CN117657395A - Multi-element submarine characteristic detection AUV and underwater charging base station system - Google Patents
Multi-element submarine characteristic detection AUV and underwater charging base station system Download PDFInfo
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- CN117657395A CN117657395A CN202211036483.1A CN202211036483A CN117657395A CN 117657395 A CN117657395 A CN 117657395A CN 202211036483 A CN202211036483 A CN 202211036483A CN 117657395 A CN117657395 A CN 117657395A
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- 229910000831 Steel Inorganic materials 0.000 claims description 10
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- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical compound [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 claims description 4
- 229910001416 lithium ion Inorganic materials 0.000 claims description 4
- 238000003032 molecular docking Methods 0.000 abstract description 6
- 238000000034 method Methods 0.000 abstract description 5
- 238000012876 topography Methods 0.000 abstract description 5
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- 238000010521 absorption reaction Methods 0.000 description 3
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- 229910000859 α-Fe Inorganic materials 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
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- 239000013535 sea water Substances 0.000 description 1
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Abstract
The invention provides a multi-element submarine characteristic detection AUV and an underwater charging base station system, and belongs to the field of underwater robots. The underwater topography information detection method solves the problems that the traditional AUV detection method is single, underwater topography information cannot be detected, the detection range is limited, and how to realize the continuous charging docking of the AUV. The underwater vehicle comprises an AUV underwater vehicle and an underwater charging base station; the AUV underwater vehicle comprises a shell, a multi-beam detection sonar, an optical visual camera, a single-beam sounding sonar, a main controller, a charging secondary coil, a battery pack, a landform side-scan sonar, a GPS receiving tower and an underwater sound receiving transducer, wherein the multi-beam detection sonar, the optical visual camera, the single-beam sounding sonar, the battery pack, the landform side-scan sonar, the GPS receiving tower and the underwater sound receiving transducer are electrically connected with the main controller; the underwater charging base station comprises a wireless charging assembly, a communication positioning assembly and a base station fixing assembly, wherein a charging secondary coil in the wireless charging assembly is induced with a discharging primary coil. The method is mainly used for collecting the underwater topography information.
Description
Technical Field
The invention belongs to the field of underwater robots, and particularly relates to a multi-element submarine characteristic detection AUV and an underwater charging base station system.
Background
The traditional unmanned autonomous underwater vehicle is commonly called as AUV, is mainly used for executing conventional tasks such as submarine topography scanning, marine environment detection and the like, but at present, the detection sonar mainly uses single-beam sounding sonar, the single-beam sounding sonar only can detect the current position depth and cannot detect the front underwater topography information, the detection principle is single, the detection is carried out in a plurality of modes without fusion sound and light, and the problems that the acoustic detection equipment is easily interfered by noise sources and the acoustic communication equipment and the detection equipment are mutually interfered occur in the traditional sensor arrangement form;
the power supply of the AUV is in the AUV, the AUV needs to float upwards to recover and charge under the condition that the power supply is exhausted, the AUV is recovered and floats upwards to charge, the AUV is detected to be interrupted, the range of the AUV and the detection range are limited by the power supply of the AUV, and how to dock the charging device with the AUV under the water is also an important problem.
Disclosure of Invention
In view of the above, the invention aims to provide a multi-element submarine characteristic detection AUV and an underwater charging base station system, so as to solve the problems that the traditional AUV detection mode is single, underwater topographic information cannot be detected, the detection range is limited, and how to realize the continuous charging docking of the AUV.
In order to achieve the above purpose, the present invention adopts the following technical scheme: a multi-element submarine characteristic detection AUV and underwater charging base station system comprises an AUV underwater vehicle and an underwater charging base station; the AUV underwater vehicle comprises a shell, a multi-beam detection sonar, an optical visual camera, a single-beam sounding sonar, a main controller, a charging secondary coil, a battery pack, a landform side-scan sonar, a GPS receiving tower and an underwater sound receiving transducer, wherein the multi-beam detection sonar, the optical visual camera and the single-beam sounding sonar are all arranged at the front section of the shell, the main controller is arranged in the shell, the charging secondary coil is arranged at the middle section position inside the shell, the battery pack is electrically connected with the charging secondary coil, the landform side-scan sonar is arranged at the lower part of the outer wall of the middle section of the shell, the GPS receiving tower and the underwater sound receiving transducer are all arranged at the rear section of the shell, the multi-beam detection sonar, the optical visual camera, the single-beam sounding sonar, the battery pack, the GPS receiving tower and the underwater sound receiving transducer are all electrically connected with the battery pack, and the multi-beam detection sonar, the optical visual camera, the single-beam sounding sonar, the battery pack, the landform side-scan sonar, the GPS receiving tower and the underwater sound receiving transducer are all electrically connected with the main controller; the underwater charging base station comprises a wireless charging assembly, a communication positioning assembly and a base station fixing assembly, wherein the wireless charging assembly and the communication positioning assembly are connected with the base station fixing assembly, the wireless charging assembly is electrically connected with the communication positioning assembly, the communication positioning assembly responds to signals of the optical visual camera and the underwater sound receiving transducer, and when the base station fixing assembly supports the shell, a charging secondary coil in the wireless charging assembly is induced with a discharging primary coil.
