CN114275128A - Structure and method for assisting AUV bow bottom seating through special buoyancy equalizing device - Google Patents
Structure and method for assisting AUV bow bottom seating through special buoyancy equalizing device Download PDFInfo
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- CN114275128A CN114275128A CN202111623180.5A CN202111623180A CN114275128A CN 114275128 A CN114275128 A CN 114275128A CN 202111623180 A CN202111623180 A CN 202111623180A CN 114275128 A CN114275128 A CN 114275128A
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Abstract
The invention provides a structure and a method for assisting an AUV bow bottom by a special buoyancy equalizing device, which consists of a storage battery, a depth meter, a combined antenna, a buoyancy adjusting system, a comprehensive acquisition and control system, a height measuring sonar and a bow reinforcing structure module; the integrated acquisition and control system consists of a controller, an inertial navigation system, a radio station and a Beidou satellite positioning system, and can adjust the buoyancy adjusting system and plan a submergence track according to the change of the attitude of the AUV; the combined antenna consists of a radio antenna, a Beidou receiving antenna and a lifting mechanism, and on the premise of ensuring that the bow part is of a fluid structure, the bottom of the bow part is designed into a plane, so that the combined antenna is convenient to contact with submarine topography when the bow part is seated, and meanwhile, the bow part is structurally reinforced.
Description
Technical Field
The invention relates to the field of AUV (autonomous underwater vehicle) bottom sitting modes, in particular to a structure and a method for assisting AUV bow bottom sitting by a special buoyancy equalizing device independent of terrain.
Background
With the continuous development of marine science, Autonomous Underwater Vehicles (AUV) play a great role in submarine scientific investigation and Underwater target exploration. The AUV is commonly used for long-term fixed-point observation of the seabed, seabed detection and other tasks, so that the technology of submerging and landing the AUV from the water to the seabed is a subject worth of research at home and abroad. However, the AUV is often influenced by factors such as the fluctuation of the sea floor topography and the small seating area during the process of setting.
At present, various AUV (autonomous underwater vehicle) bottom setting strategy methods exist at home and abroad, but a large area of stable submarine topography is required by a plurality of bottom setting methods. For example, in the research on the system control and test of the underwater self-propelled vehicle with the landing and bottom-sitting functions, an under-actuated underwater vehicle with the bottom-sitting function is provided, wherein the water ballast tank is filled with water by filling water into the water ballast tank, a water filling valve of the water ballast tank is opened after the vehicle reaches a target bottom-sitting area, the water ballast tank is filled with water at a higher speed, and the total gravity of the vehicle is greater than the buoyancy and the vehicle begins to freely sink. Except for water injection and water filling, the method for adjusting the buoyancy of the water injection and water filling is also available, but the methods achieve the purpose of energy-saving endurance by optimizing the water filling mode, and the methods need to be used for the water injection and water filling on a large-range flat submarine topography and are not suitable for a small-range flat topography. The invention designs a method for assisting the AUV bow bottom seating by using a special buoyancy equalizing device based on the design. The AUV of the design utilizes a specific bow structure, and only needs the partial bottom of the AUV, namely the bow bottom. The underwater vehicle can sit on some special narrow submarine topography, so that the energy consumption for detecting the submarine topography is reduced, the time for AUV (autonomous underwater vehicle) to sit on the ground is prolonged, more submarine sitting areas can be selected, and the requirement that the underwater vehicle must sit on the ground within a fixed range under special conditions is met.
Disclosure of Invention
The invention designs a structure and a method for assisting the bottom of an AUV bow by using a special buoyancy equalizing device independent of terrain on the basis of the known seabed depth and underwater environment.
