CN108516058A - A kind of unmanned boat recycled in real time for deep-sea observation data - Google Patents

Abstract

The invention specifically discloses an unmanned ship used for real-time recovery of deep sea observation data. The unmanned ship used for real-time recovery of deep-sea observation data includes: a hull with a propulsion device, the hull is provided with an automatic deployment device and an automatic control system; the automatic deployment device is connected to an underwater acoustic communication machine; the The automatic control system is used to control the automatic deploying device to deploy and recover the underwater acoustic communicator. The unmanned ship used for real-time recovery of deep-sea observation data of the present invention is used for deep-sea observation, automatically sails to the water surface area near the underwater node, automatically releases the underwater acoustic communication device, and automatically adjusts the depth and direction of the underwater acoustic communication device to achieve The unmanned ship recovers the data of underwater nodes in real time, effectively improving the success rate of underwater acoustic communication, and improving the quality and efficiency of deep-sea observation data recovery.

Description

An unmanned ship for real-time recovery of deep-sea observation data

technical field

The invention relates to an unmanned ship, in particular to an unmanned ship used for real-time recovery of deep-sea observation data.

Background technique

Deep-sea observation has become the third important observation field after sea surface, surface observation and remote sensing in earth science research, and the deep-sea observation system has gradually become a research hotspot in the field of marine technology. Among them, underwater nodes/platforms, such as seabed foundations and submersible buoys, are usually integrated with ocean sensors such as temperature, salinity, depth, ADCP, and single-point current velocity meters. They are less affected by the environment and manual operations, and are suitable for long-term , continuous and fixed-point observation tasks. However, for the data recovery of underwater nodes, the survey ship is usually used to recover the overall equipment on a regular basis, such as several months or even a year. This method has the disadvantages of long data recovery cycle and high cost.

With the development of underwater acoustic communication technology, underwater nodes with underwater acoustic communication functions continue to emerge. By integrating underwater acoustic communication machines, underwater long-distance and wireless data recovery can be realized. At present, underwater acoustic communication is almost the only long-distance underwater communication method. Point-to-point underwater acoustic communication has gradually developed to the application stage, and there are many commercial underwater acoustic communication machines. However, the underwater acoustic channel is an extremely complex and changeable channel with time-space-frequency variable parameters. Stablize. The quality of point-to-point underwater acoustic communication will also be affected by the movement state of the platform and the specific ocean environment, such as the deployment depth and direction of the underwater acoustic communication machine, etc. Unexplainable uncertainties will appear in underwater acoustic communication. At present, the data underwater acoustic recovery method of underwater nodes is mainly based on the point-to-point underwater acoustic communication method of survey ship or buoy relay. However, the survey ship method has the disadvantages of high cost and low data recovery efficiency, while the buoy relay system is complex and vulnerable to human damage. At present, there is still a lack of a mobile, low-cost, and low-risk data recovery platform.

In view of this, the present invention is proposed.

Contents of the invention

The purpose of the present invention is to overcome the deficiencies of the prior art, to provide an unmanned ship for real-time recovery of deep-sea observation data, which can automatically navigate to the water surface area near the underwater node, complete the automatic access to the underwater node, and realize Efficient recovery of underwater node data.

In order to achieve this object, the present invention adopts following technical scheme:

An unmanned ship for real-time recovery of deep-sea observation data, including:

A hull with a propulsion device, the hull is provided with an automatic deployment device and an automatic control system;

The automatic deployment device is connected to the underwater acoustic communication machine;

The automatic control system is used to control the automatic deploying device to deploy and recover the underwater acoustic communicator.

Further, the automatic deployment device includes: an automatic deployment anchor device and a lifting device, and the lifting device is connected to the underwater acoustic communication machine;

The automatic anchor deployment device is used to automatically release the anchor to fix the hull when the hull reaches a designated position; the lifting device is used to drive the underwater acoustic communication machine to move up and down, and the underwater acoustic communication machine and The lifting device is rotationally connected, so that the underwater acoustic communication machine can rotate relative to the lifting device;

The underwater acoustic communicator is connected with the automatic control system through an armored cable.

