RU193287U1 - Modular autonomous uninhabited underwater vehicle "Oceanica" - Google Patents

Abstract

The utility model relates to the field of underwater marine technology, in particular to autonomous uninhabited underwater vehicles (AUVs), and can be used as a game training designer, as well as in various kinds of underwater research. A modular AUV is proposed, which allows implementing, depending on the user's wishes, several sizes and payload options. AUV contains a housing with hermetic modules (for example, 1-5) placed in it, whose housings are made of radiolucent material. At the same time, the modules are equipped with their own sources of electricity and electronic equipment with radio modules, combining the electronic equipment of all the modules into a single wireless information and control network, carrier modules of different payloads and modules equipped with the same or different types of propulsion devices, with the possibility of the device interconnecting with the remote control (unit ) control (7) located on the escort vehicle or directly with the operator. Additionally introduced: a surface module (6) containing an electric power source, a wire communication unit, a radio module, a satellite navigation system unit, electromechanical equipment for moving the module over a water surface, and the surface module (6) is connected to the underwater part of the device by a wire communication line. The technical result of the utility model is an additional opportunity for the user to select several options for the device’s sizes for independent design and training, as well as to use the variability of various payloads. 6 ill.

Description

The utility model relates to the field of underwater marine technology, in particular to autonomous uninhabited underwater vehicles (AUVs), and can be used as a game training designer, as well as in various kinds of underwater research.

A well-known complex telecontrolled uninhabited underwater vehicle [1. RU 130292 U1, IPC B63C 11/49, G01V 8/00; 07/20/2013, Bull. No. 20], comprising an onboard part mounted on a supply vessel, connected by a cable with an outboard underwater part, and including a surface module comprising an information display unit, a power unit, a unit for processing sonar information, a unit for displaying video and sonar information, a control panel, the antenna of the underwater positioning system, a cable-cable on a cable view with a current collector, while the underwater part of the complex is made in the form of a module of a remote-controlled 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, a sonar, a navigation unit, a distribution unit, five movers, a manipulator, and the horizontal movers are arranged in a vector diagram, an inclined platform containing at least , one video camera and / or lamp, and the underwater part contains at least two video cameras.

The disadvantage of this complex is the need to bind it to the supply vessel, which significantly limits the autonomy of its underwater part and the lack of the ability to combine various units and payloads.

Known mobile underwater vehicle [2. RU 60476 U1, IPC B63G 8/00, B63H 11/00; 01/27/2007, Bull. No. 3], comprising a streamlined body, a direct-impact mover for water connected to the body, the body of this underwater vehicle is made in the form of a symmetrical body of revolution, and on the external part of the body are mounted movers connected to the body by means of pylons, and at least two movers.

The disadvantage of this apparatus is the difficulty of placing or attaching additional payload modules.

Known underwater vehicle of increased maneuverability [3. RU2290338, IPC B63G 8/16, B63H 20/08; 12/27/2006, Bull. No. 36], comprising a hull and a stern propulsion system, including two marching reverse propulsion devices placed in a horizontal plane at an angle to the longitudinal axis of the vehicle on opposite sides of the axis, and the stern propulsion system is additionally equipped with a baller with perpendicular to the longitudinal axis of the underwater vehicle with reversible drive, providing the possibility of reciprocating movements of the baller relative to its longitudinal axis, and the marching reverse propulsion motionlessly sized puppies on the baller.

The disadvantage of this device is the lack of specialized payload, communication and data transmission systems.

Known highly manoeuvrable autonomous uninhabited underwater vehicle [4. RU 2112694, IPC B63G 8/00; 06/10/1998], containing the device’s body and propulsion system, including a group of three or four stern marching reverse propulsion devices, located at an angle to the longitudinal axis of the device, and a group of bow thrusters of water-jet propulsion devices located in the transverse plane of the device, and in the transverse plane of the device body as bow thrusters of the nasal group, vertical and lag reversible water-jet propulsors with through-flow conduits through the apparatus body are installed, while the conduit of each mover I made in the form of a Y-shaped channel, consisting of one cylindrical and two separate channels, and in the cylindrical part of the Y-shaped channel a propeller is installed, and the electric motor for driving the latter is located in the apparatus directly between two separate channels and kinematically connected with the propeller .

