CN116279993B - Underwater residence system and unmanned aerial vehicle underwater residence and release method - Google Patents
Underwater residence system and unmanned aerial vehicle underwater residence and release method Download PDFInfo
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- CN116279993B CN116279993B CN202310574694.9A CN202310574694A CN116279993B CN 116279993 B CN116279993 B CN 116279993B CN 202310574694 A CN202310574694 A CN 202310574694A CN 116279993 B CN116279993 B CN 116279993B
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000007667 floating Methods 0.000 claims abstract description 56
- 238000004804 winding Methods 0.000 claims abstract description 32
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 71
- 230000005484 gravity Effects 0.000 claims description 21
- 238000004873 anchoring Methods 0.000 claims description 11
- 230000000694 effects Effects 0.000 description 3
- 239000000725 suspension Substances 0.000 description 3
- 230000002265 prevention Effects 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001010 compromised effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
Classifications
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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
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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
Abstract
The invention relates to the technical field of underwater residence systems, and discloses an underwater residence system and an underwater residence and release method of an unmanned aerial vehicle. The underwater dwell system includes a release, an underwater hover component, and a fixed point dwell component to which the drone is releasably connected. The underwater hovering component is provided with the rope winding preventing component, so that the unmanned aerial vehicle and the underwater hovering component can be prevented from winding, and underwater hovering of the unmanned aerial vehicle is realized. The fixed point residence assembly is used to provide a mooring point for the drone. The equipment floating body of the underwater hovering component is provided with a Beidou user machine sea surface beacon end. According to the underwater residence and release method of the unmanned aerial vehicle, the unmanned aerial vehicle hovers at a specific sea area by using the underwater residence system, remote control release of the unmanned aerial vehicle is realized by means of the Beidou satellite system, the unmanned aerial vehicle can be released at any time according to task requirements, and the task response time is greatly shortened.
Description
Technical Field
The invention relates to the technical field of underwater residence systems, in particular to an underwater residence system for an unmanned aerial vehicle and an underwater residence and release method for the unmanned aerial vehicle.
Background
In view of the strategic position of the ocean in economy and society, countries around the world speed up the pace of the intake ocean field, ocean activities are becoming frequent, and great demands are being put forward in terms of developing the ocean, utilizing the ocean, protecting the ocean, managing the ocean, and the like. The unmanned plane has the advantages of convenience in transportation, simplicity in operation, high flying speed, various loads, low requirements on the environment by taking off and landing, low cost and the like, has wide application prospect in the marine field, and has important roles in the fields of marine transportation, marine emergency rescue, marine surveying and mapping, marine inspection monitoring and the like.
With the extension of ocean interests and the increasing complexity of tasks, great challenges are presented to the range and response speed of unmanned aerial vehicles. Although the existing unmanned aerial vehicle has the offshore emergency processing capability to a certain extent, when the unmanned aerial vehicle is far away from the task sea area or in the case of task emergency, a certain time is required for the unmanned aerial vehicle to reach the task sea area even in the range of the unmanned aerial vehicle, and the timeliness of task execution is affected. Therefore, there is a need for a highly time-efficient method of unmanned aerial vehicle use that achieves a fast response for performing emergency tasks in a particular sea area.
Disclosure of Invention
In order to solve the technical problems, the invention provides an underwater residence system and an unmanned aerial vehicle underwater residence and release method.
In a first aspect, the present invention provides an underwater parking system for suspending a drone in water, comprising a releaser, an underwater hover assembly, and a fixed point parking assembly. The releaser is connected to the unmanned aerial vehicle, and the releaser is configured to release the unmanned aerial vehicle after receiving the release instruction. The underwater hover assembly includes an arming float, an anti-rope wrap, and an arming weight. One end of the rope winding preventing member is connected to the releaser, and the other end of the rope winding preventing member is connected to the outfit float via the first rope. The equipment weight is connected to the rope winding prevention member. The fixed point dwell assembly is used for providing a mooring point for the unmanned aerial vehicle, and the equipment counterweight is connected to the fixed point dwell assembly through a second rope. Wherein, buoyancy when unmanned aerial vehicle submerges in the water completely is greater than self gravity, equips counter weight, unmanned aerial vehicle and releaser and be the negative number in the net buoyancy sum of aquatic, equips the body and is used for providing redundant buoyancy for unmanned aerial vehicle, releaser and equips the counter weight.
Further, the releaser is provided with a releaser float configured to suspend the releaser in water. Specifically, the anti-rope winding member is an anti-winding strut, one end of which is connected to the releaser via a fourth rope, and the other end of which is connected to the equipped float via a first rope.
