CN213354801U - Three-revolving-body combined autonomous underwater vehicle - Google Patents
Three-revolving-body combined autonomous underwater vehicle Download PDFInfo
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- CN213354801U CN213354801U CN202021603856.5U CN202021603856U CN213354801U CN 213354801 U CN213354801 U CN 213354801U CN 202021603856 U CN202021603856 U CN 202021603856U CN 213354801 U CN213354801 U CN 213354801U
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Abstract
The utility model discloses a three-revolution combined autonomous underwater vehicle, the main cabin body of which consists of a parallel middle body with a hollow structure, a head cabin cover and a tail cabin cover which are respectively connected with the parallel middle body end to end; the left floating body and the right floating body are rigidly connected at the head part by the fixed horizontal wing, the fixed horizontal wing and the main cabin body are rigidly connected by the fixed vertical wing, the left floating body and the right floating body are rigidly connected by the horizontal wing support at the tail part, the main cabin body is rigidly connected with the left floating body and the right floating body by the two oblique wing supports respectively, and the main cabin body, the left floating body and the right floating body form an inverted triangle structure; the first propeller, the second propeller and the third propeller are respectively arranged at the tail parts of the left floating body, the right floating body and the main cabin body, and the communication mast is arranged on the upper surface of the tail part of the parallel middle body. The utility model has the characteristics of the manipulation is simple, and hydrodynamic performance and self-propulsion stability are good, and the loading capacity is big, and the carrying capacity is big, and the usage is extensive, and accommodation is wide etc.
Description
Technical Field
The utility model relates to an autonomic underwater vehicle especially relates to a three solid of revolution combination formula autonomic underwater vehicle, mainly can be used to environmental monitoring under water, ocean physicochemical property detects etc..
Background
With the rapid development of the aspects of marine resource exploration and exploitation, marine security and the like, the engineering activities are developed by only relying on the conventional water surface technology, and the engineering requirements on the aspects of technology, economy, safety and the like cannot be met. Therefore, the underwater exploration equipment is fully applied in engineering design and construction (cable/pipeline route measurement, high-resolution submarine topography mapping, structural overhaul, oil-gas exploration and the like), environmental investigation (dangerous waste container investigation, dredged river sediment monitoring, environmental evaluation, geological mapping, fish resource assessment, submarine resource assessment and the like), underwater search activities (accident investigation, archaeological investigation, salvage/recovery operation and the like) and the like.
An underwater vehicle system is generally composed of a mother work vessel, a communication mast, an underwater vehicle, trajectory and attitude control equipment, functional instruments, and the like. Different monitoring devices can be carried in the aircraft according to different operation requirements, and an underwater vision system, a sonar system and the like can be carried at the same time so as to increase the capability of the underwater system for transmitting control information, and monitoring personnel on a working mother ship can adjust the track and the posture of the underwater vehicle through a controller to implement underwater work of the vehicle.
The underwater vehicle has the functions of providing carrying space for various detection sensors such as thermohaline, pressure, optics, sonar and the like, and simultaneously provides a required working environment for carried instruments by utilizing the self attitude and course stability control performance.
How to improve the flexibility of the operation of the underwater vehicle, the stability of the underwater vehicle and the high-efficiency and convenient adjustment of the attitude according to the requirements on the track and the attitude control mode of the underwater vehicle is a key for meeting the requirements on the work operations such as submarine exploration and the like.
The Chinese patent application (CN109747800A) discloses an under-actuated micro AUV, the shape of the under-actuated micro AUV is a streamline rotary body, a main carrier of the AUV is designed into a streamline longitudinal section, a stern rudder piece is in a cross arrangement, a coil capable of performing energy and information interaction is arranged in a midship, a propeller is arranged at a stern end, and the multi-freedom control adopts four direction rudders for control; but the speed of the technology during self-navigation is slower, which causes the flow velocity on the surface of the horizontal wing to be very small and the wing effect to be very low, thus not enough force is needed to complete the multi-degree-of-freedom motion; in addition, the structural shape of the single-streamline type revolving body causes the height difference of the gravity center and the floating center to be small, so that the stability of the whole autonomous underwater vehicle is poor.
