CN207607624U - The sliding cable underwater robot solid marine monitoring system of unmanned boat towing - Google Patents
The sliding cable underwater robot solid marine monitoring system of unmanned boat towing Download PDFInfo
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- CN207607624U CN207607624U CN201721740234.5U CN201721740234U CN207607624U CN 207607624 U CN207607624 U CN 207607624U CN 201721740234 U CN201721740234 U CN 201721740234U CN 207607624 U CN207607624 U CN 207607624U
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- water surface
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Abstract
The utility model discloses unmanned boats to pull sliding cable underwater robot solid marine monitoring system, it is characterised in that：Including the unmanned lash ship of the water surface, guide cable and sliding cable robot, the hull bottom of the unmanned lash ship of the water surface is provided with staple, and for being the guide cable, the sliding cable robot string is in the lower part of guide cable；The hull bottom of the unmanned lash ship of the water surface is provided with battery Lower Hold outstanding, and the tail portion of the unmanned lash ship of the water surface is provided with 2 propellers being arranged symmetrically, and 2 propellers are connect with 1 stepper motor respectively.The beneficial effects of the utility model are：Ocean profile monitoring results can be executed under various ocean conditions, there are the work capacities such as rapid deployment, serial section detection, the tracking of dynamic spring layer, can carry different monitoring devices according to required by task.
Description
Technical field
The utility model is related to unmanned boats to pull sliding cable underwater robot solid marine monitoring system, belong to the unmanned system in ocean
The underwater complete autonomous synchronous profile monitoring technical field of the water surface-united under complicated marine environment.
Background technology
Into the new century, the various unmanned monitoring platforms in ocean are widely used in marine monitoring field, are explored for the mankind unknown
Sea World.And existing observation platform is mostly used alone, and does not form system.
Different from traditional pull-type observation platform, patent name is a kind of reality of the sliding cable underwater robot of ocean profile monitoring
Use new patent（Publication No. CN105752299A）In cunning cable underwater robot by meeting stream airfoil lift, can accomplish actively
Speed/TRAJECTORY CONTROL ability have cable control simpler, safe and reliable compared to self-propulsion type underwater observation platform.It is this
Unique motion mode is pioneering in the world, and a blank of submersible pedigree has been filled up from spatial movement mode.
Utility model content
In view of the shortcomings of the prior art, the purpose of this utility model is that being directed to utility model patent（Publication No.
CN105752299A patent names：A kind of sliding cable underwater robot of ocean profile monitoring）In cunning cable underwater robot, for
Ocean profile stereoscopic survey proposes that the utility model further provides the three-dimensional marine monitoring using the unmanned lash ship towing of the water surface
Unmanned systems can execute ocean profile monitoring results under various ocean conditions, there is rapid deployment, serial section to detect,
The work capacities such as dynamic spring layer tracking can carry different monitoring devices according to required by task.
To achieve the goals above, the utility model is to realize by the following technical solutions：
The sliding cable underwater robot solid marine monitoring system of unmanned boat towing, it is characterised in that：Including the unmanned lash ship of the water surface,
Guide cable and sliding cable robot, the hull bottom of the unmanned lash ship of the water surface is provided with staple, for being the guide cable, the sliding cable
Robot string is in the lower part of guide cable；The hull bottom of the unmanned lash ship of the water surface is provided with battery Lower Hold outstanding, the water surface without
The tail portion of people's lash ship is provided with 2 propellers being arranged symmetrically, and 2 propellers are connect with 1 stepper motor respectively.
The sliding cable underwater robot solid marine monitoring system of unmanned boat towing above-mentioned, it is characterised in that：The stepping electricity
Machine is 24V stepper motors.
The sliding cable underwater robot solid marine monitoring system of unmanned boat towing above-mentioned, it is characterised in that：The battery floor
The lithium battery of 3 pieces of 48V is provided in storehouse.