Preferably, the equipment weights are connected to the anti-wind struts via Y-shaped connecting ropes having three connecting ends. Wherein, two ends of Y style of calligraphy connecting rope are connected to the both ends of antiwind branch respectively, and the third end is connected to and equips the counter weight. Optionally, the second cord is connected to a third end of the Y-shaped connecting cord.
Specifically, the fixed point residence assembly comprises an anchor floating body, an anchor counterweight, a third rope, a first anchor chain, a second anchor chain and an anchor. The anchoring floating body is used for being placed on the water surface, and the anchoring counterweight is used for being placed on the water bottom. Wherein the anchor floating body is connected with the anchor counterweight through a third rope and a second anchor chain, the proximal end of the third rope is connected to the anchor floating body, the distal end of the third rope is connected to the proximal end of the second anchor chain, and the distal end of the second anchor chain is connected to the anchor counterweight; the anchor is connected to the second anchor chain via the first anchor chain.
Optionally, the spot-residence assembly further comprises an acoustic release disposed between the third tether and the second anchor chain, one end of the acoustic release being connected to the distal end of the third tether, the other end of the acoustic release being coupled to the proximal end of the second anchor chain, the acoustic release being configured to be selectively detachable from the second anchor chain.
Preferably, the second tether is connected to an end of the third tether near the anchor-based float. Optionally, the fixed-point resident component further comprises an underwater floating ball and a deep sea floating ball which are arranged on the third rope. The underwater floating ball is arranged close to the anchor system floating body, and the deep sea floating ball is arranged between the underwater floating ball and the acoustic releaser and is close to the acoustic releaser.
Preferably, the equipped float is a cylindrical float and the releaser float and the anchor float are spherical floats. Optionally, the underwater residence system is applied to the ocean, and the underwater residence system further comprises a Beidou user machine sea surface beacon end arranged at the top of the equipment floating body, wherein the Beidou user machine sea surface beacon end is connected with the releaser through a cable.
In a second aspect, the invention provides a method for underwater residence and release of an unmanned aerial vehicle, which adopts the underwater residence system of the first aspect to perform underwater hover, fixed-point residence and remote release on the unmanned aerial vehicle.
The unmanned aerial vehicle underwater hover step includes configuring the unmanned aerial vehicle with a suitable equipment float and equipment counterweight according to the following formula:
F redundant buoyancy =F Net buoyancy-packFloating body ＋F Net buoyancy-releaser ＋F Net buoyancy-unmanned aerial vehicle ＋F Net buoyancy-equipped counterweight And is more than or equal to 0. Wherein F is Net buoyancy-unmanned aerial vehicle Refers to the difference value between the buoyancy and the gravity of the unmanned aerial vehicle when the unmanned aerial vehicle is completely submerged in water, F Net buoyancy-equipped float Means the difference between the buoyancy and the gravity of the floating body when the floating body is completely submerged in water, F Net buoyancy-releaser Refers to the difference between the buoyancy and the gravity of the releaser when the releaser is completely submerged in water, F Net buoyancy-equipped counterweight Refers to the difference between the buoyancy and the self-gravity of the equipment counterweight when completely submerged in water. The unmanned aerial vehicle is attached to a releaser, and the unmanned aerial vehicle, the releaser and the underwater hover component are placed in the water.
The drone stationary residence step includes anchoring a stationary residence component to the target residence point, and connecting the equipment counterweight to the stationary residence component through a residence second rope. Disclosure of the invention
The unmanned aerial vehicle remote release step comprises the steps that a Beidou user machine ground end transmits an unmanned aerial vehicle release instruction, a Beidou user machine sea surface beacon end receives the release instruction and then transfers the release instruction to a releaser, the releaser releases the unmanned aerial vehicle, and the unmanned aerial vehicle floats upwards under the buoyancy effect.
Optionally, in the unmanned aerial vehicle underwater hover step, the length of the first rope is adjusted according to a target hover depth of the unmanned aerial vehicle.
Further, in the unmanned aerial vehicle remote release step, the operation terminal firstly sends a release instruction to the ground end of the Beidou user machine, and the release instruction is sent to the sea beacon end of the Beidou user machine through the satellite.
