CN215554044U - Autonomous underwater monitoring underwater vehicle and system for near sea area - Google Patents

Abstract

The utility model discloses an autonomous underwater vehicle for monitoring offshore area and a system thereof, comprising a prow body and further comprising: the rudder is connected with the coxswain body through a shaft, and the rudder is arranged on two sides of the front end of the coxswain body; a camera mounted within the transparent housing; the camera comprises a camera body, a mounting plate and a positioning plate, wherein the camera body is provided with a camera opening, the camera opening is arranged at the front end of the camera body, the camera opening is arranged at the rear end of the camera body, the camera opening is arranged at the front end of the camera body, the mounting plate is arranged below the camera body and comprises clamping pieces at two sides and positioning pieces at the bottom, and the mounting plate is used for fixing the camera body; the transparent shell is detachably connected with the yacht body, and the transparent shell is installed outside the camera and is hemispherical. The utility model can meet the machine vision type monitoring use requirement in offshore water area ocean economic construction, simplify personnel and improve efficiency.

Description

Autonomous underwater monitoring underwater vehicle and system for near sea area

Technical Field

The utility model relates to the field of underwater vehicles, in particular to an autonomous underwater vehicle for monitoring an offshore area and a system thereof.

Background

With the development of marine resources, the contribution of marine economy to national economy is increased year by year; according to the statistical bulletin of Chinese ocean economy in 2019, the total value of the Chinese ocean economy in 2019 exceeds 8.9 trillion yuan; the marine fishery, marine traffic industry, marine tourism industry, offshore resource exploration, submarine power, communication service and the like in the near sea area have great contribution; at present, for monitoring civil offshore area underwater facilities, professional personnel are mainly used for periodic inspection, and a manned underwater vehicle (HOV) or a remote-control unmanned underwater vehicle (ROV) with certain specific functions is mainly used for periodic inspection, while an unmanned underwater vehicle (AUV) with autonomous control capability is mostly applied to the military field.

The prior underwater vehicle has the following obvious defects: 1. a remote-controlled unmanned underwater vehicle (ROV) needs to be controlled by connecting a cable, and an auxiliary vessel for accommodating the cable is required to support the ROV during operation. 2. Because the remote control unmanned underwater vehicle needs a water surface ship to support, the operation of the remote control unmanned underwater vehicle is influenced under the condition of severe sea conditions. 3. With the development of marine economy, the area of the underwater vehicle required to operate in the future is huge, and the point-to-point operation mode of the remote-control unmanned underwater vehicle and the manned underwater vehicle is difficult to cover efficiently.

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problems, the utility model provides an autonomous underwater monitoring submarine vehicle and an autonomous underwater monitoring system which are used for offshore water area marine economic construction, meet the use requirements of machine vision type monitoring, simplify personnel and improve efficiency.

The technical scheme is as follows: on one hand:

an autonomous offshore area underwater monitoring underwater vehicle, comprising a prow body and further comprising:

the rudder is connected with the coxswain body through a shaft, and the rudder is arranged on two sides of the front end of the coxswain body;

a camera mounted within the transparent housing; the camera comprises a camera body, a mounting plate and a positioning plate, wherein the camera body is provided with a camera opening, the camera opening is arranged at the front end of the camera body, the camera opening is arranged at the rear end of the camera body, the camera opening is arranged at the front end of the camera body, the mounting plate is arranged below the camera body and comprises clamping pieces at two sides and positioning pieces at the bottom, and the mounting plate is used for fixing the camera body;

the transparent shell is detachably connected with the yacht body, and is arranged outside the camera and is hemispherical;

the prow body still includes main equipment cabin, power compartment and stabilizing surface, stabilizing surface is including setting up two horizontal stabilizing surfaces and two perpendicular stabilizing surfaces of prow body.

Further, the system also comprises a main control chip set, a motor set and a battery pack; the main control chip set is arranged inside the yacht body and is connected with the camera; the rudder, the horizontal stabilizing surface and the vertical stabilizing surface are respectively connected with the corresponding motor sets; the motor sets are respectively connected with the main control chip sets; the battery pack is arranged inside the yacht head body.

Further, the submarine further comprises a communication buoy, and the communication buoy is arranged above the submarine head body; the communication buoy is detachably connected with the storage cabin.

Further, the communication buoy is connected with the keel block body through a data cable, and the data cable is connected with the main control chip set.

Further, still include the sonar array, the sonar array sets up in the front end of the prow body and both sides.

