CN211731772U - Split towing cable type water surface-underwater unmanned aircraft - Google Patents
Split towing cable type water surface-underwater unmanned aircraft Download PDFInfo
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- CN211731772U CN211731772U CN202020173937.XU CN202020173937U CN211731772U CN 211731772 U CN211731772 U CN 211731772U CN 202020173937 U CN202020173937 U CN 202020173937U CN 211731772 U CN211731772 U CN 211731772U
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- unmanned
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title abstract description 13
- 238000004891 communication Methods 0.000 claims abstract description 19
- 230000003993 interaction Effects 0.000 claims abstract description 10
- 238000004804 winding Methods 0.000 claims description 8
- 230000007246 mechanism Effects 0.000 claims description 3
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 5
- 229910052744 lithium Inorganic materials 0.000 description 5
- 238000011084 recovery Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000036544 posture Effects 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 239000003653 coastal water Substances 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000003643 water by type Substances 0.000 description 1
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Abstract
The utility model discloses a components of a whole that can function independently drag cable formula surface of water-unmanned navigation ware under water, include: an unmanned mother ship including at least a hull and a propeller as a power source of the hull; the unmanned underwater vehicle at least comprises a sealed cabin body and a plurality of pairs of underwater propellers; the unmanned mother ship and the unmanned underwater vehicle carry out information interaction through cables; the remote wireless control end is used for carrying out information interaction with the unmanned mother ship in a wireless communication mode; the utility model discloses combine towline formula unmanned vehicles and small-size unmanned ship organically, realize a cooperation type surface of water-unmanned vehicles under water that only needs to provide the remote operation instruction to will improve ordinary ROV's operation radius and range of application greatly.
Description
Technical Field
The utility model relates to an underwater vehicle field especially relates to a remote control and components of a whole that can function independently towrope formula unmanned vehicles that unmanned ship and underwater robot combine together.
Background
The existing underwater vehicles mainly comprise an Autonomous Underwater Vehicle (AUV) and a remote-control unmanned vehicle (ROV), wherein the AUV is communicated and controlled in a wireless mode, and the ROV is communicated and controlled in a wired mode through a cable. The AUV mostly adopts an underwater sound mode for underwater communication, the difficulty is high, the efficiency is low, and the communication floating out of the water surface is greatly reduced in the aspects of efficiency and concealment; the latter employs cables that greatly limit the maximum operating radius and application environment of the aircraft. Even so, both AUV and ROV are the current research focus of the naval ocean and inland rivers and lakes.
Compared with the wireless communication development of the AUV, the ROV has relatively low wired control difficulty and investment, and the success of the flood dragon provides case proof for the towline type aircraft to carry out large-scale operation. The technical and capital investment required to perform a large range of operations remains enormous, with the operating radius of the ROV being limited by the length of the cable and the operating area of the parent vessel. The ROV adopts cable communication, control signals are stable and are slightly interfered by the environment, but in order to obtain a wider working range, the length of the cable is continuously increased, the possibility that the cable is influenced by water flow and is wound is increased, and the influence on the motion control of the ROV is extremely adverse, so that the working radius of the common ROV is smaller. The mother ship is used as the origin of the working space of the ROV, the moving range of the mother ship directly influences the working radius of the ROV, but the manned mother ship needs to provide extra manpower for working, the ship body has large drainage, and common civil use is not utilized.
The method is applied to popular inland and coastal water areas, and if an underwater vehicle application technology which is low in cost, large in range, high in reliability and unmanned can be provided, exploration and utilization of underwater resources in China can be effectively promoted. The existing robot-oriented wireless communication technology is mature day by day, the direct connection communication distance can even reach more than 5km, and the satellite communication is adopted, so that the global real-time wireless communication and control can even be realized. If the ROV, the unmanned ship and the long-distance communication are combined to develop a low-cost split towing cable type underwater unmanned vehicle, the operation radius and the application range of the common ROV are greatly improved.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model discloses combine towline unmanned vehicles (ROV) and small-size Unmanned Ship (USV) organic, realize a cooperation type surface of water-underwater unmanned vehicles that only need provide long-range operation instruction. The USV is used for constructing a communication bridge between the ROV and an onshore operator, and meanwhile, the USV is used for carrying, releasing and recovering the ROV at a long distance; the ROV is the main body of underwater operation.
A split towing-cable type surface-underwater unmanned vehicle, comprising:
an unmanned mother ship including at least a hull and a propeller as a power source of the hull;
the unmanned underwater vehicle at least comprises a sealed cabin body and a plurality of pairs of underwater propellers; a cable for information interaction is connected between the unmanned mother ship and the unmanned underwater vehicle;
and the remote wireless control terminal is used for carrying out information interaction with the unmanned mother ship in a wireless communication mode.