The invention has the characteristics and advantages that:
the underwater dwell system includes a releaser, an interconnected underwater hover component and a fixed point dwell component to which the unmanned aerial vehicle is releasably connected. The unmanned aerial vehicle, the releaser, the equipment floating body and the equipment counterweight form a local underwater hovering system, and the rope winding preventing piece is arranged, so that the unmanned aerial vehicle and the underwater hovering component can be prevented from winding, and the underwater hovering of the unmanned aerial vehicle is realized. The underwater resident system enables the unmanned aerial vehicle to hover at a specific sea area and reduce the risk of being discovered. The device floating body of the underwater hovering component is provided with the Beidou user machine sea surface beacon end, and the unmanned aerial vehicle underwater residence and release method realizes remote control release of the unmanned aerial vehicle by means of a Beidou satellite system, so that the unmanned aerial vehicle can be released at any time according to task requirements. The underwater resident system enables the unmanned aerial vehicle to stand by at a specific sea area moment, and take off to execute tasks when needed, so that the task response time is greatly shortened.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings required for the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings may be obtained according to these drawings without inventive effort for a person of ordinary skill in the art.
FIG. 1 is a schematic diagram of a submerged residence system in accordance with an embodiment of the present invention;
FIG. 2 is an enlarged schematic view of A in FIG. 1;
fig. 3 is a signal transmission flow chart when using the submerged residence system in the embodiment of the present invention.
Reference numerals illustrate:
1-sea level; 2-equipping a float; 3-a Beidou user machine sea surface beacon end; 4-unmanned aerial vehicle; 5-releaser; 6-releaser floats; 7-a rope winding prevention member; 8-providing a counterweight; 9-anchoring the floating body; 10-an underwater floating ball; 11-deep sea floating ball; 12-an acoustic releaser; 13-anchoring the counterweight; 14-anchors; 15-seabed; 16-a first rope; 17-Y-shaped connecting ropes; 18-a second rope; 19-a third rope; 20-a first anchor chain; 21-fourth rope; 22-a second anchor chain; 23-release strand; a 24-underwater hover assembly; 26-fixed point resident component; 28-subsea residence system.
Detailed Description
The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is apparent that the described embodiments are only some embodiments of the present disclosure, but not all embodiments. Based on the embodiments in this disclosure, all other embodiments that a person of ordinary skill in the art would obtain without making any inventive effort are within the scope of protection of this disclosure.
The invention provides an underwater residence system for hovering a unmanned aerial vehicle in water. The underwater dwell system 28 includes an underwater hover component to which the drone is releasably connected and a fixed point dwell component to which the underwater hover component is connected. And after receiving the release instruction, the underwater resident system releases the unmanned aerial vehicle hovering in the water. The buoyancy of the unmanned aerial vehicle when the unmanned aerial vehicle is completely submerged in water is greater than the gravity of the unmanned aerial vehicle, so that the unmanned aerial vehicle can float from water to the water surface and take off from the water surface to execute tasks. The unmanned aerial vehicle is a water-air crossing unmanned aerial vehicle. The water of the invention can be particularly in the water of ocean, river, lake and the like, and the following description takes the application scene as the ocean as an example.
Referring to fig. 1 and 2, subsea parking system 28 includes release 5, subsea hover assembly 24, and fixed point parking assembly 26. The releaser 5 is connected to the underwater hover assembly 24 and the drone 4, i.e. the drone 4 is releasably connected to the underwater hover assembly 24 by the releaser 5. The releaser 5 releases the unmanned aerial vehicle 4 after receiving the release instruction. The underwater hover assembly 24 is configured to allow the drone 4 to hover at a depth in water. The underwater hover component 24 is connected to a fixed point dwell component 26, the fixed point dwell component 26 being used to provide a mooring point for the underwater hover component 24 and the drone 4 from being washed away by sea waves. The buoyancy of the unmanned aerial vehicle 4 when completely submerged in water is greater than the gravity thereof, so that the unmanned aerial vehicle automatically floats in water. Using the underwater residence system 28, underwater suspension residence of the drone 4 at the target may be achieved, making the drone 4 hidden from view underwater and not easily found. When the unmanned aerial vehicle 4 is required to take off to perform a task, the unmanned aerial vehicle 4 can be separated from the underwater resident system 28 and lifted to the water surface. By using the underwater resident system 28, the unmanned aerial vehicle 4 can be enabled to stand by at the moment of a specific sea area, and take off to execute tasks when needed, so that the task response time is greatly shortened.
The underwater hover assembly 24 includes an arming float 2, an anti-rope wrap 7, and an arming weight 8. One end of the rope winding preventing member 7 is connected to the releaser 5, the other end of the rope winding preventing member 7 is connected to the outfit float 2 via the first rope 16, and the outfit weight 8 is connected to the rope winding preventing member 7. The sum of the net buoyancy of the equipped counterweight 8, the unmanned aerial vehicle 4 and the releaser 5 in the water is negative, and the equipped float 2 is used to provide redundant buoyancy for the unmanned aerial vehicle 4, the releaser 5 and the equipped counterweight 8. The provision of the anti-rope winding member 7 is advantageous in keeping the unmanned aerial vehicle 4 at a distance from other components, in particular flexible components in the underwater residence system 28, such as ropes, preventing winding during underwater suspension, avoiding the inability to quickly power release the unmanned aerial vehicle when emergency execution of a task is required.
