CN115009483A - Single-use underwater vehicle underwater anchoring and parking device and method - Google Patents
Single-use underwater vehicle underwater anchoring and parking device and method Download PDFInfo
- Publication number
- CN115009483A CN115009483A CN202210658594.XA CN202210658594A CN115009483A CN 115009483 A CN115009483 A CN 115009483A CN 202210658594 A CN202210658594 A CN 202210658594A CN 115009483 A CN115009483 A CN 115009483A
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- Prior art keywords
- anchor
- gravity
- underwater
- anchor rope
- auv
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Classifications
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
- B63B21/20—Adaptations of chains, ropes, hawsers, or the like, or of parts thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
- B63B21/22—Handling or lashing of anchors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
- B63B21/24—Anchors
- B63B21/26—Anchors securing to bed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
- B63B21/24—Anchors
- B63B21/26—Anchors securing to bed
- B63B2021/265—Anchors securing to bed by gravity embedment, e.g. by dropping a pile-type anchor from a certain height
Abstract
The invention discloses a single-use underwater vehicle underwater anchoring and parking device and a single-use underwater vehicle underwater anchoring and parking method, and belongs to the technical field of autonomous underwater vehicle underwater parking; the gravity anchor comprises a shell, a gravity anchor releasing mechanism, an anchor rope winder and a gravity anchor; the gravity anchor releasing mechanism, the anchor rope releasing mechanism and the anchor rope winder are fixed in the shell through the mounting bracket; the gravity anchor is connected with the anchor rope winder through the anchor rope and is placed on the fixed frame; the gravity anchor releasing mechanism is used for fixing and releasing the gravity anchor; the anchor rope is fixed and released through the anchor rope releasing mechanism. The gravity anchor release mechanism releases the gravity anchor, and the anchor rope release mechanism releases the positioning constraint of the gravity anchor on the aircraft. The underwater safe retention system can realize the underwater safe retention of the AUV, improve the safety and reliability of the AUV during the retention, and simultaneously, the anchor rope can be discarded in time when the retention is finished, thereby improving the rapidity of the secondary start of the AUV.
Description
Technical Field
The invention belongs to the technical field of underwater parking of autonomous underwater vehicles, and particularly relates to a single-use underwater vehicle underwater anchoring parking device and method.
Background
With the increasing importance of development and utilization of underwater resources in various countries in the world, the AUV is an efficient and safe important tool for people to know underwater resources and detect the underwater resources. How to stably reside the AUV underwater so as to realize fixed-point monitoring or detection is one of important key technologies for unmanned underwater vehicle research at present.
The traditional AUV has defects in fixed-point monitoring or detection, and cannot effectively complete related tasks. In order to solve the problem, some national researchers develop AUV researches which can be resided underwater one after another, and a residence device which consists of a hydraulic drive arm, a retractable anchor rod and a mud-grabbing shovel, or a hydraulic support leg, or a support frame similar to a helicopter undercarriage mode is provided, so that the AUV can be resided underwater, but because the residence device is limited by the size of the AUV, the distance between an AUV main body and the bottom of a sea or a river or a lake is relatively short when the AUV resides, and the residence area is required to be relatively flat in consideration of the safety when the AUV resides; meanwhile, in rivers, the long-term retention can cause the burial of the retained device by silt, so that the restart failure of the AUV is caused.
Therefore, on the premise of ensuring that the movement performance of the AUV is not greatly influenced, the retention device capable of ensuring that the AUV can be stably retained under the condition of certain water flow and ensuring that the AUV can be normally started for the second time is designed, and the retention device has important significance for retaining the AUV.
Disclosure of Invention
The technical problem to be solved is as follows:
in order to avoid the defects of the prior art, the invention provides a single-use underwater vehicle underwater anchoring resident device and a method, wherein a gravity anchor releasing mechanism is used for releasing a gravity anchor, and an anchor rope releasing mechanism is used for releasing the positioning constraint of the gravity anchor on a vehicle; under the action of certain water flow, the AUV can stably reside underwater, and the safety and the reliability of the AUV during the underwater residence are ensured.
The technical scheme of the invention is as follows: a single-use underwater vehicle underwater anchoring resident device comprises a shell, a gravity anchor releasing mechanism, an anchor rope winder and a gravity anchor; the gravity anchor releasing mechanism, the anchor rope releasing mechanism and the anchor rope winder are fixed in the shell through the mounting bracket;
the gravity anchor is connected with the anchor rope winder through the anchor rope and is placed on the fixed frame;
the gravity anchor releasing mechanism is used for fixing and releasing the gravity anchor;
the anchor rope is fixed and released through the anchor rope releasing mechanism.