The sliding cable underwater robot solid marine monitoring system of unmanned boat towing above-mentioned, it is characterised in that：The water surface without
Be additionally provided on the upper deck of people's lash ship stem flange, stem GPS antenna, ship stern GPS antenna, wireless aerial, without line bracket,
Ship stern flange, stem flange are arranged in the front of upper deck, and stem GPS antenna is arranged on stem flange top, and ship stern flange is set
It sets in the tail portion of upper deck, antenna holder is arranged in the top of ship stern flange, and wireless aerial is arranged on no line bracket, ship stern
GPS antenna is arranged on wireless aerial.
The sliding cable underwater robot solid marine monitoring system of unmanned boat towing above-mentioned, it is characterised in that：The water surface without
Multipurpose instrument is installed on the hull of people's lash ship and carries interface, is needed to carry different equipment according to task, the equipment has
Electric winch, instrument carry frame.
The sliding cable underwater robot solid marine monitoring system of unmanned boat towing above-mentioned, it is characterised in that：The sliding cable machine
Device people does zigzag on guide cable and reciprocatingly slides.
The sliding cable underwater robot solid marine monitoring system of unmanned boat towing above-mentioned, it is characterised in that：The sliding cable machine
Device people has one, can monitor and sample in water layer any position.
The sliding cable underwater robot solid marine monitoring system of unmanned boat towing above-mentioned, it is characterised in that：The sliding cable machine
Device people has N platforms, being capable of hierarchical synchronization monitoring sampling.
The beneficial effects of the utility model are：
（1）Ocean profile monitoring results can be executed under various ocean conditions, and there is rapid deployment, serial section to examine
It surveys, the work capacities such as dynamic spring layer tracking, different monitoring devices can be carried according to required by task, from the water surface to all using nothing under water
Robot people's operation greatly reduces manpower and materials, and has all weather operations ability, and more machines are used cooperatively and can carry out
Unbroken continuous work, substantially increases operating efficiency；
（2）Compared to towed body, sliding cable robot can be free to slide on cable, and folding and unfolding cable, section tune are repeated not against deck
Look into more efficient, the ability of quick observation when having；
（3）Compared with boating type MVP and towing CTD, sliding cable robot has speed/TRAJECTORY CONTROL ability of active, can
In setting water layer steady operation, along interior wave isodensity layer tenacious tracking, especially sliding cable robot is with guide cable without electrical direct
Connection and mobile decoupling, it is free to slide under neutral buoyancy, it is very suitable for wave motion field observation operation；
（4）Compared with the underwater glider of untethered and Autonomous Underwater Vehicle, sliding cable robot has high safety
Reliability；
（5）Has live rapid deployment, serial section monitors, the work capacity of dynamic spring layer tracking, suitable ocean profile
Investigation especially internal wave of ocean monitors；
（6）Using unmanned boat as towing lash ship, operation can be carried out under the conditions of various complicated sea situations, certainly using GPS
Boat is moved away, alignment accuracy is improved so that profile monitoring data are more accurate；
（7）Lay it is simple, it is at low cost, monitor three-dimensional marine monitoring system can rapid deployment to related region, or in region
It is interior while disposing the more three-dimensional marine monitoring systems of monitoring, greatly improve monitoring efficiency；
（8）Have multiple instruments and carry ability, the unrestricted choice of instrument, operation process can be observed according to job requirements
In, can separate unit sampled or the sampling of more hierarchical synchronizations in water layer any position, realize that a machine is more by carrying different instrument and equipments
With.
Description of the drawings
It is described in detail the utility model with reference to the accompanying drawings and detailed description：
Fig. 1 is the structural schematic diagram of the three-dimensional marine monitoring system of the utility model；
Fig. 2 is the structural schematic diagram of the unmanned lash ship of the water surface in Fig. 1.
The meaning of reference numeral in figure：1, the unmanned lash ship of the water surface, 2, guide cable, 3, sliding cable robot, 11, staple, 12, electricity
Bottom of pond storehouse, 13, propeller, 14, stem flange, 15, stem GPS antenna, 16, ship stern GPS antenna, 17, wireless aerial, 18,
Antenna holder, 19, ship stern flange.
Specific implementation mode
To make the technical means, creative features, achievement of purpose, and effectiveness of the utility model be easy to understand, below
In conjunction with specific implementation mode, the utility model is expanded on further.