Still further, the fixed subassembly of basic station includes magnetism and adsorbs fixed pile, balancing weight and seabed basic station steelframe, along the length direction arrangement of seabed basic station steelframe a plurality of magnetism adsorb the fixed pile, the balancing weight sets up the middle part at seabed basic station steelframe.
Still further, communication positioning assembly includes seabed basic station light vision camera and acoustic positioning communication device, seabed basic station light vision camera and acoustic positioning communication device all set up on seabed basic station steelframe.
Still further, wireless charging assembly still includes fills electric pile and submarine cable, fill electric pile and submarine cable electric connection, submarine base station light vision camera and acoustic positioning communication device all with submarine cable electric connection, fill electric pile and discharge primary coil electric connection.
Still further, the casing includes tail propeller, cross tail rudder, vertical propeller, front deck, well cabin, rear deck, empty buoyancy cabin and magnetism absorption butt joint hole, empty buoyancy cabin is equipped with two, the front deck links to each other through an empty buoyancy cabin with well cabin, well cabin links to each other through another empty buoyancy cabin with the rear deck, sets up a vertical propeller on every empty buoyancy cabin, rear deck keeps away from well cabin one side and sets gradually cross tail rudder and tail propeller, tail propeller and vertical propeller all with group battery electric connection, front deck and rear deck lower part all set up the magnetism absorption butt joint hole with magnetism absorption spud pile one-to-one.
Further, each empty buoyancy cabin is provided with a vertical pushing duct corresponding to the vertical propeller.
Furthermore, a lifting hook is arranged at the middle position of the upper part of the middle cabin.
Furthermore, the inner walls of the front cabin, the middle cabin and the rear cabin are provided with fixed frameworks.
Further, the battery pack is a lithium ion battery pack.
Furthermore, the multi-beam detection sonar, the optical visual camera and the single-beam sounding sonar are equally divided into a dry end and a wet end, all the dry ends are arranged in the shell, and all the wet ends are arranged outside the shell.
Compared with the prior art, the invention has the beneficial effects that:
1. the underwater landform information can be acquired through the beam sounding sonar, the multi-wave sounding sonar and the landform side-scan sonar, and the acoustic communication equipment and the detection equipment are far away from each other so as to avoid mutual influence;
2. the communication positioning assembly is matched with the optical visual camera and the underwater sound receiving transducer, so that accurate alignment of the AUV underwater vehicle and the base station fixing assembly can be realized, and in the alignment process, the accuracy of the butt joint and the stability after the butt joint can be further improved through the matching of the magnetic adsorption fixing piles and the magnetic adsorption butt joint holes;
3. the underwater vehicle of the AUV can be charged underwater, the endurance mileage of the underwater vehicle of the AUV is improved, and the collecting efficiency of the landform information is improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention. In the drawings:
fig. 1 is a schematic perspective view of an AUV underwater vehicle according to the present invention;
FIG. 2 is a schematic diagram of the front view of an AUV underwater vehicle according to the present invention;
FIG. 3 is a schematic top view of an AUV underwater vehicle according to the present invention;
FIG. 4 is a schematic view of the bottom view of the AUV underwater vehicle according to the present invention;
FIG. 5 is a schematic cross-sectional elevation view of an AUV underwater vehicle according to the present invention;
fig. 6 is a schematic perspective sectional view of an AUV underwater vehicle according to the present invention;
fig. 7 is a schematic perspective view of an underwater charging base station according to the present invention;
fig. 8 is a schematic front view of an underwater charging base station according to the present invention;
fig. 9 is a schematic top view of an underwater charging base station according to the present invention;
fig. 10 is a schematic diagram of a three-dimensional structure of an AUV underwater vehicle in docking with an underwater charging base station according to the present invention;
fig. 11 is a schematic diagram of a front view structure of an AUV underwater vehicle in docking with an underwater charging base station according to the present invention;
fig. 12 is a schematic side view of a docking structure of an AUV underwater vehicle and an underwater charging base station according to the present invention;
fig. 13 is a schematic diagram illustrating an optical communication docking between an AUV underwater vehicle and an underwater charging base station according to the present invention;
FIG. 14 is a schematic diagram of the detection operation of an AUV underwater vehicle according to the present invention;
FIG. 15 is a schematic communication diagram of an AUV underwater vehicle according to the present invention;
fig. 16 is a schematic diagram of a charging principle of the AUV underwater vehicle and the underwater charging base station according to the present invention.
