CN113911303B - Submersible vehicle for emergency sweeping and measuring in navigable water area and use method - Google Patents
Submersible vehicle for emergency sweeping and measuring in navigable water area and use method Download PDFInfo
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- CN113911303B CN113911303B CN202111518454.4A CN202111518454A CN113911303B CN 113911303 B CN113911303 B CN 113911303B CN 202111518454 A CN202111518454 A CN 202111518454A CN 113911303 B CN113911303 B CN 113911303B
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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
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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
- B63G8/14—Control of attitude or depth
- B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
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Abstract
The invention relates to the technical field of underwater operation equipment, in particular to a submarine vehicle for emergency scanning and measuring of a navigable water area and a using method thereof.A front part of a submarine vehicle shell is in a water drop shape, a right front camera is arranged at the foremost end of the submarine vehicle shell, and a front lower camera, a front upper camera, a left front camera and a right front camera are respectively arranged on an arc-shaped transition section of the water drop at the front part of the submarine vehicle shell; the outer diameters of the middle front part and the middle rear part of the shell body of the underwater vehicle shell are respectively provided with a plurality of shell body middle front part cameras and shell body middle rear part cameras; a multi-wave-speed side head is arranged at the front lower part of the underwater vehicle shell; the rear part of the shell body of the underwater vehicle shell is provided with a vertical wing, a horizontal wing and a propeller wing. The underwater vehicle replaces the traditional ship body with the sweep measuring instrument, can submerge to a sea position with better sea condition to carry out normal sweep measuring work under the condition of severe sea condition, and avoids the condition that the traditional ship body can not carry out sea sweep measuring on the sea surface with severe sea condition.
Description
Technical Field
The invention relates to the technical field of underwater operation equipment, in particular to a submarine vehicle for emergency scanning and measuring of a navigable water area and a using method thereof.
Background
The emergency sweeping of the navigation water area is to carry out emergency sweeping measurement on the water area in which the emergency sweeping measurement is carried out aiming at an emergency which can influence the navigation safety so as to determine the position, the property, the height, the posture and the like of a sunken ship and a sunken object.
The commonly used scanning instrument has multi-wave-speed detection and scanning sonar, wherein the multi-wave-speed has the advantages of high positioning precision and capability of carrying out three-dimensional visual analysis, but the application range of the scanning sonar is not as wide as that of the scanning sonar, and the scanning sonar has the advantages of higher resolution, capability of distinguishing the substrate characteristics of a target object, and the defects of slightly poor positioning precision and noise generation due to the influence of the working environment, and the two scanning sonators have complementarity when being applied at the same time, and can improve the accuracy of target interpretation.
The sweep sonar instrument is usually arranged on a towed body, most of multi-wave speed detectors are arranged on a ship body, the towed body or the ship body provided with the two instruments can carry out sweep detection only under working sea conditions that the height of sea waves is less than 2m and the wind power is less than 6 levels, and sea accident of sea accident is often caused under severe sea conditions, so that the towed body or the ship body cannot go out of the sea, the sweep detection time is delayed, the navigation is delayed, and huge economic loss is caused. The sea water has small surface density and large wind wave bearing effect, and the sea water has large density and small wind wave bearing effect along with the increase of the depth, so that the two instruments can be driven to work by using the underwater vehicle, but the conventional underwater vehicle is mainly used for military affairs or scientific research and the like, and a feasible scheme special for the emergency scanning and measuring underwater vehicle in the navigable water area does not exist at present.
Therefore, the submersible vehicle special for emergency scanning of navigable water areas is designed to solve the problems.
Disclosure of Invention
The invention provides a submarine vehicle for emergency scanning and measuring of a navigable water area and a using method thereof, aiming at overcoming the defects in the prior art.