Further, the ship body comprises two identical sub ship bodies and a connecting plate fixedly connected between the two sub ship bodies; the connecting plate is provided with a wire barrel for winding the cable, a winding and unwinding motor for driving the wire barrel to rotate forwards or reversely and a conductive slip ring for realizing the connection of electric energy and signals between the cable and the unmanned mother ship;
further, the unmanned mother ship is symmetrically provided with two clamping devices for fixing the unmanned underwater vehicle in a retracted state; the clamping device comprises a clamping driving motor, a crank fixed on an output shaft of the clamping driving motor, a hook hinged to the connecting plate and a connecting rod hinged between the crank and the hook; the crank, the connecting rod, the hook and the connecting plate form a crank rocker mechanism together.
Furthermore, the two propeller thrusters are symmetrically arranged at the tail part of the unmanned mother ship; the number of the underwater propellers is four, and the underwater propellers are symmetrically distributed on two sides of the sealed cabin body through the connecting frame.
Further, the unmanned mother ship carries a battery for supplying power to the ship body and the unmanned underwater vehicle; the unmanned mother ship can also carry a generator.
Furthermore, the unmanned mother ship and the unmanned underwater vehicle can be provided with attitude sensors, encoders, positioners, video collectors and/or electric quantity monitors.
The utility model has the advantages that:
(1) wide working range
The utility model discloses in, because unmanned mother ship movable range only receives the restraint of waters and radio communication scope, and unmanned underwater vehicle's relative operation radius only receives cable length constraint. Therefore, the operation range of the whole system can theoretically reach all connected water areas of a network coverage area, and the operation range of the unmanned aircraft is greatly expanded.
(2) Long endurance time
The utility model discloses a main power consumption part during system operation is unmanned mother's screw propeller, underwater vehicle's underwater propulsor, receive and release motor, centre gripping driving motor, sensing and communication equipment, controller etc. and unmanned mother's ship adopts the catamaran design to provide great load capacity for mother's ship can carry the lithium power supply of great capacity, the generator even, very big extension time of endurance.
(3) The system has small volume and low cost
Because the water surface and underwater operation systems are unmanned, activity space does not need to be provided for operators, extra investment does not need to be provided for personnel safety, the volume of the system can be effectively reduced, and the system is convenient to transport, store and use on a large scale.
(4) The system stability is high
The unmanned mother ship in the utility model adopts a twin-hull structure, thereby increasing the restoring moment when the ship body inclines, ensuring that the mother ship is not easy to overturn and has higher stability; the underwater unmanned vehicle adopts four pairs of underwater propellers and a parallel power arrangement mode, can realize the rapid adjustment of the position and the posture in a differential mode, and the strong power can effectively resist the influence of underwater turbulence.
(5) Large expandable space
The utility model discloses an unmanned navigation ware under water adopts the drive mode that has cable power supply and four underwater propulsor parallel arrangement, can provide big pose adjustment power and moment under water, and its bearing capacity is strong, is fit for carrying on multiple operation functional module, adaptable high degree of difficulty operation tasks such as salvaging under water, exploiting, overhauing.
(6) Low operation risk and flexible control
The mother ship and the underwater vehicle of the utility model are unmanned devices, and operators can remotely control the mother ship and the underwater vehicle on the shore, so that the threat of water to the operators is effectively reduced; the operator can move in a wide range and has high flexibility.
Drawings
The invention will be further described with reference to the following figures and examples:
FIG. 1 is an isometric view of the overall structure of the system;
FIG. 2 is a front view of the overall system structure;
FIG. 3 is a rear view of the overall structure of the system;
FIG. 4 is a top view of the overall system configuration;
FIG. 5 is a front view of the parent unmanned ship;
FIG. 6 is a front view of an unmanned underwater vehicle;
FIG. 7 is a top view of an underwater unmanned vehicle;
FIG. 8 is a schematic view of an unmanned underwater vehicle in a recovery state;
fig. 9 is a schematic diagram of an underwater unmanned vehicle in an operational state.
Detailed Description
The first embodiment is as follows:
the embodiment discloses a split towing cable type surface-underwater unmanned aircraft, which comprises:
an unmanned mother ship 6 including at least a hull and a propeller 3 as a power source of the hull; as shown in fig. 1, the hull of the mother unmanned ship 6 comprises two identical sub-hulls and a connecting plate fixedly connected between the two sub-hulls; the two propeller thrusters 3 are respectively arranged at the tails of the two boat bodies, and the connecting plate is used as a 'deck' to bear all working parts; the distance between the two sub-ships is larger than the transverse size of the unmanned underwater vehicle 5, so that the unmanned underwater vehicle can be recovered between the two sub-ships; the unmanned mother ship 6 of the utility model adopts a double-hull structure, on one hand, the bearing capacity of the mother ship 6 can be improved, and on the other hand, the stability of the mother ship 6 is obviously improved; in addition, when the unmanned underwater vehicle 5 can be retracted between the two sub-bodies, the overall compactness of the system is improved.
The unmanned underwater vehicle 5 at least comprises a sealed cabin body and four pairs of underwater propellers 4 connected outside the sealed cabin body through connecting frames, wherein the four pairs of underwater propellers 4 are symmetrically arranged at four corners of the sealed cabin body in an axis vertical mode; the unmanned underwater vehicle 5 can meet the requirements of complex postures and positions in an underwater three-dimensional space by controlling the steering and rotating speeds of the four pairs of underwater propellers 4. The single-direction power provided by the four propellers 4 can realize the rapid underwater displacement; in addition to the vertical motion mode, the underwater propulsion 4 is required to provide additional power to maintain the required underwater depth.
The unmanned mother ship 6 and the unmanned underwater vehicle 5 perform information interaction through cables (in the embodiment, zero-buoyancy cables are adopted); the connecting plate is provided with a wire barrel 1 for winding the wire cable, a winding and unwinding motor 8 for driving the wire barrel 1 to rotate forwards or reversely and a conductive slip ring 2 for realizing signal connection between the wire cable and the unmanned mother ship 6; as shown in fig. 1, a square hole is formed in the middle of the connecting plate to enable a wire barrel 1 to be embedded, and a central rotating shaft of the wire barrel 1 is cross-arm-mounted on the connecting plate through a conductive slip ring 2; the guide slip ring is a device in the prior art and comprises a rotating end and a fixed end; the rotating end is fixed with the middle rotating shaft and is electrically connected with the end part of the cable, the fixed end of the rotating end is fixed on the connecting plate, the signal connection between the cable and equipment (a controller) on the mother ship 6 is realized through the conductive slip ring 2, the controller on the unmanned mother ship 6 can send a control signal to the underwater vehicle 5 through the cable, and the cable winding and unwinding are realized through the rotation of the driving wire barrel 1 by the winding and unwinding motor 8.
The unmanned mother ship 6 is symmetrically provided with two clamping devices 7 for fixing the unmanned underwater vehicle 5 in a retracted state; the clamping device 7 comprises a clamping driving motor 9, a crank 10 fixed on an output shaft of the clamping driving motor 9, a hook 12 hinged to the connecting plate and a connecting rod 11 hinged between the crank 10 and the hook 12; the crank 10, the connecting rod 11, the hook 12 and the connecting plate form a crank rocker mechanism together; a through hole for the hook to pass through is formed in the connecting plate, the clamping driving motor 9 is fixed on the top surface of the connecting plate, and when the clamping driving motor drives the crank 10 to rotate, the connecting rod 11 drives the hook 12 to swing; clamping grooves are formed in two sides of the unmanned underwater vehicle 5, and the hooks can be clamped into the clamping grooves, so that the underwater vehicle 5 and the mother ship 6 are relatively fixed.
Example two:
in the embodiment, on the basis of the first embodiment, the unmanned mother ship 6 is provided with a lithium battery for supplying power to the ship body and the unmanned underwater vehicle 5, and the lithium battery can also carry a generator according to use requirements; thereby remarkably improving the endurance time of the whole system. At this time, one end of the cable is connected with a power supply end of the lithium battery through the conductive slip ring 2 (a plurality of cables can be arranged and can transmit signals and electric energy respectively), and the lithium battery on the unmanned mother ship 6 supplies power to the unmanned underwater vehicle through the cable.
The remote wireless control end is used for carrying out information interaction with the unmanned mother ship 6 in a wireless communication mode; the remote wireless control end can be a handheld remote controller developed based on a single chip microcomputer, a PC carrying a wireless communication module and a short-distance oriented smart phone. In addition, the remote wireless control end and the unmanned mother ship 6 are simultaneously configured with protocols based on long-distance wireless, wifi and 5G communication, so that real-time interaction of control instructions, state data and video information can be realized; and the mother ship 6 and the underwater vehicle 5 carry out information interaction through cables, so that the obstacle of underwater communication is avoided.
