RU130292U1 - COMPLEX OF CONTROLLED UNABILITATED UNDERWATER UNIT - Google Patents

Abstract

1. A complex of remote-controlled uninhabited underwater vehicle, comprising an onboard part mounted on a supply vessel, connected by a cable with an outboard underwater part, and including a surface module containing an information display unit, a power supply unit, a sonar information processing unit, a video and sonar information display unit , control panel, antenna for underwater positioning system, cable-cable on cable view with current collector, underwater part of the complex is made in the form of a teleu module adjustable underwater vehicle, which contains a supporting frame with a buoyancy unit, the underwater part is equipped with cameras, light sources and a lighthouse transponder system underwater positioning, sonar, navigation unit, distribution block, propulsion, manipulator, characterized in that the underwater part contains at least , five movers, horizontal movers are arranged in a vector diagram, an inclined platform containing at least one video camera and / or lamp, an underwater part INH at least two videokamery.2. The device according to claim 1, characterized in that the complex has modes of holding a given course and depth. The device according to claim 2, characterized in that the complex has a mode of maintaining the distance of the apparatus to the bottom. The device according to claim 1, characterized in that the elements of the control panel work in the same mode. The device according to claim 1, characterized in that the frame is non-metallic. The device according to claim 1, characterized in that the underwater part contains at least one two or more power manipulator. The device according to claim 1

Description

The utility model relates to the design of equipment for ships intended for special purposes and including devices for detecting objects under water. The technical solution can be used to conduct underwater search and pre-search operations, to study the seabed, inspect pipelines, transmit information to the surface and perform underwater technical works.

Uninhabited underwater vehicles are known, both stand-alone and remotely controlled by cable from a remote control located on the supply vessel, usually equipped with photo-television systems, which include a video camera, lamps, depth stabilization devices and navigation devices (Marine Encyclopedic Reference: In two volumes, Volume 2 / Under the editorship of N.N. Isanin. - L .: Shipbuilding, 1987, pp. 102-103 (Underwater vehicles).

Known telecontrolled uninhabited underwater vehicles (TYPE) having a frame, a rectangular body, in the upper part of which are placed blocks of positive buoyancy (Uninhabited underwater vehicles. Under the general editorship of A. Sytin - M .: Voenizdat, 1975, p.21) . In these devices, in the bow of the body mounted television equipment and light sources. The device has two marching propulsors and one shunting mounted in a vertical plane. Mechanisms and systems are powered and controlled by a cable-cable fixed in the upper part of the housing. A manipulator is mounted below the frame. This design of TIPA has a number of drawbacks that limit its technological capabilities, namely, low running and maneuverability, especially low stability on the course, the impossibility of full movement of the lag, due to the lack of lag propulsion as such.

In addition, the location of the television equipment only in front of the housing severely limits the TYPE's ability to transmit information, not allowing simultaneous monitoring of the external environment from different angles.

Known complex remote-controlled underwater vehicle "Nereus-350" by patent No. 108747 of 02/07/2011, adopted as the closest analogue of the claimed utility model.

The complex of remote-controlled underwater vehicle (TPA) "Nereus-350" consists of a surface part, a cable part and an underwater part. The above-water part is a unit that includes a power supply system for the device, a control and display system for video information, a control panel (PU), sonar equipment (underwater navigation antenna), a control computer and a sonar information processing computer. The cable part is a view with a current collector for transmitting power and telemetry signals to the underwater part. The underwater part is a remote-controlled underwater vehicle, consisting of a metal frame, on which several durable cases with electronics and navigation and orientation sensors (heading-roll-trim sensor, pressure sensor, magnetic compass) are installed, one video camera, two horizontal and two lamps vertical mover, all-round sonar, lighthouse responder underwater navigation system.

The main objective of the complex is to carry out inspection and prospecting work, a remote-controlled underwater vehicle, therefore, should, first of all, have high information content. The disadvantages of the closest analogue are the lack of equipment of the apparatus with video equipment (one video camera), as well as the lack of a camera in the stern of the apparatus, which is a necessity when conducting search operations in gorges in conditions of poor visibility and the presence of obstacles to maneuvers.

Another drawback of the closest analogue is the design of the propulsion system, namely equipping the apparatus with two horizontal propulsors and two vertical propulsors at an angle to the vertical axis of symmetry (semi-vector arrangement of propulsors). With this scheme, the movement of the apparatus with the lag occurs at a low speed, which significantly reduces the convenience of controlling the TPA by the operator, limits the use of the apparatus even with small currents and, as a result, reduces the efficiency of inspection, prospecting and other underwater technical operations.

