CN114179969A - Float for angling - Google Patents

Float for angling Download PDF

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Publication number
CN114179969A
CN114179969A CN202111287451.4A CN202111287451A CN114179969A CN 114179969 A CN114179969 A CN 114179969A CN 202111287451 A CN202111287451 A CN 202111287451A CN 114179969 A CN114179969 A CN 114179969A
Authority
CN
China
Prior art keywords
main cabin
buoy
cable
cabin body
underwater robot
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202111287451.4A
Other languages
Chinese (zh)
Inventor
魏建仓
韩猛
张瑞涛
张红良
王洪达
杨广泽
朱程
吴文玉
杜会来
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Tianjin Haiyi Technology Co ltd
Original Assignee
Tianjin Haiyi Technology Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Tianjin Haiyi Technology Co ltd filed Critical Tianjin Haiyi Technology Co ltd
Priority to CN202111287451.4A priority Critical patent/CN114179969A/en
Publication of CN114179969A publication Critical patent/CN114179969A/en
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B22/00—Buoys
    • B63B22/02—Buoys specially adapted for mooring a vessel
    • 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
    • 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
    • B63G8/42—Towed underwater vessels
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
    • G01B5/02—Measuring arrangements characterised by the use of mechanical techniques for measuring length, width or thickness
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
    • G01B5/24—Measuring arrangements characterised by the use of mechanical techniques for measuring angles or tapers; for testing the alignment of axes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B22/00—Buoys
    • B63B22/02—Buoys specially adapted for mooring a vessel
    • B63B2022/028—Buoys specially adapted for mooring a vessel submerged, e.g. fitting into ship-borne counterpart with or without rotatable turret, or being releasably connected to moored vessel
    • 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

Abstract

The application discloses buoy for underwater robot's location includes: a main cabin; the positioning module is arranged on the main cabin body and used for determining the position of the main cabin body; the tension cable shaft is arranged on the main cabin body; the cable is wound on the tension cable shaft, one end of the cable is used for connecting the underwater robot, and the tension cable shaft enables the extended cable to keep tension; the meter counter is used for counting the length of the extended cable; and the angle sensor is arranged on the main cabin body and used for detecting an included angle between the extended cable and the standard position in the horizontal direction. This application realizes underwater robot's accurate positioning through the buoy, has advantage with low costs, that the precision is high.

