CN210592385U - Unmanned autonomous underwater vehicle - Google Patents
Unmanned autonomous underwater vehicle Download PDFInfo
- Publication number
- CN210592385U CN210592385U CN201921103379.3U CN201921103379U CN210592385U CN 210592385 U CN210592385 U CN 210592385U CN 201921103379 U CN201921103379 U CN 201921103379U CN 210592385 U CN210592385 U CN 210592385U
- Authority
- CN
- China
- Prior art keywords
- unit
- shell
- intelligent controller
- unmanned autonomous
- control module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The utility model relates to an underwater unmanned autonomous vehicle, which comprises a vehicle body and a shore operation terminal, wherein the vehicle body comprises a head section, a middle section, a tail section and at least one intelligent controller which are independently sealed and assembled into a whole; the intelligent controller comprises a finished product mobile communication terminal which is independently powered and can be in wireless connection with the shore operation terminal, and the mobile communication terminal is arranged in the watertight shell; the intelligent controller is integrated with a functional module which comprises a battery, a display screen, a WIFI communication unit, a wireless mobile communication unit, a satellite positioning unit, an attitude sensor, an electronic compass, a storage module, a calculation unit, a video unit and an audio unit; a plurality of sensors are arranged in the head section shell, the middle section shell or the tail section shell and the watertight shell; the utility model discloses utilize the commercialized intelligent Mobile communication terminal of high integrated level, highly integrated including unmanned autonomous underwater vehicle required most sensor and communication unit, its integrated level is high, the price is low, easily modularization.
Description
Technical Field
The utility model relates to an underwater detector technical field, concretely relates to unmanned autonomous vehicle under water.
Background
The underwater unmanned autonomous vehicle is a task controller which integrates automatic control and other advanced computing technologies, and integrates sensors, computer software, energy storage, power and propulsion, various new materials and new processes. Can be widely used in the fields of ocean engineering, ocean monitoring and the like.
The development of the underwater unmanned autonomous vehicle starts in the 50 s, the underwater unmanned autonomous vehicle is mainly used for development of offshore oil and natural gas and the like in the early stage, is mainly used for salvaging lost submarine weapons (such as torpedoes) in a test in the military aspect, and is greatly developed as a mine extinguishing tool in a naval mine battle later. With the rapid advance of computer technology, artificial intelligence technology, microelectronic technology, small navigation equipment, command and control hardware, logic and software technology, the underwater unmanned autonomous vehicle is greatly developed and increasingly receives attention from the ocean technology departments of various countries.
At present, unmanned autonomous underwater vehicles are designed in an integrated development mode, various existing hardware modules are used for lap joint, and all cabin sections of the vehicle are communicated with one another. The disadvantages of such a design are: (1) each section is watertight by means of watertight measures between the sections, so that problems are easily caused due to improper assembly, transportation and the like, and the watertight performance is influenced; (2) the lead wires between the sections are numerous, so that the disassembly and the maintenance are inconvenient; (3) the workload of upgrading and reconstruction is large; (4) if extra equipment is loaded, a circuit needs to be reconstructed and a program needs to be modified again, and the mechanical interfaces of software and hardware are not standardized; (5) various sensors adopted by the aircraft are purchased from the market, so that the aircraft has the advantages of large volume, low integration level, high price and difficult guarantee of reliability; (6) the development platform has high use threshold, and is not beneficial to secondary development of users. (7) Various intelligent algorithms are not easy to be updated for users in time.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing an unmanned autonomous vehicle under water solves the problem that exists among the prior art.
In order to achieve the above purpose, the technical scheme of the utility model is that:
an underwater unmanned autonomous aircraft comprises an aircraft body and an onshore operation terminal, wherein the aircraft body comprises a head section, a middle section, a tail section and at least one intelligent controller which are independently sealed and assembled into a whole; the head section comprises a head section housing; the middle section comprises a middle section shell; the tail section comprises a tail section shell, a power propulsion unit arranged in the tail section shell and a fin rudder outside the tail section shell;
the intelligent controller comprises a finished product mobile communication terminal which is independently powered and can be in wireless connection with the shore operation terminal, and the mobile communication terminal is arranged in the watertight shell; the intelligent controller is characterized in that the integrated functional module comprises a battery, a display screen, a WIFI communication unit, a wireless mobile communication unit, a satellite positioning unit, an attitude sensor, an electronic compass, a storage module, a calculation unit, a video unit and an audio unit; a plurality of sensors are arranged in the head section shell, the middle section shell or the tail section shell and the watertight shell; a battery unit is arranged in the head section shell, the middle section shell or the tail section shell; the intelligent controller is connected with and controls the battery unit, the power propulsion unit and the sensors; the battery unit provides electric energy for the intelligent controller, the power propulsion unit and the sensors.
