CN208439408U - A kind of master control system of single rotor duct underwater unmanned vehicle - Google Patents
A kind of master control system of single rotor duct underwater unmanned vehicle Download PDFInfo
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- CN208439408U CN208439408U CN201820700636.0U CN201820700636U CN208439408U CN 208439408 U CN208439408 U CN 208439408U CN 201820700636 U CN201820700636 U CN 201820700636U CN 208439408 U CN208439408 U CN 208439408U
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Abstract
The utility model discloses a kind of master control system of single rotor duct underwater unmanned vehicle, the master control system includes: master controller, electric machine controller, steering engine controller and remote-control receiver.The utility model can produce various control power and control moment using more steering engine flow deflector control modes, so that underwater unmanned vehicle has very high mobility and great flexibility.In addition, using the control to the first X rudder steering engine and the 2nd X rudder steering engine realize the underwater unmanned vehicle radius of gyration be zero, quick buoyance lift the characteristics of, the detect operation that can be widely applied to narrow waters and shallow water area compensates for the insufficient disadvantage of existing Large Underwater aircraft mobility.
Description
Technical field
The utility model relates to underwater unmanned vehicle technical fields, and in particular to a kind of underwater unmanned boat of single rotor duct
The master control system of row device.
Background technique
Current existing submarine navigation device mostly uses level to set rolling body-rotation design, using propeller postposition or in the level of setting push away
Into structure, turned to using rudder, under the conditions of lowsteaming, direction controlling efficiency is lower, and exposed propeller is also easy to produce
Cavitation effect, noise is larger, has volume larger, and low speed manipulation response is slower, and the radius of gyration is larger, and track is obvious etc. is difficult to gram
The shortcomings that taking.It especially is difficult to realize effectively navigate by water in narrow waters, shallow water area rudder is easily touched.
In aviation field, culvert type aircraft has extremely strong environmental adaptability and maneuverability excellent built in level at present
Gesture.For the deficiency of traditional submarine navigation device, in conjunction with the technical advantage of culvert type flying vehicles control, according to culvert type unmanned plane
Propeller arrangement has biggish similitude built in structure and submarine navigation device.
Currently, duct vehicle technology has been widely used.Due to air and the similar fluid property of water flow, can borrow
It reflects the mentality of designing and design scheme of existing single rotor duct aircraft, carries out innovative design.
Utility model content
The purpose of this utility model is to provide a kind of master control systems of single rotor duct underwater unmanned vehicle, to solve
Certainly current submarine navigation device direction controlling efficiency under the conditions of lowsteaming is lower, the radius of gyration is larger is difficult to reality in narrow waters
The problem of existing effect is navigated by water.
To achieve the above object, the utility model provides a kind of master control system of single rotor duct underwater unmanned vehicle
System, the master control system includes: master controller, electric machine controller, steering engine controller and remote-control receiver, the remote-control receiver
Main controller controls command signal output end be connected to the control instruction signal receiving end of the master controller, the main control
The motor control instruction signal output end of device is connected to the motor control instruction signal input part of the electric machine controller, the master
The steering engine control instruction signal output end of controller is connected to the steering engine control instruction signal input part of the steering engine controller, institute
The motor control instruction signal output end for stating electric machine controller is connected to the motor control instruction signal input part of engine, described
Steering engine controller passes through the first X rudder steering engine control instruction signal output end, the 2nd X rudder steering engine control instruction signal output end and straight
Rudder steering engine control instruction signal output end be respectively connected to the first X rudder steering engine the first X rudder steering engine control instruction signal input part,
2nd X rudder steering engine control instruction signal input part of the 2nd X rudder steering engine and the straight rudder steering engine control instruction signal of straight rudder steering engine are defeated
Enter end, the engine by drive shaft driving installation into duct power source propeller rotation, the first X rudder steering engine with
The 2nd X rudder steering engine passes through the first X rudder pull rod respectively and the 2nd X rudder pull rod pulls installation to duct internally-powered source propeller
From the first X rudder flow deflector and the 2nd X rudder flow deflector wallowing motion below steady rudder system flow-guide fan, the straight rudder steering engine passes through straight rudder
Pull rod pulls installation to the straight rudder flow deflector wallowing motion at the lower part outlet of duct.
Further, the remote-control receiver pairing is provided with remote controler and receives the remote control instruction from remote controler
Signal.
Further, several carry component controls command signal output ends are provided on the remote-control receiver, if cladding
The carry component controls command signal that load component controls command signal output end is respectively connected to corresponding carry component is defeated
Enter end.
Further, the carry component is installed on the side wall of duct and including underwater photograph technical device and/or underwater visiting
Survey device and/or underwater positioning device and/or mechanical arm.
Further, the master control system further includes power supply, and the power supply is separately connected by power supply circuit
To master controller, electric machine controller, steering engine controller, remote-control receiver, motor, the first X rudder steering engine, the 2nd X rudder steering engine, straight
Rudder steering engine and several carry components.
