CN1640765A - Semi-independent submersible device - Google Patents
Semi-independent submersible device Download PDFInfo
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- CN1640765A CN1640765A CN 200410093137 CN200410093137A CN1640765A CN 1640765 A CN1640765 A CN 1640765A CN 200410093137 CN200410093137 CN 200410093137 CN 200410093137 A CN200410093137 A CN 200410093137A CN 1640765 A CN1640765 A CN 1640765A
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Abstract
The semi-autonomous submarine has water sealed hull comprising transparent pressure-proof glass cover and main hull; video camera capable of rotating in several directions and LCD screen inside the glass cover; underwater video camera, operating handle and keyboard for diver to use; imaging sonar in the bottom for detecting sea bed topography; control computer, gyroscope, cell and driving motor inside the main hull; one pair of stabilizing prow wings and one pair of stern hydroplanes for stabilizing navigation direction and regulating the depth of the submarine separately; one pair of auxiliary propellers capable of rotating in vertical planes to provide the submarine with vertical lift and auxiliary running function and horizontal steering performance; two main propellers and one pair of stern fins for stable navigation; and optical cable for the data transmission between the submarine and the mother ship.
Description
Technical field
The present invention relates to a kind of submersible, relate in particular to a kind of semi-independent submersible device, is a kind of novel submersible of High Performance that submarine target is searched for, surveyed of being used for, and belongs to engineering field, naval vessel.
Background technology
Disguised and high efficiency is one of direction of pursuing of current minisub, and is all the more so concerning military hardware.
Under-water operation is because the particularity of its environment often will depend on various types of unmanned submersibles.Unmanned submersible's portability pick up camera and sonar and other sensing equipments are worked in abominable underwater environment, can explore the diver because physiological condition the is limit degree of depth under water that can not detect, thus avoided injury that harsies environment such as high pressure, low temperature may cause human body and the mankind's exploration field has been extended greatly.The unmanned submersible mainly is divided into two kinds by its control mode, i.e. remote-operated vehicle (Remote Operated Vehicle) and independent submersible device (Autonomous Underwater Vehicle).
Remote-operated vehicle (ROV) mainly is meant band cable free-swimming submersible, and its principal character is a umbilical cables that is connected to lash ship (water surface) from submersible.This umbilical cables is the means that power and transmission signals are provided to submersible from lash ship (water surface).Remote-operated vehicle itself does not carry power, and its power transmits from lash ship by umbilical cable.This umbilical cord also is responsible for the control signal of transmission from the lash ship to the remote-operated vehicle and real time video signals and the sensor signal of transmitting to lash ship from remote-operated vehicle, sonar signal etc. simultaneously.
Independent submersible device (AUV) is that a kind of and lash ship (water surface) do not have and contact directly, the self-powered and submersible that can operate voluntarily.This submersible is generally just operated by preset program, also has can accept in operational process from the water surface by acoustical signal to change course and the degree of depth and collect that simple instructions such as data operate.The maximum characteristics of independent submersible device are that it has certain artificial intelligence and perfect automatic control technology.
Remote-operated vehicle and independent submersible device have the characteristics of himself separately.The characteristics of remote-operated vehicle are determined by its umbilical cable.Because the umbilical cable of remote-operated vehicle is because transmission power and signal, generally all compare thick, weight is also bigger, often can not provide buoyancy, and bring bigger resistance (accounting for more than 90% of remote-operated vehicle total drag under some situation). this radius of action that has just limited remote-operated vehicle generally is no more than 400 meters of lash ships on every side.This shortcoming has just produced disguised difference and the problem of efficient low (operating radius is little) in military use.And the characteristics of independent submersible device have remedied this shortcoming of remote-operated vehicle.Independent submersible device is because no cable operation, so need not lash ship, but the at high speed submarine navigation, and it is low to have a cost, the advantage of good concealment.Independent submersible device also has following characteristics in addition: the computer software that can adapt to different missions and target is arranged; Can search in the community survey and the a/s mode of regulation; Can differentiate target; Can evade obstacle; Can reclaim automatically; Deng.But present independent submersible device development level has also determined its inadequate natural endowment part: the degree of intelligence of independent submersible device is low, can't carry out acquiring a certain degree of difficulty of task, and as can not differentiating the target of finding, even size also can not differentiated; The precision of some sensor and instrument still can not be satisfactory.This shows that the requirement that independent submersible device will reach dive warning and this class military activity of military surveillance still has one section very long road to walk.
Summary of the invention
The objective of the invention is at the deficiencies in the prior art, a kind of semi-independent submersible device (Semi-Autonomous Underwater Vehicle) is provided, combined with remote-control submersible and independent submersible device be characteristics separately, realize both mutual supplement with each other's advantages, enlarge the scope of work of submersible, guarantee real time of data transmission and disguise, satisfy the demand of various civilian, military under-water operations.