Description

Float for angling
Technical Field
The application relates to the field of ocean monitoring equipment, in particular to a buoy.
Background
In use, the positioning of the underwater robot is very important for the operator. Because of the limitation of underwater wireless transmission, GPS signals cannot be transmitted underwater, and in the prior art, an USBL (ultra short baseline positioning system) is generally used for underwater positioning. The ultra-short baseline positioning system consists of a transmitting transducer, a transponder and a receiving array. The transmitting transducer and the receiving array are arranged on a ship, and the transponder is fixed on the underwater robot.
The transmitting transducer sends out an acoustic pulse, the transponder sends back the acoustic pulse after receiving the acoustic pulse, the receiving array measures X, Y the phase difference in two directions after receiving the acoustic pulse, and calculates the distance R from the underwater device to the array according to the arrival time of the acoustic wave, thereby calculating the position of the underwater detector on the plane coordinate and the depth of the underwater detector.
However, USBL is expensive and has high requirements for vehicles. The transponder required to be carried by the underwater robot has larger volume and higher cost, and is not suitable for small underwater robots. In addition, in a shallow water area, acoustic reflection and interference are strong, water surface echo interference exists, and positioning accuracy is poor.
Disclosure of Invention
Based on the problem, the buoy is matched with an underwater robot, and low-cost and high-precision positioning of the underwater robot is achieved. The following technical scheme is adopted:
a buoy for positioning of an underwater robot, comprising:
a main cabin;
the positioning module is arranged on the main cabin body and used for determining the position of the main cabin body;
the tension cable shaft is arranged on the main cabin body;
the cable is wound on the tension cable shaft, one end of the cable is used for connecting the underwater robot, the tension cable shaft keeps the extended cable in tension, and the cable is used for communication between the buoy and the underwater robot;
the meter counter is used for counting the length of the extended cable; and
the angle sensor is arranged on the main cabin body and used for detecting an included angle between the extended cable and the standard position in the horizontal direction;
and the communication module is used for receiving and transmitting wireless information.
Optionally, the buoy is applied to a body of water within a depth meter.
Optionally, the lower portion of the main cabin body is tapered, and the sectional area of the main cabin body tends to decrease in a direction away from the top surface of the main cabin body.
Optionally, a support is arranged on the top surface of the main cabin body, and a solar panel is arranged on the support.
Optionally, the solar cell panels are arranged around the axis of the main cabin body and face different directions respectively.
Optionally, an anti-collision gasket is fixedly arranged on the outer side wall of the main cabin body along the circumferential direction.
Optionally, the anti-collision gasket is made of rubber.
Optionally, an anchor lamp is arranged at the top of the main cabin.
The buoy disclosed by the application determines the position of the main cabin body on the water surface through the positioning module, determines the distance between the main cabin body and the underwater robot through the matching of the cable and the tension cable shaft, then calculates the distance between the buoy and the underwater robot in the horizontal direction by combining the submergence depth of the underwater robot, and finally obtains the offset angle of the underwater robot relative to the standard position through the angle sensor, so that the underwater robot can be accurately positioned. Compared with the positioning mode in the prior art, the underwater robot positioning device has the advantages that the underwater robot is positioned through the buoy, acoustic reflection and water surface echo interference can be avoided, the manufacturing cost is low, and the positioning accuracy is high.
Drawings
In order to more clearly illustrate the technical solutions of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for a person skilled in the art to obtain other drawings based on these drawings without exceeding the protection scope of the present application.
Fig. 1 is a schematic view of an overall structure of a buoy according to an embodiment of the present application.
Fig. 2 is a schematic diagram showing the matching relationship between the buoy and the underwater robot positioning system.
Fig. 3 is a schematic diagram of an angle sensor for detecting an angle between an extended cable and a standard position in a horizontal direction according to an embodiment of the present application.
Fig. 4 is a schematic diagram of calculating a horizontal distance between a buoy and an underwater robot according to an embodiment of the present application.
In the figure, 100, a main cabin body; 101. a positioning module; 102. a cable; 103. a tension cable shaft; 104. A meter counter; 105. an angle sensor; 106. a solar panel; 110. a support; 111. an anti-collision washer; 112. an anchor lamp; 201. a depth sensor; 202. a nine-axis sensor; 300. and a processing module.
Detailed Description
The technical solutions of the present application will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, not all, of the embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Underwater robots can generally be divided into two main categories: one is a cabled underwater robot, called a remotely operated vehicle; another type is a cableless underwater robot, called an autonomous submersible. However, any underwater robot currently uses an ultra short baseline positioning system (USBL) for underwater positioning.
Referring to fig. 1 and 2, the embodiment of the application discloses a buoy for positioning an underwater robot, which comprises a main cabin 100, a positioning module 101, a cable 102, a tension cable shaft 103, a meter counter 104 and an angle sensor 105. The lower portion of the main hull 100 is provided with a buoyancy block so that the main hull 100 can float on the water. The positioning module 101, the cable 102, the tension cable shaft 103, the meter counter 104 and the angle sensor 105 are all disposed on the main cabin 100.
The positioning module 101 is disposed inside the main hull 100 and is used for determining a specific position of the main hull 100 on the water surface. Optionally, the positioning module 101 is a GPS module, and can realize real-time positioning of the main cabin 100.
The cable 102 is wound on the tension cable shaft 103, and one end of the cable 102 is connected with the underwater robot 200. Optionally, cable 102 is a zero buoyancy cable. The main hull 100 and the underwater robot 200 may communicate through a cable 102. The cable 102 is also used to measure the distance between the main nacelle 100 and the underwater robot 200. The tension cable spool 103 may be selected as a constant tension cable spool, and the tension cable spool 103 keeps the cable extending from the buoy in tension, i.e. the cable between the buoy 100 and the underwater robot 200 is kept in tension by the tension cable spool 103.
The meter 104 may select an existing cable meter for measuring the length of the extended cable 102.
