CN205574243U - Pull -type is degree of depth underwater observation system independently - Google Patents

Pull -type is degree of depth underwater observation system independently Download PDF

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Publication number
CN205574243U
CN205574243U CN201620402188.7U CN201620402188U CN205574243U CN 205574243 U CN205574243 U CN 205574243U CN 201620402188 U CN201620402188 U CN 201620402188U CN 205574243 U CN205574243 U CN 205574243U
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China
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observation
pull
master control
framework
type
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CN201620402188.7U
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Chinese (zh)
Inventor
温国义
宋文鹏
付龙文
王巧宁
陈令新
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NORTH CHINA SEA ENVIRONMENTAL MONITORING CENTER OF STATE OCEANIC ADMINISTRATION
Yantai Institute of Coastal Zone Research of CAS
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NORTH CHINA SEA ENVIRONMENTAL MONITORING CENTER OF STATE OCEANIC ADMINISTRATION
Yantai Institute of Coastal Zone Research of CAS
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Abstract

The utility model relates to a pull -type is degree of depth underwater observation system independently, set up in the frame top including draging the link, and closely link to each other with the frame, the AMR master control electronic cabin set up inside the frame, vertical thrusters connects AMR master control electronic cabin, AMR master control electronic cabin is just connected on being fixed in the frame to the sensor, the video surveys the module be fixed in the frame front end, and connects AMR master control electronic cabin, the module homonymy is just surveyd with the video on being fixed in the frame to the LED lamp, the floating block sets up in the frame both sides, laminates with the frame. The utility model discloses the observation scope is big, stability is high, with low costs, utilize bionics design theory, can put the optimum observation depth of water, satisfies the needs of underwater photography and observation, have simple, the pure digital storage of design and transmission, POE power supply, the lift -launch degree of depth the gesture advantage such as speedtransmitter, full automatization can realize the search under water and the observation of marine environment surveying, sea -floor relief survey and drawing, ocean recovering work, search under water and military surveillance.