Further, the motor, the first X rudder steering engine, the 2nd X rudder steering engine, the straight rudder steering engine and institute
It states and is respectively arranged with motor electromagnetic switch, the first X rudder steering engine electromagnetic switch, the 2nd X rudder on the power supply circuit between power supply
Steering engine electromagnetic switch and straight rudder steering engine electromagnetic switch, the motor electromagnetic switch are connected to the motor control instruction of electric machine controller
Signal output end, the first X rudder steering engine electromagnetic switch, the 2nd X rudder steering engine electromagnetic switch and the straight rudder steering engine electromagnetism
Switch is respectively connected to the first X rudder steering engine control instruction signal output end of steering engine controller, the 2nd X rudder steering engine control instruction letter
Number output end and straight rudder steering engine control instruction signal output end.
The invention also discloses a kind of control method of the master control system of single rotor duct underwater unmanned vehicle, institutes
Stating control method includes: that remote controler sends remote control instruction；Remote-control receiver receives the remote control instruction from remote controler
Signal；The type for the remote control command signal that remote-control receiver judgement receives；Based on the type of remote control command signal
When controller control instruction signal, connect by the command signal that main controller controls command signal output end is sent to master controller
Receiving end；The type for the main controller controls command signal that master controller judgement receives；The class of main controller controls command signal
When type is motor control instruction signal, referred to by the motor control that motor control instruction signal output end is sent to electric machine controller
Enable signal input part；Motor control instruction signal is sent to by electric machine controller by motor control instruction signal output end to be started
The motor control instruction signal input part of machine；Engine is rotated by power source propeller of the drive shaft driving installation into duct
Realize that underwater unmanned vehicle floats or suspends；When the type of main controller controls command signal is steering engine control instruction signal,
The steering engine control instruction signal input part of steering engine controller is sent to by steering engine control instruction signal output end；Steering engine controller
Judge the type of the steering engine control instruction signal received；The type of steering engine control instruction signal is X rudder steering engine control instruction letter
Number when, distinguishing X rudder steering engine control instruction signal is that the first X rudder steering engine control instruction signal or the 2nd X rudder steering engine control instruction are believed
Number；First X rudder steering engine control instruction signal and the 2nd X rudder steering engine control instruction signal are passed through into the first X rudder steering engine respectively simultaneously
Control instruction signal output end and the 2nd X rudder steering engine control instruction signal output end are sent to the first X rudder rudder of the first X rudder steering engine
2nd X rudder steering engine control instruction signal input part of machine control instruction signal input part and the 2nd X rudder steering engine；First X rudder steering engine
Pass through the first X rudder pull rod and the 2nd X rudder pull rod respectively with the 2nd X rudder steering engine while pulling installation to duct internally-powered source propeller
From below steady rudder system flow-guide fan the first X rudder flow deflector and the 2nd X rudder flow deflector to different directions wallowing motion, generate underwater
Turning moment needed for unmanned vehicles realize rotation movement；The type of steering engine control instruction signal is straight rudder steering engine control instruction
When signal, inputted by the straight rudder steering engine control instruction signal that straight rudder steering engine control instruction signal output end is sent to straight rudder steering engine
End；And straight rudder steering engine pulls installation to the straight rudder flow deflector wallowing motion at the lower part outlet of duct to realize boat by rudder pulling rod
The forward or backward action of row device.
Further, when the type of the remote control command signal is carry component controls command signal, the remote control
Receiver distinguishes carry component controls instruction signal type, is sent to respectively by corresponding carry component controls command signal output end
The carry component controls command signal input terminal of self-corresponding carry component, corresponding carry component actuation realize respective function.
Further, the control method further include: the power supply is unified for master controller, electricity by power supply circuit
Machine controller, steering engine controller, remote-control receiver, motor, the first X rudder steering engine, the 2nd X rudder steering engine, straight rudder steering engine and several
The power supply of carry component.
Further, the electric machine controller passes through the logical of the power supply circuit of motor described in motor electromagnetic switch control
Disconnected, the steering engine controller passes through the first X rudder steering engine electromagnetic switch, the 2nd X rudder steering engine electromagnetic switch and straight rudder steering engine electricity respectively
Magnetic switch controls the on-off of the power supply circuit of the first X rudder steering engine, the 2nd X rudder steering engine and the straight rudder steering engine.
The utility model has the advantages that
The utility model can produce various control power and control moment using more steering engine flow deflector control modes, so that water
Lower unmanned vehicles have very high mobility and great flexibility.In addition, using to the first X rudder steering engine and the 2nd X rudder rudder
The control of machine realize the underwater unmanned vehicle radius of gyration be zero, quick buoyance lift the characteristics of, can be widely applied to narrow waters
With the detect operation of shallow water area, the insufficient disadvantage of existing Large Underwater aircraft mobility is compensated for.