Referring to fig. 3, the angle sensor 105 is used to detect the angle R1 of the extended cable 102 in the horizontal direction from the standard position. The standard position is a fixed and invariable direction preset in the horizontal direction, for example, the north is set as the standard position by an electronic magnetic needle. The angle sensor 105 can detect the angle at which the extended cable 102 is shifted in the horizontal direction from the standard position.
The depth sensor 201 is provided on the underwater robot 200, and detects a submergence depth of the underwater robot 200.
The processing module 300 is a processor, and can determine the position of the underwater robot 200 according to the position of the main cabin 100, the submergence depth of the underwater robot 200, the length of the extended cable 102, and the included angle between the extended cable 102 and the standard position in the horizontal direction.
Referring to fig. 4, in an alternative scheme, the processing module 300 determines the horizontal distance D1 of the underwater robot 200 from the main cabin 100 by using the pythagorean theorem according to the submergence depth H1 of the underwater robot 200 and the length L1 of the extended cable. And determining the offset position of the underwater robot 200 relative to the buoy 100 according to the submergence depth H1 of the underwater robot, the horizontal distance D1 of the underwater robot from the buoy and the horizontal included angle R1 of the extended cable and the standard position by taking the position of the main cabin 100 as an original point, and then overlapping the position of the buoy 100 to determine the position of the underwater robot 200.
Optionally, the processing module 300 is disposed on the underwater robot 200, the position of the main cabin 100 obtained by the positioning module 101, the length L1 of the extended cable, and the included angle R1 between the extended cable and the standard position in the horizontal direction are all sent to the processing module 300 on the underwater robot 200 through the cable 102, and the processing module 300 calculates the position of the underwater robot 200 by combining the submergence depth H1 of the underwater robot 200 detected by the depth sensor 201. The underwater robot 200 transmits the position of the underwater robot 200 to a control device on a shore station or a mother ship through the first communication module.
In another alternative, the processing module 300 is located at a shore station or on a mother ship. The buoy comprises a second communication module which is used for being connected with the processing module 300 through wireless signals, and the position of the main cabin 100 obtained by the positioning module 101, the length L1 of the extended cable and the horizontal included angle R1 between the extended cable and the standard position are all sent to the processing module 300 through the second communication module. The underwater robot 200 transmits the submergence depth H1 of the underwater robot 200 to the processing module 300 through the first communication module, and the processing module 300 calculates the position of the underwater robot 200 for the operator to refer to.
The buoy disclosed by the application determines the position of the main cabin body 100 on the water surface through the positioning module 101, determines the distance between the main cabin body 100 and the underwater robot 200 through the matching of the cable 102 and the tension cable shaft 103, then calculates the distance between the buoy and the underwater robot 200 in the horizontal direction by combining the submergence depth of the underwater robot 200, and finally obtains the offset angle of the underwater robot 200 relative to the standard position through the angle sensor 105, so that the accurate positioning of the underwater robot 200 can be realized. Compared with the positioning mode in the prior art, the underwater robot 200 can be positioned by the buoy, acoustic reflection and water surface echo interference can be avoided, and the positioning method is low in manufacturing cost and high in positioning accuracy. The buoy of the application avoids the limitation of the umbilical cable on the cable-controlled underwater robot.
Optionally, in practical application, a nine-axis sensor 202 may be further disposed in the positioning system of the underwater robot, and is configured to detect the attitude of the underwater robot 200, and send the attitude information to the processing module 300, so that the controller can know the attitude of the underwater robot 200 in water in real time.
According to an optional technical scheme, the buoy is applied to a water area with the depth of less than 300 meters. The method mainly solves the problems of strong acoustic reflection and interference in the shallow water area, avoids the interference of water surface echo, and solves the problem of poor positioning accuracy of the underwater robot in the shallow water area.
Referring to fig. 1, according to an alternative embodiment of the present invention, the main hull 100 has a cylindrical upper portion and a tapered lower portion, and the cross-sectional area of the tapered portion of the main hull 100 tends to decrease in a direction away from the top surface of the main hull 100. The tapered portion enables the lower portion of the main hull 100 to submerge to a certain depth relative to the water surface, which can enhance the stability of the main hull 100.
According to an optional technical scheme of the present application, a support 110 is further fixedly arranged on the top surface of the main cabin 100, and a solar panel 106 is fixedly arranged on the support 110 and is used for providing electric energy required by the operation of the positioning module 101, the tension cable shaft 103, the meter counter 104 and the angle sensor 105.
Optionally, the solar cell panel 106 is disposed in a plurality of numbers around the axis of the main cabin 100, and the front surface of the solar cell panel 106 faces different directions. The provision of a plurality of solar panels 106 facilitates the conversion of electrical energy.
Referring to fig. 1, according to an alternative embodiment of the present application, an outer sidewall of a main body 100, more specifically, an outer sidewall of a cylindrical portion, is circumferentially and fixedly provided with a crash pad 111. In the process that the main cabin body 100 moves along the water surface, when encountering an obstacle, the anti-collision gasket 111 contacts with the obstacle, so that rigid collision is avoided, and the main cabin body 100 and the internal structure thereof can be protected. Optionally, the anti-collision gasket 111 can be made of rubber, elastic plastic, sponge and the like, and has a strong buffering effect and strong corrosion resistance.
Optionally, an anchor lamp 112 is fixedly mounted on the top of the bracket 110. At night, the lamp can play a role in illumination.
The embodiments of the present application are described in detail above. The principle and the implementation of the present application are explained herein by applying specific examples, and the above description of the embodiments is only used to help understand the technical solutions and the core ideas of the present application. Therefore, the person skilled in the art should, according to the idea of the present application, change or modify the embodiments and applications of the present application based on the scope of protection of the present application. In view of the above, the description should not be taken as limiting the application.