The net buoyancy of an object is the difference between the buoyancy of the object when the object is completely submerged in water and its own weight. The net buoyancy is negative, i.e., the buoyancy is less than gravity; the net buoyancy is positive, i.e., the buoyancy is greater than gravity. For example, the buoyancy of the unmanned aerial vehicle 4 when completely submerged in water is greater than the gravity of the unmanned aerial vehicle 4, and the net buoyancy of the unmanned aerial vehicle 4 is positive. The equipment counterweight 8 provides additional gravity for the unmanned aerial vehicle 4 and the releaser 5, in particular for the unmanned aerial vehicle 4, so that the unmanned aerial vehicle 4 can be submerged by water. Specifically, the specification of the equipment counterweight 8 can be selected according to the size of the net buoyancy of the unmanned aerial vehicle 4, and additional gravity is reserved, so that the sum of the net buoyancy of the equipment counterweight 8, the unmanned aerial vehicle 4 and the releaser 5 in water is negative, the impact interference resistance of the underwater hovering component 24 in water is increased, and the system stability is improved.
The equipment float 2 provides buoyancy to the components connected to the anti-rope wind 7, in particular to the equipment counterweight 8, thereby balancing the forces acting on the anti-rope wind 7, so that the drone 4, the releaser 5, the equipment counterweight 8, which are directly or indirectly connected to the anti-rope wind 7, are suspended in the water and keep the pose of the drone 4, the releaser 5 and the underwater hover assembly 24 stable. Specifically, the specification of the equipment floating body 2 can be selected according to the sum of the net buoyancy in the water of the equipment counterweight 8, the unmanned aerial vehicle 4 and the releaser 5, and additional redundant buoyancy is reserved, so that the impact interference resistance of the underwater hovering component 24 in the water is improved, and the system stability is improved. In particular, the equipped float 2 is a cylinder or a sphere float.
Specifically, in some embodiments, the rope winding preventing member 7 is an inflexible winding preventing strut, for example, made of plastic, rubber, or metal. The branch has toughness, so that the unmanned aerial vehicle 4 can keep a certain distance from ropes in the system, and the impact of sea waves and ocean currents can be adapted.
In some embodiments, the release 5 is provided with a release float 6, the attachment of the release float 6 to the release 5 providing buoyancy to the release 5. Preferably, the suitable release float 6 is chosen such that both the release 5 and the release float 6 are floatable in the water, i.e. the sum of the net buoyancy of the release 5 and the release float 6 in the water is zero. In particular, the releaser buoy 6 adopts a cylinder or sphere buoy. Preferably, the releaser buoy 6 is a spherical buoy. In some embodiments, the release 5 is connected to the anti-wind strut by a fourth rope 21. Preferably, a shorter fourth rope 21 is used to connect the release 5 and the anti-rope winding member 7, the shorter fourth rope 21 being chosen to facilitate stability of the system.
Specifically, with continued reference to FIG. 1, in some embodiments, the underwater hover assembly 24 includes a Y-shaped connecting rope 17, and the equipment weights 8 are connected to the anti-wind struts via the Y-shaped connecting rope 17 having three connection ends. Two ends of the Y-shaped connecting rope 17 are respectively connected to two ends of the anti-winding supporting rod, and the third end is connected to the equipment counterweight 8. The equipment counterweight 8 is connected to the anti-winding support rod through the Y-shaped connecting rope 17, so that tension forces at two ends of the anti-winding support rod are finally converged to the counterweight 8, and the stress balance at two ends of the anti-winding support rod is facilitated.
The equipment weights 8 may be connected to the fixed point residence assembly 26 by flexible or rigid connectors. Referring to fig. 1, in a preferred embodiment, the arming weight 8 is connected to the fixed point resident assembly 26 by a second rope 18 (i.e., a flexible connection). The flexible connection facilitates the following of the submerged hover assembly 24 with ocean waves and currents within a range that prevents the impact of the ocean waves and currents from separating the submerged hover assembly 24 from the fixed point residence assembly 26. Specifically, the second cord 18 is connected to the third end of the Y-shape.
