CN113022827A - 100-meter-level ARV underwater robot structure - Google Patents
100-meter-level ARV underwater robot structure Download PDFInfo
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- CN113022827A CN113022827A CN202110370903.9A CN202110370903A CN113022827A CN 113022827 A CN113022827 A CN 113022827A CN 202110370903 A CN202110370903 A CN 202110370903A CN 113022827 A CN113022827 A CN 113022827A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/08—Propulsion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/004—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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
- B63G2008/007—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled by means of a physical link to a base, e.g. wire, cable or umbilical
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to an underwater robot, in particular to a 100-meter-level ARV underwater robot structure, which is characterized in that a bow part to a stern part is provided with a bow part detection unit, a front maneuvering unit, a navigation unit, a control and energy source unit, a rear maneuvering unit and a stern part propulsion unit, the bow part detection unit, the front maneuvering unit and the rear maneuvering unit are open water units, and all the units are fastened by utilizing snap rings; the bow detection unit is provided with a forward-looking sonar, a high-definition camera and an illuminating lamp; the front maneuvering unit is provided with a vertical propeller and a horizontal propeller; the DVL and the electronic compass are installed on the navigation unit; the control and energy unit is provided with a secondary battery pack, a core control panel and a side scan sonar; the rear maneuvering unit is provided with a horizontal propeller; the stern propulsion unit is provided with a combined antenna, a strobe light, a depth meter, a load rejection device, a propeller and an X-shaped rudder. The invention adopts a dry and wet cabin combination mode, and all cabin sections have mutually independent functions, are convenient to install and disassemble, and realize good modular design.
Description
Technical Field
The invention relates to an underwater robot, in particular to a 100-meter-level ARV underwater robot structure.
Background
An ARV (autonomous remotely operated vehicle) is an underwater robot system which has multiple operation modes such as autonomous operation, remote control and the like and integrates multiple capabilities of detection and operation. The ARV has the advantages of flexible mode, controllable motion, convenient operation and the like, and is divided into two typical working modes, namely an optical fiber mode and a non-optical fiber mode according to whether an optical fiber micro cable is carried to carry out underwater work. Under the optical fiber mode, namely, the operation is carried out in a conventional ROV (remote operated vehicle) mode, an operator carries out the underwater operation by remotely controlling an ARV through an optical fiber micro cable to carry out fixed-point fine observation, and the optical fiber can transmit the image acquired by the camera back to the water surface control platform in real time. And in a non-optical fiber mode, namely, the system works in a traditional AUV (autonomous underwater vehicle) mode, autonomous cruising is carried out according to a preset instruction, and relevant hydrological information observation is carried out by utilizing a mounted sensor.
Disclosure of Invention
The invention aims to provide a 100-meter-level ARV underwater robot structure. The ARV underwater robot has a structure submerging depth of 100 meters, and is a small underwater robot with an Autonomous Underwater Vehicle (AUV) mode and a remote underwater vehicle (ROV) mode.
The purpose of the invention is realized by the following technical scheme:
the invention comprises a bow detection unit, a front maneuvering unit, a navigation unit, a control and energy source unit, a rear maneuvering unit and a stern propulsion unit which are sequentially connected from the bow to the stern, wherein the bow detection unit, the front maneuvering unit and the rear maneuvering unit are independent from each other, the bow detection unit, the front maneuvering unit and the rear maneuvering unit are open water tanks, the navigation unit, the control and energy source unit and the stern propulsion unit are sealed tanks, and the open water tanks are sealed and isolated from the sealed tanks; the bow detection unit comprises an illuminating lamp, a high-definition camera and a forward-looking sonar for scanning front obstacles in the advancing process of the robot; the front maneuvering unit comprises a front vertical propeller and a horizontal propeller for realizing steering of the robot; the control and energy source unit comprises a secondary battery pack, a core control panel and a side scan sonar, wherein the core control panel is connected with the secondary battery pack; the rear maneuvering unit comprises a rear vertical propeller, the rear vertical propeller is matched with the front vertical propeller to realize the upward floating or the downward diving of the robot, an optical fiber micro cable leading-out port is arranged on the rear maneuvering unit, one end of the optical fiber micro cable enters the control and energy unit and is connected with the core control panel, and the other end of the optical fiber micro cable is led out from the optical fiber micro cable leading-out port and is connected with the water surface optical fiber winch; the stern propelling unit comprises a strobe light, a combined antenna, an X-shaped rudder, a propeller thruster, a load rejection device and a depth gauge, wherein the strobe light and the combined antenna are respectively arranged at the front end of a stern cabin of the stern propelling unit; light, high definition digtal camera, forward looking sonar, horizontal propeller, preceding vertical propeller, side scan sonar, the vertical propeller in back, strobe light, combination antenna, X type rudder, screw propeller, load rejection device and depth gauge are connected with the core control panel respectively.
