RU56325U1 - Small-sized autonomous uninhabitable underwater vehicle - Google Patents

Abstract

The utility model relates to underwater robotics, in particular to small-sized autonomous uninhabited underwater vehicles (AUV), designed to perform a wide range of research, prospecting and underwater technical work in shallow water.

The device is of a modular design, having a torpedo-shaped housing made of fiberglass, containing a bow, middle and aft compartments, and a radar beacon and sensors of an echolocation system are located in the bow compartment. The middle compartment has a single robust housing and is connected to the bow and stern compartments by means of clinocircular connections, and inside the middle and stern compartments the guides corresponding to the compartments are fixedly mounted, with the possibility of chassis movement along them, in the form of runners on which electronic equipment is located, and in the stern the compartment contains an autonomous source of electricity, which has seven lithium-ion batteries connected in series and placed helically inside the body of the electricity source, without DC direct-current electric motor, as well as horizontal and vertical rudders with electric drives to them and a three-blade propeller with sharpened metal blades for cutting underwater vegetation. The on-board computer is equipped with a hard disk drive, with the ability to transfer information through an Ethernet port.

The advantages of the utility model are its versatility in terms of physical and geographical and environmental conditions, the ability to upgrade and replace individual components and systems due to the relative ease of assembly and manufacturability of the modular design, as well as the possibility of mass production.

Description

The utility model relates to shipbuilding, and more specifically to underwater robotics, in particular to small-sized autonomous uninhabited underwater vehicles (AUV), designed to perform a wide range of research, prospecting and underwater technical works in shallow water.

Known ANPA "GAVIA" modular design, torpedo-shaped, the body of which consists of the bow, middle and aft compartments. The middle compartment consists of several modules: a module for navigation hydroacoustic system, an antenna-steering module, a sonar module, a Doppler log module, a roll and trim sensor module, an echo-location system module, an on-board computer and an autopilot module, as well as an autonomous power source module. In the bow compartment there is a radar sensor, sensors of navigation sonar and echolocation systems, as well as small-sized digital video cameras. In the aft compartment is the engine-steering system. A CTD sensor (conductivity, temperature and depth) is installed outside the AUV housing. The compartments of the ANPA “GAVIA” and the modules in them are fastened together by rods passing along their central axis along the entire length of the apparatus. Each module of the middle compartment has a strong cylindrical case with an internal frame designed to accommodate the appropriate equipment, including a laptop computer with a set of software. The antenna module is mounted on the pylon to the horizontal rudder module. The GAVIA communication system is designed to ensure a reliable exchange of control commands and data between GAVIA and the operator on board. (Thorhallsson T. GAVIA - a Modular Compact

AUV for Deep // International Ocean Systems. - 2003. - January / February. - p.6-10).

The disadvantages of AUV "GAVIA" are:

- insufficient for swimming in currents AUV speed;

- complicated design of the propulsion and steering complex, due to the location of horizontal and vertical rudders in various modules of the middle and aft compartments;

- the presence of the human factor - the operator providing communication with the AUV, as well as the delivery of the device to the intended place and its launching are carried out using the supply vessel;

- the conductivity, temperature and depth sensor installed outside the AUV worsens its hydrodynamic characteristics when the apparatus moves under water;

- the relatively high weight and size characteristics of the AUV reduce its maneuverability in shallow water, in inland waters and within the shelf zone when conducting hydrographic exploration.

Known for another, selected as a prototype, small-sized AUV "REMUS".

AUVA "REMUS" of a modular design, torpedo-shaped, the body of which consists of the bow, middle and aft compartments. The middle compartment consists of several modules: a navigation sonar module, a dual-frequency side-scan sonar module, a Doppler log module, a Doppler acoustic profiler module, a roll and trim sensor module, an echo-location system module, an on-board computer and an autopilot module, as well as an autonomous power source module. A CTD sensor (conductivity, temperature and depth) is installed outside the AUV housing. In the bow compartment there is a dielectric cowl and contacts for the charger of the bottom berth structure, which supplies electric power to the AUV to recharge its battery. In the aft compartment

there are a power steering system. The AEMA “REMUS” compartments and their modules are screwed together. Each module of the middle compartment has a strong cylindrical body with an internal frame designed to accommodate the corresponding equipment. (http://www.hydroidinc.com/remus.htm).