SUMMERY OF THE UTILITY MODEL
The utility model discloses to the technical problem who exists among the prior art, provide a three solid of revolution combination formula autonomic underwater vehicle that autonomic stability is good, course stability is good, the multi freedom manipulation is nimble rapid.
In the aspect of the structure the utility model discloses a three solid of revolution combination formula appearance contains two bodies in such structure and is used for improving the floating heart, and a main cabin body loads battery and instrument for reduce the focus, can make floating heart and focus difference in height increase like this to guarantee the stability of whole autonomic underwater vehicle. The utility model discloses a screw propeller both had been used for advancing also to be used for manipulating, had saved extra control mechanism for it is simple more convenient to manipulate, and mobility is relatively good. The utility model discloses three solid of revolution combination formula autonomic underwater vehicle have the manipulation simple, and hydrodynamic performance and self-propulsion stability are good, and the loading capacity is big, and the loading is big, and the usage is extensive, characteristics such as accommodation is wide.
The purpose of the utility model is realized through the following technical scheme:
a three-revolving-body combined autonomous underwater vehicle mainly comprises: the device comprises a left floating body, a right floating body, a main cabin body, a fixed horizontal wing, a fixed vertical wing, a horizontal wing support, an oblique wing support, a first propeller, a second propeller, a third propeller and a communication mast; the main cabin body consists of a parallel middle body with a hollow structure, and a head cabin cover and a tail cabin cover which are respectively connected with the parallel middle body end to end; the left floating body and the right floating body are rigidly connected at the head part by the fixed horizontal wing, the fixed horizontal wing and the main cabin body are rigidly connected by the fixed vertical wing, the left floating body and the right floating body are rigidly connected by the horizontal wing support at the tail part, the main cabin body is rigidly connected with the left floating body and the right floating body by the two oblique wing supports respectively, and the main cabin body, the left floating body and the right floating body form an inverted triangle structure; the first propeller, the second propeller and the third propeller are respectively arranged at the tail parts of the left floating body, the right floating body and the main cabin body, and the communication mast is arranged at the upper side of the tail part of the parallel middle body;
the main cabin body is provided with a depth sensor, a right ultrasonic locator, a left ultrasonic locator, a temperature sensor, a data acquisition card, a signal transmission module, a data storage module, a main control computer, a driver, an electronic gyroscope, a GPS positioning system, a remote terminal and a detection instrument; the depth sensor, the right ultrasonic locator, the left ultrasonic locator, the temperature sensor, the electronic gyroscope and the detecting instrument are respectively connected with the main control computer through a data acquisition card; the first propeller, the second propeller and the third propeller are connected with a main control computer through a driver; the data storage module is connected with the main control computer; the GPS positioning system and the remote terminal are connected with the main control computer through a signal transmission module; the lithium battery is respectively connected with the depth sensor, the right ultrasonic locator, the left ultrasonic locator, the temperature sensor, the data acquisition card, the signal transmission module, the data storage module, the main control computer, the driver, the electronic gyroscope, the GPS positioning system and the detecting instrument.
In order to further realize the utility model discloses the purpose, preferably, left body, right body and main cabin body solid of revolution appearance all choose for use the Myring is linear, fixed horizontal wing, fixed vertical wing, horizontal wing support and oblique wing support all adopt NACA symmetrical wing section.
Preferably, a head ballast tank, an instrument tank, an energy tank, a communication control tank and a tail ballast tank are sequentially arranged in the cavity of the main cabin body from head to tail.
Preferably, the head ballast tank is arranged in the head tank cover, the tail ballast tank is arranged in the tail tank cover, and the energy tank, the communication control tank and the instrument tank are all arranged in the parallel middle body.
Preferably, the data acquisition card, the signal transmission module, the data storage module, the main control computer, the driver, the electronic gyroscope and the GPS positioning system are arranged in the communication control.
