CN113320667A - Modular underwater intelligent equipment platform - Google Patents
Modular underwater intelligent equipment platform Download PDFInfo
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- CN113320667A CN113320667A CN202110763981.5A CN202110763981A CN113320667A CN 113320667 A CN113320667 A CN 113320667A CN 202110763981 A CN202110763981 A CN 202110763981A CN 113320667 A CN113320667 A CN 113320667A
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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
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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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
- B63G8/24—Automatic depth adjustment; Safety equipment for increasing buoyancy, e.g. detachable ballast, floating bodies
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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
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/39—Arrangements of sonic watch equipment, e.g. low-frequency, sonar
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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)
- Ocean & Marine Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to a modular underwater intelligent equipment platform, and belongs to the field of underwater unmanned equipment. The invention consists of a main propeller, a shell supporting bottom plate, a shell upper protecting cover, a buoyancy compensating material, a control section pressure-bearing cabin, a control system, an electric power system, a data storage system, a standard load cabin, a mechanical arm, a front side spray, a rear side spray, an underwater sensor, an underwater acoustic navigation communication system, an inertia base combined navigation system, a satellite navigation communication system and a ballast lead block. The whole machine adopts a wet design scheme, and electronic and electrical equipment inside the whole machine is protected by a modular standard load cabin. The standard and modular design scheme adopted by the invention has strong interchangeability, can realize online replacement, online maintenance and online charging, greatly prolongs the underwater working time of the modular underwater intelligent equipment platform, reduces the recovery frequency and reduces the deployment cost; the load can be replaced in time according to the actual requirement of the task, and most functions of various existing underwater unmanned detection equipment can be realized.
Description
The technical field is as follows:
the invention belongs to the field of underwater unmanned equipment, and particularly relates to a modular underwater intelligent equipment platform.
Background art:
the underwater exploration cannot be carried out without underwater unmanned equipment. At present, underwater unmanned equipment is mainly used as an attachment of manned boats and is still in a primary development stage. The existing underwater unmanned equipment has the defects of various varieties, single function, low standardization, modularization, intellectualization, low systematization degree, low interchangeability, complex maintenance, short underwater working time, high cost, low efficiency, resource waste and slow development situation and situation caused by the fact that effective interconnection and intercommunication and data format sharing cannot be carried out between equipment and between systems, and the development of the modularized underwater intelligent unmanned equipment is imperative.
The invention content is as follows:
aiming at the problems, the invention provides a modular underwater intelligent equipment platform, which adopts the design concepts of standardization, modularization, intellectualization and systematization, most parts are standard modules, and the modular underwater intelligent equipment platform is suitable for large-scale batch production. In the use process, the standard and modularized components are high in interchangeability, online replacement, online maintenance and online charging can be achieved, the underwater working time of the modularized underwater intelligent equipment platform is greatly prolonged, the recovery frequency is reduced, and the deployment cost is reduced.
The purpose of the invention is realized by the following technical scheme:
a modularized underwater intelligent equipment platform comprises a main propeller, a shell supporting bottom plate, a shell upper protecting cover, buoyancy compensating materials, a control section pressure bearing cabin, a control system, an electric power system, a data storage system, a standard load cabin, a mechanical arm, a front side spray, a rear side spray, an underwater sensor, an underwater acoustic navigation communication system, an inertia base combined navigation system, a satellite navigation communication system and a ballast lead block; from back to front, the main body of the modularized underwater intelligent equipment platform is divided into a power cabin section, a control cabin section, an auxiliary load cabin section I, an auxiliary load cabin section II, a mechanical arm cabin section, an auxiliary load cabin section III and a main load cabin section; the main propeller, the shell supporting bottom plate and the protecting cover on the shell jointly form the hydrodynamic appearance of the modular underwater intelligent equipment platform, so that the resistance during navigation can be reduced, and the energy can be saved; the modularized underwater intelligent equipment platform adopts a wet design scheme, namely, the inside and the outside of a shell which is jointly formed by a shell supporting bottom plate and a shell upper protecting cover are contacted with seawater, an open