CN1631620A - Patrol machine fish - Google Patents
Patrol machine fish Download PDFInfo
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- CN1631620A CN1631620A CN 200510023177 CN200510023177A CN1631620A CN 1631620 A CN1631620 A CN 1631620A CN 200510023177 CN200510023177 CN 200510023177 CN 200510023177 A CN200510023177 A CN 200510023177A CN 1631620 A CN1631620 A CN 1631620A
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- machine fish
- patrol machine
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Abstract
The invention is a patrol machine fish including sealing shell, electric power impelling system controlling system, weight and gravity center adjusting system, detecting system, computer administrating center, satellite communicating system, throwing away float antenna and so on. The sealing shell of the patrol machine fish is made of light metal which has fine pressure resistance and water sealing performance. The water tank, pump and portable base lead make up the weigh and gravity center adjusting system which adjusts the specific density close to the sea so to travel without buoyancy drifting with waves. The electric power impelling system consists of lithium battery, transmitter, motor and impeller. The power source includes the ocean current and electric power so that the machine fish has got a cruising range normally tens of days or several months underwater continuously with thousands of miles voyage. The control system consists of theodolite, depth checker, angle sensor, steering engine and rudder, controlling the direction and stability the machine fish travels under water. The detecting system consists of sonar, camera and all kinds of sensors to make the machine fish capable of all kinds of underwater missions. When communication with the land command center is needed the fish releases a throwing away float antenna which automatically floats to the surface of the sea and communicates and locates with the satellite and the GPS, and cuts off the wire or optical fiber links to the antenna so to throw away the float antenna which normally taken within the machine fish in the antenna cavity in tens of numbers when the machine fish sails out on mission.
Description
Technical field
The present invention relates to a kind of patrol machine fish, can carry out the patrol detection mission under water.Rely on ocean current to advance and the electric power propelling, can navigate by water continuously under water tens days, in addition some months, several thousand kilometers of voyages.Owing to utilize the part of ocean current as power, conserve energy has reduced manufacturing and operating cost greatly.Relate in particular to a kind of detection system of having carried sonar, gamma camera, various sensors, carry out the underwater reconnaissance task.Also relate in particular to a kind of communication system that carries disposal type float antenna, make patrol machine fish that good disguise and security be arranged, can be implemented in simultaneously under water and get in touch, realize gps satellite location and radio communication contact with satellite communication.Patrol machine fish is a kind of underwater intelligent sail body of specific use, can be unmanned submarine, UUV or underwater robot again.
Background technology
Ocean development and the vast coastal areas and territorial seas of defendance need various boats and ships, submarine, underwater robot and UUV.Because be wireless blind area under water, reconnaissance satellite can be had at fingertips to the land of the earth, still, to powerless under water.The ocean occupy earth surface long-pending 70%.The deep-sea more has huge space requirement to survey.
The diving tool of deepwater works such as submarine, UUV, underwater robot because of its good mobility, disguise, has guaranteed huge fighting capacity and security.Yet, make and the operating cost costliness.To the large-scale development ocean with safeguard vast coastal areas and territorial seas, just as an utterly inadequate amount.
Submarine, UUV etc. execute the task at every turn, often go to sea several weeks, even some months.Carrier in the vast oceans, need often be kept in communication with land command centre and get in touch year in year out under water.Because can't realize the radio communication contact under water.Often need under water carrier to emerge and carry out communication contact.Float to the phytal zone like this, on the one hand, interrupted the continuity of carrier deepwater work under water; On the other hand, emerge and often brought, expose the danger of diving instruments target position to the open air, the safety of diving instruments is threatened.
Wide stretches of ocean can be divided into me and control the district, high sea, and he controls the district.When carrier navigated by water in nonego control district under water, disguise was very important.
The diving instruments that has utilizes vast of heaven line to carry out the radio communication contact by increasing the length of telescopic antenna.Yet the length of telescopic antenna is limited after all, and diving instruments must utilize night, on float to the phytal zone and carry out communication.Because the progress of night observation device, danger increases in the same old way.The come-up of diving instruments and dive all need spended time, especially in the nonego control zone, and come-up very risky, this all is a unsafe factor.
Patrol machine fish have make and operating cost cheap, good concealment realizes characteristics such as radio communication contact under water.
Summary of the invention
Characteristics such as the purpose of this invention is to provide a kind of patrol machine fish, have that the ocean current of utilization advances and electric power advances two kinds of thrust powers, noise is little, and good concealment is energy-conservation, and voyage is big, and manufacturing, operating cost are cheap.
Another object of the present invention provides a kind of patrol machine fish, carries various detecting devices, finishes various reconnaissance missions under water.
Another object of the present invention provides a kind of patrol machine fish that uses disposal type float antenna, and it has good disguise, when carrying out deepwater work continuously, does not need come-up, realizes that carrying out radio communication with satellite gets in touch.