Preferably, the oblique wing support is provided with a plurality of threading rings, and the wires pass through the threading rings and are respectively connected to the first propeller and the second propeller at the tail parts of the driver, the left floating body and the right floating body.
Preferably, main cabin body surface bilateral symmetry set up four sensor and carry the frame, depth sensor, right side supersound locater, left side supersound locater and temperature sensor set up on four sensor carry the frame.
Preferably, the right ultrasonic locator and the left ultrasonic locator are arranged on two sensor carrying frames which are parallel to the head of the middle body.
Preferably, the detection instrument is arranged in the instrument chamber; the lithium battery is arranged in the energy cabin, and the energy cabin is positioned in the middle of the main cabin body.
Preferably, new parallel cabins are respectively arranged between the parallel middle body and the tail cabin cover and between the parallel middle body and the head cabin cover.
The data acquisition card of the utility model is used for acquiring the data measured by some sensors, ultrasonic position indicators, detecting instruments and electronic gyroscopes; the signal transmission module is used for transmitting signals such as a GPS (global positioning system), an attitude position and the like to the remote terminal so that the remote terminal can know the navigation state and the position of the autonomous underwater vehicle; the data storage module stores the data acquired by the data acquisition card, so that data analysis can be conveniently carried out after the underwater navigation task is completed; the main control computer can receive data of the data acquisition card, analyze the obstacle problem and the floating state problem in a navigation area according to the data, output frequency modulation pulses to the driver through the common cooperation of a preset navigation track program, an obstacle avoidance program and an attitude adjustment program, and adjust the rotating speed of the propeller through the driver, so that the autonomous underwater vehicle is controlled to navigate according to a certain track, well avoid obstacles and keep stable navigation in the navigation process. Since both the communication mast and the propeller are mounted at the tail of the autonomous underwater vehicle, the communication control pod is arranged at the tail of the parallel mid-body. The instrument cabin is used for loading some detection instrument and equipment, the instrument cabin is arranged at the parallel middle body head part, and the instrument cabin is required to be changed into a cabin into which water can flow as the monitoring of some instruments and equipment is required to be contacted with the water, and the instrument cabin can be arranged at any time to be watertight or non-watertight without influencing the watertight cabins of the energy cabin and the communication control cabin.
The utility model discloses a modular design theory, between body and tail hatch cover, first hatch cover in parallel, the new parallel cabin body of installation that can be selective is used for different instrument assembly, can strengthen autonomic underwater vehicle's functionality like this, adapts to different task requirements.
Compared with the prior art, the beneficial effects of the utility model are that:
(1) the instrument is arranged flexibly. The bottom pod can be loaded with instrument equipment, particularly, the large space in the transverse direction and the longitudinal direction can be suitable for more equipment and instruments, and meanwhile, the instrument equipment with larger mass is arranged on the bottom pod, so that the aims of reducing the center of gravity and improving the stability are fulfilled.
(2) High operation efficiency and flexible movement. The utility model discloses only adopt three screw can realize the multi freedom control to underwater vehicle as control mechanism. The utility model discloses among the control of sinking of navigation process, following heavy fortune demonstration, about two screws of body afterbody increase the rotational speed simultaneously, the screw of the afterbody of the main cabin body reduces the rotational speed like this three screw and produces a torque and make an angle of underwater vehicle trim, when waiting to turn to required angle, original rotational speed is resumeed to three screw, sails downwards along this angle under the promotion of screw, accomplishes the motion of sinking. In the heading control, the rotation speed of the propeller at the tail part of the right floating body is increased and the rotation speed of the propeller at the tail part of the left floating body is reduced by taking heading towards the left as demonstration, so that the propellers at the tail parts of the left floating body and the right floating body generate a rotation moment, the underwater vehicle rolls at an angle, when the underwater vehicle rotates to a required angle, the three propellers recover the original rotation speed, and sails towards the left along the angle under the pushing of the propellers, thereby completing the heading movement towards the left.
