CN112722217A

CN112722217A - Seabed charging type crawling dual-mode underwater vehicle

Info

Publication number: CN112722217A
Application number: CN202011630526.XA
Authority: CN
Inventors: 刘硕; 徐文; 夏添; 张兵兵; 蔡勇; 林王林
Original assignee: Zhejiang University ZJU
Current assignee: Zhejiang University ZJU
Priority date: 2020-12-31
Filing date: 2020-12-31
Publication date: 2021-04-30

Abstract

The invention discloses a submarine charging type crawling dual-mode underwater vehicle. The invention adopts a nearly disc-shaped appearance and is provided with the horizontal tail wing and the vertical tail wing, thereby having smaller movement resistance and good movement stability during the swimming movement. The device is provided with trundles, and the center of the lower part of the device is provided with a vortex sucker, so that adsorption crawling motion of the sea bottom plane can be realized. The wireless charging and optical communication device is arranged, and can realize autonomous docking, energy supply and data transmission with the seabed base station. The system has a perfect environment sensing and underwater positioning system, can sense the environment and the position and state of the system, makes autonomous decision, and realizes long-time and highly autonomous underwater operation.

Description

Seabed charging type crawling dual-mode underwater vehicle

Technical Field

The invention mainly relates to the related technical field of underwater vehicles, in particular to a submarine charging type crawling dual-mode underwater vehicle.

Background

The underwater vehicle is ocean equipment integrating various high and new technologies such as pressure resistance, propulsion, communication, navigation, positioning, sensing, energy and the like, can perform wide-range free operation, and is one of the top technologies in the field of the ocean equipment in recent years.

Due to the limitation of self-carried energy, most underwater vehicles have weak cruising ability and poor maneuverability, and are difficult to complete complex and high-precision operation tasks. The device needs to float upwards regularly for charging and data transmission, increases the operation cost, cannot realize long-time underwater residence, and increases the exposure risk in military use.

From the aspect of motion form, most underwater vehicles can only move in a swimming way, and a few underwater vehicles crawl through a crawler belt, a sucker and other devices, so that the motion form conversion is difficult to perform.

Disclosure of Invention

The invention aims to solve the outstanding defects of the existing underwater vehicle, improve the endurance and maneuverability of the underwater vehicle, expand the motion form and provide the submarine charging type crawling dual-mode underwater vehicle.

The aircraft has smaller movement resistance and good movement stability, and can realize full-drive cruise movement or seabed or plane crawling movement; the deep sea environment can be efficiently sensed and positioned by the environment sensing device; the underwater long-time residence can be realized by carrying out submarine charging and data transmission.

The technical scheme adopted by the invention is as follows:

a seabed charging type crawling dual-mode underwater vehicle adopts a nearly disc-shaped air guide sleeve, is provided with a horizontal tail wing, a vertical tail wing and trundles.

The approximately disc-shaped air guide sleeve is geometrically characterized in that the length is greater than the width and greater than the height, the cross section is oval, the resistance in horizontal plane motion is reduced, and the maneuverability is improved; the vertical motion resistance is increased, and the vertical motion stability near the seabed and during suspension is improved.

The near-dish-shaped air guide sleeve is provided with a corresponding channel for arranging the propeller.

The propeller acts independently or is linked, is used for driving the aircraft to realize space motion, is matched with the channel, further converges water flow, and is suitable for the working conditions of low speed and heavy load where the aircraft is located.

The horizontal tail wing and the vertical tail wing are arranged at the tail part of the aircraft and used for improving the motion stability of the aircraft during traveling.

The trundles are distributed on the periphery of the vortex suction cup, are used for keeping a proper gap between the vortex suction cup and an adsorbed plane, and are matched with the vortex suction cup to realize underwater crawling motion of the aircraft; meanwhile, land transportation is facilitated.

And the vortex suction cup is arranged at the center of the lower part of the aircraft. The sucking disc impeller rotates to generate internal and external pressure difference, so that an adsorption effect is formed.

Further, the vehicle also comprises an environment sensing and underwater positioning system which is used for sensing the environment and the position of the vehicle.

The environment perception system comprises a camera and is used for imaging an underwater environment.

