CN207607624U - The sliding cable underwater robot solid marine monitoring system of unmanned boat towing - Google Patents

Abstract

The utility model discloses a three-dimensional ocean monitoring system for an underwater robot towing a sliding cable by an unmanned ship. For the guide cable, the sliding cable robot is connected to the lower part of the guide cable; the bottom of the surface unmanned mother ship is provided with a protruding battery bottom compartment, and the tail of the surface unmanned mother ship is provided with two symmetrically arranged Propellers, the two propellers are respectively connected with a stepping motor. The beneficial effects of the utility model are: it can perform ocean profile monitoring operations under various ocean conditions, has the operating capabilities of rapid deployment, continuous profile detection, and dynamic cline tracking, and can be equipped with different monitoring equipment according to the needs of tasks.

Description

Three-dimensional marine monitoring system for underwater robots towed by unmanned ships

technical field

The utility model relates to a three-dimensional ocean monitoring system for an underwater robot towing a sliding cable by an unmanned ship, and belongs to the technical field of the water surface-underwater fully autonomous synchronous section monitoring of an ocean unmanned system in a complex ocean environment.

Background technique

In the new century, various marine unmanned monitoring platforms are widely used in the field of marine monitoring to explore the unknown ocean world for human beings. However, most of the existing ocean observation platforms are used alone without forming a system.

Different from the traditional towed observation platform, the patent name is a utility model patent (publication number CN105752299A) of a sliding cable underwater robot for ocean profile monitoring. /Trajectory control capability, compared with self-propelled underwater observation platform, cable control is simpler, safer and more reliable. This unique way of movement is the first in the world, and it fills a gap in the submersible spectrum in terms of space movement.

Utility model content

Aiming at the deficiencies in the existing technology, the purpose of this utility model is to aim at the three-dimensional investigation of the ocean profile for the sliding cable underwater robot in the utility model patent (publication number CN105752299A patent name: a marine profile monitoring sliding cable underwater robot) , it is proposed that this utility model further proposes a three-dimensional ocean monitoring unmanned system towed by an unmanned mother ship on the water surface, which can perform ocean profile monitoring operations under various ocean conditions, and has operational capabilities such as rapid deployment, continuous profile detection, and dynamic jump tracking. , can be equipped with different monitoring equipment according to the needs of the task.

In order to achieve the above object, the utility model is realized through the following technical solutions:

The three-dimensional ocean monitoring system for the underwater robot towed by the unmanned ship is characterized in that it includes an unmanned surface ship, a guide cable, and a cable robot. The cable-sliding robot is strung at the lower part of the guide cable; the bottom of the surface unmanned mother ship is provided with a protruding battery bottom compartment, and the tail of the surface unmanned mother ship is provided with two symmetrically arranged propellers, the two Each propeller is connected to a stepping motor respectively.

The aforementioned three-dimensional marine monitoring system for the unmanned ship towed sliding cable underwater robot is characterized in that: the stepping motor is a 24V stepping motor.

The aforementioned three-dimensional marine monitoring system for the unmanned ship towed sliding cable underwater robot is characterized in that three 48V lithium batteries are arranged in the battery bottom compartment.

The aforementioned three-dimensional marine monitoring system for the unmanned ship towing the sliding cable underwater robot is characterized in that: the upper deck of the unmanned mother ship on the water surface is also provided with a bow flange, a bow GPS antenna, a stern GPS antenna, and a radio antenna. , wireless bracket, stern flange, the bow flange is set on the front of the upper deck, the bow GPS antenna is set on the upper part of the bow flange, the stern flange is set on the tail of the upper deck, and the antenna bracket is set on the stern Above the flange, the radio antenna is arranged on the wireless bracket, and the stern GPS antenna is arranged on the radio antenna.

The aforementioned three-dimensional marine monitoring system for the unmanned ship towing the sliding cable underwater robot is characterized in that: the hull of the unmanned surface unmanned mother ship is equipped with a multi-purpose instrument carrying interface, and different equipment is carried according to the needs of the task. The equipment has electric Winch, instrument carrying frame.

The above-mentioned three-dimensional ocean monitoring system for the underwater robot towing the sliding cable by the unmanned ship is characterized in that: the sliding cable robot slides back and forth in a zigzag shape on the guide cable.

The aforementioned three-dimensional marine monitoring system for underwater robots towed by unmanned ships is characterized in that: there is one robot for sliding cables, which can monitor and sample at any position in the water layer.

The aforementioned three-dimensional marine monitoring system for the underwater robot towing the sliding cable by the unmanned ship is characterized in that: there are N sets of the sliding cable robots, which can monitor and sample layers synchronously.