In some embodiments, the equipment floating body 2 is provided with a Beidou user machine sea beacon end 3, and the Beidou user machine sea beacon end 3 is connected with the releaser 5 through a cable. After receiving the instruction for releasing the unmanned aerial vehicle 4, the Beidou user machine sea beacon end 3 transmits the instruction to the releaser 5 through a cable. The release 5 releases the unmanned aerial vehicle 4 after receiving the release instruction. Specifically, the beidou user machine sea beacon end 3 is arranged on the top of the equipment floating body 2. Preferably, the equipped floating body 2 is a cylindrical floating body, so that the Beidou user machine sea beacon end 3 is conveniently arranged.
With continued reference to fig. 1, the fixed point mooring assembly 26 includes an anchor mooring buoy 9, an anchor weight 13, and an anchor 14. The anchor float 9 is intended to be placed on the water surface, the anchor counterweight 13 is intended to be placed on the water surface, and the anchor float 9 and the anchor counterweight 13 are connected at least by means of a third rope 19. In some embodiments, the anchor buoy 9 and the anchor counterweight 13 are connected by a third rope 19, and the anchor 14 is connected to the third rope 19 by a first anchor chain 20. In other embodiments, the anchor float 9 is connected to the anchor weight 13 by a third rope 19 and a second anchor chain 22, the proximal end of the third rope 19 being connected to the anchor float 9, the distal end of the third rope 19 being connected to the proximal end of the second anchor chain 22, the distal end of the second anchor chain 22 being connected to the anchor weight 13; anchor 14 is connected to a second anchor chain 22 via a first anchor chain 20. Wherein the near end refers to one end near the water surface, and the far end refers to the other end near the water bottom.
With continued reference to fig. 1, the arming weight 8 is connected to a third rope 19 of the fixed point resident assembly 26 by a second rope 18. Specifically, the anchor floats 9 are cylindrical or spherical floats. Preferably, the anchor floats 9 are spherical floats. The anchor-line floating body 9 serves as a mooring point during the suspension of the unmanned aerial vehicle 4, provides surface identification and additional redundant buoyancy, is connected with the anchor counterweight 13 placed to the water bottom through the third rope 19, and is fixed on the water bottom through the anchor 14, so that the unmanned aerial vehicle can stay at a fixed point. When the equipment floating body 2 is lost, the anchor floating body 9 can still ensure the safety of other parts such as the unmanned aerial vehicle 4, the releaser 5 and the like.
In some embodiments, spot-resident assembly 26 further includes an acoustic release 12, acoustic release 12 disposed between third tether 19 and second tether 22, one end of acoustic release 12 connected to the distal end of third tether 19, and the other end of acoustic release 12 coupled to the proximal end of second tether 22. Acoustic releaser 12 is configured to be selectively detachable from second anchor chain 22. When the acoustic release 12 does not receive a release order, the acoustic release 12 remains connected to the second anchor chain 22; when the acoustic release 12 receives the release signal, the acoustic release 12 is separated from the second anchor chain 22. Since the first anchor chain 20 is connected to the second anchor chain 22, the anchor weight 13 and the anchor 14 continue to remain at the bottom of the water, the third rope 19 and the components connected to the third rope 19 (e.g., the acoustic release 12, the anchor mooring floats 9, etc.) can be recycled to save costs.
Preferably, in some embodiments, the acoustic release 12 is two deep water acoustic releases arranged side by side. Specifically, one end of two deep-water acoustic releasers is connected in parallel to the distal end of the third rope 19, and the other ends are provided with hooks, respectively. The second anchor chain 22 connected to the anchor counterweight 13 is connected to two deepwater acoustic releases by release chains 23. In particular, the end of the second anchor chain 22 remote from the anchoring weight 13 has a weight eye, to which the release chain 23 is connected (e.g. the release chain 23 passes through the weight eye), the eyes at both ends of the release chain 23 being attached to the hooks of the two deepwater acoustic releases, respectively. When the residence is completed, an instruction is given on the ship to either of the two deepwater acoustic releases by means of the acoustic deck unit, the acoustic release 12 being separated from the release chain 23, so that the release chain 23 is separated from the counterweight lifting ring, thereby completing the release and discarding the anchoring counterweight 13. The two deep water type acoustic releasers are arranged in parallel, so that the success rate of release is improved, and when one releaser fails, smooth release and recovery can be ensured.