For realizing such purpose, design-calculated semi-independent submersible device of the present invention will be used to transmit power and data on the basis of remote-operated vehicle umbilical cable changes the optical cable that only transmits data into, to reduce the cross-sectional area of umbilical cable, reduce the weight and the consequent resistance of umbilical cable, make the action radius of submersible reach 15000 meters of lash ships on every side.The power of submersible adopts the autonomous presentation mode of independent submersible device to provide with the battery that carries.Control information is transmitted to submersible from lash ship by optical cable, the feedback information of submersible and real time video image, and data such as sonar signal are also returned to lash ship by optical cable.
Semi-independent submersible device of the present invention mainly is divided into stem, captain boat body and afterbody, comprise the watertight pressure-resistant shell that the pneumatic shell by the transparent withstand voltage glass cover of stem and captain boat body constitutes together, a pair of fixing first stabilizer on the captain boat body, a pair of tail diving rudder, a pair of auxiliary propeller that can in vertical plane surface, rotate, a pair of fixed vertical tail fin of afterbody, a pair of main thruster also has a computing machine optical cable that is connected to lash ship of drawing internally.The submersible stem seals with transparent withstand voltage plexiglass tent, but pick up camera and the LCDs that is fixed on multi-directional rotation on the The Cloud Terrace is equipped with in inside, and pick up camera can be taken underwater video image, and LCDs is observed for the diver when manned operating mode.Captain boat body pneumatic shell front upper is provided with Underwater Camera, bar handle and keyboard, uses for the diver when manned operating mode, and imaging sonar is equipped with in captain boat body pneumatic shell bottom, is used to survey bottom topography.The computing machine that is used to control, the gyroscope that is used for location navigation, the battery that power is provided, main propulsion motor and other accessory equipments are equipped with in captain boat body pneumatic shell inside.Underwater Camera, bar handle, keyboard and under water imaging sonar all link to each other with computing machine in the captain boat body.Captain boat body front part sides fixedly installs first stabilizer, and both sides, captain boat body rear portion are provided with the tail diving rudder that can rotate in vertical longitudinal plane, and both sides, captain boat body middle part are provided with the auxiliary propeller that can rotate in vertical and longitudinal plane.The afterbody of submersible is arranged side by side two main thrusters, and a pair of vertical tail fin is set on the vertical direction of main thruster.First stabilizer and vertical tail fin can play the effect of steady course.The tail diving rudder is used for adjusting the rising and the dive of semi-independent submersible device.Auxiliary propeller can provide vertical lift and auxiliary function of advancing by the semi-independent submersible device that rotates to be in the vertical surface, and can improve the turning efficiency of semi-independent submersible device in horizontal surface.Captain boat body and above the afterbody curve junction waffle slab is set can play a protective role to the diver when manned operating mode.Optical cable is drawn from captain boat body in-to-in computing machine, passes watertight captain boat body and connects the outer realization bidirectional data transfers that is connected with lash ship of submersible.
The present invention has two kinds of operating modes: unmanned operational configuration and manned operational configuration.During unmanned operational configuration, by the lash ship personnel by optical cable to the submersible sending controling instruction, submersible is beamed back to lash ship by optical cable and is surveyed the data that obtain.When manned state navigated by water, the diver was prostrate in submersible top, by the operational configuration of bar handle on the housing and Keyboard Control submersible.Also pass through LCDs simultaneously, handle, keyboard is communicated by letter with lash ship.The diver is when scouting operation, and the hand-holdable Underwater Camera that is arranged on housing top is taken for the water surface and shore target, and video data returns lash ship in real time by optical cable.
Semi-independent submersible device of the present invention is owing to adopted fiber optic cable communications and autonomous dynamic, therefore scope of work extends greatly than traditional remote-operated vehicle, real time of data transmission and disguise also are guaranteed simultaneously, can replace the frogman and investigate under water and offshore investigation operation, stronger application value in army is arranged.
Description of drawings
Fig. 1 is a structure birds-eye view of the present invention.
Among Fig. 1,1 is LCDs, and 2 is withstand voltage glass cover, 3 is pick up camera, and 5 is computing machine, stabilizer headed by 6,7 is auxiliary propeller, and 8 is optical cable, and 9 is the tail diving rudder, 10 is main thruster, and 12 is waffle slab, and 13 is main propulsion motor, 14 is battery, and 15 is gyroscope, and 17 is Underwater Camera, 18 is bar handle, and 19 is keyboard.
Fig. 2 is a structural front view of the present invention.
Among Fig. 2,1 is LCDs, and 2 is withstand voltage glass cover, and 3 is pick up camera, and 4 is imaging sonar, stabilizer headed by 6,7 is auxiliary propeller, and 9 is the tail diving rudder, and 10 is main thruster, and 11 is vertical tail fin, 12 is waffle slab, and 16 is the withstand voltage of main shell, and 17 is Underwater Camera, and 18 is bar handle.