Further, the prow body still includes: the front buoyancy reserve cabin is of an annular structure and is arranged at the front end of the prow body; the rear buoyancy reserve cabin is of an annular structure and is arranged at the rear end of the prow body; a water inlet; the thrust pump adopts a water spray type pump and is provided with a deflectable three-dimensional axisymmetric vector structure nozzle.

Further, the rudder comprises a steering portion arranged on one side of the prow body, and a cross shaft is arranged inside the steering portion.

Further, the transparent shell is made of high-transparency quartz glass, high-transparency ceramic glass or high-transparency PC plastic.

Further, the camera is a spherical camera, and an AI camera is adopted.

On the other hand, an autonomous underwater monitoring and diving system for the offshore area is also provided, and comprises the autonomous underwater monitoring and diving device for the offshore area; the ground 5G base station is connected with the communication buoy; and the satellite chain satellite is connected with the communication buoy.

The utility model has the beneficial effects that: the camera is arranged at the front end of the underwater vehicle, so that the underwater condition can be automatically shot; the transparent shell is used for protecting the camera so that the camera can work normally and stably; in addition, the underwater vehicle transmits the information shot by the camera to the outside by using the communication buoy, does not need to be supported by an auxiliary ship, does not need to be connected with a cable for operation and control, and can not be influenced in the case of severe sea conditions; the operation difficulty is reduced, and the operation in a large area can be covered.

Drawings

FIG. 1 is a top view of an autonomous offshore area subsea monitoring vehicle according to the present invention.

Fig. 2 is a side view of an autonomous offshore area subsea monitoring vehicle of the present invention.

Fig. 3 is a front view of an autonomous offshore area subsea monitoring vehicle of the present invention.

Fig. 4 is a rear view of an autonomous offshore area subsea monitoring vehicle of the present invention.

Fig. 5 is an overall schematic view of an autonomous offshore area underwater surveillance vehicle of the present invention.

Fig. 6 is a schematic structural diagram of an autonomous underwater vehicle for monitoring in the offshore area according to the utility model.

Fig. 7 is a cross-sectional view of an autonomous offshore area subsea monitoring vehicle of the present invention.

Fig. 8 is another cross-sectional view of an autonomous offshore area subsea monitoring vehicle of the present invention.

Fig. 9 is a schematic diagram of an autonomous offshore area underwater surveillance submergence system of the present invention.

Reference numerals:

10. a transparent housing; 11. a camera; 12. a sonar array; 20. a rudder; 30. a main equipment compartment; 31. a motor unit; 32. a main control chip; 33. a battery pack; 40. horizontally stabilizing the flour; 50 vertical stabilizer; 60. a communication buoy; 61. a data cable; 70. a power compartment; 80. a front buoyancy reserve tank; 81. a front water inlet valve; 90. a rear buoyancy reserve tank; 91. a rear water inlet valve; 100. a water inlet; 110. a thrust pump; 120. a ground 5G base station; 130. a satellite in a star chain.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the utility model herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Referring to fig. 1 to 9, an autonomous underwater vehicle for monitoring near sea comprises a hull body, and further comprises: the rudder 20 is connected with the coxswain body through a shaft, and the rudder 20 is arranged on two sides of the front end of the coxswain body; a camera 11 mounted within the transparent housing 10; the mounting plate is arranged below the camera 11 and comprises buckling pieces on two sides and a positioning piece at the bottom, and the mounting plate is used for fixing the camera 11; the transparent shell 10 is detachably connected with the yacht body, and the transparent shell 10 is installed outside the camera 11 and is hemispherical; the prow body further comprises a main equipment cabin 30, a power cabin 70 and a stabilizing surface, wherein the stabilizing surface comprises two horizontal stabilizing surfaces 40 and a vertical stabilizing surface 50 which are arranged on the prow body.

In the present embodiment, the rudder 20 is composed of a steering unit, a cross shaft, and the like, and further, the rudder 20 can be rotated up and down and back and forth, so that the advancing direction can be more easily adjusted, and the directivity can be improved. Preferably, the camera 11 is fixed by the mounting plate, wherein the inner side of the buckling piece is provided with a buckling hole, and the two sides of the camera 11 are provided with corresponding buckling pins, so that the camera 11 and the buckling pins can be mutually buckled; in addition, the positioning piece is provided with a screw hole for being detachably connected with the underwater vehicle, so that the underwater vehicle is convenient to maintain. The transparent case 10 is provided outside the camera 11 for protecting the camera 11. The main equipment cabin 30 arranged on the yacht body is used for placing electromechanical equipment such as a motor 31, a main control chip 32 and a battery pack 33; the power pod 70 is used to house the motor and water jet pump that drive the stabilizer. The horizontal stabilizer 40 and the vertical stabilizer 50 are used to adjust the travel of the underwater vehicle in the horizontal and vertical directions. Considering underwater navigation performance, pressure resistance requirement of a certain depth and design of a buoyancy storage structure, and combining with a feasible manufacturing process, the appearance of the underwater vehicle adopts a mature cigar shape with a large length-diameter ratio.