The bow bottom structure of the invention adopts the structure provided in the patent number '201911152439.5', and on the basis, a height measuring sonar and a bow bottom reinforcing structure module which have two parts and can dynamically adjust the angle are added. The device mainly comprises a storage battery, a depth meter, a combined antenna, a buoyancy adjusting system, a comprehensive acquisition and control system, a height measuring sonar and a bow reinforcing structure module. The bow part is provided with a height measuring sonar capable of dynamically adjusting the angle, so as to detect the distance between the bow part and the seabed in real time. On the premise of ensuring that the bow is in a fluid structure, the bottom of the bow is designed into a plane, so that the bow can be conveniently contacted with the submarine topography during bottom setting, and meanwhile, the bow is structurally reinforced. (the structure is shown in figure 1)
The buoyancy adjusting system consists of a bow pressure-resistant oil tank, a stern pressure-resistant oil tank, an oil bag, a valve component, a motor and an oil pump, wherein the bow pressure-resistant oil tank and the stern pressure-resistant oil tank are arranged on the central axis of the AUV, the bow pressure-resistant oil tank is positioned in the bow, the stern pressure-resistant oil tank is positioned in the stern, and the oil bag is arranged at the intersection of the central axis of an AUV carrier and the connecting central line of the bow pressure-resistant oil tank and the stern pressure-resistant oil tank and is connected with the valve, the oil pump and the oil tank through oil pipelines. The buoyancy adjusting system is used for adjusting the buoyancy and the longitudinal inclination angle of the AUV, and floating and submerging of the AUV and posture adjustment are achieved. The combined antenna consists of a radio antenna, a Beidou receiving antenna and a lifting mechanism and is used for receiving information such as external tasks. The comprehensive acquisition and control system consists of a controller, an inertial navigation system, a radio station and a Beidou satellite positioning system. And a pressure-resistant waterproof cable is adopted among the comprehensive acquisition and control system, the height measuring sonar and the buoyancy regulating system for communication and power supply, so that information transmission is realized. When the AUV is on the water surface, the position is determined through a Beidou satellite positioning system, and the position information is transmitted to an inertial navigation system; after diving, the inertial navigation system calculates the underwater state according to the change of the aircraft based on the information of the initial point, and outputs the position, the posture and other information of the AUV to the controller after comprehensive analysis. The comprehensive acquisition and control system can adjust the buoyancy adjusting system according to the attitude change of the AUV and plan a submergence track, and the height measuring sonar can feed back the seabed distance so as to adjust the submergence direction of the AUV in real time.
The height measuring sonar device designed by the invention is arranged below the bow, and when the AUV posture is kept in a horizontal state, the height measuring sonar is kept vertical to the horizontal plane, so that the sound waves transmitted by the sonar always face the seabed. When the AUV executes a diving task, the aircraft is in an inclined state, the height measuring sonar starts to detect the seabed distance, and the controller adjusts the torque motor according to the change of the attitude angle of the cabin body and the feedback of the inertial navigation system, so that the height measuring sonar is kept vertical to the horizontal plane at all times, and the sound wave transmitted by the sonar is ensured to be downward all the time.
The method for realizing the bottom seating of the AUV bow comprises the following steps:
before the AUV submerges, the task information is received through the combined antenna on the water surface, the Beidou satellite positioning system is used for autonomous navigation to a specified position, and the underwater condition is explored. And after the AUV determines that the bottom-sitting task can be executed, the combined antenna is retracted into the cabin, the oil pump is controlled to work by the controller, and all the oil in the oil bag and the stern pressure-resistant oil tank is injected into the bow pressure-resistant oil tank. At this point, the volume of the oil pocket is minimal and the buoyancy experienced by the AUV is minimal. And because the oil in the stern pressure-resistant oil tank is gradually injected into the fore pressure-resistant oil tank, the gravity center of the AUV is gradually adjusted into a fore chamber of the device, the fore inclination angle of the AUV is gradually increased, and the posture of the AUV is gradually in an inclined state when a user sits on the bottom. The change of the posture during the diving reduces the upstream area and the resistance, thereby realizing the unpowered diving of the AUV. In the process of AUV submergence, the comprehensive acquisition and control system monitors the submergence track in real time and carries out fine adjustment, and the height measuring sonar feeds back the distance to the seabed in real time. When the AUV sails to the upper part of the target bottom sitting area, the buoyancy adjusting system is adjusted to gradually inject part of oil in the bow pressure resistant oil tank into the oil bag, the buoyancy is gradually increased at the moment, the AUV is still in a negative buoyancy state, the AUV slowly sinks, the center of gravity is still at the bow, and the stem bottom sitting is facilitated. The comprehensive acquisition and control system adjusts the submergence speed according to the seabed distance fed back by the height measuring sonar to realize gravity bottom sitting, and realizes safe bottom sitting through a bow reinforcing structure module, namely AUV bow bottom structure reinforcing, so as to ensure the contact with seabed topography. And finally, the AUV is seated by gravity and keeps a silent state.