The further technical scheme of the invention is as follows: the shell is arranged in an anchoring cabin section of the underwater vehicle so as to keep the fluid shape of the underwater vehicle.
The further technical scheme of the invention is as follows: the gravity anchor releasing mechanism comprises a gravity anchor releasing electromagnet, and when the gravity anchor releasing electromagnet is electrified, the gravity anchor is fixed on the fixed frame; when the gravity anchor releases the electromagnet and is powered off, the gravity anchor is separated from the fixed frame under the influence of self gravity.
The further technical scheme of the invention is as follows: the anchor rope releasing mechanism comprises an anchor rope releasing electromagnet, and when the anchor rope releasing electromagnet is powered off, the gravity anchor is released; when the anchor rope releasing electromagnet is electrified, the anchor rope is released.
The further technical scheme of the invention is as follows: the residence device further comprises a motor, an output shaft of the motor is in transmission connection with a winding shaft of the anchor rope winder, and the winding shaft is driven to rotate by the motor, so that the anchor rope is wound or released on the winding shaft.
The further technical scheme of the invention is as follows: the resident device further comprises a wire arranging device, wherein the wire arranging device is arranged below a winding shaft of the anchor rope winder and used for realizing uniform winding and uniform winding of the anchor rope.
The further technical scheme of the invention is as follows: the residence device also comprises an AUV main control center, wherein the AUV main control center is positioned in the AUV control section part and is used for controlling the power-on and power-off of the gravity anchor releasing electromagnet and the anchor rope releasing electromagnet.
The further technical scheme of the invention is as follows: the fixing frame and the mounting bracket as well as the mounting bracket and the shell are fixedly connected through bolts and nuts.
A single-use residence method of an underwater anchoring residence device of an underwater vehicle is characterized by comprising the following steps: when the AUV needs to stay underwater, the AUV main control center controls the gravity anchor release electromagnet and the anchor rope release electromagnet to release the gravity anchor, and the gravity anchor and the anchor rope fall to the water bottom through the anchor release window under the action of gravity; the AUV main body floats upwards underwater due to positive buoyancy, and controls the anchor rope winder through the motor when approaching the water bottom, so as to control the falling speed of the gravity anchor; when the gravity anchor is grounded and the anchor rope is released for the whole length, the AUV main body is in a hovering state underwater, so that the AUV is stably and safely resided underwater.
A method for releasing a single-use underwater vehicle underwater anchoring resident device is characterized by comprising the following steps: when the AUV needs to be started from the water bottom for the second time, the AUV main control center controls the anchor rope releasing electromagnet to release the anchor rope, the gravity anchor is separated from the AUV main body along with the anchor rope, and the AUV main body starts to sail and continues to execute subsequent tasks.
Advantageous effects
The invention has the beneficial effects that:
(1) the gravity anchor electromagnet is controlled to release the gravity anchor through power-on and power-off, so that the gravity anchor is released quickly and efficiently;
(2) the falling speed of the gravity anchor is controlled by the motor when the gravity anchor is close to the water bottom, so that the safety of stable retention of the AUV is ensured;
(3) the release of the anchor rope is realized by controlling the anchor rope releasing electromagnet by electrifying, the structure of the anchor rope releasing mechanism is simple, and the reliability of the release of the gravity anchor and the release of the anchor rope is improved;
(4) by releasing the high holding power gravity anchor, the AUV is in positive buoyancy, so that the AUV can be far away from the water bottom, and the safety of the AUV during the residence is obviously improved.
The underwater safe retention system can realize the underwater safe retention of the AUV, improve the safety and reliability of the AUV during the retention, and simultaneously, the anchor rope can be discarded in time when the retention is finished, thereby improving the rapidity of the secondary start of the AUV.
Drawings
FIG. 1 is a schematic view of AUV mooring stay at the bottom of water;
FIG. 2 is a schematic diagram of the internal structure of the AUV anchoring device 1;
FIG. 3 is a schematic view of the internal structure of the AUV anchoring device 2;
description of reference numerals: 1-a resident cabin segment shell; 2-a resident mounting bracket; 3-releasing the electromagnet by the gravity anchor; 4-anchor line releasing electromagnet; 5-anchor line winder; 6-gravity anchor; 7-gravity anchor fixing frame.