Detailed description of the invention
Fig. 1 is a kind of control connection signal of the master control system of single rotor duct underwater unmanned vehicle of the utility model
Figure.
Fig. 2 is a kind of confession of the power supply of the master control system of single rotor duct underwater unmanned vehicle of the utility model
It is electrically connected schematic diagram.
Fig. 3 is a kind of front view of single rotor duct underwater unmanned vehicle of the utility model.
Fig. 4 is that a kind of stereochemical structure from top of single rotor duct underwater unmanned vehicle of the utility model is shown
It is intended to.
Fig. 5 is that a kind of stereochemical structure from lower part of single rotor duct underwater unmanned vehicle of the utility model is shown
It is intended to.
Fig. 6 is that a kind of single rotor duct underwater unmanned vehicle of the utility model removes the stereochemical structure signal after duct
Figure.
Fig. 7 be a kind of power source propeller of single rotor duct underwater unmanned vehicle of the utility model, circular ring shape from
The structure setting schematic diagram of steady rudder system flow-guide fan and engine shaft.
Fig. 8 be a kind of circular ring shape of single rotor duct underwater unmanned vehicle of the utility model from steady rudder system flow-guide fan and
The structure setting schematic diagram of engine shaft.
Specific embodiment
The following examples illustrate the utility model, but is not intended to limit the scope of the present invention.
Embodiment 1
With reference to Fig. 1, a kind of master control system 4 of single rotor duct underwater unmanned vehicle disclosed in the present embodiment includes: master
Controller 41, electric machine controller 42, steering engine controller 43 and remote-control receiver 44, the pairing of remote-control receiver 44 are provided with remote controler
45 and receive the remote control command signal from remote controler 45, remote-control receiver 44 main controller controls command signal output
End is connected to the control instruction signal receiving end of master controller 41, the motor control instruction signal output end connection of master controller 41
To the motor control instruction signal input part of electric machine controller 42, the steering engine control instruction signal output end of master controller 41 is connected
To the steering engine control instruction signal input part of steering engine controller 43, the motor control instruction signal output end of electric machine controller 42 connects
It is connected to the motor control instruction signal input part of engine 22, steering engine controller 43 passes through the first X rudder steering engine control instruction signal
Output end, the 2nd X rudder steering engine control instruction signal output end and straight rudder steering engine control instruction signal output end are respectively connected to
The 2nd X rudder steering engine control of the first X rudder steering engine control instruction signal input part, the 2nd X rudder steering engine 3223 of one X rudder steering engine 3213
The straight rudder steering engine control instruction signal input part of command signal input terminal and straight rudder steering engine 334, engine 22 pass through drive shaft 23
Power source propeller 21 of the driving installation into duct 1 rotates, and the first X rudder steering engine 3213 and the 2nd X rudder steering engine 3223 lead to respectively
It crosses the first X rudder pull rod 3212 and the 2nd X rudder pull rod 3222 pulls installation leading from steady rudder system to 1 internally-powered source propeller 21 of duct
The first X rudder flow deflector 321 and 322 wallowing motion of the 2nd X rudder flow deflector below stream fan 31, straight rudder steering engine 334 are drawn by straight rudder
Bar 333 pulls installation to straight 331 wallowing motion of rudder flow deflector at the lower part outlet of duct 1.
With reference to Fig. 2, a kind of above-mentioned master control system 4 of single rotor duct underwater unmanned vehicle further includes power supply 46,
Power supply 46 is respectively connected to master controller 41, electric machine controller 42, steering engine controller 43, remote control reception by power supply circuit
Machine 44, motor 22, the first X rudder steering engine 3213, the 2nd X rudder steering engine 3223, straight rudder steering engine 334 and several carry components 5, it is electronic
On power supply circuit between machine 22, the first X rudder steering engine 3213, the 2nd X rudder steering engine 3223, straight rudder steering engine 334 and power supply 46
It is respectively arranged with motor electromagnetic switch 461, the first X rudder steering engine electromagnetic switch 462, the 2nd X rudder steering engine electromagnetic switch 463 and straight rudder
Steering engine electromagnetic switch 464, motor electromagnetic switch 461 are connected to the motor control instruction signal output end of electric machine controller 42, the
One X rudder steering engine electromagnetic switch 462, the 2nd X rudder steering engine electromagnetic switch 463 and straight rudder steering engine electromagnetic switch 464 are respectively connected to rudder
The first X rudder steering engine control instruction signal output end, the 2nd X rudder steering engine control instruction signal output end and the straight rudder of machine controller 43
Steering engine control instruction signal output end.