(3) And the number of control mechanisms is small. The utility model discloses at the navigation in-process, the three screw propeller of afterbody both is used for providing thrust, also can be used for accomplishing the control of multi freedom motion, has reduced unnecessary operating mechanism.
(3) The navigation stability is good. The utility model discloses the appearance all adopts the streamline shape, has guaranteed the homogeneity in navigation ware surface flow field. All the parts are fixedly welded and installed, and no movably connected part exists, so that the eddy current disturbing navigation of the aircraft caused by sudden change of the shape structure due to gaps or partitions at the movable connection position is reduced.
(4) The autonomous stability is good. The utility model discloses a two bodies can improve the floating center position, and main cabin body energy cabin, communication control cabin and instrument cabin can be used for reducing the focus of whole autonomic underwater vehicle simultaneously to guarantee that the navigation vehicle is at the autonomic stability under water.
(5) The construction is convenient, and the structural strength is high. The utility model discloses well screw is used for impelling and control, does not have such structure of needs wobbling hydrofoil or rudder wing, has not had swing joint greatly reduced the construction degree of difficulty, has had such swing joint moreover and has damaged more easily. The utility model discloses except that first cabin cover and tail cabin cover need install for, whole welding accomplish can, build simply, it is better to have not had swing joint to make the structure completion moreover, and structural strength is than higher.
(6) The functionality is strong, and adaptability is strong. The utility model discloses a modular design theory, between body and tail cabin cover, first cabin cover in parallel, can install the new parallel cabin body and be used for different instrument assembly, can strengthen the functional of autonomic underwater vehicle like this, adapts to different task requirements.
Drawings
Fig. 1 is an oblique view of the tail of the three-revolution combined autonomous underwater vehicle of the present invention;
fig. 2 is an oblique view of the nose of the three-rotor combined autonomous underwater vehicle of the present invention;
fig. 3 is a schematic view of the main cabin subdivision of the three-revolution combined autonomous underwater vehicle of the present invention;
fig. 4 is a perspective view of the interior of the main hull of the three-revolution combined autonomous underwater vehicle of the present invention;
fig. 5 is a signal data transmission diagram of the three-revolution combined autonomous underwater vehicle of the present invention;
figure 6 is a modular installation schematic diagram of the three-rotor combined autonomous underwater vehicle of the present invention.
The figures show that: the system comprises a left floating body 1, a right floating body 2, a main cabin body 3, a fixed horizontal wing 4, a fixed vertical wing 5, a horizontal wing support 6, an oblique wing support 7, a first screw propeller 8-1, a second screw propeller 8-2, a third screw propeller 8-3, a communication mast 9, a parallel middle body 10, a first cabin cover 11, a tail cabin cover 12, a head ballast cabin 13, a tail ballast cabin 14, an energy cabin 15, a communication control cabin 16, an instrument cabin 17, a sensor carrying frame 18, a depth sensor 19, a right ultrasonic locator 20, a left ultrasonic locator 21, a temperature sensor 22, a threading ring 23, a wire 24, a data acquisition card 25, a signal transmission module 26, a data storage module 27, a main control computer 28, a driver 29, an electronic gyroscope 30, a GPS positioning system 31, a remote terminal 32, a detection instrument 33, a lithium battery 34 and a new parallel cabin body 35.
Detailed Description
To better support the present invention, the present invention will be further explained below with reference to the accompanying drawings, but the embodiments of the present invention are not limited thereto.
