CN110386238A - A kind of complete extra large depth ARV underwater robot structure - Google Patents
A kind of complete extra large depth ARV underwater robot structure Download PDFInfo
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- CN110386238A CN110386238A CN201810353424.4A CN201810353424A CN110386238A CN 110386238 A CN110386238 A CN 110386238A CN 201810353424 A CN201810353424 A CN 201810353424A CN 110386238 A CN110386238 A CN 110386238A
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- large depth
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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
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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
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
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- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
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Abstract
The present invention relates to robotic technology field under complete extra large deep water, in particular to a kind of complete extra large depth ARV underwater robot structure.Including in cabin, starboard vertical pusher, larboard vertical pusher, rotation rudder plate component, featured motor, water and water surface communications localization system, optics and Acoustic Sounding Systems and apparatus for work, wherein the fore body two sides of cabin are respectively equipped with starboard vertical pusher and larboard vertical pusher, the stern two sides of cabin are all provided with promising carrier and provide the rotation rudder plate component and featured motor of horizontal travel power, the top of cabin is equipped in water and water surface communications localization system, bottom is equipped with optical detection system and Acoustic Sounding Systems, and the inside of cabin is equipped with apparatus for work.The present invention realizes that underwater robot maximum operation depth reaches 11000 meters, and realizes the navigation of myriametre seabed and sampling operation task.
Description
Technical field
The present invention relates to robotic technology field under complete extra large deep water, in particular to a kind of complete extra large depth ARV underwater robot knot
Structure.
Background technique
Currently, underwater robot is broadly divided into autonomous underwater robot (AUV) and remote underwater robot (ROV), two kinds
There is the limitation of itself in robot.Autonomous underwater robot (AUV) biases toward to navigate by water over long distances, is short of grab sampling operation,
And it cannot constantly return data.Remote underwater robot (ROV) can be referred to as again cable underwater robot, using electricity over long distances
Cable connection, solves energy problem, but is unable to grand movement, can only small range Fixed Point Operation.
Summary of the invention
In view of the above-mentioned problems, the purpose of the present invention is to provide a kind of complete extra large depth ARV underwater robot structures, to realize water
Lower robot maximum operation depth reaches 11000 meters, and realizes the navigation of myriametre seabed and sampling operation task.
The purpose of the present invention is achieved through the following technical solutions:
A kind of complete extra large depth ARV underwater robot structure, including cabin, starboard vertical pusher, larboard vertical pusher, rotation
Board group of coming about part, featured motor, in water and water surface communications localization system, optics and Acoustic Sounding Systems and apparatus for work, wherein
The fore body two sides of cabin are respectively equipped with starboard vertical pusher and larboard vertical pusher, and the stern two sides of the cabin are equipped with
The rotation rudder plate component and featured motor of horizontal travel power are provided for carrier, the top of the cabin is equipped in water and the water surface is logical
Positioning system is interrogated, bottom is equipped with optical detection system and Acoustic Sounding Systems, and the inside of the cabin is equipped with apparatus for work.
In the water and water surface communications localization system include provided for underwater robot the water surface communication defend frequency cabin and from hold
Iridium satellite and the acoustic communication machine energy converter with water surface communication channel is provided for underwater robot.
The Acoustic Sounding Systems include Forward-Looking Sonar and side scan sonar.
The optical detection system includes headlamp and Quan Haishen high definition camera.
The apparatus for work includes manipulator and puchcore.
The cabin has smooth streamlined contour, using outer profile buoyancy material, is equipped on the outside of the outer profile buoyancy material
Exterior skin.
Cabin stern upper end, which is equipped with, plays the role of the fixation wing plate of stabilizer, the cabin in robot dive navigation
Stern two sides, which are respectively equipped with, can increase a stern side of degree of free for robot degree and push away.
The bottom of the cabin be equipped with dive throw loading system and before being provided safeguard for robot grease it in lower supporter
With rear lower supporter.
The cabin is equipped with altimeter of the robot offer apart from sea floor height data.
The top hook of the cabin, the bow stern of the cabin, which is respectively equipped with to play during robot is hung, only to be swung
The fore body of effect only swings ring and stern only swings ring.
Advantages of the present invention and good effect are as follows:
1. light weight of the present invention: the current 7000 meters of manned underwater vehicle flood dragons number of China, weight is about 22t, and the present invention is underwater
Robot submerged depth reaches the deepest point of current earth ocean up to 11000 meters, and takes into account AUV and ROV feature, energy
Enough integrate cruise detection to detect with operation；Light weight, it is small in size, it is easier to manipulation operation, weight is about manned underwater vehicle
1/7th.