The underwater positioning system comprises an ultra-short baseline positioning system for determining the distance and azimuth of the vehicle relative to the deployed receiver facility.

The underwater positioning system also comprises a camera, and the positioning information is corrected in an auxiliary manner by applying a binocular vision technology.

Further, the vehicle also includes wireless charging and optical communication means enabling energy replenishment and data transmission within the subsea base station.

Furthermore, an oil-immersed electronic cabin and a power supply cabin are arranged in the air guide sleeve of the aircraft and are used for accommodating electronic equipment such as a control module and a power supply module.

The oil-immersed electronic cabin and the power supply cabin are filled with insulating oil, and the circuit board, the battery and the like are immersed in the insulating oil.

Further, the aircraft is provided with a pressure compensator, the interior of which is filled with insulating oil and has a flexible structure, so that the internal and external pressures of the compensator are balanced no matter how deep the aircraft is. The electronic cabin and the power supply cabin are communicated with the compensator through the thin oil pipe, so that the pressure of the insulating oil in the cabin is the same as the pressure of the external seawater.

The power module is used for providing electric energy for the aircraft and has the functions of electric energy distribution, parameter detection, circuit protection and the like.

The control module is responsible for data acquisition, processing and storage of sensors of the aircraft, motion control of the aircraft and the like, and monitors and makes autonomous decision on the running state of the aircraft.

Further, the vehicle comprises corresponding metal frames, connectors, slings, etc.

Compared with the prior art, the invention has the following beneficial effects:

the design of the near-dish-shaped appearance effectively reduces the movement resistance of the aircraft in the horizontal plane and improves the maneuverability; the heave resistance is improved, and the aircraft can sail or hover at the offshore bottom conveniently. The arrangement of horizontal and vertical tail wings further increases the stability of the movement. Meanwhile, the nearly disc-shaped appearance improves the utilization rate of the inner space and can better accommodate various loads.

The invention adopts the design of the trundle and the vortex sucker, and is matched with the shape of a nearly disc, so that the aircraft can conveniently perform adsorption crawling motion on the seabed or other planes, and tasks such as butt joint with a seabed base station, charging, data transmission and the like can be conveniently completed.

The invention is provided with a wireless charging and optical communication device, can realize charging and data transmission in the submarine base station, avoids frequent floating charging and realizes long-time underwater residence.

The invention is provided with a perfect environment sensing and underwater positioning system, can sense the environment and the position and state of the system, and the control module can make an autonomous decision, thereby realizing long-time and highly autonomous operation.

The oil-immersed electronic cabin and the power supply cabin are adopted, so that the overall dimension and the weight of the cabin are greatly reduced, and more load carrying capacity is released.

The invention can realize the stable motion of the seabed through the combined action of the nearly disc-shaped appearance, the trundles and the vortex suction cups, and the seabed is subjected to high-precision and high-stability imaging observation through the downward-looking camera.

Drawings

FIG. 1(a) is a schematic view of a near-dish shaped pod and stabilizing tail in axial orientation according to the present invention;

FIG. 1(b) is a schematic view of a near-dish shaped fairing and stabilizing tail of the present invention looking down;

FIG. 2 is a diagram of the propeller arrangement of the present invention;

FIG. 3(a) is a top view of the internal structure of the present invention;

FIG. 3(b) is a side view of the internal structure of the present invention;

FIG. 3(c) is a bottom view of the internal structure of the present invention;

FIG. 4 is a schematic view of a downward looking camera;

fig. 5 is a schematic front view of a subsea base station.

