CN116605387A - Primary and secondary unmanned detection submersible and underwater operation method - Google Patents

Abstract

The application relates to a mother-son type unmanned detection submersible and an underwater operation method. By arranging the large mother type submersible and the small son type submersible, energy supply can be reasonably planned, the son type submersible can realize long-distance detection and can detect sea areas with complex narrow terrains, so that the operation radius of the son-mother type submersible is enlarged, and the detection operation precision is effectively improved.

Description

A kind of parent-child type unmanned detection submersible and underwater operation method

technical field

The invention relates to the technical field of unmanned detection submersibles, in particular to a parent-child type unmanned detection submersible and an underwater operation method.

Background technique

As a highly integrated product, unmanned submersibles require various systems to cooperate to complete the entire operation process, and are widely used in mineral resource exploration, marine biological investigation, shipwreck search and rescue and other fields.

Most of the unmanned submersibles in the prior art are unpowered submersibles or large unmanned submersibles.

The unpowered submersible relies on the mother ship to transport it to the target sea area, and then the unpowered submersible dives to perform detection tasks. This method of operation needs to rely on the mother ship to transport the submersible to the target sea area, which is not convenient and flexible enough, and has a small detection range, small operating radius, and large limitations.

Large unmanned submersibles are equipped with power systems, security systems, operating systems and other systems, and can go to the target sea area to perform detection tasks on their own. However, in the limited carrying space of the submersible, multiple systems need to be arranged, resulting in a large submersible and high energy consumption; at the same time, due to the complex ocean environment, large submersibles are often unable to detect areas with small spaces.

Contents of the invention

In view of the shortcomings in the above-mentioned existing production technology, the applicant provides a mother-child type unmanned detection submersible and an underwater operation method. By setting a large-scale mother-type submersible and a small sub-type submersible, the energy supply can be reasonably planned , The sub-submersible can realize long-distance detection and can detect narrow and complex sea areas, thereby expanding the operating radius of the sub-submersible and effectively improving the accuracy of detection operations.

The technical scheme adopted in the present invention is as follows:

A parent-child type unmanned detection submersible, including a parent submersible and several sub-submersibles mounted on the bottom of the mother submersible;

The structure of the mother-type submersible is as follows: a mother-type shell that is cylindrical and hollow inside, the bow of the mother-type shell is equipped with a symmetrically arranged first forward-looking sonar, the bow and stern of the mother-type shell Conformal sonars are symmetrically arranged, and the first attitude adjustment propellers are symmetrically installed on the mother shell on both sides of the single conformal sonar, and the first side-scanning sonars are symmetrically installed on both sides of the mother-shaped shell, above the single first side-scanning sonar. The first power propeller is installed on the female shell, and the two first power propellers are symmetrically arranged;

The inside of the mother shell is provided with a first energy cabin, a first control cabin and a ballast water tank, batteries and battery supporting equipment are arranged in the first energy cabin, and the first control system and the first control system are installed in the first control cabin. A communication system, the inside of the mother shell is also equipped with a symmetrically arranged first on-board sensor and several wireless charging transmitting modules;

Several guide grooves corresponding to the sub-type submersible are uniformly arranged on the outer bottom wall of the mother-type shell, and several limit grooves are arranged on the side wall of a single guide groove, and a limit rod is telescopically installed in a single limit groove, so that The limit rod extends or retracts along the radial direction of the guide groove, and a guide light source for the positioning of the sub-type submersible is installed in the guide groove, and a transducer is installed in the center of the outer bottom wall of the mother-type shell;

The installation position of a single wireless charging transmitter module corresponds to the position of a single guide slot, and a single wireless charging transmitter module is used to charge a single sub-type submersible in a single guide slot;

A groove is provided on the outer top wall of the female housing, and a cable winch is installed in the groove, and the output end of the cable winch is connected to a communication buoy;

The structure of a single sub-type submersible is as follows: it includes a sub-type shell that is prismatic and hollow inside, and several acoustic receivers are evenly installed on the outer wall of the sub-type shell along the circumferential direction, and the second shell is symmetrically installed on the outer wall of the sub-type shell. Two power propellers;

The inside of the sub-shell is provided with a second energy cabin and a second control cabin, rechargeable batteries are arranged in the second energy cabin, a second control system and a second communication system are carried in the second control cabin, and the inside of the sub-shell It is also equipped with a second on-board sensor and a detection component for performing detection tasks;

The center position of the outer top wall of the sub-shaped housing is fitted with a limit plate, and a gap for the extension of the limit rod is provided between the limit plate and the outer top wall of the sub-shaped shell, and the middle part of the limit plate is fitted with There is a wireless charging receiving module and an imaging system corresponding to the wireless charging transmitting module.