2. the activity duration of the invention is long: disregard dive and floating interval of floating dock once can continuously make after robot reaches seabed
Industry 8 hours.
3. maximum speed of the present invention is up to 2kn: after reaching seabed, one of them task is cruise detection, and speed of detection is determined
The detection efficient in the unit time is determined, maximum cruise is up to 2kn.
4. the present invention has a 20kg load capacity: after reaching seabed, manipulator can extra samples be not more than the seabed 20kg sample
Product.
5. the present invention has multiplicity communication positioning function: having water surface radio, iridium satellite communication and underwater acoustic communications function
Can, it is provided simultaneously with the comprehensive positioning function of water surface GPS, Long baselines, ultra-short baseline.
6. the present invention has optics, acoustic sounding function: underwater robot fore body carries high-definition camera, visits for optics
It surveys.It sweeps sound and carries out the detection of acoustics topography and geomorphology in midships section installation side.
7. the present invention carries functional machinery hand: carrying functional machinery hand inside robot fore body hatch door.
Detailed description of the invention
Fig. 1 is fore body hatch door open state schematic diagram of the invention；
Fig. 2 is operational configuration side schematic view of the invention；
Fig. 3 is axonometric drawing of the invention.
In figure: 1 is starboard vertical pusher, and 2 be hatch door, and 3 be outer profile buoyancy material, and 4 is defend frequency cabin, and 5 change for Long baselines
Can device, 6 is, from iridium satellite is held, 7 are headlamp, and 8 be manipulator, and 9 be larboard vertical pusher, and 10 be Quan Haishen high definition camera, 11
It is Forward-Looking Sonar for preceding lower supporter, 12,13 throw loading system for dive, and 14 be puchcore, and 15 only swing ring for fore body, and 16 be outer
Covering, 187 be larboard vertical pusher, and 18 be side scan sonar, and 19 be hook, and 20 be rear lower supporter, and 21 be altimeter, 22
It is DVL inertial navigation aggregate for acoustic communication machine energy converter, 23,24 be fixed wing plate, and 25 be rotation rudder plate component, and 26 be stern side
It pushes away, 27 only swing ring for featured motor, 28 for stern.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, right in the following with reference to the drawings and specific embodiments
The present invention is described in detail.
The autonomous remote underwater robot of Quan Haishen (abbreviation ARV, Autonomous&Remotely operatedVehicle)
It is the unmanned underwater robot of a kind of comprehensive autonomous underwater robot (AUV) and remote underwater robot (ROV) advantage.ARV knot
The two advantage is closed, under the premise of guaranteeing robot energy grand movement, the ability with the sampling of certain Fixed Point Operation, Er Qieyou
In the presence of tiny fiber-optics, robot internal data can be returned in real time.
As shown in Figure 1-3, a kind of complete extra large depth ARV underwater robot structure provided by the invention, including cabin, starboard are vertical
Propeller 1, larboard vertical pusher 9, rotation rudder plate component 25, featured motor 27, in water and water surface communications localization system, optics
With Acoustic Sounding Systems and apparatus for work, wherein it is vertical with larboard to be respectively equipped with starboard vertical pusher 1 for the fore body two sides of cabin
Propeller 9, the stern two sides of cabin are all provided with promising carrier and provide the rotation rudder plate component 25 and featured motor of horizontal travel power
27, the top of cabin is equipped in water and water surface communications localization system, and bottom is equipped with optical detection system and Acoustic Sounding Systems, cabin
The inside of body is equipped with apparatus for work.
In water and water surface communications localization system include provided for underwater robot the water surface communication defend frequency cabin 4 and from hold iridium satellite
6 and the acoustic communication machine energy converter 22 with water surface communication channel is provided for underwater robot.
Acoustic Sounding Systems include Forward-Looking Sonar 12 and side scan sonar 18；Optical detection system includes headlamp 7 and Quan Hai
Deep high definition camera 10；Apparatus for work includes manipulator 8 and puchcore14 (sediment sampler).
Cabin uses outer profile buoyancy material 3, is equipped with exterior skin 16 on the outside of outer profile buoyancy material 3.Cabin has smooth streamline
Type shape provides smooth streamlined contour for robot, resistance when reducing navigation.
Cabin stern upper end, which is equipped with, plays the role of the fixation wing plate 24 of stabilizer, cabin stern two in robot dive navigation
Side, which is respectively equipped with, can increase a stern side of degree of free for robot degree and push away 26.
The bottom of cabin be equipped with dive throw loading system 13 and before being provided safeguard for robot grease it in lower supporter 11
With rear lower supporter 20.Cabin is equipped with altimeter 21 of the robot offer apart from sea floor height data.
