CN117644959A - Manned submersible imitating ray of bats - Google Patents
Manned submersible imitating ray of bats Download PDFInfo
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- CN117644959A CN117644959A CN202311659961.9A CN202311659961A CN117644959A CN 117644959 A CN117644959 A CN 117644959A CN 202311659961 A CN202311659961 A CN 202311659961A CN 117644959 A CN117644959 A CN 117644959A
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- 210000000006 pectoral fin Anatomy 0.000 claims abstract description 50
- 241001331491 Myliobatis californica Species 0.000 claims abstract description 18
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Classifications
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- 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
- B63G8/16—Control of attitude or depth by direct use of propellers or jets
-
- 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
- B63G8/18—Control of attitude or depth by hydrofoils
-
- 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
- B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks
-
- 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
- B63G8/38—Arrangement of visual or electronic watch equipment, e.g. of periscopes, of radar
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- 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
- B63G8/39—Arrangements of sonic watch equipment, e.g. low-frequency, sonar
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Toys (AREA)
Abstract
The invention relates to the technical field of underwater bionic robots, in particular to a baton manned submersible which comprises a main body bracket, a baton main body outer cover, a left pectoral fin module, a right pectoral fin module, a tail fin module, a cockpit and a heavy buoyancy adjusting module, wherein the left pectoral fin module is arranged on the main body bracket; the main body bracket is arranged in the outer cover of the main body of the ray; the left pectoral fin module is movably connected to the left side of the main body bracket; the right pectoral fin module is movably connected to the right side of the main body bracket; the tail fin module is movably connected to the rear end of the outer cover of the ray main body of the main body bracket; the cockpit is arranged in the middle of the outer cover of the bated ray main body; the heavy buoyancy adjustment module comprises a first and a second heavy buoyancy adjustment assembly; the first heavy buoyancy adjusting component and the second heavy buoyancy adjusting component comprise an oil tank and two oil bags; the balance adjustment of the external cover of the main body of the batray is controlled by the oil quantity in the four oil bags. The manned submersible has the advantages that the manned submersible reduces underwater resistance by simulating the streamline structure of the bata, and improves maneuverability, flexibility and stability.
Description
Technical Field
The invention relates to the technical field of underwater bionic robots, in particular to a simulated ray manned submersible.
Background
With advances in technology and increasing demand for human research into deep sea environments, manned submersible vehicles are gradually developed. They can help scientists gain insight into marine life, geology, geophysics, and chemistry. Through the manned submersible, scientists can observe and collect deep sea biological samples, and research the characteristics and changes of a deep sea ecological system; the manned submersible can also survey submarine geological features, study geological structures and the crust evolution process, and provide important information about the internal structure of the earth; in addition, manned submersible vehicles are also of great importance in the exploration and development of marine resources, which can be used to search and explore mineral resources, oil and gas resources, and other marine and natural resources; through observation and sampling of the manned submersible, the distribution, quantity and feasibility of ocean resources can be better known, and important basis is provided for resource development; in rescue and disaster handling aspects, manned submersible vehicles play an important role, and can be used for searching and rescuing actions to provide rescue and support for trapped people; the manned submersible can also be used for visiting the seabed world, so that people can observe the real appearance of the ocean in a short distance.
However, the current manned submersible generally has larger volume and weight, so that mobility and flexibility of the submersible are limited, the influence on living things in the ocean is caused, the living things in the ocean cannot be observed stably, and the resistance caused by the larger volume under the water is larger, so that the problem of excessive energy consumption of the submersible is caused.
Disclosure of Invention
The invention aims to solve the technical problems that the existing manned submersible has poor maneuverability and flexibility and consumes excessive energy due to large resistance, and provides a bionic submersible which imitates a biological streamline shape to reduce the underwater resistance of the submersible and improve the speed of the submersible; the movement mode and structure of the batray are simulated, and the mobility, flexibility and stability of the batray-simulated manned submersible are improved.
