CN108516058A - A kind of unmanned boat recycled in real time for deep-sea observation data - Google Patents
A kind of unmanned boat recycled in real time for deep-sea observation data Download PDFInfo
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- CN108516058A CN108516058A CN201810315323.8A CN201810315323A CN108516058A CN 108516058 A CN108516058 A CN 108516058A CN 201810315323 A CN201810315323 A CN 201810315323A CN 108516058 A CN108516058 A CN 108516058A
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- unmanned boat
- acoustic communication
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B17/00—Vessels parts, details, or accessories, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B17/00—Vessels parts, details, or accessories, not otherwise provided for
- B63B2017/0054—Rests or supports for movable ship-borne equipment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention particularly discloses a kind of unmanned boats recycled in real time for deep-sea observation data.The unmanned boat recycled in real time for deep-sea observation data, including：Hull with propulsion device is provided with automatic distributing and discharging device and automatic control system on the hull；The automatic distributing and discharging device connects underwater acoustic communication set；The automatic control system is laid and is recycled to the underwater acoustic communication set for controlling the automatic distributing and discharging device.The unmanned boat of the present invention recycled in real time for deep-sea observation data, it is observed for deep-sea, it is automatic to navigate by water to the water-surface areas of underwater near nodal, automatic release underwater acoustic communication set, the depth of adjust automatically underwater acoustic communication set, direction, it realizes that unmanned boat recycles the data of underwater node in real time, effectively improves the success rate of underwater sound communication, improve the quality and efficiency of deep-sea observation data record.
Description
Technical field
The present invention relates to a kind of unmanned boat, especially a kind of unmanned boat recycled in real time for deep-sea observation data.
Background technology
Deep-sea observation has become that sea in geoscience research, third is a important after ground observation and telemetering remote sensing
Observation field, deep-sea observation system also gradually become the research hotspot in marine technology field.Wherein, underwater node/platform, such as
Preventing seabed base, subsurface buoy etc. have been generally integrated the sea sensors such as conductivity-temperature-depth system, ADCP, single-point current meter, with by environment and manually
The small feature of j ob impact is suitable for long-term, continuous and ocean weather station observation task.However, for the data record of underwater node, lead to
It is regular frequently with research vessel, such as even 1 year mode for recycling integral device some months, there are the data record periods for which
Disadvantage long, of high cost.
With the development of water sound communication technique, the underwater node with underwater sound communication function continues to bring out, by integrated
Underwater remote, wireless data recycling may be implemented in underwater acoustic communication set.Currently, underwater sound communication be a kind of almost unique length away from
From subsurface communication mode.Point-to-point underwater sound communication gradually develops to the application stage, and there are many be commercialized underwater acoustic communication set.So
And underwater acoustic channel is the channel that a kind of extremely complex changeable Space Time-frequency becomes ginseng, has that passband is narrow, Multi-path interference is strong, signal
The features such as scintillation fading is serious, Doppler effect is notable can cause to communicate unstable.Point-to-point underwater sound communication quality also can be by
The influence of the motion state of carrying platform and specific marine environment, such as underwater acoustic communication set lay depth, direction etc., and the underwater sound is logical
Letter will appear the uncertainty for being difficult to explain.The data underwater sound way of recycling of underwater node is mainly based upon research vessel or floating at present
Mark the point-to-point underwater sound communication mode of relaying.However, there are deficiencies of high cost, that data record efficiency is low for research vessel mode, and
The system complex of buoy trunking scheme, and easily by artificial destruction also lacks a kind of movement, data at low cost, risk is small at present
Recycle platform.
Given this present invention is proposed.
Invention content
Observing what data recycled in real time for deep-sea it is an object of the invention to overcome the deficiencies of the prior art and provide a kind of
Unmanned boat can be navigated by water automatically to the water-surface areas of underwater near nodal, and completion automatically accesses underwater node, realizes to water
The high efficiente callback operation of lower node data.
In order to realize the purpose, the present invention adopts the following technical scheme that：
A kind of unmanned boat recycled in real time for deep-sea observation data, including：
Hull with propulsion device is provided with automatic distributing and discharging device and automatic control system on the hull；
The automatic distributing and discharging device connects underwater acoustic communication set；
The automatic control system is laid and is returned to the underwater acoustic communication set for controlling the automatic distributing and discharging device
It receives.
Further, the automatic distributing and discharging device includes：Automatic distributing and discharging anchor device and lifting gear, the lifting gear connection
The underwater acoustic communication set；
The automatic distributing and discharging anchor device for discharging anchor when the hull reaches designated position with the fixation ship automatically
Body；The lifting gear is for driving the underwater acoustic communication set to move up and down, and the underwater acoustic communication set and the lifting gear
For rotation connection so that the underwater acoustic communication set can be rotated relative to the lifting gear；
The underwater acoustic communication set is connect by armored cable with the automatic control system.
Further, the lifting gear includes the first electric winch being mounted on the hull, electronic by described first
The hoistable platform of winch driving, is arranged the device for regulating rotary on the hoistable platform, first electric winch with it is described
Automatic control system connects, and the underwater acoustic communication set is mounted on the device for regulating rotary, is driven by the device for regulating rotary
The dynamic underwater acoustic communication set rotation.