The top hook 19 of cabin, the bow stern of cabin, which is respectively equipped with, to be played the role of only swinging during robot is hung
Fore body only swings ring 15 and stern only swings ring 28.
In the embodiment of the present invention, Quan Haishen underwater robot outer dimension is long 3.8m, wide 1.7m, high 1.8m.It is whole
Weight is about 3t in air.The integrated design of detection and operation, the design concept can ensure that complete extra large depth ARV system is not changing
Under the premise of any structure configuration of variable load body, have detection and the dual tasks of science demand of operation, can a dive to myriametre depth
Deep pool completes large range of cruise detection and the fine sampling operation of fixed point, is greatly improved the working efficiency of system.
Starboard vertical pusher 1 and larboard vertical pusher 9 provide vertical power for robot, rotate 25 He of rudder plate component
Featured motor 27 provides horizontal travel power for carrier.Fixed wing plate 24 plays the role of stabilizer, stern in carrier dive navigation
Side, which pushes away 26, can increase carrier movement freedom degree, being capable of more flexible carry out underwater exercise.It defends frequency cabin 4 and is from iridium satellite 6 is held
Robot provides water surface communication.Apparatus for work, headlamp 7 and the Quan Haishen such as 2 internal storage manipulator 8 of hatch door and puchcore14
High definition camera 10 is with the use of offer visual detection.Preceding lower supporter 11 and rear lower supporter 20 provide guarantor for carrier grease it in
Barrier.Forward-Looking Sonar 12 and side scan sonar 18 provide acoustic sounding ability for carrier, and altimeter 21 provides for carrier apart from seabed height
Degree evidence.Acoustic communication machine energy converter 22 provides the channel with water surface communication for carrier.Fore body only swings ring 15 and stern only swings ring 28
Play the role of only swinging during robot is hung.
The operation principle of the present invention is that:
Robot prepares before water conservancy project makees, and is needed on ship deck to carrying out water surface school from holding iridium satellite 6, defend frequency cabin 4 etc.
It is quasi-.Robot carries out lifting release during the release of deck by hook 19 from deck can be stopped by artificial traction fore body
It swings ring 15 and stern only swings ring 28 and only swung processing, it is excessive to place swing.Enter to fix wing plate 24 after water and play stabilization, adjust
Diving speed can be changed in whole rotation rudder plate component 25, and cruise relies primarily on outer profile buoyancy material 3 when detecting and exterior skin 16 wraps up
It is streamlined, come reduce front brought by resistance to water-flow.By dive throw loading system 13 can with unpowered dive to seabed, and
Battery power can not be consumed during dive, by the available robot submerged depth of depth gauge, and pass through height
Meter 21 can definitely learn that robot is apart from seabed distance.It carries out throwing load movement when about 100 meters of height, dive is thrown and is carried
Dive weight in system 13 is abandoned, and underwater robot changes buoyant state and is positive buoyant state, hence into cruise operation mould
Formula.Before cruise detection, the acoustic communication of acoustic communication machine energy converter 22 progress and the water surface is enabled, itself Long baselines energy converter is passed through
5 and DVL inertial navigation aggregate 23 carries out Underwater Navigation.
In cruise operation mode process, acoustics terrain detection is carried out by Forward-Looking Sonar 12, side scan sonar 18, passes through full sea
Deep high definition camera 10 simultaneously provides illumination by headlamp 7, carries out vision terrain detection.In cruise operation process, discovery science
Point of interest is changed to work pattern, and starboard vertical pusher 1 and larboard vertical pusher 9 are opened at this time, provides vertically for robot
Down thrust so that robot can decline and bottom.After preceding lower supporter 11 and rear lower supporter 20 land, by cabin
Door 2 is opened, and manipulator 8 is extended sampling operation, and solid sample, which can be grabbed directly, is put into sampling basket, and submarine sedimentary strata needs
It is sampled by puchcore14.After cruise operation and sampling operation, load can be thrown and floated, deck is finally recycled to.
The present invention has in a variety of water and water surface communications localization system, has water surface radio, iridium satellite communication and underwateracoustic
Communication function is learned, the comprehensive positioning function of water surface GPS, Long baselines, ultra-short baseline is provided simultaneously with；Have optics, acoustic sounding function,
Underwater robot fore body carries high-definition camera, is used for optical detection.It sweeps sound and carries out the detection of acoustics topography and geomorphology in midships section installation side；
Functional machinery hand is carried inside robot fore body hatch door, can carry out sea floor sampling operation.