Further, the lifting device includes a first electric winch installed on the hull, a lifting platform driven by the first electric winch, a rotation adjustment device arranged on the lifting platform, and the first electric winch Connected with the automatic control system, the underwater acoustic communicator is installed on the rotation adjustment device, and the underwater acoustic communication device is driven to rotate by the rotation adjustment device.

Further, an electronic compass is also provided on the lifting platform, and the rotation adjustment device includes a motor and a rotating disk; the motor is fixed on the lifting platform, and the motor and the electronic compass pass through the armored cable It is connected with the automatic control system, the rotating shaft of the motor is connected with the rotating disk, and the underwater acoustic communicator is fixedly installed on the rotating disk.

Further, the armored cable is wound on the first electric winch, and the lifting platform is tied to the armored cable through four load-bearing ropes, so that the gravity borne by the lifting platform is transmitted to the armored cable through the load-bearing ropes, The first electric winch drives the lifting platform to move by pulling the armored cable.

Further, the lifting platform is a square plate, one end of each load-bearing rope is connected to the four vertices of the square plate, and the other end is connected to the armored cable.

Further, the automatic anchor deployment device includes a second electric winch, a cable and an anchor; the cable is wound on the second electric winch, and the other end thereof is connected to the anchor; the second electric winch is connected to the automatic The control system is connected, and a through hole is provided on the lifting platform, and the cable is passed through the through hole to limit the swing of the lifting platform.

Further, a supporting frame is provided on the hull, and a fixing plate is arranged below the supporting frame and in the center of the hull, the first electric winch and the second electric winch are installed on the supporting frame, and the An opening is provided in the middle of the fixing plate, and the size of the opening at least allows the passage of the underwater acoustic communication device.

Further, a depth sounder is provided at the bottom of the fixed plate, and the depth sounder is connected with the automatic control system.

Further, the hull is a catamaran.

After adopting the technical scheme described in the present invention, bring following beneficial effect:

An unmanned ship used for real-time recovery of deep-sea observation data of the present invention is used for deep-sea observation, can automatically navigate to the water surface near the underwater node, automatically release the underwater acoustic communication device, and can automatically adjust according to the quality of the underwater acoustic communication The depth and direction of the underwater acoustic communication machine can realize the real-time recovery of underwater node data by unmanned ships, which can effectively improve the success rate of underwater acoustic communication and solve the problems of long data recovery cycle and high cost of underwater nodes.

Description of drawings

Fig. 1 is a schematic diagram of the front view structure of an unmanned ship for real-time recovery of deep-sea observation data according to an embodiment of the present invention;

Fig. 2 is a top view structure schematic diagram of an unmanned ship for real-time recovery of deep-sea observation data according to an embodiment of the present invention;

Fig. 3 is a partial schematic diagram of Fig. 1;

Fig. 4 is an enlarged view of the lifting platform part of the unmanned ship used for real-time recovery of deep-sea observation data in an embodiment of the present invention;

Fig. 5 is a connection principle diagram of an unmanned ship automatic control system for real-time recovery of deep-sea observation data according to an embodiment of the present invention;

Among them: 1. Hull 2, fixed plate 3, support frame 4, first electric winch 5, cable 6, anchor 7, second electric winch 8, armored cable 9, propulsion device 10, underwater acoustic communication machine 11, rotating disc 12. Lifting platform 13, motor 14, electronic compass 15, through hole 16, load-bearing rope 17, depth sounder.

Detailed ways

Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar parameters or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary only for explaining the present invention and should not be construed as limiting the present invention.

In order to better understand the technical solutions and technical effects of the present invention, specific implementation manners will be described in detail below with reference to FIGS. 1-5 .