The utility model provides an emergent underwater vehicle that sweeps away survey in navigation waters, includes the underwater vehicle shell:
the front part of the underwater vehicle shell is in a water drop shape, a front camera is arranged at the foremost end of the underwater vehicle shell, and a front lower camera, a front upper camera, a left front camera and a right front camera are respectively arranged on the arc-shaped transition section of the water drop at the front part of the underwater vehicle shell;
the outer diameters of the middle front part and the middle rear part of the shell body of the underwater vehicle shell are respectively provided with a plurality of shell body middle front part cameras and shell body middle rear part cameras;
a multi-wave-speed side head is arranged at the front lower part of the underwater vehicle shell;
the rear part of the shell body of the underwater vehicle shell is provided with a vertical wing, a horizontal wing and a propeller wing;
the lower part of the body of the electric telescopic antenna and a power servo motor C thereof are vertically fixed below the middle part in the underwater vehicle shell, the upper part of the body of the electric telescopic antenna is fixed on the inner top wall of the underwater vehicle shell through a flange, a sealing ring and a bolt, and the extensible working part of the antenna of the electric telescopic antenna is arranged on the top outside the underwater vehicle shell;
three high-pressure gas cylinders are vertically fixed in the submersible vehicle shell through high-pressure gas cylinder fixing rods, a high-pressure air compressor supplies gas to the three high-pressure gas cylinders through high-pressure gas pipes, each high-pressure gas cylinder is provided with a high-pressure gas pipe, and each high-pressure gas cylinder can convey high-pressure gas to three ballast water bins;
the rear part in the shell of the underwater vehicle is provided with a lithium battery and a controller which supply power among all the electrical components, all the electrical components are also in communication connection with a PLC (programmable logic controller), the PLC is inputted with control programs and image analysis software of all the electrical components, the PLC is provided with a wireless and underwater acoustic communication module which can realize remote control of the underwater vehicle, and the underwater vehicle can also independently complete emergency scanning work of a navigation water area and independent obstacle avoidance return according to programming.
Furthermore, in order to better implement the invention, the material of the submersible vehicle shell is non-metallic carbon fiber, glass fiber reinforced plastic, stainless steel, antirust aluminum or titanium alloy.
Furthermore, in order to better realize the invention, the middle upper part of the hull of the underwater vehicle shell is provided with an underwater vehicle lifting ring, the front side of the lifting ring is provided with an electric telescopic antenna, the front side of the electric telescopic antenna is provided with a cover plate, a sealing plate is arranged below the cover plate and positioned between the cover plate and a frame plate, the periphery of the frame plate is welded and sealed on the inner surface of the underwater vehicle shell, the cover plate and the sealing plate are pressed and fixed on the frame plate through inner hexagonal bolts, and the top surface of the cover plate is provided with an opening handle.
Furthermore, in order to better realize the invention, a waterproof plug is arranged at the rear side of the multi-wave-velocity measuring head, the waterproof plug is connected with a cable winding and unwinding device through a lead, the cable winding and unwinding device is arranged in the middle part below the shell body of the underwater vehicle shell through a fixing frame, a super-fine high-strength flexible double-path cable is wound in a grooved wheel on the cable winding and unwinding device, and the super-fine high-strength flexible double-path cable can be used for hanging a scanning sonar instrument and supplying power to the scanning sonar instrument and transmitting data.
Furthermore, in order to better realize the invention, a protective cover is arranged outside the propeller wing, the propeller wing is fixed on the propeller shaft, the propeller shaft is a shaft of a propeller propulsion motor, a dynamic sealing ring is arranged between the propeller shaft and the underwater vehicle shell, the propeller propulsion motor is fixed by the inner wall of the underwater vehicle shell through a propeller motor fixing rod, a high-pressure air compressor is fixed by the inner wall of the underwater vehicle shell through a compressor fixing rod, a servo motor A and a servo motor B are of an integrated structure and are fixed by the inner wall of the underwater vehicle shell through a wing motor fixing rod, two motor shafts of the servo motor A are mutually vertical, a motor shaft of the servo motor A is a double-output shaft A, vertical wings are respectively arranged at the upper part and the lower part of the double-output shaft A, a motor shaft of the servo motor B is a double-output shaft B, and horizontal wings are respectively arranged at the left side and the right side of the double-output shaft B.
Furthermore, in order to better realize the invention, the high-pressure air cylinder is a submarine special air cylinder with the capacity of 12-80 liters and the rated working pressure of 10-40 MPa, and the high-pressure air compressor is a submersible inflatable type and has the rated working pressure of 20-30 MPa.