The invention aims at realizing the following technical scheme:
a human-carried submersible imitating a ray of a bate, the device comprises a main body bracket, a ray main body housing, a left pectoral fin module, a right pectoral fin module, a tail fin module, a cockpit and a heavy buoyancy adjusting module; the main body support is arranged in the outer cover of the main body of the ray; the left pectoral fin module is movably connected to the left side of the main body bracket; the right pectoral fin module is movably connected to the right side of the main body bracket; the tail fin module is movably connected to the rear end of the outer cover of the batline main body of the main body bracket; the left pectoral fin module, the right pectoral fin module and the tail fin module are used for adjusting the balance of the submersible; the cockpit is arranged in the middle of the outer cover of the main body of the ray; the heavy buoyancy adjusting module comprises a first heavy buoyancy adjusting component and a second heavy buoyancy adjusting component; the first heavy buoyancy adjusting component and the second heavy buoyancy adjusting component are respectively arranged in the front part and the rear part of the outer cover of the main body of the bat; the first heavy buoyancy adjusting component and the second heavy buoyancy adjusting component both comprise an oil tank and two oil bags; the oil tank is arranged in the middle of the outer cover of the main body of the ray; the two oil bags are symmetrically connected to the left side and the right side of the oil tank through oil pipes respectively, the left end and the right end of the oil tank are provided with telescopic driving pieces, and the telescopic parts of the telescopic driving pieces are connected with baffle plates; the baffle is movably connected in the oil tank and is used for realizing the communication and closing between the oil tank and the oil bag; the oil tank is provided with an oil pump for pumping oil in the oil bag; the balance adjustment of the external cover of the main body of the batray is controlled by the oil quantity in the four oil bags. The manned submersible reduces the underwater resistance of the submersible by simulating the streamline structure of the ray, and improves the speed of the submersible; the oil mass in four oil bags can be controlled through the first heavy buoyancy adjusting component and the second heavy buoyancy adjusting component, so that the heavy buoyancy force in the front, back, left and right directions can be adjusted, and the maneuverability, flexibility and stability of the manned submersible are improved.
Preferably, the front left, front right, rear left and rear right of the outer cover of the ray body are provided with propeller structures for lifting and propelling. The propeller structures are distributed on four corners of the submersible, so that the in-situ height adjustment can be carried out when the submersible is stationary, water can be fed in and discharged out at a higher speed, and the fixed-point hovering control can be realized by coaction with the heavy buoyancy adjusting module.
Preferably, the left pectoral fin module and the right pectoral fin module are symmetrically arranged at the left side and the right side of the outer cover of the main body of the ray; the left pectoral fin module and the right pectoral fin module comprise pectoral fin fixing brackets, a control power supply, a flapping motor, a rotating motor and flexible pectoral fin plates; the pectoral fin fixing support is fixedly connected with the main body support; the control power supply is arranged on the main body bracket; the flapping motor is arranged on the pectoral fin fixing support and is connected with a control power supply; the rotating motor is arranged on a driving part of the flapping motor through a flapping connecting piece and is connected with a control power supply; the flexible chest fin plate is connected to a driving part of the rotating motor through a chest fin plate connecting piece; the outer wall of the flexible chest fin plate is wrapped with a chest fin outer cover. Through the cooperation between the flapping motor and the rotating motor, the coupling motion of pectoral fin flapping and torsion is realized, and the rapid advance and the maneuvering steering in complex terrains are conveniently realized.