Furthermore, the intelligent controller sets up a plurality ofly, and a plurality of intelligent controller fix respectively in the inside or the outside of head, middle section or tail section, communicate the network deployment through WIFI wireless connection between a plurality of intelligent controller.
Further, the plurality of sensors include, but are not limited to, a depth sensor, an altitude sensor, a doppler log, a side scan sonar, or a multi-beam sonar; the depth sensor, the height sensor, the Doppler log, the side scan sonar or the multi-beam sonar are all in wireless connection with the intelligent controller through WIFI.
Furthermore, the power propulsion unit comprises a propulsion control module, a speed regulation control module, a motor, a propeller and a plurality of steering engines; the steering engines comprise at least one horizontal steering engine and one vertical steering engine; the propulsion control module is respectively connected with the steering engine and the speed regulation control module, the speed regulation control module is connected with the motor, and the motor is connected with the propeller through a rotating shaft; the propulsion control module is wirelessly connected with the intelligent controller through WIFI.
Furthermore, the middle section shell is made of transparent or semitransparent materials, an information display unit is embedded in the middle section shell, and the information display unit comprises a plurality of LED lamp belts; the information display unit is wirelessly connected with the intelligent controller through WIFI.
Furthermore, the battery unit is of an integrated structure, and the battery unit of the integrated structure is electrically connected with the power propulsion unit, the intelligent controller and the sensors respectively.
Furthermore, the battery unit is of a split structure, and the battery unit of the split structure is respectively assembled on the power propulsion unit and the sensors.
Furthermore, the battery unit comprises a lithium ion battery module, an electric quantity monitoring module and a power supply control module; the positive electrode and the negative electrode of the lithium ion battery module are connected with the electric quantity monitoring module, the positive electrode of the lithium ion battery module is connected with external electric equipment through the power supply control module, and the electric quantity monitoring module is connected with the power supply control module through an RS232 interface; the power control module is in wireless connection with the intelligent controller through WIFI.
Further, the wireless mobile communication unit is a 4G communication unit or a 433MHz communication module; the satellite positioning unit is a GPS positioning system or a Beidou positioning system.
Furthermore, the head section shell adopts a two-parameter square root polynomial round head line type; the tail section shell adopts a two-parameter square root polynomial pointed tail line type.
The utility model has the advantages that:
1. the utility model discloses the device utilizes the commercialized intelligent Mobile communication terminal of high integrated level, highly integrated including unmanned autonomous underwater vehicle required most sensor and communication unit. Because the design is based on a large number of shelf products, the integrated level is high, the price is low, and the modularization is easy.
2. According to the design, each cabin section is independently sealed, and no signal wire is connected inside each section except for a power wire. If the situation needs, each section can also be self-provided with a battery to realize complete wireless path connection, but is communicated through a standard WiFi interface, so that the sections are extremely convenient to disassemble and assemble, the operation is easy, the water leakage and sinking events caused by unreasonable assembly are thoroughly solved, the standardized and modularized production is facilitated, and the device is more suitable for carrying other equipment, such as various sensors and the like of a side scan sonar.
Drawings
Fig. 1 is an appearance schematic diagram of an overall structure of an embodiment of the present invention;
fig. 2 is a schematic block diagram of information transmission according to an embodiment of the present invention;
fig. 3 is a schematic block diagram of a battery cell structure according to an embodiment of the present invention;
fig. 4 is a block diagram schematically illustrating a structure of a propulsion control unit according to an embodiment of the present invention;
in the figure, 1-head section, 2-middle section, 3-tail section and 4-fin rudder.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings. Wherein like elements in different embodiments are numbered with like associated elements. In the following description, numerous details are set forth in order to provide a better understanding of the present application. However, those skilled in the art will readily recognize that some of the features may be omitted or replaced with other elements, materials, methods in different instances. In some instances, certain operations related to the present application have not been shown or described in detail in order to avoid obscuring the core of the present application from excessive description, and it is not necessary for those skilled in the art to describe these operations in detail, so that they may be fully understood from the description in the specification and the general knowledge in the art.