As shown in fig. 1 to 6, a three-rotor combined autonomous underwater vehicle mainly includes: the device comprises a left floating body 1, a right floating body 2, a main cabin body 3, a fixed horizontal wing 4, a fixed vertical wing 5, a horizontal wing support 6, an oblique wing support 7, a first propeller 8-1, a second propeller 8-2, a third propeller 8-3 and a communication mast 9; the main cabin body 3 consists of a parallel middle body 10 with a hollow structure, a first cabin cover 11 and a tail cabin cover 12 which are respectively connected with the parallel middle body 10 end to end; the left floating body 1 and the right floating body 2 are rigidly connected at the head part of the fixed horizontal wing 4, the fixed vertical wing 5 rigidly connects the fixed horizontal wing 4 and the main cabin body 3, the left floating body 1 and the right floating body 2 are rigidly connected at the tail part of the fixed vertical wing 6, the main cabin body 3 is rigidly connected with the left floating body 1 and the right floating body 2 respectively by the two inclined wing supports 7, and the main cabin body 3, the left floating body 1 and the right floating body 2 form an inverted triangle structure, so the structure is relatively stable. The first propeller 8-1, the second propeller 8-2 and the third propeller 8-3 are respectively arranged at the tail positions of the left floating body 1, the right floating body 2 and the main cabin body 3, and the communication mast 9 is arranged on the upper surface of the tail of the parallel middle body 10; the main cabin 3 is provided with a depth sensor 19, a right ultrasonic locator 20, a left ultrasonic locator 21, a temperature sensor 22, a data acquisition card 25, a signal transmission module 26, a data storage module 27, a main control computer 28, a driver 29, an electronic gyroscope 30, a GPS positioning system 31, a detecting instrument 33 and a lithium battery 34; the depth sensor 19, the right ultrasonic locator 20, the left ultrasonic locator 21, the temperature sensor 22, the electronic gyroscope 30 and the detecting instrument 33 are respectively connected with the main control computer 28 through a data acquisition card 25, and the acquired data are transmitted to the main control computer 28; the first propeller 8-1, the second propeller 8-2 and the third propeller 8-3 are connected with a main control computer 28 through a driver 29, a control signal transmitted by the main control computer 28 is transmitted to the driver 29, and the driver 29 controls the rotating speed of the first propeller 8-1, the second propeller 8-2 and the third propeller 8-3; the data storage module 27 is connected with a main control computer 28, and the main control computer 28 transmits data to the data storage module to store the data; both the GPS positioning system 31 and the remote terminal 32 are connected to the host computer 28 through the signal transmission module 26. The lithium battery 34 is respectively connected with the depth sensor 19, the right ultrasonic locator 20, the left ultrasonic locator 21, the temperature sensor 22, the data acquisition card 25, the signal transmission module 26, the data storage module 27, the main control computer 28, the driver 29, the electronic gyroscope 30, the GPS positioning system 31 and the detecting instrument 33, and provides electric energy for the devices or the instruments.
The oblique wing support 7 is provided with a plurality of threading rings 23, a lead wire 24 penetrates through the threading rings 23, and the lead wire 24 is used for connecting a driver 29 with the first propeller 8-1 and the second propeller 8-2.
Preferably, the depth sensor 19, the right ultrasonic locator 20, the left ultrasonic locator 21 and the temperature sensor 22 are arranged on the sensor carrier 18, four sensor carriers 18 are arranged on the main cabin surface in bilateral symmetry, the right ultrasonic locator 20 and the left ultrasonic locator 21 are used for carrying sensors which are required to be in contact with water, the depth sensor 19 mainly measures the navigation depth by sensing the pressure of the water, the temperature sensor 21 is used for measuring the water temperature of the navigation water area, the right ultrasonic locator 20 and the left ultrasonic locator 21 measure the depth from the seabed, the distance from surrounding obstacles and the like by emitting ultrasonic waves around and receiving echoes reflected by surrounding objects, in order to better transmit and receive ultrasound waves without obstacles and dead angles in the right ultrasound positioner 20 and the left ultrasound positioner 21, the two ultrasound positioners are arranged on the two sensor carrying frames 18 which are parallel to the mid-head part.
The shapes of the revolving bodies of the left floating body 1, the right floating body 2 and the main cabin body 3 are all in a Myring line shape, and the fixed horizontal wing 4, the fixed vertical wing 5, the horizontal wing support 6 and the oblique wing support 7 adopt NACA symmetrical wing shapes.