Wherein: the navigation unit comprises an electronic compass and a DVL, and the electronic compass and the DVL are respectively connected with the core control board.
And a blocking cover is arranged between the open water cabin and the sealed cabin, and the sealed isolation between the open water cabin and the sealed cabin is realized through the blocking cover.
The plug cover comprises a bow plug cover, a middle plug cover and a stern plug cover, the bow plug cover is arranged between a front maneuvering cabin of the front maneuvering unit and a navigation cabin of the navigation unit, the middle plug cover is arranged between a control and energy source of the control and energy source unit and a rear maneuvering cabin of the rear maneuvering unit, and the stern plug cover is arranged between the rear maneuvering cabin and the stern cabin; watertight cable sockets are arranged on the bow part blanking cover, the middle part blanking cover and the stern part blanking cover and are connected with watertight cables led out by all devices in the sealed cabin.
And an optical fiber connector is arranged on the middle blocking cover, and one end of the optical fiber micro cable enters the control and energy unit through the optical fiber connector and is connected with the core control panel.
The bow detection unit and the front maneuvering cabin of the front maneuvering unit, the front maneuvering cabin and the navigation cabin of the navigation unit, the navigation cabin and the control and energy cabin of the control and energy unit, the control and energy cabin and the rear maneuvering cabin of the rear maneuvering unit and the stern cabin of the stern propulsion unit are connected and fastened through snap rings.
The high-definition camera is positioned at the upper part of the front end of the bow detection unit, and the illuminating lamps are symmetrically arranged on the left side and the right side of the high-definition camera; the forward-looking sonar is positioned at the lower part of the front end of the bow detection unit, and the front end detection part of the forward-looking sonar protrudes out of the bow detection unit.
The horizontal thruster is arranged at the front position of the whole underwater robot.
The front vertical thruster and the rear vertical thruster are symmetrically arranged on two sides of the gravity center of the underwater robot, and the vertical center line of the front vertical thruster is parallel to the vertical center line of the rear vertical thruster and is respectively vertically intersected with the center line of the underwater robot in the length direction.
The number of the side scan sonars is two, the side scan sonars are symmetrically arranged on the left side and the right side of the control and energy unit, and the position of the probe is downward.
The invention has the advantages and positive effects that:
1. the invention adopts a dry-wet cabin combination mode, the functions of all cabin sections are mutually independent, different types of sensors can be additionally arranged according to task requirements, the installation and the disassembly are convenient, and the good modular design is realized.
2. The design of the invention has the submergence depth of 100 meters, the weight of less than 70Kg and the diameter of the robot of 200mm, thus meeting the miniaturization requirement; the pressure-resistant cabin body, the blanking cover, the clamping ring and the like are utilized to form the main body of the sealed cabin, and the sealed cabin is made of aluminum alloy materials, so that the structure is simple and reliable, the weight is light, and the corrosion resistance is high.
3. The invention arranges the front maneuvering unit at the bow position of the underwater robot, and has positive effect on quickly adjusting the steering capacity of the underwater robot.
4. The two vertical propellers are arranged on two sides of the gravity center of the underwater robot and are the same in position away from the gravity center of the underwater robot, so that the floating and submerging performances are enhanced, and the influence on the pitch angle of the underwater robot is reduced.
5. The carrier has the advantages of multiple degrees of freedom, strong maneuverability, quick action response and the like.
6. The propeller thruster at the stern part adopts a magnetic coupling mode, avoids a sealing mode of dynamic sealing, and has good water seepage prevention performance.
