CN109649612A - Underwater unmanned plane based on intelligent air bladder - Google Patents
Underwater unmanned plane based on intelligent air bladder Download PDFInfo
- Publication number
- CN109649612A CN109649612A CN201811555922.3A CN201811555922A CN109649612A CN 109649612 A CN109649612 A CN 109649612A CN 201811555922 A CN201811555922 A CN 201811555922A CN 109649612 A CN109649612 A CN 109649612A
- Authority
- CN
- China
- Prior art keywords
- unmanned plane
- underwater
- air bladder
- screw rod
- water
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 210000004712 air sac Anatomy 0.000 title claims abstract description 14
- 238000007667 floating Methods 0.000 claims abstract description 7
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 6
- 230000008602 contraction Effects 0.000 claims 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims 1
- 238000001514 detection method Methods 0.000 abstract 1
- 238000007789 sealing Methods 0.000 description 3
- 238000007689 inspection Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 241000251468 Actinopterygii Species 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009313 farming Methods 0.000 description 1
- 239000004833 fish glue Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 231100000331 toxic Toxicity 0.000 description 1
- 230000002588 toxic effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/24—Automatic depth adjustment; Safety equipment for increasing buoyancy, e.g. detachable ballast, floating bodies
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention is a kind of underwater unmanned plane, the underwater UAV system of specially a kind of wireless control sink-float and advance and retreat based on intelligent air bladder.System includes: position and attitude detection, MEMS sensor, spiral screw rod, drive mechanism, power supply system, wireless controller.System uses air bladder principle, pass through drive mechanism, the movement of spiral screw rod changes the volume of the flexible profile of unmanned plane, to adjust unmanned plane buoyancy, to realize the underwater floating of unmanned plane and dive, and the change of the rotation direction using subsidiary level propulsion system, realize moving forward and backward for unmanned plane horizontal direction.The intelligent underwater unmanned plane of air bladder can be whole to realize that unmanned plane is floated in water, declines, advances, retreated by remote wireless control.
Description
Technical field
The present invention relates to a kind of brand new technicals, realize floating and dive more particularly to a kind of volume change, and by
Subsidiary level propulsion system, makes unmanned plane move forward and backward, the underwater unmanned plane of comprehensive intelligent air bladder principle.
Background technique
Underwater unmanned plane has had the developing history in many years both at home and abroad, but is all based on submarine technology, changes nobody
The inflow of machine, to control heavy, the floating change in location of underwater unmanned plane.Compared to other underwater unmanned planes, based on intelligent fish
The underwater unmanned plane of fish glue principle realizes that heavy, transportation by driving is moved by changing overall volume.The realization structure letter of this underwater unmanned plane
List, cost of manufacture are lower, operation readiness, can be easily more sea farming, the inspection of marine vessel bottom survey, urban duct
It looks into, reservoir inspection, marine climate monitoring etc. provides service, has boundless application prospect.
Detailed description of the invention
Fig. 1 is the sectional view of underwater unmanned plane
Fig. 2 is the top view of underwater unmanned plane
Summary of the invention
Technical problems to be solved needed for the present invention are mass conservations, change unmanned plane buoyancy size, are realized on unmanned plane
Floating and dive, and determine the problem of underwater position of unmanned plane and unmanned plane move forward and backward in water.
Technical solution used by its technical problem of the invention is: by selecting the preferable concertina type material of shrinkage to change
Variable volume, and by MEMS sensor, the posture and kinematic parameter of underwater unmanned body are collected, accurate judgement unmanned plane is in water
Motion state and attitude angle, and by control system, controlled level propeller, to realize that the underwater unmanned plane of intelligent air bladder exists
Underwater moves forward and backward.
Described device include toward unmanned plane waterproof sealing cabin, compound stepper motor, spiral screw rod, nut, MEMS sensor,
Subsidiary level propulsion system, control system, power supply system and flexible profile；The waterproof sealing cabin is connected with nut, the spiral shell
On spiral screw rod, the spiral screw rod is mounted on stepper motor mother set, the control terminal and control of the reciprocating stepper motor
Device processed is connected, and the MEMS sensor is connected with controller, and the subsidiary level propulsion system is connected with controller, described flexible
It is connected inside profile with nut, the flexible profile terminal is connected and fixed with motor terminals.
The volume change material is flexible profile.
The stepper motor is reciprocating stepper motor.
The MEMS includes attitude transducer, longitude and latitude sensor, gravity sensor.
The controller includes wireless signal receiver, wireless signal transmitter.
The unmanned plane integral sealing is water-tight.
When the underwater unmanned plane of intelligent air bladder needs dive, controller is issued and is instructed, controller controls motor, pushes spiral shell
It revolves screw rod and drives nut, realize that flexible profile is shunk, reduce unmanned plane volume, realize dive；When the underwater unmanned plane of intelligent air bladder
When needing to float, controller is issued and is instructed, controller controls motor, and spiral screw rod is pushed to drive nut, realizes flexible profile
Elongation increases unmanned plane overall volume, realizes and floats；When the underwater unmanned plane of intelligent air bladder needs to advance or retreat, to control
Device processed issues instruction, and controller starts subsidiary level propulsion system motor, and control motor rotates forward or reversion, before pushing unmanned plane
Into or retreat.