The beneficial effects of the utility model are:

(1) It can perform ocean profile monitoring operations under various ocean conditions. It has the operational capabilities of rapid deployment, continuous profile detection, and dynamic cline tracking. It can be equipped with different monitoring equipment according to the needs of the task. The human robot operation greatly reduces manpower and material resources, and has the ability to work around the clock. Multiple machines can work together without interruption, which greatly improves the operation efficiency;

(2) Compared with the towing body, the sliding cable robot can slide freely on the cable, does not rely on the deck to repeatedly retract and release the cable, has higher profile investigation efficiency, and has the ability of time-sensitive observation;

(3) Compared with the walking MVP and towed CTD, the sliding cable robot has active speed/trajectory control capabilities, can work stably in the set water layer, and can track stably along the internal wave iso-density layer, especially the sliding cable robot and The guide cable has no electrical direct connection and motion decoupling, and can slide freely under neutral buoyancy, which is very suitable for on-site observation of internal wave motion;

(4) Compared with untethered underwater gliders and autonomous underwater vehicles, the sliding cable robot has extremely high safety and reliability;

(5) It has the operational capabilities of rapid on-site deployment, continuous profile monitoring, and dynamic cline tracking, and is suitable for ocean profile surveys, especially ocean internal wave monitoring;

(6) Use the unmanned ship as the towing mother ship, which can operate under various complex sea conditions, and use GPS automatic navigation to improve the accuracy of the alignment and make the profile monitoring data more accurate;

(7) The deployment is simple and the cost is low. The monitoring three-dimensional ocean monitoring system can be quickly deployed to relevant areas, or multiple monitoring three-dimensional ocean monitoring systems can be deployed in the area at the same time, which greatly improves the monitoring efficiency;

(8) With the ability to carry multiple instruments, the observation instruments can be freely selected according to the needs of the operation. During the operation, a single unit can sample at any position in the water layer, or multiple units can sample synchronously in layers. One machine can be realized by carrying different instruments and equipment Multiple uses.

Description of drawings

Describe the utility model in detail below in conjunction with accompanying drawing and specific embodiment:

Fig. 1 is the structural representation of the three-dimensional marine monitoring system of the present utility model;

Fig. 2 is a schematic structural diagram of the surface unmanned mother ship in Fig. 1 .

The meanings of reference signs in the figure: 1. Unmanned mother ship on the water surface, 2. Guide cable, 3. Sliding cable robot, 11. Lap ring, 12. Battery bottom compartment, 13. Propeller, 14. Bow flange, 15. Bow GPS antenna, 16, stern GPS antenna, 17, radio antenna, 18, antenna bracket, 19, stern flange.

Detailed ways

In order to make the technical means, creative features, goals and effects achieved by the utility model easy to understand, the utility model will be further elaborated below in conjunction with specific embodiments.

As shown in Figure 1 and Figure 2, in view of the characteristics and limitations of existing ocean observation platforms and the needs of internal wave observation, the three-dimensional ocean monitoring system of the present invention includes an unmanned mother ship on the water surface, a guide cable and a sliding cable robot, The bottom of the surface unmanned mother ship is provided with a loop, which is used to tie the guide cable, and the sliding cable robot is connected to the lower part of the guide cable; Two symmetrically arranged propellers, two propellers are respectively connected to a stepping motor; the surface unmanned mother ship is used as the towed mother ship, relying on the wing lift of the sliding cable robot to slide freely on the guide cable to realize the unmanned measurement of the ocean profile. Monitoring of internal waves. The three-dimensional ocean monitoring system is divided into two parts, the surface unmanned mother ship and the new sliding cable robot.

The upper deck of the surface unmanned mother ship is also provided with a bow flange, a bow GPS antenna, a stern GPS antenna, a radio antenna, a wireless bracket, and a stern flange. The bow flange is arranged on the front of the upper deck. The bow GPS antenna is set on the upper part of the bow flange, the stern flange is set on the tail of the upper deck, the antenna bracket is set on the top of the stern flange, the radio antenna is set on the wireless bracket, and the stern GPS antenna is set on the radio antenna .

The surface unmanned mother ship has a total length of 1.8 meters, a molded width of 0.7 meters, and a height of 0.48 meters. As the towing mother ship of the sliding cable robot, it has the following design features:

The bottom of the boat is designed as a protruding battery bilge to enhance the stability against waves.

Efficient and reliable propulsion system adopts dual-propeller shafting propulsion scheme, driven by two 24V stepping motors, and realizes the forward, backward, steering and speed control of the unmanned ship through the control of the motor speed.

The intelligent control system is set in the inner cavity of the unmanned mothership on the surface, equipped with a differential GPS antenna and an integrated control system with an ARM embedded chip as the core, and can use the manual mode controlled by the flight joystick or the GPS automatic navigation mode for motion control. It has the advantage of high routing precision.

High battery life, three 48V lithium batteries power the unmanned ship, ensuring the working time of the unmanned ship.

Multi-functional platform, the hull is equipped with a multi-purpose instrument carrying interface, which can carry different equipment according to the needs of the task, such as electric winches, instrument carrying racks, etc., and a loop is installed on the bottom of the ship to fix the sliding cable. The utility model has the advantages of multi-function and high versatility.