structure is adopted instead of a sealing structure, an internal standard load cabin is directly contacted with the seawater, the shell upper protecting cover can be opened from the middle to two sides, and buoyancy compensating materials can be arranged on the inner side of the shell upper protecting cover; the control system, the electric power system, the data storage system, the inertia base combined navigation system and the satellite navigation communication system are positioned in a control cabin section pressure-bearing cabin at the rear part of the modular underwater intelligent equipment platform, and a watertight connector is arranged at the bottom of the control cabin section pressure-bearing cabin and is connected with a shell supporting bottom plate to control, supply power, record data and navigate the modular underwater intelligent equipment platform; the underwater sensor, the underwater acoustic navigation communication system and the ballast lead block are positioned outside the shell supporting bottom plate and are in direct contact with seawater; standard load cabin, arm, front side spout, the rear side is spouted and is installed on shell supporting baseplate, is arranged in the installation space that protecting cover constitutes on shell supporting baseplate and the shell, direct and sea water contact: the standard load cabin is arranged at the positions of a main load cabin section, an auxiliary load cabin section I, an auxiliary load cabin section II and an auxiliary load cabin section III, the mechanical arm is arranged at a mechanical arm cabin section, the rear side spray is arranged between a power cabin section and a control cabin section, the front side spray is arranged between the main load cabin section and the auxiliary load cabin section III, the front side spray and the rear side spray are orthogonal cross pump nozzles which are respectively provided with an upper nozzle, a lower nozzle, a left nozzle and a right nozzle, holes are formed in the positions corresponding to the protective covers on the shell supporting base plate and the shell, and the purposes of posture adjustment and direction control through water spraying are achieved through the front side spray and the rear side spray.
And the buoyancy compensating materials arranged on the inner side of the protecting cover on the shell are used for configuring neutral buoyancy of each cabin section, and the quantity of the buoyancy compensating materials arranged on the inner side of the protecting cover on each cabin section is adjusted according to the mass of the load carried by each cabin section until the integral buoyancy and gravity of the modular underwater intelligent equipment platform are approximately balanced.
The shell supporting bottom plate is provided with a standard load cabin mounting groove and an underwater photoelectric composite interface capable of being in underwater butt joint at the positions of the main load cabin section, the auxiliary load cabin section I, the auxiliary load cabin section II and the auxiliary load cabin section III, and can be used for mounting and fixing the standard load cabin and butt joint with the underwater photoelectric composite interface on the standard load cabin, so that the control system, the electric power system and the data storage system can control, supply power to and record data of electronic equipment in the standard load cabin.
The standard load cabin adopts a standardized and modularized design, is integrally cylindrical, has circular arc-shaped end covers at two sides, has waterproof and pressure-bearing capabilities, and can protect electric and electronic equipment arranged in the standard load cabin; and an underwater photoelectric composite interface capable of performing underwater butt joint is arranged at the bottom of the standard load cabin.
The underwater camera, the GNSS antenna and the iridium communication antenna can be selectively arranged on the mechanical arm, and the sensor and the antenna arranged on the mechanical arm are all waterproof; when the robot is underwater, the mechanical arm extends out and an underwater camera is used for sensing the image of the environment; when the robot floats on the water surface, the mechanical arm erects and carries out satellite navigation communication by utilizing a GNSS antenna and an iridium communication antenna; the mechanical arm has a grabbing function, can execute underwater operation tasks, can perform replacement of a main load cabin and an auxiliary load cabin, or is used for locking two modularized underwater intelligent equipment platforms and then performs replacement of the two platform load cabins.
The ballast lead blocks are released in an emergency, so that the modular underwater intelligent equipment platform quickly floats out of the water surface to escape.
For the modular underwater intelligent equipment platform, the standard load cabin can be made of aluminum alloy or titanium alloy materials according to different depth requirements, in large-depth application, a plurality of standard load cabins which are installed in parallel and have small diameters are adopted, and the gap part is filled with buoyancy materials according to the requirement of neutral buoyancy configuration.
For the modular underwater intelligent equipment platform, the standard load cabin is subjected to counterweight in a mode of additionally arranging the UPS battery block in the standard load cabin, so that the quality of the standard load cabin can be kept consistent as much as possible, mutual replacement among the standard load cabins is facilitated, and uninterrupted continuous operation of electrical and electronic equipment carried in the standard load cabin can be ensured.