Referring to fig. 1 and 2, the present embodiment discloses an unmanned autonomous underwater vehicle, which comprises a vehicle body and an onshore operation terminal, wherein the vehicle body comprises a head section 1, a middle section 2, a tail section 3 and at least one intelligent controller (not shown in the figure), which are sealed and assembled into a whole; the head section 1 comprises a head section housing; the middle section 2 comprises a middle section shell; the tail section 3 comprises a tail section shell, a power propulsion unit arranged in the tail section shell and a fin rudder 4 outside the shell; the intelligent controller is a mobile communication terminal which is independently powered and can be in wireless connection with an onshore operation terminal, and the mobile communication terminal is matched with a watertight shell. The intelligent controller integrated module comprises but is not limited to a battery, a display screen, a WIFI communication unit, a wireless mobile communication unit, a satellite positioning unit (a GPS positioning system or a Beidou positioning system), an attitude sensor, an electronic compass unit, a storage module, a computing unit, a video unit, an audio unit and the like; a plurality of sensors are arranged in the head section shell, the middle section shell or the tail section shell and the watertight shell.
In this embodiment, the intelligent controller is an intelligent mobile communication terminal with 4G communication, and the intelligent mobile communication terminal is horizontally installed at a position not higher than 10cm above the middle casing through the watertight casing. It should be noted that, in another embodiment, a plurality of intelligent controllers may be provided, that is, a plurality of intelligent mobile communication terminals with 4G communication are respectively fixed inside or outside the head section, the middle section or the tail section, and the plurality of intelligent mobile communication terminals are wirelessly connected through WIFI for communication networking, so as to implement more complex intelligent and parallel processing functions. The control relationship may be determined in advance or may be determined autonomously.
The battery unit is arranged in the middle section shell, in the embodiment, the battery unit is of an integrated structure, and the battery unit of the integrated structure is respectively electrically connected with the power propulsion unit, the intelligent controller and the sensors and provides electric energy for the power propulsion unit, the intelligent controller and the sensors; referring to fig. 3, the battery unit specifically includes a lithium ion battery, an electric quantity monitoring module, and a power control module (based on an ESP32 main control chip), the lithium ion battery obtains the electric quantity through the electric quantity monitoring module, and is connected to the power control module through an RS232 interface thereof, the power control module includes a magnetic control switch, and the magnetic control switch controls the conduction of the positive electrode of the battery; the power control module is connected with the intelligent controller through WIFI. The battery unit provides power supplies required by all sections of the aircraft, simultaneously monitors the electric quantity information of the lithium ion battery, and controls the on and off of all paths of power supplies. It should be noted that, in other embodiments, the battery unit may also be a split structure, and is respectively assembled on the power propulsion unit and the sensors.
The shore operation terminal is an independently powered off-the-shelf mobile communication terminal that is the same as or similar to the intelligent controller. In this embodiment, intelligent control ware and shore operation terminal adopt the mature 4G internet access among the prior art, pass through the WIFI connection when closely, nevertheless, do not mean the utility model discloses the device only can adopt these two kinds of internet access, and other wireless connection mode of field technical personnel's adoption also reach shore operation terminal and autonomous vehicle wireless connection's purpose.
A plurality of sensors are arranged in the head section shell, the middle section shell or the tail section shell and the watertight shell. The sensors include but are not limited to a depth sensor, a Doppler log, a side scan sonar and the like, and can complete various expanding functions; the depth sensor, the Doppler log and the side scan sonar are all connected with the intelligent controller through WIFI wireless.
Referring to fig. 4, the power propulsion unit includes a propulsion control module (a control circuit based on an ESP32 main control chip), a speed regulation control module, a motor, a propeller, and a steering engine; the propulsion control module is responsible for controlling the steering engine and controlling the motor and the propeller by setting parameters of the speed regulation control module. In this embodiment, four steering engines are provided, including two horizontal steering engines and two vertical steering engines; the propulsion control module is connected with the four steering engines through IO and a driving circuit, and is connected with the speed regulation control module through RS232, so that the rotating speed and the steering of the motor can be regulated according to instructions; the speed regulation control module is connected with the intelligent controller through WIFI.
In this embodiment, still the embedding has the information display unit in the middle section casing, and at this moment, the middle section casing need adopt transparent or translucent material to make, and the information display unit includes a plurality of LED lamp areas, and the information display unit passes through WIFI and connects intelligent control ware, and the steerable display state of intelligent control ware can realize multiple colour and light and shade change effect through the instruction.
The utility model discloses the people has carried out the design of integration to the navigation ware line type to the resistance minimum is as the objective function of integrated design, and the requirement of other aspects is designed as constraint condition. The appearance of the head section shell adopts a two-parameter square root polynomial round head line type, and the appearance of the tail section shell adopts a two-parameter square polynomial pointed tail line type; the head section shell and the tail section shell are both machined from 6061-T6 magnesium-aluminum alloy materials, and have excellent pressure bearing capacity.