Fig. 1 is a schematic diagram of the front view structure of an unmanned ship used for real-time recovery of deep-sea observation data according to an embodiment of the present invention. As shown in Figure 1, an unmanned ship for real-time recovery of deep-sea observation data according to an embodiment of the present invention includes a hull 1 with a propulsion device 9, and the hull is provided with an automatic deployment device and an automatic control system; The automatic deploying device is connected to the underwater acoustic communicator; the automatic control system is used to control the automatic deploying device to deploy and recover the underwater acoustic communicator.

In the above scheme, the propulsion device 9 pushes the hull 1 to sail to the designated sea area, and the automatic control system controls the operation of the automatic deployment device to drive the deployment and recovery of the underwater acoustic communication machine, so as to carry out underwater nodes/platforms such as seabed foundations, submersible buoys, etc. The automatic control system controls the deployment and recovery of the underwater acoustic communication machine, and performs long-term, continuous and fixed-point observation tasks, making the deep-sea observation data recovery process flexible, stable, and more controllable.

The structure, principle and beneficial effects of the unmanned ship for real-time recovery of deep-sea observation data of the present invention will be described below in conjunction with other drawings. As shown in Figure 1, Figure 2 and Figure 5, an unmanned ship for real-time recovery of deep-sea observation data according to an embodiment of the present invention, the hull 1 carries an automatic deployment device and an automatic control system, and the automatic control system As the control and communication center of the unmanned ship, it can automatically control the operation of the propulsion device 9 according to the set coordinates, so that the hull 1 can reach the designated location, for example, it can establish a communication connection with the shore-based command center through the communication network.

As shown in FIG. 3 , the automatic deployment device includes an automatic deployment anchor device, a lifting device and an underwater acoustic communication machine 10 connected to the lifting device, and the underwater acoustic communication machine 10 communicates with the automatic control system through an armored cable 8 connection, the lifting device drives the underwater acoustic communicator 10 to rise and fall to adjust the underwater position of the underwater acoustic communicator 10, and the underwater acoustic communicator 10 is connected to the lifting device in rotation, so that the underwater acoustic communicator 10 can be connected to the lifting device Turn to achieve 360° rotation. The automatic anchor deployment device is used to automatically release the anchor to fix the hull 1 when the hull 1 reaches a designated position, so as to realize the fixed-point work of the unmanned ship.

In the above scheme, the rotary connection between the underwater acoustic communicator and the lifting device enables the underwater acoustic communicator to rotate 360 degrees, so that the underwater acoustic communicator can find the best communication angle, position it at the best signal position, and improve data recovery. efficiency and quality, and improve the accuracy and reliability of deep-sea observations.

In the above scheme, the hull 1 is a catamaran, the hull 1 is provided with a support frame 3, and a fixed plate 2 is arranged below the support frame 3 and in the center of the hull 1, and the upper end surface of the fixed plate 2 is higher than the hull. 1, the bottom of the fixed plate 2 is provided with a sounder 17, and the sounder 17 is connected with an automatic control system for real-time water depth values.

In the above scheme, a depth sounder is provided on the unmanned ship, so as to determine the depth of the underwater acoustic communication machine and/or the area where it is located, and to control the deployment depth of the underwater acoustic communication machine.

As shown in FIG. 4 , specifically, the lifting device includes a first electric winch 4 installed on the support frame 3 , a lifting platform 12 driven by the first electric winch 4 , and a rotation adjustment device arranged on the lifting platform 12 And the electronic compass 14, the first electric winch 4 is connected with the automatic control system, and the operation is controlled by the automatic control system. The underwater acoustic communicator 10 is installed on the rotation adjustment device, and the underwater acoustic communication device 10 is driven to rotate by the rotation adjustment device.