Preferably, the tail fin module comprises a tail steering engine, a tail steering engine fixing frame, a tail left fin connecting block, a tail right fin connecting block and a tail fin rotating connecting rod; the tail steering engine is arranged at the rear end of the outer cover of the batray body through a tail steering engine fixing frame; one end of the tail fin rotating connecting rod is connected with an output shaft of the tail steering engine, and the other end of the tail fin rotating connecting rod is rotationally connected with a tail steering engine fixing frame through a connecting rod bracket; the tail left fin connecting block and the tail right fin connecting block are respectively and symmetrically connected to the left side and the right side of the tail fin rotating connecting rod; the rear parts of the tail left fin connecting block and the tail right fin connecting block are respectively connected with tail fins, and the two tail fins are symmetrically arranged. The tail fin rotating connecting rod is driven to drive the left and right sides of the rear ends of the two tail fin plates through the rotation of the tail steering engine, and pump spraying propellers are symmetrically arranged on the left and right sides of the rear ends of the two tail fin plates. Rapid advancement and steering in complex terrain is further achieved by the pectoral fins in combination with pump jet propulsion.
Preferably, the system further comprises a sensing and control module; the sensing and control module comprises a pressure sensor, a depth sensor, an image sonar, inertial navigation, USBL positioning communication, an illumination system and a camera; the pressure sensor and the depth sensor are used for sensing the current buoyancy state; the image sonar is used for acquiring the underwater topography information; the inertial navigation is used for positioning the position information of the submersible in real time; the camera is used for shooting underwater pictures; the USBL is used for keeping communication with the ground in real time when underwater; the illumination system is used for underwater illumination.
Preferably, a control module, a driving module and a weight sensor are arranged in the driving cabin; the control module is used for performing man-machine interaction, and the driving module is used for controlling the driving direction; the weight sensor is used for detecting the weight of the driver. Through the better realization man-machine interaction of control module and driving module, convenient good control submersible to in the form of sensing through weight sensor with through pressure, can conveniently transmit the weight information of driver in control and the perception module, adjust to balanced state through heavy buoyancy adjustment module, adaptable different drivers' weight.
In summary, the manned submersible adopting the simulated batray has the advantages that under the function of flapping of the existing pectoral fins and tail fins of the batray, the submersible can realize the existing forward and steering high mobility movement of the batray, can also accurately keep a gliding state under water by utilizing the heavy buoyancy adjusting module, reduces the underwater resistance by adopting the streamline shape of the simulated batray, reduces the energy consumption, ensures the long-time working capacity and improves the swimming speed of the submersible. In particular, the problems of low navigation speed, limited buoyancy adjusting capability and short endurance time of the submersible are solved, and fixed-point hovering can be realized through a propeller structure.
Drawings
FIG. 1 is a schematic diagram of the simulated ray manned submersible of the present invention.
Fig. 2 is a schematic view of the heavy buoyancy adjusting assembly according to the present invention.
Fig. 3 is a schematic structural view of a skeg module according to the present invention.
Fig. 4 is a schematic view of the structure of the cockpit according to the present invention.
Wherein: 1. a main body bracket; 2. a ray body cover; 20. a pump jet propeller; 3. a left pectoral fin module; 31. a pectoral fin fixing support; 32. controlling a power supply; 33. a flapping motor; 34. a rotating motor; 35. a flexible chest fin; 36. a pectoral fin plate connector; 4. a right pectoral fin module; 5. a tail fin module; 51. tail steering engine; 52. tail steering engine fixing frame; 53. a tail left fin connecting block; 54. a tail right fin connecting block; 55. the tail fin rotates the connecting rod; 56. a tail fin; 57. a connecting rod bracket; 6. a cockpit; 61. a control module; 62. a driving module; 63. a weight sensor; 7. a first heavy buoyancy adjustment assembly; 70. an oil pipe; 71. an oil tank; 72. an oil bag; 73. a telescopic driving member; 731. a telescopic part; 74. a baffle; 75. an oil pump; 8. a second weight buoyancy adjustment assembly; 9. a propeller structure; 10. and a sensing and control module.
Detailed Description
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.