With reference to Fig. 1, in a kind of above-mentioned controlling party of the master control system 4 of single rotor duct underwater unmanned vehicle of the present embodiment
Method includes: that remote controler 45 sends remote control instruction；Remote-control receiver 44 receives the remote control from remote controler 45 and instructs letter
Number；Remote-control receiver 44 judges the type of the remote control command signal received；Based on the type of remote control command signal
When controller control instruction signal, the command signal of master controller 41 is sent to by main controller controls command signal output end
Receiving end；Master controller 41 judges the type of the main controller controls command signal received；Main controller controls command signal
Type be motor control instruction signal when, the motor of electric machine controller 42 is sent to by motor control instruction signal output end
Control instruction signal input part；Electric machine controller 42 is sent out motor control instruction signal by motor control instruction signal output end
It send to the motor control instruction signal input part of engine 22；Engine 22 is by the driving installation of drive shaft 23 into duct 1
The rotation of power source propeller 21 realizes that underwater unmanned vehicle floats or suspends；The type of main controller controls command signal is rudder
When machine control instruction signal, believed by the steering engine control instruction that steering engine control instruction signal output end is sent to steering engine controller 43
Number input terminal；Steering engine controller 43 judges the type of the steering engine control instruction signal received；The class of steering engine control instruction signal
Type be X rudder steering engine control instruction signal when, distinguish X rudder steering engine control instruction signal be the first X rudder steering engine control instruction signal or
2nd X rudder steering engine control instruction signal；First X rudder steering engine control instruction signal and the 2nd X rudder steering engine control instruction signal is same
When pass through the first X rudder steering engine control instruction signal output end respectively and the 2nd X rudder steering engine control instruction signal output end is sent to
2nd X rudder steering engine of the first X rudder steering engine control instruction signal input part and the 2nd X rudder steering engine 3223 of the first X rudder steering engine 3213
Control instruction signal input part；First X rudder steering engine 3213 and the 2nd X rudder steering engine 3223 pass through 3212 He of the first X rudder pull rod respectively
2nd X rudder pull rod 3222 pulls installation to 1 internally-powered source propeller 21 of duct from the below steady rudder system flow-guide fan 31 simultaneously
One X rudder flow deflector 321 and the 2nd X rudder flow deflector 322 generate underwater unmanned vehicle and realize rotation to different directions wallowing motion
Turning moment needed for movement；When the type of steering engine control instruction signal is straight rudder steering engine control instruction signal, pass through straight rudder rudder
Machine control instruction signal output end is sent to the straight rudder steering engine control instruction signal input part of straight rudder steering engine 334；And straight rudder steering engine
334 pull installation to straight 331 wallowing motion of rudder flow deflector at the lower part outlet of duct 1 to realize navigation by rudder pulling rod 333
The forward or backward action of device.In addition, remote control connects when the type of remote control command signal is carry component controls command signal
Receipts machine 44 distinguishes carry component controls instruction signal type, is sent to respectively by corresponding carry component controls command signal output end
Respective function is realized in the carry component controls command signal input terminal of self-corresponding carry component 5, the corresponding movement of carry component 5.
With reference to Fig. 2, a kind of control of the master control system 4 of single rotor duct underwater unmanned vehicle disclosed in the present embodiment
Method further include: power supply 46 by power supply circuit be unified for master controller 41, electric machine controller 42, steering engine controller 43,
Remote-control receiver 44, motor 22, the first X rudder steering engine 3213, the 2nd X rudder steering engine 3223, straight rudder steering engine 334 and several carry portions
Part 5 is powered.Further, electric machine controller 42 controls the on-off of the power supply circuit of motor 22 by motor electromagnetic switch 461,
Steering engine controller 43 passes through the first X rudder steering engine electromagnetic switch 462, the 2nd X rudder steering engine electromagnetic switch 463 and straight rudder steering engine electricity respectively
Magnetic switch 464 controls the on-off of the power supply circuit of the first X rudder steering engine 3213, the 2nd X rudder steering engine 3223 and straight rudder steering engine 334.
With reference to Fig. 3 to 8, for the deficiency of traditional submarine navigation device, in conjunction with the technical advantage of culvert type flying vehicles control, according to
There is biggish similitude according to propeller arrangement built in the structure and submarine navigation device of culvert type unmanned plane, disclosed in the present embodiment
A kind of above-mentioned single rotor duct underwater unmanned vehicle include: cylindrical duct 1, main thruster 2,3 and of form regulation system
Master control system 4.
With reference to Fig. 6 to 8, main thruster 2 is vertically installed in cylinder-shaped duct 1, and main thruster 2 includes power source propeller
21 engines 22 rotated with driving power source propeller 21, power source propeller 21 and engine 22 are vertically built in a circle
In cylindricality duct 1, engine 22 is located at below power source propeller 21, and power source propeller 21 is installed to the drive of engine 22
On moving axis 23.Which employs culvert type designs, and propeller efficiency is higher, high safety, reduce noise caused by blade, and tie
Structure is more compact；Make propeller noise vertically propagating, horizontal direction noise significantly reduces, and is aircraft with higher hidden
Covering property.