The armored cable 8 is wound on the first electric winch 4, and the lifting platform 12 is tied to the armored cable 8 through four load-bearing ropes 16, so that the gravity borne by the lifting platform 12 is transmitted to the armored cable through the load-bearing ropes 16. 8. The end of the armored cable 8 connected to the underwater acoustic communication machine 10 does not bear traction, and the first electric winch 4 drives the lifting platform 12 to move by pulling the armored cable 8 . The automatic control system automatically controls the first electric winch 4 to retract and unwind the armored cable 8 according to the underwater acoustic communication quality of the underwater acoustic communicator 10, and completes the ascent and descent of the underwater acoustic communicator 10 to realize fixed-depth communication at different depths.

In the above solution, the lifting platform 12 is a square plate, one end of each load-bearing rope 16 is connected to the four vertices of the square plate, and the other end is connected to the armored cable 8 . The above-mentioned square plate and the corresponding lifting mechanism can realize the stable deployment and recovery of the underwater acoustic communicator, the structure is stable and reliable, and it is suitable for the complex environment of deep sea observation, and has high applicability.

Described rotation regulating device comprises, motor 13 and rotating disk 11; Described motor 13 is fixed on the lifting platform 12, and motor 13 and electronic compass 14 are connected with automatic control system by armored cable 8, and the rotating shaft of motor 13 and rotating disk 11 Connected, and the motor 13 shaft is perpendicular to the lifting platform 12, and the underwater acoustic communicator 10 is fixedly installed on the rotating disk 11. When the motor 13 rotating shaft rotates, the rotating disk 11 will rotate accordingly, thereby driving the rotation of the underwater acoustic communicator 10. The automatic control system uses the armored cable 8 to transmit signals, controls the motor 13 to rotate within a horizontal range of 360°, and uses the direction data measured by the electronic compass 14 to realize the directional control of the underwater acoustic communication machine 10. The installation direction of the electronic compass 14 and the underwater acoustic communicator 10 is kept parallel to ensure that the electronic compass 14 can measure the direction of the underwater acoustic communicator 10 . The automatic control system automatically adjusts the depth and direction of the underwater acoustic communicator 10 by using the first electric winch 4 to retract and unwind the armored cable 8 and the rotation of the rotating disk 11 to realize stable and efficient transmission of underwater data.

The automatic anchor deployment device includes a second electric winch 7 installed on the support frame 3 , a cable 5 and an anchor 6 ; the cable 5 is wound on the second electric winch 7 , and one end thereof is connected to the anchor 6 . The second electric winch 7 is connected with the automatic control system, and the automatic control system automatically controls the second electric winch 7 to retract and release the cable 5 according to the water depth value of the depth sounder 17, and completes the laying and recovery of the anchor 6, realizing the unmanned ship fixed-point anchoring.

In the above scheme, the lifting platform 12 is provided with a through hole 15, and the cable 5 passes through the through hole 15 to limit the swing of the lifting platform 12. The cable 5 is kept parallel to the armored cable 8, so that the lifting platform 12 can be raised stability.

The middle part of the fixed plate 2 is provided with an opening, the opening is located below the first electric winch 4 and the second electric winch 7, the size of the opening at least allows the passage of the underwater acoustic communication machine 10, preferably, the size of the opening is not less than The size of the lifting platform 12 and the anchor 6 is to allow the anchor 6 and the lifting platform 12 to pass through.

The unmanned ship used for real-time recovery of deep-sea observation data of the present invention uses a fixed-point, fixed-depth, and directional automatic deployment device to automatically lower anchors at a predetermined position, and uses an adjustment structure to automatically adjust the depth and direction of the underwater acoustic communication device to realize underwater acoustics. The fixed point, fixed depth and directional control of the communication machine can improve the quality of underwater acoustic communication and improve the efficiency and quality of deep sea observation data recovery.

In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure the understanding of this description.

Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, in order to streamline this disclosure and to facilitate an understanding of one or more of the various inventive aspects, various features of the invention are sometimes grouped together in a single embodiment, figure, or its description. This method of disclosure, however, is not to be interpreted as reflecting an intention that the claimed invention requires more features than are expressly recited in each claim.

