RU161175U1 - SMALL SIZE AUTONOMOUS UNABILABLE UNDERWATER UNDERGROUND MODULAR DESIGN - Google Patents

Abstract

A small-sized autonomous uninhabited underwater vehicle of modular design, the hull of which is torpedo-shaped, containing a bow module, aft propulsion and steering module and functional modules of the middle part of the hull, including an energy supply module with a power control unit, a sonar communication and positioning module, a replaceable payload module, means to provide ballasting and static balancing of the apparatus, as well as a control, navigation and communication system including high-precision free inertial inertial navigation system, Doppler sonar log, central calculator, depth sensor, satellite navigation system receiver and radio communication unit, characterized in that the forward module based on the linear active phased antenna array is located in the bow module, the stern propulsion-steering module includes forced brushless electric motor housed in an oil-filled housing, water-jet propulsion propulsion and hydrodynamic rudders, module The power supply system includes rechargeable batteries based on lithium-polymer cells, the control, navigation and communication system is implemented in one module, while the satellite navigation system receiver and the radio communication unit are placed in a retractable mast, the means for providing ballasting and static balancing are made in the form of a set of goods placed in the ballast module.

Description

The utility model relates to shipbuilding, in particular to small-sized autonomous uninhabited underwater vehicles designed for hydrological research, search and inspection of objects under water, patrolling water areas, as well as for use as a carrier of a wide range of research equipment at great depths.

Known small-sized autonomous uninhabited underwater vehicle (ANPA) (RU 56325 U1, IPC В63С 11/48, 2006) of a modular design, having a bow module for accommodating an echo-location system sensor, an average module for arranging blocks of research electronic equipment and aft propulsion module for locating an autonomous source electricity in the form of lithium-ion batteries, an electric motor, horizontal and vertical rudders, as well as a propeller. The AUV case is made of fiberglass, which imposes restrictions on its use in research, prospecting and underwater technical work at great depths.

The closest to the claimed utility model is AUV “Gavia” (WO 03/059734 A1, IPC B63C 11/48, 2003) of a modular design having a torpedo-shaped body. AUV “Gavia” in the basic configuration consists of a bow module, a Doppler sonar log module (DGL), a control, navigation and communication module, an energy supply module and a power-steering module, interconnected using quick-release bayonet connections. Various sensors, sonar systems, as well as photo and video cameras can be installed in the nose module. DGL is located in a separate module. The control, navigation and communication module includes an on-board computer, a mast with antennas for radio communications, satellite communications and satellite navigation systems, blocks of communication equipment wireless (Wi-Fi) and wired (Ethernet) local area networks, a satellite navigation system receiver, an inertial navigation unit systems based on micro-electromechanical systems (MEMS), optionally a side-scan sonar block (HBO), a satellite communications system block, an emergency light beacon, an electron can be installed th magnetic compass, as well as sensors information measurement system (CTD-sensors) for measuring characteristics of aqueous medium. The power supply module includes lithium-ion batteries, a charger unit and a power management unit. The propulsion-steering module includes a control unit, a propeller-type propeller propeller in a nozzle driven by a brushless DC motor and hydrodynamic rudders. AUV can be equipped with additional modules, including a module of a high-precision strapdown inertial navigation system (SINS) based on laser gyroscopes, a sonar module for circular viewing, a module for sonar communication and a payload module. The unit's modules have a single power line and are connected to a local area network via an Ethernet bus. The ballasting of the apparatus and the elimination of the static trim are provided by the inter-compartment discs, as well as by adding weights to the canisters located outside.

The disadvantages of AUV "Gavia" are:

- low speed for swimming in fast currents;

- the propeller in the nozzle, especially at shallow depths, creates significant noise due to cavitation at the edges of the blades, which negatively affects the operation of sonar equipment;

- ballasting system ANPA "Gavia" allows you to adjust the buoyancy exclusively in the direction of reduction, which forces the use of only specially adapted for this unit modules with positive buoyancy;

- the Ethernet interface used for information communication between the compartments is not a real-time interface and does not provide guaranteed delivery of transmitted messages to consumers, which may be critical for some types of modules;

- the control and navigation problem is solved by three separate modules, the control, navigation and communication module, the high-precision SINS module and the DGL module, which complicates the assembly and maintenance of the device.

- the presence in the control module, navigation and communication of the protruding structure, which is an antenna mast, which affects the hydrodynamic characteristics of the apparatus.

The objective of the utility model is to eliminate the disadvantages inherent in the selected analogue and prototype, increasing the efficiency of on-board equipment.