In the figure, 1 is a near-disc-shaped air guide sleeve, 2-7 are propellers, 8 is an inertial navigation system, 9 is an acoustic doppler log, 10 is an ultra-short baseline positioning system, 11 is a height depth gauge, 12-15 are oil-immersed electronic cabins, 16 is a power supply cabin, 17 is a forward-looking searchlight, 18 is a downward-looking searchlight, 19 is a forward-looking camera, 20 is a downward-looking camera, 21 is a pressure compensator, 22 is a front load rejection device, 23 is a rear load rejection device, 24 is a charging coil secondary side, 25 is an optical communication device submersible device end, 26 is an iridium satellite module, 27 is a satellite positioning system module, 28 is a forward-looking sonar, 29 is a scroll suction cup, 30 is a lifting ring, 31 is a horizontal tail fin, 32 is a vertical tail fin, 33 is a universal wheel, 34 is a one-way wheel, 35 is a metal frame, 36 is a limit column, 37 is a charging coil, and 38 is an optical communication device base side.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

The invention provides a submarine charging type crawling dual-mode underwater vehicle, which adopts a near-disk-shaped air guide sleeve shown in fig. 1(a) and 1(b), wherein a horizontal tail wing 31 and a vertical tail wing 32 are arranged at the tail part, and

propellers

2 and 3 are arranged on the horizontal tail wing 31.

The approximately dish-shaped air guide sleeve 1 is formed by machining buoyancy materials and can be divided into a plurality of small blocks, so that the air guide sleeve is convenient to disassemble and assemble. The shape has smaller horizontal plane resistance and slightly larger vertical plane resistance, and is convenient for quick maneuvering in the horizontal plane and stable navigation in the vertical plane.

The near-dish-shaped pod is provided with corresponding channel openings for accommodating the

propellers

4, 5, 6, 7.

The near-dish-shaped air guide sleeve is fixed on the metal frame 35 through bolts, and other equipment is also fixed in the same way.

The metal frame 35 is further provided with a lifting ring 30 for lifting the aircraft during operations such as laying, recovering and debugging.

The horizontal tail 31 and the vertical tail 32 further improve the motion stability of the aircraft, and are matched with the shape of a nearly dish shape, so that the good hydrodynamic performance of the aircraft is ensured.

Further, the thrusters 2-7 can be individually actuated or linked to drive the vehicle to realize a spatial six-degree-of-freedom full-drive motion, and the specific arrangement is shown in fig. 2.

As shown in fig. 3(a), 3(b) and 3(c), further, the vehicle is provided with a pressure compensator 21, which is internally filled with insulating oil and has a flexible structure so that the pressure inside and outside the compensator is balanced, whatever the depth of the vehicle. The electronic cabin and the power supply cabin are communicated with the compensator through the thin oil pipe, so that the pressure of the insulating oil in the cabin is the same as the pressure of the external seawater

Further, the vortex suction cup 29 is arranged at the center of the bottom of the aircraft, and the suction cup impeller rotates to generate suction force which is matched with the universal wheel 33 and the one-way wheel 34 to enable the crawling motion on the flat ground on the seabed.

The universal wheel 33 is arranged at the front part of the aircraft, so that the crawling direction can be adjusted conveniently, and the one-way wheel 34 is arranged at the rear part of the aircraft, so that the reverse torque generated by the vortex suction cups can be overcome, and the motion trail during crawling can be stabilized.

Further, the aircraft is provided with a front load rejection device 22 and a rear load rejection device 23, and the front load rejection device and the rear load rejection device carry iron blocks for gravity adjustment and emergency floating of the aircraft.

Further, the vehicle has an environmental perception system consisting of a depth of elevation gauge 11, a forward looking sonar 28, a forward looking camera 19, and a forward looking searchlight 17.

The depth of elevation gauge 11 is able to determine the distance of the vehicle from the sea floor and the sea surface.

The forward looking sonar 28, forward looking camera 19 is used to detect obstacles in front of the vehicle, perform motion avoidance, and can be imaged and recorded.

The forward looking searchlight 17 is used for increasing the ambient light illumination and improving the imaging quality of the camera.

Further, the vehicle has an underwater positioning system consisting of an inertial navigation system 8, an acoustic doppler log 9, an ultra-short baseline positioning system 10, a downward-looking camera 20, and a downward-looking searchlight 18.

The inertial navigation system 8 obtains the moving speed and the moving track of the aircraft by sensing the acceleration of the inertial navigation system and integrating.

The acoustic Doppler log 9 is used for sensing the navigational speed and the accumulated course relative to the seabed and measuring the flow field profile of the position.

The ultra-short baseline positioning system 10 is used for determining the distance and the azimuth angle of a vehicle relative to a guarantee mother ship or an underwater base station.