Claims (8)

1. A buoy for positioning of an underwater robot, comprising:
a main cabin;
the positioning module is arranged on the main cabin body and used for determining the position of the main cabin body;
the tension cable shaft is arranged on the main cabin body;
the cable is wound on the tension cable shaft, one end of the cable is used for connecting the underwater robot, the tension cable shaft keeps the extended cable in tension, and the cable is used for communication between the buoy and the underwater robot;
the meter counter is used for counting the length of the extended cable; and
the angle sensor is arranged on the main cabin body and used for detecting an included angle between the extended cable and the standard position in the horizontal direction;
and the communication module is used for receiving and transmitting wireless information.
2. The buoy of claim 1, wherein: the buoy is applied to a water area with the depth of less than 300 meters.
3. The buoy of claim 1, wherein: the lower part of the main cabin body is arranged in a conical shape, and the sectional area of the main cabin body tends to be reduced in the direction deviating from the top surface of the main cabin body.
4. The buoy of claim 1, wherein: the top surface of the main cabin body is provided with a support, and a solar cell panel is arranged on the support.
5. The buoy of claim 4, wherein: the axis of the solar cell panel relative to the main cabin body is provided with a plurality of solar cell panels in a surrounding mode, and the solar cell panels face different directions respectively.
6. The buoy of claim 1, wherein: and an anti-collision gasket is fixedly arranged on the outer side wall of the main cabin body along the circumferential direction.
7. The buoy of claim 6, wherein: the anti-collision gasket is made of rubber.
8. The buoy of claim 1, wherein: and an anchor lamp is arranged at the top of the main cabin body.
CN202111287451.4A 2021-11-02 2021-11-02 Float for angling Pending CN114179969A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111287451.4A CN114179969A (en) 2021-11-02 2021-11-02 Float for angling

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111287451.4A CN114179969A (en) 2021-11-02 2021-11-02 Float for angling

Publications (1)

Publication Number Publication Date
CN114179969A true CN114179969A (en) 2022-03-15

Family

ID=80540599

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202111287451.4A Pending CN114179969A (en) 2021-11-02 2021-11-02 Float for angling

Country Status (1)

Country Link
CN (1) CN114179969A (en)

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107831515A (en) * 2017-10-10 2018-03-23 北京臻迪科技股份有限公司 Underwater Navigation method and system
CN109353473A (en) * 2018-02-09 2019-02-19 胡刚毅 A kind of submersible and submersible system
CN109959953A (en) * 2017-12-26 2019-07-02 中国船舶重工集团公司七五0试验场 A kind of water-system control system of list buoy towing cable form monitoring
CN110488334A (en) * 2019-09-03 2019-11-22 嘉陵江亭子口水利水电开发有限公司 A kind of underwater object locator, positioning system and its localization method
CN112113563A (en) * 2020-09-18 2020-12-22 苏州臻迪智能科技有限公司 Unmanned ship positioning system and unmanned ship positioning method
CN112407154A (en) * 2020-12-01 2021-02-26 国家海洋局南海调查技术中心(国家海洋局南海浮标中心) Buoy system
CN112810781A (en) * 2021-03-12 2021-05-18 广东海洋大学 Novel streamline underwater robot
CN213677051U (en) * 2020-11-27 2021-07-13 四川希芯源科技有限公司 Solar hydrological test buoy

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107831515A (en) * 2017-10-10 2018-03-23 北京臻迪科技股份有限公司 Underwater Navigation method and system
CN109959953A (en) * 2017-12-26 2019-07-02 中国船舶重工集团公司七五0试验场 A kind of water-system control system of list buoy towing cable form monitoring
CN109353473A (en) * 2018-02-09 2019-02-19 胡刚毅 A kind of submersible and submersible system
CN110488334A (en) * 2019-09-03 2019-11-22 嘉陵江亭子口水利水电开发有限公司 A kind of underwater object locator, positioning system and its localization method
CN112113563A (en) * 2020-09-18 2020-12-22 苏州臻迪智能科技有限公司 Unmanned ship positioning system and unmanned ship positioning method
CN213677051U (en) * 2020-11-27 2021-07-13 四川希芯源科技有限公司 Solar hydrological test buoy
CN112407154A (en) * 2020-12-01 2021-02-26 国家海洋局南海调查技术中心(国家海洋局南海浮标中心) Buoy system
CN112810781A (en) * 2021-03-12 2021-05-18 广东海洋大学 Novel streamline underwater robot

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