7. The invention reserves an optical fiber interface, so that the robot has two operation modes of ROV and AUV, and different scientific application requirements are met.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a top view of the structure of the present invention;
FIG. 3 is a sectional view showing the internal structure of the present invention;
wherein: 1 is preceding engine compartment, 2 is the navigation cabin, and 3 are control and energy cabin, and 4 are the rear engine compartment, and 5 are stern portion cabin, and 6 are the light, and 7 are high definition digtal camera, 8 are the preceding sonar, and 9 are horizontal propeller, and 10 are preceding vertical propeller. The device comprises a side scan sonar 11, a rear vertical propeller 12, an optical fiber leading-out port 13, a strobe light 14, a combined antenna 15, an X-type rudder 16, a propeller 17, a stem cap 18, a secondary battery pack 19, a core control board 20, a middle cap 21, a stern cap 22, a load rejection device 23, a depth gauge 24, a watertight cable socket 25, an optical fiber connector socket 26, an electronic compass 27, a DVL (Doppler log), a snap ring 29, a stem detection unit A, a front maneuvering unit B, a navigation unit C, a control and energy unit D, a rear maneuvering unit E and a stern propulsion unit F.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1-3, the invention comprises a bow detection unit A, a front maneuvering unit B, a navigation unit C, a control and energy source unit D, a rear maneuvering unit E and a stern propulsion unit F which are sequentially connected from the bow to the stern, wherein the units are mutually independent and can be functionally expanded according to scientific requirements; the bow detection unit A, the front maneuvering unit B and the rear maneuvering unit E of the embodiment are all open water cabins, the navigation unit C, the control and energy source unit D and the stern propulsion unit F are sealed cabins, the open water cabins and the sealed cabins are isolated, the bow detection unit A and the front maneuvering cabin 1 of the front maneuvering unit B, the front maneuvering cabin 1 and the navigation cabin 2 of the navigation unit C, the navigation cabin 2 and the control and energy source cabin 3 of the control and energy source unit D, the control and energy source cabin 3 and the rear maneuvering cabin 4 of the rear maneuvering unit E and the stern cabin 5 of the stern propulsion unit F are connected and fastened through snap rings 29, and the assembly, disassembly and maintenance are convenient.
A blocking cover is arranged between the open water cabin and the sealed cabin, and the closed isolation between the open water cabin and the sealed cabin is realized through the blocking cover. The plug cover of the embodiment comprises a bow plug cover 18, a middle plug cover 21 and a stern plug cover 22, the bow plug cover 18 is arranged between the front maneuvering cabin 1 and the navigation cabin 2, the middle plug cover 21 is arranged between the control and energy cabin 3 and the rear maneuvering cabin 4, and the stern plug cover 22 is arranged between the rear maneuvering cabin 4 and the stern cabin 5. The stem block cover 18, the middle block cover 21 and the stern block cover 22 are all provided with watertight cable sockets 25, and the watertight cable sockets 25 are connected with watertight cables led out from all devices in the sealed cabin. In the embodiment, the sealing cabins and the blocking covers are axially sealed by O-shaped sealing rings, and the sealing mode is safe and reliable.
The bow detection unit A of the embodiment comprises an illuminating lamp 6, a high-definition camera 7 and a forward-looking sonar 8, wherein the high-definition camera 7 is positioned at the upper part of the front end of the bow detection unit A, and the illuminating lamps 6 are symmetrically arranged on the left side and the right side of the high-definition camera 7; the forward-looking sonar 8 is positioned at the lower part of the front end of the bow detection unit A, the front-end detection part of the forward-looking sonar 8 protrudes out of the bow detection unit A so that signals can not be interfered by obstruction, and the forward-looking sonar 8 is used for scanning obstacles in front of the underwater robot in the advancing process and feeding information back to the underwater robot.
The front maneuvering unit B of the embodiment comprises a horizontal thruster 9 and a front vertical thruster 10, the rear maneuvering unit E comprises a rear vertical thruster 12, and the thrust sizes of the horizontal thruster 9, the front vertical thruster 10 and the rear vertical thruster 12 have set adjusting ranges. The horizontal thruster 9 is arranged at the front end of the whole underwater robot, so as to quickly realize the steering performance of the underwater robot; meanwhile, under the matching of the horizontal propeller 9 and the X-shaped rudder 16, the underwater robot is more flexible in steering, and convenience is provided for fixed-point real-time observation of the underwater robot. The vertical thruster increases the degree of freedom of the vertical sea level for the robot, and the underwater robot can quickly realize the functions of floating and submerging under the matching of the front vertical thruster 10 and the rear vertical thruster 12; under the action of the vertical force of the vertical propeller, the underwater robot can overcome the influence of gravity and buoyancy of the underwater robot on the movement more easily, so that the underwater robot can realize the depth fixing capability at a certain depth more easily. The front vertical thruster 10 and the rear vertical thruster 12 of the embodiment are symmetrically arranged at the same position at two sides of the gravity center of the underwater robot, so that the influence on the posture of the underwater robot caused by different force arms is avoided as much as possible; the vertical central line of the front vertical thruster 10 is parallel to the vertical central line of the rear vertical thruster 12, and the vertical central lines are respectively vertically intersected with the central line of the underwater robot in the length direction.