As a further improvement of the above technical solution:

A first underwater illuminating light and a first underwater camera are installed on the female shell.

A second underwater lighting lamp and a second underwater camera used in conjunction with the detection assembly are installed on the outer wall of the sub-type housing, as well as several second attitude adjustment propellers uniformly arranged along the circumferential direction;

The detection component includes a second side-scan sonar, a synthetic aperture sonar, a multi-beam bathymetric sonar and a second forward-looking sonar.

Elastic body is laid on the side wall of the guide groove.

A kind of underwater operation method utilizing above-mentioned parent-child type unmanned detection submersible, comprises the following steps:

S1. Put the child-mother submersible into the water, the child-type submersible is mounted on the mother-type submersible through the limit rod, and the mother-type submersible keeps the child-mother submersible in the water by adjusting the amount of water in the ballast water tank. The gravity is equal to the buoyancy, and the submersible submersible enters the underwater suspension attitude;

S2. Under the working conditions of navigation and transportation, the first power propeller is started, and the mother submersible carries several sub-submersibles to the target sea area, and the sonar carried on the mother ship submersible detects the sea conditions in real time;

S3. Under detection and transmission conditions, when the parent submersible reaches the target sea area, the limit rod retracts into the corresponding limit slot, the sub-submersible is separated from the parent submersible, and the detection task is started;

S4. The parent submersible controls the child submersibles to adopt centralized detection mode or distributed detection mode according to the task situation;

S5. After the detection task is completed, the transducer sends out an acoustic positioning signal, and after the acoustic receiver receives the acoustic positioning signal, the second power propeller is activated to make the sub-submersible approach the parent submersible. When the sub-submersible moves When it is within the optical guidance range of the parent submersible, the guiding light source is turned on to release the light source, the imaging system scans to confirm the position of the guiding light source, and tracks the guiding light source, so that the limit plate moves accurately into the guide groove, and then the limit rod is stretched out. Fix the limit plate in the guide groove to complete the recovery of the sub-type submersible;

S6. The cable winch retrieves the communication buoy, and after the recovery is completed, the mother and child submersibles return to the voyage.

In S1., when the sub-type submersible is mounted on the mother-type submersible, the corresponding limit rods in the two limit grooves protrude out and are placed under the limit plate. The plate produces a limit effect, so that the sub-type submersible is fixed on the mother-type submersible;

The first control system adjusts the amount of water injected in the ballast water tank, so that the gravity and buoyancy of the submersible submersible in the water are equal, and the submersible submersible enters the underwater suspension attitude;

In S2., during the voyage process of the mother-child submersible, the attitude sensor in the first equipped sensor acquires the attitude of the mother submersible in real time and transmits it to the first control system. The first control system adjusts the position of the thruster by controlling the first attitude. The action keeps the parent submersible in balance.

In S3., the limit rod is retracted into the corresponding limit slot so that the sub-submersible is separated from the parent submersible, and the sub-submersible performs detection tasks in the nearby area.

In S4., the centralized detection mode is for multiple sub-type submersibles to detect the same task area, and the distributed detection mode is for multiple sub-type submersibles to detect different task areas, and the task area of sub-type submersibles includes narrow environments.

In S4., during the detection task of the sub-submersible, when the energy value of the sub-submersible is lower than the set value, the sub-submersible is recovered to the parent submersible, and the wireless charging transmitter module and the wireless charging The receiving module is charged for battery life.

The beneficial effects of the present invention are as follows:

The invention has a compact and reasonable structure and is easy to operate. By carrying a plurality of detachable sub-submersibles of various types on the parent submersible, the sub-submersibles have a high degree of freedom and can perform detection tasks in a centralized or decentralized manner.