As shown in fig. 1 to 4, a baton-vehicle comprises a main body bracket 1, a baton main body outer cover 2, a left pectoral fin module 3, a right pectoral fin module 4, a tail fin module 5, a cockpit 6 and a heavy buoyancy adjusting module; the main body bracket 1 is arranged in the main body outer cover 2 of the batray; the main body bracket 1 is mainly used for supporting the main body outer cover 2 of the ray and is fixedly connected with other modules. The ray body cover 2 is made of rigid materials. The top and front end of the ray main body cover 2 can be made into transparent top, and made of Polycarbonate (PC), polymethyl methacrylate (PMMA) or ultra-transparent glass ceramic, so that people can observe submarine topography and living things in multiple directions. The left pectoral fin module 3 is movably connected to the left side of the main body bracket 1; the right pectoral fin module 4 is movably connected to the right side of the main body bracket 1; the tail fin module 5 is movably connected to the rear end of the bated ray main body housing 2 of the main body bracket 1; the cockpit 6 is arranged in the middle of the outer cover 2 of the main body of the ray; the heavy buoyancy adjusting module comprises a first heavy buoyancy adjusting component 7 and a second heavy buoyancy adjusting component 8; the first and second heavy buoyancy adjustment assemblies 7 and 8 are provided in the front and rear portions of the bat main body housing 2, respectively; the first heavy buoyancy regulating assembly 7 and the second heavy buoyancy regulating assembly 8 each comprise an oil tank 71 and two oil bags 72; the oil tank 71 is arranged in the middle of the inner cover 2 of the main body of the ray; the two oil bags 72 are symmetrically connected to the left and right sides of the oil tank 71 through the oil pipe 70, the left and right ends of the oil tank 71 are provided with telescopic driving pieces 73, and telescopic parts 731 of the telescopic driving pieces 73 are connected with baffle plates 74; a baffle 74 is movably connected within the oil tank 71, and the baffle 74 is for effecting communication and closing between the oil tank 71 and the oil bag 72; the oil tank 71 is provided with an oil pump 75 for pumping oil in the oil bag 72; balance adjustment of the batray body housing 2 is controlled by the amount of oil in the four oil bags 72. The manned submersible reduces the underwater resistance of the submersible by simulating the streamline structure of the ray, and improves the speed of the submersible; the oil mass in the four oil bags 72 can be controlled through the first heavy buoyancy adjusting component 7 and the second heavy buoyancy adjusting component 8, so that the front-back and left-right heavy buoyancy can be adjusted, and the maneuverability, flexibility and stability of the manned submersible are improved. Screw propeller structures 9 for lifting and propelling are arranged at the four corners corresponding to the left front, the right front, the left rear and the right rear of the batray main body outer cover 2. The propeller arrangement 9 is distributed over the four corners of the submersible, which propeller arrangement in the submersible normally achieves in-situ height adjustment by adjusting the rotational speed and direction of the propeller. When the submersible needs to be raised or lowered, the buoyancy of the submersible can be changed by increasing or decreasing the propulsive force of the propeller. If only the vertical movement is needed to keep the transverse position unchanged, the rotating speed or direction of the specific propeller can be adjusted to enable the submersible to generate ascending or descending force, so that the adjustment of the height is realized, the water can be entered and discharged at a higher speed, and the fixed-point hovering control can be realized by the combined action of the submersible and the heavy buoyancy adjusting module.
