CN1594030A - Shallow water type continuous unmanned submersible vehicle - Google Patents
Shallow water type continuous unmanned submersible vehicle Download PDFInfo
- Publication number
- CN1594030A CN1594030A CN 200410025677 CN200410025677A CN1594030A CN 1594030 A CN1594030 A CN 1594030A CN 200410025677 CN200410025677 CN 200410025677 CN 200410025677 A CN200410025677 A CN 200410025677A CN 1594030 A CN1594030 A CN 1594030A
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- mouth
- submersible
- navigationsystem
- actr
- tailplane
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- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
This invention is a kind of continual shallow-water unmanned submerged machine including the shell, vertical fins, reversible propeller, tail plane , the cabane, connecting tubes, navigation system , communication system, underwater detection system, water detection system, water-pressure sensor , dynamical system, tail plane actuator, vertical fin actuator, engine scavenging port, navigation system receiver and control system. The speed of the submerged machine can be achieved by the turning speed of the reversible propeller, the course-changing can be achieved by changing the vertical angle of the vertical fins, the posture control and regulation of the submerged machine can be completed by the coordinated action of the tail plane and vertical fins. This invention can navigate itself according to the scheduled or temporary order under the totally pilotless condition, and it can give a steady performance when there are fierce wind and waves. It doesn't need any special expensive energy system and gas supply system and it has a cabinet build, the economy of making cost and cheap operation. With carrying enough routine fuel only, it can finish the strategic task ceaselessly.
Description
Technical field
The present invention relates to a kind of unmanned submersible, especially a kind of lasting shallow water type unmanned submersible who moves in the shallow water scope belongs to the category of ships and light boats under water in the Marine engineering technical field.
Background technology
The present submersible that uses or cable is arranged is supplied with the energy and is controlled by lash ship; Or do not have cable, need special energy resource system and gas supply system support performance.In the prior art, the patent No. is the utility model patent of 03242141.9 " the two-tube minisub of intake and exhaust is arranged ", be provided with special buoyancy pallet, to settle the midget submarine two-tube atmosphere connection port of internal combustion engine air-exhausting air-entering, can only be under held water under the right up and down situation work of driving engine, also need in submersible, deliver operating personal and be handled and control.But have wave lift with surfy situation under, the Submarine of band buoyancy pallet can't carry out work, can not move under unmanned condition; There is the Submarine of cable independently not go on a long journey; Need the special energy resource system and the submersible of gas supply system to involve great expense the additional difficulty of source of the gas.
Summary of the invention
In order to overcome the deficiencies in the prior art and defective, the invention provides a kind of lasting shallow water type unmanned submersible.This submersible is in operation and continue keeps the set degree of depth, does not only have cable, can independently go on a long journey, and does not also need the energy resource system and the gas supply system of special costliness, can also be under the sea situation that waves whipped up by the wind rolled turbulently reliable operation.
The present invention mainly comprises housing, vertical tail, but counterrotating propeller, tailplane, upper frame, adapting pipe, navigationsystem, communication system, detection system waterborne, the underwater exploration system, hydraulic pressure sensor, power system, the tailplane actr, vertical tail actr, engine breathing mouth, the navigationsystem receptor, control system, communication system reception/transmitter.At the afterbody of submersible, be mounted with reversible screw propeller, the thrust that provides submersible to advance or retreat.The both sides at housing rear portion are mounted with tailplane, and tailplane can rotate along common horizontal shaft synchronously, changes the angle of attack, with the rising and the decline of control submersible.Under the abdomen at submersible housing rear portion, vertical tail is installed, vertical tail can rotate along vertical axis, and the angle of change and housing vertical centering control facade is to adjust the sideway movement direction of submersible.The upper frame of submersible is positioned on the water surface, and the inside is installed with engine breathing mouth, detection system waterborne, communication system reception/transmitter and navigationsystem receptor.The adapting pipe of submersible is the parts that are rigidly connected of submersible upper frame and submersible housing, connecting tube between the engine breathing mouth and engine breathing mouth in the power system is installed in the adapting pipe, and the connecting cable that links to each other with system in the housing of detection system waterborne, communication system reception/transmitter, navigationsystem receptor.Navigationsystem, communication system, underwater exploration system, hydraulic pressure sensor, power system, tailplane actr, vertical tail actr, control system are installed in the submersible housing.Communication system reception/transmitter is electrically connected with communication system is two-way, and communication system is electrically connected with control system is two-way again.The mouth of navigationsystem receptor is electrically connected with the input end of navigationsystem, and the navigationsystem mouth is electrically connected with the input end of control system.Detection system waterborne is connected with the underwater exploration system, and the mouth after the series connection is electrically connected with the control system input end.The mouth of hydraulic pressure sensor is electrically connected with the control system input end.