In the present invention, the modules of the parent submersible and the sub-submersible have a high degree of integration, and the sub-submersible of a corresponding model can be selected according to the detection task to ensure the accuracy of the detection operation.

The parent submersible in the present invention has a high fault tolerance rate, and when an accident occurs, the parent submersible can realize emergency floating through the ballast water tank, and can also abandon a single sub-submersible, thereby improving the safety of seabed detection operations.

In the present invention, a large-capacity power supply facility is mounted on the parent submersible, and a wireless charging method is adopted between the sub-submersible and the sub-submersible to ensure the long-term battery life of the sub-submersible.

The neutron-type submersible and the mother-type submersible of the present invention are guided and docked through the combination of sound and light, effectively improving the docking accuracy of the son-mother-type submersible.

The present invention sets the main task of the parent submersible as navigation, communication and control by dividing operations, and sets the main task of the sub-submersible as cooperative detection. The sub-submersible is equipped with a variety of detection equipment, which is reasonable Energy supply is planned, the detection distance is long, the operating radius is large, and the accuracy of the detection operation is guaranteed at the same time.

The attitude adjustment propeller and the power propeller in the present invention adopt rim propulsion, which can effectively improve propulsion efficiency, reduce propulsion noise, and reduce interference to detection sonar.

Description of drawings

Fig. 1 is the front view of female type submersible among the present invention.

Fig. 2 is a side view of the female submersible in the present invention.

Fig. 3 is the top view of female submersible in the present invention.

Fig. 4 is the bottom view of female submersible in the present invention.

Fig. 5 is the front view of the internal structure of the female submersible in the present invention.

Fig. 6 is a side view of the internal structure of the female submersible in the present invention.

Figure 7 is a top view of the internal structure of the female submersible in the present invention.

Fig. 8 is a front view of the neutron submersible of the present invention.

Fig. 9 is a side view of the neutron submersible of the present invention.

Fig. 10 is a top view of the neutron submersible of the present invention.

Fig. 11 is a bottom view of the neutron submersible of the present invention.

Fig. 12 is a schematic structural view of a female submersible carrying a submersible in the present invention.

Fig. 13 is a schematic diagram of the submersible submersible in the present invention when operating underwater.

Among them: 1. Mother submersible; 2. Child submersible;

101. Mother shell; 102. First attitude adjustment thruster; 103. First power thruster; 104. First energy cabin; 105. First control cabin; 106. Conformal sonar; 107. First side-scanning sonar ; 108, the first forward-looking sonar; 109, the first carrying sensor; 110, the first underwater lighting lamp; 111, the first underwater camera; 112, the guide groove; 113, the guiding light source; 114, the transducer; 115 , wireless charging transmitter module; 116, ballast water tank; 117, limit rod; 118, cable winch; 119, communication buoy; 120, limit slot;

201. Sub-type shell; 202. Second attitude adjustment thruster; 203. Second power thruster; 204. Second energy cabin; 205. Second control cabin; 206. Second side-scanning sonar; 207. Synthetic aperture sonar ; 208, multi-beam depth sounding sonar; 209, the second forward-looking sonar; 210, the second carrying sensor; 211, the second underwater lighting; 212, the second underwater camera; 213, the acoustic receiver; 214, imaging system; 215, a limit plate; 216, a wireless charging receiving module.

Detailed ways

The specific implementation manner of the present invention will be described below in conjunction with the accompanying drawings.

Embodiment one:

As shown in FIGS. 1-13 , the mother-child type unmanned detection submersible of the present embodiment includes a mother submersible 1 and several sub-submersibles 2 mounted on the bottom of the mother submersible 1 .