Compared with the well-known analogue of AUV "GAVIA", selected as a prototype AUV "REMUS" has the following advantages:

- compact dimensions and weight;

- high accuracy of navigation, providing route restoration;

- An improved design of the engine-steering complex. Despite the above advantages, the prototype has the following disadvantages:

- the need for the ANPA “REMUS” to work with the supply vessel;

- the difficulty of moving AUVs in conditions of strong river currents and torrential zones of the seas due to insufficient electric motor power, which practically makes it difficult or impossible to conduct research and inspection of water bodies whose flow velocity exceeds 2 m / s;

- a sensor of conductivity, temperature and depth, mounted outside the AUV, impairing its hydrodynamic characteristics when the apparatus moves under water;

- the inability to quickly replace functional modules due to the many screw connections;

- the difficulty of movement of the apparatus in places of accumulation of underwater vegetation.

In addition, the ANPA REMUS project, regarding the transmission of electricity to the aircraft, provides for the use of inductive coupling. Inductors of inductors with a mass of 1.5-2.0 kg (total mass of AEMA "REMUS" about 40 kg) are placed in the bow of the AUV. So constructive

the decision of the apparatus leads to unreasonable overloading of the bow of the apparatus, and as a result, to a violation of its trim.

The disadvantages inherent in the selected well-known analogue and prototype are eliminated in the claimed utility model “Small-sized autonomous uninhabited underwater vehicle”, the technical task of which is: the creation of a new small-sized AUV for underwater technical work in inland waters and on the shelf.

The implementation of the specified technical task of the claimed utility model allows to achieve the following technical result:

- the created small-sized AUV expands the arsenal of existing means for underwater technical work;

- reduced overall dimensions made of fiberglass ANPA, due to the rational use of the internal volume of the compartments and the placement of modules of electronic equipment on the chassis in the form of skids inside a single durable housing of the middle compartment, as well as an electric motor and an autonomous source of electricity inside the aft compartment, respectively;

- a decrease in weight and size characteristics led to an increase in the maneuverability of the apparatus, and the use of a brushless DC motor with microprocessor control in the apparatus made it possible to increase the speed characteristics of the AUV;

- adjustment of the angle of inclination of the antennas of the side-scan sonar allows you to increase or decrease the width of the frequency band of the high-frequency sonar, depending on the depth of the investigated water body and the tasks set for the apparatus;

- the durability and tightness of the detachable connection of the compartments is achieved through the use of clinocircular connections, which are reliable in operation and in addition provide the fastest access to the electronic equipment of the compartments during maintenance;

- the use of a propeller with sharpened metal blades allows you to cut underwater vegetation, thereby increasing the maneuverability of the AUV in densely overgrown with grass ponds;

- the use of a large capacity hard disk drive in the on-board computer allows you to save all the necessary information during the underwater technical work, and the presence of an Ethernet port input and a coaxial (fiber-optic) cable in the AUI makes it possible to transfer the accumulated information to the consumer at a speed of up to 1000 Mbps from;

- rational placement of the selected autonomous source of electricity inside the AUV feed compartment allows to reduce the overall dimensions of the apparatus as a whole, while maintaining high voltage and discharge power, exceptionally low self-discharge, even at high temperatures, and the absence of the need for servicing lithium-ion batteries during operation .

To achieve the specified technical result, a small-sized autonomous uninhabited underwater vehicle of a modular design is claimed, having a torpedo-shaped housing made of fiberglass, containing a bow, middle and aft compartments. The radar beacon and sonar sensors are located in the bow compartment, and the radar equipment is located in the middle compartment, including the Doppler log, integrated magnetic compass with roll and trim sensors, depth sensor, sonar system unit, sonar navigation system unit with antenna, side-scan sonar unit with two outboard antennas, an on-board computer and autopilot unit. In the aft compartment are an autonomous source of electricity, a direct current electric motor, horizontal and vertical electric rudders, as well as a three-blade propeller.