The downward-looking cameras 20 are respectively arranged on the left and right sides of the aircraft, and the visual fields of the downward-looking cameras are shown in fig. 4. The central portions of the fields of view overlap, as indicated by the hatched portions in fig. 4, and are positioned with assistance by binocular vision techniques. The field of vision is laterally expanded to two sides, the imaging range is expanded, and submarine image acquisition is carried out. The downward-looking searchlight 18 is used for increasing the ambient light illumination and improving the imaging quality of the camera.

Further, a vortex suction cup 29 is arranged at the center of the lower part of the aircraft, so that the aircraft is adsorbed on a crawling surface in a crawling motion mode.

Further, the aircraft is provided with a charging coil secondary side 24 and an optical communication device submersible end 25, and electric energy supply and data transmission are completed by matching with a submarine base station, as shown in fig. 5.

Further, the oil-immersed electronic compartments 12 to 15 are used for accommodating electronic devices such as a control module, and the power supply compartment 16 is used for accommodating a power supply module.

The invention relates to a submarine charging type crawling dual-mode underwater vehicle, which has the working principle that:

when the aircraft dives, the gravity of the aircraft is larger than the buoyancy by installing the balancing weight and the buoyancy block, and the aircraft has a forward-leaning posture and performs unpowered dive. After the working depth is reached, the front load rejection device 22 rejects the load rejection iron blocks, so that the gravity and the buoyancy of the aircraft are balanced, and the propeller 2-7 provides a motion thrust to carry out deep sea operation.

The forward, backward and steering actions can be realized by the linkage or differential action of the

propellers

2 and 3, the steering action can be realized by the single action of the propeller 5, the leftward or rightward translation action can be realized by the linkage of the propeller 5 and the

propeller

2 or 3, the upward floating or downward diving action can be realized by the linkage of the

propellers

5, 6 and 7, the pitching control can be realized by the differential action of the

propellers

5 and 6 and the heeling control can be realized by the differential action of the

propellers

5 and 6. Thereby, the aircraft can realize the six-freedom-degree arbitrary motion in the space.

The power pod 16 provides power to and manages and dispatches the various devices while the aircraft is operating. An environment perception system consisting of a height depth meter 11, a forward looking sonar 28, a forward looking camera 19 and a forward looking searchlight 17 senses the environment of the aircraft in real time, and an underwater positioning system consisting of an inertial sensor 8, an acoustic Doppler log 9, an ultra-short baseline positioning system 10, a downward looking camera 20 and a downward looking searchlight 18 determines the position of the aircraft in real time. And related data are transmitted back to control modules in the oil-immersed

electronic cabins

12, 13, 14 and 15, and the states of the aircraft are controlled after processing, fusion and decision making. In addition, the data acquired by the relevant environment sensing system and the underwater positioning system are collected and stored by the control module.

After the aircraft runs on the seabed for a long time, the power supply module judges the electric quantity, and the control module sends a charging or floating instruction to the seabed base station. When going to the subsea base station for charging, the ultra short baseline positioning system 10 is used to determine the relative position of the aircraft and the subsea base station. The aircraft is controlled by the control module, autonomously drives into the seabed base station, and is aligned and locked by the limiting columns 36.

The subsea base station contains a large capacity battery that supplies ac power to the charging coil primary 37. The secondary side 24 of the charging coil on the aircraft generates induced electromotive force through an induced alternating electric field, and wireless charging of the power module is achieved after the induced electromotive force passes through the voltage and current conditioning circuit. Meanwhile, after the optical communication system submersible unit end 25 and the optical communication system base station end 38 complete alignment, data transmission is performed through laser: work logs, recorded data and the like in the aircraft are uploaded to a seabed base station and transmitted to the shore through a cable; commands on shore are downloaded to the aircraft. Therefore, the underwater vehicle can survive underwater for a long time.

When the aircraft needs to float, the load rejection iron block is rejected by the rear load rejection device 23, so that the buoyancy of the aircraft is larger than the gravity, and the unpowered floating starts. When the aircraft floats to the water surface, the iridium module 26 and the satellite positioning system module 27 report the position and the state of the aircraft to a controller, and the controller recovers the aircraft.