As shown in FIGS. 1-7 , the structure of the mother submersible 1 is: a cylindrical and hollow mother shell 101, the bow of the mother shell 101 is equipped with a symmetrically arranged first forward-looking sonar 108, Conformal sonars 106 are symmetrically arranged on the bow and stern of the mother shell 101, and first attitude adjustment propellers 102 are symmetrically installed on the mother shell 101 on both sides of a single conformal sonar 106, and the two sides of the mother shell 101 are symmetrical The first side-scan sonar 107 is installed, and the first power propeller 103 is installed on the female shell 101 above the single first side-scan sonar 107, and the two first power propellers 103 are symmetrically arranged; the interior of the female shell 101 is set There is a first energy cabin 104, a first control cabin 105, and a ballast water tank 116. The battery and battery supporting equipment are arranged in the first energy cabin 104, and the first control system and the first communication system are installed in the first control cabin 105. The inside of the mother shell 101 is also equipped with a symmetrically arranged first onboard sensor 109 and several wireless charging transmitting modules 115; the outer bottom wall of the mother shell 101 is evenly provided with several guide grooves corresponding to the child submersible 2 112, the side wall of the single guide groove 112 is provided with several limit grooves 120, and the limit rod 117 is telescopically installed in the single limit groove 120, and the limit rod 117 protrudes or retracts along the radial direction of the guide groove 112, and the guide groove 112 is installed with a guiding light source 113 for the positioning of the sub-type submersible 2, and the center position of the outer bottom wall of the mother shell 101 is equipped with a transducer 114; the installation position of a single wireless charging transmitter module 115 and the position of a single guide groove 112 Correspondingly, a single wireless charging transmitter module 115 is used to charge a single sub-type submersible 2 in a single guide groove 112; a groove is arranged on the outer top wall of the female shell 101, and a cable winch 118 is fitted in the groove, and a cable winch 118 is installed in the groove. The output end of the winch 118 is connected to a communication buoy 119 . The mother submersible 1 includes a mother shell 101, a first attitude adjustment thruster 102, a first power thruster 103, a first energy cabin 104, a first control cabin 105, a conformal sonar 106, a first side-scan sonar 107, The first forward-looking sonar 108, the first mounted sensor 109, the first underwater lighting 110, the first underwater camera 111, the guiding light source 113, the transducer 114, the wireless charging transmitting module 115, the ballast water tank 116, the Position rod 117, cable winch 118, communication buoy 119; among them, the female shell 101, the first attitude adjustment thruster 102, the first power thruster 103, the first energy cabin 104, the first control cabin 105, the first carrying sensor 109 and the ballast water tank 116 constitute the overall framework of the parent submersible 1; conformal sonar 106, first side-scan sonar 107, first forward-looking sonar 108, cable winch 118, communication buoy 119 and first underwater lighting 110, the first underwater camera 111 realizes the basic operation of the mother submersible 1; the guide groove 112, the guide light source 113, the transducer 114, the limit rod 117 cooperate with the sub-submersible 2 to realize the receiving and releasing of the sub-submersible .

The first attitude adjustment propeller 102 is used as the attitude adjustment of the parent submersible 1, and the first power propeller 103 provides driving force for the parent submersible 1; the conformal sonar 106 adopts passive sonar to receive radiation noise and noise produced by underwater targets. signal; the first side-scan sonar 107 adopts active sonar for detecting seabed targets; the first forward-looking sonar 108 adopts active sonar for detecting obstacles in the navigation process of the mother-type submersible 1, so as to avoid the mother-type submersible 1 Collisions occur during navigation, and can be used as target detection equipment at the same time; by adjusting the water volume in the ballast water tank 116, the attitude adjustment or emergency flotation of the parent submersible 1 can be completed.

The cable winch 118 is used to launch the communication buoy 119, and the communication buoy 119 is launched to the sea surface, which can realize long-distance signal transmission with the mother ship or the tower on the shore.

The first on-board sensor 109 is arranged in the middle of the first energy cabin 104 and the first control cabin 105, and the first on-board sensor 109 is integrated with a signal transmission system, an underwater positioning and navigation system, an attitude instrument for detection, a Doppler instrument, Depth gauges etc.

As shown in Figures 8-11, the structure of the sub-type submersible 2 is: a sub-type housing 201 that is prismatic and hollow inside is included, and several acoustic receivers 213 are evenly installed on the outer wall of the sub-type housing 201 along the circumferential direction. The second power propeller 203 is symmetrically installed on the outer wall of the sub-type housing 201; the inside of the sub-type housing 201 is provided with a second energy cabin 204 and a second control cabin 205, and a rechargeable battery is arranged in the second energy cabin 204, and the second The second control system and the second communication system are carried in the control cabin 205, and the inside of the sub-type housing 201 is also equipped with a second on-board sensor 210 and a detection assembly for performing detection tasks; the center position of the outer top wall of the sub-type housing 201 matches A limit disc 215 is installed, and a gap for the extension of the limit rod 117 is provided between the limit disc 215 and the outer top wall of the sub-type housing 201. The middle part of the limit disc 215 is equipped with a corresponding wireless charging transmitter module 115 The wireless charging receiving module 216 and the imaging system 214 . The sub-type submersible 2 comprises a sub-type shell 201, a second attitude adjustment thruster 202, a second power thruster 203, a second energy cabin 204, a second control cabin 205, a second carrying sensor 210, a detection assembly, a second water Down lighting 211, a second underwater camera 212, an acoustic receiver 213, and an imaging system 214; wherein, the sub-type housing 201, the second attitude adjustment thruster 202, the second power thruster 203, the second energy cabin 204, the second Two control cabins 205, the second carrying sensor 210 constitute the overall framework of the sub-type submersible 2; detection components and the second underwater lighting 211, the second underwater camera 212 are used as underwater detection equipment; acoustic receiver 213, imaging system 214, the limit plate 215 cooperates with the mother submersible 1 to realize the docking and release of the submersible and the mother submersible.

The second attitude adjustment thruster 202 and the second power thruster 203 of the sub-type submersible 2 are arranged in the middle of each facet to reduce the influence of propeller noise on the sonar; the inner space of the sub-type shell 201 is mainly used for laying The second mount sensor 210 and detection components.

A first underwater lighting lamp 110 and a first underwater camera 111 are installed on the female housing 101 . The first underwater lighting 110 and the first underwater camera 111 are used to perform underwater shooting tasks.

The outer wall of the sub-type housing 201 is equipped with a second underwater lighting 211 and a second underwater camera 212 used in conjunction with the detection assembly, and several second attitude adjustment propellers 202 uniformly arranged in the circumferential direction; the detection assembly includes A second side-scan sonar 206 , a synthetic aperture sonar 207 , a multi-beam bathymetric sonar 208 and a second forward-looking sonar 209 . The detection components are used to perform high-precision detection tasks.

An elastic body is laid on the sidewall of the guide groove 112 . The elastic body plays a buffering role when the sub-type submersible 2 is upwardly recovered.

Both the mother shell 101 and the child shell 201 are made of pressure-resistant and waterproof material and are in a flat configuration. They adopt a sealed assembly method to ensure sufficient space in the mother shell 101 and the child shell 201, which is conducive to the modularization of equipment.

As shown in Figure 12, when the parent submersible 1 reclaims the sub-submersible 2, the long-distance navigation of the sub-submersible 2 is realized through the response response between the transducer 114 and the acoustic receiver 213; 2 After moving to the optical guidance range of the guiding light source 113 at the bottom of the parent submersible 1, the imaging system 214 determines the position of the guiding light source 113 to realize precise positioning and recovery; when the limiting plate 215 enters the guiding groove 112 completely, the limiting groove The limit rod 117 in 120 stretches out to form a frame, and the limit plate 215 is limited, so that the sub-type submersible 2 is relatively fixed on the mother type submersible 1, so as to avoid the sub-type submersible 2 being placed on the mother type submersible. 1 Break away from below it during navigation.

The present invention provides a mother-child type unmanned detection submersible. By setting the guide groove 112, the limit rod 117 and the corresponding recovery guide device, the mother-type submersible 1 can choose to carry multiple and various types of sub-type submersibles according to the task. The submersible 2 has a high degree of module integration and a high degree of freedom, and can perform centralized and distributed detection tasks; at the same time, the submersible submersible has a high fault tolerance rate, and a single submersible 2 can be abandoned when an accident occurs. The submersible 1 can float up in an emergency through the ballast water tank 116 .

Embodiment two:

As shown in Figures 1-13, this embodiment utilizes a parent-child type unmanned detection submersible provided by Embodiment 1 to provide an underwater operation method, including the following steps:

S1. Put the submersible submersible into the water, the sub submersible 2 is carried on the parent submersible 1 through the limit rod 117, and the parent submersible 1 makes the submersible by adjusting the water injection amount in the ballast water tank 116. The gravity and buoyancy of the type submersible in the water are equal, and the submersible type submersible enters the underwater suspension attitude;

S1.1. When the sub-type submersible 2 is mounted on the mother-type submersible 1, the corresponding limit rods 117 in the two limit grooves 120 protrude and are placed under the limit plate 215. The guide groove 112 and the The limit rod 117 produces a limit effect on the limit plate 215, so that the sub-type submersible 2 is fixed on the mother-type submersible 1;

S1.2. The control tower sends a dive command to the mother submersible 1, and the mother submersible 1 receives the command sent by the control tower through the first communication system in the first control cabin 105 and transmits it to the first control cabin 105. The first control system, the first control system adjusts the water injection volume in the ballast water tank 116, so that the gravity and buoyancy of the submersible submersible in the water are equal, and the submersible submersible enters the underwater suspension attitude;

S2. Under the working condition of navigation and transportation, the first power propeller 103 is started, and the mother submersible 1 carries several sub-submersibles 2 to the target sea area, and the sonar carried on the mother submersible 1 detects the sea conditions in real time;

S2.1. According to the navigation command of the control tower, the first control system on the parent submersible 1 starts the first power thruster 103, according to the route stored in the first control system in advance or through the first on-board sensor 109. The communication sonar communicates with the control tower, and the parent submersible 1 goes to the target sea area;

S2.2. During the voyage of the parent submersible, the attitude sensor in the first sensor 109 acquires the attitude of the mother submersible 1 in real time and transmits it to the first control system, and the first control system adjusts the propulsion by controlling the first attitude The action of device 102 makes mother type submersible 1 keep posture balance;

S2.3. The conformal sonar 106 uses passive sonar to receive radiation noise and signals generated by underwater targets in real time, and the first side-scan sonar 107 and the first forward-looking sonar 108 use active sonar to detect submarine targets in real time;

S3. Under detection and transmission conditions, when the parent submersible 1 reaches the target sea area, the limit rod 117 retracts into the corresponding limit slot 120, and the child submersible 2 separates from the parent submersible 1, and starts to perform the detection task ;

S3.1. The first control system sends a detection command to the sub-submersible 2, and the limit rod 117 retracts into the corresponding limit groove 120 so that the sub-submersible 2 is separated from the parent submersible 1, and the sub-submersible 2 Execute detection missions in nearby areas;

S4. The parent submersible 1 controls the sub-submersible 2 to adopt a centralized detection mode or a distributed detection mode according to the task situation;

S4.1. The first control cabin 105 on the mother type submersible 1 carries the first communication system, and the second control cabin 205 on the child type submersible 2 carries the second communication system, so that the mother type submersible 1 and the child The sub-type submersible 2 can communicate with each other, and the second control cabin 205 on the sub-type submersible 2 is also equipped with a second control system. The second control system is used for the second attitude adjustment thruster 202 and the second power thruster 203. motion control;

S4.2. The centralized detection mode is that multiple sub-type submersibles 2 detect the same task area, and the distributed detection mode is that multiple sub-type submersibles 2 detect different task areas;

S4.3. During the detection mission of the sub-submersible 2, when the energy value of the sub-submersible 2 is lower than the set value, the sub-submersible 2 is recovered to the parent submersible 1, and transmitted through wireless charging The module 115 and the wireless charging receiving module 216 perform charging and battery life;

S4.4. After the parent submersible 1 reaches the target sea area, the cable winch 118 releases the communication buoy 119, and makes the communication buoy 119 float out of the sea, and the communication buoy 119 performs remote communication with the control tower through radio signals;

S4.5. The task area of the sub-type submersible 2 includes a narrow environment;

S5. After the detection task is completed, the transducer 114 sends an acoustic positioning signal, and after the acoustic receiver 213 receives the acoustic positioning signal, the second power propeller 203 starts, so that the sub-type submersible 2 approaches the parent submersible 1, when When the child submersible 2 moves to the optical guidance range of the parent submersible 1, the guiding light source 113 turns on and releases the light source, and the imaging system 214 scans and confirms the position of the guiding light source 113, and tracks the guiding light source 113, so that the limit plate 215 moves precisely In the guide groove 112, then the stop rod 117 stretches out, so that the stop plate 215 is fixed in the guide groove 112, and the recovery of the sub-type submersible 2 is completed;

S6. The cable winch 118 recovers the communication buoy 119, and after the recovery is completed, the mother and child submersibles return to the voyage.