In conclusion a kind of complete extra large depth ARV underwater robot structure is a kind of relative lightweight, low-power consumption, longevity of service
The features such as, and the underwater robot of comprehensive navigation detection and operation detection and one.
Robot of the present invention adheres to the design concept independently combined with remote control, under more steer modes such as autonomous, remote control,
Realize the design scheme of collection detection and operation and one.Scientific investigation research of the deep-sea exploration as global tip at present, has strong
Scientific requirement reinforce the communication of scientist and user, specify scientific goal, be truly realized in line with scientific requirement of combining closely
Position science used in, guarantee myriametre underwater robot it is reliable with it is practical.
Mode the above is only the implementation of the present invention is not intended to limit the scope of the present invention.It is all in the present invention
Spirit and principle within any modification, equivalent replacement, improvement, extension etc., be all contained in protection scope of the present invention
It is interior.
Claims (10)
1. a kind of complete extra large depth ARV underwater robot structure, which is characterized in that including cabin, starboard vertical pusher (1), larboard
Vertical pusher (9), rotation rudder plate component (25), featured motor (27), in water and water surface communications localization system, optics and acoustics
Detection system and apparatus for work, wherein the fore body two sides of cabin are respectively equipped with starboard vertical pusher (1) and larboard vertical thrust
Device (9), the stern two sides of the cabin are all provided with promising carrier and provide the rotation rudder plate component (25) of horizontal travel power and promote mainly
Motor (27), the top of the cabin is equipped in water and water surface communications localization system, and bottom is equipped with optical detection system and acoustics
The inside of detection system, the cabin is equipped with apparatus for work.
2. complete extra large depth ARV underwater robot structure according to claim 1, which is characterized in that in the water and the water surface is logical
News positioning system includes that defending frequency cabin (4) He Zirong iridium satellite (6) and being underwater robot for water surface communication is provided for underwater robot
Acoustic communication machine energy converter (22) with water surface communication channel is provided.
3. complete extra large depth ARV underwater robot structure according to claim 1, which is characterized in that the Acoustic Sounding Systems
Including Forward-Looking Sonar (12) and side scan sonar (18).
4. complete extra large depth ARV underwater robot structure according to claim 1, which is characterized in that the optical detection system
Including headlamp (7) and Quan Haishen high definition camera (10).
5. complete extra large depth ARV underwater robot structure according to claim 1, which is characterized in that the apparatus for work includes
Manipulator (8) and puchcore (14).
6. complete extra large depth ARV underwater robot structure according to claim 1, which is characterized in that the cabin has smooth
Streamlined contour is equipped with exterior skin (16) on the outside of the outer profile buoyancy material (3) using outer profile buoyancy material (3).
7. complete extra large depth ARV underwater robot structure according to claim 1, which is characterized in that cabin stern upper end
Equipped with the fixation wing plate (24) for playing the role of stabilizer in robot dive navigation, cabin stern two sides are respectively equipped with can
The stern side for increasing degree of free for robot degree pushes away (26).
8. complete extra large depth ARV underwater robot structure according to claim 1, which is characterized in that the bottom of the cabin is set
Have dive throw loading system (13) and before being provided safeguard for robot grease it in lower supporter (11) and afterwards lower supporter (20).
9. complete extra large depth ARV underwater robot structure according to claim 1, which is characterized in that the cabin is equipped with machine
Device people provides the altimeter (21) apart from sea floor height data.
10. complete extra large depth ARV underwater robot structure according to claim 1, which is characterized in that rise at the top of the cabin
Suspension hook (19), the bow stern of the cabin are respectively equipped with the fore body for playing the role of only swinging during robot is hung and only swing ring (15)
Only ring (28) are swung with stern.
