CN105752299A - Novel gliding cable underwater robot for marine profile monitoring - Google Patents

Abstract

The invention discloses a new marine section monitoring slide cable underwater robot, which is characterized in that it includes a water surface support system, a guide cable and an underwater robot, one end of the guide cable is tied to the water surface support system, and the underwater The robot is connected to the other end of the guide cable; the underwater robot includes a robot main body, a horizontal rudder, a tail fin and a guide cable connecting device, the horizontal rudder is arranged on the left and right sides of the robot main body, and the tail fin is arranged on the rear end of the robot main body , the guide cable connecting device is arranged at the front end of the robot main body. The invention has better profile sliding performance than the drag body, and higher safety than the cable-free submersible.

Description

A New Underwater Robot for Monitoring Slide Cables in Ocean Profile

technical field

The invention relates to a novel marine section monitoring slide cable underwater robot, which belongs to the technical field of marine internal wave detection.

Background technique

The offshore on-site observation of internal waves has important scientific significance and engineering application value in the fields of marine scientific research, military oceanographic research, and marine engineering construction. Internal waves are generally at the sub-mesoscale of the ocean, and the key requirement for understanding ocean processes at this scale is the simultaneous observation of water parameters in vertical and horizontal space. In order to avoid the aliasing of the internal wave horizontal structure during detection, the slope of the section must be greater than 0.2 (Ullman, 2003), which requires a new type of measurement platform, which surpasses the traditional towed body and moored submersible buoy in terms of sliding slope and horizontal resolution , profiling buoys and towed CTDs (temperature, salt and depth sensors). Although the underwater glider can move in a long-term and large-angle profile, its limited speed is not suitable for ocean surveys like internal wave observations on the time scale of hours/days. The cable-free design also contains safety risks.

Contents of the invention

The technical problem to be solved by the present invention is to overcome the defects of the prior art, and provide a new marine profile monitoring sliding cable underwater robot, which can be set on the guide cable to slide up and down to realize horizontal/vertical profile movement, filling the gap of deep sea diving. A gap in the way of spatial movement in the organ spectrum. At the same time, the sliding cable underwater robot can solve the bottleneck of lack of medium and small-scale horizontal spatial structure resolution, rapid on-site deployment, and dynamic tracking capabilities in current ocean internal wave monitoring methods, and provide new technical means and research methods for ocean profile surveys.

In order to achieve the above object, the present invention adopts the following technical solutions:

A new marine profile monitoring sliding cable underwater robot is characterized in that it includes a surface support system, a guide cable and an underwater robot, one end of the guide cable is tied to the surface support system, and the underwater robot is connected to the guide cable The other end of the underwater robot; the underwater robot includes a robot main body, a horizontal rudder, a tail fin and a guide cable connecting device. The cable connecting device is arranged at the front end of the robot main body.

Further, the surface support system is any one of an unmanned surface ship, a wave glider, a buoy or a moored submersible buoy.

Further, the guide cable connection device includes a connecting ring and multiple sets of parallel shock absorbing units, the connecting ring is arranged at the front cover of the multiple sets of parallel shock absorbing units, and the multiple sets of parallel shock absorbing units are fixed to the grooves at the front end of the robot main body Inside.

Still further, the connecting ring is provided with a buckle.

Further, the data transmission between the surface support system and the underwater robot adopts wireless underwater acoustic communication.

Further, the shell material of the underwater robot is polyethylene, and an annular frame is arranged inside the underwater robot, and the linear dimension of the middle transverse section of the annular frame matches the linear dimension of the shell of the underwater robot. The material of the ring frame is stainless steel, and the ring frame is symmetrically provided with stainless steel rib brackets matching the linear shape and size of the shell of the underwater robot. Instruments and driving steering gear, the pressure-resistant electronic cabin is arranged at the lower part of the ring frame, the buoyancy material is arranged at the upper part of the ring frame, the oceanographic measuring instrument is arranged at the rear of the ring frame, and the driving steering gear is arranged at the The middle of the ring frame.

Still further, the pressure-resistant electronic cabin is vertically installed, and the pressure-resistant electronic cabin includes a lithium battery pack, a detection circuit, a control board circuit and a drive module, and the inside of the pressure-resistant electronic cabin is sequentially provided with a lithium battery pack from bottom to top , detection circuit, control board circuit and drive module.

Further, a Doppler velocity profiler is installed on the top and bottom of the underwater robot, and the mounting base of the Doppler velocity profiler is connected to the ring frame.

Still further, the mounting base of the Doppler velocity profiler is fixedly connected to the ring frame through a flange.

The beneficial effect that the present invention reaches:

(1) A new marine profile monitoring sliding cable underwater robot of the present invention, under the drag of the mother ship, relies on the lift force of the horizontal rudder to realize profile gliding, and can also rely on unpowered buoyancy to adjust the heave movement, and a single unit is stable in any water layer. Position, or multi-level joint operation, the mother ship can be quickly deployed, saving the operation of deck retracting and unwinding cables, with better profile sliding performance than towed bodies, and higher safety than cable-free submersibles.