The invention has the beneficial effects that:
1. when the vehicle dives, the controller controls the buoyancy adjusting system, so that the buoyancy and the posture of the vehicle are adjusted, and the buoyancy is minimized. And the attitude of the aircraft is adjusted to be in an inclined state, so that the upstream area and the resistance during submerging are reduced, and the submerging time is greatly shortened. Meanwhile, the underwater vehicle submerges in a mode that gravity is larger than buoyancy, so that energy loss is greatly saved.
2. The height measurement sonar can dynamically adjust the angle according to the change of the AUV attitude angle, so that the sound waves are guaranteed to be transmitted to the seabed all the time, and the efficiency of the sonar is improved. The method is not only suitable for occasions where the AUV actively adjusts the angle, but also can dynamically adjust the angle when the passive attitude of the AUV changes, and embodies the high efficiency and flexibility of the height measuring sonar.
3. The AUV has small setting area, reduces the dependence on submarine topography, saves the time and energy for AUV underwater detection, reduces the requirement of AUV on the stable submarine topography area, increases the selectable target setting area, and can adapt to necessary setting work under special conditions.
Drawings
FIG. 1 is a schematic diagram of the AUV stem and bottom structure of the present invention;
FIG. 2 is a block diagram of elevation sonar attitude adjustment control;
fig. 3 is an analytic view of a height sonar structure;
FIG. 4 is a process diagram of the AUV performing the squat task according to the present invention;
FIG. 5 is a flowchart of the AUV performing the squat task according to the present invention;
wherein 1 is the battery, 2 is the depth gauge, 3 is combination antenna, 4 is buoyancy governing system, 5 is synthesizing collection and control system, 6 is the height finding sonar, 7 is bow reinforced structure module, 8 is the withstand voltage oil tank of bow, 9 is the withstand voltage oil tank of stern, 10 is the oil bag, 11 is the controller, 12 is inertial navigation system, 13 is the radio station, 14 is big dipper satellite positioning system, 15 is torque motor.
Detailed Description
With reference to fig. 1, the design structure of the invention mainly comprises a storage battery, a depth meter, a combined antenna, a buoyancy adjusting system, a comprehensive acquisition and control system, a height measuring sonar and a bow reinforcing structure module. The buoyancy adjusting system consists of a bow pressure-resistant oil tank, a stern pressure-resistant oil tank, an oil bag, a valve component, a motor and an oil pump; the comprehensive acquisition and control system consists of a controller, an inertial navigation system, a radio station and a Beidou satellite positioning system; the combined antenna consists of a radio antenna, a Beidou receiving antenna and a lifting mechanism. The bow part is provided with a height measuring sonar capable of dynamically adjusting the angle, so as to detect the distance between the bow part and the seabed in real time. On the premise of ensuring that the bow is in a fluid structure, the bottom of the bow is designed into a plane, so that the bow can be conveniently contacted with a seabed plane during bottom setting, and meanwhile, the bow is structurally reinforced.