The utility model discloses each functional unit of unmanned autonomous underwater vehicle can pass through WIFI communication connection with intelligent control ware, can select the form of a plurality of customer ends of a server when they communicate, wherein the control unit is the server, and each unit is the customer end; or reverse connection, each unit is a server, and the control unit is a client; of course, other connection forms may be used.
In summary, the aircraft of the utility model adopts the wireless communication design between sections, and the assembly and detection of each module are extremely convenient; the sections are connected without signal wires, so that the disassembly and maintenance are convenient; the upgrading and reconstruction work is convenient; the interface of the utility model is standardized, and if extra equipment is carried, the circuit is not required to be reconstructed again, so that the development procedure amount is very little; various sensors adopted by the aircraft have high integration level, small volume and low price; the utility model discloses an intelligent control ware can directly select for use the smart mobile phone, adopts the tall and erect platform of ann in open source, does benefit to user's secondary development.
The content of the present invention is not limited to the examples, and any equivalent transformation adopted by the technical solution of the present invention is covered by the claims of the present invention by those skilled in the art through reading the present invention.
Claims (10)
1. An underwater unmanned autonomous aircraft comprises an aircraft body and an onshore operation terminal, and is characterized in that the aircraft body comprises a head section, a middle section, a tail section and at least one intelligent controller which are independently sealed and assembled into a whole; the head section comprises a head section housing; the middle section comprises a middle section shell; the tail section comprises a tail section shell, a power propulsion unit arranged in the tail section shell and a fin rudder outside the tail section shell;
the intelligent controller comprises a finished product mobile communication terminal which is independently powered and can be in wireless connection with the shore operation terminal, and the mobile communication terminal is arranged in the watertight shell; the intelligent controller is characterized in that the integrated functional module comprises a battery, a display screen, a WIFI communication unit, a wireless mobile communication unit, a satellite positioning unit, an attitude sensor, an electronic compass, a storage module, a calculation unit, a video unit and an audio unit; a plurality of sensors are arranged in the head section shell, the middle section shell or the tail section shell and the watertight shell; a battery unit is arranged in the head section shell, the middle section shell or the tail section shell; the intelligent controller is connected with and controls the battery unit, the power propulsion unit and the sensors; the battery unit provides electric energy for the intelligent controller, the power propulsion unit and the sensors.
2. The underwater unmanned autonomous vehicle of claim 1, wherein a plurality of intelligent controllers are provided, the plurality of intelligent controllers are respectively fixed inside or outside the head section, the middle section or the tail section, and the plurality of intelligent controllers are communicatively networked through WIFI wireless connection.
3. The underwater unmanned autonomous vehicle of claim 1 or 2, wherein the number of sensors includes, but is not limited to, a depth sensor, an altitude sensor, a doppler log, a side scan sonar, or a multi-beam sonar; the depth sensor, the height sensor, the Doppler log, the side scan sonar or the multi-beam sonar are all in wireless connection with the intelligent controller through WIFI.
4. The underwater unmanned autonomous vehicle of claim 3, wherein the power propulsion unit comprises a propulsion control module, a speed regulation control module, a motor, a propeller and a plurality of steering engines; the steering engines comprise at least one horizontal steering engine and one vertical steering engine; the propulsion control module is respectively connected with the steering engine and the speed regulation control module, the speed regulation control module is connected with the motor, and the motor is connected with the propeller through a rotating shaft; the propulsion control module is wirelessly connected with the intelligent controller through WIFI.
5. The underwater unmanned autonomous vehicle of claim 4, wherein the midsection housing is made of a transparent or translucent material, and an information display unit is embedded in the midsection housing, wherein the information display unit comprises a plurality of LED strips; the information display unit is wirelessly connected with the intelligent controller through WIFI.
6. The underwater unmanned autonomous vehicle of claim 5, wherein the battery unit is of an integral structure, and the battery unit of the integral structure is electrically connected with the power propulsion unit, the intelligent controller and the plurality of sensors respectively.
7. The underwater unmanned autonomous vehicle of claim 5, wherein the battery units are of a split structure, and the battery units of the split structure are respectively mounted on the power propulsion unit and the plurality of sensors.