(2) It can be widely used in marine profile survey operations. It can be quickly deployed to the sea area of interest by the mother ship tow for multi-point and layered rapid survey, or it can be fixed at a certain water layer position for long-term continuous marine data collection. The measurement content includes Temperature, salinity, currents and other environmental parameters of each layer of the ocean.

(3) The long-term marine environmental time-space data sequence can be obtained, providing continuous high-resolution horizontal/vertical profile data for scientific researchers, which is useful for analyzing the marine environmental conditions in the deployment area, especially the on-site information of internal wave characteristics Extraction offers great convenience.

Description of drawings

Fig. 1 is the perspective view of underwater robot among the present invention;

Fig. 2 is the three-dimensional assembly drawing of underwater robot among the present invention;

Fig. 3 is an exploded view of the parts of the guide cable connecting device of the underwater robot in the present invention;

Fig. 4 is a schematic diagram of the system in the present invention layering operations on the guide cable.

Meanings of reference signs in the figure:

1. Underwater robot, 2. Guide cable, 3. Surface support system, 11. Robot body, 12. Horizontal rudder, 13. Tail fin, 14. Guide cable connecting device, 141. Connecting ring, 142. Spring, 143. Multiple Group of parallel damping units.

detailed description

The present invention will be further described below in conjunction with the accompanying drawings. The following examples are only used to illustrate the technical solution of the present invention more clearly, but not to limit the protection scope of the present invention.

Referring to Fig. 1 to Fig. 4, a kind of new marine profile monitoring slide cable underwater robot of the present invention is characterized in that: the marine profile monitoring slide cable underwater robot system includes surface support system 3, guide cable 2 and underwater robot 1 , one end of the guide cable 2 is tied to the surface support system 3, the underwater robot 1 is connected to the other end of the guide cable 2, and the underwater robot 1 moves up and down along the guide cable 2 underwater; the underwater robot 1 has its own battery, It adopts a streamlined low-resistance design, including a robot main body 11, a horizontal rudder 12, a tail fin 13 and a guide cable connection device 14, and has zero buoyancy. end, the guide cable connecting device 14 is arranged at the front end of the robot main body 11, and the underwater robot 1 is dragged by the mother ship, and relies on the horizontal rudder 12 lift force to realize section gliding, and can also rely on unpowered buoyancy to adjust the heave movement. A single underwater robot 1 Stable at any position in the water layer, or multiple underwater robots 1-layer joint operation, can be quickly deployed to the sea area of interest by the mother ship tow for multi-point layered rapid survey, or fixed at a certain water layer position for long-term continuous Ocean data collection saves the operation of retracting and deploying guide cables on the deck, has better profile sliding performance than towed bodies, and has higher safety than cable-free submersibles.

The surface support system 3 is located on the deck of the mother ship. The underwater robot 1 relies on the dragging speed of the mother ship when navigating along the guide cable 2 under the lift of the horizontal rudder 12, and repeatedly rises and falls according to the programmed trajectory, and controls the sensor group to sample and record data in the water body.

The surface support system 3 is any one of a surface unmanned ship, a wave glider, a buoy or an anchored submersible buoy, and the underwater robot 11 can also be installed on the surface unmanned ship, a wave glider, a buoy or an anchored submersible buoy. , relying on its own unpowered adjustment to generate residual buoyancy to repeatedly heave along the guide cable 2.

Because the guide cable 2 is similar to the flow around a cylinder under the upstream condition, the wake vortex may fall off and cause oscillation. Therefore, the underwater robot 1 adopts a special guide cable connection device 14 design, and the guide cable connection device 14 includes a connection ring 141 And multiple groups of parallel shock absorbing units 143, the connecting ring 141 is arranged at the front cover of multiple groups of parallel shock absorbing units 143, and multiple groups of parallel shock absorbing units 143 are fixed in the groove of the front end of the robot main body 11, and the connecting ring 141 is used for Connect the guide cable 2, the spring 142 is connected with the robot main body 11, and multiple groups of parallel shock absorbing units 143 are placed in the guide cable connecting device 14, and the guide cable is connected with the spring of the robot main body 11 and the multiple groups of parallel shock absorbing units. The device 14 can effectively eliminate the influence of the chattering of the guide cable 2 on the underwater robot 1 .

Preferably, a lock is provided on the connecting ring 141, and the lock can be opened and closed manually, so as to facilitate the uncable operation.

The surface support system 3 and the underwater robot 1 adopt wireless underwater acoustic communication for data transmission. At the same time, as a public signal cable, the guide cable 2 transmits the data measured by the underwater robot and the system status to the surface support system 3 in real time through the inductive modem and the surface/underwater magnetic ring, so as to realize precise manual intervention and precise monitoring. Marine survey operations.