This embodiment provides an underwater operation method. By dividing the operations, the main task of the parent submersible 1 is set as navigation, communication and control, and the main task of the sub-submersible 2 is set as cooperative detection. The submersible submersible is equipped with a variety of detection equipment, reasonably planned energy supply, long detection distance, large operating radius, and at the same time ensures the accuracy of detection operations.

The above description is an explanation of the present invention, not a limitation of the invention. For the limited scope of the present invention, please refer to the claims. Within the protection scope of the present invention, any form of modification can be made.

Claims (10)

1. The utility model provides a primary and secondary formula unmanned detection submersible which characterized in that: comprises a mother type diving device (1) and a plurality of child type diving devices (2) which are arranged at the bottom of the mother type diving device (1);

the structure of the mother type submersible (1) is as follows: the novel intelligent remote control system comprises a cylindrical female shell (101) with a hollow interior, wherein first forward-looking sonars (108) are symmetrically arranged at the bow part of the female shell (101), conformal sonars (106) are symmetrically arranged at the bow part and the stern part of the female shell (101), first gesture adjusting propellers (102) are symmetrically arranged on the female shell (101) at two sides of a single conformal sonars (106), first side-scan sonars (107) are symmetrically arranged at two side sides of the female shell (101), first power propellers (103) are arranged on the female shell (101) above the single first side-scan sonars (107) symmetrically;

a first energy cabin (104), a first control cabin (105) and a ballast water cabin (116) are arranged in the female shell (101), a battery and matched equipment of the battery are arranged in the first energy cabin (104), a first control system and a first communication system are carried in the first control cabin (105), and a first carrying sensor (109) and a plurality of wireless charging and transmitting modules (115) which are symmetrically arranged are also arranged in the female shell (101);

the outer bottom wall of the female shell (101) is uniformly provided with a plurality of guide grooves (112) corresponding to the sub-type diving device (2), the side wall of each guide groove (112) is provided with a plurality of limit grooves (120), limit rods (117) are arranged in the single limit grooves (120) in a telescopic manner, the limit rods (117) extend or retract along the radial direction of the guide grooves (112), guide light sources (113) for positioning the sub-type diving device (2) are arranged in the guide grooves (112), and the central positions of the outer bottom wall of the female shell (101) are matched with each other to be provided with transducers (114);

the installation position of the single wireless charging transmitting module (115) corresponds to the position of the single guide groove (112), and the single wireless charging transmitting module (115) is used for charging the single sub-type submersible (2) in the single guide groove (112);

a groove is formed in the outer top wall of the female shell (101), a cable winch (118) is installed in the groove in a matched mode, and the output end of the cable winch (118) is connected with a communication buoy (119);

the structure of the single-type submersible (2) is as follows: the power generation device comprises a prismatic hollow sub-shell (201), wherein a plurality of acoustic receivers (213) are uniformly arranged on the outer side wall of the sub-shell (201) along the circumferential direction, and second power propellers (203) are symmetrically arranged on the outer side wall of the sub-shell (201);

a second energy cabin (204) and a second control cabin (205) are arranged in the sub-type shell (201), rechargeable batteries are distributed in the second energy cabin (204), a second control system and a second communication system are mounted in the second control cabin (205), and a second mounting sensor (210) and a detection assembly for executing detection tasks are also mounted in the sub-type shell (201);

a limiting disc (215) is installed in the center of the outer top wall of the sub-type shell (201) in a matched mode, a gap for extending a limiting rod (117) is arranged between the limiting disc (215) and the outer top wall of the sub-type shell (201), and a wireless charging receiving module (216) and an imaging system (214) which correspond to the wireless charging transmitting module (115) are installed in the middle of the limiting disc (215) in a matched mode.

2. A parent-child unmanned exploration vehicle as claimed in claim 1, wherein: a first underwater lighting lamp (110) and a first underwater camera (111) are mounted on the female housing (101).

3. A parent-child unmanned exploration vehicle as claimed in claim 1, wherein: a second underwater lighting lamp (211) and a second underwater camera (212) which are matched with the detection assembly for use are arranged on the outer side wall of the sub-type shell (201), and a plurality of second posture adjusting propellers (202) which are uniformly arranged along the circumferential direction;

the detection assembly comprises a second side-scan sonar (206), a synthetic aperture sonar (207), a multi-beam sounding sonar (208) and a second forward-looking sonar (209).