The fundamental difference between the proposed small-sized AUV and the above-known prototype AUV “REMUS” is that the middle compartment in the inventive device has a single, robust housing and is connected to the bow and stern compartments by means of clinocircular connections, and the metal elements of the clinocangal connection are attached to the housing of a small-sized autonomous uninhabited underwater apparatus made of fiberglass. Inside the middle and aft compartments, the guides corresponding to the compartments are fixedly mounted, with the possibility of chassis movement along them, in the form of runners on which the electronic equipment of the middle compartment and the structural elements of the aft compartment are located, respectively. The aft compartment and the propeller are fastened together by a threaded connection, in addition, the propeller has sharpened metal blades for cutting underwater vegetation.

Other additional differences of the proposed small-sized AUV from the well-known AUV "REMUS" is that in the inventive device, the antennas of the side-scan sonar are arranged side-by-side, with the possibility of adjusting the angle of the antennas. The on-board computer is equipped with a hard disk drive, with the ability to transfer information through an Ethernet port. The direct current electric motor is made of brushless microprocessor control. An autonomous source of electricity has seven lithium-ion batteries connected in series and arranged helically inside the body of the source of electricity.

Due to the presence of all these distinctive structural elements and their mutual arrangement, rationally used internal volume of all compartments, the overall dimensions of the AUV are reduced. The proposed form of the screw, the presence of a brushless DC motor increased the speed characteristics of the AUV, its maneuverability. The use of clinocircular joints in the apparatus increased the reliability in operation of the AUV case.

The essence of the utility model "Small-sized autonomous uninhabited underwater vehicle" is illustrated by the drawings: figure 1 Block diagram; figure 2. Autonomous source of electricity (cross section and side view).

Figure 1 Structural diagram, where indicated:

I - nose compartment

1 - sensors of the sonar system;

2 - radar beacon;

3 - clinocangal compounds.

II - middle compartment

4 - block echolocation system;

5 - block navigation hydroacoustic system;

6 - antenna navigation sonar system;

7 - block Doppler log, an integrated magnetic compass with a roll and trim sensor and a depth sensor;

8 - block side-scan sonar;

9 - chassis;

10 - guides;

11 - side-scan sonar antennas;

12 - block on-board computer and autopilot.

III - aft compartment

13 - an autonomous source of electricity;

14 - an electric motor;

15 - electric horizontal and vertical rudders;

16 - vertical rudders;

17 - horizontal rudders;

18 - threaded connection;

19 - shaft;

20 - propeller;

21 - durable housing.

The inventive small autonomous uninhabited underwater vehicle is a technical system of a torpedo design. A single sealed strong case 21 of a streamlined shape is formed by the compartments I, II, III of FIG. 1, rigidly articulated between each other with clinocangal connections 3 of FIG. 1. A robust housing made of fiberglass 21 of FIG. 1 ensures the protection of most elements of the payload, an autonomous source of electricity of FIG. 1 and FIG. 1 of the electric motor 14 from external factors caused by the specifics of the operation of the AUV (hydrostatic and hydrodynamic pressure, moisture, impacts on the ground and etc.). The body of the underwater vehicle 21 of FIG. 1 is divided into three compartments: a rounded bow I of FIG. 1, a cylindrical middle II of FIG. 1 and a conical aft III of FIG. 1. In the nose compartment of the apparatus I of FIG. 1, the sensors of the echolocation system 1 of FIG. 1 and the radar beacon 2 of FIG. 1 are located, the main function of which is to supply a radio signal for detecting the underwater vehicle after completion of work or in case of discharge of an autonomous electric power source 13 of FIG. 1. In the middle compartment II of FIG. 1, inside the strong housing 21 of FIG. 1, AUVs are placed a block of the echo-tracking system 4 of FIG. 1, a block of navigation hydroacoustic system 5 of FIG. 1, an antenna of a navigation sonar system 6 of FIG. 1, a side-scan sonar unit 8 of FIG. 1 , the on-board computer unit and the autopilot 12 of Fig.1. The antenna of the navigation hydroacoustic system 6 of FIG. 1 is rigidly attached outside the strong housing 21 of FIG. 1 and is closed by an acoustically transparent fairing. The on-board computer and autopilot are part of the AUV software control system and are located in the combined unit of the on-board computer and autopilot 12 of Fig. 1. In turn, performing the control and navigation function, the Doppler log, an integrated magnetic compass with a roll and trim sensor and a depth sensor are also combined in module 7 of FIG. 1. Chassis 9 of figure 1 in the form of runners with blocks of electronic equipment of the middle compartment located on them move freely along the guide rails rigidly fixed inside the AUV housing