With reference to fig. 2 and 3, the invention relates to a height finding sonar mounted below the bow. One end of the height measuring sonar is used for transmitting sound waves, and the other end of the height measuring sonar is connected with the torque motor. The height measuring sonar starts to detect the submarine distance, when the AUV inclines, the comprehensive acquisition and control system combines the current AUV attitude angle and the feedback of the inertial navigation system to adjust the rotation of the torque motor, and dynamically adjusts the angle of the height measuring sonar, so that the height measuring sonar always keeps the attitude perpendicular to the submarine, and the sound wave transmitted by the sonar always faces the submarine.
With reference to fig. 4 and 5, the AUV of the present invention has the following steps in the process of performing the bottom setting operation:
the method comprises the following steps: firstly, the depth of an operation water area and underwater environment information are detected, water surface positioning is carried out, and whether a submerging condition is met or not is judged.
Step two: the controller of the AUV receives parameters such as the diving longitude and latitude position, the target depth and the like sent by the remote control center through the combined antenna; the AUV autonomously navigates to a designated diving position through a Beidou satellite positioning system or an inertial navigation system and retracts the combined antenna into the cabin.
Step three: and (3) starting submerging, and controlling an oil pump to completely fill the oil in the oil bag into the fore pressure-resistant oil tank through a controller, wherein the specific flow is that the oil in the oil bag is filled into the fore pressure-resistant oil tank, and simultaneously, the oil in the stern pressure-resistant oil tank is completely filled into the fore pressure-resistant oil tank. At this time, the center of gravity of the AUV is gradually adjusted to the bow. The buoyancy borne by the AUV is reduced, and the submerging posture of the AUV is adjusted to be changed from a horizontal state to an inclined state.
Step four: the controller adjusts the torque motor according to the AUV angle change, and ensures that the sound wave transmitted by the height measuring sonar vertically faces the seabed. And the comprehensive acquisition and control system plans a submergence track according to the position information fed back by the height measuring sonar and the inertial navigation system and finely adjusts the submergence track in real time.
Step five: after reaching the bottom target area, part of oil in the fore pressure resistant oil tank is gradually injected into the oil bag, but the oil bag still is in a load-bearing state, and at the moment, the AUV decelerates and dives. The gravity center of the stem pressure-resistant oil tank is still in the stem part when oil in the stem pressure-resistant oil tank is injected into the oil bag, the AUV is guaranteed to take the stem part as the gravity center, and safe bottom sitting is realized through the stem part reinforcing structure module, namely the stem part structure is reinforced, so that the cabin body is smoothly contacted with the seabed terrain and the bottom sitting is guaranteed. And adjusting the AUV bow bottom by the comprehensive acquisition and control system according to the seabed distance fed back by the height measuring sonar in real time, and starting the bottom detection work.
The invention provides a structure and a method for assisting the bottom of an AUV bow by a special buoyancy equalizing device independent of terrain. Under the submarine geological condition that the terrain is narrow and not enough for conventional setting, the submarine hovering device hovers in an inclined mode and adopts a reinforced bow structure to realize the setting action of the narrow seabed. The invention designs a height measuring sonar capable of dynamically adjusting the angle, which is used for detecting the submarine distance. The bottom structure of the bow part is designed into a reinforced plane, so that the submarine topography can be conveniently contacted. And the AUV bow part sits at the bottom through the adjustment of the buoyancy equalizing device. The design of the invention has the advantages that the submarine situation is not required to be explored in a large scale, the requirement on submarine topography is reduced, and therefore, the underwater vehicle (AUV) can adapt to more submarine areas so as to meet the requirement that the underwater vehicle needs to be seated in a fixed range under special conditions.