For the modularized underwater intelligent equipment platform, a mechanical arm can be selectively installed on a main load cabin section, so that underwater operation is facilitated, and an underwater sensor suitable for task needs, such as an underwater camera and the like, can be selectively installed on the mechanical arm.
For the modular underwater intelligent equipment platform, the underwater sensor can be selectively installed but not limited to a collision-prevention sonar, a side-scan sonar, a CTD sensor, a Doppler velocimeter, a sea bottom profiler and an underwater camera.
For the modularized underwater intelligent equipment platform, an electric power system is divided into a power supply system and an instrument power supply system which are respectively powered by high-voltage storage batteries and low-voltage storage batteries.
For the modularized underwater intelligent equipment platform, the control system has the functions of task management, power supply management, motion control, data acquisition, health monitoring and working mode switching.
The modularized underwater intelligent equipment platform can be selectively provided with the retractable glider wings in the middle of the machine body, so that the modularized underwater intelligent equipment platform can enter an underwater glider mode according to task needs to navigate with low energy consumption, long navigation time and long navigation distance.
The invention has the beneficial effects that:
the invention realizes standardization, modularization and intellectualization of the underwater unmanned equipment, is suitable for large-scale batch production, and can effectively improve the production efficiency and reduce the production cost. The modularized underwater intelligent equipment platform has the advantages that the standardized and modularized components are high in interchangeability, online replacement, online maintenance and online charging can be achieved, underwater working time of the modularized underwater intelligent equipment platform is greatly prolonged, recovery frequency is reduced, maintenance period is prolonged, maintenance flow is simplified, and deployment cost is reduced. Due to the adoption of a standardized and modularized design concept, the standard load cabin carrying different scientific detection loads is replaced according to the actual task needs, and most functions of various existing underwater unmanned detection equipment can be realized.
Description of the drawings:
FIG. 1 is an expanded view of the present invention;
FIG. 2 is a schematic view of the interior of a control cabin segment bearing cabin of the present invention;
FIG. 3 is an external view of the present invention;
FIG. 4 is a side view of the present invention;
FIG. 5 is a cross-sectional view of a standard load compartment of the present invention;
FIG. 6 is a cross-sectional view of a standard load compartment installed in parallel in the context of a large depth application of the present invention;
FIG. 7 is a schematic view of the mode of operation of the robotic arm of the present invention;
FIG. 8 is a schematic view of the present invention with retractable gliders assembled;
shown in the figure: 1-main propeller, 2-shell supporting base plate, 3-protecting cover on the shell, 4-buoyancy compensating material, 5-mechanical arm, 6-front side spraying, 7-standard load cabin, 8-control cabin section pressure bearing cabin, 9-rear side spraying, 10-control system, 11-data storage system, 12-electric system, 13-inertia base combined navigation system, 14-satellite navigation communication system, 15-watertight connector, 16-power cabin section, 17-control cabin section, 18-auxiliary load cabin section I, 19-auxiliary load cabin section II, 20-mechanical arm cabin section, 21-auxiliary load cabin section III, 22-main load cabin section, 23-underwater sensor, 24-underwater sound navigation communication system, 25-ballast lead block, 26-underwater photoelectric composite interface on the shell supporting base plate, 27-an underwater photoelectric composite interface on a standard load cabin, 28-a standard load cabin installation groove, 29-a sensor and an antenna arranged on a mechanical arm, and 30-a retractable glider.
The specific implementation mode is as follows:
the technical solution of the present invention will be clearly and completely described by the following embodiments.
Fig. 1 is an expanded view of the present invention. The invention comprises a main propeller 1, a shell supporting bottom plate 2, a shell upper protecting cover 3, buoyancy compensating materials 4, a control cabin section pressure-bearing cabin 8, a control system 10, a data storage system 11, an electric power system 12, a standard load cabin 7, a mechanical arm 5, a front side spray 6, a rear side spray 9, an underwater sensor 23, an underwater acoustic navigation communication system 24, an inertia base combined navigation system 13, a satellite navigation communication system 14 and a ballast lead block 25.