When the two oil bags 72 at the front end are filled with oil, the volume of the oil bags 72 is increased, the water draining volume at the front end is increased, so that the buoyancy of the front end of the submersible is increased, the submersible achieves upward movement, when the two oil bags 72 at the rear end are filled with oil, the volume of the oil bags 72 is increased, the water draining volume at the rear end of the submersible is increased, so that the submersible is in a downward diving state, the size of the water draining volume is changed by controlling the difference of the oil quantities in the front oil bag 72 and the rear oil bag 72, pitch control is achieved by changing the buoyancy of the front end and the rear end, the volume of the oil bags 72 is increased when the oil is filled into the front oil bag 72 and the rear oil bag 72 is also increased, so that the buoyancy of the left end is increased, the right end is the same, the volume of the water draining volume is changed by changing the volume of the oil bags 72, and the transverse rolling adjustment is achieved by the difference of the buoyancy of the left end and the right end. When oil is filled, the baffle plate 74 is lifted in the form of an oil cylinder through the telescopic driving piece 73, so that the oil in the oil tank 71 is filled into the oil bag 72, when the oil is discharged, the oil in the oil bag 72 is pumped out through the oil pump 75, so that the oil quantity control is conveniently realized, the oil filling and discharging operation is respectively carried out at different frequencies and amplitudes by utilizing front and back four buoyancy adjustments, the periodical change of front and back buoyancy is generated, and the submersible continuously carries out pitching motion in the advancing process so as to generate a zigzag track. The propeller structures 9 are distributed at four corners of the submersible, and can be used for in-situ height adjustment when the submersible is stationary, so that water can enter and exit at a higher speed, fixed-point hovering control can be realized by coaction with the heavy buoyancy adjusting module, the sensing and control module 10 is used for sensing the current depth and posture of the submersible, the sensor transmits sensed data to the control system, and the control system analyzes the current buoyancy state and the buoyancy amount to be adjusted according to the fed back data; and then sending the instruction to the corresponding module for adjustment.
The left pectoral fin module 3 and the right pectoral fin module 4 are symmetrically arranged at the left side and the right side of the outer cover 2 of the main body of the bat; the left pectoral fin module 3 and the right pectoral fin module 4 each include a pectoral fin fixing bracket 31, a control power supply 32, a flapping motor 33, a rotating motor 34 and a flexible pectoral fin plate 35; the pectoral fin fixing bracket 31 is fixedly connected with the main body bracket 1; the control power supply 32 is provided on the main body bracket 1; the flapping motor 33 is arranged on the pectoral fin fixing bracket 31, and the flapping motor 33 is connected with the control power supply 32; the rotation motor 34 is provided on a driving part of the flapping motor 33 through a flapping connecting piece, and the rotation motor 34 is connected with the control power supply 32; the flexible chest fin 35 is connected to the drive of the rotation motor 34 by a chest fin connection 36; the flexible chest fin 35 is made of carbon fibre and is coated with a corrosion-resistant coating to protect the fin from corrosion and oxidation. The outer wall of the flexible chest fin plate 35 is wrapped with a chest fin outer cover, and the chest fin outer cover is made of flexible materials such as pearlescent cloth, POBB film or polylactic acid film. By the cooperation between the flapping motor 33 and the rotating motor 34, the coupling motion of the pectoral fin flapping and torsion is realized, so that the rapid forward movement and the maneuvering steering in complex terrains are realized conveniently.
The tail fin module 5 comprises a tail steering engine 51, a tail steering engine fixing frame 52, a tail left fin connecting block 53, a tail right fin connecting block 54 and a tail fin rotating connecting rod 55; the tail steering engine 51 is arranged at the rear end of the batray main body outer cover 2 through a tail steering engine fixing frame 52; one end of the tail fin rotating connecting rod 55 is connected with an output shaft of the tail steering engine 51, and the other end of the tail fin rotating connecting rod 55 is rotationally connected with the tail steering engine fixing frame 52 through a connecting rod bracket 57; the tail left fin connecting block 53 and the tail right fin connecting block 54 are respectively and symmetrically connected to the left side and the right side of the tail fin rotating connecting rod 55; the rear parts of the tail left fin connecting block 53 and the tail right fin connecting block 54 are connected with tail fins 56, and the two tail fins 56 are symmetrically arranged. The tail fin 56 is made of carbon fiber and is coated with a corrosion-resistant coating to protect the fin from corrosion and oxidation. The tail fin rotating connecting rod 55 is driven to drive the two tail fin plates 56 to synchronously rotate through the rotation of the tail steering engine 51, so that pitching motion of the submersible is controlled, and meanwhile, rapid pitching and rolling gesture adjustment can be realized by combining the heavy buoyancy adjusting module. Because the diving device moves at a certain speed, the left fin plate and the right fin plate at the tail part have opposite action with water flow, the tail part of the diving device generates pitching moment, and the diving device floats upwards or descends, so that the pitching angle of the diving device during movement is controlled. As the aft fin 56 deflects upward, the pitch angle of the submersible increases; when the tail fin plate 56 deflects downwards, the pitch angle of the submersible is reduced, the mode that the tail fin plate 56 controls the pitch angle is adopted, dependence on a traditional mass center mechanism is eliminated, space is greatly saved, and meanwhile, rapid pitching and rolling gesture adjustment can be realized by combining the heavy buoyancy adjustment module.