Furthermore, in order to better realize the invention, nine ballast water bins are separated from the inner bottom surface of the underwater vehicle shell through partition plates, the ballast water bins are fixed on the inner wall of the underwater vehicle shell through side fixing plates and a bottom fixing plate, a top plate of each ballast water bin is provided with an air outlet electromagnetic valve, a radar level gauge, an air inlet electromagnetic valve and a pressure sensor, and the bottom of each ballast water bin is provided with an inlet and outlet seawater electromagnetic valve.
The underwater vehicle for the emergency scanning and measuring of the navigable water area comprises the following use methods:
s1, when in use, the submersible vehicle enables the top of the telescopic end of the electric telescopic antenna to be extended out of the sea surface for high-speed communication transmission;
s2, each monitoring camera of the underwater vehicle is provided with an underwater highlight LED lamp bead, surrounding sea state images are transmitted to a sea or land operation platform, and the underwater vehicle carries out autonomous obstacle avoidance and underwater operation according to the programming of the PLC;
s3, the PLC encrypts scanning timely according to the programming according to the importance degree of scanning information sent back by the multi-wave-speed measuring head and the scanning sonar instrument, and sends the scanning result to the offshore or onshore operation platform;
s4, the PLC controls the cable retracting device to work according to the programming, so that the scanning sonar instrument submerges to the deeper bottom and is closer to the suspicious target, and the PLC 12 receives clearer images;
s5, the PLC controls the propeller propulsion motor to work, so that the underwater vehicle has forward power, the PLC controls the servo motor A to work, the vertical wing rotates by a certain angle, so that the head of the water drop of the underwater vehicle can move leftwards or rightwards, the PLC controls the servo motor B to work, and the horizontal wing rotates by a certain angle, so that the head of the water drop of the underwater vehicle can move upwards or downwards;
s6, the PLC controls the opening of the seawater inlet and outlet electromagnetic valves and the opening of the air outlet electromagnetic valves, so that seawater enters the ballast water bin from the electromagnetic valves, the radar liquid level meter on the top plate transmits a liquid level value to the PLC in real time, and the PLC timely controls the closing of the relevant seawater inlet and outlet electromagnetic valves according to the data condition of the ship horizontal attitude instrument, so that the underwater vehicle submerges to the depth to be reached;
s7, when the underwater vehicle needs to float, the PLC controls some air inlet solenoid valves to be opened, high-pressure gas enters the ballast water bin, when the pressure sensed by the pressure sensor reaches a programmed set value, the PLC controls the inlet and outlet seawater solenoid valves to be opened, so that seawater in the ballast water bin is discharged through the solenoid valves, and when the radar liquid level meter detects that the water level in the ballast water bin drops to a specified value, the PLC controls the solenoid valves and the air inlet solenoid valves to be closed;
and S8, controlling the weight of the underwater vehicle by controlling the water level in the ballast water bin by the PLC according to the programming, and realizing that the underwater vehicle sinks or floats or suspends in a certain depth.
The invention has the beneficial effects that:
under the severe sea condition environment when the sea wave height is higher than 2m and the wind power is higher than 6 levels, the special underwater vehicle can replace the traditional ship body, and the deeper the underwater submergence depth is, the better the sea condition is, so the underwater vehicle can carry a scanning instrument, and can perform scanning work under the condition that the underwater certain depth meets the specified requirement of the scanning instrument fluctuation, thereby achieving the purposes of not delaying the scanning time, improving the scanning quality and efficiency, navigating as soon as possible and reducing the economic loss.
Drawings
FIG. 1 is a front cross-sectional view of the present invention;
FIG. 2 is a cross-sectional top view taken at A-A of FIG. 1 in accordance with the present invention;
FIG. 3 is a cross-sectional left side view taken at B-B of FIG. 1 in accordance with the present invention;
FIG. 4 is a schematic view of the submersible of the present invention at different depth states;
FIG. 5 is a control schematic of the present invention;
fig. 6 is an enlarged partial view of the frame plate portion of fig. 1 of the present invention.
In the figure, the position of the upper end of the main shaft,
1. a scanning sonar instrument, 2, an ultra-fine high-strength flexible two-way cable, 3, a grooved wheel, 4, a cable winding and unwinding device, 5, an in-out seawater electromagnetic valve, 6, a waterproof joint, 7, a multi-beam measuring head, 8, an underwater vehicle shell, 9, a ballast water bin, 10, a multi-beam tester, 11, a front lower camera, 12, a PLC controller, 13, a front camera, 14, a fixing plate, 15, a side fixing plate, 16, a front upper camera, 17, a top plate, 18, an air outlet electromagnetic valve, 19, a frame plate, 20, a cover plate, 21, an opening handle, 22, a sealing plate, 23, a radar liquid level meter, 24, an air inlet electromagnetic valve, 25, a front camera in the middle of the shell body, 26, an electric telescopic antenna, 27, a high-pressure air pipe, 28, an underwater vehicle lifting ring, 29, a camera in the middle and rear of the shell body, 30, a high-pressure air bottle, 31, a servo motor A, 32, a double-out-axis A, 33 and a vertical wing, 34. servo motors B and 35, double output shafts B and 36, a wing motor fixing rod, 37, a compressor fixing rod, 38, a high-pressure air compressor, 39, a protective cover, 40, a propeller motor fixing rod, 41, a propeller propelling motor, 42, a movable sealing ring, 43, a propeller shaft, 44, a propeller wing, 45, a lithium battery and a controller, 46, a high-pressure air cylinder fixing rod, 47, a bottom fixing plate, 48, a fixing frame, 49, a left front camera, 50, a right front camera, 51, a partition plate, 52, a servo motor C and 53, a horizontal wing, 54, a sea surface, 55, a ship horizontal attitude instrument, 56 and a pressure sensor.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "middle", "upper", "lower", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings or orientations or positional relationships conventionally laid out when products of the present invention are used, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal", "vertical" and the like do not imply that the components are required to be absolutely horizontal or pendant, but rather may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present invention, it should be noted that the terms "disposed," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected unless otherwise explicitly stated or limited. Either mechanically or electrically. They may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
Fig. 1-6 show a specific embodiment of the present invention, the main body of the embodiment is a submersible vehicle case 8, the submersible vehicle case 8 can be made of nonmetal carbon fiber or glass fiber reinforced plastic, metal stainless steel, rustproof aluminum, titanium alloy, etc., the front part of the submersible vehicle case 8 is in a droplet shape, the frontmost end is provided with a front-right camera 13, a front-lower camera 11, a front-upper camera 16, a left-front camera 49, and a right-front camera 50 are respectively arranged on a "droplet" shaped transition section, and the middle front part and the middle rear part of the hull of the submersible vehicle case 8 are respectively provided with a plurality of middle-front part cameras 25 of the hull and middle-rear part cameras 29 of the hull in the radial direction.
The middle upper part of the hull of the underwater vehicle shell 8 is provided with an underwater vehicle lifting ring 28, the front side of the lifting ring 28 is provided with an electric telescopic antenna 26, the front side of the electric telescopic antenna 26 is provided with a cover plate 20, a sealing plate 22 is arranged below the cover plate 20, the sealing plate 22 is positioned between the cover plate 20 and a frame plate 19, the periphery of the frame plate 19 is welded and sealed on the inner surface of the underwater vehicle shell 8, the cover plate 20 and the sealing plate 22 are pressed and fixed on the frame plate 19 through internal hexagonal bolts, and the top surface of the cover plate 20 is provided with an opening handle 21.
Be equipped with multi-beam gauge head 7 in the preceding below of underwater vehicle shell 8, be equipped with waterproof plug 6 in the rear side of multi-beam gauge head 7, waterproof plug 6 passes through wire connecting cable winding and unwinding devices 4, and cable winding and unwinding devices 4 passes through mount 48 and adorns in the shell body below middle part of underwater vehicle shell 8, and the winding has flexible double-circuit cable 2 of superfine high strength in the sheave 3 on cable winding and unwinding devices 4, and flexible double-circuit cable 2 of superfine high strength hangs and puts scanning sonar appearance 1 and to scanning sonar appearance 1 power supply and transmission data.
The rear part of the hull of the submarine shell 8 is provided with a vertical wing 33, a horizontal wing 53 and a propeller wing 44, and a protective cover 39 is arranged outside the propeller wing 44. The propeller wings 44 are fixed on propeller shafts 43, the propeller shafts 43 are shafts of propeller propulsion motors 41, dynamic seal rings 42 are arranged between the propeller shafts 43 and the underwater vehicle shell 8, the propeller propulsion motors 41 are fixed on the inner wall of the underwater vehicle shell 8 through propeller motor fixing rods 40, high-pressure air compressors 38 are fixed on the inner wall of the underwater vehicle shell 8 through compressor fixing rods 37, a servo motor A31 and a servo motor B34 are integrated and fixed on the inner wall of the underwater vehicle shell 8 through a wing motor fixing rod 36, the two motor shafts of the servo motors are perpendicular to each other, the motor shaft of the servo motor A31 is a double-output shaft A32, vertical wings 33 are arranged on the upper portion and the lower portion of the double-output shaft A32 respectively, the motor shaft of the servo motor B34 is a double-output shaft B35, and horizontal wings 53 are arranged on the left side and the right side of the double-output shaft B35 respectively.
The lower part of the body of the electric telescopic antenna 26 and a power servo motor C52 thereof are vertically fixed below the middle part in the underwater vehicle shell 8, the upper part of the body of the electric telescopic antenna 26 is fixed on the inner top wall of the underwater vehicle shell 8 through a flange, a sealing ring and a bolt, and the extensible working part of the antenna of the electric telescopic antenna 26 is arranged on the top outside the underwater vehicle shell 8.
Three high-pressure gas cylinders 30 are vertically fixed in the submarine shell 8 through high-pressure gas cylinder fixing rods 46, the capacity of each high-pressure gas cylinder is 12-80 liters, and the rated working pressure is 10-40 MPa. The high-pressure air compressor 38 is of a submersible inflatable type, the rated working pressure is 20-30 MPa, the high-pressure air compressor 38 supplies air to the three high-pressure air cylinders 30 through the high-pressure air pipes, the high-pressure air pipes 27 are mounted on each high-pressure air cylinder 30, each high-pressure air cylinder 30 can convey high-pressure air to the three ballast water bins 9, the inner bottom surface of the underwater vehicle shell 8 is divided into nine ballast water bins 9 through partition plates 51, and the ballast water bins 9 are fixed on the inner wall of the underwater vehicle shell 8 through the side fixing plates 15 and the bottom fixing plate 47. An air outlet electromagnetic valve 18, a radar liquid level meter 23, an air inlet electromagnetic valve 24 and a pressure sensor 56 are arranged on the top plate 17 of each ballast water bin 9, and an inlet and outlet seawater electromagnetic valve 5 is arranged at the bottom of each ballast water bin 9.
The lithium battery and controller 45 supplies electric power to the respective electric components. Lithium battery and controller 45, each business turn over sea water solenoid valve 5, air outlet solenoid valve 18, radar level gauge 23, air inlet solenoid valve 24, pressure sensor 56, servo motor A31, servo motor B34, high-pressure air compressor 38, screw propulsion motor 41, servo motor C52, multi-beam tester 10, scanning sonar instrument 1, cable winding and unwinding device 4, boats and ships horizontal attitude appearance 55, each monitoring camera etc. all with PLC 12 wired or wireless connection, control program and image analysis software of each electrical component are input to PLC 12, PLC 12 is furnished with wireless and hydroacoustic communication module can realize remote control underwater vehicle, the underwater vehicle also can independently accomplish navigation waters emergency scanning work and independently keep away the barrier and return according to programming.
The specific application method of this example is as follows:
the underwater vehicle for emergency scanning of the navigable water area can be used under normal or severe sea conditions, the underwater vehicle is provided with the multi-beam measuring head 7 and the scanning sonar instrument 1, even if wind power on the sea surface exceeds 6 levels and sea waves are higher than 2m, the underwater vehicle submerges deeply and is more stable under the sea conditions such as water flow, the underwater vehicle can still normally and effectively carry out emergency scanning of the navigable water area at a proper depth below the sea level, although the underwater vehicle is provided with the underwater acoustic communication module, the underwater acoustic communication has the characteristics of low propagation rate, large time delay, low reliability and the like, so that the underwater vehicle is provided with the electric telescopic antenna 26, and the top of the telescopic end of the electric telescopic antenna 26 can probe out the sea level to carry out high-speed communication transmission or periodically float out according to programming, as shown in figure 5.