The specified technical result is achieved by the fact that the small-sized AUV of a modular design has a torpedo shape, a bow module, aft propulsion and steering module and functional modules of the middle part of the hull, including an energy supply module with a power control unit, a sonar communication and positioning module, a replaceable payload module, means to ensure ballasting and static balancing of the device, as well as a control, navigation and communication system, including high-precision SINS, DGL, central a calculator, a depth sensor, a satellite navigation system receiver and a radio communication unit, while in the bow module there is a forward-looking sonar (GPO) based on a linear active phased antenna array (AFAR), the stern propulsion-steering module includes a forced brushless electric motor located in an oil-filled housing, water-jet propulsion propulsion and hydrodynamic steering wheels, the power supply module includes batteries based on lithium-polymer cells, systems and control, navigation and communication are executed in one module, while the satellite navigation system receiver and the radio communication unit are placed in a retractable mast, the means for providing ballasting and static balancing are made in the form of a set of weights placed in the ballasting module.

The indicated set of features of the utility model will improve the operational characteristics of the apparatus, including increasing the speed, range and autonomy of the AUV course, reducing its noise, and expanding the range of applied research equipment.

If necessary, an replaceable payload module and a ballast module can be additionally installed on the AUV, in accordance with the tasks being solved.

In FIG. 1 shows a small-sized AUV with a modular design.

In FIG. 2 shows a small-sized AUV with an additionally installed replaceable payload module and a ballasting module.

In FIG. 3 shows a diagram of a ballasting module with a set of weights.

In FIG. 4 shows a diagram of the propulsion jet propulsion type.

The small-sized AUV of a modular design (Fig. 1) has a torpedo-shaped body and consists of a bow module 1 with a GPO 2 based on a linear AFAR, a replaceable payload module 3, an energy supply module 4, including rechargeable batteries 5 based on lithium-polymer cells and a control unit power supply 6, control, navigation and communication module 7, including high-precision SINS 8, DGL 9, central computer 10, depth sensor 11, extendable mast 12 with a satellite navigation system receiver (position in the drawing, not represented) and a radio communication unit (a position is not shown in the drawing), a module for a hydroacoustic communication and positioning system 13, a ballasting module 14 (Fig. 3) with a set of weights 15, aft steering-steering module 16, which consists of a sturdy housing with a propulsion control unit 17 a forced brushless electric motor 18 located in a pressure-relieved oil-filled housing (the position is not shown in the drawing), and a propulsion jet propulsion type 19 (Fig. 4), including a water intake (water intake) 20, pylons 21, an impeller 22 with blades 23, a straightening device 24 with blades 25, hydrodynamic rudders 26, stabilizers 27 and nozzles 28. The modules are interconnected using quick-release bayonet joints. The sequence of the location of the modules, their number and composition, with the exception of the bow module 1 and the stern propulsion-steering module 16, are determined by the tasks to be solved, and can change during operation.

Placing a forced brushless electric motor 18 in an oil-filled casing allows reducing the wall thickness of the stern propulsion and steering module 16 and, accordingly, reducing the weight of the AUV, as well as improving heat dissipation from the motor windings 18 and avoiding the use of excessive seals on the shaft (position not shown in the drawing).

Due to the use of an accelerated brushless DC motor 18 with a total power consumption of up to 5 kW as part of the AUV, its movement is ensured with a maximum speed of up to 6 m / s.

The use of a marching propulsion device of a water-jet type 19 in the AUV significantly reduces cavitation due to an increase in pressure in the region of the impeller 22 with respect to the unperturbed volume of liquid, which accordingly reduces wear on the blades 23 of the impeller 22, as well as noise compared to the screw in the nozzle. To reduce the loss of resistance, the water intake (water intake) 20 is made with an annular gap. To eliminate the heeling moment and increase the efficiency of the marching propulsion device of the water-jet type 19 (by eliminating the loss of swirling flow), a straightening apparatus 24 is installed behind the impeller 22. To prevent vibrations, the number of blades 25 of the straightening apparatus 24 and the number of pylons 21 are one more than the number of blades 23 of the impeller 22. In order to increase the stability of the AUV during movement on the fairing of the marching propulsion of a water-jet type 19, stabilizers 27 are installed.

The construction of the GPO 2 on the basis of a sonar AFAR linear structure allows you to scan the space with a sonar beam in the range from -40 to +40 degrees in the horizontal plane with a resolution of 2.8 degrees. The practical range for detecting obstacles is up to 500 m. In this case, the presence of obstacles in the indicated sector, as well as their size and location in space relative to the apparatus, is determined, which allows you to build the optimal route for avoiding them or to identify the object.