Pump jet thrusters 20 are symmetrically arranged on the left and right sides of the rear end of the bated ray body housing 2. Rapid advancement and steering in complex terrain is further achieved by the pectoral fins in combination with the pump jet propulsion 20. When the submersible needs to be propelled forward, the pump jet propeller can discharge high-speed water flow to generate backward thrust, and meanwhile, the pectoral fins can generate thrust in a rapid vibration or fanning mode to cooperate with the pump jet propeller to propel the submersible. The synergistic propulsion of pectoral fins and pump jet enables the simulated ray diving apparatus to move in water with high efficiency. Through the synergistic effect of pump spraying and pectoral fins, the simulated ray of the Chinese table can realize flexible posture adjustment and accurate control. The propulsion mode enables the submersible to have higher maneuverability and operability in water, and can adapt to different ocean environments and task demands.
Also included is a sense and control module 10; the sensing and control module 10 comprises a pressure sensor, a depth sensor, image sonar, inertial navigation, USBL positioning communication, an illumination system and a camera; the pressure sensor and the depth sensor are used for sensing the current buoyancy state; the image sonar is used for acquiring the underwater topography information; inertial navigation is used for positioning the position information of the submersible in real time; the camera is used for shooting underwater pictures; the USBL is used for keeping communication with the ground in real time when underwater; the illumination system is used for underwater illumination.
A control module 61, a driving module 62 and a weight sensor 63 are arranged in the cockpit 6; the control module 61 is used for performing man-machine interaction, and the driving module 62 is used for controlling the driving direction; the weight sensor 63 detects the weight of the driver. Through the better realization man-machine interaction of control module 61 and driving module 62, convenient good control submersible to in the form of sensing through pressure through weight sensor 63, can conveniently transmit the weight information of driver in control and the perception module, adjust to balanced state through heavy buoyancy adjustment module, adaptable different drivers' weight.
The simulated ray diving device generally adopts a set of comprehensive control system in the aspect of man-machine interaction so as to realize better diving device control and operation. First, a series of sensors, such as a water pressure sensor, a temperature sensor, an acceleration sensor, etc., are provided on a submersible for sensing parameters of the submersible environment. These sensors transmit environmental data in real time to the computer system of the submersible. Secondly, the computer system of the submersible analyzes and monitors information such as the motion state, the environmental condition and the like of the submersible in real time by processing the sensor data. The computer system controls and adjusts the submersible according to a preset control algorithm and a user command. In terms of human-machine interaction, a simulated ray-bated submersible is typically equipped with a user interface or console through which a user may interact with the submersible. Commands such as forward, backward, up, down, etc. are entered by a controller that may be a touch screen, buttons, handles, etc. In addition, in order to provide a more visual control manner, some simulated-ray submounts also support voice recognition or gesture recognition and other technologies, and a user can control the movement of the submounts through voice commands or gesture actions. In summary, the simulated ray diving device senses environmental information through the sensor, and the computer system analyzes and controls the movement of the diving device in real time, the user interface or console is used to interact with the user to achieve better submersible control and operation. The man-machine interaction system enables a user to control the submersible more conveniently and intuitively, and improves the operability and efficiency of the submersible.