10 figure 1. The side-scan sonar antennas 11 of FIG. 1, rigidly fixed outside the strong housing 21 of FIG. 1 and closed by acoustically transparent fairings, have an adjustable tilt angle, which allows you to change the width of the AUV field of view during underwater technical work. In the aft compartment III of FIG. 1 of the underwater vehicle there is an autonomous source of electricity 13 of FIG. 1, a brushless DC motor 14 of FIG. 1 with microprocessor control connected via a shaft 19 of FIG. 1 with a propeller 20 of FIG. 1, electric drives of horizontal and vertical rudders 15 of FIG. 1, as well as vertical rudders 16 of FIG. 1 and horizontal rudders 17 of FIG. 1. The propeller 20 of FIG. 1 and the aft compartment III of FIG. 1 of the AUV are fastened together by a threaded connection 18 of FIG. 1.

Figure 2 Autonomous source of electricity (cross section and side view), where indicated:

I - cross section;

II - side view.

1 - lithium-ion batteries;

2 - connecting terminals;

3 - power distribution box;

4 - mounting spokes;

5 - ebonite plates;

6 - housing autonomous source of electricity;

7 - AUV corps.

The stand-alone power source 13 of FIG. 1 consists of seven lithium-ion batteries 1 of FIG. 2, interconnected by terminals 2 of FIG. 2, the power distribution box of 3 of FIG. 2 to the units and assemblies of the apparatus, the mounting spokes 4 of FIG. 2 of the stand-alone power source 13 of Fig. 1, fastening two ebonite plates 5 of Fig. 2, preventing the short circuit and discharge of lithium-ion batteries 1 of Fig. 2, located in the housing of an autonomous power source 6 of Fig. 2, which in turn is located

inside the case of AUV 7 of figure 2. Seven lithium-ion batteries 1 of FIG. 2 provide, when connected in series, a nominal voltage of 27 V, necessary for the operation of the electric motor 14 of FIG. 1. The spiral-shaped arrangement of lithium-ion batteries 1 of FIG. 2, indicated in cross section I of FIG. 2, is due to the rational use of the internal volume of the cylindrical module of an autonomous power source 13 of FIG. 1.

The device operates as follows.

The device turns on and the task program is loaded through the input of the AUV Ethernet port, depending on the selected type of underwater technical work. The device is delivered to the water edge of the place of work by any vehicle and is launched into the water from a boat or directly from the shore.

A small-sized autonomous uninhabited underwater vehicle moves along a predetermined path due to the operation of the electric motor 13 of Fig. 1, which transmits torque from the shaft 19 of Fig. 1 to the propeller 20 of Fig. 1. Changing the modes and speed of movement is carried out by the control signal of the on-board computer located in the on-board computer and autopilot unit 12 of Fig. 1, supplied to the brushless DC motor 14 of Fig. 1, capable of independently adjusting the speed by changing the voltage supplied to it from an autonomous source of electricity 13 of Fig. 1.