A mouth of control system is electrically connected with the input end of power system, but the power system mouth is connected with the counterrotating propeller axle.Another mouth of control system is electrically connected with the input end of vertical tail actr, and the vertical tail actr is connected with the vertical tail axle.The 3rd mouth of control system is electrically connected with the tailplane actr, and the tailplane actr is connected with the tailplane axle.
Velocity variations of the present invention, but the rotating speed by counterrotating propeller is realized, course of the present invention changes angle by vertical tail and changes and realize, this lasting shallow water type unmanned submersible's attitude control and adjusting is realized by the concerted action of tailplane and vertical tail.
When communication system reception/transmitter is received the current order signal of command centre, pass the signal to communication system.Communication system sends to control system to current order information.Control system this current order as supreme command.When not having current order, the contemplated route that is stored in the control system will be carried out as supreme command.The navigationsystem receptor of submersible is when continuous received signal, at any time pass the signal to navigationsystem, navigationsystem is sent to control system with operation result, in control system, compare with supreme command, the signal that detection system and detection system waterborne received under the unfree water carries out comprehensive computing, to determine the position result relatively and the requirement of position adjustment, concurrent outgoing direction instruction and speed command.The direction instruction is sent to the vertical tail actr, and to change course, speed command is sent to power system, but to change the rotating speed of counterrotating propeller, the gait of march of regulating submersible.Control system sends operation result to communication system simultaneously, is sent to command centre by communication system reception/transmitter again, the orientation of report submersible self and the information that detects.
The signal of hydraulic pressure sensor impression is converted to depth signal, compares with the set degree of depth, obtains the change in depth instruction, is sent to the tailplane actr, to change the angle of tailplane, adjusts the diving depth of submersible.
The signal of hydraulic pressure sensor impression obtains the attitude judgement of submersible through the computing of control system, and sends the action of attitude variation instruction with control and regulation vertical tail and tailplane, reaches the purpose of adjusting the submersible attitude.
The present invention independently navigates by water according to predetermined or instant instruction under complete unmanned condition, also can reliable operation under the sea situation that waves whipped up by the wind rolled turbulently.Do not need special expensive energy resource system and gas supply system, also do not need numerous and diverse source of the gas replenish step, the bodily form is small and exquisite, cost economic, and over-the-road expense is cheap.As long as carry enough conventional fuels, just can finish strategic task without a break.
Description of drawings
Fig. 1 is a profile scheme drawing of the present invention.
Fig. 2 is a structured flowchart of the present invention.
Among the figure: the 1st, housing, the 2nd, vertical tail, the 3rd, but counterrotating propeller, the 4th, tailplane, the 5th, upper frame, the 6th, adapting pipe, the 7th, navigationsystem, the 8th, communication system, the 9th, detection system waterborne, the 10th, underwater exploration system, the 11st, hydraulic pressure sensor, the 12nd, power system, the 13rd, tailplane actr, the 14th, vertical tail actr, the 15th, engine breathing mouth, the 16th, navigationsystem receptor, the 17th, control system, the 18th, communication system reception/transmitter
The specific embodiment
Below in conjunction with accompanying drawing concrete enforcement of the present invention is further described.
As shown in Figure 1 and Figure 2, the present invention mainly comprises housing 1, vertical tail 2, but counterrotating propeller 3, tailplane 4, upper frame 5, adapting pipe 6, navigationsystem 7, communication system 8, detection system 9 waterborne, underwater exploration system 10, hydraulic pressure sensor 11, power system 12, tailplane actr 13, vertical tail actr 14, engine breathing mouth 15, navigationsystem receptor 16, control system 17, communication system reception/transmitter 18.
The upper frame 5 of submersible is positioned on the water surface, and the inside is equipped with engine breathing mouth 15, detection system waterborne 9, communication system reception/transmitter 18 and navigationsystem receptor 16.The adapting pipe 6 of submersible is the parts that are rigidly connected of submersible upper frame 5 and submersible housing 1, connecting tube between the engine breathing mouth and engine breathing mouth 15 in the power system 12 is installed in the adapting pipe 6, and the connecting cable that links to each other with each system in the housing 1 of detection system waterborne 9, communication system reception/transmitter 18, navigationsystem receptor 16.
At the afterbody of submersible, be mounted with reversible screw propeller 3, the thrust that provides submersible to advance or retreat.The both sides at housing 1 rear portion are mounted with tailplane 4, and tailplane 4 can rotate along common horizontal shaft synchronously, changes the angle of attack, with the rising and the decline of control submersible.Under the abdomen at submersible housing 1 rear portion, vertical tail 2 is installed, vertical tail 2 can rotate along vertical axis, and the angle of change and housing 1 vertical centering control facade is to adjust the sideway movement direction of submersible.