The main cabin body 3 is internally provided with a head ballast tank 13, a tail ballast tank 14, an energy tank 15, a communication control tank 16 and an instrument tank 17. The head ballast tank 13 and the tail ballast tank 14 are mainly used for adjusting buoyancy and stability, the head ballast tank 13 is arranged in the head tank cover 11, the tail ballast tank 14 is arranged in the tail tank cover 12, the energy tank 15, the communication control tank 16 and the instrument tank 17 are all arranged in the parallel middle body 10, the lithium battery 34 is mainly arranged in the energy tank 15 and used for providing power for equipment, instruments, communication facilities and propellers, and the energy tank 15 is arranged in the middle of the parallel middle body 10 to reduce trim due to the fact that the lithium battery 34 is heavy. The communication control cabin 16 mainly has the functions of data acquisition and storage, signal transmission, propeller rotation control and the like, the data acquisition card 25, the signal transmission module 26, the data storage module 27, the main control computer 28, the driver 29, the electronic gyroscope 30 and the GPS positioning system 31 are arranged in the communication control cabin 16, and the data acquisition card 25 is used for acquiring data measured by some sensors, the ultrasonic locator, the detecting instrument 33, the electronic gyroscope 30 and the like and transmitting signals to the main control computer 28; the signal transmission module 26 is used for transmitting signals such as a GPS (global positioning system), an attitude position and the like to the remote terminal so that the terminal can know the navigation state and the position of the autonomous underwater vehicle; the data storage module 27 is used for storing the data acquired by the data acquisition card 25, so that the data analysis can be conveniently carried out after the underwater navigation task is completed; the main control computer 28 can receive the data of the data acquisition card 25, transmit the data into the data storage module 27, analyze the obstacle problem in the navigation area according to the data, output frequency modulation pulses to the driver 29 by the joint cooperation of a preset navigation track program, an obstacle avoidance program and an attitude adjustment program, and adjust the rotating speed of the propeller through the driver 29, so that the autonomous underwater vehicle is controlled to navigate according to a certain track and well avoid obstacles and navigate stably in the navigation process.
Since the communication mast 9, the first propeller 8-1, the second propeller 8-2 and the third propeller 8-3 are all mounted at the tail of the autonomous underwater vehicle, the communication control pod 16 is disposed at the tail of the parallel mid-body 10. The instrument cabin 17 is used for loading some detection instruments 33, the instrument cabin 17 is arranged at the head of the parallel middle body 10, and because some instruments and equipment are required to be in contact with water for monitoring, the instrument cabin 17 needs to be changed into a cabin into which water can flow in some cases, and the instrument cabin 17 can be arranged at any time by arranging the instrument cabin 17 at the head of the parallel middle body 10 to be watertight or non-watertight, so that the watertight cabins of the energy cabin 15 and the communication control cabin 16 are not influenced.
In addition, the utility model discloses a modular design theory, between body 10 and tail under-deck lid 11, first under-deck lid 12 in parallel, the new parallel cabin body 35 of installation that can be selective is used for different instrument assembly, can strengthen the functional of autonomic underwater vehicle like this, adapts to different task requirements.
The utility model discloses a concrete working method as follows:
placing required detection instruments into the main cabin body 3 according to detection task requirements, setting the connection position of the instrument cabin 17 and the first cabin cover 11 to be watertight or nonwatertight according to the requirements of the detection instruments, carrying out balancing on the autonomous underwater vehicle in a water tank after the setting is finished, and adding certain weight or foam into the head ballast tank 11 or the tail ballast tank 12 to adjust so that the autonomous underwater vehicle is in a positive floating state; and after the adjustment is finished, the underwater vehicle is placed into the sea to a certain depth, and the navigation is started.
The autonomous underwater vehicle has small resistance during the self-navigation, so that the rapidity of the autonomous underwater vehicle can be improved; fixed horizontal wing 4, fixed vertical wing 5, horizontal wing support 6, oblique wing support 7 can obtain the damping of the lateral motion of appropriate suppression in the navigation motion process in the navigation, guarantee to make the utility model discloses an underwater vehicle course stability preferred.