The disadvantage of the proposed highly maneuverable autonomous uninhabited underwater vehicle is the relative complexity of the propulsors made in the form of a Y-shaped channel.

Known modular autonomous uninhabited underwater vehicle [5. RU 2667674, IPC B63G 8/00; 09/24/2018, Bull. No. 27], selected as the closest analogue (prototype).

This apparatus contains a metal case with hermetic modules placed in it, the cases of which are made of radio-transparent material, while the modules are equipped with electric power sources and electronic equipment with radio modules that combine the electronic equipment of all modules into a single wireless information and control network, and each module is powered by its source of electricity.

A disadvantage of the known device lies in the fact that its design does not involve the use of several sizes, quick build-up of the structure, quick replacement of the payload, configuration change due to the attachment (removal) of additional AUV modules.

The objective of the proposed utility model is to develop a modular autonomous uninhabited underwater vehicle (modular AUV) with the additional ability for the user to select several options for sizes, use the payload variability while maintaining the positive qualities of the prototype: modular construction of the apparatus, in-house information-control network and increased survivability.

The technical result of using the utility model is an additional opportunity for the user to choose several options - the unit’s sizes for independent design and training, research, and also to use the variability of various payloads.

The technical result is achieved by the fact that in a modular autonomous uninhabited underwater vehicle containing a plastic case with sealed modules housed in it, the cases of which are made of radio-transparent material, while the said modules are equipped with their own sources of electricity and electronic equipment with radio modules that combine the electronic equipment of all modules in a single wireless information and control network, with the possibility of interconnecting the device with a control panel (unit) located on and an escort vehicle or directly at the operator’s office, according to a utility model, additionally a surface module is introduced containing a power source, a wire communication unit, a radio module, a satellite navigation system unit and electromechanical equipment for moving the module over a water surface, the surface module being connected to the underwater part of the device a wired communication line, and a radio module of the surface part (surface module) of the apparatus is connected to the said control panel (block).

The technical nature and principle of operation of the proposed device are illustrated by drawings (Fig. 1-6).

In FIG. 1 presents a functional block - AUA diagram;

In FIG. 2 shows, in simplified form, a modular AUV as standard with four propulsors located on the sides of the hull;

in FIG. 3 - the same, an option with four movers located vertically;

in FIG. 4 - the same, option with two movers located vertically, and two - horizontally;

in FIG. 5 - the same, option with two movers located vertically, and four - horizontally;

in FIG. 6 - the same option with an additional payload module.

The inventive device consists of separate modules, for example 1-5, the housing of each of which is sealed and made of radiolucent material (Fig. 1).

The modules are fastened together by Picatinny rail or by means of rails.

The modular autonomous uninhabited underwater vehicle Oceanica contains:

1 - nasal module;

2.1-2.2 -motor modules;

3 - connected module;

4 - measuring module (payload module);

5 - feed module;

6 - surface module;

7 - control panel (block);

8.1-8.8 - power sources (power supply sources for each module);

9 - block payload nose module;

10.1-10.12 - radio modules;

11.1-11.4 - electromechanical equipment;

12.1-12.2 - blocks of wire communication;

13 - block payload measuring module;

14 - computing device;

15.1-15.2 - blocks of a satellite navigation system;

16 - governing bodies;

17 - a device for displaying information;

18 - communication wire (wire communication).

AUV is interconnected with a control panel (unit) (located on a water, air or land vehicle or directly at the operator on the shore), in FIG. 1 is indicated by 7.

The nose module 1 contains: an electric power source 8.1, a wireless communication module 10.1, and a payload block of the nose module 9, which can be used as a video camera, a video camera with a light, or other video recording equipment.

The propulsion module 2.1 contains: an electric power source 8.2, two wireless communication modules 10.2 and 10.3 and electromechanical equipment 11.1, which can be used electric motors and their control system.

The propulsion module 2.2 contains: an electric power source 8.5, two wireless communication modules 10.8 and 10.9 and electromechanical equipment 11.2, which can also be used electric motors and their control system.