A kind of patrol machine fish comprises: seal casinghousing, electric power propulsion system, control system, weight center of gravity regulating system, detection system, computer control center, Satellite Communication System, gps satellite navigation system, compositions such as disposal type float antenna.The seal casinghousing of patrol machine fish has good voltage endurance capability and watertightness by the light metal material manufacturing; The water tank of seal casinghousing inside, pump, can move lead extrusion etc. and form the weight center of gravity regulating system; Make patrol machine fish proportion near seawater, during underwater navigation, be neutral buoyancy, the ability that patrol machine fish is had drift with the tide.The electric power propulsion system is made up of lithium battery, speed changer, motor, screw etc.; The voyage of patrol machine fish is advanced by ocean current and electric propulsion two parts provide.The electric power propulsion system that patrol machine fish relies on ocean current and carries has bigger endurance, generally can navigate by water tens days continuously under water to some months, several thousand kilometers of voyages.Control system is formed the direction of control patrol machine fish underwater navigation and the stability of navigation thereof by patrolling footpath instrument, depth controller, angular transducer, steering wheel, rudder etc.Detection system is made up of sonar, gamma camera, various sensor, makes patrol machine fish can carry out all kinds of reconnaissance missions under water.When patrol machine fish need be with land command centre communication contact, patrol machine fish discharged disposal type float antenna under water, and the floating automatically sea of going up of float antenna is realized getting in touch with GPS with satellite communication and located; Communication finishes, and patrol machine fish cuts off optical fiber or the lead that is connected with the float antenna, abandons the float antenna.General patrol machine fish goes to sea on a patrol duty, carries tens float antennas in the aerial compartment.
Description of drawings
Fig. 1 is the rough schematic of patrol machine fish of the present invention.
The specific embodiment
With reference to Fig. 1, be the rough schematic of a patrol machine fish.Seal casinghousing 1 has good voltage endurance capability and watertightness by the light metal material manufacturing.The weight center of gravity regulating system is by water tank 16, pump, and pipeline can move lead extrusion 3 compositions such as grade.By the plus-minus water yield of water tank 16, the proportion that guarantees patrol machine fish is neutral buoyancy under water near seawater; By moving the front and back displacement of lead extrusion 3, cooperate the manipulation of steering wheel 9 and rudder 11, make patrol machine fish can utilize ocean current under water, coastal flow path direction, is stablized and is advanced as power by ocean current.Patrol machine fish can drift with the tide along ocean current, and most of voyage obtains by ocean current.The electric power propulsion system is by lithium battery 7, speed changer, and motor 10, screw 12 compositions such as grade can low velocity advance.Patrol machine fish can advance with ocean current, also can advance with electric power, according to the task needs, selects decision by computer control center 5.Control system is by direction instrument 13, depth controller 14, angular transducer, steering wheel 9, rudder 12 compositions such as grade.The direction of control patrol machine fish underwater navigation and the stability of navigation thereof.Direction instrument 13 adopts the common footpath instrument of patrolling, when patrol machine fish from the gps satellite navigation system, when obtaining the accurate longitude and latitude of own position,, determine target direction by sea chart analysis in the heart in the computer control, steering is advanced to target direction.The selection of target must be along current direction, and patrol machine fish can not stem, because do not carry enough electric power energy.Following current and advancing is the shortcoming of patrol machine fish, or perhaps the characteristics of patrol machine fish.Detection system is made up of sonar 4, gamma camera 2, various sensor (as: temperature sensor, salt sub sensor, velocity sensor, ocean current sensor, magnetic sensor, angular transducer or the like), makes patrol machine fish can carry out all kinds of reconnaissance missions.Computer control center 5 is at first managed, is controlled patrol machine fish and normally navigates by water towards target direction, rationally utilizes the lithium battery energy, and for example, how 45 days navigational duty opens the electric power propulsion system dexterously, utilizes minimum electric energy, obtains maximum voyage.During this period, allow weight center of gravity regulating system and control system co-ordination in the nature of things.Secondly, the computer control center will command detection system to work hard, and surrounding environment and the data logging that needs to scout are got off.Once more, after patrol navigation a period of time, according to the agreement of land command centre, need carry out communication contact with satellite.At this moment, discharge a float antenna in aerial compartment, float to the sea on the float antenna, patrol machine fish carries out radio communication with land command centre via satellite and gets in touch.By the gps satellite navigation system, determine the accurate longitude and latitude of patrol machine fish current location, judge the last time course deviation of navigation, accept the instruction of land command centre, send report reconnaissance data and result.Communication finishes, and by cutter 15, cuts off the connecting line of float antenna and patrol machine fish.In order to reduce the danger that patrol machine fish exposes target to the open air, communication contact need be seized every minute and second.Because control the district, because the target that the radio communication contact causes exposes also danger under cover to the open air in high sea and he.Except necessary both-way communication with accept to send necessary reconnaissance data the instruction, at the connecting line that can cut off float antenna and patrol machine fish, patrol machine fish speeds away after the communications zone, and independent and satellite communication is got in touch by the float antenna.Certainly, this just need discharge before the float antenna, and the computer control center is filled into the data that must send in advance in the chip of float antenna and goes.If, when he controls the navigation of marine site, district, patrol machine fish has more correct assurance to ship trajectory, do not need to accept the new instruction of land command centre, patrol machine fish can discharge the float antenna that only sends data, and the communication delay time, wait patrol machine fish to leave after, carry out to send the data task again.Guarantee the disguise and the security of patrol machine fish.The float antenna has the self-destruction ability after finishing communication task, keep unknown to god or ghost as far as possible.
