CN1482044A - Platform for scattered and selforganizing underwater operation - Google Patents
Platform for scattered and selforganizing underwater operation Download PDFInfo
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- CN1482044A CN1482044A CNA031296254A CN03129625A CN1482044A CN 1482044 A CN1482044 A CN 1482044A CN A031296254 A CNA031296254 A CN A031296254A CN 03129625 A CN03129625 A CN 03129625A CN 1482044 A CN1482044 A CN 1482044A
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Abstract
The present invention relates belongs to marine engineering field. The dispersed self-organized underwater job platform consists of several motion modules connected together with or without carrying modules. Two motion modules may be connected in one of two connection modes, with parallel rotation shafts or perpendicular rotation shafts; two carrying modules may have parallel or perpendicular geometric symmetrical axles; the rotating shaft of one motion module may be parallel or perpendicular to the geometric symmetrical axle of one carrying module; and several motion modules and/or several carrying modules may be connected to form platform of various structural forms. The platform of the present invention in dispersed structure has polymorphism and thus powerful adaptability, and is suitable for detection job in complicated and unknown underwater environment.
Description
Technical field
What the present invention relates to is a kind of under-water operation platform, and particularly a kind of dispersion self-organizing under-water operation platform with polymorphism and strong compatible with environment belongs to the ocean engineering field.
Background technology
Existing under-water operation platform all has fixing configuration and centralized configuration.General under-water operation platform mainly comprises unmanned remotely controlled submersible vehicle (ROV), autonomous underwater robot (AUV), underwater towed-body (DEEP TOWER) etc., these platforms are formed by a large amount of different special-purpose members set, generally include following all or part of: structural framing, buoyant material, switching arrangement, hydraulic efficiency pressure system, propulsion system, sensing system, control system, battery etc.Wherein propulsion system comprises again that a plurality of propelling units and corollary equipment thereof, sensor-based system then comprise and is used for the oneself state measured sensor in a large number, as incline in length and breadth, degree of depth, height etc.Each parts acts in accordance with the division of their functions and duties, and forms unified sub aqua sport and carries platform, provides communication and energy support to carrying equipment.Except general-purpose platform, also there are miscellaneous special-purpose underwater tool and extraordinary platform, as the testing tool under water of various underwater engineering special uses, climb wall submersible, pipe robot etc.These dedicated platforms have unique configuration, mode of motion, and are equipped with special-purpose instrument and equipment, they do not possess commonality, but are certain environment and task particular design.Yet operation faces abominable and unpredictalbe underwater environment under the ocean water, and remote information is obtained with intervention capacity also too late land far away, require underwater platform must have the strong adaptive capacity to environment and the ability to ward off risks, fastened configuration underwater platform ability in this respect is obviously very limited.For addressing the above problem, modularization becomes an important trend of present ocean water lower platform development.
Find by literature search, the U.S. USPTO patent No. is: 5995882, name is called: the autonomous submersible system of modularization, this patented technology readme is: a modular autonomous submersible system, one of feature of this invention is that a pneumatic shell is arranged, comprised a movable cone front end, multiple standards can be installed easily with customised ocean sensing equipment, and finish sensing function conversion in moment, this invention be to have a high speed serial communication port that can connect umbilical cable on the other hand, provide data obtain with submersible control the cable pattern arranged, possessing is having cable and is not having the flexibility of switching between the cable pattern.Compare with the underwater platform of routine, this patent provides bigger system flexibility and compatible with environment, operating personal can select suitable components after water surface assembly unit goes out suitable configuration, following water operation according to the specific tasks situation with to the estimation and the analysis of underwater environment.But, under the modular water lower platform behind the water its configuration be still immutablely, also promptly remain a kind of fastened configuration system.In addition, each parts has special function in the modular water lower platform system, and is not interchangeable, also promptly still has centralized configuration.Therefore, compatible with environment and wind resistance dangerous aspect, the progress of modularization submarine system also is limited.