The communication module 3 contains: an electric power source 8.3, two wireless communication modules 10.4 and 10.5, a computing device 14, which can be used as an on-board processor that acts as a control unit for the underwater vehicle, as well as a wire communication unit 12.1.

The measuring module (payload module) 4 contains: a power source 8.4, two wireless communication modules 10.6 and 10.7, a payload block of the measuring module 13, which can be used research systems (sonar antenna, depth gauge, photo and video recording equipment, radiation and chemical control, dissolved oxygen sensors, water transparency sensors, temperature sensors, etc.).

The feed module 5 contains: an electric power source 8.6, a wireless communication module 10.10, electromechanical equipment 11.3, which can be used electric motors to control the rudders.

The surface module 6 contains: an electric power source 8.7, a radio module 10.11, a wire communication unit 12.2; electromechanical equipment 11.4, in which electric motors and a control system are used to ensure movement of the surface module 6 over the surface of the water, satellite navigation system block 15.1.

The control panel 7 contains: an electric power source 8.8, a radio module 10.12, a satellite navigation system unit 15.2, controls 16; information display device 17.

The connection between the surface module 6 and the communication module 3 is carried out by means of blocks 12.1 and 12.2, which are connected by a communication wire 18.

Modules 2.1 and 2.2 can be made in the form of the following structures:

- electric motors are attached on both sides;

- electric motors are fixed mutually - perpendicular to the construction axis of the underwater vehicle, etc.

Reliable sealing of modules 1-5 is achieved due to the fact that the housing of the modules is made with a minimum of weakening the sealing holes for network and power connectors. Housings of modules 1-5 made of radio-transparent materials allow the radio modules 10.1-10.10 to communicate with each other and thus carry out radio communication between the modules of the device.

Filling the internal space of modules 1-5 with radiolucent material allows to obtain the greatest degree of their sealing.

The inventive modular AUV allows for various configurations of modules 1-5, while obtaining various form factors by expanding the modules, while achieving wide variability in design (Fig. 2 - Fig. 6).

The use of radio modules for organizing communication between the equipment of modules of the underwater vehicle increases the reliability of the communication system, allows you to combine them into a network structure with a fully connected or mesh topology, which makes it easy to reconfigure the equipment and systems of the automatic control unit.

Batteries are used as sources of electricity 8.1–8.6, and to ensure the tightness of module housings 1–5 their non-contact charging from devices operating on the principle of electrodynamic induction is possible.

The underwater vehicle is controlled from the control panel 7 by means of control elements 16, and control commands are transmitted over the air (modules 10.12 and 10.11). Control commands are received on the surface module (surface part of the device) 6 and by means of the electromechanical equipment 11.4 the surface module 6 is output at a given point. The relative position of the surface module 6 and the control panel 7 is carried out by taking coordinates according to the satellite navigation system blocks 15.1 and 15.2.

The control commands for the underwater module are carried out from the control panel 7 through the controls 16 and are transmitted over the radio channel (modules 10.12 and 10.11) and wired communication units 12.1 and 12.2 connected by a communication cable 18. Next, the control commands are sent to a wireless network built on the radio modules 10.1-10.10 Due to this, the electromechanical equipment 11.1-11.3 of the propulsion modules 2.1 and 2.2 is controlled, the equipment of the measuring module 4, the payload blocks of the bow module 9 and the payload block are measuring 13 of the module.

The measurement data of the payload blocks of the nose module 9 and the payload block of the measuring module 13 are displayed on the information display device 17.

Claims (1)

A modular autonomous uninhabited underwater vehicle containing a plastic casing with sealed modules housed in it, the casing of which is made of radio-transparent material, while the said modules are equipped with their own sources of electricity and electronic equipment with radio modules that combine the electronic equipment of all the modules into a single wireless information and control network, with the possibility of interconnecting the device with the control panel located on the escort vehicle or directly operator, characterized in that it additionally includes a surface module containing an electric power source, a wire communication unit, a radio module, a satellite navigation system unit, electromechanical equipment for moving the module on a water surface, and the surface module is connected to the underwater part of the device by a wire communication line , and a radio module of the surface part of the apparatus is connected with the said control panel.

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