If what the float antenna adopted is the lead winding, after connecting line cut off, patrol machine fish need carry out insulation processing to the lead fracture, guaranteed that communication system is not subjected to seawater influence, kept necessary insulaion resistance.
When patrol machine fish needed dive, water tank added water, made patrol machine fish be negative buoyancy force, the lead extrusion reach, and hydroplane is laid rudder, realizes dive; In case the arrival submerged depth stops dive.Tank drains is moved behind the lead extrusion, recovers horizontal operational configuration.
When patrol machine fish need float, tank drains made patrol machine fish be positive buoyancy, moves behind the lead extrusion, and hydroplane is stamped rudder, realized come-up; In case the arrival desired depth stops come-up.Water tank adds water, and the lead extrusion reach recovers horizontal operational configuration.
Patrol machine fish is finished patrol mission, the base of going home, and the floating water surface of going up of patrol machine fish is waited for salvaging and is reclaimed.Maintenance is safeguarded, the next round task is carried out in the charging back.
The present invention is not subjected to the restriction of above embodiment, and those skilled in the art just can draw without creative thinking, all in protection scope of the present invention.
Claims (8)
1, a kind of patrol machine fish comprises:
Seal casinghousing, electric power propulsion system, control system, weight center of gravity regulating system, detection system, computer control center, Satellite Communication System, gps satellite navigation system, compositions such as disposal type float antenna;
Seal casinghousing has good voltage endurance capability and watertightness by the light metal material manufacturing; The water tank of seal casinghousing inside, pump, can move lead extrusion etc. and form the weight center of gravity regulating system; Make patrol machine fish proportion near seawater, during underwater navigation, be neutral buoyancy, the ability that patrol machine fish is had drift with the tide;
The electric power propulsion system is made up of lithium battery, speed changer, motor, screw etc.; Voyage is advanced by ocean current and electric propulsion two parts provide;
Control system is formed the direction and the navigation stability of the underwater navigation of control patrol machine fish by patrolling footpath instrument, depth controller, angular transducer, steering wheel, rudder etc.;
Detection system is made up of sonar, gamma camera, various sensor, makes patrol machine fish can carry out all kinds of reconnaissance missions;
Disposal type float antenna is discharged under water by patrol machine fish, the floating automatically sea of going up of float antenna, and realization is got in touch with GPS with satellite communication and is located; Communication finishes, and patrol machine fish cuts off optical fiber or the lead that is connected with the float antenna, abandons the float antenna;
The computer control center has various systems soft wares and expert system, embodies the high intelligence of patrol machine fish;
Patrol machine fish is the underwater intelligent sail body of specific use, can be unmanned submarine, UUV or underwater robot again; The electric power propulsion system that patrol machine fish relies on ocean current and carries has bigger endurance, generally can navigate by water tens days continuously under water to some months, several thousand kilometers of voyages.
2, patrol machine fish as claimed in claim 1 is characterized in that, wherein said seal casinghousing has good voltage endurance capability and watertightness by the light metal material manufacturing; The water tank of seal casinghousing inside, pump, can move lead extrusion etc. and form the weight center of gravity regulating system; Make patrol machine fish proportion near seawater, during underwater navigation, be neutral buoyancy, have the ability of drifting with the tide.
3, patrol machine fish as claimed in claim 1 is characterized in that, wherein said electric power propulsion system is made up of lithium battery, speed changer, motor, screw etc.; The voyage of patrol machine fish is provided by ocean current and electric propulsion two parts.