The use of the apparatus in conditions of underwater currents and sea waves also complicates the absence of stabilization modes in course and depth. Without these stabilization modes, the control of the underwater vehicle is significantly complicated, it is impossible to stabilize in course and depth in automatic mode, and to do this in manual mode, even with minimal sea waves and currents, is difficult and is strictly dependent on the skills and experience of the pilot of the device.

Another disadvantage is the lack of the ability to simultaneously control the underwater vehicle in the horizontal and vertical plane, but only when switching between modes due to the separation of control on the joystick into 2 independent modes: horizontal control by march, lag, turn and vertical control. This makes the TPA maneuvering control extremely inconvenient and greatly complicates the underwater operations and the search under water.

The frame of the underwater apparatus of the complex is a welded metal structure, which significantly increases the mass of the apparatus, increases the fragility of the frame in the presence of external influences and reduces its life. Moreover, to compensate for the additional mass, an increase in the volume of buoyancy is necessary, which again leads to an increase in the mass of the apparatus on land.

Underwater vehicle "Nerey-350" has the ability to connect devices via RS-232/485. These interfaces provide a very limited number of connected equipment and sensors, which is not enough for full-fledged survey and underwater work. As an example, the Gemini underwater multi-beam sonar has an Ethernet connection interface, thus, installing this device on the Nerey-350 underwater vehicle and its operation as part of the complex is impossible.

The MicroNav navigation system has a number of usage restrictions. The antenna of the navigation system is designed so that the transponder mounted beacon can operate at a distance of not more than 150 m in depth and not more than 450 m in the horizontal plane. Thus, when the apparatus is submerged to a depth of more than 150 m, the use of a sonar navigation system is impossible.

The task to which the utility model is directed is to increase maneuverability and improve the controllability of a telecontrolled uninhabited underwater vehicle, improve information content when conducting underwater technical, inspection and search operations. The technical result from the use of the utility model is to increase the efficiency of underwater technical and inspection work.

The indicated result is achieved using a complex of telecontrolled uninhabited underwater vehicle containing an onboard part mounted on a supply vessel connected by a cable with an outboard underwater part and including a surface module containing an information display unit, a power supply unit, a sonar information processing unit, a video and sonar information display unit , control panel, antenna for underwater positioning system, cable cable on cable view with current collector, supply The first part of the complex is made in the form of a module of a remote-controlled uninhabited underwater vehicle, which contains a supporting frame with a buoyancy unit, the underwater part is equipped with cameras, light sources and a beacon-transponder of an underwater positioning system, sonar, navigation unit, distribution block, propulsion devices, a manipulator, characterized in that that the underwater part contains at least five thrusters, horizontal thrusters are arranged according to a vector diagram, an inclined platform containing at least least one camera and / or lighting, underwater part comprises at least two cameras.

The problem is also solved by the fact that the complex has modes of holding a given course and depth.

The problem is also solved by the fact that the complex has a mode of maintaining the distance of the apparatus to the bottom.

The task is also solved by the fact that the elements of the control panel work in one mode.

The problem is also solved by the fact that the frame is non-metallic.

The problem is also solved by the fact that the underwater part contains at least one two or more power manipulator.

The task is also solved by the fact that the underwater part has RS232, RS485 and Ethernet interfaces.

The problem is also solved by the fact that an electro-optical cable is used to connect the onboard and underwater parts of the complex.

The problem is also solved by the fact that the distribution block of the underwater part of the complex contains a power supply, a switching protective board, and an optical fiber converter.

The problem is also solved by the fact that the underwater part contains an all-round sonar and / or an underwater positioning system and / or a multi-beam sonar and / or an altimeter and / or a salinity sensor and / or a cathode potential sensor and / or a sound velocity sensor and / or a Doppler log and / or a side-scan sonar and / or background radiation sensor and / or explosive detector.

The utility model is illustrated by drawings:

figure 1 Layout layout TYPE; figure 2 Block diagram of the underwater vehicle of the complex; figure 3 Block diagram of the surface of the complex.

In the drawings, the following notation:

1 - Distribution block;

1-1 - Fiber optic converter;

1-2 - power supply;

1-3 - Switching protection board;

2 - Block switching light and video signals;

3 - Navigation block;

3-1 - Control board for the navigation unit;

3-2 - Orientation sensor;

3-3 - Pressure sensor;

4 - Movers;

4-1 - Vertical movers;

4-2 - Horizontal propulsors;

5 - Inclined platform;

6 - camcorder;

7 - The lamp;

8 - cable;

9 - Manipulator;

10 - Sonar;

11 - Beacon-responder positioning system;

12 - surface module;

12-1 - Surface power supply;

12-2 - Surface fiber optic converter;

12-3 - Video overlay;

12-4 - GKO computer, positioning systems and additional equipment;

12-5 - Monitor displaying video information;

12-6 - Monitor displaying sonar information and additional equipment;

12-7 - Control Panel;

13 - Cable view;

14 - Antenna sonar positioning system.