As depicted in figs. 1 and 2, for existing observation platform the characteristics of and limitation and the needs of interior wave observation,
The three-dimensional marine monitoring system of the utility model, including the unmanned lash ship of the water surface, guide cable and sliding cable robot, the unmanned lash ship of the water surface
Hull bottom be provided with staple, for being guide cable, sliding cable robot string is in the lower part of guide cable；The hull bottom of the unmanned lash ship of the water surface is set
It is equipped with battery Lower Hold outstanding, the tail portion of the unmanned lash ship of the water surface is provided with 2 propellers being arranged symmetrically, 2 propeller difference
It is connect with 1 stepper motor；Using the unmanned lash ship of the water surface as towing lash ship, by the airfoil lift of sliding cable robot in guide cable
It is upper to carry out the monitoring free to slide for realizing the unmanned especially internal wave of measurement of ocean profile.Three-dimensional marine monitoring system is divided into two
Part, the unmanned lash ship of the water surface and novel sliding cable robot.
Stem flange, stem GPS antenna, ship stern GPS antenna, radio are additionally provided on the upper deck of the unmanned lash ship of the water surface
Antenna, without line bracket, ship stern flange, stem flange is arranged in the front of upper deck, and stem GPS antenna is arranged on stem flange
Portion, ship stern flange are arranged in the tail portion of upper deck, and antenna holder is arranged in the top of ship stern flange, and wireless aerial is arranged in nothing
On line bracket, ship stern GPS antenna is arranged on wireless aerial.
1.8 meters of the unmanned lash ship overall length of the water surface, 0.7 meter of molded breadth is 0.48 meter high, as the towing lash ship of sliding cable robot, has
Following design feature：
Hull bottom is designed to battery hold outstanding to enhance anti-unrestrained stability.
Efficiently, reliable propulsion system is driven using twin screw shafting promotion program using 2 24V stepper motors,
By the control of motor speed, advance, retrogressing, steering and the speed control of unmanned boat are realized.
Intelligence control system is arranged in the inner cavity of the unmanned lash ship of the water surface, equips differential GPS antenna and with the embedded cores of ARM
Piece is the integrated control system of core, and the manual mode or GPS that the control of flight rocking bar can be used are walked model plane formula and transported automatically
Dynamic control, has the advantages that alignment accuracy is high.
High cruise-ability, 3 pieces of 48V lithium batteries are powered for unmanned boat, ensure the working time of unmanned boat.
Multifunctional platform, hull are mounted with that multipurpose instrument carries interface, can carry distinct device according to task needs, such as
Electric winch, instrument carry frame etc., and hull bottom installs staple to fixed sliding cable.Have the advantages that multi-functional, versatility is high.
Sliding cable robot, as the core in three-dimensional marine monitoring system, using meeting stream airfoil lift or itself is floating
It is back and forth free to slide that power does zigzag on guide cable, and can carry a variety of monitoring devices, carries the weight of ocean profile monitoring
Appoint.There is following design feature：
Sawtooth glide, can simultaneously horizontal/vertical profile survey, have the advantages that high space-time density, greatly sliding slope；
The water surface pull, folding and unfolding cable need not be repeated, reduce deck operation intensity, have when it is quick observation, quickly reach and
The simple advantage of deck operation；
It is oriented to sliding cable, not only the slide-and-guide cable as sliding cable robot, but also is the important composition cloth of underwater magnetic coupling communication
It puts, adheres to the safe and reliable practical theory of cable, effectively expand working space, have the advantages that safe and reliable, real time monitoring；
It is unpowered, by meet stream lift or natural buoyancy adjust, can to specific water layer carry out tracing control, be especially suitable for pair
Interior wave is monitored, and has the advantages that activity duration length, accurate depthkeeping measure.
The working method of the sliding cable underwater robot solid marine monitoring system of unmanned boat towing is as follows：
It lays：Towrope is installed to together with sliding cable robot on unmanned boat, then unmanned boat is thrown into the water, it can be in bank
Side is launched, and unmanned boat moves to designated position, or again puts down unmanned boat after carrying arrival predetermined maritime area by someone's lash ship.Under
Towrope stretches under the tension of weight after water, and sliding cable robot is on after unmanned boat starts due to meeting stream airfoil lift
It rises, when unmanned boat reaches command speed cruise, sliding cable robot keeps suspended state, the observation device that sliding cable robot carries
It can start to work.