Because the submarine environment is complex and the situation is changeable, although the autonomous navigation system is arranged in the submersible, the emergency situation can not be responded quickly, a driver can control the submersible through the control assembly to realize man-machine interaction, the submersible is better operated to adapt to different underwater tasks in response to various emergency situations, fine observation, sampling and operation can be carried out underwater, and the underwater unmanned underwater vehicle has greater flexibility and adaptability. When some submarine landform shooting is needed, a driver can hover or glide through the cooperation of the propeller structure 9 and the heavy buoyancy adjusting module, so that the energy is saved, the current situation of the submarine environment can be shot stably and accurately, and more accurate data can be acquired. And can communicate in real time with a control center on the ground or on a ship through a communication system, which means that observations can be reported to the ground team at any time, questions can be posed, and real-time support and guidance can be obtained during underwater work.
In summary, the manned submersible adopting the simulated batray has the advantages that under the function of flapping of the existing pectoral fins and tail fins of the batray, the submersible can realize the existing forward and steering high mobility movement of the batray, can also accurately keep a gliding state under water by utilizing the heavy buoyancy adjusting module, reduces the underwater resistance by adopting the streamline shape of the simulated batray, reduces the energy consumption, ensures the long-time working capacity and improves the swimming speed of the submersible. In particular, the problems of low navigation speed, limited buoyancy adjustment capability and short endurance time of the submersible are solved, and fixed-point hovering can be realized through the propeller structure 9. The manned submersible can send people into deep sea, lakes or other underwater environments to conduct research on marine organisms, geology, geophysics and the like, and scientists can directly observe and collect samples through the manned submersible to acquire more accurate data, so that development of underwater scientific research is promoted; through the manned submersible, people can explore and evaluate the conditions of resource reserves, distribution and the like in the ocean in the field, and scientific basis is provided for the development and utilization of resources; the manned submersible can help people observe and research the marine ecological system, know the conditions of marine organism diversity, ecological balance and the like, and therefore effective protection measures are formulated. Through observation and research of manned submersible, the development of ocean protection business can be promoted, and the ocean ecological environment is protected; the manned submersible can further explore the unknown field of deep sea, and help people know the internal structure, geological activity and the like of the earth. Furthermore, it can be used for disaster relief, such as searching for missing ships, rescuing trapped divers, etc.
Although the present disclosure is described above, the scope of protection of the present disclosure is not limited thereto. Various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the disclosure, and these changes and modifications will fall within the scope of the invention.
Claims (7)
1. The artificial bated ray manned submersible is characterized by comprising a main body bracket (1), a bated main body outer cover (2), a left pectoral fin module (3), a right pectoral fin module (4), a tail fin module (5), a cockpit (6) and a heavy buoyancy regulating module; the main body bracket (1) is arranged in the main body outer cover (2) of the ray; the left pectoral fin module (3) is movably connected to the left side of the main body bracket (1); the right pectoral fin module (4) is movably connected to the right side of the main body bracket (1); the tail fin module (5) is movably connected to the rear end of the baton main body outer cover (2) of the main body bracket (1); the left pectoral fin module (3), the right pectoral fin module (4) and the tail fin module (5) are used for adjusting the balance of the submersible; the cockpit (6) is arranged in the middle of the outer cover (2) of the main body of the batray; the heavy buoyancy adjusting module comprises a first heavy buoyancy adjusting component (7) and a second heavy buoyancy adjusting component (8); the first heavy buoyancy adjusting component (7) and the second heavy buoyancy adjusting component (8) are respectively arranged in the front part and the rear part of the main body outer cover (2); the first heavy buoyancy adjusting component (7) and the second heavy buoyancy adjusting component (8) comprise an oil tank (71) and two oil bags (72); the oil tank (71) is arranged in the middle of the inner part of the outer cover (2) of the main body of the ray; the two oil bags (72) are symmetrically connected to the left side and the right side of the oil tank (71) through oil pipes (70), telescopic driving pieces (73) are arranged at the left end and the right end of the oil tank (71), and telescopic parts (731) of the telescopic driving pieces are connected with baffle plates (74); the baffle plate (74) is movably connected in the oil tank (71),
and the baffle plate (74) is used for realizing the communication and closing between the oil tank (71) and the oil bag (72); an oil pump (75) for pumping oil in the oil bag (72) is arranged on the oil tank (71); balance adjustment of the batlight body housing (2) is controlled by the amount of oil in the four oil bags (72).