Detailed Description
The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
Referring to fig. 2 and 3, the single-use underwater vehicle underwater mooring staying device of the present embodiment includes a housing 1, a gravity anchor releasing electromagnet 3, an anchor rope releasing electromagnet 4, an anchor rope winder 5, and a gravity anchor 6; the gravity anchor releasing electromagnet 3, the anchor rope releasing electromagnet 4 and the anchor rope winder 5 are fixed in the shell 1 through mounting brackets; the gravity anchor 6 is connected with the anchor rope winder 5 through an anchor rope and is placed on the fixed frame 7; the gravity anchor 6 is fixed and released through the gravity anchor releasing electromagnet 3; the anchor rope is fixed and released by the anchor rope releasing electromagnet 4.
The resident device also comprises a motor and a wire arranging device; an output shaft of the motor is in transmission connection with a winding shaft of the anchor rope winder, and the winding shaft is driven to rotate by the motor, so that the anchor rope is wound or released on the winding shaft; the wire arranging device is arranged below a winding shaft of the anchor rope winder and used for realizing uniform winding and unwinding of the anchor rope.
Referring to fig. 1, 2 and 3, the AUV single-mooring stay device in this embodiment is installed in an AUV stay cabin shell 1, and when the AUV is in a normal navigation process, a stay installation bracket 2, an AUV main control center are powered off to control a gravity anchor electromagnet 3 and a gravity anchor fixing frame 7 to fix a gravity anchor 6 in an AUV body; when the AUV sails to a given main flow area, the AUV central control center performs power-off action on the gravity anchor electromagnet 3, the electromagnet loses magnetism to release the gravity anchor 6, the gravity anchor 6 descends out of the AUV body under the action of self gravity, when the pressure sensor feeds back that the gravity anchor is close to the water bottom, the falling speed of the gravity anchor is controlled by the motor, the AUV floats upwards and the gravity anchor 6 sinks after the anchor is removed, the anchor rope winder 5 rotates to release the anchor rope, and after the gravity anchor 6 lands, and the anchor rope releases the whole length, the AUV enters the water bottom residence state to realize the underwater stability and safe residence of the AUV.
When the AUV needs to be started again from the water bottom after the AUV is completely resided, the AUV main control center controls the anchor rope releasing electromagnet 4 to release the anchor rope in an electrolytic manner, the anchor rope and the gravity anchor 6 are separated from the AUV main body and are discarded to the water bottom, and the AUV floats upwards and restarts sailing.
Although embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are exemplary and not to be construed as limiting the present invention, and that those skilled in the art may make variations, modifications, substitutions and alterations within the scope of the present invention without departing from the spirit and scope of the present invention.
Claims (10)
1. A single-use underwater vehicle underwater anchoring and parking device is characterized in that: the gravity anchor comprises a shell, a gravity anchor releasing mechanism, an anchor rope winder and a gravity anchor; the gravity anchor releasing mechanism, the anchor rope releasing mechanism and the anchor rope winder are fixed in the shell through the mounting bracket;
the gravity anchor is connected with the anchor rope winder through the anchor rope and is placed on the fixed frame;
the gravity anchor releasing mechanism is used for realizing the fixation and release of the gravity anchor;
the anchor rope is fixed and released through the anchor rope releasing mechanism.
2. The single-use underwater vehicle underwater mooring residence device of claim 1, wherein: the shell is arranged in an anchoring cabin section of the underwater vehicle so as to keep the fluid shape of the underwater vehicle.
3. The single-use underwater vehicle underwater mooring residence device of claim 1, wherein: the gravity anchor releasing mechanism comprises a gravity anchor releasing electromagnet, and when the gravity anchor releasing electromagnet is electrified, the gravity anchor is fixed on the fixed frame; when the gravity anchor releases the electromagnet and is powered off, the gravity anchor is separated from the fixed frame under the influence of the gravity anchor.
4. The single-use underwater vehicle underwater mooring residence device of claim 3, wherein: the anchor rope releasing mechanism comprises an anchor rope releasing electromagnet, and when the anchor rope releasing electromagnet is powered off, the gravity anchor is released; when the anchor rope releasing electromagnet is electrified, the anchor rope is released.
5. The single-use underwater vehicle underwater mooring residence device of claim 4, wherein: the residence device also comprises an AUV main control center, wherein the AUV main control center is positioned in the AUV control section part and is used for controlling the power-on and power-off of the gravity anchor releasing electromagnet and the anchor rope releasing electromagnet.