Operation：In driving process, sliding cable robot does zigzag on guide cable and reciprocatingly slides, to certain depth range
Ocean profile measures, and control system adjusts elevator angle in real time according to the feedback of sliding cable robot navigation system, it is ensured that
Sliding cable robot is slided in a certain range, the three-dimensional marine monitoring system of the utility model can separate unit slide cable robot and exist
Water layer any position samples or more hierarchical synchronization detection samplings.
Therefore, the three-dimensional marine monitoring system of the utility model is very suitable for the when quick investigation of ocean profile, such as interior wave/interior
The multiple tasks directions such as tide observation, the observation of continental shelf sharp side, the observation of slope frame circulation, transport of substances observation, planktonic organism observation.Mesh
Before, marine environmental monitoring has been enter into the digital network epoch, and unmanned, intelligentized unmanned observation platform is the following oceanographic observation skill
The direction of art development, and crosspoint of the complete three-dimensional marine monitoring system unmanned machine as multi-field, more technologies, are bound to become
The hot fields of the following marine technology development.
The advantages of basic principles and main features and the utility model of the utility model have been shown and described above.One's own profession
Industry description only illustrates the principles of the present invention, on the premise of not departing from the spirit and scope of the utility model, this practicality
Novel to will also have various changes and improvements, these various changes and improvements fall within the scope of the claimed invention.This reality
It is defined by the appending claims and its equivalent thereof with novel claimed range.
Claims (8)
1. the sliding cable underwater robot solid marine monitoring system of unmanned boat towing, it is characterised in that：Including the unmanned lash ship of the water surface, lead
To cable and sliding cable robot, the hull bottom of the unmanned lash ship of the water surface is provided with staple, for being the guide cable, the sliding cable machine
Device people goes here and there in the lower part of guide cable；The hull bottom of the unmanned lash ship of the water surface is provided with battery Lower Hold outstanding, the water surface nobody
The tail portion of lash ship is provided with 2 propellers being arranged symmetrically, and 2 propellers are connect with 1 stepper motor respectively.
2. the sliding cable underwater robot solid marine monitoring system of unmanned boat towing according to claim 1, it is characterised in that：
The stepper motor is 24V stepper motors.
3. the sliding cable underwater robot solid marine monitoring system of unmanned boat towing according to claim 1, it is characterised in that：
The lithium battery of 3 pieces of 48V is provided in the battery Lower Hold.
4. the sliding cable underwater robot solid marine monitoring system of unmanned boat towing according to claim 1, it is characterised in that：
Stem flange, stem GPS antenna, ship stern GPS antenna, radio day are additionally provided on the upper deck of the unmanned lash ship of the water surface
Line, without line bracket, ship stern flange, stem flange is arranged in the front of upper deck, and stem GPS antenna is arranged on stem flange
Portion, ship stern flange are arranged in the tail portion of upper deck, and antenna holder is arranged in the top of ship stern flange, and wireless aerial is arranged in nothing
On line bracket, ship stern GPS antenna is arranged on wireless aerial.
5. the sliding cable underwater robot solid marine monitoring system of unmanned boat towing according to claim 1, it is characterised in that：
Multipurpose instrument is installed on the hull of the unmanned lash ship of the water surface and carries interface, is needed to carry different equipment according to task,
The equipment has electric winch, instrument to carry frame.
6. the sliding cable underwater robot solid marine monitoring system of unmanned boat towing according to claim 1, it is characterised in that：
The sliding cable robot does zigzag on guide cable and reciprocatingly slides.
7. the sliding cable underwater robot solid marine monitoring system of unmanned boat towing according to claim 1, it is characterised in that：
The sliding cable robot has one, can monitor and sample in water layer any position.