Fig. 2 is a schematic view of the interior of a control cabin segment bearing cabin of the present invention. As can be seen from fig. 2, the control system 10, the data storage system 11, the power system 12, the inertia base combined navigation system 13 and the satellite navigation communication system 14 are installed inside the control cabin segment pressure-bearing cabin 8, and the control cabin segment pressure-bearing cabin 8 has waterproof pressure-bearing capability, so that the normal operation of internal electrical and electronic equipment can be guaranteed. The bottom of the pressure-bearing cabin of the control cabin section is provided with a watertight connector 15 which is connected with the shell supporting bottom plate 2, and the control, power supply, data recording and navigation are carried out on the modular underwater intelligent equipment platform. The power system 12 is divided into a power supply system and an instrument power supply system, and is respectively supplied with power by a high-voltage storage battery and a low-voltage storage battery. The control system 10 has the functions of task management, power management, motion control, data acquisition, health monitoring, water leakage detection, and switching of working modes.
Fig. 3 is an external view of the present invention. From back to front, the main body of the modularized underwater intelligent equipment platform is divided into a power cabin section 16, a control cabin section 17, an auxiliary load cabin section I18, an auxiliary load cabin section II 19, a mechanical arm cabin section 20, an auxiliary load cabin section III 21 and a main load cabin section 22. The main propeller 1, the shell supporting base plate 2 and the shell upper protecting cover 3 jointly form a fluid dynamics shape of the modular underwater intelligent equipment platform, so that the resistance during navigation can be reduced, and the energy is saved.
Fig. 4 is a side view of the present invention. It is clear from fig. 4 that the underwater sensors 23, the underwater acoustic navigation communication system 24 and the ballast lead 25 are mounted on the belly of the modular underwater intelligent equipment platform and the housing supports the outside of the base plate 2. All of the above parts are in direct contact with seawater. The underwater sensor 23 can be optionally installed with, but not limited to, a collision-avoidance sonar, a side-scan sonar, a CTD sensor, a doppler velocimeter, a sea-bottom profiler, and an underwater camera to enhance the sensing ability of the modular underwater intelligent equipment platform for the underwater environment. The underwater sound navigation communication system 24 is used for precise navigation positioning and communication smoothness under water. The ballast lead blocks 25 are released in emergency, such as water leakage, power failure, major failure, collision or being entangled by seaweeds and the like, so that the modular underwater intelligent equipment platform quickly floats out of the water surface to escape, and automatically sends out a distress signal.
The invention adopts a wet design scheme, namely, the inside and the outside of the shell formed by the shell supporting bottom plate 2 and the shell upper protecting cover 3 are both contacted with seawater, an open structure rather than a sealing structure is adopted, the internal standard load cabin 7 and the like are directly contacted with the seawater, and each independent standard load cabin 7 has waterproof pressure-bearing capacity and protects various electronic and electrical equipment arranged in the internal standard load cabin. Compared with the dry design that the inside of the whole modularized underwater intelligent equipment platform is completely isolated from seawater, the segmented wet design has the advantages of low strength requirement, easiness in manufacturing and low cost. The protecting cover 3 can be opened to both sides from the centre on the shell, and 3 inboards of protecting cover can install buoyancy compensation material 4 on the shell, and buoyancy compensation material 4 is the bulk that the size and size is equivalent, can add and subtract quantity according to the balanced actual conditions of buoyancy-gravity. Standard load cabin 7, arm 5, front side spout 6, the rear side is spouted 9 and is installed on shell supporting baseplate 2, all is arranged in the installation space that protecting cover 3 constitutes on shell supporting baseplate 2 and the shell, directly contacts with the sea water: the standard load cabin 7 is arranged at the positions of a main load cabin section 22, an auxiliary load cabin section I18, an auxiliary load cabin section II 19 and an auxiliary load cabin section III 21, the mechanical arm 5 is arranged at a mechanical arm cabin section 20, the rear side spray 9 is arranged between a power cabin section 16 and a control cabin section 17, the front side spray 6 is arranged between the main load cabin section 22 and the auxiliary load cabin section III 21, the front side spray 6 and the rear side spray 9 are orthogonal cross pump nozzles and are respectively provided with an upper nozzle, a lower nozzle, a left nozzle and a right nozzle, holes are formed in the corresponding positions of the shell supporting base plate 2 and the shell upper protective cover 3, and the purposes of posture adjustment and direction control are achieved by spraying water on the front side spray 6 and the rear side spray 9.
