adopt lead-acid batteries, alkaline batteries or lithium batteries and the like for energy supply, and once the batteries have problems, the vehicles cannot normally operate; in addition, when the submersible performs underwater tasks with high maneuverability, endurance is often reduced, underwater working time is reduced, performance indexes of the submersible are affected, and in order to improve stability of the autonomous underwater vehicle, achieve capability conversion, achieve the purposes of autonomous power generation and autonomous operation, normal operation can be guaranteed, and the effect of energy saving can be achieved, a novel intelligent unmanned autonomous underwater vehicle needs to be designed.
Disclosure of Invention
The invention aims to solve the technical problem of providing an intelligent underwater unmanned vehicle with wings and electric extrusion propulsion. The underwater unmanned vehicle combines the traditional concept with the self-sufficient design mode, so that the underwater vehicle has two modes of manual control and automatic generation of kinetic energy for running, can stand underwater, can control the running speed of the underwater unmanned vehicle, and is not influenced by the advancing speed and sea waves. The underwater vehicle can well execute tasks such as sea patrol and reconnaissance, marine relay communication, marine environment investigation, polluted water area monitoring and the like, and has strong environment self-adaption capability, good maneuverability and high safety.
In order to solve the technical problems, the invention adopts the following technical scheme:
an intelligent underwater unmanned aircraft with wings and electric extrusion propulsion comprises a cabin body, a water supply device, wings and a control module;
the cabin body sequentially comprises an engine cabin, a power material storage cabin and a power reaction cabin from right to left; a water supply device is fixedly arranged on the power reaction cabin;
the power reaction cabin is separated from the power material storage cabin by a partition plate, and power materials in the power material storage cabin can enter the power reaction cabin; a propeller is arranged on the left central bulkhead of the power reaction cabin;
the control module is fixed on the cabin body;
the wings are distributed on two sides of the cabin body;
the motor cabin is internally provided with an electric power pushing device, the electric power pushing device comprises an electric cylinder and a piston, the piston is arranged on the left side of the electric cylinder, and the end face of the piston props against power materials in the power material storage cabin.
In one embodiment, the electric cylinder comprises an electric pump and a telescopic rod, the end of the telescopic rod is fixed with the piston, and the electric pump provides power to control the telescopic rod to be lengthened or shortened so as to push the piston to move.
In one embodiment, the power material storage compartment comprises a power material outlet valve; the power material outlet valve is positioned on the partition plate between the power material storage cabin and the power reaction cabin and extends into the power reaction cabin; the power material storage cabin is filled with power materials.
In one embodiment, the power material outlet valve is a one-way valve.
In one embodiment, the power material is a substance that reacts with water and produces gas and/or energy.
In a preferred embodiment, the power material is selected from a gel-like liquid formed by sodium metal particles or sodium metal powder and kerosene or other non-reactive oil substances. The power material in the material cabin is a gel liquid formed by sodium metal particles or sodium metal powder and kerosene or other non-reactive oil substances, the sodium metal particles or the sodium metal powder are uniformly suspended in the medium, and are sprayed into the reaction cabin through a power material outlet valve at the rear part of the material cabin to react with water to generate gas and/or energy which is used as the motion energy of the underwater vehicle.
In one embodiment, the water supply device is connected with the power reaction cabin; preferably, the water supply device comprises a water supply pump, a filter and a water inlet one-way valve; the water supply pump is arranged in the water supply device; the filter is arranged at the lower part of the water supply device; the water inlet one-way valve is used for connecting the power cabin water supply device and the reaction cabin.
In one embodiment, the wing comprises a main wing, an aileron, a steering engine, and a hinge; the main wing is connected with the ailerons through hinges; the steering engine is fixed on the main wing.