8. the sliding cable underwater robot solid marine monitoring system of unmanned boat towing according to claim 1, it is characterised in that：
The sliding cable robot has N platforms, being capable of hierarchical synchronization monitoring sampling.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721740234.5U CN207607624U (en) | 2017-12-13 | 2017-12-13 | The sliding cable underwater robot solid marine monitoring system of unmanned boat towing |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721740234.5U CN207607624U (en) | 2017-12-13 | 2017-12-13 | The sliding cable underwater robot solid marine monitoring system of unmanned boat towing |
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ID=62798881
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109263808A (en) * | 2018-08-31 | 2019-01-25 | 中国船舶重工集团公司第七〇五研究所 | A kind of flexible vertical towing linkwork for underwater more towed bodys |
| CN109597621A (en) * | 2018-08-24 | 2019-04-09 | 天津字节跳动科技有限公司 | Encapsulate method, apparatus, Dagger, decoupling method, device, equipment and the medium of Dagger |
| WO2020082821A1 (en) * | 2018-10-26 | 2020-04-30 | 河海大学 | Guide cable based apparatus and method for unmanned vehicle recovering autonomous underwater vehicle |
| CN114715344A (en) * | 2022-05-06 | 2022-07-08 | 中电科（宁波）海洋电子研究院有限公司 | Control method of mobile multilayer marine environment profile monitoring system |
| CN115935638A (en) * | 2022-11-30 | 2023-04-07 | 武汉船舶通信研究所（中国船舶重工集团公司第七二二研究所） | Unmanned platform carrying multi-detection equipment integrated design method |
| CN117213448A (en) * | 2023-11-07 | 2023-12-12 | 中国人民解放军国防科技大学 | Ocean secondary mesoscale frontal surface investigation method |
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2017
- 2017-12-13 CN CN201721740234.5U patent/CN207607624U/en active Active
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109597621B (en) * | 2018-08-24 | 2022-10-14 | 天津字节跳动科技有限公司 | Method and device for packaging Dagger, terminal equipment and storage medium |
| CN109597621A (en) * | 2018-08-24 | 2019-04-09 | 天津字节跳动科技有限公司 | Encapsulate method, apparatus, Dagger, decoupling method, device, equipment and the medium of Dagger |
| CN109263808B (en) * | 2018-08-31 | 2020-06-16 | 中国船舶重工集团公司第七一五研究所 | Flexible vertical towing chain system for underwater multi-towed body |
| CN109263808A (en) * | 2018-08-31 | 2019-01-25 | 中国船舶重工集团公司第七〇五研究所 | A kind of flexible vertical towing linkwork for underwater more towed bodys |
| GB2581091A (en) * | 2018-10-26 | 2020-08-05 | Univ Hohai | Guide cable based apparatus and method for unmanned vehicle recovering autonomous underwater vehicle |
| WO2020082821A1 (en) * | 2018-10-26 | 2020-04-30 | 河海大学 | Guide cable based apparatus and method for unmanned vehicle recovering autonomous underwater vehicle |
| GB2581091B (en) * | 2018-10-26 | 2022-10-19 | Univ Hohai | Apparatuses and methods for recovering autonomous underwater vehicle by steering cable-based unmanned vehicle |
| CN114715344A (en) * | 2022-05-06 | 2022-07-08 | 中电科（宁波）海洋电子研究院有限公司 | Control method of mobile multilayer marine environment profile monitoring system |
| CN114715344B (en) * | 2022-05-06 | 2023-04-07 | 中电科（宁波）海洋电子研究院有限公司 | Control method of mobile multilayer marine environment profile monitoring system |
| CN115935638A (en) * | 2022-11-30 | 2023-04-07 | 武汉船舶通信研究所（中国船舶重工集团公司第七二二研究所） | Unmanned platform carrying multi-detection equipment integrated design method |
| CN115935638B (en) * | 2022-11-30 | 2023-07-04 | 武汉船舶通信研究所（中国船舶重工集团公司第七二二研究所） | Unmanned platform carrying multi-detection equipment integrated design method |
| CN117213448A (en) * | 2023-11-07 | 2023-12-12 | 中国人民解放军国防科技大学 | Ocean secondary mesoscale frontal surface investigation method |
| CN117213448B (en) * | 2023-11-07 | 2024-01-30 | 中国人民解放军国防科技大学 | Ocean secondary mesoscale frontal surface investigation method |
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