Preferably, the system also comprises a main control chip set 32, a motor set 31 and a battery pack 33; the main control chip set 32 is arranged inside the yacht body, and the main control chip set 32 is connected with the camera 11; the rudder 20, the horizontal stabilizing surface 40 and the vertical stabilizing surface 50 are respectively connected with the corresponding motor sets 31; the motor set 31 is respectively connected with the main control chip set 32; the battery pack 33 is disposed inside the coxswain body.

In this embodiment, the video information obtained by shooting by the camera 11 is sent to the main control chip 32, and the main control chip 32 sends the video information to the outside through the communication buoy 60; in addition, the main control chip 32 also controls the operation of the motor set 31, so that the steering of the rudder 20 and the stabilizing surface can be adjusted. The battery 33 provides electrical power to the entire submersible electromechanical system.

Preferably, the submarine further comprises a communication buoy 60, wherein the communication buoy is arranged above the yacht body; the prow body top is equipped with the storage compartment, the communication floats 60 and marks storage compartment detachable connection.

In the embodiment, the storage compartment is provided with a hatch which can be popped out when the communication buoy 60 needs to be used; it should be noted that the cylinder disposed below the communication buoy ejects the communication buoy 60 by filling with compressed gas.

Preferably, the communication buoy 60 is connected to the keel body through a data cable 61, and the data cable 61 is connected to the main control chip 32.

In this embodiment, the total length of the data cable is such that the vehicle reaches the maximum submergence depth with margin. The communication buoy 60 is provided with a 5G communication module and a star link communication module; communication is achieved using 5G signals in offshore areas where 5G infrastructure is effectively covered, and using star-link signals in offshore areas where 5G technology cannot be effectively covered.

Preferably, the submarine further comprises a sonar array 12, and the sonar array 12 is provided at the front end and both sides of the yacht body.

In this embodiment, the sonar array 12 at the front end may be provided in the transparent casing 10. The sonar arrays 12 on the two sides are side body sonar arrays 12; the underwater vehicle also applies a sensor developed by a bionics principle, such as a pressure sensor developed by a fish lateral line principle to sense the change of a vibration source; the navigation and perception capability of the underwater vehicle in the environment that light is insufficient and natural background noise influences sonar is improved.

Preferably, the yacht body further comprises: a front buoyancy reserve tank 80 having an annular structure and disposed at the front end of the prow body; the rear buoyancy reserve tank 90 is of an annular structure and is arranged at the rear end of the prow body; a water inlet 100; the thrust pump 110, the thrust pump 110 adopts a water spray type pump and is provided with a deflectable three-dimensional axisymmetric vector structure nozzle.

In the present embodiment, the water inlet 100 is used when the water jet pump is used for spraying water; in order to improve the maneuverability of the underwater navigation of the underwater vehicle and avoid the situation that marine organisms are wound by foreign matters in water or are hit by blades by using a paddle type propulsion device, the underwater vehicle adopts a water-spraying type pump thrust as a power device and is provided with a deflectable three-dimensional axisymmetric vector structure nozzle; the rudder 20 is of a full-motion type construction to cooperate to improve maneuverability. Specifically, in order to change the gravity of the underwater vehicle, seawater needs to be filled, and therefore a front water inlet valve 81 and a rear water inlet valve 91 are arranged below the front buoyancy storage compartment 80 and the rear buoyancy storage compartment 90. Both the front buoyancy reserve tank 80 and the rear buoyancy reserve tank 90 are of an annular structure, wherein the outer ring part of the annular structure is used for filling seawater, and the inner ring part is used for penetrating through a component cable and the like. The annular structure is arranged into a front section and a rear section, so that the seawater capacity of one end of the underwater vehicle only needs to be changed when the front part or the rear part of the underwater vehicle rises or sinks, and the seawater capacity of the two sections can be adjusted simultaneously, so that the rising or sinking range of the underwater vehicle is more convenient to adjust.

Preferably, the rudder 20 includes a turning portion provided on one side of the prow body, and a cross shaft is provided inside the turning portion.

Preferably, the transparent casing 10 is made of high-transparency quartz glass, high-transparency ceramic glass or high-transparency PC plastic.