In some embodiments, the fixed point mooring assembly 26 is further provided with an underwater ball 10 connected to a third rope 19. The underwater float 10 is positioned adjacent the anchor floats 9 to ensure that the anchor floats 9 are not pulled into the water, increasing the redundant buoyancy of the fixed point mooring assembly 26. Specifically, the number of the underwater floating balls 10 may be selected according to actual needs, for example, 3, 4, etc. In some embodiments, the fixed point mooring assembly 26 is further provided with a deep sea ball float 11 connected to a third rope 19. The deep sea type floating ball 11 is arranged between the underwater floating ball 10 and the acoustic releaser 12 and is close to the acoustic releaser 12, is used for maintaining the vertical posture of the acoustic releaser 12 under water, and is beneficial to the floating and recovery of the acoustic releaser 12 after being released. Specifically, the number of the deep sea type floating balls 11 may be selected according to actual needs, for example, 4, 5, etc.
In some embodiments, the second rope 18 is connected to an end of the third rope 19 near the anchor float 9. When the stress balance of the underwater hover assembly 24 is compromised, such as by equipping the buoy 2 to disengage from the first tether 16 under the impact of sea waves, the anchor buoy 9 provides redundant buoyancy to the underwater hover assembly 24, allowing the unmanned aerial vehicle 4 to float to a substantially constant depth.
With continued reference to fig. 1, the unmanned aerial vehicle 4 is connected to the underwater residence system 28, and when the unmanned aerial vehicle 4 and the underwater residence system 28 are placed in water and the unmanned aerial vehicle 4 is suspended, the equipment float 2 and the anchor float 9 float on the water surface and are spaced apart by a certain distance, the unmanned aerial vehicle 4 and the releaser 5 are located above the anti-winding strut, and the equipment counterweight 8 is located below the anti-winding strut. The anchor weight 13 is positioned at the water bottom and fixed by the anchor 14 at the water bottom, and the third rope 19 has a length suitable for floating the anchor-line float 9 on the water surface.
The invention provides an underwater parking and release method of an unmanned aerial vehicle, which adopts the underwater parking system 28 to perform underwater hovering, fixed-point parking and remote release on the unmanned aerial vehicle 4.
The unmanned aerial vehicle underwater hover step includes configuring the unmanned aerial vehicle 4 with a suitable arming float 2 and arming counterweight 8 according to equation (1). Wherein F is Net buoyancy-unmanned aerial vehicle Refers to the difference between the buoyancy and the gravity of the unmanned aerial vehicle 4 when the unmanned aerial vehicle is completely submerged in water, F Net buoyancy-equipped float Refers to the difference between the buoyancy and the gravity of the floating body 2 when the floating body is completely submerged in water, F Net buoyancy-releaser Refers to the difference between the buoyancy and the gravity of the releaser 5 when it is completely submerged in water, F Net buoyancy-equipped counterweight Which is the difference between the buoyancy and the self-gravity of the equipment counterweight 8 when it is completely submerged in water.
F Redundant buoyancy =F Net buoyancy-equipped float ＋F Net buoyancy-releaser ＋F Net buoyancy-unmanned aerial vehicle ＋F Net buoyancy-equipped counterweight ≥0（1）
Suppose F Net buoyancyUnmanned aerial vehicle And approximately 98N. The underwater buoyancy of the releaser 5 is approximately equal to its gravity, F Net buoyancy-releaser And 0N. The equipment float 2 that produces the greatest 784N buoyancy is selected. Since the weight of the equipped float 2 is light, its gravity can be neglected, and therefore F Net buoyancy-equipped float 784N. An equipment weight 8 weighing 50kg may be selected according to formula (1). Since the mass density of the equipment counterweight 8 is large, the buoyancy thereof can be neglected, F Net buoyancy-equipped counterweight And about-490N. The physical quantity is brought into the formula (1) to calculate F Redundant buoyancy And (3) the method is approximately equal to 392N & gt 0, so that the unmanned aerial vehicle 4 can enter a hovering state after entering water. Theoretically, F Redundant buoyancy The larger the redundant buoyancy is, and the underwater stability of the unmanned aerial vehicle is facilitated. But in application, F is also considered Redundant buoyancy Too large a volume of the equipped float 2 is large, which is disadvantageous for concealment.
In some embodiments, subsea parking system 28 is assembled and transported to a target parking spot. In other embodiments, the subsea parking system 28 is not assembled or only a portion is assembled, with the assembly completed at the target parking spot. The drone 4 is attached to the release 5 and the drone 4, the release 5 and the assembled underwater hover assembly 24 are placed in the water. In some embodiments, by adjusting the length of first rope 16, the hover depth of drone 4 may be adjusted.