The navigation unit C of the present embodiment includes an electronic compass 27 and a DVL28, the electronic compass 27 and the DVL28 are respectively connected to the core control board 20, the DVL28 is used for measuring the navigation speed of the underwater robot and transmitting the measurement result to the core control board 20, and the electronic compass 27 is used for measuring the navigation angle of the underwater robot and transmitting the measurement result to the core control board 20.
The control and energy unit D of the embodiment comprises a secondary battery pack 19, a core control panel 20 and a side scan sonar 11, wherein the core control panel 20 is connected with the secondary battery pack 19; the secondary battery pack 19 of the present embodiment is a high-density rechargeable battery, and the requirement of the underwater robot for long-time movement can be satisfied by one-time charging. The core control board 20 is used as the brain of the underwater robot for receiving, processing and transmitting data of each sensor. The side scan sonar 11 of this embodiment is two, and the symmetry sets up in control and energy unit D's the left and right sides, and the probe position is down, ensures that side scan sonar 11 can realize the full coverage to underwater robot's below part when underwater robot operation.
The motor-driven unit E top in back of this embodiment is equipped with optic fibre micro cable and draws forth mouth 13, be equipped with optic fibre connector 26 on the blanking cover 21 in the middle part, optic fibre micro cable's one end is passed through this optic fibre connector 26 access control and energy unit D, and be connected with core control panel 20, optic fibre micro cable's the other end is drawn forth mouth 13 by optic fibre micro cable and is drawn forth the back and be connected with surface of water fiber winch, optic fibre micro cable can be in real time with high definition digtal camera's image signal, the detection signal of sensors such as forward looking sonar 8 and side scan sonar 11 returns the surface of water control cabinet, the surface of water control cabinet also can carry out real time control to underwater robot through optic.
The stern propulsion unit F of the present embodiment includes a strobe 14, a combined antenna 15, an X-rudder 16, a propeller thruster 17, a load rejection device 23, and a depth gauge 24, the strobe 14 and the combined antenna 15 are respectively installed at the front end of the stern compartment 5, the X-rudder 16 and the tail propeller thruster 17 are respectively installed at the rear end of the stern compartment 5, and the load rejection device 23 and the depth gauge 24 are respectively installed inside the stern compartment 5. An iridium communication antenna, a GPS positioning antenna and a radio antenna are integrated in the combined antenna 15 of the embodiment, and the purposes of communication and positioning with the underwater robot are achieved; the strobe light 14 is used for finding the position of the underwater robot in darkness to provide auxiliary assistance; the depth meter 24 is used for monitoring the depth information of the underwater robot; the load rejection device is the prior art, when the underwater robot meets an emergency, a heavy object can be rejected, the carrier obtains positive buoyancy and floats out of the water surface, and the load rejection device 23 mainly plays a role in protecting the underwater robot; the screw propeller 17 at the stern part of the embodiment is the prior art and mainly provides horizontal navigation power for an underwater machine, and the screw propeller 17 adopts a magnetic coupling propulsion device, so that the water seepage danger caused by dynamic sealing is avoided; the X-rudder 16 of the present embodiment is mainly used to adjust the heading of the underwater robot.
The light 6, high definition camera 7, forward looking sonar 8, horizontal propeller 9, preceding vertical propeller 10, side scan sonar 11, back vertical propeller 12, strobe light 14, combination antenna 15, X type rudder 16, screw propeller 17, load rejection device 23 and depth gauge 24 of this embodiment are connected with core control panel 20 respectively.