A housing 1; a tail propeller 2; a cross tail rudder 3; a vertical propeller 4; a multi-beam detection sonar 5; a light vision camera 6; single beam depth sounding sonar 7; a main controller 8; a charging secondary coil 9; a battery pack 10; a landform side-scan sonar 11; a GPS receiving tower 12; an underwater sound receiving transducer 13; a fixed frame 14; a front compartment 15; a middle compartment 16; a rear compartment 17; a front cabin fixing seat 18; a rear cabin fixing seat 19; an empty buoyancy chamber 20; a magnetic adsorption butt joint hole 21; lifting hook 22; screw holes 23; a sea floor base station optical vision camera 24; acoustic positioning communication means 25; magnetic adsorption fixing piles 26; a charging pile 27; a counterweight 28; a discharge primary coil 29; a submarine cable 30; a subsea base station steel frame 31; an optical signal 32; a satellite 33; a mother ship 34; an AUV positioning signal 35; relaying the positioning signal 36; a rendering signal 37; and returns a signal 38.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It should be noted that, in the case of no conflict, embodiments of the present invention and features of the embodiments may be combined with each other, and the described embodiments are only some embodiments of the present invention, not all embodiments.
Referring to the drawings for describing the embodiment, a multi-element submarine characteristic detection AUV and underwater charging base station system comprises an AUV underwater vehicle and an underwater charging base station; the AUV underwater vehicle comprises a shell 1, a multi-beam detection sonar 5, an optical visual camera 6, a single-beam sounding sonar 7, a main controller 8, a charging secondary coil 9, a battery pack 10, a landform side-scan sonar 11, a GPS receiving tower 12 and an underwater sound receiving transducer 13, wherein the multi-beam detection sonar 5, the optical visual camera 6 and the single-beam sounding sonar 7 are all arranged at the front section of the shell 1, the main controller 8 is arranged in the shell 1, the charging secondary coil 9 is arranged at the middle section position inside the shell 1, the battery pack 10 is electrically connected with the charging secondary coil 9, the landform side-scan sonar 11 is arranged at the lower part of the outer wall of the middle section of the shell 1, the GPS receiving tower 12 and the underwater sound receiving transducer 13 are all arranged at the rear section of the shell 1, the multi-beam detection sonar 5, the optical visual camera 6, the single-beam sounding sonar 7, the main controller 8, the battery pack 10, the landform side-scan sonar 11, the multi-beam receiving tower 12 and the underwater sound receiving transducer 13 are all electrically connected with the battery pack 10, and the GPS receiving transducer 10; the underwater charging base station comprises a wireless charging assembly, a communication positioning assembly and a base station fixing assembly, wherein the wireless charging assembly and the communication positioning assembly are connected with the base station fixing assembly, the wireless charging assembly is electrically connected with the communication positioning assembly, the communication positioning assembly responds to signals of the optical visual camera 6 and the underwater sound receiving transducer 13, and when the base station fixing assembly supports the shell 1, the charging secondary coil 9 and the discharging primary coil 29 in the wireless charging assembly are induced.
In this embodiment, both the charging secondary coil 9 and the discharging primary coil 29 are hollow circular arcs, and the material of the coils is ferrite.
In this embodiment, the base station fixing assembly includes a magnetic adsorption fixing pile 26, a balancing weight 28 and a seabed base station steel frame 31, and a plurality of magnetic adsorption fixing piles 26 are arranged along the length direction of the seabed base station steel frame 31, and the balancing weight 28 is disposed in the middle of the seabed base station steel frame 31, for improving the stability of the seabed base station steel frame 31.