The sliding cable robot, as the core part of the three-dimensional ocean monitoring system, uses the lift of the upstream wing or its own buoyancy to slide freely on the guide cable in a zigzag manner, and can carry a variety of monitoring equipment, undertaking the important task of ocean profile monitoring. Has the following design features:

Zigzag gliding, which can measure horizontal/vertical profiles at the same time, has the advantages of high space-time density and large gliding slope;

Water surface towing, no need to repeatedly retract and release the cable, reduces the intensity of deck operation, and has the advantages of time-sensitive observation, fast arrival and simple deck operation;

The guide cable is not only used as the slide guide cable of the cable robot, but also an important component of underwater magnetic coupling communication. It adheres to the practical concept of safety and reliability of the cable, effectively expands the working space, and has the advantages of safety, reliability and real-time monitoring;

Without power, relying on headwind lift or self-buoyancy adjustment, it can track and control a specific water layer, especially suitable for monitoring internal waves, and has the advantages of long operation time and accurate depth measurement.

The working mode of the three-dimensional ocean monitoring system of the unmanned ship towed sliding cable underwater robot is as follows:

Deployment: install the towing cable and the sliding cable robot on the unmanned ship, and then put the unmanned ship into the water, which can be launched on the shore. The unmanned ship is put down. After launching, the tow cable is straightened under the tension of the heavy objects, and the cable-sliding robot rises due to the lift of the upstream wing after the unmanned ship starts. The observation equipment carried by the cable robot can start working.

Operation: During the driving process, the sliding cable robot makes zigzag reciprocating slides on the guide cable to measure the ocean profile in a certain depth range. Sliding within the range, the three-dimensional ocean monitoring system of the utility model can sample at any position in the water layer by a single sliding cable robot, or multiple layered and synchronous detection and sampling.

Therefore, the three-dimensional ocean monitoring system of the present invention is very suitable for time-sensitive surveys of ocean profiles, such as internal wave/internal tide observation, continental shelf frontal observation, slope shelf circulation observation, material transport observation, plankton observation and other task directions. At present, marine environmental monitoring has entered the era of digital networks. Unmanned and intelligent unmanned observation platforms are the direction of future marine observation technology development, and the unmanned equipment of the full three-dimensional ocean monitoring system is the intersection of multiple fields and technologies. It will definitely become a hot spot in the development of marine technology in the future.

The basic principles and main features of the present utility model and the advantages of the present utility model have been shown and described above. What this industry describes is only to illustrate the principle of the utility model. Under the premise of not departing from the spirit and scope of the utility model, the utility model also has various changes and improvements, and these changes and improvements all fall into the claimed utility model. within range. The scope of protection required by the utility model is defined by the appended claims and their equivalents.

Claims (8)

1. The three-dimensional marine monitoring system for the underwater robot towing the cable by the unmanned ship is characterized in that it includes an unmanned mother ship on the surface, a guide cable and a robot on the cable. The guide cable, the sliding cable robot is connected to the lower part of the guide cable; the bottom of the surface unmanned mother ship is provided with a protruding battery bottom compartment, and the tail of the surface unmanned mother ship is provided with two symmetrically arranged propellers. The above two propellers are respectively connected with one stepping motor. 2. The three-dimensional marine monitoring system for the underwater robot towed by the unmanned ship towing the sliding cable according to claim 1, wherein the stepping motor is a 24V stepping motor. 3. The three-dimensional marine monitoring system for the underwater robot towing the cable by the unmanned ship according to claim 1, characterized in that: three 48V lithium batteries are arranged in the battery bottom compartment. 4. The three-dimensional marine monitoring system for the unmanned ship towing the sliding cable underwater robot according to claim 1, characterized in that: the upper deck of the unmanned mother ship on the water surface is also provided with a bow flange, a bow GPS antenna, The stern GPS antenna, radio antenna, wireless bracket, stern flange, the bow flange is set on the front of the upper deck, the bow GPS antenna is set on the upper part of the bow flange, and the stern flange is set on the tail of the upper deck , the antenna bracket is arranged on the top of the stern flange, the radio antenna is arranged on the wireless bracket, and the stern GPS antenna is arranged on the radio antenna. 5. The three-dimensional marine monitoring system for underwater robots towed by unmanned ships according to claim 1, characterized in that: the hull of the unmanned mother ship on the surface is equipped with a multi-purpose instrument carrying interface, and different instruments are carried according to the needs of the task. Equipment, the equipment includes an electric winch and an instrument carrying frame. 6 . The three-dimensional marine monitoring system for underwater robots towed by unmanned ships on sliding cables according to claim 1 , wherein the cable-sliding robot slides back and forth in zigzag on the guide cables. 7 . 7. The three-dimensional marine monitoring system for the underwater robot towing the cable by unmanned ship according to claim 1, characterized in that: the cable robot has one, which can monitor and sample at any position in the water layer. 8. The three-dimensional marine monitoring system for underwater robots towing a sliding cable by an unmanned ship according to claim 1, characterized in that: there are N sets of the sliding cable robots, capable of layered and synchronous monitoring and sampling.