Each monitoring camera on the underwater vehicle is provided with an underwater highlight LED lamp bead, the surrounding sea state image can be transmitted to a sea or land control platform, and the underwater vehicle can conduct autonomous obstacle avoidance and underwater operation according to the programming of the PLC 12. The PLC 12 carries out scanning and measuring timely according to the important degree condition of scanning and measuring information returned by the multi-beam measuring head 7 and the scanning and measuring sonar instrument 1 and according to programming, and sends a scanning and measuring result to a sea and land control platform.
The PLC controller 12 controls the cable winding and unwinding device 4 to work according to programming, so that the scanning sonar instrument 1 submerges to the deeper bottom and is closer to a suspicious target, the PLC controller 12 receives clearer images, and the submerging device does not need to submerge to the deeper area. This also enables the multi-beam gauge head 7 on the underwater vehicle to detect a larger area range, and improves the scanning efficiency.
The PLC 12 controls the propeller propulsion motor 41 to work to enable the underwater vehicle to have forward power, the PLC 12 controls the servo motor A31 to work, the vertical wing 33 rotates for a certain angle to enable the head of the water drop of the underwater vehicle to move leftwards or rightwards, the PLC 12 controls the servo motor B34 to work, and the horizontal wing 53 rotates for a certain angle to enable the head of the water drop of the underwater vehicle to move upwards or downwards.
The PLC 12 controls the seawater inlet and outlet electromagnetic valve 5 and the air outlet electromagnetic valve 18 to be opened, seawater enters the ballast water bin 9 from the electromagnetic valve 5, the radar liquid level meter 23 on the top plate 17 transmits a liquid level value to the PLC 12 in real time, and the PLC 12 controls the relevant seawater inlet and outlet electromagnetic valve 5 and the air outlet electromagnetic valve 18 to be closed timely according to the data condition of the ship horizontal attitude instrument 55, so that the underwater vehicle dives to the required depth.
When the underwater vehicle needs to float upwards, the PLC 12 controls some air inlet electromagnetic valves 24 to be opened, high-pressure gas enters the ballast water bin 9, when the pressure sensed by the pressure sensor 56 reaches a programmed set value, the PLC 12 controls the seawater inlet and outlet electromagnetic valves 5 to be opened, seawater in the ballast water bin 9 is discharged through the electromagnetic valves 5, and when the radar liquid level meter 23 detects that the water level in the ballast water bin 9 drops to a specified value, the PLC 12 controls the electromagnetic valves 5 and the air inlet electromagnetic valves 24 to be closed.
The PLC 12 controls the weight of the underwater vehicle by controlling the water level in the ballast water bin 9 according to the programming, so that the underwater vehicle sinks or floats upwards or floats in a certain depth. The underwater vehicle can automatically complete emergency scanning and measuring work and automatic obstacle avoidance return of a navigation water area according to programming.
Finally, the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting, and other modifications or equivalent substitutions made by the technical solutions of the present invention by those of ordinary skill in the art should be covered within the scope of the claims of the present invention as long as they do not depart from the spirit and scope of the technical solutions of the present invention.
Claims (7)
1. The utility model provides an emergent underwater vehicle that sweeps away survey in navigation waters, includes underwater vehicle shell (8), its characterized in that:
the front part of the underwater vehicle shell (8) is in a water drop shape, a front camera (13) is installed at the foremost end of the underwater vehicle shell (8), and a front lower camera (11), a front upper camera (16), a left front camera (49) and a right front camera (50) are respectively installed on the arc-shaped transition section of the water drop at the front part of the underwater vehicle shell (8);
the outer diameters of the middle front part and the middle rear part of the shell body of the underwater vehicle shell (8) are respectively provided with a plurality of shell body middle front part cameras (25) and shell body middle rear part cameras (29);
a multi-beam measuring head (7) is arranged at the front lower part of the underwater vehicle shell (8); the rear side of the multi-beam measuring head (7) is provided with a waterproof plug (6), the waterproof plug (6) is connected with a cable winding and unwinding device (4) through a lead, the cable winding and unwinding device (4) is installed in the middle of the lower portion of the shell body of the underwater vehicle shell (8) through a fixing frame (48), a super-fine high-strength flexible double-path cable (2) is wound in a grooved pulley (3) on the cable winding and unwinding device (4), and the super-fine high-strength flexible double-path cable (2) is hung on the scanning sonar instrument (1) and supplies power to the scanning sonar instrument (1) and transmits data;