Summary of the invention
The objective of the invention is to overcome deficiency of the prior art, a kind of dispersion self-organizing under-water operation platform is provided, make the dispersion self-organizing notion of its reference in fields such as network, integrated circuit, land robot, change the centralized configuration and the fastened configuration of conventional underwater platform, had strong compatible with environment and high fault withstandability.
The present invention is achieved by the following technical solutions, the present invention is formed by connecting by a plurality of motion module, perhaps be formed by connecting by a plurality of motion module and lift-launch module, motion module has a rotating shaft, carry module a geometirc symmetry axis is arranged, it is shaft parallel that two motion module have two kinds of connection modes, perhaps rotating shaft is vertical, between two lift-launch modules two kinds of connection modes being arranged is that geometirc symmetry axis is parallel, perhaps geometirc symmetry axis is vertical, one carries that between module and the motion module two kinds of connection modes to be arranged also be geometirc symmetry axis and shaft parallel, perhaps geometirc symmetry axis is vertical with rotating shaft, and a plurality of motion module and a plurality of lift-launch module are connected to form the platform of multiple version.
Motion module is made up of inside casing and housing, and inside casing, housing link to each other by rotating shaft.Drive by rotating shaft, housing can rotate to 90 degree scopes at-90 degree around inside casing.On two relative end faces of internal and external frames, be separately installed with active joint face and passive joint face under water under water.Active mechanical adaptor union and active electric coupler are initiatively arranged in the joint face, passive mechanical connector and passive electric coupler are arranged in the passive joint face.In addition, initiatively and in the passive joint face also be separately installed with contact pickup.Inside casing has the interior cabin of watertight.Buoyancy regulating device, articulated driving equipment are installed in the cabin and are that centring control processing unit, the central processing unit of core reserved some external interfaces with the microcontroller.Side at inside casing is equipped with depth transducer, and angular transducer is installed in the rotating shaft.Motion module can realize heave and the distortion of 1 degree of freedom.
Carry module and have only a frame, two pairs of initiatively joint face and passive joint faces relatively have been installed on two pairs of end faces parallel with its geometirc symmetry axis.It is identical with passive joint face with the active on the motion module to carry module.Be cabin in the watertight in the frame, being equipped with in the cabin with the microcontroller is the centring control processing unit of core, and central processing unit is reserved some external interfaces.Carry module the implement installing space is provided.
The active joint face of a module and the passive joint face of another module can be realized machinery and the combination of circuit under water and separate.This connection both comprised between motion module and the motion module, also comprise carry between module and the lift-launch module and motion module and lift-launch module between.Two modules have two kinds of connection modes, and promptly two module rotating shafts (is geometirc symmetry axis for carrying module) are parallel or vertical.
A plurality of motion module are or/and carry module and interconnect by the master on it, passive joint face, can be spliced into the platform of multiple version, representative type platform structure form comprises: (1) eel shape structure: motion module forms chain structure by series connection, in the chain structure or connect into some and carry modules, the module at chain structure middle part utilizes a pair of relative active joint face to be connected two adjacent blocks with passive joint face, and two modules at chain structure two ends utilize an active joint face to be connected an adjacent block with a passive joint face respectively.(2) loop configuration: motion module series connection forms loop configuration, and in the loop configuration or connect into some and carry modules, each module in the loop configuration utilizes a pair of relative active joint face to be connected two adjacent blocks with passive joint face.(3) octopus shape structure: an end of three above eel shape structure subchains is connected to public lift-launch module.During under-water operation, platform can not have under the on-the-spot situation of intervening of personnel, by to joint face in conjunction with separate and the control of joint angles, reorganization forms different structure form and mode of motion, to adapt to job requirements and environment.
The present invention has substantive distinguishing features and marked improvement, and platform of the present invention has distributed structure, and changes version and mode of motion according to task and environmental requirement oneself between operational period under water, therefore has polymorphism.Polymorphism makes platform have strong compatible with environment.Have identical software and hardware owing to form the flat-bed module, the loss of part of module can not cause the forfeiture of whole platform feature, therefore has strong fault withstandability.The present state of the present invention is particularly suitable for surveying operation in complicated and the unknown underwater environment.Do not seen similar report at home and abroad in the underwater platform.