The use of ballasting module 14 as part of the AUV (Fig. 3) ensures its ballasting and static balancing, allowing the device to be hung out at any initial value of residual buoyancy and arbitrary mass distribution along the AUV body. Ballasting is carried out by installing inside the ballasting module 14 a set of loads 15. Static balancing of the apparatus is carried out through the use of several ballasting modules 14 distributed along the AUV body (Fig. 2). By moving a set of weights 15 inside the ballasting modules 14, the metacentric height is adjusted over a wide range, and the static roll is also eliminated. As a result, it becomes possible to use 3 equipment in a plug-in payload module, which was not originally intended for installation on AUVs, and thus expand the range of types of research equipment used without changing the hull structures.

In addition, to work with equipment critical to the reliability of data exchange and adherence to real-time on-board AUV, in addition to the Ethernet line, designed to transfer large amounts of data, a CAN bus is implemented. The CAN interface at the hardware level allows you to control the delivery of packets and, if necessary, repeat the transmission and, thus, guarantees their delivery.

In addition, high-precision SINS 8, DGL 9, central computer 10, depth sensor 11, as well as a retractable mast 12 with a satellite navigation system receiver and a radio communication unit, are integrated into a single system and are a navigation and communication control module 7, which significantly improves operational characteristics of the apparatus.

The AUV design provides the installation of various modules in a robust case, including HBO, an echo sounder, side-scan interferometric sonar, multi-beam sonars, profilographs, various speed sensors, temperature, water density, as well as photo and video cameras and other required research equipment.

Compared with the prototype, due to the use of a retractable mast 12 in the AUV, with a satellite navigation system receiver and a radio communication unit housed in it, the absence of protruding parts is ensured, which improves the hydrodynamic characteristics of the apparatus.

The device operates as follows.

The device in transport containers is delivered by any vehicle to the place of underwater work. In accordance with the upcoming work to conduct studies of the deep sea, the operator extracts the required modules from the containers. Using the slipway and special technological equipment, the AUV is assembled and equipped, and the apparatus is pre-ballasted by placing a set of loads 15 in the ballasting module 14. The operator tests the performance of all AUV systems by running test programs. AUV is delivered to the water edge and launched into the water directly from the shore or from the carrier vessel. The AUV is immersed in water for the purpose of its final signage, ballasting and balancing. A route task is loaded into the device via a radio channel in accordance with the types of underwater operations being carried out.

The small-sized AUV carries out movement along a predetermined path due to the operation of a forced brushless electric motor 18, which transmits torque to the impeller 22 of the marching propulsion device of the water-jet type 19. When the impeller 22 rotates, a vacuum occurs and the water acting as a working fluid is sucked into the intake (intake) 20. Water the flow, having received acceleration, passing through the blades of the impeller 22 and the straightening apparatus 24, is ejected at high speed through the nozzle 28. The thus created, reactive I am thrust, sets the AUV in motion. The change in the modes and speed of the AUV movement is carried out by the control signal of the central calculator 10 located in the control, navigation and communication module 7, supplied to the control unit of the mover 17 and adjusting the speed of the forced brushless electric motor 18 by changing the voltage supplied to it. AUV maneuvering along the course, depth and trim is carried out by changing the position of the hydrodynamic rudders 26 according to the commands of the central computer 10 generated on the basis of the route task and analysis of objective data received from the equipment installed on the AUV (occurrence of obstacles, deviation from the trajectory of movement). The accuracy of the AUV movement along a given trajectory and the possibility of its orientation under water is achieved through the use of data generated by high-precision SINS 8 (geographic coordinates, course, speed, roll and trim angles, angular velocities), combined with DGL 9 and depth gauge 11 data placed in the control, navigation and communication module 7. GPO 2, based on a linear AFAR, emits sounding pulses and determines the distance to obstacles by the time difference between the reflected and emitted signals. The data obtained are sent to the central computer 10 and on the basis of them, the AUV movement path is adjusted to bypass or identify the object.

Claims (1)

A small-sized autonomous uninhabited underwater vehicle of modular design, the hull of which is torpedo-shaped, containing a bow module, aft propulsion and steering module and functional modules of the middle part of the hull, including an energy supply module with a power control unit, a sonar communication and positioning module, a replaceable payload module, means to provide ballasting and static balancing of the apparatus, as well as a control, navigation and communication system including high-precision free inertial inertial navigation system, Doppler sonar log, central calculator, depth sensor, satellite navigation system receiver and radio communication unit, characterized in that the forward module based on the linear active phased antenna array is located in the bow module, the stern propulsion-steering module includes forced brushless electric motor housed in an oil-filled housing, water-jet propulsion propulsion and hydrodynamic rudders, module The power supply system includes rechargeable batteries based on lithium-polymer cells, the control, navigation and communication system is implemented in one module, while the satellite navigation system receiver and the radio communication unit are placed in a retractable mast, the means for providing ballasting and static balancing are made in the form of a set of goods placed in the ballast module.

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