Description

Pull-type autonomous depth underwater observation system
Technical field
This utility model relates to the autonomous depth underwater observation of marine environmental monitoring field, specifically pull-type System.
Background technology
Ocean is the cradle of life, be also human society depend on for existence development material source.Along with the modern times Changing development, land resource has presented the sign of exhaustive exploitation.Required for meeting, the mankind are the most gradually by sight It is transferred to ocean.The ocean taking up an area ball surface area 71% can not only provide abundant food for the mankind, also contains Substantial amounts of mineral resources, living resources and other energy, its resource and energy reserve land to be far above Reserves, it is a genuine treasure-house.
Ocean research and effective exploitation utilize ocean, and the development to national economy from now on and society plays great Impetus, is also the inexorable trend of 21 century each coastal state development.Each ocean, world big country puts into more to come The most manpower and materials, to ocean research field, have promoted the development of ocean research technology.
At present, along with the development of oceanographic observation system, all kinds of sea sensors and measuring instrument have formed seriation Product, ocean current techique also develops towards modularity, standardization direction.Meanwhile, visit as ocean The underwater hiding-machine surveying platform also achieves large development.Underwater hiding-machine is divided into manned underwater vehicle and unmanned submersible, Wherein unmanned submersible includes autonomous underwater robot (autonomous underwater vehicle, AUV), remote Journey remote underwater robot (remotelyoperated vehicle, ROV), underwater towed vehicle, (underwater towed vehicle)。
Underwater towed vehicle, i.e. belongs to pull-type UAV navigation, and it fully relies on the water surface and supports that lash ship drags Drag propelling, and provide power and the information of control by associated umbilical cord.Its voyage is completely by working mother boat Voyage determines, is little affected by limiting, thus can search on a large scale and detect.Due to underwater towing system System working method is simple, handiness, and cost is relatively low, therefore grinds regardless of the science at civil area Study carefully or underwater performance the most militarily, it suffers from being widely applied.Militarily it is mainly used in accurately Sea-bottom survey and search, location, careful mapping and identify and find seabed object.In terms of scientific research, It is mainly used to carry out the research work of deep-sea geology, geophysics, benthic and ocean engineering.People In the multiple Underwater Technology of class utility model, underwater towed system, is utilized to carry out ocean research work and complete Various detection mission is become to remain a kind of effective approach, along with the performance of towing system improves constantly, its city Field demand the most constantly expands.
But, it is the most complicated that existing pull-type UAV navigation also exists control system, and structure is excessively Huge, operation is complicated, the degree of depth adjusts and realizes towing depth control by the angle of attack of the regulation itself controllable controlling the water circulation wing System.Although the mode that folding and unfolding cable changes towing depth has the ability quickly regulating the degree of depth, but controls thicker Rough, it is difficult to towed body being carried out little depth bounds and is accurately positioned, inconvenience carries out gesture stability, it is impossible to from master control The system regulation degree of depth.
Utility model content
For the deficiencies in the prior art, this utility model provides one, and observation scope is big, stability is high, cost Low pull-type autonomous depth underwater observation system, can realize marine environment exploration, sea floor surreying, sea Ocean recovery project, under water search and the search under water of military surveillance and observation.
This utility model be the technical scheme is that for achieving the above object
A kind of pull-type autonomous depth underwater observation system, including:
Towing link 1 is arranged at above framework 6, and closely coupled with framework 6;
AMR master control electronic compartment 9 is arranged at lower portion, and connects water surface reception control terminal by umbilical cables, Receive the water surface and receive the control instruction controlling terminal, and receive control by being transferred to the water surface after the process of collection data Terminal processed;
Vertical pusher connects AMR master control electronic compartment 9, receives the control instruction of AMR master control electronic compartment 9 Advance;
Sensor 3 is fixed on framework 6, and connects AMR master control electronic compartment 9, the data collected is sent out Deliver to AMR master control electronic compartment 9;
Video observation module 4 is fixed on framework 6 front end, and connects AMR master control electronic compartment 9, is used for gathering AMR master control electronic compartment 9 it is sent to after video image;
LED 3 is fixed on framework 6, and observes module 4 homonymy with video, is used for illuminating;
Floating block 7 is arranged at framework 6 both sides, fits with framework 6, is used for keeping robot pose to balance.
Described framework 6 includes peripheral skeleton and central shaft connecting portion, and surface is nanometer titanium dioxide coating; Described peripheral skeleton is ABS plastic material, and central shaft connecting portion is aluminium material, and surface is nanometer titanium dioxide Titanium coating.
Described vertical pusher includes main vertical pusher 2 and auxiliary vertical pusher 8.
Described main vertical pusher 2 is arranged at the both wings of floating block 7, is responsible for being longitudinally propelling.
Described auxiliary vertical pusher 8 is arranged at framework 6 afterbody, is responsible for level and advances and assistant longitudinal propelling.
Described towing link 1 is made up of a straight-bar and two bent stick.
Described floating block 7 is airfoil structure, and uses expanded material as buffer medium, and outer layer is polyurea materials Make external protection.
Described video observation module 4 is close through sealed compartment for be made up of high-definition camera and Two Dimensional Rotating The Cloud Terrace The observation device of envelope.
Described sensor 3 includes depth transducer, attitude transducer and velocity sensor.
This utility model has the advantages that and advantage:
This utility model observation scope is big, stability is high, low cost, utilize bionic design theory, permissible It is put into the most suitable observation depth of water, meets the needs of underwater photography and observation, have and design simple, pure digi-tal Changing storage to power with transmission, POE, carry the degree of depth-attitude-advantage such as velocity sensor, full-automation, this is System can realize marine environment exploration, sea floor surreying, ocean recovery project, under water search and military surveillance Search under water and observation.
Accompanying drawing explanation
Fig. 1 is structure chart of the present utility model, wherein, 1 for towing link, 2 be main vertical pusher, 3 it is sensor, 4 is video observation module, 5 is LED, 6 is framework, 7 is floating block, 8 is auxiliary vertical Straight propeller, 9 it is AMR master control electronic compartment.
Detailed description of the invention
Below in conjunction with the accompanying drawings and this utility model is described in further detail by embodiment.
Being illustrated in figure 1 structure chart of the present utility model, pull-type autonomous depth underwater observation system is by pulling Link 1, buoyancy aid 7, the framework 6 of ABS material, video observation module 4, LED 5, sensor 3, The modules such as major-minor vertical pusher 8, AMR master control electronic compartment 9, with remote control terminal by umbilical cables hands Dynamic capstan winch and umbilical cables interact.By embedded automatic technology, POE power supply technique, network technology It is combined, and the ingenious pull-type main body that solves is transmitted electrical multiplexed with confession from master control deep water and cable data; System uses under water in data and the power supply of AMR electronic control device, solves submarine system equipment and occurs Single-sensor is abnormal to be needed total system power-off or hangs the integrity problem of backwater surface reseting sensor, significantly Reduce the fault rate of instrumentation control system;System carries out data acquisition to the degree of depth-attitude-velocity sensor in real time Analyze, and the hydrodynamic force equation of motion set up by inside calculated, and precisely controls major-minor propeller, it is achieved System maintains the depth of water or the instruction degree of depth that issues according to user to carry out depth of water adjustment automatically;Use ABS material, The most lightweight, and there is extraordinary impact resistance, significantly protect intrasystem equipment not by external Impact.
Towing link 1 is in the top of system and is made up of two bent stick and a straight-bar, and material is all adopted Use alloy material, with main body frame compact siro spinning technology.
Floating block 7 is in the floating block of the left and right sides of system, and synthetic foam floats material, wing, close structure, Firm, streamlined for regulating the attitude of self, it is allowed to balance.
Framework 6 is that framework uses ABS material, the most lightweight, and has extraordinary impact resistance. The crossbeam skeleton of framework is all that ABS mold forms, and intensity is high, is fastened by rustless steel or aluminium sheet between crossbeam. The assembly of internal system all interts and is fixed between framework.
Video observation module 4 is to be placed on The Cloud Terrace by 1080P high-definition camera, range of accommodation+30 ° to-90 °. Wide-angle lens, uses flat mirror bucker, and image is without deformation.
Umbilical cables hand winch is made up of cross bar, slip ring, reel, casing, handle, umbilical cables, slip ring Being 24 paths of standard, handle can be dismantled, can folding and unfolding umbilical cables the most voluntarily.Umbilical cables oversheath is adopted With high-quality PVC compound, surface exquisiteness has superpower elasticity and pliability and pull resistance internal employing POE Power supply saves the quantity of cable, thus realizes data and the transmission of power supply that 8 cores are fastened.Solve water The problem that the cable of lower towing kind equipment is thick and many.
LED 5 uses 2x40W LED, and light source is higher, and light intensity is adjustable, can illuminate apart from farther.In vain Light modulation designs with photographic head separate space, it is ensured that do not form mist in camera lens.
AMR master control electronic compartment 9, sets up linux real time operating system in using ARM, and system is in real time to deeply Degree-attitude-velocity sensor carries out data collection and analysis, and the hydrodynamic force equation of motion set up by inside is carried out Calculate, precisely control major-minor propeller, it is achieved system maintains the depth of water or the instruction degree of depth issued according to user automatically Carry out depth of water adjustment.Video sampling and compressing is also processed by AMR governor circuit, then all data is packaged into Ethernet data bag, is transferred to the water surface by ICP/IP protocol by packet and receives control terminal.AMR simultaneously Embedded Control center receives the water surface and receives the concerned control command controlling terminal, and implements crawler belt, lamp The corresponding of the module such as light, sensor controls and configuration.Use novel AMR architecture can realize low-power consumption, High efficiency, system highly reliable, real-time control.
Sensor 3 includes that the degree of depth, attitude, velocity sensor, sensor data cable and power line are all linked into AMR master control electronic compartment, all of data acquisition and data analysis are all to complete in AMR control centre, Sensor occurs abnormal the longest when need to reset, it is only necessary to control terminal waterborne sends correspondence order, passes through AMR Embedded Control center realizes resetting the soft or hard for abnormality sensor, thus solves and see under water in implementation During survey, equipment is hung the integrity problem of backwater surface reseting sensor, greatly reduces instrumentation control system Fault rate.
Major-minor vertical pusher, is the propeller using 4 150W high thrusts, and wherein 2 are positioned at system Left and right both wings be main vertical pusher 2, main be responsible for the lifting that system depth entirety is overall;Other 2 positions Afterbody in system is additional vertical propeller 8, and main horizontal adjustment of being responsible for adjusts with the auxiliary degree of depth.All of Angle of rake power controls to be completed by AMR master control electricity circuit.
In sum, embedded automatic technology, POE power supply technique, network technology are combined by native system, And the ingenious pull-type main body that solves transmits electrical multiplexed with confession from master control deep water and cable data;System Use under water in data and the power supply of AMR electronic control device, solve submarine system equipment and patrilineal line of descent with only one son in each generation occurs Sensor is abnormal to be needed total system power-off or hangs the integrity problem of backwater surface reseting sensor, is substantially reduced The fault rate of instrumentation control system;System carries out data acquisition to the degree of depth-attitude-velocity sensor in real time and divides Analysis, and calculated by the internal hydrodynamic force equation of motion set up, precisely control major-minor propeller, it is achieved be The system maintenance depth of water automatically or the instruction degree of depth issued according to user carry out depth of water adjustment;Use ABS material, no The most lightweight, and there is extraordinary impact resistance, significantly protect intrasystem equipment not rushed by external Hit.Can be used for coastal geology, littoral zone benthic and the research work of ocean engineering.