the rear part of the shell body of the underwater vehicle shell (8) is provided with a vertical wing (33), a horizontal wing (53) and a propeller wing (44);
the lower part of the body of the electric telescopic antenna (26) and a power servo motor C (52) of the electric telescopic antenna (26) are vertically fixed below the middle part in the submersible vehicle shell (8), the upper part of the body of the electric telescopic antenna (26) is fixed on the inner top wall of the submersible vehicle shell (8) through a flange, a sealing ring and a bolt, and the extensible working part of the antenna of the electric telescopic antenna (26) is arranged on the top outside the submersible vehicle shell (8);
three high-pressure gas cylinders (30) are vertically fixed in the submarine shell (8) through high-pressure gas cylinder fixing rods (46), a high-pressure air compressor (38) supplies gas to the three high-pressure gas cylinders (30) through high-pressure gas pipes, each high-pressure gas cylinder (30) is provided with a high-pressure gas pipe (27), and each high-pressure gas cylinder (30) can convey high-pressure gas to three ballast water bins (9);
the rear portion is installed with lithium cell and controller (45) in the ware shell of diving under sea (8), supplies power to each electrical component, and all electrical components are still communication connection PLC controller (12), to PLC controller (12) input image analysis software and each electrical component's control program, and PLC controller (12) are furnished with wireless and underwater sound communication module can realize remote control ware of diving under sea, and the ware of diving under sea also can independently accomplish the emergent scanning work in navigation waters and independently keep away the barrier and return according to programming.
2. The emergency submersible for scanning and surveying of navigable waters according to claim 1, characterized in that:
the material of the submersible vehicle shell (8) is non-metallic carbon fiber or glass fiber reinforced plastic or stainless steel or antirust aluminum or titanium alloy.
3. The emergency submersible for scanning and surveying of navigable waters according to claim 1, characterized in that:
the underwater vehicle is characterized in that an underwater vehicle lifting ring (28) is arranged on the upper middle portion of a vehicle body of the underwater vehicle shell (8), an electric telescopic antenna (26) is arranged on the front side of the lifting ring (28), a cover plate (20) is arranged on the front side of the electric telescopic antenna (26), a sealing plate (22) is arranged below the cover plate (20), the sealing plate (22) is located between the cover plate (20) and a frame plate (19), the frame plate (19) is welded and sealed on the inner surface of the underwater vehicle shell (8) in the periphery, the cover plate (20) and the sealing plate (22) are pressed and fixed on the frame plate (19) through inner hexagonal bolts, and an opening handle (21) is arranged on the top surface of the cover plate (20).
4. The emergency submersible for scanning and surveying of navigable waters according to claim 1, characterized in that:
the propeller wing (44) is externally provided with a protective cover (39), the propeller wing (44) is fixed on a propeller shaft (43), the propeller shaft (43) is a shaft of a propeller propulsion motor (41), a dynamic sealing ring (42) is arranged between the propeller shaft (43) and the underwater vehicle shell (8), the propeller propulsion motor (41) is fixed on the inner wall of the underwater vehicle shell (8) through a propeller motor fixing rod (40), a high-pressure air compressor (38) is fixed on the inner wall of the underwater vehicle shell (8) through a compressor fixing rod (37), a servo motor A (31) and a servo motor B (34) are of an integrated structure and are fixed on the inner wall of the underwater vehicle shell (8) through a wing motor fixing rod (36), motor shafts of the servo motor A (31) and the servo motor B (34) are mutually vertical, wherein a motor shaft of the servo motor A (31) is a double-output shaft A (32), vertical wings (33) are respectively arranged at the upper part and the lower part of the double-output shaft A (32), a motor shaft of the servo motor B (34) is a double-output shaft B (35), and horizontal wings (53) are respectively arranged at the left part and the right part of the double-output shaft B (35).
5. The emergency submersible for scanning and surveying of navigable waters according to claim 1, characterized in that:
the high-pressure air bottle (30) is a submarine special air bottle with the capacity of 12-80 liters and the rated working pressure of 10-40 MPa, and the high-pressure air compressor (38) is a submersible inflatable type and the rated working pressure of the high-pressure air compressor is 20-30 MPa.