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111301646A (en) * | 2020-03-25 | 2020-06-19 | 哈尔滨工程大学 | Autonomous underwater robot for under-ice detection |
| CN111483577A (en) * | 2020-05-15 | 2020-08-04 | 上海海洋大学 | Full-sea-depth operation type unmanned submersible |
| CN111846170A (en) * | 2020-08-11 | 2020-10-30 | 中国科学院沈阳自动化研究所 | Autonomous underwater robot structure capable of cruising in large range |
| CN111874195A (en) * | 2020-08-11 | 2020-11-03 | 中国科学院沈阳自动化研究所 | Full-sea-depth offshore bottom autonomous underwater robot structure |
| CN112093022A (en) * | 2020-10-13 | 2020-12-18 | 中国计量大学 | Based on novel shaftless rim impels ARV |
| CN112937808A (en) * | 2021-03-24 | 2021-06-11 | 中国船舶科学研究中心 | Deep sea in-situ manned experimental research platform |
| CN113320667A (en) * | 2021-07-06 | 2021-08-31 | 中国人民解放军国防科技大学 | Modular underwater intelligent equipment platform |
| CN113788132A (en) * | 2021-10-14 | 2021-12-14 | 中北大学 | Vector-propelled hybrid drive underwater robot |
| CN113844627A (en) * | 2021-10-22 | 2021-12-28 | 杭州电子科技大学 | Unmanned no cable operation type robot under water |
| CN113968328A (en) * | 2021-11-15 | 2022-01-25 | 中国科学院沈阳自动化研究所 | Pressing and falling device for underwater robot |
| CN113978673A (en) * | 2021-12-02 | 2022-01-28 | 中国船舶科学研究中心 | Floating walking dual-mode manned submersible and using method thereof |
| CN114180015A (en) * | 2022-01-02 | 2022-03-15 | 天津瀚海蓝帆海洋科技有限公司 | Middle-sized deep sea open-frame type ARV |
| CN114228910A (en) * | 2021-12-23 | 2022-03-25 | 生态环境部华南环境科学研究所 | Environment-friendly energy-saving multifunctional platform for blue carbon observation and protection of coastal zone |
| CN114684340A (en) * | 2020-12-31 | 2022-07-01 | 远洋探海机器人东台有限公司 | Underwater robot for oil-gas pipeline inspection |
| CN114815859A (en) * | 2022-05-06 | 2022-07-29 | 哈尔滨工程大学 | Portable autonomous underwater robot system and control system thereof |
| CN114802659A (en) * | 2022-03-21 | 2022-07-29 | 深之蓝海洋科技股份有限公司 | High-flow-resistance underwater cabled robot and control method thereof |
| CN115107966A (en) * | 2022-07-04 | 2022-09-27 | 中国科学院沈阳自动化研究所 | 6000-meter-level multi-mode ARV structure capable of geological detection |
| CN118295440A (en) * | 2024-04-11 | 2024-07-05 | 航天科工空天动力研究院(苏州)有限责任公司 | Novel unmanned barrier system that breaks under water |
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| CN111301646B (en) * | 2020-03-25 | 2021-11-09 | 哈尔滨工程大学 | Autonomous underwater robot for under-ice detection |
| CN111301646A (en) * | 2020-03-25 | 2020-06-19 | 哈尔滨工程大学 | Autonomous underwater robot for under-ice detection |
| CN111483577A (en) * | 2020-05-15 | 2020-08-04 | 上海海洋大学 | Full-sea-depth operation type unmanned submersible |
| CN111846170A (en) * | 2020-08-11 | 2020-10-30 | 中国科学院沈阳自动化研究所 | Autonomous underwater robot structure capable of cruising in large range |
| CN111874195A (en) * | 2020-08-11 | 2020-11-03 | 中国科学院沈阳自动化研究所 | Full-sea-depth offshore bottom autonomous underwater robot structure |
| CN112093022A (en) * | 2020-10-13 | 2020-12-18 | 中国计量大学 | Based on novel shaftless rim impels ARV |
| CN114684340A (en) * | 2020-12-31 | 2022-07-01 | 远洋探海机器人东台有限公司 | Underwater robot for oil-gas pipeline inspection |
| CN112937808A (en) * | 2021-03-24 | 2021-06-11 | 中国船舶科学研究中心 | Deep sea in-situ manned experimental research platform |
| CN112937808B (en) * | 2021-03-24 | 2022-04-12 | 中国船舶科学研究中心 | Deep sea in-situ manned experimental research platform |
| CN113320667A (en) * | 2021-07-06 | 2021-08-31 | 中国人民解放军国防科技大学 | Modular underwater intelligent equipment platform |
| CN113788132A (en) * | 2021-10-14 | 2021-12-14 | 中北大学 | Vector-propelled hybrid drive underwater robot |
| CN113844627A (en) * | 2021-10-22 | 2021-12-28 | 杭州电子科技大学 | Unmanned no cable operation type robot under water |
| WO2023065423A1 (en) * | 2021-10-22 | 2023-04-27 | 杭州电子科技大学 | Underwater unmanned cable-free operation type robot |
| CN113968328A (en) * | 2021-11-15 | 2022-01-25 | 中国科学院沈阳自动化研究所 | Pressing and falling device for underwater robot |
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| CN113978673A (en) * | 2021-12-02 | 2022-01-28 | 中国船舶科学研究中心 | Floating walking dual-mode manned submersible and using method thereof |
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| CN114815859A (en) * | 2022-05-06 | 2022-07-29 | 哈尔滨工程大学 | Portable autonomous underwater robot system and control system thereof |
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Application publication date: 20191029 |