Claims (9)

1. a pull-type autonomous depth underwater observation system, it is characterised in that including:
Towing link (1) is arranged at framework (6) top, and closely coupled with framework (6);
AMR master control electronic compartment (9) is arranged at lower portion, and connects water surface reception control terminal by umbilical cables, receives the water surface and receives the control instruction controlling terminal, and controls terminal by being transferred to water surface reception after the process of collection data;
Vertical pusher connects AMR master control electronic compartment (9), and the control instruction receiving AMR master control electronic compartment (9) advances;
Sensor (3) is fixed on framework (6), and connects AMR master control electronic compartment (9), and the data collected are sent to AMR master control electronic compartment (9);
Video observation module (4) is fixed on framework (6) front end, and connects AMR master control electronic compartment (9), is sent to AMR master control electronic compartment (9) after being used for gathering video image;
LED (5) is fixed on framework (6), and observes module (4) homonymy with video, is used for illuminating;
Floating block (7) is arranged at framework (6) both sides, fits with framework (6), is used for keeping robot pose to balance.
Pull-type the most according to claim 1 autonomous depth underwater observation system, it is characterised in that: described framework (6) includes peripheral skeleton and central shaft connecting portion, and surface is nanometer titanium dioxide coating;Described peripheral skeleton is ABS plastic material, and central shaft connecting portion is aluminium material, and surface is nanometer titanium dioxide coating.
Pull-type the most according to claim 1 autonomous depth underwater observation system, it is characterised in that: described vertical pusher includes main vertical pusher (2) and auxiliary vertical pusher (8).
Pull-type the most according to claim 3 autonomous depth underwater observation system, it is characterised in that: described main vertical pusher (2) is arranged at the both wings of floating block (7), is responsible for being longitudinally propelling.
Pull-type the most according to claim 3 autonomous depth underwater observation system, it is characterised in that: described auxiliary vertical pusher (8) is arranged at framework (6) afterbody, is responsible for level and advances and assistant longitudinal propelling.
Pull-type the most according to claim 1 autonomous depth underwater observation system, it is characterised in that: described towing link (1) is made up of a straight-bar and two bent stick.
7. according to the autonomous depth underwater observation system of the pull-type described in claim 1 or 4, it is characterised in that: described floating block (7) is airfoil structure, and uses expanded material as buffer medium, and outer layer is that polyurea materials makees external protection.
Pull-type the most according to claim 1 autonomous depth underwater observation system, it is characterised in that: described video observation module (4) is the observation device sealed through sealed compartment being made up of video camera and Two Dimensional Rotating The Cloud Terrace.
Pull-type the most according to claim 1 autonomous depth underwater observation system, it is characterised in that: described sensor (3) includes depth transducer, attitude transducer and velocity sensor.
CN201620402188.7U 2016-05-06 2016-05-06 Pull -type is degree of depth underwater observation system independently Active CN205574243U (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108974285A (en) * 2018-07-27 2018-12-11 国家深海基地管理中心 A kind of depth towed body finely reconnoitred for combustible ice
CN110763429A (en) * 2019-10-16 2020-02-07 北京机电工程研究所 Force measuring method for sub-components of pool towing test model

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108974285A (en) * 2018-07-27 2018-12-11 国家深海基地管理中心 A kind of depth towed body finely reconnoitred for combustible ice
CN108974285B (en) * 2018-07-27 2019-08-16 国家深海基地管理中心 A kind of depth towed body finely reconnoitred for combustible ice
CN110763429A (en) * 2019-10-16 2020-02-07 北京机电工程研究所 Force measuring method for sub-components of pool towing test model
CN110763429B (en) * 2019-10-16 2021-07-13 北京机电工程研究所 Force measuring method for sub-components of pool towing test model

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