Claims

1. The utility model provides a rechargeable dual mode underwater vehicle that crawls in seabed which characterized in that:

a near-disc-shaped air guide sleeve is adopted, and a horizontal tail wing and a vertical tail wing for improving the motion stability of a navigation device are arranged at the tail part of the near-disc-shaped air guide sleeve; the near-dish-shaped air guide sleeve is provided with corresponding channel openings for accommodating a plurality of propellers;

a vortex suction cup is arranged in the center of the lower part of the aircraft and used for enabling the aircraft to be adsorbed on a seabed plane, and trundles are distributed around the vortex suction cup and used for keeping a proper gap between the vortex suction cup and the adsorbed plane;

the underwater long-time parking device has a charging coil secondary side and an optical communication device submersible end which are positioned in an aircraft, and can be respectively butted with a charging coil primary side and an optical communication device base station end which are positioned in a submarine base station to supply energy and transmit data, so that the underwater long-time parking is realized;

the system is provided with an environment sensing and underwater positioning system, can sense the environment and the position and state of the system, and a control module can make a decision autonomously to realize long-time and highly autonomous operation;

an oil-immersed electronic cabin and a power supply cabin are arranged in the aircraft, wherein the oil-immersed electronic cabin is used for accommodating electronic equipment including a control module, and the power supply cabin is used for accommodating a power supply module.

2. The subsea charging type crawling dual-mode underwater vehicle as claimed in claim 1, wherein: the approximately-dished air guide sleeve is geometrically characterized in that the length is greater than the width and greater than the height, the cross section is oval, and a larger inner space is provided for arranging equipment.

3. The subsea charging type crawling dual-mode underwater vehicle as claimed in claim 1, wherein: the caster wheels comprise front wheels and rear wheels, wherein the front wheels are universal wheels, are arranged at the front part of the aircraft and are used for adjusting the direction during crawling; the rear wheel is a one-way wheel, is arranged at the rear part of the aircraft, only has front and rear degrees of freedom, and is used for overcoming reverse torque generated by the vortex suction cup and stabilizing the motion trail during crawling.

4. The subsea charging type crawling dual-mode underwater vehicle as claimed in claim 1, wherein: the control module and the power module are respectively placed in an oil-immersed electronic cabin and a power cabin which are filled with insulating oil and soaked in the insulating oil; a pressure compensator filled with insulating oil is arranged in the aircraft, and the electronic cabin and the power supply cabin are communicated with the pressure compensator to ensure the balance of internal and external pressure.

5. The subsea charging type crawling dual-mode underwater vehicle as claimed in claim 1, wherein: the environment perception system consists of a height depth meter, a forward-looking sonar, a forward-looking camera and a forward-looking searchlight;

the height depth meter is used for determining the distance from the aircraft to the sea bottom and the sea surface;

the forward-looking sonar and the forward-looking camera are used for detecting obstacles in front of the aircraft, performing motion avoidance and imaging and recording;

the forward looking searchlight is used for increasing the ambient light illumination and improving the imaging quality of the camera.

6. The subsea charging type crawling dual-mode underwater vehicle as claimed in claim 1, wherein: the underwater positioning system consists of an inertial navigation system, an acoustic Doppler log, an ultra-short baseline positioning system, a downward-looking camera and a downward-looking searchlight;

the inertial navigation system obtains the motion speed and the motion track of the aircraft by sensing the acceleration of the inertial navigation system and integrating;

the acoustic Doppler log is used for sensing the navigational speed and the accumulated course relative to the seabed and measuring the flow field section of the position where the acoustic Doppler log is located;

the ultra-short baseline positioning system is used for determining the distance and the azimuth angle of the aircraft relative to the guarantee mother ship or the underwater base station;

the downward-looking cameras are respectively arranged on the left side and the right side of the aircraft; the central parts of the visual fields are overlapped, and auxiliary positioning is carried out through a binocular vision technology; the two sides are laterally forked outside the field of vision, the imaging range is expanded, and submarine image acquisition is carried out;

the downward-looking searchlight is used for increasing the ambient light illumination and improving the imaging quality of the camera.