Description of drawings
Fig. 1 motion module shaft parallel of the present invention connection diagram
The vertical connection diagram of Fig. 2 motion module rotating shaft of the present invention
Fig. 3 motion module structural representation of the present invention
The modular construction scheme drawing is carried in Fig. 4 the present invention
Fig. 5 eel shape of the present invention platform structure scheme drawing
Fig. 6 ring-shaped platform structural representation of the present invention
Fig. 7 octopus shape of the present invention platform structure scheme drawing
The specific embodiment
As Fig. 1, Fig. 2, shown in, the present invention is formed by connecting by a plurality of motion module A, perhaps be formed by connecting by a plurality of motion module A and lift-launch module B, between two motion module A two kinds of connection modes being arranged is shaft parallel, perhaps rotating shaft is vertical, two carry between the module B or motion module A with one to carry between the module B also be that rotating shaft (is geometirc symmetry axis for the lift-launch module) is parallel or vertical, a plurality of motion module A and a plurality of lift-launch module B are connected to form the platform of multiple version.
As shown in Figure 3, motion module A is made up of housing 2 and inside casing 1, and inside casing 1, housing 2 link to each other by rotating shaft 3.Housing 2 is connected with rotating shaft 3, and inside casing 1 is supported in the rotating shaft 3 by axle sleeve 5, and by the driving of countershaft 3, housing 1 can rotate to 90 degree scopes at-90 degree around inside casing 2.On two relative end faces of inside casing 1, housing 2, be separately installed with under water initiatively joint face and passive joint face under water, active mechanical adaptor union 6 and active electric coupler 9 are initiatively arranged in the joint face, passive mechanical connector 7 and passive electric coupler 10 are arranged in the passive joint face, active mechanical adaptor union 6 on the inside casing 1 engages with the passive mechanical connector 7 of another motion module A, and by catch gear 8 lockings, in addition, initiatively and in the passive joint face also be separately installed with contact pickup 15.Inside casing 1 has the interior cabin of watertight.Buoyancy regulating device 11, articulated driving equipment 4 are installed in the cabin and are that centring control processing unit 12, the central processing unit of core reserved some external interfaces with the microcontroller.In the side of inside casing 1 depth transducer 13 is installed, angular transducer 14 is installed in the rotating shaft 3.
Inside casing 1 watertight is provided with regulating mechanism of buoyancy 11 above, and effect is the size of the positive negative lift of adjusting motion module, is implemented in hovering and heave in the water.When articulated driving equipment 4 driving rotating shafts 3 rotate, can produce relative angular displacement between inside casing 1 and the housing 2.Active mechanical adaptor union 6 on the motion module inside casing engages with the passive mechanical connector 7 of another motion module, and by catch gear 8 lockings, realizes the joint between the motion module.Need at first free catch gear 8 during disengagement, realize the separation between the motion module then.After the motion module combination, the active electric coupler 9 of inside casing links to each other with the passive electric coupler 10 of another motion module housing, main simultaneously, passive electric coupler and Central Processing Unit (CPU) 12 connections of motion module separately, the connection of power supply and signal between the realization motion module.Need at first to disconnect being connected of Central Processing Unit (CPU) of main passive electric coupler and motion module separately during disengagement, free catch gear 8 again.All these actions are all finished according to instruction control by Central Processing Unit (CPU) 12.Central Processing Unit (CPU) 12 is measured and sent to the state of motion module in water by depth transducer 13, position transduser 14 and contact pickup 15.
As shown in Figure 4, carry the frame 16 that module B has only a watertight, two pairs of initiatively joint face and passive joint faces relatively have been installed on two pairs of end faces parallel with its geometirc symmetry axis, carry module B and be provided with two cover active mechanical adaptor union 6 and catch gears 8, the passive mechanical connector 7 of two covers, two covers are electric coupler 9 initiatively, the passive electric coupler 10 of two covers, Central Processing Unit (CPU) 12 and contact pickup 15, these parts connect with motion module in identical, controlled by its Central Processing Unit (CPU) with separating with bonding operation of other lift-launch module B or motion module A, implementation and motion module are similar.