6. The emergency submersible for scanning and surveying of navigable waters according to claim 1, characterized in that:
nine ballast water bins (9) are separated from the inner bottom surface of the underwater vehicle shell (8) through partition plates (51), the ballast water bins (9) are fixed on the inner wall of the underwater vehicle shell (8) through side fixing plates (15) and a bottom fixing plate (47), a top plate (17) of each ballast water bin (9) is provided with an air outlet electromagnetic valve (18), a radar liquid level meter (23), an air inlet electromagnetic valve (24) and a pressure sensor (56), and the bottom of each ballast water bin (9) is provided with an inlet and outlet seawater electromagnetic valve (5).
7. A method of using the submersible for emergency scanning and surveying of navigable waters according to any of claims 1 to 6, comprising the steps of:
s1, when in use, the submersible vehicle makes the top of the telescopic end of the electric telescopic antenna (26) extend out of the sea surface (54) to carry out high-speed communication transmission;
s2, each camera of the underwater vehicle is provided with an underwater highlight LED lamp bead, the surrounding sea state image is transmitted to a sea or land operation platform, and the underwater vehicle carries out autonomous obstacle avoidance and underwater operation according to the programming of the PLC (12);
s3, the PLC (12) encrypts scanning timely according to the importance degree of scanning information returned by the multi-beam measuring head (7) and the scanning sonar instrument (1) according to programming, and sends the scanning result to a marine or onshore operation platform;
s4, the PLC (12) controls the cable winding and unwinding device (4) to work according to programming, so that the scanning sonar instrument (1) submerges to the deeper bottom and is closer to a suspicious target, and the PLC (12) receives a clearer image;
s5, the PLC (12) controls the propeller propulsion motor (41) to work, so that the underwater vehicle is provided with forward power, the PLC (12) controls the servo motor A (31) to work, the vertical wing (33) rotates by a certain angle, the head of the water drop of the underwater vehicle can move leftwards or rightwards, the PLC (12) controls the servo motor B (34) to work, and the horizontal wing (53) rotates by a certain angle, so that the head of the water drop of the underwater vehicle can move upwards or downwards;
s6, the PLC (12) controls the seawater inlet and outlet electromagnetic valve (5) and the air outlet electromagnetic valve (18) to be opened, seawater enters the ballast water bin (9) through the seawater inlet and outlet electromagnetic valve (5), the radar liquid level meter (23) on the top plate (17) transmits a liquid level value to the PLC (12) in real time, and the PLC (12) timely controls and closes the relevant seawater inlet and outlet electromagnetic valve (5) and the air outlet electromagnetic valve (18) according to the data condition of the ship horizontal attitude instrument (55), so that the underwater vehicle submerges to the depth to be reached;
s7, when the underwater vehicle needs to float, the PLC (12) controls some air inlet electromagnetic valves (24) to be opened, high-pressure gas enters the ballast water bin (9), when the pressure sensed by the pressure sensor (56) reaches a programmed set value, the PLC (12) controls the seawater inlet and outlet electromagnetic valves (5) to be opened, so that seawater in the ballast water bin (9) is discharged through the seawater inlet and outlet electromagnetic valves (5), and when the radar liquid level meter (23) detects that the water level in the ballast water bin (9) drops to a specified value, the PLC (12) controls the seawater inlet and outlet electromagnetic valves (5) and the air inlet electromagnetic valves (24) to be closed;
and S8, the PLC (12) controls the weight of the underwater vehicle by controlling the water level in the ballast water bin (9) according to the program, so that the underwater vehicle sinks or floats or suspends in a certain depth.
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| CN113911303A (en) | 2022-01-11 |
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Address after: 274700 Yuncheng County Industrial Park in Heze, Shandong Patentee after: Shandong Shenlian Pharmaceutical Co.,Ltd. Address before: 274700 Yuncheng County Industrial Park in Heze, Shandong Patentee before: SHANDONG SHEELIAN PHARMACEUTICAL CO.,LTD. |
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Effective date of registration: 20220617 Address after: 274700 Yuncheng County Industrial Park in Heze, Shandong Patentee after: Shandong Shenlian Pharmaceutical Co.,Ltd. Patentee after: Shandong Standard Testing Technology Co., Ltd Address before: 274700 Yuncheng County Industrial Park in Heze, Shandong Patentee before: Shandong Shenlian Pharmaceutical Co.,Ltd. |