6. The single-use underwater vehicle underwater mooring residence device of claim 1, wherein: the residence device further comprises a motor, an output shaft of the motor is in transmission connection with a winding shaft of the anchor rope winder, and the winding shaft is driven to rotate by the motor, so that the anchor rope is wound or released on the winding shaft.
7. The single-use underwater vehicle underwater mooring residence device of claim 1, wherein: the resident device further comprises a wire arranging device, wherein the wire arranging device is arranged below a winding shaft of the anchor rope winder and used for realizing uniform winding and uniform winding of the anchor rope.
8. The single-use underwater vehicle underwater mooring residence device of claim 1, wherein: the fixing frame and the mounting bracket as well as the mounting bracket and the shell are fixedly connected through bolts and nuts.
9. A single-use underwater vehicle underwater mooring dwelling device dwelling method of any one of claims 5-8, characterized in that: when the AUV needs to stay underwater, the AUV main control center controls the gravity anchor release electromagnet and the anchor rope release electromagnet to release the gravity anchor, and the gravity anchor and the anchor rope fall to the water bottom through the anchor release window under the action of gravity; the AUV main body floats upwards under water due to positive buoyancy, and the anchor rope winder is controlled by the motor when the AUV main body approaches the water bottom, so that the falling speed of the gravity anchor is controlled; when the gravity anchor is grounded and the anchor rope is released for the whole length, the AUV main body is in a hovering state underwater, so that the AUV is stably and safely resided underwater.
10. A method of disarming a single use underwater vehicle underwater mooring stay device of any one of claims 5-8, characterized by: when the AUV needs to be started from the water bottom for the second time, the AUV main control center controls the anchor rope releasing electromagnet to release the anchor rope, the gravity anchor is separated from the AUV main body along with the anchor rope, and the AUV main body starts to sail and continues to execute subsequent tasks.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210658594.XA CN115009483A (en) | 2022-06-11 | 2022-06-11 | Single-use underwater vehicle underwater anchoring and parking device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210658594.XA CN115009483A (en) | 2022-06-11 | 2022-06-11 | Single-use underwater vehicle underwater anchoring and parking device and method |
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| Publication Number | Publication Date |
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| CN115009483A true CN115009483A (en) | 2022-09-06 |
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| CN202210658594.XA Pending CN115009483A (en) | 2022-06-11 | 2022-06-11 | Single-use underwater vehicle underwater anchoring and parking device and method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116279993A (en) * | 2023-05-22 | 2023-06-23 | 中国空气动力研究与发展中心空天技术研究所 | Underwater residence system and unmanned aerial vehicle underwater residence and release method |
| CN116331407A (en) * | 2023-05-22 | 2023-06-27 | 中国空气动力研究与发展中心空天技术研究所 | Underwater residence system controlled by passive depth setting |
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| CN113148081A (en) * | 2021-06-09 | 2021-07-23 | 西北工业大学 | AUV shape-preserving supporting type staying device and AUV |
| CN113212655A (en) * | 2021-06-11 | 2021-08-06 | 西北工业大学 | Suction anchor device for unmanned underwater vehicle to reside on seabed and control method thereof |
| CN114435543A (en) * | 2020-11-02 | 2022-05-06 | 广东海洋大学 | Split acoustic release device and release mechanism for a submersible buoy |
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| CN104890816A (en) * | 2015-05-14 | 2015-09-09 | 中国海洋大学 | Timed satellite communication submerged buoy |
| CN106741647A (en) * | 2017-02-08 | 2017-05-31 | 哈尔滨工程大学 | A kind of resident ground tackle in UUV seabeds and method |
| CN108820174A (en) * | 2018-06-22 | 2018-11-16 | 西北工业大学 | A kind of big depth underwater autonomous navigation device electromagnetism jettison system |
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| CN111301608A (en) * | 2020-03-27 | 2020-06-19 | 西北工业大学 | Horizontal split release mechanism for underwater anchor system navigation body |
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Cited By (2)
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| CN116279993A (en) * | 2023-05-22 | 2023-06-23 | 中国空气动力研究与发展中心空天技术研究所 | Underwater residence system and unmanned aerial vehicle underwater residence and release method |
| CN116331407A (en) * | 2023-05-22 | 2023-06-27 | 中国空气动力研究与发展中心空天技术研究所 | Underwater residence system controlled by passive depth setting |
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