AUV maneuvering according to the course, depth and angle of the trim is carried out by changing the position of the rudders 16 of FIGS. 1 and 17 of FIG. 1 according to the commands of the on-board computer located in the on-board computer and autopilot block of 12 of FIG. (appearance of an obstacle, deviation from the trajectory). High accuracy of movement along a given trajectory and orientation of the AUV under water is achieved through the integrated use of data generated by the hydroacoustic navigation system 5 of Fig. 1 with a long base (geographical coordinates, course, speed,

roll and trim angles, angular velocities), corrected by the Doppler log block, an integrated magnetic compass with a roll and trim sensor and a depth sensor, combined into a single block 7 of Fig. 1. Such an approach to navigation support allows collecting information under water without surfacing for observations and, thus, increasing the overall duration and continuity of a wide range of research, prospecting and underwater technical work in shallow water. The echolocation system 4 of FIG. 1 emits sounding pulses in several directions and determines the distance to obstacles from the time of arrival of signals reflected from underwater objects and the boundaries of the separation of media. The data obtained is transmitted to the on-board computer and autopilot unit 12 of FIG. 1, which, if necessary, correct the AUV trajectory to avoid collision. This allows the small-sized AUV to swim safely in the shallow areas of inland waters and the shelf zone. The presence of the propeller 20 of FIG. 1 with sharpened blades cutting the grass allows the underwater vehicle to freely move in dense vegetation of shallow ponds. The side-scan sonar 8 of FIG. 1 probes the bottom of the water area in order to detect underwater objects at distances significantly exceeding the range of visibility under water. The signals reflected and emitted by the detected objects received by the side-scan sonar 8 of FIG. 1 are processed and analyzed in order to extract characteristic features, which are then transmitted to the on-board computer of the on-board computer unit and autopilot 12 of FIG. 1 for classification, by comparison with reference parameters. The use of a side-scan sonar 8 of FIG. 1 with antennas 11 of FIG. 1 with an adjustable angle of inclination as part of a small-sized AUV allows preliminary recognition of underwater objects and repeatedly increases search performance depending on the tasks. The presence of the on-board computer, the on-board computer unit and the autopilot 12 of FIG. 1, a high-capacity drive allows

save on it all the necessary information during the underwater technical work, and then transmit it through the Ethernet port of the device to the consumer.

The inventive utility model is a small-sized autonomous uninhabited underwater vehicle has the following advantages:

- universality of application according to physical-geographical and environmental conditions;

- the ability to upgrade and replace individual components and systems due to the relative ease of assembly and manufacturability of a modular design;

- the possibility of establishing mass mass production.

The inventive utility model is industrially applicable, since widespread components and products of industry are used for its implementation.

Claims (7)

1. A small-sized autonomous uninhabited underwater vehicle of modular design, having a torpedo-shaped body containing a bow, middle and aft compartments, with a radar beacon and sensors of an echo-location system located in the bow compartment, and electronic equipment including a Doppler log, an integrated magnetic compass located in the middle compartment with roll and trim sensors, depth sensor, sonar unit, sonar block with antenna, sonar unit bo a new survey with two outboard antennas, an on-board computer and an autopilot, and in the aft compartment there is an autonomous source of electricity and a direct current electric motor, as well as horizontal and vertical rudders with electric drives to them and a three-blade propeller, characterized in that the middle compartment has a single durable the hull and is connected to the bow and stern compartments with the help of clinocircular joints, and inside the middle and stern compartments are fixedly fixed, guides corresponding to the compartments, with the possibility of movement of the chassis along them, in the form of runners on which the electronic equipment of the middle compartment and an autonomous source of electricity are located, as well as the direct current electric motor of the aft compartment, respectively, and the aft compartment and the propeller are fastened together by a threaded connection, in addition, the propeller has sharpened metal blades for cutting underwater vegetation. 2. The device according to claim 1, characterized in that the housing of a small-sized autonomous uninhabited underwater vehicle is made of fiberglass. 3. The device according to claims 1 and 2, characterized in that the metal elements of the clinocangal connection are attached to the housing of a small-sized autonomous uninhabited underwater vehicle. 4. The device according to claim 1, characterized in that the side-scan sonar antennas are positioned on-board with the possibility of adjusting the angle of the antennas. 5. The device according to claim 1, characterized in that the on-board computer is equipped with a hard disk drive, with the ability to transmit information through an Ethernet port. 6. The device according to claim 1, characterized in that the DC motor is made of brushless microprocessor-controlled. 7. The device according to claim 1, characterized in that the autonomous source of electricity has seven lithium-ion batteries connected in series and arranged helically inside the body of the source of electricity.