In this embodiment, the communication positioning assembly includes a submarine base station optical vision camera 24 and an acoustic positioning communication device 25, and the submarine base station optical vision camera 24 and the acoustic positioning communication device 25 are both disposed on a submarine base station steel frame 31.
In this embodiment, the wireless charging assembly further includes a charging pile 27 and a submarine cable 30, the charging pile 27 is electrically connected with the submarine cable 30, the submarine base station optical vision camera 24 and the acoustic positioning communication device 25 are electrically connected with the submarine cable 30, and the charging pile 27 is electrically connected with the discharging primary coil 29.
In this embodiment, the casing 1 includes a tail propeller 2, a cross tail rudder 3, vertical propellers 4, a front cabin 15, a middle cabin 16, a rear cabin 17, an empty buoyancy cabin 20 and a magnetic adsorption butt joint hole 21, the empty buoyancy cabin 20 is provided with two, the front cabin 15 and the middle cabin 16 are connected through one empty buoyancy cabin 20, the middle cabin 16 and the rear cabin 17 are connected through another empty buoyancy cabin 20, one vertical propeller 4 is arranged on each empty buoyancy cabin 20, the cross tail rudder 3 and the tail propeller 2 are sequentially arranged on one side, far away from the middle cabin 16, of the rear cabin 17, the tail propeller 2 and the vertical propeller 4 are electrically connected with the battery pack 10, and the lower parts of the front cabin 15 and the rear cabin 17 are provided with the magnetic adsorption butt joint holes 21 corresponding to the magnetic adsorption fixing piles 26 one by one.
In this embodiment, there is a duct around the outer periphery of the blade of the tail propeller 2, and the coanda effect is applied to improve the propulsion efficiency.
In this embodiment, each of the buoyancy tanks 20 is provided with a vertical pushing duct corresponding to the position of the vertical propeller 4, and the vertical propeller 4 adopts two counter-rotating paddles in vertical series, so that vibration noise can be reduced.
In the present embodiment, the detection devices such as the multi-beam detection sonar 5, the optical vision camera 6, and the single-beam detection sonar 7 in the AUV are all disposed in the front compartment 15, the landform side-scan sonar 11 is disposed in the middle compartment 16, the communication devices such as the underwater sound receiving transducer 13, and the GPS receiving tower 12 are disposed in the rear compartment 17, the acoustic detection device is away from the noise source of the tail propeller 2 to reduce self noise, and the acoustic communication device is away from the detection device to reduce interference with each other.
In this embodiment, the battery pack 10 is a lithium ion battery pack, and the lithium ion battery pack is two groups of high-voltage 380V power supply and low-voltage 24V power supply, the high-voltage 380V power supply is used for supplying the tail propeller 2 and the vertical propeller 4, and the low-voltage 24V power supply is used for supplying the multi-beam sounding sonar 5, the optical vision camera 6, the single-beam sounding sonar 7, the main controller 8, the landform side-scan sonar 11, the GPS receiving tower 12 and the underwater sound receiving transducer 13.
In this embodiment, a lifting hook 22 is disposed at a middle position of the upper portion of the middle cabin 16, so as to facilitate lifting of the underwater vehicle of the AUV.
In this embodiment, the inner walls of the front cabin 15, the middle cabin 16 and the rear cabin 17 are provided with fixed skeletons 14, the skeletons 14 at corresponding positions in the front cabin 15 and the middle cabin 16 are connected through connecting beams, the skeletons 14 at corresponding positions in the middle cabin 16 and the rear cabin 17 are connected through connecting beams, the overall stability is improved, screw holes 23 are formed in the corresponding connecting positions of the front cabin 15, the middle cabin 16, the rear cabin 17 and the empty buoyancy cabin 20, alignment connection is facilitated, and the skeletons 14 are made of 5-series aluminum alloy, so that high reliability is achieved.
In this embodiment, the multi-beam sounding sonar 5, the optical visual camera 6 and the single-beam sounding sonar 7 are equally divided into a dry end and a wet end, all the dry ends are all arranged in the shell 1, all the wet ends are all arranged outside the shell 1 and are in contact with seawater, the dry ends of the multi-beam sounding sonar 5, the optical visual camera 6 and the single-beam sounding sonar 7 are connected in the front cabin 15 through corresponding position front cabin fixing seats 18, and the GPS receiving tower 12 is connected in the rear cabin 17 through rear cabin fixing seats 19.
In this embodiment, the GPS receiving tower 12 is a Beidou-GPS receiving tower.