As shown in fig. 8 and 9, the flow of the operation performed by the split towing-cable type surface-underwater unmanned vehicle 5 of the present invention includes transportation, release, operation, recovery, return, and the like. Two workers place the unmanned system on the water surface at the bank side, and operate the unmanned mother ship 6 to convey the underwater vehicle 5 to an area to be operated; the mother ship 6 opens the hook of the clamping device 7, and the retraction motor 8 rotates in the releasing direction until the underwater vehicle 5 reaches the designated operation depth; during the release process, the underwater vehicle 5 enters an operable state, related operations are carried out based on signals of the control end, and the mother ship 6 can move simultaneously during the period; after the operation is finished, the mother ship 6 controls the retraction motor 8 to rotate towards the recovery direction until the recovery is finished; and the mother ship 6 moves to a specified position under the instruction of the control end to finish the task.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and those skilled in the art can make various modifications and variations; any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention is included in the protection scope of the present invention.
Claims (6)
1. A split towing-cable type underwater unmanned vehicle is characterized by comprising:
an unmanned mother ship including at least a hull and a propeller as a power source of the hull;
the unmanned underwater vehicle at least comprises a sealed cabin body and a plurality of pairs of underwater propellers; a cable for information interaction is connected between the unmanned mother ship and the unmanned underwater vehicle;
and the remote wireless control terminal is used for carrying out information interaction with the unmanned mother ship in a wireless communication mode.
2. The split streamer type surface-underwater unmanned vehicle of claim 1, wherein:
the ship body comprises two identical sub ship bodies and a connecting plate fixedly connected between the two sub ship bodies; and the connecting plate is provided with a wire barrel for winding the cable, a winding and unwinding motor for driving the wire barrel to rotate forwards or reversely and a conductive slip ring for realizing the connection of electric energy and signals between the cable and the unmanned mother ship.
3. The split streamer type surface-underwater unmanned vehicle of claim 2, wherein: the unmanned mother ship is symmetrically provided with two clamping devices for fixing the unmanned underwater vehicle in a retracted state; the clamping device comprises a clamping driving motor, a crank fixed on an output shaft of the clamping driving motor, a hook hinged to the connecting plate and a connecting rod hinged between the crank and the hook; the crank, the connecting rod, the hook and the connecting plate form a crank rocker mechanism together.
4. The split streamer type surface-underwater unmanned vehicle of claim 3, wherein: the two propeller thrusters are symmetrically arranged at the tail part of the unmanned mother ship; the number of the underwater propellers is four, and the underwater propellers are symmetrically distributed on two sides of the sealed cabin body through the connecting frame.
5. The split streamer type surface-underwater unmanned vehicle of claim 4, wherein: the unmanned mother ship carries a battery for supplying power to the ship body and the unmanned underwater vehicle; the unmanned mother ship can also carry a generator.
6. The split streamer type surface-underwater unmanned vehicle of claim 5, wherein: the unmanned mother ship and the unmanned underwater vehicle can be provided with an attitude sensor, an encoder, a locator, a video collector and/or an electric quantity monitor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020173937.XU CN211731772U (en) | 2020-02-13 | 2020-02-13 | Split towing cable type water surface-underwater unmanned aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020173937.XU CN211731772U (en) | 2020-02-13 | 2020-02-13 | Split towing cable type water surface-underwater unmanned aircraft |
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| Publication Number | Publication Date |
|---|---|
| CN211731772U true CN211731772U (en) | 2020-10-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020173937.XU Expired - Fee Related CN211731772U (en) | 2020-02-13 | 2020-02-13 | Split towing cable type water surface-underwater unmanned aircraft |
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| Country | Link |
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| CN (1) | CN211731772U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112849375A (en) * | 2021-03-12 | 2021-05-28 | 浙江国际海运职业技术学院 | Primary and secondary formula is unmanned underwater vehicle ware |
| CN114408094A (en) * | 2021-12-23 | 2022-04-29 | 宜昌测试技术研究所 | Small-size unmanned ship outboard U type arm |
-
2020
- 2020-02-13 CN CN202020173937.XU patent/CN211731772U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112849375A (en) * | 2021-03-12 | 2021-05-28 | 浙江国际海运职业技术学院 | Primary and secondary formula is unmanned underwater vehicle ware |
| CN114408094A (en) * | 2021-12-23 | 2022-04-29 | 宜昌测试技术研究所 | Small-size unmanned ship outboard U type arm |
| CN114408094B (en) * | 2021-12-23 | 2023-06-02 | 宜昌测试技术研究所 | Outboard U-shaped mechanical arm of small unmanned ship |
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| GR01 | Patent grant | ||
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20201023 |
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| CF01 | Termination of patent right due to non-payment of annual fee |