8. The underwater unmanned autonomous vehicle of claim 6, wherein the battery unit comprises a lithium ion battery module, a power monitoring module, and a power control module; the positive electrode and the negative electrode of the lithium ion battery module are connected with the electric quantity monitoring module, the positive electrode of the lithium ion battery module is connected with external electric equipment through the power supply control module, and the electric quantity monitoring module is connected with the power supply control module through an RS232 interface; the power control module is in wireless connection with the intelligent controller through WIFI.
9. The underwater unmanned autonomous vehicle of claim 8, wherein the wireless mobile communication unit is a 4G communication unit or a 433MHz communication module; the satellite positioning unit is a GPS positioning system or a Beidou positioning system.
10. The unmanned autonomous underwater vehicle of claim 9, wherein said bow shells are of a two-parameter square root polynomial bullnose type; the tail section shell adopts a two-parameter square root polynomial pointed tail line type.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921103379.3U CN210592385U (en) | 2019-07-15 | 2019-07-15 | Unmanned autonomous underwater vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921103379.3U CN210592385U (en) | 2019-07-15 | 2019-07-15 | Unmanned autonomous underwater vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210592385U true CN210592385U (en) | 2020-05-22 |
Family
ID=70717909
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921103379.3U Active CN210592385U (en) | 2019-07-15 | 2019-07-15 | Unmanned autonomous underwater vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210592385U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110341917A (en) * | 2019-07-15 | 2019-10-18 | 浙江海呐科技有限公司 | Underwater unmanned autonomous navigation device |
| CN114071255A (en) * | 2021-11-11 | 2022-02-18 | 航天科工哈尔滨风华有限公司 | Wireless data acquisition system, method and equipment applied to unmanned underwater vehicle cabin and storage medium |
-
2019
- 2019-07-15 CN CN201921103379.3U patent/CN210592385U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110341917A (en) * | 2019-07-15 | 2019-10-18 | 浙江海呐科技有限公司 | Underwater unmanned autonomous navigation device |
| CN114071255A (en) * | 2021-11-11 | 2022-02-18 | 航天科工哈尔滨风华有限公司 | Wireless data acquisition system, method and equipment applied to unmanned underwater vehicle cabin and storage medium |
| CN114071255B (en) * | 2021-11-11 | 2023-08-08 | 航天科工哈尔滨风华有限公司 | Wireless data acquisition system, method, equipment and storage medium applied to unmanned submarine cabin |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102963514B (en) | Portable underwater marine environmental monitoring aerodone | |
| WO2021129001A1 (en) | Underwater and aerial robot | |
| CN102632980B (en) | Underwater glider utilizing ocean wave energy and charging method | |
| CN105905244B (en) | Automorph position radiocoustic position finding buoy | |
| CN210592385U (en) | Unmanned autonomous underwater vehicle | |
| CN108583920A (en) | A kind of control method of unmanned plane marine landing platform and UAV Landing | |
| WO2019129085A1 (en) | Flight control system, unmanned aerial vehicle, and unmanned aerial vehicle system | |
| CN102589531A (en) | Underwater topography measurement boat as well as manufacturing method and measurement method | |
| CN102975835A (en) | Seawater piston adjusting type gliding submarine | |
| CN101477104A (en) | Intelligent monitoring detection system with positioning or cruising function on water | |
| CN108844484B (en) | Full-sea-depth AUV integrated control cabin and control method | |
| CN111645835A (en) | Unmanned primary and secondary underwater vehicle with multiple underwater belts | |
| CN212604325U (en) | Multi-rotor amphibious unmanned aerial vehicle | |
| CN103287558A (en) | Flounder-type underwater glider | |
| CN110673615A (en) | Autonomous underwater unmanned vehicle control system | |
| CN208855818U (en) | A kind of long continuation of the journey seawater sampling wave energy solar energy binary unmanned boat of self-righting | |
| CN203812089U (en) | Unmanned boat with onboard wireless communication system | |
| CN103439892B (en) | A kind of control device on shallow water small underwater robot deck | |
| CN110341917A (en) | Underwater unmanned autonomous navigation device | |
| CN113716003B (en) | X-shaped rudder underwater vehicle and rudder clamp anti-sinking method thereof | |
| CN111354238A (en) | Unmanned ship fault simulation system | |
| CN113093737B (en) | Water-air amphibious omnibearing autonomous search and rescue warship team | |
| CN110515317B (en) | Coaxial water-air hybrid unmanned aerial vehicle control system | |
| CN205405267U (en) | Six spool miniature aircraft | |
| CN112055150A (en) | Underwater real-time image enhancement shooting unmanned aerial vehicle based on vector propulsion |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |