RU65018U1 - SUPER SMALL AUTONOMOUS HYDROPHYSICAL VESSEL WITH FIN MOTOR - Google Patents

Abstract

The proposed utility model of an ultra-small autonomous hydrophysical vessel with a fin mover (SAGS PD) is designed to perform bathymetric and hydrophysical surveys during engineering survey and environmental work within hard-to-reach and shallow sections of marine water areas, ports, marine structures, lakes, reservoirs with continuous delivery of measured parameters via telemetric radio channels to the data processing center of the received information. Surveys can be carried out in difficult navigational and stormy conditions, including when performing operational work in the inner water areas of ports and harbors, in areas dangerous or inaccessible for navigation of traditional watercraft, at minimum depths of 0.2 m. Information received during navigation about GPS- coordinates, sea depth and hydrophysical parameters of water through a radio channel is transmitted to the central processing point. An important methodological feature of surveying marine and coastal waters using a fleet of ultra-small vessels is the possibility of the simultaneous use of SAGS, with measuring equipment working synchronously in a single time system, which significantly increases the efficiency of solving problems of integrated monitoring of water areas. As a mover, a lamellar (sinusoidal) mover with a rigid wing was used. To create thrust of the flapping wing, it is necessary to change the angle of attack of the flapping wing during vertical movement of the average position of the wing. This task is performed by a lever connected to the middle position of the wing. The mathematical model of such a mover is the simplest and allows calculations using purely two-dimensional (flat) spatial schemes. SAGS is able to travel long distances for the duration of a separate experiment, while solving the above-defined range of tasks in remote marine and coastal waters under operational control via satellite telemetric communication channels “Gonets”. SAGS displacement is about 65 kg, with a payload of 10 kg, hull length 2.5 m, economic speed 3 knots. About 40 kg of lithium batteries, which provide continuous operation of power plants for 300 hours, were used as a power source. SAGS equipment is powered by electricity generated by solar panels.

Description

The technical solution relates to the constructive implementation of hydrophysical research tools and can be used, for example, in the implementation of environmental monitoring systems, as well as systems for collecting bathymetric information.

A utility model of an ultra-small autonomous hydrophysical vessel (SAGS) designed to perform bathymetric and hydrophysical surveys during engineering survey and environmental work within hard-to-reach and shallow sections of marine water areas, ports, offshore structures, such as oil producing towers, lakes, reservoirs with continuous delivery of measured parameters via telemetric radio channels to the data processing center (DPC) of the received information, adopted as a prototype was considered in (Ma ashenko AE Khramushin VN, patent RU №51586, IPC V63 38/00, 2005). SAGS surveys can be carried out in difficult navigational and stormy conditions, including when performing operational work in the internal water areas of ports and harbors, in areas dangerous or inaccessible for navigation of traditional watercraft, at minimum depths of 0.2 m. Information obtained in the process navigation about GPS coordinates, sea depth and hydrophysical parameters of water through a radio channel is transmitted to the processing point.

Experimental hydrophysical studies conducted in the framework. Fundamental research plan of SKB SAMI FEB RAS (topic “Sailor”, Creation of mathematical models and experimental studies of hydrodynamics of marine robotics, solving problems of efficiency and safety of navigation in the Far Eastern seas of Russia., No. Г / р: 01.2.00607635) The research results noted that there was a decrease in the efficiency of traditional propellers - propellers, associated with winding on a screw small marine and lake algae, which in shallow water reach the surface.

This drawback was eliminated by the use of fundamentally new movers - fin movers.

The proposed utility model of an ultra-small autonomous hydrophysical vessel with a fin mover (SAGS PD) is designed to perform bathymetric and hydrophysical surveys during engineering survey and environmental work in shallow areas of marine water areas, ports, offshore structures such as oil producing towers, lakes, reservoirs with continuous delivery measured parameters via telemetric radio channels to the data processing center (DPC) of the received information. Surveys can be carried out in difficult navigational and stormy conditions, including when performing operational work in the internal water areas of ports and harbors, in areas dangerous or inaccessible for navigation of traditional watercraft, with minimum depths of 0.2 m.

The information received during the navigation process about GPS coordinates, sea depth and hydrophysical parameters of water is transmitted through a radio channel to the processing point.