Further, the underwater robot 1 adopts a streamlined light shell made of polyethylene material, and the interior of the underwater robot 1 is provided with a ring frame. The material is stainless steel, and the ring frame is symmetrically arranged with stainless steel rib brackets matching the linear shape and size of the shell of the underwater robot 1. The interior of the underwater robot 1 is also equipped with a pressure-resistant electronic cabin, buoyancy materials, oceanographic measuring instruments and driving rudders. The pressure-resistant electronic cabin is arranged in the lower part of the ring frame, the buoyancy material is arranged in the upper part of the ring frame, the marine measuring instrument is arranged in the rear part of the ring frame, and the driving steering gear is arranged in the middle part of the ring frame. The pressure-resistant electronic cabin is installed vertically. The pressure-resistant electronic cabin includes a lithium battery pack, a detection circuit, a control board circuit and a drive module. The inside of the pressure-resistant electronic cabin is sequentially arranged with a lithium battery pack, a detection circuit, a control board circuit and a drive module. drive module. A Doppler current velocity profiler is installed on the top and bottom of the underwater robot 1 to measure the three-dimensional flow velocity above and below. Combined with the temperature, salinity and depth sensor (CTD), standard physical ocean parameter surveys can be realized. The temperature, salinity, ocean current and other environmental parameters of the layer, the mounting base of the Doppler current profiler are connected to the ring frame, and the mounting base of the Doppler current profiler is fixedly connected to the ring frame through a flange.

The maximum profile depth of the underwater robot 1 is 7000m, the slope of the underwater vehicle is more than 0.3, the slope of the slide is greater than 1.0, and the vertical speed is greater than 1.0m/s, providing continuous high-resolution horizontal/vertical profiles for scientific researchers data.

The optional temperature, salt and depth sensors (CTD) include: dissolved oxygen, fluorescence, turbidity and other sensors.

The above is only a preferred embodiment of the present invention, it should be pointed out that for those of ordinary skill in the art, without departing from the technical principle of the present invention, some improvements and modifications can also be made. It should also be regarded as the protection scope of the present invention.

Claims (9)

1. the sliding cable underwater robot of ocean profile monitoring one kind new, it is characterised in that: including the water surface and support system, guide cable and underwater robot, one end of described guide cable ties up in water surface support system, and described underwater robot connects the other end of guide cable；Described underwater robot includes robot body, hydroplane and tail fin and guide cable connecting device, described hydroplane is arranged at the left and right sides of robot body, described tail fin is arranged at the rear end of robot body, and described guide cable connecting device is arranged at the front end of robot body.

2. a kind of new sliding cable underwater robot of ocean profile monitoring according to claim 1, it is characterised in that: the described water surface supports that system is any one in water surface unmanned boat, wave aerodone, buoy or anchor system subsurface buoy.

3. a kind of new sliding cable underwater robot of ocean profile monitoring according to claim 1, it is characterized in that: described guide cable connecting device includes connecting ring and many groups vibration absorption unit in parallel, connecting ring and be arranged at the protecgulum place of many groups vibration absorption unit in parallel, many groups vibration absorption unit in parallel is fixed in the groove of front end of robot body.

4. a kind of new sliding cable underwater robot of ocean profile monitoring according to claim 3, it is characterised in that: described connection ring is provided with snap close.

5. a kind of new sliding cable underwater robot of ocean profile monitoring according to claim 1, it is characterised in that: the described water surface supports that system and underwater robot adopt the data transmission of wireless underwater acoustic communication.

null6. a kind of new sliding cable underwater robot of ocean profile monitoring according to claim 1，It is characterized in that: described underwater robot sheathing material is polyethylene，Described underwater robot be internally provided with annular frame，The midship section line style size of described annular frame and underwater robot shell line style size match，Described annular frame material is rustless steel，Symmetrical above and below being provided with of described annular frame holds, with underwater robot shell line style, the rustless steel rib support that size matches，The inside of described underwater robot is additionally provided with pressure electronic compartment、Buoyant material、Ocean measuring instrument and driving steering wheel，Described pressure electronic compartment is arranged at the bottom of annular frame，Described buoyant material is arranged at the top of annular frame，Described ocean measuring instrument is arranged at the rear portion of annular frame，Described driving steering wheel is arranged at the middle part of annular frame.

7. a kind of new sliding cable underwater robot of ocean profile monitoring according to claim 6, it is characterized in that: described pressure electronic compartment right angle setting, described pressure electronic compartment includes lithium battery group, testing circuit, control plate circuit and drives module, and the inside of pressure electronic compartment is disposed with lithium battery group, testing circuit, control plate circuit from top to bottom and drives module.

8. a kind of new sliding cable underwater robot of ocean profile monitoring according to claim 6, it is characterized in that: Doppler's flow velocity section plotter is respectively installed in the top of described underwater robot and bottom, and the mounting seat of described Doppler's flow velocity section plotter is connected with described annular frame.

9. a kind of new sliding cable underwater robot of ocean profile monitoring according to claim 8, it is characterised in that: the mounting seat of described Doppler's flow velocity section plotter is connected by ring flange is fixing with described annular frame.