Communication system reception/transmitter 18 and communication system 8 two-way electrical connections, communication system 8 again with control system 17 two-way electrical connections.
The mouth of navigationsystem receptor 16 is electrically connected with the input end of navigationsystem 7, and navigationsystem 7 mouths are electrically connected with the input end of control system 17.
The mouth of hydraulic pressure sensor 11 is electrically connected with the input end of control system 17.
A mouth of control system 17 is electrically connected with the input end of power system 12, but the mouth of power system 12 is connected with 3 of counterrotating propellers.Another mouth of control system 17 is electrically connected with the input end of vertical tail actr 14, and vertical tail actr 14 is connected with 2 of vertical tails.The 3rd mouth of control system 17 is electrically connected with tailplane actr 13, and tailplane actr 13 is connected with 4 of tailplanes.
Velocity variations of the present invention, but the rotating speed by counterrotating propeller 3 is realized, course of the present invention changes angle by vertical tail 2 and changes and realize, this lasting shallow water type unmanned submersible's attitude control and adjusting is realized by the concerted action of tailplane 4 and vertical tail 2.
When communication system reception/transmitter 18 is received the current order signal of command centre, pass the signal to communication system 8.Communication system 8 sends to control system 17 to current order information.Control system 17 this current order as supreme command.When not having current order, the contemplated route that is stored in the control system 17 will be carried out as supreme command.The navigationsystem receptor 16 of submersible is when continuous received signal, at any time pass the signal to navigationsystem 7, navigationsystem 7 is sent to control system 17 with operation result, in system, compare with supreme command, the signal that detection system 10 and detection system waterborne 9 are received under the unfree water carries out comprehensive computing, according to operation result to determine position result and the requirement adjusted of position relatively, concurrent outgoing direction instruction and speed command, the direction instruction is sent to vertical tail actr 2, to change course, speed command is sent to power system 12, but to change the rotating speed of counterrotating propeller 3, the gait of march of regulating submersible.Control system 17 sends operation result to communication system 8 simultaneously, is sent to command centre by communication system reception/transmitter 18 again, with the orientation of report submersible self and the information that detects.
The signal of hydraulic pressure sensor 11 impressions is converted to depth signal, compares with the set degree of depth, obtains the change in depth instruction, is sent to tailplane actr 13, to change the angle of tailplane 4, adjusts the degree of depth of submersible.
The signal of hydraulic pressure sensor impression obtains the attitude judgement of submersible through the computing of control system 17, and sends the action of attitude variation instruction with control and regulation vertical tail 2 and tailplane 4, reaches the purpose of adjusting the submersible attitude.
Claims (1)
1. lasting shallow water type unmanned submersible, mainly comprise housing (1), vertical tail (2), but counterrotating propeller (3), tailplane (4), upper frame (5), adapting pipe (6), navigationsystem (7), communication system (8), detection system waterborne (9), underwater exploration system (10), hydraulic pressure sensor (11), power system (12), tailplane actr (13), vertical tail actr (14), engine breathing mouth (15), navigationsystem receptor (16), control system (17), communication system reception/transmitter (18), the upper frame of submersible (5) is positioned on the water surface, and the inside is equipped with the scavenge port (15) of driving engine, detection system waterborne (9), communication system reception/transmitter (18) and navigationsystem receptor (16); The adapting pipe of submersible (6) is the parts that are rigidly connected of submersible upper frame (5) and submersible housing (1), connecting tube between the engine breathing mouth and engine breathing mouth (15) in the power system (12) is installed in the adapting pipe (6), and the connecting cable that links to each other with interior each system of housing (1) of detection system waterborne (9), communication system reception/transmitter (18), navigationsystem receptor (16); Navigationsystem (7) is installed in Submarine housing (1), communication system (8), underwater exploration system (10), hydraulic pressure sensor (11), power system (12), tailplane actr (13), vertical tail actr (14), control system (17), afterbody at submersible, be mounted with reversible screw propeller (3), the both sides at housing rear portion are mounted with tailplane (4), under the abdomen at submersible housing (1) rear portion, vertical tail (2) is installed, communication system reception/transmitter (18) and two-way electrical connection of communication system (8), communication system (8) again with two-way electrical connection of control system (17); The mouth of navigationsystem receptor (16) is electrically connected with the input end of navigationsystem (7), and navigationsystem (7) mouth is electrically connected with the input end of control system (17); Detection system waterborne (9) is connected with underwater exploration system (10), and the same control system of the mouth after the series connection (17) input end is electrically connected; The mouth of hydraulic pressure sensor (11) is electrically connected with the input end of control system (17); A mouth of control system (17) is electrically connected with the input end of power system (12), power system (12) but mouth and counterrotating propeller (3) axle be connected, another mouth of control system (17) is electrically connected with the input end of vertical tail actr (14), vertical tail actr (14) is connected with vertical tail (2) axle, the 3rd mouth of control system (17) is electrically connected with tailplane actr (13), and tailplane actr (13) is connected with tailplane (4) axle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100256777A CN1302962C (en) | 2004-07-01 | 2004-07-01 | Shallow water type continuous unmanned submersible vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100256777A CN1302962C (en) | 2004-07-01 | 2004-07-01 | Shallow water type continuous unmanned submersible vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1594030A true CN1594030A (en) | 2005-03-16 |
| CN1302962C CN1302962C (en) | 2007-03-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNB2004100256777A Expired - Fee Related CN1302962C (en) | 2004-07-01 | 2004-07-01 | Shallow water type continuous unmanned submersible vehicle |
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| CN (1) | CN1302962C (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100357155C (en) * | 2005-06-16 | 2007-12-26 | 上海交通大学 | Buoyancy and propellor dual-driving-mode long-distance autonomous underwater robot |
| CN100357158C (en) * | 2005-11-24 | 2007-12-26 | 上海交通大学 | Optronic two-channel auto-observation following semi-submerged device |
| CN101913418A (en) * | 2010-08-26 | 2010-12-15 | 华南理工大学 | Multi-degree-of-freedom water-jet propulsion cable remote underwater robot |
| CN102530206A (en) * | 2012-02-15 | 2012-07-04 | 上海大学 | Differential attitude control system for unmanned autonomous underwater vehicles |
| CN102582808A (en) * | 2012-03-10 | 2012-07-18 | 徐国元 | Unmanned submarine |
| CN102937795A (en) * | 2012-11-19 | 2013-02-20 | 国家海洋技术中心 | Autonomous underwater sailing observation platform security assurance device |
| CN105129055A (en) * | 2015-09-09 | 2015-12-09 | 北京南风科创应用技术有限公司 | ROV (remote operated vehicle) and underwater scanning method |
| CN111086613A (en) * | 2019-12-25 | 2020-05-01 | 天津大学 | Unmanned underwater vehicle and method for monitoring river water quality |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102963513B (en) * | 2012-09-10 | 2015-06-17 | 缪仙荣 | Foley submarine |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2812758C3 (en) * | 1978-03-23 | 1981-07-16 | Laukien, Günther Rudi, Prof.Dr.rer.nat., 7512 Rheinstetten | Double hull watercraft |
| US4350114A (en) * | 1980-03-17 | 1982-09-21 | Sea-Log Corporation | Semi-submersible tanker with directional ice cutters |
| CN2378285Y (en) * | 1999-05-13 | 2000-05-17 | 中国船舶工业总公司第七研究院第七一九研究所 | Semi-diving submarine for tour and sight-seeing |
| CN2404800Y (en) * | 1999-09-01 | 2000-11-08 | 纪国利 | Two purpose vessel for pleasure used in or under water |
| GB2361458B (en) * | 2000-04-20 | 2002-12-11 | Stephen James Phillips | Autonomous semi-submersible vehicles |
| US6484660B1 (en) * | 2001-08-30 | 2002-11-26 | The United States Of America As Represented By The Secretary Of The Navy | Underwater nuclear material reconnaissance system |
-
2004
- 2004-07-01 CN CNB2004100256777A patent/CN1302962C/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100357155C (en) * | 2005-06-16 | 2007-12-26 | 上海交通大学 | Buoyancy and propellor dual-driving-mode long-distance autonomous underwater robot |
| CN100357158C (en) * | 2005-11-24 | 2007-12-26 | 上海交通大学 | Optronic two-channel auto-observation following semi-submerged device |
| CN101913418A (en) * | 2010-08-26 | 2010-12-15 | 华南理工大学 | Multi-degree-of-freedom water-jet propulsion cable remote underwater robot |
| CN101913418B (en) * | 2010-08-26 | 2012-10-31 | 华南理工大学 | Multi-degree-of-freedom water-jet propulsion cable remote underwater robot |
| CN102530206A (en) * | 2012-02-15 | 2012-07-04 | 上海大学 | Differential attitude control system for unmanned autonomous underwater vehicles |
| CN102582808A (en) * | 2012-03-10 | 2012-07-18 | 徐国元 | Unmanned submarine |
| CN102937795A (en) * | 2012-11-19 | 2013-02-20 | 国家海洋技术中心 | Autonomous underwater sailing observation platform security assurance device |
| CN105129055A (en) * | 2015-09-09 | 2015-12-09 | 北京南风科创应用技术有限公司 | ROV (remote operated vehicle) and underwater scanning method |
| CN111086613A (en) * | 2019-12-25 | 2020-05-01 | 天津大学 | Unmanned underwater vehicle and method for monitoring river water quality |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1302962C (en) | 2007-03-07 |
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Granted publication date: 20070307 |