The buoyancy compensation materials 4 arranged on the inner side of the protecting cover 3 on the shell are used for configuring neutral buoyancy of each cabin section, and the quantity of the buoyancy compensation materials 4 arranged on the inner side of the protecting cover on each cabin section is adjusted according to the mass of the load carried by each cabin section until the general balance of the integral buoyancy and gravity of the modular underwater intelligent equipment platform is achieved. Therefore, energy consumption of the modular underwater intelligent equipment platform in the navigation process can be saved.
The shell supporting base plate 2 is provided with a standard load cabin mounting groove 28 and an underwater photoelectric composite interface 26 for underwater butt joint at the positions of a main load cabin section 22, an auxiliary load cabin section I18, an auxiliary load cabin section II 19 and an auxiliary load cabin section III 21, and can be used for mounting and fixing the standard load cabin 7 and butt joint with the underwater photoelectric composite interface 27 on the standard load cabin, so that the control system 10, the power system 12 and the data storage system 11 can control, supply power and record data of electronic equipment in the standard load cabin 7.
Figure 5 is a cross-sectional view of a standard load compartment of the present invention. The standard load cabin 7 adopts the design idea of standardization and modularization, is wholly a cylinder, and the both sides end cover is arc structure, has waterproof and bearing capacity, can protect the electric and electronic equipment of installation in inside. The standard load cabin 7 can be made of aluminum alloy or titanium alloy materials according to different depth requirements, is suitable for large-scale batch production, and can effectively reduce the system cost. An underwater photoelectric composite interface 27 capable of performing underwater butt joint is arranged at the bottom of the standard load cabin 7, and is controlled by the control system 10 and supplied with power by the power system 12 through an underwater photoelectric composite interface 26 on a shell supporting bottom plate, and data collected by scientific detection equipment in the standard load cabin 7 is transmitted to a data storage system 11 in the control cabin section pressure-bearing cabin 8 to be stored. The standard load cabin 7 can carry different scientific detection equipment such as gravimeters, magnetometers and the like according to task needs, the scientific detection equipment is provided with a data storage device, but the data storage system 11 is independent of the data storage device of the scientific detection equipment, so that the purpose of backup can be achieved, data safety is guaranteed, the data storage system can be rapidly disassembled and assembled, the data storage system can be directly taken out after the working period is finished, a new blank storage medium is replaced, and the complex process of copying the data is avoided.
Figure 6 is a cross-sectional view of a standard load compartment installed in parallel in the context of a large depth application of the present invention. As shown in fig. 6, standard load cells 7 may be used in large depth applications with a small diameter, multiple standard load cells 7 installed in parallel, with the void portions filled with buoyancy material 4 as needed for neutral buoyancy configurations. Therefore, the strength requirement of bearing larger depth pressure can be conveniently met, the manufacturing is easy, and the cost is reduced.
Fig. 7 is a schematic view of the working mode of the robot arm of the present invention. From left to right, an underwater operation mode, a water surface relay mode, a single-platform main and auxiliary load cabin replacement mode and a double-platform load cabin replacement mode are sequentially arranged from top to bottom. The underwater camera, the GNSS antenna and the iridium communication antenna can be selectively arranged on the mechanical arm 5, and the sensor and the antenna 29 arranged on the mechanical arm are all waterproof. When underwater operation is performed, the mechanical arm 5 extends out, an underwater camera arranged on the mechanical arm 5 is used for sensing images of the environment, and the mechanical arm 5 is assisted to perform underwater operation; when the robot arm floats out of the water surface, the robot arm 5 erects, and satellite navigation communication is carried out by utilizing a GNSS antenna and an iridium communication antenna; the mechanical arm 5 has a grabbing function, can perform underwater operation tasks, can also perform replacement of the main standard load cabin 7 and the auxiliary standard load cabin 7, or is used for locking between two modularized underwater intelligent equipment platforms, and then performs replacement of the two standard load cabins 7. The purpose of the replacement of the single-platform main load cabin and the auxiliary load cabin is to adjust and measure a side load object according to the mission importance degree, the replacement of the double-platform load cabin is to maintain and continue a journey, the freight platform carries a fully charged standard load cabin 7 (the inside of the freight platform is all a storage battery, namely a standard battery cabin) and the standard load cabin 7 provided with scientific detection equipment to be replaced reach a mission execution area, the battery cabin is replaced for a modularized underwater intelligent equipment platform which is about to be exhausted in electric quantity, has a fault in the scientific detection equipment and is executing a mission, and the standard load cabin 7 with the fault in the scientific detection equipment is used, so that online maintenance and charging continuation of the journey are realized. In addition to the mechanical arm 5 installed at the mechanical arm cabin section 20, the main load cabin section 22 may also be optionally installed with the mechanical arm 5, so as to facilitate underwater operations, and the mechanical arm 5 may be optionally installed with an underwater sensor 23 suitable for task needs, such as an underwater camera.