The underwater robot has the diameter of 200mm and the length of 2.7m, the related cabin body and the plug cover are made of aluminum alloy materials, the pressure bearing capacity is high, the corrosion resistance is strong, the weight of the carrier is less than 70Kg, and the underwater robot is convenient to distribute and recycle.
The underwater robot has integrated detection and operation design, has two operation modes of AUV and ROV, and meets different scientific task requirements. When underwater robot carries optic fibre micro-cable (ROV mode) to carry out the operation, underwater robot has possessed multi freedom and high mobility under each propeller and X type rudder 16's cooperation, can carry out depthkeeping, the observation of fixed point within 100m under the different degree of depth, visual topography detection is carried out in the cooperation through high definition digtal camera 7 and light 6, look for and find scientific interest point, and pass visual image back the surface of water control cabinet through optic fibre micro-cable, the surface of water control cabinet also can carry out real time control to underwater robot through optic fibre micro-cable. After a scientific interest point is found, the optical fiber micro cable can be removed, large-range cruising operation is carried out in an AUV mode, and acoustic landform detection is carried out by using the side scan sonar 11.
In conclusion, the 100-meter-level ARV underwater robot structure is a relatively light underwater robot with small volume, high flexibility and strong maneuverability, and integrates detection and operation.
Claims (10)
1. The utility model provides a 100 meters level ARV underwater robot structure which characterized in that: the device comprises a bow detection unit (A), a front maneuvering unit (B), a navigation unit (C), a control and energy unit (D), a rear maneuvering unit (E) and a stern propulsion unit (F) which are sequentially connected from the bow to the stern, wherein the units are mutually independent, the bow detection unit (A), the front maneuvering unit (B) and the rear maneuvering unit (E) are open water cabins, the navigation unit (C), the control and energy unit (D) and the stern propulsion unit (F) are sealed cabins, and the open water cabins are sealed and isolated from the sealed cabins; the bow detection unit (A) comprises an illuminating lamp (6), a high-definition camera (7) and a forward-looking sonar (8) for scanning a front obstacle in the advancing process of the robot; the front maneuvering unit (B) comprises a front vertical propeller (10) and a horizontal propeller (9) for realizing the steering of the robot; the control and energy source unit (D) comprises a secondary battery pack (19), a core control panel (20) and a side scan sonar (11), wherein the core control panel (20) is connected with the secondary battery pack (19); the rear maneuvering unit (E) comprises a rear vertical propeller (12), the rear vertical propeller (12) is matched with the front vertical propeller (10) to achieve floating or submerging of the robot, an optical fiber micro cable leading-out opening (13) is formed in the rear maneuvering unit (E), one end of an optical fiber micro cable enters the control and energy unit (D) and is connected with the core control panel (20), and the other end of the optical fiber micro cable is led out through the optical fiber micro cable leading-out opening (13) and is connected with a water surface optical fiber winch; the stern propelling unit (F) comprises a strobe lamp (14), a combined antenna (15), an X-shaped rudder (16), a propeller thruster (17), a load rejection device (23) and a depth meter (24), the strobe lamp (14) and the combined antenna (15) are respectively installed at the front end of a stern cabin (5) of the stern propelling unit (F), the X-shaped rudder (16) and a tail propeller thruster (17) are respectively installed at the rear end of the stern cabin (5), and the load rejection device (23) and the depth meter (24) are respectively installed inside the stern cabin (5); the high-definition underwater vehicle is characterized in that the illuminating lamp (6), the high-definition camera (7), the front sonar (8), the horizontal propeller (9), the front vertical propeller (10), the side scan sonar (11), the rear vertical propeller (12), the strobe light (14), the combined antenna (15), the X-shaped rudder (16), the propeller (17), the load rejection device (23) and the depth gauge (24) are respectively connected with the core control panel (20).
2. The 100 meter-scale ARV underwater robot structure of claim 1, wherein: the navigation unit (C) comprises an electronic compass (27) and a DVL (28), and the electronic compass (27) and the DVL (28) are respectively connected with the core control board (20).
3. The 100 meter-scale ARV underwater robot structure of claim 1, wherein: and a blocking cover is arranged between the open water cabin and the sealed cabin, and the sealed isolation between the open water cabin and the sealed cabin is realized through the blocking cover.