When the underwater vehicle is used, the AUV underwater vehicle applies the carried single-beam sounding sonar 7, the multi-beam sounding sonar 5 and the landform side-scan sonar 11 to autonomously detect the submarine landform information and then transmit the submarine landform information to the main controller 8, when the AUV underwater vehicle is out of the water, the main controller 8 controls the Beidou-GPS transmitting tower to transmit the positioning signal 35 to the satellite 33, the satellite 33 receives the AUV underwater vehicle positioning signal 35 and then transmits the relay positioning signal 36 to the mother ship 34, and after the AUV underwater vehicle finishes positioning, the landform information is transmitted to the mother ship 34 through the transmission drawing signal 37, and a submarine landform information map is drawn on the mother ship 34; after the staged work is finished, the mother ship 34 sends a return signal 38 to the underwater vehicle underwater sound receiving transducer 13, and the AUV can continue to detect or carry out underwater wireless charging after receiving the instruction of the next stage of the return signal 38;
when charging is needed, the AUV underwater vehicle and the underwater charging base station are required to be in butt joint, the butt joint is divided into two stages according to the distance, in the first stage, the AUV underwater vehicle approaches the submarine charging base station by using an acoustic method, after reaching a certain distance range, the second stage starts, the AUV underwater vehicle estimates the position of the AUV underwater vehicle more accurately by using acoustic signals and optical signals until finally reaching the exact butt joint of the submarine charging base station, particularly, the optical signals of the optical vision camera 6 are responded to the submarine base station optical vision camera 24, and the acoustic signals of the underwater sound receiving transducer 13 are responded to the acoustic positioning communication device 25, so that the AUV underwater vehicle is continuously close to and positioned with the submarine charging base station; after the positioning is finished, the AUV underwater vehicle is fixedly and firmly fixed with the submarine charging base station through the magnetic adsorption fixing piles 26 and the magnetic adsorption butt joint holes 21, and the accuracy of alignment can be further improved in the magnetic adsorption process;
the wireless charging process is to transmit electric energy in a wireless mode through coil magnetic coupling resonance; the wireless charger is divided into a submarine base station transmitting end and an AUV receiving end; the high-voltage direct-current submarine cable 30 directly supplies a part of current to the submarine base station optical vision camera 24 and the acoustic positioning communication device 25 which adopt high-voltage electricity, a part of current is supplied to the compensator in the charging pile 27 through the inverter in the charging pile 27, then the current is supplied to the discharging primary coil 29 through the compensator, after magnetic coupling resonance through the annular ferrite coil, induced current is generated on the secondary charging coil 9 on the AUV submarine submersible, and the generated induced current is supplied to the battery pack 10 through the compensator, the rectifier and the DC voltage stabilizer.
The sensors, controllers and control programs that may be used in the foregoing description are all of the prior art, and are not described herein.
The embodiments of the invention disclosed above are intended only to help illustrate the invention. The examples are not intended to be exhaustive or to limit the invention to the precise forms disclosed. Many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best understand and utilize the invention.
Claims (10)
1. A multi-element subsea property detection AUV and subsea charging base station system, characterized by: the underwater vehicle comprises an AUV underwater vehicle and an underwater charging base station; AUV is submarine ware includes casing (1), multibeam detection sonar (5), optical vision camera (6), single beam sounding sonar (7), main control unit (8), secondary coil (9) charges, group battery (10), landform side-scan sonar (11), GPS receiving tower (12) and underwater sound receiving transducer (13), multibeam detection sonar (5), optical vision camera (6) and single beam sounding sonar (7) all set up in the anterior segment of casing (1), main control unit (8) set up in casing (1), secondary coil (9) sets up in the inside middle section position of casing (1), group battery (10) and secondary coil (9) electric connection charges, side-scan sonar (11) set up in the middle section outer wall lower part of casing (1), GPS receiving tower (12) and underwater sound receiving transducer (13) all set up in the back segment of casing (1), optical vision camera (6), beam sounding sonar (7), single beam sounding sonar (8), group battery (10) and the equal electrical connection of sonic sound receiving transducer (13) are all set up in the multiband The optical visual camera (6), the single-beam depth sounding sonar (7), the battery pack (10), the landform side-scan sonar (11), the GPS receiving tower (12) and the underwater sound receiving transducer (13) are electrically connected with the main controller (8); the underwater charging base station comprises a wireless charging assembly, a communication positioning assembly and a base station fixing assembly, wherein the wireless charging assembly and the communication positioning assembly are connected with the base station fixing assembly, the wireless charging assembly is electrically connected with the communication positioning assembly, the communication positioning assembly responds to signals of the optical visual camera (6) and the underwater sound receiving transducer (13), and when the base station fixing assembly supports the shell (1), a charging secondary coil (9) and a discharging primary coil (29) in the wireless charging assembly are induced.