4, patrol machine fish as claimed in claim 1 is characterized in that, wherein said disposal type float antenna is discharged under water by patrol machine fish, the floating automatically sea of going up of float antenna, and realization is got in touch with GPS with satellite communication and is located; Communication finishes, and patrol machine fish cuts off optical fiber or the lead that is connected with the float antenna, abandons the float antenna;
5, patrol machine fish as claimed in claim 1 is characterized in that, wherein said control system is formed the direction and the navigation stability of the underwater navigation of control patrol machine fish by patrolling footpath instrument, depth controller, angular transducer, steering wheel, rudder etc.;
6, patrol machine fish as claimed in claim 1 is characterized in that, wherein said detection system is made up of sonar, gamma camera, various sensor, makes patrol machine fish can carry out all kinds of reconnaissance missions;
7, patrol machine fish as claimed in claim 1 is characterized in that, wherein said computer control center has various systems soft wares and expert system, embodies the high intelligence of patrol machine fish.
8, patrol machine fish as claimed in claim 1 is characterized in that, wherein said Satellite Communication System and gps satellite navigation system are when patrol machine fish across the sea the time, with common antenna communication contact; When patrol machine fish under water during operation, carry out communication contact with the float antenna.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200510023177 CN1631620A (en) | 2005-01-10 | 2005-01-10 | Patrol machine fish |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200510023177 CN1631620A (en) | 2005-01-10 | 2005-01-10 | Patrol machine fish |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1631620A true CN1631620A (en) | 2005-06-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200510023177 Pending CN1631620A (en) | 2005-01-10 | 2005-01-10 | Patrol machine fish |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100354079C (en) * | 2005-07-15 | 2007-12-12 | 中国船舶重工集团公司第七○九研究所 | High performance intelligent controlling computer system for underwater robot |
| CN100423987C (en) * | 2005-09-26 | 2008-10-08 | 中国科学院自动化研究所 | Bionic robot fish |
| CN101799546A (en) * | 2010-03-30 | 2010-08-11 | 中国船舶重工集团公司第七〇二研究所 | High-speed and long-distance fish shoal detection robot and detection method |
| CN101854390A (en) * | 2010-05-25 | 2010-10-06 | 上海交通大学 | Movable underwater observation network analog platform |
| CN102692924A (en) * | 2012-05-10 | 2012-09-26 | 西北工业大学 | Experimental control structure of unmanned surface vessel |
| CN106598079A (en) * | 2016-10-28 | 2017-04-26 | 山东鲁虹农业科技股份有限公司 | Steering engine for agricultural remote-control fluid fertilizer or pesticide spraying machine |
| CN106697105A (en) * | 2016-11-27 | 2017-05-24 | 申俊 | Robot used for real-time monitoring of storage materials |
| CN107178375A (en) * | 2017-06-02 | 2017-09-19 | 中国航发南方工业有限公司 | Unmanned submariner car |
| CN108312151A (en) * | 2018-01-22 | 2018-07-24 | 哈尔滨工程大学 | It drifts about and detects underwater robot device and control method |
| CN108508884A (en) * | 2018-02-06 | 2018-09-07 | 南京永为科技有限公司 | Patrol seaplane device people |
-
2005
- 2005-01-10 CN CN 200510023177 patent/CN1631620A/en active Pending
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100354079C (en) * | 2005-07-15 | 2007-12-12 | 中国船舶重工集团公司第七○九研究所 | High performance intelligent controlling computer system for underwater robot |
| CN100423987C (en) * | 2005-09-26 | 2008-10-08 | 中国科学院自动化研究所 | Bionic robot fish |
| CN101799546A (en) * | 2010-03-30 | 2010-08-11 | 中国船舶重工集团公司第七〇二研究所 | High-speed and long-distance fish shoal detection robot and detection method |
| CN101854390A (en) * | 2010-05-25 | 2010-10-06 | 上海交通大学 | Movable underwater observation network analog platform |
| CN102692924A (en) * | 2012-05-10 | 2012-09-26 | 西北工业大学 | Experimental control structure of unmanned surface vessel |
| CN106598079A (en) * | 2016-10-28 | 2017-04-26 | 山东鲁虹农业科技股份有限公司 | Steering engine for agricultural remote-control fluid fertilizer or pesticide spraying machine |
| CN106697105A (en) * | 2016-11-27 | 2017-05-24 | 申俊 | Robot used for real-time monitoring of storage materials |
| CN107178375A (en) * | 2017-06-02 | 2017-09-19 | 中国航发南方工业有限公司 | Unmanned submariner car |
| CN107178375B (en) * | 2017-06-02 | 2019-05-24 | 中国航发南方工业有限公司 | Unmanned submariner vehicle |
| CN108312151A (en) * | 2018-01-22 | 2018-07-24 | 哈尔滨工程大学 | It drifts about and detects underwater robot device and control method |
| CN108508884A (en) * | 2018-02-06 | 2018-09-07 | 南京永为科技有限公司 | Patrol seaplane device people |
| CN108508884B (en) * | 2018-02-06 | 2023-04-18 | 南京永为科技有限公司 | Overwater patrol robot |
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