An important methodological feature of the inspection of marine and coastal waters using a fleet of ultra-small vessels is the possibility of the simultaneous use of several SAGS, with measuring equipment synchronously operating in a single time system, which significantly increases the efficiency of solving problems of integrated monitoring of water areas.

SAGS provide the following marine works:

- synchronous measurements of hydrophysical parameters in shallow water areas of ports and harbors, areas of marine operations;

- conducting environmental surveys of the surface of marine water areas, obtaining information about dangerous marine phenomena or monitoring the status of emergency engineering structures, performing other offshore activities, human participation in which is dangerous or undesirable.

The proposed utility model of an ultra-small autonomous hydrographic vessel with a fin mover (SAGS PD), also adopted as a prototype of the SAGS, is as follows: hull of an ultra-small vessel 1, felling of a telemetric communication channel system 2 (r / a 2-1, antennas of the satellite communication system " “Messenger”, satellite navigation system “Glonass” 2-2, transceiver and subscriber station of satellite communications “Messenger” and navigation “Glonass” 2-3, control unit for telemetric communication channels 2-4), power supply (lithium batteries 3-1 and pit block niya.3-2), the source of solar energy: solar panels 4-1; voltage converter 4-2; 4-3 battery, side-scan sonar: emitters 5-1; receivers 5-2; hardware unit 5-3, control unit 6, preprocessing and information storage unit 7, engine and steering compartments 8, fin mover 9, steering wheel 10. In the instrument compartment 11 outward in the recesses (so that the sensors do not protrude beyond the surface of the sides), 8 pressure leads 12 (4 along the sides) for connecting sensors (for example, temperature, electrical conductivity, pressure, pH, dissolved oxygen, redox, oil products, phenol sensors, etc.). On free pressure glands special plugs are installed, with the help of which the inputs of the corresponding information channels are “short-circuited”. It is possible to connect up to 56 outboard towed sensors.

The pressurized hull of an ultra-small vessel is a model of the vessel and is manufactured using MID technology. It has a length of 2.5 m and a displacement of 65 kg.

The sealed cabin of the telemetric communication system 2 is made of radio-transparent material. Antennas for satellite communication systems 2-2 and navigation 2-3, a transceiver (radio) and a subscriber station for satellite communications “Gonets” and navigation “Glonass” 2-4, a control unit for telemetry channels 2-5 are placed in the wheelhouse; 2-1.

Lithium batteries 3-1 are laid out along the sides and in the bow of the SAGS, a number of voltages are formed in the power supply unit 3-2 necessary to drive the electric motors of the drives of the propulsion 9 and the steering wheel 10.

The source of solar energy consists of 4-1 solar panels that are laid out on the deck and are reliably isolated from the external environment of the radio

transparent material, a voltage converter 4-2 converts (increases) the voltage of solar cells to 12 volts, which is supplied to the battery.

The side-scan sonar 5 is mainly intended for solving bathymetric problems. The emitters 5-1 are located along the bottom in the central part of the SAGS, and the receivers 5-2 are located in the central part across the bottom, the preliminary processing, accumulation of bathymetric data and subsequent transmission through the radio channel to the DSP are carried out in the hardware unit.

The control unit 6 consists of: a software device 6-1, a command system 6-2. The software device consists of a radio-adjustable timer and the software device itself. The timer is an electronic clock, the course of which is adjusted over the air by the operator from the data center as necessary. A software device is a microcontroller that controls all SAGS devices according to a given program or by a command received via a radio channel. The command system 6-2 is designed to receive commands and transmit hydrophysical information over the air. The command system 6-2 allows you to:

- transmit control commands from the data center to the SAGS;

- transmit from the SAGS to the data center a “receipt” on the receipt and execution of control commands on the SAGS;

- transmit from the SAGS to the data center (upon request) digital information about the registered signals;

- transmit telemetric information from the SAGS to the data center about the operation of the SAGS systems and nodes and the execution of the received commands;

- transmit to the vessel about detected failures in the SAGS equipment.

The information storage unit (NI) 7 is designed to accumulate hydrophysical information from the sensors 12 from the instrument compartment 11 (figure 2):

- preliminary processing of the registered information by a filter (PF) -amplifier (U) 7-1, 7-2;

- analog-to-digital conversion of information (ADC) 7-3;

- averaging of digitized information (DI) 7-4;

- storing information in the buffer memory of RAM 7-5, then in non-volatile memory device CF 7-6.