2. A multi-element subsea property detection AUV and subsea charging base station system according to claim 1, characterized by: the base station fixing assembly comprises a magnetic adsorption fixing pile (26), a balancing weight (28) and a seabed base station steel frame (31), wherein a plurality of magnetic adsorption fixing piles (26) are arranged along the length direction of the seabed base station steel frame (31), and the balancing weight (28) is arranged in the middle of the seabed base station steel frame (31).
3. A multi-element subsea property detection AUV and subsea charging base station system according to claim 2, characterized by: the communication positioning assembly comprises a submarine base station optical vision camera (24) and an acoustic positioning communication device (25), and the submarine base station optical vision camera (24) and the acoustic positioning communication device (25) are arranged on a submarine base station steel frame (31).
4. A multi-element subsea property detection AUV and subsea charging base station system according to claim 3, characterized in that: the wireless charging assembly further comprises a charging pile (27) and a submarine cable (30), the charging pile (27) is electrically connected with the submarine cable (30), the submarine base station optical vision camera (24) and the acoustic positioning communication device (25) are electrically connected with the submarine cable (30), and the charging pile (27) is electrically connected with the discharging primary coil (29).
5. A multi-element subsea property detection AUV and subsea charging base station system according to claim 2, characterized by: the shell body (1) comprises a tail propeller (2), cross tail rudders (3), vertical propellers (4), a front cabin (15), a middle cabin (16), a rear cabin (17), an empty buoyancy cabin (20) and magnetic adsorption butt joint holes (21), wherein the empty buoyancy cabin (20) is provided with two, the front cabin (15) and the middle cabin (16) are connected through one empty buoyancy cabin (20), the middle cabin (16) and the rear cabin (17) are connected through the other empty buoyancy cabin (20), one vertical propeller (4) is arranged on each empty buoyancy cabin (20), the cross tail rudders (3) and the tail propeller (2) are sequentially arranged on one side, far away from the middle cabin (16), of the rear cabin (17), the tail propeller (2) and the vertical propellers (4) are electrically connected with a battery pack (10), and the lower parts of the front cabin (15) and the rear cabin (17) are respectively provided with the magnetic adsorption butt joint holes (21) corresponding to the magnetic adsorption fixing piles (26).
6. The multi-element subsea property detection AUV and subsea charging base station system of claim 5, wherein: and each empty buoyancy cabin (20) is provided with a vertical pushing duct corresponding to the vertical propeller (4).
7. The multi-element subsea property detection AUV and subsea charging base station system of claim 5, wherein: and a lifting hook (22) is arranged at the middle position of the upper part of the middle cabin (16).
8. The multi-element subsea property detection AUV and subsea charging base station system of claim 5, wherein: the inner walls of the front cabin (15), the middle cabin (16) and the rear cabin (17) are provided with fixed frameworks (14).
9. A multi-element subsea property detection AUV and subsea charging base station system according to claim 1, characterized by: the battery pack (10) is a lithium ion battery pack.
10. A multi-element subsea property detection AUV and subsea charging base station system according to claim 1, characterized by: the multi-beam detection sonar (5), the optical visual camera (6) and the single-beam sounding sonar (7) are equally divided into a dry end and a wet end, all the dry ends are arranged in the shell (1), and all the wet ends are arranged outside the shell (1).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211036483.1A CN117657395A (en) | 2022-08-29 | 2022-08-29 | Multi-element submarine characteristic detection AUV and underwater charging base station system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211036483.1A CN117657395A (en) | 2022-08-29 | 2022-08-29 | Multi-element submarine characteristic detection AUV and underwater charging base station system |
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| CN117657395A true CN117657395A (en) | 2024-03-08 |
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| CN202211036483.1A Pending CN117657395A (en) | 2022-08-29 | 2022-08-29 | Multi-element submarine characteristic detection AUV and underwater charging base station system |
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| CN (1) | CN117657395A (en) |
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- 2022-08-29 CN CN202211036483.1A patent/CN117657395A/en active Pending
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