It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps etc. which are not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention can be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In a unit claim enumerating several systems, several of these systems can be embodied by one and the same item of hardware. The use of the words first, second, third, etc. does not indicate any order. These words can be interpreted as names.

Claims (10)

1. An unmanned ship for real-time recovery of deep-sea observation data, characterized in that, the unmanned ship includes: A hull with a propulsion device, the hull is provided with an automatic deployment device and an automatic control system; The automatic deployment device is connected to the underwater acoustic communication machine; The automatic control system is used to control the automatic deploying device to deploy and recover the underwater acoustic communicator. 2. A kind of unmanned ship for real-time recovery of deep-sea observation data according to claim 1, characterized in that, The automatic deployment device includes: an automatic deployment anchor device and a lifting device, and the lifting device is connected to the underwater acoustic communication machine; The automatic anchor deployment device is used to automatically release the anchor to fix the hull when the hull reaches a designated position; the lifting device is used to drive the underwater acoustic communication machine to move up and down, and the underwater acoustic communication machine and The lifting device is rotationally connected, so that the underwater acoustic communication machine can rotate relative to the lifting device; The underwater acoustic communicator is connected with the automatic control system through an armored cable. 3. A kind of unmanned ship for real-time recovery of deep-sea observation data according to claim 2, characterized in that, The lifting device includes a first electric winch installed on the hull, a lifting platform driven by the first electric winch, a rotation adjustment device arranged on the lifting platform; the first electric winch and the The automatic control system is connected, the underwater acoustic communicator is installed on the rotation adjustment device, and the underwater acoustic communication device is driven to rotate by the rotation adjustment device. 4. A kind of unmanned ship that is used for deep-sea observation data real-time recovery according to claim 3, is characterized in that, An electronic compass is also provided on the lifting platform, and the rotation adjustment device includes a motor and a rotating disk; the motor is fixed on the lifting platform, and the motor and the electronic compass communicate with the The automatic control system is connected, the rotating shaft of the motor is connected with the rotating disk, and the underwater acoustic communicator is fixedly installed on the rotating disk. 5. The unmanned ship for real-time recovery of deep-sea observation data according to claim 3, wherein the armored cable is wound on the first electric winch, and the lifting platform passes through four load-bearing The rope is tied to the armored cable, so that the gravity borne by the lifting platform is transmitted to the armored cable through the load-bearing rope, and the first electric winch drives the lifting platform to move by pulling the armored cable. 6. A kind of unmanned ship that is used for real-time recovery of deep-sea observation data according to claim 5, characterized in that, the lifting platform is a square plate, and one end of each of the load-bearing ropes is connected to four corners of the square plate. vertices, and the other end is connected to the armored cable. 7. A kind of unmanned ship that is used for real-time recovery of deep sea observation data according to claim 3, is characterized in that, described automatic deployment anchor device comprises, the second electric winch, cable and anchor; Described cable is wound on On the second electric winch, the other end thereof is connected to the anchor; the second electric winch is connected to the automatic control system, and a through hole is provided on the lifting platform, and the cable passes through the through hole, To limit the swing of the lifting platform. 8. A kind of unmanned ship for real-time recovery of deep-sea observation data according to claim 7, characterized in that, the hull is provided with a support frame, and the center of the hull is located below the support frame. There is a fixed plate, the first electric winch and the second electric winch are installed on the support frame, and an opening is arranged in the middle of the fixed plate, the size of the opening at least allows the passage of the underwater acoustic communication device. 9. The unmanned ship for real-time recovery of deep-sea observation data according to claim 8, characterized in that, the bottom of the fixed plate is provided with a sounder, and the sounder and the automatic control system connect. 10. The unmanned ship for real-time recovery of deep-sea observation data according to claim 1, characterized in that: the hull is a catamaran.