Fig. 3 is the left view of structure of the present invention.
Among Fig. 3,1 is LCDs, and 3 is pick up camera, and 4 is imaging sonar, and 5 is computing machine, and 7 is auxiliary propeller, and 17 is Underwater Camera, and 18 is bar handle.
Fig. 4 is the block diagram of structure of the present invention.
Among Fig. 4,1 is LCDs, and 2 is withstand voltage glass cover, 3 is pick up camera, and 4 is imaging sonar, and 5 is computing machine, stabilizer headed by 6,7 is auxiliary propeller, 8 is optical cable, 9 is the tail diving rudder, and 10 is main thruster, and 11 is vertical tail fin, 12 is waffle slab, and 16 is the withstand voltage of main shell, and 17 is Underwater Camera, 18 is bar handle, and 19 is keyboard.
The specific embodiment
Below in conjunction with accompanying drawing technical scheme of the present invention is further described.
Figure 1 shows that submersible plan structure signal of the present invention.The transparent glass cover 2 that is positioned at the submersible stem constitutes the watertight case of submersible of the present invention with the pneumatic shell of captain boat body, glass cover 2 is the watertight pressure-resistant structure, but the pick up camera 3 and the LCDs 1 of fixing multi-directional rotation on the in-to-in The Cloud Terrace, LCDs 1 is horizontally placed on the top of pick up camera 3, can be in sight from glass cover 2 outside tops, when manned operating mode, watch for the diver.Submersible captain boat body pneumatic shell 16 tops are provided with a bar handle 18 and keyboard 19 near the transparent withstand voltage glass cover of stem 2 places, when manned operating mode, operate with control submersible boat attitude for the diver, and operation of fluid,matching crystal display screen and lash ship real-time Communication for Power.Captain boat body front part sides fixedly installs first stabilizer 6, be used to guarantee course stability, both sides, captain boat body rear portion are provided with tail diving rudder 9, and tail diving rudder 9 can rotate in vertical longitudinal plane, the liter that is used to control submersible is dived, and its movement instruction provides by the ship borne computer.The pneumatic shell outside of both sides, captain boat body middle part is provided with an auxiliary propeller 7 respectively, auxiliary propeller 7 can rotate in vertical and longitudinal plane, be used to adjust heel and increase the alerting ability that submersible turns in horizontal surface, can also realize that the vertical liter of submersible is dived.The submersible afterbody is arranged side by side two main thrusters 10, is mainly used in propelling, can also play the effect that turns in the horizontal surface by regulating rotating speed, and its power is provided by two main propulsion motors 13 respectively.The top of captain boat body pneumatic shell and afterbody curve junction is provided with waffle slab 12, the time can play the effect of protection diver health in manned navigation, can reduce the mutual interference mutually of diver's health and main thruster 10 simultaneously.Optical cable 8 is drawn from hull in-to-in computing machine 5, passes watertight captain boat body and connects the outer realization bidirectional data transfers that is connected with lash ship of submersible.Captain boat body inside is provided with battery 14 and provides direct supply for each propelling unit and various electrical equipment, and the location navigation that gyroscope 15 is used for submersible is set, and its data can be handled and be beamed back lash ship by optical cable by ship borne computer 5.The present invention also is provided with one and can takes reaching submarine target on the bank when manned navigation for the hand-held Underwater Camera 17 that uses of diver in captain boat body front portion, its data are passed lash ship through ship borne computer 5 compression backs back by optical cable 8.
Fig. 2 is the lateral plan of structure of the present invention.The transparent glass cover 2 that is positioned at the submersible stem constitutes the watertight case of submersible with the pneumatic shell 16 of captain boat body, and transparent glass cover 2 inside are provided with pick up camera 3 and LCDs 1, and LCDs 1 is horizontally placed on the top of pick up camera 3.Captain boat body pneumatic shell 16 tops near the transparent withstand voltage glass cover of stem place are provided with a bar handle 18 and Underwater Camera 17, captain boat body bottom surface is provided with under water that imaging sonar 4 is used to survey bottom topography, and its data pass to lash ship by ship borne computer compression back by optical cable.Captain boat body front part sides fixedly installs first stabilizer 6, and two sides of tail is provided with tail diving rudder 9, and the both sides, middle part are provided with auxiliary propeller 7.The afterbody of submersible is arranged side by side two main thrusters 10, and a pair of vertical tail fin 11 is set on the vertical direction of main thruster 10, is used for further guaranteeing course stability.Optical cable 8 is drawn from captain boat body in-to-in computing machine, and captain boat body pneumatic shell 16 is provided with waffle slab 12 with the top of afterbody curve junction, can play the effect of protection diver health when manned navigation.