The presence in the underwater part of the TNLA of at least five movers, the arrangement of horizontal movers in a vector scheme, the presence, in the particular case of two movers in the vertical plane, significantly increases the maneuverability of the device, allows you to move along the march and along the lag, make a turn about its own vertical axis , which improves the convenience and accuracy of control. Two propulsors installed in the vertical plane allow you to have an increased amount of additional equipment due to the greater emphasis created. Also, two movers significantly increase the vertical speed of immersion and ascent, which significantly reduces the speed of ascent and descent to the place of examination and / or underwater technical work.

The underwater vehicle has the ability to connect a large number of cameras and simultaneously transmit multiple video streams to the surface module of the complex, as well as installing cameras on the bow and / or stern and / or any necessary place on the frame of the device. This feature significantly increases the information content of the complex, as it is possible to research and search for information from several cameras at once. Also, TNPA has a movable platform installed in the nose of the device, capable of turning with an actuator at an angle of at least 180 degrees and has the ability to install at least one camera and at least one lamp on it. The underwater vehicle has a main strong sealed enclosure that contains a power supply unit, a multiplexer, a distribution board for all nodes of the underwater part of the complex, and a protection system for individual parts of the complex. All this equipment is mounted on a polypropylene frame fastened together by aluminum profiles. This design allows you to significantly reduce the weight of the apparatus and increase resistance to external influences, such as impacts during tripping or during underwater and search operations.

The TNPA complex has the ability to connect additional equipment and sensors via RS-232/485, Ethernet, as well as any serial underwater positioning system and / or any serial sonar (both all-round and multi-beam). The TNLA complex has automatic control modes for heading and / or depth, which allows you to keep the depth and / or course necessary during the work and significantly simplifies the search and underwater work. This is done by manually entering the required depth and course, guided by the data from the navigation module of the underwater part of the complex, then turning on the automatic modes to the launcher at the heading and / or depth.

The TNPA complex also maintains the distance of the apparatus to the bottom in automatic mode if there is a distance to the bottom (altimeter) sensor in the underwater part of the complex.

The manipulator-tong has the function of unlimited rotation of the tong, which significantly increases the capabilities during underwater technical work. During work, the tong can be rotated at any desired angle of inclination in any direction. This function significantly expands the use of TNLA when conducting underwater operations.

In addition, the complex features a control panel for the underwater vehicle, which has a joystick, potentiometers and buttons for simultaneously controlling the movement of the vehicle, continuously adjusting the light, turning on / off the light, controlling the tilt of the platform, adjusting the power of the propulsors, and manipulator control.

In addition, the complex uses a neutral buoyancy cable with an optical fiber, which allows transmitting information flows of various kinds through one optical cable, while its thickness is much lower than similar non-optical ones. The presence of a thinner cable reduces the mass and dimensions of the complex, and also positively affects the dynamic characteristics of the underwater vehicle, the best hydrodynamic indicators of a thinner cable positively affect the controllability of the underwater vehicle.

In a particular case, the complex is designed to operate at a depth of up to 350 m, with a cable connecting the surface module and the underwater vehicle, 400 m long, while the mass of the device does not exceed 45 kg with dimensions of 830 × 600 × 480 mm, the weight of the surface module of the complex does not exceed 35 kg with dimensions of 600 × 570 × 640 mm.

For the complex to operate, the surface module is connected to a 220 V, 50 Hz power supply network, an antenna for hydroacoustic positioning system 14 is installed, the underwater vehicle is launched into the water using cable view 13. At the same time, video information is displayed on monitors 12-5, which carries a video image with parameters of systems and sensors, and monitor 12-6 displays sonar information from sonar, underwater positioning systems and additional equipment. In a specific case, additional monitors are connected to simultaneously display video from multiple cameras and additional devices and sensors. Using the 12-7 remote control, remote control of the underwater vehicle is carried out, such as controlling movement along the march, lag, turning in place (left to right), controlling vertical movement, controlling light intensity, turning light on and off, controlling the power of the vehicle’s propulsion, turning movers on and off, tilting platform control, heading hold mode on / off, depth holding mode on / off, manipulator control. When controlling on a march, lag and in a turn, only a group of horizontal movers 4-2 are involved, with vertical movement only a group of vertical movers 4-1. In this case, control using the control panel 12-7 for all influences can be carried out simultaneously. With the help of cable view 13, the length of the cable necessary for the work is regulated by bleeding or picking up the cable, excluding pulling or severe sagging of the cable in water, thereby ensuring the normal operation of the pump.

