RU205389U1 - Autonomous underwater vehicle of "micro" class for monitoring the ecological state of small water bodies - Google Patents

Abstract

This utility model relates to shipbuilding, namely to miniature autonomous underwater vehicles, and can be used for environmental monitoring of reservoirs with limited space for maneuver (small reservoirs). The technical result is to increase the operational characteristics of an autonomous underwater vehicle. for monitoring the ecological state of small reservoirs, containing a hull supporting structure, a power supply system based on a battery, a propulsion and propulsion system located in the aft part of the device, a navigation and control unit, while additionally two horizontal steering planes located on the sides of the device are introduced to control them, containing radial magnetic couplings for transmitting the turning moment from the control devices to the steering planes, tail vertical and horizontal stabilizers are located in the aft part of the vehicle torus, as well as a propulsion system, in which the transmission of torque from the engine to the propeller is carried out due to a radial magnetic clutch, and the axis of rotation of the propeller coincides with the longitudinal axis of the apparatus, the nose of the apparatus consists of a nose cone having openings for free filling of the outboard water, in which environmental monitoring sensors are located, and the nose cone is connected to the bow watertight bulkhead. 6 ill.

Description

This utility model relates to shipbuilding, namely to miniature autonomous underwater vehicles, and can be used for environmental monitoring of reservoirs with limited maneuvering space (small reservoirs).

Known autonomous unmanned surface-underwater vehicle of the planning type, containing a body, a system for changing buoyancy, a system for changing a trim, a propulsion system, a power supply system, as well as a control system, data transmission, navigation, communication and a control and measuring system, characterized in that the body of the apparatus is made in the form of a streamlined body elongated in the longitudinal direction, the bottom of which is equipped with zygomatic steps containing a ski with a horizontal shelf, and the buoyancy change system is two-link and includes a buoyancy change module, a drainage pump and an electrically controlled valve (patent for PM No. 183537 publ. . 25.09.2018 Bul. No. 27).

A significant drawback of this apparatus, as well as other gliding type submersibles, limiting their use for solving problems of environmental monitoring of small reservoirs, is the need to have a large water space for maneuvering in the horizontal plane. In addition, gliding type devices cannot develop a high horizontal speed of movement, which does not allow their use in reservoirs with strong currents.

Known modular autonomous unmanned underwater vehicle "Oceanica", containing a plastic case with sealed modules placed in it, the cases of which are made of radio-transparent material, while these modules are equipped with their own power sources and electronic equipment with radio modules that combine the electronic equipment of all modules into a single wireless information -control network, with the possibility of interconnection of the apparatus with a control panel located on the escort vehicle or directly at the operator, characterized in that it additionally includes a surface module containing a power source, a wired communication unit, a radio module, a satellite navigation system, electromechanical equipment to move the module along the water surface, and the surface module is connected to the underwater part of the apparatus by a wired communication line, and the radio module of the surface part of the apparatus is connected to the mentioned control panel (patent for PM No. 193287 publ. 10/22/2019 Bul. No. 30).

The main disadvantage of this underwater vehicle is the design, which consists of numerous blocks containing autonomous power supply, as well as a means of radio communication with adjacent blocks of the vehicle. Such a solution, although it allows to increase the versatility of the modules that make up the apparatus, but at the same time leads to an increase in the weight of the apparatus, a decrease in the internal useful volume, increases the complexity of the design and leads to an increase in the number of points of failure of the system.

Known highly maneuverable autonomous unmanned underwater vehicle, containing the body of the apparatus and the propulsion unit, including a group of three or four aft sustainer reversible thrusters located at an angle to the longitudinal axis of the apparatus, and a group of bow thrusters water jet thrusters. The design feature of the AUV is the installation on it as thrusters of the bow group of vertical and lagged reversible water-jet propellers with through in the body of the apparatus water conduits. The water conduit of each such propeller is made in the form of a Y-shaped channel, consisting of one cylindrical and two separate channels. A propeller is installed in the cylindrical part of the Y-shaped channel, and the electric motor for driving the latter is placed in the body of the apparatus directly between two separate channels and is kinematically connected to the propeller (patent No. 2112694 publ. 10.06.1998).

The main disadvantage of this apparatus is the presence of a large number of independent reversible thrusters, which ensure high maneuverability of the apparatus, but at the same time reduce the autonomous operation time.

The closest analogue is a small-sized multifunctional autonomous unmanned underwater vehicle - a carrier of a removable payload, containing a hull supporting structure, which is made of compartments, including the aft compartment and an adjacent sealed compartment, sequentially and rigidly connected to each other with the possibility of their connector direction of the longitudinal axis of the underwater vehicle, and one of the compartments is allocated for placing a removable payload in it and is made permeable to sea water, and two vertical and two horizontal stabilizers are installed on the aft compartment, a propulsion and steering complex of four propulsion thrusters and a vertical thruster, moreover, sustainer thrusters are installed in the tail section of the aft compartment on stabilizers, and the vertical thruster is placed in one of the compartments (patent No. 2681415 03/06/2019 Bul. No. 7).