In one embodiment, the control module comprises an environment sensor, a depth sensor, a temperature sensor, a controller, a main control board, an energy management board, a radio station component, a positioning module, an attitude sensor module, an electronic compass module and a battery; the environment sensor, the depth sensor, the temperature sensor, the controller, the main control panel, the energy management panel, the radio station component, the positioning module, the attitude sensor module, the electronic compass module and the battery are all arranged in the control module component.
Any range recited herein is intended to include the endpoints and any number between the endpoints and any subrange subsumed therein or defined therein.
The starting materials of the present invention are commercially available, unless otherwise specified, and the equipment used in the present invention may be any equipment conventionally used in the art or may be any equipment known in the art.
Compared with the prior art, the invention has the following beneficial effects:
the underwater unmanned vehicle combines the traditional concept with the self-sufficient design mode, so that the underwater vehicle has two modes of manual control and automatic generation of kinetic energy for driving, can stand underwater, can control the driving speed of the underwater unmanned vehicle, and is not influenced by the advancing speed and the sea waves. The underwater vehicle can well execute tasks such as sea patrol and reconnaissance, marine relay communication, marine environment investigation, polluted water area monitoring and the like, and has strong environment self-adaption capability, good maneuverability and high safety.
Drawings
The following detailed description of embodiments of the invention is provided in connection with the accompanying drawings
Fig. 1 is a system control logic diagram of an intelligent unmanned underwater vehicle as described in the present invention;
FIG. 2 is a schematic cross-sectional view of an intelligent unmanned underwater vehicle as described in the present invention;
FIG. 3 is a schematic top view of an intelligent unmanned underwater vehicle as described in the present invention;
FIG. 4 is a schematic side view of an intelligent unmanned underwater vehicle as described in the present invention;
fig. 5 is a schematic rear view of an intelligent unmanned underwater vehicle according to the present invention.
Detailed Description
In order to more clearly illustrate the invention, the invention is further described below in connection with preferred embodiments. It is to be understood by persons skilled in the art that the following detailed description is illustrative and not restrictive, and is not to be taken as limiting the scope of the invention.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings that is solely for the purpose of facilitating the description and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and is therefore not to be construed as limiting the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
Referring to fig. 2 to 4, as one aspect of the present invention, the winged electric squeeze propulsion type intelligent underwater unmanned vehicle of the present invention comprises a cabin 100, a water supply device 200, wings 300 and a control module 400;
the cabin body 100 sequentially comprises a maneuvering cabin 110, a power material storage cabin 120 and a power reaction cabin 130 from right to left; the power reaction cabin 130 is fixedly provided with a water supply device 200;
the power reaction cabin 130 and the power material storage cabin 120 are separated by a partition plate 121, and the power material 122 in the power material storage cabin 120 can enter the power reaction cabin 130; a propeller 131 is arranged on the left central bulkhead of the power reaction cabin 130;
the control module 400 is fixed on the cabin 100;
the wings 300 are distributed on two sides of the cabin 100;
an electric propulsion device is arranged in the power cabin 110, and comprises an electric cylinder 111 and a piston 112, wherein the piston 112 is arranged on the left side of the electric cylinder 111, and the end face of the piston 112 is pressed against the power material 122 in the power material storage cabin 120.
In one embodiment, referring to fig. 2, the electric cylinder 111 includes an electric pump 113 and a telescopic rod 114, the end of the telescopic rod 114 is fixed to the piston 112, and the electric pump 113 provides power to control the telescopic rod 114 to extend or retract so as to push the piston 112 to move.
In one embodiment, referring to FIG. 2, the storage tank 120 includes a power material outlet valve 123; the power material outlet valve 123 is positioned on the partition 121 between the power material storage cabin 120 and the power reaction cabin 130 and extends into the power reaction cabin 130; the power material storage compartment 120 is filled with power material 122.
In one embodiment, the power material outlet valve 123 is a one-way valve.
In one embodiment, the power material 122 is a substance that reacts with water and produces gas and/or energy.