Above-mentioned underwater unmanned vehicle combination single rotor and the concept of duct create the structure of underwater unmanned vehicle
New design, it is whole to use rectilinear layout type, make underwater unmanned vehicle while there is high efficiency, easy manipulation, low noise, more
The multinomial superior function such as purposes.Propellerslip effectively can be converted into thrust by duct, this pushes away the duct of equivalent diameter
It is greater than same parameter screw propeller into device efficiency.And high-velocity fluid caused by main thruster is limited to flow field by duct
In, master control system directly acts on high-velocity fluid, can remain higher control efficiency.Duct is made an uproar in reduction propeller
While sound, also high-speed rotary part is isolated with external environment, improves the durability of safety and equipment itself；Annular is contained
Road also provides multiple attachment points for carry component, makes equipment with expansibility functionally.
With reference to Fig. 6 to 8, form regulation system 3 includes: circular ring shape from steady rudder system flow-guide fan 31, X rudder 32 and straight rudder 33.
Above-mentioned underwater unmanned vehicle gesture stability is realized by rudder system and propulsion motor, wherein horizontal movement is by a pair of of X
Rudder flow deflector and a straight rudder flow deflector realize that X rudder flow deflector realizes Heading control by manipulation underwater unmanned vehicle rotation,
Straight rudder flow deflector controls aircraft pitch attitude, by providing additional torque to realize horizontal movement；Pass through adjusting
Main thruster revolving speed realizes that underwater unmanned vehicle drifts along adjusting.Underwater unmanned vehicle may be implemented in the use of X rudder flow deflector
Axial rotation adjusts course in turn, so that its turning radius is almost nil, narrow water-area navigation task may be implemented；It is underwater simultaneously
Unmanned vehicles also possess a fixation from steady rudder system, counteracting power source spiral shell steady for realizing underwater unmanned vehicle itself
Revolve aircraft rolling moment caused by paddle rotation.Since boat rudder system is predominantly located in inside duct, rudder piece can be effectively prevented
It collides in shallow water area, more steering engine flow deflector control modes can produce various control power and control moment, so that underwater nothing
People's aircraft has very high mobility and great flexibility.
With reference to Fig. 6 to 8, it is set in the drive shaft 23 of engine 22 from the center of steady rudder system flow-guide fan 31 and is located at power
Below source propeller 21, pass through 312 shape of circular ring shape fixed frame by several fixed guide vanes 311 from steady rudder system flow-guide fan 31
At.With reference to Fig. 4, power source propeller 21 and circular ring shape are equipped with cylindrical outer cover 24 from 31 outer cover of steady rudder system flow-guide fan, outside
Cover 24 top closed and outwardly protrude to form male part 241 in center, 24 lower openings of outer cover, outer cover 24 is set by side
The connecting plate 242 set is installed to the inside of duct 1.Several fixed guide vanes 311 form annulus by circular ring shape fixed frame 312
Shape from steady rudder system flow-guide fan 31, several fixed guide vanes 311 be evenly distributed on fixed frame 312 interior annular and outer toroid it
Between, the interior annular of fixed frame 312 is set in the drive shaft 23 of engine 22, and the outer toroid of fixed frame 312 is installed to outer cover 24
It is interior.Fixed guide vane 311 extends to form strip blade from the interior annular of fixed frame 312 to outer toroid, and strip blade is perpendicular
It is straight to be arranged and form arcwall face, the fixed guide vane 311 between the interior annular and outer toroid of fixed frame 312 in the vertical direction
Arcwall face bending direction it is consistent, in duct fluid fixed guide vane 311 arcwall face formed turning moment side
To the contrary of the turning moment generated with the rotation of power source propeller 21.
It refers to Figures 5 and 6, X rudder 32 includes the first X rudder flow deflector 321 and the 2nd X rudder flow deflector 322 and is horizontally placed on from steady rudder
It is flow-guide fan 31 and engine 22 in the following, the first X rudder flow deflector 321 and 322 outer end of the 2nd X rudder flow deflector are distinguished across duct 1
It is connected to the first X rudder pull rod 3212 and 3222 lower end of the 2nd X rudder pull rod, the first X rudder flow deflector 321 and the 2nd X rudder flow deflector 322
Between be docking together by swivel bearing 323.Specifically, the first X rudder flow deflector 321 and the 2nd X rudder flow deflector 322 lead to respectively
It crosses the first X rudder yoke 3211 and the 2nd X rudder yoke 3221 is horizontally placed in duct 1 and respectively by the first X rudder yoke 3211 and the
Two X rudder yokes 3221 drive free inclination rotation, and the first X rudder yoke 3211 and the 2nd X rudder yoke 3221 pass through the outer end of duct 1
The first X rudder pull rod 3212 and the 2nd X rudder pull rod being vertically installed on the outside of duct are connected to by transmission connection piece 34 respectively
The upper end of 3222 lower end, the first X rudder pull rod 3212 and the 2nd X rudder pull rod 3222 is respectively connected to 3213 He of the first X rudder steering engine
On the telescopic shaft of 2nd X rudder steering engine 3223, the first X rudder steering engine 3213 and the 2nd X rudder steering engine 3223 are all set on 1 outside of duct
Portion, the first X rudder yoke 3211 and 3221 inner end of the 2nd X rudder yoke are docking together by swivel bearing 323, the first X rudder steering engine
3213 and the 2nd X rudder steering engine 3223 respectively drive the first X rudder flow deflector 321 and the 2nd X rudder flow deflector 322 to different directions simultaneously
Tilt identical angle, the inclination maximum of the first X rudder flow deflector 321 and the 2nd X rudder flow deflector 322 is 15 °.