The disadvantage of this underwater vehicle is a large number of propulsion systems, which ensure high maneuverability of the vehicle, but reduce the battery life. High maneuverability is a distinctive feature of devices performing prospecting or inspection work, but in order to solve the problems of collecting data on the state of the reservoir, it is advisable to pay more attention to the battery life of the device.

The task to be solved by this technical solution is to increase the operational characteristics of the underwater vehicle, namely, to reduce the number of points of failure of the system that provides active movement of the underwater vehicle in the water column (propulsion systems), while maintaining the ability of the vehicle to actively move and maintain the ability to maneuver in confined spaces.

This task is achieved by the fact that an autonomous underwater vehicle of the "micro" class for monitoring the ecological state of small reservoirs containing a hull supporting structure, a power supply system based on a battery, a propulsion system located in the aft part of the device, a navigation and control unit, two horizontal steering planes located on the sides of the apparatus, devices for controlling them, containing radial magnetic couplings for transmitting the turning moment from the control devices to the steering planes, in the aft part of the apparatus there are tail vertical and horizontal stabilizers, as well as a propulsion system in which the transmission of torque moment from the engine to the propeller is carried out due to a radial magnetic clutch, and the axis of rotation of the propeller coincides with the longitudinal axis of the vehicle, the nose of the vehicle consists of a nose cone having openings for free filling behind side water, in which environmental monitoring sensors are located, and the nose cone is connected to the bow watertight bulkhead.

The technical result provided by the above set of features is an increase in the operational characteristics of an autonomous underwater vehicle designed for environmental monitoring of small water bodies.

An autonomous underwater vehicle of the "micro" class for environmental monitoring of small reservoirs is shown in Fig. 1 and FIG. 2 includes a nose cone 1, which has openings for free filling with seawater, it contains the sensitive elements of environmental monitoring sensors 2, the nose cone is connected to the bow watertight bulkhead 3, which ensures the tightness of the interior of the vehicle, a sealed supporting body 4, an electronic control unit for environmental sensors. monitoring 5, navigation and control unit of the underwater vehicle 6, steering surfaces rotation mechanisms, consisting of steering gears 7, steering surfaces 8 and radial magnetic couplings 9, which include waterproof bulkheads 10, ensuring the tightness of the inner space of the vehicle, battery 11, electronic speed regulator (driver) 12, ensuring the operation of the main propulsion system, consisting of an electric motor of the main drive 13, a radial magnetic coupling of the main drive 14, including a watertight bulkhead 15, providing the tightness of the internal space of the apparatus, in the rear part of the body of the apparatus there are water intake holes 16, which provide a supply of fluid flow to the propeller located on the shaft 17, vertical and horizontal tail stabilizers 18.

A distinctive feature of this utility model is the presence of three radial magnetic couplings in the structure of the underwater vehicle. The aft radial magnetic clutch is part of the main propulsion system. An onboard radial magnetic clutch (on the left and right sides) is part of the mechanism for turning the horizontal steering surfaces and ensures the transmission of torque from the steering drive to the shaft to which the steering surface is attached. When the shaft is turned, the angle of attack of the steering plane changes, thus, the apparatus is able to maneuver in the vertical and horizontal plane.

Due to the presence of only one propulsion system, in which the transfer of torque from the engine to the propeller (propeller) is carried out through a radial magnetic clutch, the number of points of failure of the system that ensures the ability of the apparatus to actively move in the water column is reduced.

The presented autonomous underwater vehicle does not have a buoyancy change system or additional thrusters for diving and ascent. The buoyancy of the apparatus is always close to neutral, but positive. Submersion and ascent is carried out due to the joint work of the main propulsion system and steering surfaces. In this case, there is a continuous operation of the propulsion system, and the change in the trim of the apparatus due to the action of the horizontal steering planes. Thus, the ability of the apparatus to perform maneuvers in a confined space, even at shallow depths, is ensured.

The main propulsion system operates as follows (Fig. 5 and Fig. 6). The shaft of the electric motor is rigidly connected by a direct drive with the leading magnetic coupling half (19) by means of a flange (20), which is located inside the body of the apparatus. The driving half of the coupling rotates on a ceramic ball bearing (21), the hub of which is fixed to the aft watertight bulkhead (15). The aft watertight bulkhead is installed in the body of the apparatus, the tightness of the bulkhead - body connection is ensured by two O-rings installed in special grooves (23) on the outer surface of the watertight bulkhead. The driven magnetic coupling half (24) is installed on the outside of the watertight bulkhead. The driven magnetic coupling half rotates on a ceramic ball bearing (25), which is constantly submerged in the seawater during operation. This bearing is pressed into a seat located on the outside of the watertight bulkhead. The fluid flow enters the propeller through the water intake holes in the aft part of the vehicle's main body. The leading and driven half couplings are in permanent magnetic engagement due to permanent magnets (26). The driven coupling half is rigidly connected to the propeller by means of a shaft (27).