In a preferred embodiment, the power material 122 is selected from a gel-like liquid of sodium metal particles or sodium metal powder with kerosene or other non-reactive oil-like substances. The power material in the power material storage cabin 120 is a gel liquid formed by sodium metal particles or sodium metal powder and kerosene or other non-reactive oil substances, the sodium metal particles or sodium metal powder are uniformly suspended in the medium, and are sprayed into the power reaction cabin 130 through a power material outlet valve 123 at the rear part of the power material storage cabin 120 to react with water to generate gas and/or energy which is used as the motion energy of the underwater vehicle.
In one embodiment, referring to fig. 4, the water supply device 200 is connected to the power reaction cabin 130; preferably, the water supply device 200 comprises a water supply pump 201, a filter 202, and a water inlet check valve 203; the water supply pump 201 is installed inside the water supply device 200; the filter 202 is arranged at the lower part of the water supply device; the water inlet check valve 203 is used for connecting the water supply device with the power reaction cabin 130.
In one embodiment, referring to fig. 3, the wing 300 comprises a main wing 301, an aileron 302, a steering gear 303, and a hinge 304; the main wing 301 and the aileron 302 are connected through a hinge 304; the steering gear 303 is fixed on the main wing 301.
In one embodiment, the control module 400 includes an environment sensor, a depth sensor, a temperature sensor, a controller, a main control board, an energy management board, a radio component, a positioning module, an attitude sensor module, an electronic compass module, and a battery; the environment sensor, the depth sensor, the temperature sensor, the controller, the main control panel, the energy management panel, the radio station component, the positioning module, the attitude sensor module, the electronic compass module and the battery are all arranged in the control module.
The invention discloses a winged electric extrusion propulsion type intelligent underwater unmanned vehicle, which has the following working principle:
referring to fig. 1 to 5, the underwater unmanned vehicle of the present invention has no initial power, can be carried by surface ships, submarines, airplanes, etc., and transmits the power to a predetermined position when in use, and receives an instruction through an environment sensor in a control module 5; opening a one-way valve 123 between the power reaction cabin 130 and the power material storage cabin 120, wherein the power material is filled in the power material storage cabin 120, namely the sodium metal particles or sodium metal powder and kerosene or other non-reactive gel liquid of oil substances; starting the electric pump 113 in the maneuvering cabin 110, providing power to control the telescopic rod to extend leftwards, so as to drive the piston 112 to extrude the power material 122 in the power material storage cabin 120 to be sprayed into the power reaction cabin 130 through the power material outlet valve 123, wherein the interior of the power reaction cabin 130 is communicated with the water inlet one-way valve 203 through the water supply pump 201, so that water enters the power reaction cabin 130, is mixed with the power material 122 entering from the power material storage cabin 120 to react, releases gas and generates a large amount of pressure, and at the moment, the propeller 131 is opened, so that the gas-water mixed liquid is sprayed outwards through the propeller 131 to push the underwater vehicle to advance. After the reaction occurs in the power reaction chamber 130 to produce gas and pressure, the propeller 131 is turned off, which can slow the aircraft. The wings 300 assist in controlling the direction, and the ailerons 302 are controlled by the steering gears 303 to fold up and down, so that the underwater vehicle can rapidly ascend and descend. The control module 400 adjusts the state, forward, backward, up-down floating speed, and information transmission function of the underwater vehicle by means of an environment sensor, a depth sensor, a temperature sensor, a controller, a main control board, an energy management board, a radio station component, a positioning module, an attitude sensor module, an electronic compass module, and a battery.
The invention can realize autonomous power supply navigation by repeating the process, greatly saves energy, and can take tasks of sea patrol reconnaissance, marine relay communication and the like.
The underwater vehicle has two modes of manual control and automatic kinetic energy generation, can perform tasks such as sea patrol and reconnaissance, marine relay communication, marine environment investigation, polluted water area monitoring and the like an unmanned surface boat during underwater navigation, and has strong environment self-adaption capability, good maneuverability and high safety.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. Not all embodiments are exhaustive. All obvious changes and modifications which are obvious to the technical scheme of the invention are covered by the protection scope of the invention.