In the navigation process, the depth sensor 19, the right ultrasonic locator 20, the left ultrasonic locator 21, the temperature sensor 22, the electronic gyroscope 30 and the detecting instrument 33 transmit detected data to the data acquisition card 25, the data acquisition card 25 transmits the data to the main control computer 28, and the main control computer 28 imports the data into the data storage module 27 and analyzes the data. If the front section does not have obstacles after the obtained data is analyzed, the navigation can be controlled according to a set track; if an obstacle is found in front after the data are analyzed, frequency modulation pulses are output to the driver 29, the rotating speeds of the first propeller 8-1, the second propeller 8-2 and the third propeller 8-3 are adjusted through the driver 29, and then the navigation track is adjusted to finish obstacle avoidance operation; if the autonomous underwater vehicle is found to be in the states of heel and trim after the data are analyzed, a frequency modulation pulse needs to be output to the driver 29, and the rotating speed of the corresponding propeller is adjusted through the driver 29 to enable the autonomous underwater vehicle to recover the stable navigation.
The utility model discloses in the control of sinking of navigation process, following the demonstration of the fortune of sinking, the first screw 8-1 and the second screw 8-2 of 2 afterbody of left body 1 and right body increase the rotational speed simultaneously, the third screw 8-3 of 3 afterbody in the main cabin body reduces the rotational speed so that three screw produces a torsional moment and makes an angle of underwater vehicle trim, when waiting to turn to required angle, original rotational speed is resumeed to three screw, sails downwards along this angle under the promotion of screw, accomplishes the motion of sinking. In the heading control, the heading to the left is used for demonstration, the rotating speed of the second propeller 8-2 at the tail part of the right floating body 2 is increased, and the rotating speed of the first propeller 8-1 at the tail part of the left floating body 1 is reduced, so that the propellers at the tail parts of the left floating body and the right floating body generate a rotating moment, the underwater vehicle rolls at an angle, when the underwater vehicle rotates to a required angle, the three propellers restore the original rotating speed, and the underwater vehicle sails leftwards along the angle under the pushing of the propellers so as to finish the heading movement to the left.
If different detection or operation instruments are needed for different tasks, the first cabin cover 11 and the tail cabin cover 12 can be detached from the parallel middle body 10, new parallel cabin bodies 35 with different instruments are installed at the head end and the tail end of the parallel middle body 10, then the first cabin cover 11 and the tail cabin cover 12 are connected with the new parallel cabin bodies 35 to complete modular connection, and the new detection tasks are completed by putting the new parallel cabin bodies into a detection or operation water area again.
It should be noted that any changes or substitutions which are not imaginable by creative work are covered in the protection scope of the invention; the protection scope of the present invention is subject to the protection scope defined by the claims.
Claims (10)
1. A three-revolution combined autonomous underwater vehicle is characterized by mainly comprising: the device comprises a left floating body, a right floating body, a main cabin body, a fixed horizontal wing, a fixed vertical wing, a horizontal wing support, an oblique wing support, a first propeller, a second propeller, a third propeller and a communication mast; the main cabin body consists of a parallel middle body with a hollow structure, and a head cabin cover and a tail cabin cover which are respectively connected with the parallel middle body end to end; the left floating body and the right floating body are rigidly connected at the head part by the fixed horizontal wing, the fixed horizontal wing and the main cabin body are rigidly connected by the fixed vertical wing, the left floating body and the right floating body are rigidly connected by the horizontal wing support at the tail part, the main cabin body is rigidly connected with the left floating body and the right floating body by the two oblique wing supports respectively, and the main cabin body, the left floating body and the right floating body form an inverted triangle structure; the first propeller, the second propeller and the third propeller are respectively arranged at the tail parts of the left floating body, the right floating body and the main cabin body, and the communication mast is arranged on the upper surface of the tail part of the parallel middle body;
the main cabin body is provided with a depth sensor, a right ultrasonic locator, a left ultrasonic locator, a temperature sensor, a data acquisition card, a signal transmission module, a data storage module, a main control computer, a driver, an electronic gyroscope, a GPS positioning system, a remote terminal and a detection instrument; the depth sensor, the right ultrasonic locator, the left ultrasonic locator, the temperature sensor, the electronic gyroscope and the detecting instrument are respectively connected with the main control computer through a data acquisition card; the first propeller, the second propeller and the third propeller are connected with a main control computer through a driver; the data storage module is connected with the main control computer; the GPS positioning system and the remote terminal are connected with the main control computer through a signal transmission module; the lithium battery is respectively connected with the depth sensor, the right ultrasonic locator, the left ultrasonic locator, the temperature sensor, the data acquisition card, the signal transmission module, the data storage module, the main control computer, the driver, the electronic gyroscope, the GPS positioning system and the detecting instrument.