It refers to Figures 5 and 6, straight rudder 33 includes a piece of straight rudder flow deflector 331 and is horizontally placed at the lower part outlet of duct 1, straight rudder
33 both ends pass through duct 1, and straight rudder 33 passes through the lower end that 1 side outer end of duct is connected to rudder pulling rod 333, straight rudder flow deflector 331
It is horizontally placed in duct 1 by straight rudder yoke 332 and free inclination rotation, specifically, straight rudder yoke is driven by straight rudder yoke 332
332 outer ends for passing through 1 side of duct are connected to the rudder pulling rod 333 for being vertically installed in 1 outside of duct by transmission connection piece 34
Lower end, the upper end of rudder pulling rod 333 is connected on the telescopic shaft of straight rudder steering engine 334, and straight rudder steering engine 334 is set to outside duct 1
Upper lateral part, the inclination maximum of straight rudder flow deflector 331 are 23 °.
Above-mentioned underwater unmanned vehicle disclosed in the present embodiment using shrouded propeller as main dynamical system, it
Can be vertically moved up or down as more rotor underwater unmanned vehicles, but can as torpedo horizontal travel, and have it is good
It hovers performance, thus the advantages of have both a variety of underwater unmanned vehicles.Meanwhile during navigation, culvert type unmanned vehicles
It can be by adjusting course around vertical axis rotation, to apply under complex flowfield environment.
With reference to Fig. 1, underwater unmanned vehicle further includes several carry components 5, and several carry components 5 are respectively connected to be remotely controlled
Receiver 44, carry component 5 are installed to the side wall of duct 1, several carry component controls are provided on remote-control receiver 44 and are referred to
Signal output end is enabled, several carry component controls command signal output ends are respectively connected to the extension of corresponding carry component 5
Component controls command signal input terminal is carried, with reference to Fig. 3 to 6, if 1 upper outside of duct is along the circumferential direction evenly arranged with dry hanging article
Sleeve, pendant sleeve is by several even hoop assemblies 52 installations to 1 outside of duct, and even hoop assemblies 52 include one big hoop 521
With several small hoops 522, big hoop 521 is located at centre, and several small hoops 522 are uniformly distributed around big hoop 521, and big 521 sets of hoop is filled to culvert
1 outside of road, small hoop 522, which is located at 1 outside of duct and covers, to be filled on the outside of pendant sleeve, and pendant sleeve includes two steering engine sleeves 51,
Two steering engine sleeves 51 are symmetrically distributed in the two sides of duct 1, install 3213 He of the first X rudder steering engine in two steering engine sleeves 51 respectively
2nd X rudder steering engine 3223, the straight installation of rudder steering engine 334 to the steering engine for being equipped with the first X rudder steering engine 3213 or the 2nd X rudder steering engine 3223
In sleeve 51, pendant sleeve further includes several carry component sleeves, is not shown in the figure, corresponding installation in several carry component sleeves
Several carry components.In addition, above-mentioned master control system disclosed in the present embodiment also can be set in pendant sleeve, can be set
In in steering engine sleeve 51 or carry component sleeve.
Above-mentioned a kind of single rotor duct underwater unmanned vehicle disclosed in the present embodiment uses modularized design, carry
The function of component can be replaced arbitrarily, and the quick adjustment capability of underwater unmanned vehicle complex job scene can be substantially improved, such as:
Underwater photograph technical device and/or undersea detection device and/or underwater positioning device and/or mechanical arm etc., can quick-replaceable, make to produce
Product have the multiduty advantage of low cost.By carrying out different designs to uniformity module, each module is made to meet different application need
It asks, disparate modules combination, which can configure, generates diversified operation underwater unmanned vehicle to meet different application demand.By water
Lower unmanned vehicles dynamical system, form regulation system, operation element (carry component) each module separate design, assembling assembly,
Be conducive to each module component standardization, Universal joint, assembly method summary reduces design difficulty, it is general to increase each component
Property with interchangeable rate.Underwater unmanned vehicle modular structure design can make it have extremely strong environmental suitability and vdiverse in function
Change, effectively improve the practical value of aircraft, reduces cost of manufacture, make it have biggish market value.