Claims (10)
1. The utility model provides a there is wing electric extrusion propulsion type intelligence unmanned underwater vehicle which characterized in that: comprises a cabin body, a water supply device, wings and a control module;
the cabin body sequentially comprises an engine cabin, a power material storage cabin and a power reaction cabin from right to left; a water supply device is fixedly arranged on the power reaction cabin;
the power reaction cabin is separated from the power material storage cabin by a partition plate, and power materials in the power material storage cabin can enter the power reaction cabin; a propeller is arranged on the left central bulkhead of the power reaction cabin;
the control module is fixed on the cabin body;
the wings are distributed on two sides of the cabin body;
the motor cabin is internally provided with an electric power pushing device, the electric power pushing device comprises an electric cylinder and a piston, the piston is arranged on the left side of the electric cylinder, and the end face of the piston props against power materials in the power material storage cabin.
2. The winged electric squeeze propulsion intelligent underwater unmanned vehicle as claimed in claim 1, wherein: the electric cylinder comprises an electric pump and an expansion rod, and the end of the expansion rod is fixed with the piston.
3. The winged electric squeeze propulsion intelligent underwater unmanned vehicle as claimed in claim 1, wherein: the power material storage cabin comprises a power material outlet valve; the power material outlet valve is positioned on the partition plate between the power material storage cabin and the power reaction cabin and extends into the power reaction cabin; the power material storage cabin is filled with power materials.
4. The winged electric squeeze propulsion intelligent underwater unmanned vehicle as claimed in claim 3, wherein: the power material outlet valve is a one-way valve.
5. The winged electric squeeze propulsion intelligent underwater unmanned vehicle as claimed in claim 3, wherein: the power material is a substance that reacts with water and generates gas and/or energy.
6. The winged electric squeeze propulsion intelligent underwater unmanned vehicle as claimed in claim 5, wherein: the power material is selected from a gelatinous liquid formed by sodium metal particles or sodium metal powder and kerosene or other non-reactive oil substances.
7. The winged electric squeeze propulsion intelligent underwater unmanned vehicle as claimed in claim 3, wherein: the water supply device is connected with the power reaction cabin.
8. The winged electric squeeze propulsion intelligent underwater unmanned vehicle as claimed in claim 7, wherein: the water supply device comprises a water supply pump, a filter and a water inlet one-way valve; the water supply pump is arranged in the water supply device; the filter is arranged at the lower part of the water supply device; the water inlet one-way valve is used for connecting the power cabin water supply device and the reaction cabin.
9. The winged electric squeeze propulsion intelligent underwater unmanned vehicle as claimed in claim 1, wherein: the wings comprise main wings, ailerons, steering engines and hinges; the main wing is connected with the ailerons through hinges; the steering engine is fixed on the main wing.
10. The winged electric squeeze propulsion intelligent underwater unmanned vehicle as claimed in claim 1, wherein: the control module comprises an environment sensor, a depth sensor, a temperature sensor, a controller, a main control board, an energy management board, a radio station component, a positioning module, an attitude sensor module, an electronic compass module and a battery; the environment sensor, the depth sensor, the temperature sensor, the controller, the main control panel, the energy management panel, the radio station component, the positioning module, the attitude sensor module, the electronic compass module and the battery are all arranged in the control module component.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011125133.3A CN112298501B (en) | 2020-10-20 | 2020-10-20 | Winged electric extrusion propulsion type intelligent underwater unmanned aircraft |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011125133.3A CN112298501B (en) | 2020-10-20 | 2020-10-20 | Winged electric extrusion propulsion type intelligent underwater unmanned aircraft |
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| CN112298501A true CN112298501A (en) | 2021-02-02 |
| CN112298501B CN112298501B (en) | 2023-06-16 |
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