For maneuvering, two horizontal steering planes are used, which are set in motion by steering mechanisms consisting of a steering gear and radial magnetic couplings located on the sides of the apparatus, so that the steering planes at a zero angle of attack take a horizontal position, and the axis around which the steering is rotated planes perpendicular to the longitudinal axis of the apparatus. Steering drives are servomotors, the output shaft of which can be rotated at a given angle in the range from -90 ° to + 90 ° from the central position. The angle is set by the electronic control and navigation unit. The steering angle is transmitted from the steering gears to the steering surfaces by means of magnetic couplings. The design of the radial magnetic couplings is similar to that described above, except that the driving half of the coupling is flanged to the output axis of the steering drive and is not mechanically connected to the side watertight bulkhead. The side watertight bulkheads are similar in design to the stern. The driven magnetic coupling is located on the outer side of the side watertight bulkhead and rotates on a ceramic bearing, the hub of which is fixed to the bulkhead. The steering plane is rigidly connected to the driven coupling half, so that when the steering gear is set to the neutral position, the steering plane acquires a zero angle of attack.

An autonomous underwater vehicle works as follows. Before launching the underwater vehicle, the route of the vehicle movement within the water area of the studied reservoir is set (Fig. 3). The route is set according to coordinates obtained using the global satellite positioning system. The depths at which the vehicle will be moved are also set.

In the process of preparing the vehicle for launch, sealed bulkheads (bow, side and aft) are removed from the hull, which provides access to the internal parts of the vehicle for loading the route into the navigation and control unit and carrying out maintenance activities for the underwater vehicle. After completion of maintenance work, the sealed bulkheads are re-installed.

After starting the underwater vehicle, it goes into automatic mode of operation, following a predetermined route (Fig. 4). In this case, the device performs cycles of immersion and ascent between two adjacent points of the route. Such a movement pattern is necessary for the correct operation of the global positioning system, which is activated only when the vehicle rises to the surface.

Immediately after starting the device, it is in a horizontal position on the surface of the reservoir.

To dive to a predetermined depth, the main propulsion system is switched on, while the apparatus moves horizontally. Then the steering surfaces (left and right synchronously) take a negative angle of attack and the vehicle, continuing to move forward, begins to dive with a trim on the nose. The immersion depth is controlled by a hydrostatic water pressure sensor, which is part of the navigation and control system. The distance traveled in the submerged position is determined by the inertial navigation system included in the navigation and control unit. For ascent, the angle of attack of the steering surfaces (left and right synchronously) changes to positive and the apparatus, continuing to move forward, begins to ascend with a trim to the stern. After ascent, the position of the device is corrected due to the satellite global positioning system and a trajectory is laid to the next point on the route.

For maneuvering in the horizontal plane, the vehicle is immersed to a depth equal to the span of the steering surfaces, after which it acquires a horizontal position. The immersion depth is monitored by a hydrostatic pressure sensor. To make a turn to the left, the apparatus acquires a roll to the left side of 90 degrees. Roll is achieved due to the fact that the left steering plane acquires a negative angle of attack, and the right one - a positive one. The roll angle is controlled by an inertial navigation system. After setting the beacon angle, the steering planes are synchronously assigned a positive angle of attack, as a result, the device turns to the left. The course deviation angle is controlled by the inertial navigation system included in the navigation and control unit. After setting the required course, the apparatus returns the roll to its original state and continues to move.

If the vehicle loses its ability to move actively while underwater, it will rise to the surface due to its positive buoyancy.

If the rotation of the main drive shaft is impossible (jamming due to the ingress of algae or other foreign objects), the radial magnetic clutch will not allow the electric motor to stop instantly, thus, it will be possible to avoid shock loads on the elements of the main propulsion system, which makes it possible to speed up the elimination of the malfunction apparatus and preparing it for the next launch.

After passing all points of the route, the device returns to the starting point (launch point), where the operator rises from the water. The collected data of environmental monitoring are withdrawn in electronic form.

Claims (1)

An autonomous underwater vehicle of the "micro" class for monitoring the ecological state of small reservoirs, containing a hull supporting structure, a power supply system based on a battery, a propulsion system located in the aft part of the apparatus, a navigation and control unit, characterized in that two horizontal steering planes located on the sides of the apparatus, devices for their control, containing radial magnetic couplings for transmitting the turning moment from the control devices to the steering planes, in the aft part of the apparatus there are tail vertical and horizontal stabilizers, as well as a propulsion system in which the transmission of torque from the engine to the propeller is carried out due to a radial magnetic clutch, and the axis of rotation of the propeller coincides with the longitudinal axis of the apparatus, the nose of the apparatus consists of a nose cone having openings for free filling of the outboard water d, in which environmental monitoring sensors are located, and the nose cone is connected to the bow watertight bulkhead.

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