2. The human-simulated muti-ray submersible according to claim 1, wherein the front left, front right, rear left and rear right of the ray main body housing (2) are provided with propeller structures (9) for lifting propulsion at the corresponding four corners.
3. The artificial ray manned submersible according to claim 1, wherein the left pectoral fin module (3) and the right pectoral fin module (4) are symmetrically arranged at the left side and the right side of the main body cover (2) of the ray; the left pectoral fin module (3) and the right pectoral fin module (4) comprise pectoral fin fixing supports (31), a control power supply (32), a flapping motor (33), a rotating motor (34) and flexible pectoral fins (35); the pectoral fin fixing bracket (31) is fixedly connected with the main body bracket (1); the control power supply (32) is arranged on the main body bracket (1); the flapping motor (33) is arranged on the pectoral fin fixing bracket (31),
the flapping motor (33) is connected with a control power supply (32); the rotating motor (34) is arranged on a driving part of the flapping motor (33) through a flapping connecting piece, and the rotating motor (34) is connected with the control power supply (32); the flexible chest fin plate (35) is connected to a driving part of the rotating motor (34) through a chest fin plate connecting piece (36); the outer wall of the flexible chest fin plate (35) is wrapped with a chest fin outer cover.
4. The baton-powered submersible according to claim 1, wherein the tail fin module (5) comprises a tail steering engine (51), a tail steering engine mount (52), a tail left fin connection block (53),
A tail right fin connection block (54) and a tail fin rotation link (55); the tail steering engine (51) is arranged at the rear end of the outer cover (2) of the ray main body of the bats through a tail steering engine fixing frame (52); one end of the tail fin rotating connecting rod (55) is connected with an output shaft of the tail steering engine (51), and the other end of the tail fin rotating connecting rod (55) is rotationally connected with the tail steering engine fixing frame (52) through a connecting rod bracket (57); the tail left fin connecting block (53) and the tail right fin connecting block (54) are respectively and symmetrically connected to the left side and the right side of the tail fin rotating connecting rod (55); the rear parts of the tail left fin connecting block (53) and the tail right fin connecting block (54) are connected with tail fins (56), and the two tail fins (56) are symmetrically arranged.
5. The artificial batray manned submersible as claimed in claim 4, wherein the rear end of the bats main body cover (2) is symmetrically provided with pump jet thrusters (20) on the left and right sides.
6. The simulated ray manned submersible of claim 1, further comprising a sense and control module (10); the sensing and control module (10) comprises a pressure sensor, a depth sensor, an image sonar, inertial navigation, USBL positioning communication, an illumination system and a camera; the pressure sensor and the depth sensor are used for sensing the current buoyancy state; the image sonar is used for acquiring the underwater topography information; the inertial navigation is used for positioning the position information of the submersible in real time; the camera is used for shooting underwater pictures; the USBL is used for keeping communication with the ground in real time when underwater;
the illumination system is used for underwater illumination.
7. The simulated solar manned submersible of claim 6, wherein a steering module (61), a steering module (62) and a weight sensor (63) are provided in the cockpit (6); the control module (61) is used for performing man-machine interaction, and the driving module (62) is used for controlling the driving direction;
the weight sensor (63) is used for detecting the weight of a driver.
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| CN118857856A (en) * | 2024-09-12 | 2024-10-29 | 国家深海基地管理中心 | A deep-sea hydrothermal vent location survey device and method based on a submersible |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN118857856A (en) * | 2024-09-12 | 2024-10-29 | 国家深海基地管理中心 | A deep-sea hydrothermal vent location survey device and method based on a submersible |
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