As Fig. 5, Fig. 6 and shown in Figure 7, a plurality of motion module A are or/and carry module B and interconnect by the passive joint face of the master on it, can be spliced into the platform of multiple version, representative type platform structure form comprises: (1) eel shape structure: motion module A forms chain structure by series connection, in the chain structure or connect into some and carry module B, the module at chain structure middle part utilizes a pair of relative active joint face to be connected two adjacent blocks with passive joint face, and two modules at chain structure two ends utilize an active joint face to be connected an adjacent block with a passive joint face respectively.(2) loop configuration: motion module A series connection forms loop configuration, and in the loop configuration or connect into some and carry module B, each module in the loop configuration utilizes a pair of relative active joint face to be connected two adjacent blocks with passive joint face.(3) octopus shape structure: an end of three above eel shape structure subchains is connected to public lift-launch module B.
Can realize moving about and the wriggling in seabed in the water when platform of the present invention is eel shape structure, can realize moving about in the water when platform is octopus shape version and creep in the seabed, can realize seabed crawler type motion when platform is the loop configuration form.
Claims (9)
1, a kind of dispersion self-organizing under-water operation platform, it is characterized in that, be formed by connecting by a plurality of motion module A, perhaps be formed by connecting by a plurality of motion module A and lift-launch module B, it is shaft parallel that two motion module A have two kinds of connection modes, perhaps rotating shaft is vertical, between two lift-launch module B two kinds of connection modes being arranged is that geometirc symmetry axis is parallel, perhaps geometirc symmetry axis is vertical, one carries that between module B and the motion module A two kinds of connection modes to be arranged also be geometirc symmetry axis and shaft parallel, perhaps geometirc symmetry axis is vertical with rotating shaft, and a plurality of motion module A are or/and a plurality of lift-launch module B is connected to form the platform of multiple version.
2, dispersion self-organizing under-water operation platform according to claim 1, it is characterized in that, motion module A is made up of housing (2) and inside casing (1), inside casing (1), housing (2) link to each other by rotating shaft (3), housing (2) is connected with rotating shaft (3), inside casing (1) is supported in the rotating shaft (3) by axle sleeve (5), and by the driving of countershaft (3), housing (1) can rotate to 90 degree scopes at-90 degree around inside casing (2).
3, dispersion self-organizing under-water operation platform according to claim 2, it is characterized in that, in inside casing (1), be respectively equipped with under water initiatively joint face and passive joint face on relative two end faces of housing (2) under water, active mechanical adaptor union (6) and active electric coupler (9) are initiatively arranged in the joint face, passive mechanical connector (7) and passive electric coupler (10) are arranged in the passive joint face, active mechanical adaptor union (6) on the inside casing (1) engages with the passive mechanical connector (7) of another motion module A, and, initiatively and in the passive joint face also be respectively equipped with contact pickup (15) by catch gear (8) locking.
4, dispersion self-organizing under-water operation platform according to claim 2, it is characterized in that, inside casing (1) is provided with the interior cabin of watertight, be provided with buoyancy regulating device (11), articulated driving equipment (4) in the cabin and be that centring control processing unit (12), the central processing unit of core reserved some external interfaces with the microcontroller, be provided with depth transducer (13) in the side of inside casing (1), rotating shaft (3) is provided with angular transducer (14).
5, dispersion self-organizing under-water operation platform according to claim 1, it is characterized in that, carry the frame (16) that module B has only a watertight, relatively be provided with two pairs of initiatively joint face and passive joint faces on two pairs of end faces parallel with its geometirc symmetry axis, carry module B and be provided with two cover active mechanical adaptor union (6) and catch gears (8), two cover passive mechanical connectors (7), two covers are electric coupler (9) initiatively, two cover passive electric couplers (10), Central Processing Unit (CPU) (12) and contact pickup (15), identical among these parts connection modes and the motion module A, control by its Central Processing Unit (CPU) (12) with separating with engaging also of other lift-launch or motion module.