The drone spot dwell step includes anchoring the spot dwell assembly 26 to the target dwell point, connecting the equipment counterweight 8 to the spot dwell assembly 26 by the second rope 18. In some embodiments, the anchor floats 9 are spherical floats, which can produce a maximum of 784N buoyancy. After the underwater hover assembly 24 is submerged, the end of the second rope 18 remote from the equipment weight 8 may be temporarily secured somewhere first, and then secured to the third rope 19 after the underwater residence system 28 is submerged. Alternatively, the end of the second rope 18 remote from the equipment counterweight 8 is pre-fixed to the third rope 19 of the underwater residence system 28.
The unmanned aerial vehicle remote release step comprises the steps that a Beidou user machine ground end transmits an unmanned aerial vehicle release instruction; the Beidou user machine sea surface beacon end 3 receives a release instruction and then transfers the release instruction to the releaser 5; the releaser 5 releases the unmanned aerial vehicle 4, and the unmanned aerial vehicle 4 floats upwards under the buoyancy effect. In some embodiments, referring specifically to fig. 3, the operation terminal sends the unmanned aerial vehicle release instruction to the beidou user machine ground terminal first through the cable, and the beidou user machine ground terminal sends the instruction to the beidou user machine sea beacon terminal 3 through the satellite. When the Beidou user machine sea surface beacon end 3 receives the release instruction, the signal is sent to the releaser 5 through the cable, the releaser 5 executes the action of releasing the unmanned aerial vehicle 4, and the unmanned aerial vehicle 4 floats to the sea surface in a self-running manner, so that a specific task can be taken off and executed. In some embodiments, after each node in the middle successfully receives the instruction, information of successful instruction receiving is fed back to the operation terminal. Specifically, after the ground end of the Beidou user machine, the sea beacon end 3 of the Beidou user machine and the releaser 5 receive the release instruction, the information of successful instruction receiving is fed back to the operation terminal respectively.
By adopting the underwater residence and release method of the unmanned aerial vehicle, the unmanned aerial vehicle can be remotely released by means of a Beidou satellite system, so that the unmanned aerial vehicle can stand by at a specific sea area moment, take off to execute tasks when needed, and the task response time is greatly shortened. And, unmanned aerial vehicle is when suspending under water, and antiwind branch prevents that unmanned aerial vehicle from taking place to twine with other parts of the subassembly that hovers under water, improves the reliability when unmanned aerial vehicle suspends.
The foregoing is merely a few embodiments of the present disclosure, and those skilled in the art, based on the disclosure herein, may make various changes or modifications to the disclosed embodiments without departing from the spirit and scope of the disclosure.
Claims (10)
1. An underwater residence system for hovering a drone (4) in water, characterized by comprising a releaser (5), an underwater hover component (24) and a fixed point residence component (26);
the release (5) is connected to the drone (4), the release (5) being configured to release the drone (4) upon receiving a release instruction;
the underwater hover assembly (24) includes:
-equipping a float (2);
an anti-rope winding member (7), one end of the anti-rope winding member (7) being connected to the release (5), the other end of the anti-rope winding member (7) being connected to the outfit float (2) via a first rope (16); and
-an arming weight (8), the arming weight (8) being connected to the anti-rope winding member (7);
-the fixed point dwell assembly (26) is used to provide a mooring point for the unmanned aerial vehicle (4), the equipment counterweight (8) being connected to the fixed point dwell assembly (26) by means of a second rope (18);
the fixed-point residence component (26) comprises an anchor floating body (9), an anchor counterweight (13) and an anchor (14); the anchor system floating body (9) is used for being placed on the water surface, the anchor balance weight (13) is used for being placed on the water surface and fixed on the water surface through the anchor (14), and the anchor system floating body (9) and the anchor balance weight (13) are connected through at least a third rope (19);
the buoyancy of the unmanned aerial vehicle (4) when the unmanned aerial vehicle is completely submerged in water is larger than the gravity of the unmanned aerial vehicle, the sum of the net buoyancy of the equipment counterweight (8), the unmanned aerial vehicle (4) and the releaser (5) in water is negative, and the equipment floating body (2) is used for providing redundant buoyancy for the unmanned aerial vehicle (4), the releaser (5) and the equipment counterweight (8).
2. Subsea residence system according to claim 1, characterized in that the release (5) is provided with a release float (6), which release float (6) is configured to suspend the release (5) in water.
3. Subsea stay system according to claim 2, characterized in that the anti-rope winding element (7) is in particular an anti-winding strut, which is connected at one end to the release (5) via a fourth rope (21), and at the other end to the equipment float (2) via a first rope (16);
the equipment counterweight (8) is connected to the anti-winding support rod via a Y-shaped connecting rope (17) with three connecting ends;
two ends of the Y-shaped connecting rope (17) are respectively connected to two ends of the anti-winding supporting rod, a third end of the Y-shaped connecting rope is connected to the equipment counterweight (8), and the second rope (18) is connected to the third end of the Y-shaped connecting rope (17).