Fig. 3 is a left view of the present invention, i.e. the front elevation of submersible.As shown in Figure 3, transparent glass cover 2 inside that are positioned at the submersible stem are provided with pick up camera 3 and link to each other with ship borne computer 5 with LCDs 1, and LCDs 1 is horizontally placed on the top of pick up camera 3.Captain boat body top is provided with a bar handle 18 and Underwater Camera 17, and captain boat body bottom surface is provided with imaging sonar 4 under water.Captain boat body (middle part) both sides are provided with auxiliary propeller 7.
Fig. 4 is the integrally-built block diagram of the present invention.As shown in Figure 4, the transparent glass cover 2 that is positioned at the submersible stem constitutes watertight case of the present invention with captain boat body pneumatic shell 16.Glass cover 2 is the watertight pressure-resistant structure, inner The Cloud Terrace is provided with pick up camera 3, LCDs 1 is horizontally placed on the top of pick up camera 3, pick up camera 3 and LCDs 1 all connect computing machine 5, captain boat body top near glass cover 2 places is provided with Underwater Camera 17, bar handle 18 and keyboard 19, and the captain boat body bottom surface at close glass cover 2 places is provided with imaging sonar 4 under water.Captain boat body front part sides fixedly installs first stabilizer 6, both sides, captain boat body rear portion are provided with tail diving rudder 9, both sides, captain boat body middle part are provided with auxiliary propeller 7, and the afterbody of submersible is provided with two main thrusters 10, and a pair of vertical tail fin 11 is set on the vertical direction of main thruster 10.Captain boat body pneumatic shell 16 is provided with waffle slab 12 with the top of afterbody curve junction.
Semi-independent submersible device of the present invention is when unmanned operational configuration, send remote control control command by optical cable 8 to submersible by the lash ship personnel, this control command of ship borne computer 5 usefulness is controlled each kinematic mechanism (oar, rudder) and is carried out, to reach desired submersible mode of operation.Submersible is beamed back sensors such as pick up camera 3, imaging sonar 4 and is surveyed the data that obtain to lash ship by optical cable 8.When manned state navigated by water, the diver was prostrate in submersible top, by the operational configuration of bar handle on the housing 18 and keyboard 19 control submersibles, and simultaneously also by LCDs 1, bar handle 18, keyboard 19 is communicated by letter with lash ship.The diver is when scouting operation, and the hand-holdable Underwater Camera 17 that is arranged on housing top is taken for the water surface and shore target, and video data and sonar data are returned lash ship in real time by optical cable 8.
Claims (1)
1, a kind of semi-independent submersible device, comprise stem, captain boat body and afterbody, the transparent withstand voltage glass cover (2) that it is characterized in that stem constitutes watertight case with the pneumatic shell (16) of captain boat body, glass cover (2) but the pick up camera (3) of fixing multi-directional rotation on the in-to-in The Cloud Terrace, LCDs (1) is horizontally placed on the top of pick up camera (3), and pick up camera (3) and LCDs (1) all connect the computing machine (5) in the captain boat body; The Underwater Camera (17) that pneumatic shell (16) front upper is provided with, bar handle (18), the imaging sonar under water (4) that the anterior bottom surface of keyboard (19) and pneumatic shell (16) is provided with all links to each other with the interior computing machine (5) of captain boat body, captain boat body front part sides fixedly installs first stabilizer (6), both sides, captain boat body rear portion are provided with the tail diving rudder (9) that can rotate in vertical longitudinal plane, both sides, captain boat body middle part are provided with the auxiliary propeller (7) that can rotate in vertical and longitudinal plane, the inner battery (14) that power is provided that is provided with of captain boat body, the gyroscope (15) and the main propulsion motor (13) that are used for location navigation; Afterbody is arranged side by side two main thrusters (10), and a pair of vertical tail fin (11) is set on the vertical direction of main thruster (10), captain boat body and waffle slab (12) is set above the afterbody curve junction; Optical cable (8) is drawn from captain boat body in-to-in computing machine (5), passes watertight captain boat body and connects the outer realization bidirectional data transfers that is connected with lash ship of submersible.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100931372A CN100413755C (en) | 2004-12-16 | 2004-12-16 | Semi-independent submersible device |
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| CNB2004100931372A CN100413755C (en) | 2004-12-16 | 2004-12-16 | Semi-independent submersible device |
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| CN1640765A true CN1640765A (en) | 2005-07-20 |
| CN100413755C CN100413755C (en) | 2008-08-27 |
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| CNB2004100931372A Expired - Fee Related CN100413755C (en) | 2004-12-16 | 2004-12-16 | Semi-independent submersible device |
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| CN101234665B (en) * | 2008-03-03 | 2011-02-09 | 中国科学院光电技术研究所 | Small-sized underwater observation robot |
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