In addition, above-mentioned a kind of single rotor duct underwater unmanned vehicle disclosed in the present embodiment is a kind of microminiature, behaviour
Vertical convenience, high maneuverability, submarine navigation device expansible, use cost is cheap.Militarily low using its noise, concealment is strong
The characteristics of, it can be used for underwater reconnaissance operation and hidden monitoring, using the longitudinal design of its propeller and modularization carry, it can be achieved that fast
Speed is multi-functional to be laid；On civilian, using the works radius of gyration be zero, quick buoyance lift the characteristics of, can be widely applied to narrow
The detect operation in waters and shallow water area compensates for the insufficient disadvantage of existing Large Underwater aircraft mobility.Such as: shallow water field
The safety inspection etc. of underbody after River Water Pollution monitoring, large-scale water transmission pipeline safety inspection, ship enter a port.
Therefore, single rotor culvert type unmanned vehicles have applications well prospect and preferable military benefit and social benefit.
With reference to Fig. 1 and Fig. 3 to Fig. 8, above-mentioned a kind of single rotor duct underwater unmanned vehicle disclosed in the present embodiment
Application method includes: that remote controler 45 sends remote control instruction；Remote-control receiver 44 receives the remote control from remote controler 45
Command signal；Remote-control receiver 44 distinguishes the control instruction signal for controlling underwater unmanned vehicle movement via master controller 41
It is forwarded to electric machine controller 42 and steering engine controller 43；Electric machine controller 42 controls engine 22 and power source propeller 21 is driven to exist
The rotation of 1 internal upper part of duct realizes that underwater unmanned vehicle suspends or floats；It is formed in duct 1 by the rotation of power source propeller 21
Water flow flows through from top to bottom to be generated from steady rudder system flow-guide fan 31 from steady rudder system turning moment；From the direction of steady rudder system turning moment
It is contrary with symmetric screw propeller turning moment with the propeller turning moment of the rotation generation of power source propeller 21；Steering engine control
Device 43 processed controls the first X rudder steering engine 3213 simultaneously and the 2nd X rudder steering engine 3223 pulls the first X rudder flow deflector 321 and the 2nd X respectively
Rudder flow deflector 322 is to the identical inclination angle of different directions wallowing motion；From from the water flow of steady rudder system flow-guide fan 31 from upper in duct 1
The first X rudder flow deflector 321 is flowed through under and the 2nd X rudder flow deflector 322 generates rotation turning moment, realizes underwater unmanned vehicle
Rotation movement；Steering engine controller 43 controls straight rudder steering engine 334 and pulls straight 331 wallowing motion of rudder flow deflector；From the in duct
The water flow of one X rudder flow deflector 321 and the 2nd X rudder flow deflector 322 flows through straight rudder flow deflector 331 from top to bottom makes underwater unmanned navigation
Device entirety posture run-off the straight；And the natural buoyancy and self gravity and power source propeller 21 of underwater unmanned vehicle are rotated and are produced
Raw buoyancy forms resultant force in the direction of advance or direction of retreat of unmanned vehicles under water, realizes the forward or backward of aircraft
Movement.In addition, the control instruction signal of carry component is forwarded directly to corresponding carry component 5 by remote-control receiver 44, accordingly
5 execution of carry component movement realize respective function.
In conjunction with the propulsion of single rotor aircraft and a kind of innovative underwater unmanned vehicle of conceptual design of ducted fan, will move
For the reasonable Arrangements such as power source propeller, engine and master control system in a duct, whole design uses vertical arrangement.Guaranteeing
Navigation stability and it is handling in the case where realize concentrate, the design of compact and more preferably hydrodynamic performance.With Dan Xuan
Wing main thruster is underwater unmanned vehicle core cell, forms duct power and form regulation system, make it have high efficiency,
The multiple advantages such as easy manipulation, low noise, multipurpose.To keep fuselage axial stability, inside duct, design arrangement has one
The fixed guide vane for determining angle is formed from steady rudder system flow-guide fan, and the turning moment generated thereon is enabled to be given birth to power source propeller
Turning moment balance prevents from occurring because of the underwater unmanned vehicle overturning that main thruster rotates and generates；It is led from steady rudder system
The X rudder flow deflector that the rear installation of stream fan can be controlled by X rudder steering engine, can be turned an angle, to generate underwater unmanned vehicle
Required turning moment realizes underwater unmanned vehicle rotation movement, so that underwater unmanned vehicle has almost nil turn
To radius, the flexibility of aircraft is greatly improved；The straight rudder water conservancy diversion that installation can be controlled by straight rudder steering engine in duct exit
Piece, realizes the forward-reverse movement of underwater unmanned vehicle, and multiple groups control the synergy of blade, can produce many attitude control
Power and control moment, so that underwater unmanned vehicle has splendid flexibility.