4. A parent-child unmanned exploration vehicle as claimed in claim 1, wherein: and an elastomer is laid on the side wall of the guide groove (112).

5. A method of underwater operation using the mother-son unmanned survey vehicle of claim 1, characterized in that: the method comprises the following steps:

s1, putting a primary-secondary type submersible into water, wherein the primary-secondary type submersible (2) is carried on the primary type submersible (1) through a limiting rod (117), and the primary type submersible (1) enables the gravity and the buoyancy of the primary-secondary type submersible in the water to be equal by adjusting the water injection quantity in a ballast water tank (116), so that the primary-secondary type submersible enters an underwater suspension posture;

s2, under the sailing and transporting working condition, starting a first power propeller (103), enabling a mother-ship submersible (1) to carry a plurality of sub-type submersible (2) to go to a target sea area, and enabling sonar carried on the mother-ship submersible (1) to detect sea conditions in real time;

s3, under the detection and transmission working condition, after the female submersible (1) reaches a target sea area, the limiting rods (117) retract into the corresponding limiting grooves (120), the female submersible (2) is separated from the female submersible (1), and a detection task is started to be executed;

s4, controlling the sub-type submersible (2) by the mother-type submersible (1) according to the task situation to adopt a centralized detection mode or a distributed detection mode;

s5, after the detection task is finished, the transducer (114) sends out an acoustic positioning signal, the acoustic receiver (213) receives the acoustic positioning signal, the second power propeller (203) is started to enable the sub-type submersible (2) to be close to the mother-type submersible (1), when the sub-type submersible (2) moves to be within the optical guiding range of the mother-type submersible (1), the guiding light source (113) is started to release the light source, the imaging system (214) scans and confirms the position of the guiding light source (113) and tracks the guiding light source (113), so that the limiting disc (215) moves into the guiding groove (112) accurately, then the limiting rod (117) stretches out, and the limiting disc (215) is fixed in the guiding groove (112), and the recovery of the sub-type submersible (2) is completed;

s6, recovering the communication buoy (119) by the cable winch (118), and returning the primary and secondary submersible after recovering.

6. A method of underwater operation as in claim 5 wherein: s1, when the sub-type submersible (2) is mounted on a mother-type submersible (1), corresponding limiting rods (117) in two limiting grooves (120) extend out and are arranged below a limiting disc (215), and a limiting effect is generated on the limiting disc (215) by a guide groove (112) and the limiting rods (117), so that the sub-type submersible (2) is fixed on the mother-type submersible (1);

the first control system adjusts the water injection amount in the ballast water tank (116) so that the gravity and the buoyancy of the primary-secondary submersible in water are equal, and the primary-secondary submersible enters an underwater suspension posture.

7. A method of underwater operation as in claim 5 wherein: s2, in the sailing process of the primary-secondary type submersible, an attitude sensor in the first carrying sensor (109) acquires the attitude of the primary-secondary type submersible (1) in real time and transmits the attitude to the first control system, and the first control system enables the primary-secondary type submersible (1) to keep the attitude balanced by controlling the action of the first attitude adjusting propeller (102).

8. A method of underwater operation as in claim 5 wherein: s3, the limiting rods (117) are retracted into the corresponding limiting grooves (120) so that the sub-type submersible (2) is separated from the mother-type submersible (1), and the sub-type submersible (2) performs detection tasks on the nearby area.

9. A method of underwater operation as in claim 5 wherein: s4, the concentrated detection mode is that a plurality of sub-type submersibles (2) detect the same task area, the distributed detection mode is that a plurality of sub-type submersibles (2) detect different task areas, and the task areas of the sub-type submersibles (2) comprise narrow environments.

10. A method of underwater operation as in claim 5 wherein: s4, in the process of executing the detection task by the sub-type submersible (2), when the energy value of the sub-type submersible (2) is lower than a set value, the sub-type submersible (2) is recovered to the parent-type submersible (1), and charging and cruising are carried out through the wireless charging transmitting module (115) and the wireless charging receiving module (216).