4. -underwater residence system according to claim 3, characterized in that the fixed point residence assembly (26) further comprises a first anchor chain (20) and a second anchor chain (22);
wherein the anchor floating body (9) is connected with the anchoring weight (13) by means of the third rope (19) and the second anchor chain (22), the proximal end of the third rope (19) being connected to the anchor floating body (9), the distal end of the third rope (19) being connected to the proximal end of the second anchor chain (22), the distal end of the second anchor chain (22) being connected to the anchoring weight (13); the anchor (14) is connected to the second anchor chain (22) via the first anchor chain (20).
5. The underwater residence system according to claim 4, wherein the fixed point residence assembly (26) further comprises an acoustic release (12) arranged between the third rope (19) and the second anchor chain (22);
one end of the acoustic release (12) is connected to the distal end of the third tether (19), the other end of the acoustic release (12) is coupled to the proximal end of the second anchor chain (22), and the acoustic release (12) is configured to be selectively detachable from the second anchor chain (22).
6. An underwater residence system according to claim 5, characterized in that the second rope (18) is connected to an end of the third rope (19) close to the mooring buoy (9);
the fixed-point resident component (26) further comprises an underwater floating ball (10) and a deep-sea floating ball (11) which are arranged on the third rope (19), wherein the underwater floating ball (10) is close to the anchor floating body (9), and the deep-sea floating ball (11) is arranged between the underwater floating ball (10) and the acoustic releaser (12) and is close to the acoustic releaser (12).
7. The subsea residence system of claim 6, wherein the system comprises,
the equipment floating body (2) is a cylindrical floating body, and the releaser floating body (6) and the anchor floating body (9) are spherical floating bodies.
8. The underwater parking system according to any one of claims 1-7, wherein the underwater parking system is applied to the ocean, the underwater parking system further comprises a beidou user machine sea surface beacon end (3) arranged at the top of the equipment floating body (2), and the beidou user machine sea surface beacon end (3) is connected with the releaser (5) through a cable.
9. An unmanned aerial vehicle underwater residence and release method, characterized in that the unmanned aerial vehicle is subjected to underwater hovering, fixed-point residence and remote release by adopting the underwater residence system as claimed in claim 8,
the unmanned aerial vehicle hovers under water step includes:
the unmanned aerial vehicle (4) is provided with a suitable equipment floating body (2) and an equipment counterweight (8) according to the following formula:
F redundant buoyancy =F Net buoyancy-equipped float ＋F Net buoyancy-releaser ＋F Net buoyancy-unmanned aerial vehicle ＋F Net buoyancy-equipped counterweight ≥0
Wherein F is Net buoyancy-unmanned aerial vehicle Means the difference value of the buoyancy and the gravity of the unmanned aerial vehicle (4) when the unmanned aerial vehicle is completely submerged in water, F Net buoyancy-equipped float Means the difference value of the buoyancy and the gravity of the equipment floating body (2) when the equipment floating body is completely submerged in water, F Net buoyancy-releaser Means the difference between the buoyancy and the gravity of the releaser (5) when the releaser is completely submerged in water，F Net buoyancy-equipped counterweight Means the difference between the buoyancy and the gravity of the equipment counterweight (8) when the equipment counterweight is completely submerged in water;
attaching a drone (4) to a releaser (5), placing the drone (4), the releaser (5) and a submerged hover component (24) into water;
the unmanned aerial vehicle fixed-point residence step comprises the following steps:
anchoring the fixed point dwell assembly (26) to the target dwell point;
-connecting an arming weight (8) to the fixed point resident assembly (26) by means of a second rope (18);
the unmanned aerial vehicle remote release step includes:
the Beidou user machine ground end transmits an unmanned aerial vehicle release instruction;
the Beidou user machine sea surface beacon end (3) receives the release instruction and then transfers the release instruction to the releaser (5);
the releaser (5) releases the unmanned aerial vehicle (4), and the unmanned aerial vehicle (4) floats upwards under the action of buoyancy.
10. The unmanned aerial vehicle underwater residence and release method of claim 9, wherein,
in an unmanned aerial vehicle underwater hover step, adjusting the length of the first rope (16) according to a target hover depth of the unmanned aerial vehicle (4);
in the unmanned aerial vehicle remote release step, an operation terminal firstly transmits the release instruction to the ground end of the Beidou user machine, and the release instruction is transmitted to the sea beacon end (3) of the Beidou user machine through a satellite.
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