With the help of installed cameras, light fixtures, a round-robin sonar 10 or another type of sonar (and / or additional equipment), research, search and additional search for underwater objects are carried out. Display of video information is carried out using a monitor 12-5 through a video overlay 12-3. The video overlay 12-3 displays information about the state of the device “on top” of the video image, namely the course, immersion depth, current time and date of work, stabilization modes of course and depth, tilt angle of the turntable, light intensity level, mover power level, -Switching off movers and lights, as well as in any combination with each other. For underwater navigation of the device and to determine the location of the found object, an underwater positioning system is used, which consists of a transponder beacon 11 installed on the underwater vehicle, an antenna for hydroacoustic positioning system 14, a computer for hydroacoustic systems and additional equipment 12-4 with installed software and monitor display sonar information 12-6. To coordinate the position of the apparatus and / or object in a particular case, a GPS and / or GLONASS satellite positioning system is connected to the surface module. Information from T-bills is also processed in a computer for sonar systems and additional equipment and displayed on the monitor 12-6, in the particular case, sonar information and information from additional sensors and equipment can be displayed on different monitors. For convenience of inspection work, a rotary platform 5 is mounted on the apparatus, with a television camera 6 and a lamp 7 installed on it. Platform 5 is a sealed electromechanical drive that allows you to rotate the television camera and lamp installed on it at an angle of at least 180 degrees. Management platform 5 is carried out using the remote control 12-7.

The underwater vehicle of the complex is controlled via cable 8, which contains power wires and optical fiber. Power wires are used to power the systems of the device, and optical fiber for transmitting control signals, video, sonar information, data from additional equipment and sensors. In the underwater vehicle, the cable is connected using a sealed connector to the distribution block 1, in it the power wires are connected to the power supply unit 1-3 and the optical fiber to the fiber optic converter 1-1, which converts the optical signal into control signals, video, hydroacoustic, and data of additional equipment and sensors. Switching protection board 1-3 is used for distribution and protection of control and power signals for apparatus systems, hydroacoustic equipment and additional equipment and sensors. Through the sealed connectors, the devices and the system of the device are connected to the distribution block, such as movers 4, a light and video signal switching unit, a navigation block, an inclined platform, a circular sonar, a beacon-transponder of an underwater positioning system, in a special case, a 2-stage, manipulator as well as a block of additional equipment and sensors; for this, additional interfaces RS232, RS485, Ethernet are provided. In turn, video cameras and lights are connected to the light and video signals switching unit 2 using sealed connectors, this unit will add up the distribution of signals for video and light, as well as simplifying the switching of elements of the underwater vehicle.

The response part of the cable is connected to the surface module of the complex 12, and the power contacts are connected to the surface power supply 12-1, which in turn is the power source for the underwater vehicle. The optical fiber signals are converted in block 12-2 by a surface fiber optic converter into control signals, video, sonar information and additional equipment and sensors.

The technical solution claimed as a utility model was implemented in the development of Tethys Pro Marlin-350, which was prepared for launch into mass production.

Claims (10)

1. A complex of remote-controlled uninhabited underwater vehicle, comprising an onboard part mounted on a supply vessel, connected by a cable with an outboard underwater part, and including a surface module containing an information display unit, a power supply unit, a sonar information processing unit, a video and sonar information display unit , control panel, antenna for underwater positioning system, cable-cable on cable view with current collector, underwater part of the complex is made in the form of a teleu module adjustable underwater vehicle, which contains a supporting frame with a buoyancy unit, the underwater part is equipped with cameras, light sources and a lighthouse transponder system underwater positioning, sonar, navigation unit, distribution block, propulsion, manipulator, characterized in that the underwater part contains at least , five movers, horizontal movers are arranged in a vector diagram, an inclined platform containing at least one video camera and / or lamp, an underwater part INH, at least two cameras. 2. The device according to claim 1, characterized in that the complex has modes of holding a given course and depth. 3. The device according to claim 2, characterized in that the complex has a mode of maintaining the distance of the apparatus to the bottom. 4. The device according to claim 1, characterized in that the elements of the control panel work in the same mode. 5. The device according to claim 1, characterized in that the frame is non-metallic. 6. The device according to claim 1, characterized in that the underwater part contains at least one two or more power manipulator. 7. The device according to claim 1, characterized in that the underwater part has RS232, RS485 and Ethernet interfaces. 8. The device according to claim 1, characterized in that the electro-optical cable is used to connect the onboard and underwater parts of the complex. 9. The device according to claim 1, characterized in that the distribution block of the underwater part of the complex contains a power supply, a switching protective board, an optical fiber converter. 10. The device according to claim 1, characterized in that the underwater part contains a circular sonar, and / or underwater positioning system, and / or multi-beam sonar, and / or altimeter, and / or salinity sensor, and / or cathode potential sensor, and / or a sound velocity sensor, and / or a Doppler log, and / or a side-scan sonar, and / or a background radiation sensor, and / or an explosive detector.

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