6, dispersion self-organizing under-water operation platform according to claim 1, it is characterized in that, a plurality of motion module A are or/and carry module B and interconnect by the master on it, passive joint face, be spliced into the platform of multiple version, representative type platform structure form comprises: eel shape structure, loop configuration, octopus shape structure.
7, dispersion self-organizing under-water operation platform according to claim 6, it is characterized in that, eel shape structure is, motion module A forms chain structure by series connection, in the chain structure or connect into some and carry module B, the module at chain structure middle part utilizes a pair of relative active joint face to be connected two adjacent blocks with passive joint face, and two modules at chain structure two ends utilize an active joint face to be connected an adjacent block with a passive joint face respectively.
According to claim 6 or 7 described dispersion self-organizing under-water operation platforms, it is characterized in that 8, octopus shape structure is that an end of three above eel shape structure subchains is connected to public lift-launch module B.
9, dispersion self-organizing under-water operation platform according to claim 6, it is characterized in that, loop configuration is: motion module A series connection forms loop configuration, in the loop configuration or connect into some and carry module B, each module in the loop configuration utilizes a pair of relative active joint face to be connected two adjacent blocks with passive joint face.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03129625 CN1268519C (en) | 2003-07-03 | 2003-07-03 | Platform for scattered and selforganizing underwater operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03129625 CN1268519C (en) | 2003-07-03 | 2003-07-03 | Platform for scattered and selforganizing underwater operation |
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| Publication Number | Publication Date |
|---|---|
| CN1482044A true CN1482044A (en) | 2004-03-17 |
| CN1268519C CN1268519C (en) | 2006-08-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 03129625 Expired - Fee Related CN1268519C (en) | 2003-07-03 | 2003-07-03 | Platform for scattered and selforganizing underwater operation |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104635744A (en) * | 2014-12-18 | 2015-05-20 | 西北工业大学 | Random coupling and multi-load laying method for autonomous underwater vehicles |
| CN106181987A (en) * | 2016-08-31 | 2016-12-07 | 浙江大学 | Natural buoyancy adjustable flexible underwater manipulator |
| CN108583826A (en) * | 2018-04-03 | 2018-09-28 | 广州航海学院 | A kind of type of extension underwater operation platform |
| CN110316342A (en) * | 2019-07-22 | 2019-10-11 | 吉林大学 | One kind is surged flexible bionic fish and its working method |
-
2003
- 2003-07-03 CN CN 03129625 patent/CN1268519C/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104635744A (en) * | 2014-12-18 | 2015-05-20 | 西北工业大学 | Random coupling and multi-load laying method for autonomous underwater vehicles |
| CN104635744B (en) * | 2014-12-18 | 2017-06-06 | 西北工业大学 | A kind of autonomous underwater carrier Random Coupling multi-load lays method |
| CN106181987A (en) * | 2016-08-31 | 2016-12-07 | 浙江大学 | Natural buoyancy adjustable flexible underwater manipulator |
| CN106181987B (en) * | 2016-08-31 | 2018-10-26 | 浙江大学 | The adjustable flexible underwater manipulator of natural buoyancy |
| CN108583826A (en) * | 2018-04-03 | 2018-09-28 | 广州航海学院 | A kind of type of extension underwater operation platform |
| CN110316342A (en) * | 2019-07-22 | 2019-10-11 | 吉林大学 | One kind is surged flexible bionic fish and its working method |
| CN110316342B (en) * | 2019-07-22 | 2023-05-16 | 吉林大学 | Hydraulic flexible bionic fish and working method thereof |
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| Publication number | Publication date |
|---|---|
| CN1268519C (en) | 2006-08-09 |
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Granted publication date: 20060809 Termination date: 20120703 |