2. The three-rotor combined autonomous underwater vehicle according to claim 1, characterized in that the rotors of the left, right and main tanks are all in the shape of a mering line, and the fixed horizontal wing, the fixed vertical wing, the horizontal wing support and the oblique wing support are all in the shape of a NACA symmetrical wing.
3. The autonomous underwater vehicle with a triple-rotor combination as claimed in claim 1, characterized in that a head ballast tank, an instrument tank, an energy tank, a communication control tank and a tail ballast tank are sequentially arranged from head to tail inside the cavity of the main tank body.
4. The integrated, autonomous underwater vehicle of claim 3, characterized in that said fore ballast compartment is arranged in the fore deck cover, said aft ballast compartment is arranged in the aft deck cover, and said energy compartment, said communication control compartment and said instrumentation compartment are all arranged in a parallel mid-body.
5. The three-rotor combined autonomous underwater vehicle of claim 1, wherein said data acquisition card, signal transmission module, data storage module, main control computer, driver, electronic gyroscope and GPS positioning system are disposed in the communication control cabin.
6. The autonomous underwater vehicle with three revolving units combined as claimed in claim 1, wherein the oblique wing supports have several threading rings through which wires are passed to connect to the first propeller and the second propeller at the tail of the driver, the left buoyant body and the right buoyant body, respectively.
7. The autonomous underwater vehicle with three revolving bodies combined as claimed in claim 1, characterized in that four sensor carrying frames are symmetrically arranged on the surface of the main hull left and right, and the depth sensor, the right ultrasonic locator, the left ultrasonic locator and the temperature sensor are arranged on the four sensor carrying frames.
8. The autonomous underwater vehicle with a combined three-rotor system according to claim 1, characterized in that said right and left ultrasonic position finder are mounted on two sensor-carrying frames of parallel mid-body nose sections.
9. The integrated, autonomous underwater vehicle of the type with three rotors according to claim 1, characterized in that said probe instruments are arranged in an instrument pod; the lithium battery is arranged in the energy cabin, and the energy cabin is positioned in the middle of the main cabin body.
10. The autonomous underwater vehicle of a three-rotor combined type according to claim 1, characterized in that new parallel hulls are further installed between the parallel mid-body and the tail and head covers, respectively.
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| CN202021603856.5U CN213354801U (en) | 2020-08-05 | 2020-08-05 | Three-revolving-body combined autonomous underwater vehicle |
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| CN202021603856.5U CN213354801U (en) | 2020-08-05 | 2020-08-05 | Three-revolving-body combined autonomous underwater vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114379749A (en) * | 2022-01-27 | 2022-04-22 | 中国科学院沈阳自动化研究所 | Method for adjusting steady height of parallel three-body underwater robot |
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2020
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114379749A (en) * | 2022-01-27 | 2022-04-22 | 中国科学院沈阳自动化研究所 | Method for adjusting steady height of parallel three-body underwater robot |
| CN114379749B (en) * | 2022-01-27 | 2022-11-15 | 中国科学院沈阳自动化研究所 | Method for adjusting steady-center height of parallel three-body underwater robot |
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