Claims (3)
1. A structure of a special buoyancy equalizing device for assisting the bottom of an AUV bow is characterized by comprising a storage battery, a depth meter, a combined antenna, a buoyancy adjusting system, a comprehensive acquisition and control system, a height measuring sonar and a bow reinforcing structure module; the buoyancy adjusting system consists of a bow pressure-resistant oil tank, a stern pressure-resistant oil tank, an oil bag, a valve component, a motor and an oil pump and is used for adjusting the buoyancy and the longitudinal inclination angle of the AUV, so that the AUV can float up and dive down and can be adjusted in posture; the comprehensive acquisition and control system consists of a controller, an inertial navigation system, a radio station and a Beidou satellite positioning system, and can adjust the buoyancy adjusting system and plan a submergence track according to the change of the AUV attitude; the combined antenna consists of a radio antenna, a Beidou receiving antenna and a lifting mechanism and is used for receiving information such as external tasks and the like; a height measuring sonar capable of dynamically adjusting the angle is installed on the bow part and used for detecting the distance between the bow part and the seabed in real time; on the premise of ensuring that the bow is in a fluid structure, the bottom of the bow is designed into a plane, so that the bow can be conveniently contacted with the submarine topography during bottom setting, and meanwhile, the bow is structurally reinforced.
2. A method for assisting the bottom of an AUV bow by using a special buoyancy equalizing device is characterized in that the structure of claim 1 is used, and the method comprises the following specific steps:
the method comprises the following steps: firstly, detecting the depth of an operation water area and underwater environment information, positioning the water surface, and judging whether a submergence condition is met;
step two: the controller of the AUV receives parameters such as the diving longitude and latitude position, the target depth and the like sent by the remote control center through the combined antenna; the AUV autonomously sails to a designated submergence position through a Beidou satellite positioning system or an inertial navigation system, and the combined antenna is retracted into the cabin;
step three: the method comprises the following steps that submergence is started, an oil pump is controlled by a controller to completely fill oil in an oil bag into a bow pressure resistant oil tank, and the specific flow is that the oil in the oil bag is filled into the bow pressure resistant oil tank, and simultaneously the oil in a stern pressure resistant oil tank is completely filled into the bow pressure resistant oil tank; at the moment, the gravity center of the AUV is gradually adjusted to the bow part; the buoyancy borne by the AUV is reduced, and the submerging posture of the AUV is adjusted to be changed from a horizontal state to an inclined state;
step four: the controller adjusts the torque motor according to the AUV angle change, and ensures that the sound wave transmitted by the height measuring sonar vertically faces the seabed; the comprehensive acquisition and control system plans a submergence track according to the position information fed back by the height measuring sonar and the inertial navigation system, and fine-tunes in real time;
step five: after reaching the bottom target area, gradually injecting part of oil in the bow pressure resistant oil tank into the oil bag, but still in a load-bearing state, and then decelerating and submerging the AUV; part of oil in the bow pressure-resistant oil tank is injected into the oil bag, the gravity center is still at the bow, the AUV is ensured to take the bow as the gravity center, and safe bottom setting is realized through a bow reinforcing structure module, namely, the bow structure is reinforced so as to ensure that the cabin body is smoothly contacted with the seabed terrain and the bottom setting is realized; and adjusting the AUV bow bottom by the comprehensive acquisition and control system according to the seabed distance fed back by the height measuring sonar in real time, and starting the bottom detection work.
3. The method for assisting the bottom seating of the bow of the AUV by using the special buoyancy equalizing device according to claim 2, wherein the method for adjusting the attitude angle of the step four-center altimetry sonar comprises the following specific steps:
one end of the height measuring sonar is used for detecting sound waves, and the other end of the height measuring sonar is connected with the torque motor; the height measuring sonar starts to detect the submarine distance, when the AUV inclines, the comprehensive acquisition and control system combines the current AUV attitude angle and the feedback of the inertial navigation system to adjust the rotation of the torque motor, and dynamically adjusts the angle of the height measuring sonar, so that the height measuring sonar always keeps the attitude perpendicular to the submarine, and the sound wave transmitted by the sonar always faces the submarine.
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| CN114275128B (en) | 2023-01-03 |
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