The standard load cell 7 should be weighted before use so that its mass is approximately equal. The standard load cabin 7 is weighted by a method of additionally arranging the UPS battery blocks in the standard load cabin 7, so that the quality of the standard load cabin 7 can be kept consistent as much as possible, mutual replacement between the standard load cabins 7 is facilitated, and uninterrupted continuous operation of electrical and electronic equipment carried in the standard load cabin 7 can be ensured.
FIG. 8 is a schematic view of the present invention when assembled with retractable gliders. The retractable gliders 30 are selectively mounted in the middle of the aircraft body, so that the modular underwater intelligent equipment platform can enter an underwater glider mode according to task requirements to navigate with low energy consumption, long voyage time and long voyage.
The modularized underwater intelligent equipment platform can realize online replacement, online maintenance and online charging, greatly prolongs the underwater working time of the modularized underwater intelligent equipment platform, reduces the recovery frequency, prolongs the maintenance period, simplifies the maintenance process and reduces the deployment cost. The modular underwater intelligent equipment platform can replace standard load cabins carrying different scientific detection loads according to actual task needs, and most functions of various existing underwater unmanned detection equipment can be achieved.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may be made by those skilled in the art without departing from the principle of the invention.
Claims (8)
1. A modularized underwater intelligent equipment platform is characterized by consisting of a main propeller, a shell supporting bottom plate, a shell upper protecting cover, a buoyancy compensating material, a control section pressure bearing cabin, a control system, an electric power system, a data storage system, a standard load cabin, a mechanical arm, a front side spray, a rear side spray, an underwater sensor, an underwater acoustic navigation communication system, an inertia base combined navigation system, a satellite navigation communication system and a ballast lead block; from back to front, the main body of the modularized underwater intelligent equipment platform is divided into a power cabin section, a control cabin section, an auxiliary load cabin section I, an auxiliary load cabin section II, a mechanical arm cabin section, an auxiliary load cabin section III and a main load cabin section; the main propeller, the shell supporting bottom plate and the protecting cover on the shell jointly form the hydrodynamic appearance of the modular underwater intelligent equipment platform, so that the resistance during navigation can be reduced, and the energy can be saved; the modularized underwater intelligent equipment platform adopts a wet design scheme, namely, the inside and the outside of a shell which is jointly formed by a shell supporting bottom plate and a shell upper protecting cover are contacted with seawater, an open structure is adopted instead of a sealing structure, an internal standard load cabin is directly contacted with the seawater, the shell upper protecting cover can be opened from the middle to two sides, and buoyancy compensating materials can be arranged on the inner side of the shell upper protecting cover; the control system, the electric power system, the data storage system, the inertia base combined navigation system and the satellite navigation communication system are positioned in a control cabin section pressure-bearing cabin at the rear part of the modular underwater intelligent equipment platform, and a watertight connector is arranged at the bottom of the control cabin section pressure-bearing cabin and is connected with a shell supporting bottom plate to control, supply power, record data and navigate the modular underwater intelligent equipment platform; the underwater sensor, the underwater acoustic navigation communication system and the ballast lead block are positioned outside the shell supporting bottom plate and are in direct contact with seawater; standard load cabin, arm, front side spout, the rear side is spouted and is installed on shell supporting baseplate, is arranged in the installation space that protecting cover constitutes on shell supporting baseplate and the shell, direct and sea water contact: the standard load cabin is arranged at the positions of a main load cabin section, an auxiliary load cabin section I, an auxiliary load cabin section II and an auxiliary load cabin section III, the mechanical arm is arranged at the mechanical arm cabin section, the rear side spray is arranged between the power cabin section and the control cabin section, the front side spray is arranged between the main load cabin section and the auxiliary load cabin section III, the front side spray and the rear side spray are orthogonal cross pump nozzles and are respectively provided with an upper nozzle, a lower nozzle, a left nozzle and a right nozzle, holes are formed in the positions corresponding to a shell supporting base plate and a shell upper protecting cover, and the purposes of posture adjustment and direction control are achieved by the front side spray and the rear side spray through water;