Block NI 7 is based on a single-board Persior CF-1 microcomputer. CF-1 is based on the Motorola MC68SK338 microcontroller, and includes 1Mb flash memory for data and programs, as well as 256 Kb of static RAM 7-5.

For non-volatile data storage, a Compact Flash (CF) 7-6 card with a capacity of 256 Mb or more is used. CF-1 comes with its own Pico DOS operating system, which allows you to create a file system compatible with MS DOS on the Compact Flash card. For the development of target programs, the Metrowerks Code Warrior Pro C / C ++ compiler was used.

The data storage system software is a set of three independent programs. They are located in three different areas of flash memory and are used for various purposes. The program for setting the accumulation parameters Settings allows you to view and set such registration parameters as the number of channels (up to 64 channels), sampling frequency (sampling frequency in this useful

models set to 1 Hz), data buffer sizes, diagnostic modes without recompiling and reloading the accumulation program.

In order to reduce energy consumption during the accumulation process, a two-stage buffer is used. Data from ADC 7-3 is accumulated in a buffer located in RAM 7-5. After filling this buffer, all its contents are transferred to a larger buffer, which is located in a special section of Compact Flash 7-6.

In the engine and steering compartments 8, low-power DC motors are used as drives of the propulsion 9 and the steering 10. As the propulsion 9, a lamellar (sinusoidal) propulsion with a rigid wing is used.

Figure 3 shows the principle of operation of the already tested lamellar (sinusoidal) propulsion with a rigid wing, located inside a closed box 1 under the aft clearance of the hull 2 of the ship. The side walls of the duct 1 serve as end washers to eliminate inductive vortices at the ends of the flapping wing 3, and its upper and lower planes serve to reduce the vertical pulsations of the hull during propulsion operation, while at the same time creating a kind of “reactive” thrust component in the extreme positions of the flat wing, where according to the hydrodynamic conditions For optimization, the wing surface would have to be very curved.

The propeller pitch (angle of attack of the wing in its middle position) is controlled by the radius of the lever 4 and the height of the crank mechanism 5.

As the drives of the fin mover, a low-power DC motor is used, which is not indicated in FIG. 3. A shaft 6 mounted vertically along the keel with a crank mechanism 5 is attached to the axis of the engine through a reduction gear. When the electric motor is in operation, it leads to a vertical displacement of the mid-position of the flapping wing 3. To create traction of the flapping wing, it is necessary to change the angle of attack of the flapping wing during vertical movement of the mid-wing position. This task is performed by the lever 4 connected to the middle position. The mathematical model of such a mover is the simplest and allows calculations using purely two-dimensional (flat) spatial schemes.

The work of SAGS (when working with one or several SAGS) is as follows.

Before starting work, a full training cycle takes place, including the inclusion and testing of various nodes and blocks, and the introduction of the SAGS work program into the 6-1 software device. After the SAGS preparation cycle, from the supporting vessel, either from the pier or from any other places (the coordinates of the starting point must be entered into the software device) they are sent to sailing. From this moment, the SAGS begins to perform work on the program embedded in the software device 6-1. SAGS location is determined using the Glonass satellite navigation system. Monitoring the execution specified in the software device, the work is carried out from the data center. In the event of a deviation from the established program or in the event of a change in the program of work, an appropriate adjustment is introduced via the radio channel (at large distances via the Gonets satellite communication channel). Through the radio channel, the SAGS provides the requested data center hydrophysical information. In case of exceeding the hydrophysical data of the specified thresholds

(the case of SAGS fulfilling the task of environmental monitoring) SAGS independently transmits alarm information to the data center. At the end of the work, the SAGS should come to the end point laid down in the program where the SAGS is sampled. After the SAGS sampling, a full cycle of verification measures takes place and only then NI 7 is excavated in order to conduct further data processing.

As an illustration, Fig. 4 shows fragments of a television recording of a current prototype of a fin mover mounted on a SAGS PD at moments corresponding to the upper, middle, and lower positions of the flapping wing, respectively.

Claims (1)

An ultra-small autonomous hydrophysical vessel containing an ultra-small vessel hull with drives located inside the vessel’s hull, propulsion device, bathymetric and hydrophysical sensors and equipment, a radio communication system, including satellite communication system, satellite navigation system, characterized in that a fin propulsion device is used as a propulsion device .