4. The 100 meter ARV underwater robot structure of claim 3, wherein: the plug cover comprises a bow plug cover (18), a middle plug cover (21) and a stern plug cover (22), the bow plug cover (18) is arranged between a front maneuvering cabin (1) of the front maneuvering unit (B) and a navigation cabin (2) of the navigation unit (C), the middle plug cover (21) is arranged between a control and energy source cabin (3) of the control and energy source unit (D) and a rear maneuvering cabin (4) of the rear maneuvering unit (E), and the stern plug cover (22) is arranged between the rear maneuvering cabin (4) and the stern cabin (5); watertight cable sockets (25) are arranged on the bow part blanking cover (18), the middle part blanking cover (21) and the stern part blanking cover (22), and the watertight cable sockets (25) are connected with watertight cables led out from all devices in the sealed cabin.
5. The 100 meter ARV underwater robot structure of claim 4, wherein: and an optical fiber connector (26) is arranged on the middle blocking cover (21), and one end of the optical fiber micro cable enters the control and energy source unit (D) through the optical fiber connector (26) and is connected with the core control panel (20).
6. The 100 meter-scale ARV underwater robot structure of claim 1, wherein: between preceding maneuvering capsule (1) of bow detection unit (A) and preceding maneuvering unit (B), between navigation capsule (2) of preceding maneuvering capsule (1) and navigation unit (C), between control and energy source cabin (3) of navigation capsule (2) and control and energy source unit (D), between control and energy source cabin (3) and rear maneuvering capsule (4) of rear maneuvering unit (E) and all connect the fastening through snap ring (29) between rear maneuvering capsule (4) and stern portion cabin (5) of stern portion propulsion unit (F).
7. The 100 meter-scale ARV underwater robot structure of claim 1, wherein: the high-definition camera (7) is positioned at the upper part of the front end of the bow detection unit (A), and the illuminating lamps (6) are symmetrically arranged on the left side and the right side of the high-definition camera (7); the forward-looking sonar (8) is positioned at the lower part of the front end of the bow detection unit (A), and the front-end detection part of the forward-looking sonar (8) protrudes out of the bow detection unit (A).
8. The 100 meter-scale ARV underwater robot structure of claim 1, wherein: the horizontal thruster (9) is arranged at the front position of the whole underwater robot.
9. The 100 meter-scale ARV underwater robot structure of claim 1, wherein: the front vertical thruster (10) and the rear vertical thruster (12) are symmetrically arranged on two sides of the gravity center of the underwater robot, and the vertical center line of the front vertical thruster (10) is parallel to the vertical center line of the rear vertical thruster (12) and is respectively vertically intersected with the center line of the underwater robot in the length direction.
10. The 100 meter-scale ARV underwater robot structure of claim 1, wherein: the number of the side scan sonars (11) is two, the side scan sonars are symmetrically arranged on the left side and the right side of the control and energy unit (D), and the probe positions face downwards.
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| CN202110370903.9A CN113022827A (en) | 2021-04-07 | 2021-04-07 | 100-meter-level ARV underwater robot structure |
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| CN202110370903.9A CN113022827A (en) | 2021-04-07 | 2021-04-07 | 100-meter-level ARV underwater robot structure |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113232809A (en) * | 2021-07-12 | 2021-08-10 | 天津海翼科技有限公司 | Modular small AUV device |
| CN114802659A (en) * | 2022-03-21 | 2022-07-29 | 深之蓝海洋科技股份有限公司 | High-flow-resistance underwater cabled robot and control method thereof |
| CN115107966A (en) * | 2022-07-04 | 2022-09-27 | 中国科学院沈阳自动化研究所 | 6000-meter-level multi-mode ARV structure capable of geological detection |
| CN117698971A (en) * | 2024-02-05 | 2024-03-15 | 青岛国数信息科技有限公司 | Underwater vehicle with telescopic acoustic array rotor wings |
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| CN114802659A (en) * | 2022-03-21 | 2022-07-29 | 深之蓝海洋科技股份有限公司 | High-flow-resistance underwater cabled robot and control method thereof |
| CN115107966A (en) * | 2022-07-04 | 2022-09-27 | 中国科学院沈阳自动化研究所 | 6000-meter-level multi-mode ARV structure capable of geological detection |
| CN117698971A (en) * | 2024-02-05 | 2024-03-15 | 青岛国数信息科技有限公司 | Underwater vehicle with telescopic acoustic array rotor wings |
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