It is not difficult to find that the present invention has, structure is simple, low manufacture cost, can be with conglomerate, multi-field use, and has
It is easy to operate, convenient for control, operation can be carried out with the place of toxic, harmful, deep-sea or narrow space, and can be more
Secondary recycling circulation uses infinitely.
Claims (5)
1. a kind of underwater UAV system by stereomutation realizes that unmanned plane is floated, sinks, advances, retreated, system packet
It includes:
(1) unmanned plane water-protected enclosure cabin (2) spiral screw rod (3) nut (4) reciprocating stepper motor (5) flexible profile (6) control
System (7) subsidiary level propulsion system (8) power supply system (9) MEMS sensor-based system.
2. the underwater unmanned plane of intelligence air bladder according to claim 1, which is characterized in that the constant situation of unmanned plane weight,
Unmanned plane is controlled by stereomutation and carries out floating and dive in water, and system is promoted by 4, unmanned plane periphery subsidiary level
It unites (7), realizes the advance or retrogressing of the underwater east, south, west, north four direction of unmanned plane.
3. the underwater unmanned plane of intelligence air bladder according to claim 1, which is characterized in that control system (6) receives instruction, opens
Dynamic power supply system (8), provide electric power, and drive reciprocating stepper motor (4), push spiral screw rod (2), and spiral screw rod drives spiral shell
Female (3), so that unmanned plane is stretched, perhaps contraction makes unmanned plane floating or dive for profile (5) extension, and passes through sensor mems and pass
Sensing system (9) collects the posture and motion state of unmanned plane in water, and MEMS sensor-based system (9), reciprocable machine (3) are being controlled
The joint operation of system (6) processed realizes underwater unmanned plane floating in water, sinks.
4. the underwater unmanned plane of intelligence air bladder according to claim 1, which is characterized in that control system (6) receives instruction, opens
Dynamic power supply system (8) provide electric power, and start (7) with subsidiary level propulsion system, realize unmanned plane horizontally advance or after
It moves back.
5. according to claim 1 can only the underwater unmanned plane of air bladder, which is characterized in that the unmanned water-protected enclosure cabin (1)
It is connect with the nut (3), the nut (3) connect with flexible profile (5) and nut (2), the flexible profile (5) and reciprocal
The connection of formula motor (4) pedestal, the reciprocable machine (4) connect and power with MEMS sensor-based system (9) and control system (6)
System (8) connection, the secondary propulsion system (SPS) (7) and power supply system (8) and MEMS sensor-based system (9) and control system (6) phase
Even.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811555922.3A CN109649612A (en) | 2018-12-20 | 2018-12-20 | Underwater unmanned plane based on intelligent air bladder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811555922.3A CN109649612A (en) | 2018-12-20 | 2018-12-20 | Underwater unmanned plane based on intelligent air bladder |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109649612A true CN109649612A (en) | 2019-04-19 |
Family
ID=66115186
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811555922.3A Pending CN109649612A (en) | 2018-12-20 | 2018-12-20 | Underwater unmanned plane based on intelligent air bladder |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109649612A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113525641A (en) * | 2021-07-15 | 2021-10-22 | 哈尔滨工程大学 | Emergency suspension device for seabed sonar robot |
| CN116039885A (en) * | 2023-02-20 | 2023-05-02 | 武汉大学 | Self-sustaining low-power-consumption long-endurance unmanned underwater vehicle |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06144369A (en) * | 1992-11-02 | 1994-05-24 | Sumitomo Electric Ind Ltd | Method and device for buoyancy of diving machine |
| CN205632980U (en) * | 2016-01-13 | 2016-10-12 | 中国计量学院 | Drainage type buoyancy regulating device |
| CN205998108U (en) * | 2016-05-09 | 2017-03-08 | 浙江大学 | Helicopter under water |
| CN107891969A (en) * | 2017-11-25 | 2018-04-10 | 安阳市能成农机设备销售有限公司 | A kind of dilatation reduces density increase buoyant device |
| CN108177748A (en) * | 2018-01-12 | 2018-06-19 | 河海大学常州校区 | A kind of underwater robot, which drifts along, device and to drift along method |
-
2018
- 2018-12-20 CN CN201811555922.3A patent/CN109649612A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06144369A (en) * | 1992-11-02 | 1994-05-24 | Sumitomo Electric Ind Ltd | Method and device for buoyancy of diving machine |
| CN205632980U (en) * | 2016-01-13 | 2016-10-12 | 中国计量学院 | Drainage type buoyancy regulating device |
| CN205998108U (en) * | 2016-05-09 | 2017-03-08 | 浙江大学 | Helicopter under water |
| CN107891969A (en) * | 2017-11-25 | 2018-04-10 | 安阳市能成农机设备销售有限公司 | A kind of dilatation reduces density increase buoyant device |
| CN108177748A (en) * | 2018-01-12 | 2018-06-19 | 河海大学常州校区 | A kind of underwater robot, which drifts along, device and to drift along method |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113525641A (en) * | 2021-07-15 | 2021-10-22 | 哈尔滨工程大学 | Emergency suspension device for seabed sonar robot |
| CN113525641B (en) * | 2021-07-15 | 2022-03-08 | 哈尔滨工程大学 | Emergency suspension device for seabed sonar robot |
| CN116039885A (en) * | 2023-02-20 | 2023-05-02 | 武汉大学 | Self-sustaining low-power-consumption long-endurance unmanned underwater vehicle |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190419 |