the buoyancy compensation materials arranged on the inner side of the protecting cover on the shell are used for configuring neutral buoyancy of each cabin section, and the quantity of the buoyancy compensation materials arranged on the inner side of the protecting cover on each cabin section is adjusted according to the mass of the load carried by each cabin section until the general balance of the integral buoyancy and gravity of the modular underwater intelligent equipment platform is achieved;
the shell supporting bottom plate is provided with a standard load cabin mounting groove and an underwater photoelectric composite interface capable of being in underwater butt joint at the positions of a main load cabin section, an auxiliary load cabin section I, an auxiliary load cabin section II and an auxiliary load cabin section III, and can be used for mounting and fixing the standard load cabin and butt joint with the underwater photoelectric composite interface on the standard load cabin, so that a control system, an electric power system and a data storage system can control, supply power and record data of electronic equipment in the standard load cabin;
the standard load cabin adopts a standardized and modularized design, is integrally cylindrical, has circular arc-shaped end covers at two sides, has waterproof and pressure-bearing capabilities, and can protect electric and electronic equipment arranged in the standard load cabin; an underwater photoelectric composite interface capable of performing underwater butt joint is arranged at the bottom of the standard load cabin;
the underwater camera, the GNSS antenna and the iridium communication antenna can be selectively arranged on the mechanical arm, and the sensor and the antenna arranged on the mechanical arm are all waterproof; when the robot is underwater, the mechanical arm extends out and an underwater camera is used for sensing the image of the environment; when the robot floats on the water surface, the mechanical arm erects and carries out satellite navigation communication by utilizing a GNSS antenna and an iridium communication antenna; the mechanical arm has a grabbing function, can execute underwater operation tasks, can perform replacement of a main load cabin and an auxiliary load cabin, or is used for locking two modularized underwater intelligent equipment platforms and then performs replacement of the two platform load cabins;
the ballast lead blocks are released in an emergency, so that the modular underwater intelligent equipment platform quickly floats out of the water surface to escape.
2. The modular underwater intelligent equipment platform of claim 1, wherein the standard load chamber can be made of aluminum alloy or titanium alloy according to different depth requirements, in large depth applications, a plurality of standard load chambers with small diameter and installed in parallel are used, and the gap portion is filled with buoyancy materials according to the neutral buoyancy configuration requirement.
3. The modular underwater intelligent equipment platform as claimed in claim 1, wherein the standard load cabin is weighted by adding the UPS battery block into the standard load cabin, so that the quality of the standard load cabin is kept as consistent as possible, mutual replacement between the standard load cabins is facilitated, and uninterrupted continuous operation of electrical and electronic devices carried in the standard load cabin can be ensured.
4. The modular underwater intelligent equipment platform of claim 1, wherein the main load compartment can be selectively equipped with a mechanical arm for facilitating underwater operations, and the mechanical arm can be selectively equipped with underwater sensors suitable for task requirements.
5. A modular underwater intelligent equipment platform as claimed in claim 1, wherein the underwater sensors can be selected from, but not limited to, collision avoidance sonar, side scan sonar, CTD sensor, Doppler velocimeter, ocean bottom profiler, underwater camera.
6. The modular underwater intelligent equipment platform of claim 1, wherein the power system is divided into a power supply system and an instrument power supply system, and the power supply system and the instrument power supply system are respectively powered by high-voltage storage batteries and low-voltage storage batteries.
7. The modular underwater intelligent equipment platform of claim 1, wherein the control system has functions of task management, power management, motion control, data acquisition, health monitoring, and switching of operating modes.
8. The modular underwater intelligent equipment platform of claim 1, wherein retractable gliders can be selectively installed in the middle of the fuselage, so that the modular underwater intelligent equipment platform can enter an underwater glider mode according to task needs to navigate with low energy consumption, long voyage time and long voyage.
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