In the embodiment, in order to ensure the image acquisition of the camera 11 and the requirement of the underwater working environment, the transparent shell 10 of the submarine head of the underwater vehicle needs to ensure high transparency and certain pressure and corrosion resistance, and the selectable materials include high-transparency quartz glass, high-transparency ceramic glass or high-transparency PC plastic and the like.

Preferably, the camera 11 is a spherical camera 11, and an AI camera 11 or an AI camera is adopted.

In another aspect, the utility model further provides an autonomous underwater vehicle for monitoring near sea area, comprising the autonomous underwater vehicle for monitoring near sea area as described in any one of the above items; the system also comprises a ground 5G base station 120 which is connected with the communication buoy 60; and a satellite 130 connected to the communication buoy 60.

In this embodiment, the communication buoy 60 transmits the data information to the ground 5G base station 120 or the satellite 130; the underwater vehicle starts to release the communication buoy 60 after entering water from the berth and submerging, and the specific communication mode is determined according to the detection result of the intensity of the built-in signal; if within 5G communication infrastructure coverage and the signal is stable, the 5G signal chain is maintained and the star chain communication is turned off, and if the 5G coverage area is exceeded, the star chain signal is turned on. The swarm algorithm operated by the background master control server and the uplink and downlink data chains between the submergible devices form a swarm network, optimal solutions are made to the inspection range, the inspection path, the risk avoidance, the residual electric quantity management and the like of each sub-end of the submergible device swarm, and efficient monitoring coverage of a large-area operation area is achieved.

While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the utility model. It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the utility model. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims (10)

1. The utility model provides an autonomous formula offshore area underwater monitoring ware that submerges, includes the prow body, its characterized in that still includes rudder, camera and transparent casing:

the rudder is connected with the hull body through a shaft, and the rudder is arranged on two sides of the front end of the hull body;

the camera is arranged in the transparent shell; the camera comprises a camera body, a mounting plate and a positioning plate, wherein the camera body is provided with a camera opening, the camera opening is arranged at the front end of the camera body, the camera opening is arranged at the rear end of the camera body, the camera opening is arranged at the front end of the camera body, the mounting plate is arranged below the camera body and comprises clamping pieces at two sides and positioning pieces at the bottom, and the mounting plate is used for fixing the camera body;

the transparent shell is detachably connected with the yacht body, and is arranged outside the camera and is hemispherical;

the prow body still includes main equipment cabin, power compartment and stabilizing surface, stabilizing surface is including setting up two horizontal stabilizing surfaces of prow body and prow body upper portion perpendicular stabilizing surface.

2. The autonomous undersea monitoring underwater vehicle according to claim 1, further comprising a main control chip set, a motor set and a battery pack; the main control chip set is arranged inside the yacht body and is connected with the camera; the rudder, the horizontal stabilizing surface and the vertical stabilizing surface are respectively connected with the corresponding motor sets; the motor sets are respectively connected with the main control chip sets; the battery pack is arranged inside the yacht head body.

3. The autonomous undersea monitoring undersea vehicle according to claim 2, further comprising a communication buoy disposed above said stinger body; the communication buoy is detachably connected with the storage cabin.

4. The autonomous undersea monitoring vehicle according to claim 3,

the communication buoy is connected with the yacht body through a data cable, and the data cable is connected with the main control chip set.

5. The autonomous underwater vehicle for underwater monitoring in the near-sea area according to claim 3, further comprising sonar arrays provided at the front end and both sides of the yacht body.

6. The autonomous undersea monitoring submersible of claim 3, wherein the prow body further comprises:

the front buoyancy reserve cabin is of an annular structure and is arranged at the front end of the prow body;

the rear buoyancy reserve cabin is of an annular structure and is arranged at the rear end of the prow body;

a water inlet;

the thrust pump adopts a water spray type pump and is provided with a deflectable three-dimensional axisymmetric vector structure nozzle.

7. The autonomous undersea monitoring vehicle according to claim 3,

the rudder comprises a steering part arranged on one side of the yacht body, and a cross shaft is arranged in the steering part.

8. The autonomous undersea monitoring vehicle according to any of claims 1 to 7,

the transparent shell is made of high-transparency quartz glass, high-transparency ceramic glass or high-transparency PC plastic.

9. The autonomous undersea monitoring vehicle according to any of claims 1 to 7,

the camera is a spherical camera and adopts an AI camera.

10. An autonomous offshore underwater surveillance system comprising an autonomous offshore underwater surveillance vehicle as claimed in any of the claims 3 to 7; also comprises

The ground 5G base station is connected with the communication buoy;

and the satellite chain satellite is connected with the communication buoy.

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