In addition, the energy of above-mentioned underwater unmanned vehicle disclosed in the present embodiment is reduced using unified power supply supply
Line arrangement reduces system complexity, while can carry different carry components to complete the mission requirements under different condition.Outside
Portion is equipped with waterproof carry component, for disposing master control system and equipment.Under water can by remote controler realize float, under
Latent, left and right turn and the basic function fallen back of advancing, cooperate added underwater camera functional module that can complete undersea detection
And camera function, carry module is replaced, different underwater operation tasks can be completed.Underwater unmanned navigation disclosed in the present embodiment
Device overall length 400mm, the widest part 272mm, speed of a ship or plane 0-1m/s are continuously adjustable；The radius of gyration is almost 0m, maximum boat depth 10m, cruise
Time 50min (2200mAh power supply), diving speed 0-0.6m/s are continuously adjustable；Data transmission supports have cable transmission (to provide network
Interface) and short range wireless transmission (2.4G, 5.8G double frequency).
Although above having made detailed description to the utility model with generality explanation and specific embodiment,
On the basis of the utility model, it can be made some modifications or improvements, this is apparent to those skilled in the art
's.Therefore, these modifications or improvements on the basis of without departing from the spirit of the present invention, belong to the utility model and want
Seek the range of protection.
Claims (6)
1. a kind of master control system of single rotor duct underwater unmanned vehicle, which is characterized in that the master control system includes: master control
The main controller controls command signal of device, electric machine controller, steering engine controller and remote-control receiver processed, the remote-control receiver is defeated
Outlet is connected to the control instruction signal receiving end of the master controller, the motor control instruction signal output of the master controller
End is connected to the motor control instruction signal input part of the electric machine controller, the steering engine control instruction signal of the master controller
Output end is connected to the steering engine control instruction signal input part of the steering engine controller, and the motor control of the electric machine controller refers to
Signal output end is enabled to be connected to the motor control instruction signal input part of engine, the steering engine controller passes through the first X rudder rudder
Machine control instruction signal output end, the 2nd X rudder steering engine control instruction signal output end and the output of straight rudder steering engine control instruction signal
End is respectively connected to the 2nd X rudder rudder of the first X rudder steering engine control instruction signal input part of the first X rudder steering engine, the 2nd X rudder steering engine
The straight rudder steering engine control instruction signal input part of machine control instruction signal input part and straight rudder steering engine, the engine pass through driving
Power source propeller rotation of the axis driving installation into duct, the first X rudder steering engine and the 2nd X rudder steering engine pass through respectively
First X rudder pull rod and the 2nd X rudder pull rod pull installation to duct internally-powered source propeller from the below steady rudder system flow-guide fan
One X rudder flow deflector and the 2nd X rudder flow deflector wallowing motion, the straight rudder steering engine are pulled under installation to duct by rudder pulling rod
The straight rudder flow deflector wallowing motion in portion exit.
2. a kind of master control system of single rotor duct underwater unmanned vehicle according to claim 1, which is characterized in that institute
Remote-control receiver pairing is stated to be provided with remote controler and receive the remote control command signal from remote controler.
3. a kind of master control system of single rotor duct underwater unmanned vehicle according to claim 2, which is characterized in that institute
It states and is provided with several carry component controls command signal output ends on remote-control receiver, several carry component controls command signals are defeated
Outlet is respectively connected to the carry component controls command signal input terminal of corresponding carry component.
4. a kind of master control system of single rotor duct underwater unmanned vehicle according to claim 3, which is characterized in that institute
Carry component is stated to install on the side wall of duct and including underwater photograph technical device and/or undersea detection device and/or Underwater Navigation
Device and/or mechanical arm.
5. a kind of master control system of single rotor duct underwater unmanned vehicle according to claim 4, which is characterized in that institute
Stating master control system further includes power supply, and the power supply is respectively connected to master controller, motor control by power supply circuit
Device, steering engine controller, remote-control receiver, motor, the first X rudder steering engine, the 2nd X rudder steering engine, straight rudder steering engine and several carry portions
Part.
6. a kind of master control system of single rotor duct underwater unmanned vehicle according to claim 5, which is characterized in that institute
State the power supply between motor, the first X rudder steering engine, the 2nd X rudder steering engine, the straight rudder steering engine and the power supply
Motor electromagnetic switch, the first X rudder steering engine electromagnetic switch, the 2nd X rudder steering engine electromagnetic switch and straight rudder rudder are respectively arranged on circuit
Electromechanical magnetic switch, the motor electromagnetic switch are connected to the motor control instruction signal output end of electric machine controller, the first X
Rudder steering engine electromagnetic switch, the 2nd X rudder steering engine electromagnetic switch and the straight rudder steering engine electromagnetic switch are respectively connected to steering engine control
The first X rudder steering engine control instruction signal output end, the 2nd X rudder steering engine control instruction signal output end and the straight rudder steering engine control of device processed
Command signal output end processed.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108423144A (en) * | 2018-05-11 | 2018-08-21 | 西北工业大学 | A kind of master control system and its control method of single rotor duct underwater unmanned vehicle |
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| CN108423144A (en) * | 2018-05-11 | 2018-08-21 | 西北工业大学 | A kind of master control system and its control method of single rotor duct underwater unmanned vehicle |
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