Further, electronic compass is additionally provided on the hoistable platform, the device for regulating rotary includes motor and rotation
Disk；The motor is fixed on the hoistable platform, the motor and the electronic compass by the armored cable with it is described
Automatic control system connects, and the shaft of the motor is connect with the rotating disc, and the underwater acoustic communication set is fixedly mounted on described
On rotating disc.
Further, the armored cable is wrapped on first electric winch, and the hoistable platform passes through four load-bearing
Rope ties up on armored cable so that the gravity that the hoistable platform is born is transferred to armored cable by head-rope, and first is electronic
Winch drives hoistable platform to move by drawing armored cable.
Further, the hoistable platform is a square plate, and one end of the every head-rope is connected to four of square plate
Vertex, the other end are both connected on the armored cable.
Further, the automatic distributing and discharging anchor device includes the second electric winch, hawser and anchor；The cable takeup is in institute
It states on the second electric winch, the other end is connect with the anchor；Second electric winch is connect with the automatic control system, described
A through hole is offered on hoistable platform, the hawser passes through the through hole, the swing for limiting the hoistable platform.
Further, the hull is equipped with a supporting rack, is set below support frame as described above and positioned at the center of the hull
There is a fixed plate, first electric winch and the second electric winch are mounted on support frame as described above, in the fixed plate
Portion is equipped with opening, and the size of the opening at least allows the underwater acoustic communication set to pass through.
Further, the bottom of the fixed plate is equipped with sounding instrument, and the sounding instrument is connect with the automatic control system.
Further, the hull is catamaran.
After technical solutions according to the invention, following advantageous effect is brought：
A kind of unmanned boat recycled in real time for deep-sea observation data of the present invention, observes for deep-sea, can navigate automatically
Row discharges underwater acoustic communication set, and can be according to underwater sound communication quality, the adjust automatically underwater sound is logical automatically to the water surface near underwater node
The depth of letter machine, direction realize that unmanned boat recycles the data of underwater node in real time, can effectively improve the success of underwater sound communication
Rate solves the problems, such as that underwater node data return period is long, of high cost.
Description of the drawings
Fig. 1 is that the front view structure that the unmanned boat that data recycle in real time is observed for deep-sea of one embodiment of the present invention is shown
It is intended to；
Fig. 2 is that the plan structure that the unmanned boat that data recycle in real time is observed for deep-sea of one embodiment of the present invention is shown
It is intended to；
Fig. 3 is the partial schematic diagram of Fig. 1；
The hoistable platform part of the unmanned boat recycled in real time for deep-sea observation data of Fig. 4 one embodiment of the present invention
Enlarged drawing；
Fig. 5 is the unmanned boat automatic control system recycled in real time for deep-sea observation data of one embodiment of the present invention
Catenation principle figure；
Wherein：1, hull 2, fixed plate 3, supporting rack 4, the first electric winch 5, hawser 6, anchor 7, the second electric mincing
Vehicle 8, armored cable 9, propulsion device 10, underwater acoustic communication set 11, rotating disc 12, hoistable platform 13, motor 14, electronics
Compass 15, through hole 16, head-rope 17, sounding instrument.
Specific implementation mode
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar parameter or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and is only used for explaining the present invention, and is not construed as limiting the claims.
Technical solution in order to better understand the present invention and technique effect, below with reference to Fig. 1-Fig. 5 to specific real
The mode of applying is described in detail.
Fig. 1 is that the front view structure that the unmanned boat that data recycle in real time is observed for deep-sea of one embodiment of the present invention is shown
It is intended to.The unmanned boat recycled in real time for deep-sea observation data of one embodiment of the present invention as shown in Figure 1 includes having
The hull 1 of propulsion device 9 is provided with automatic distributing and discharging device and automatic control system on the hull；The automatic distributing and discharging device
Connect underwater acoustic communication set；The automatic control system carries out cloth for controlling the automatic distributing and discharging device to the underwater acoustic communication set
It puts and recycles.
In said program, propulsion device 9 pushes the navigation of hull 1 to specified marine site, and automatic control system controls automatic distributing and discharging
Device works, and driving underwater acoustic communication set lays and recycles, to carry out data of the underwater node/platform such as preventing seabed base, subsurface buoy
Recycling, automatic control system control underwater acoustic communication set laying and recycling, and executes long-term, continuous and ocean weather station observation task, makes depth
Sea observation data record process flexible, stabilization, have higher controllability.
With reference to other accompanying drawings to structure, the principle of the unmanned boat of the present invention recycled in real time for deep-sea observation data
And advantageous effect illustrates.As shown in Figure 1, Figure 2 and shown in Fig. 5, one embodiment of the present invention observes data reality for deep-sea
The unmanned boat of Shi Huishou carries automatic distributing and discharging device and automatic control system on hull 1, and the automatic control system is for nobody
The control of ship and message center can automatically control the operation of propulsion device 9 according to the coordinate set, so that hull 1 is reached specified
Place, such as can be established and be communicated to connect by communication network and bank base command centre.
In conjunction with shown in Fig. 3, the automatic distributing and discharging device includes automatic distributing and discharging anchor device, lifting gear and and lifting gear
The underwater acoustic communication set 10 of connection, the underwater acoustic communication set 10 are connect by armored cable 8 with automatic control system, lifting gear band
10 raising and lowering of dynamic underwater acoustic communication set, to adjust 10 underwater position of underwater acoustic communication set, and underwater acoustic communication set 10 and lifting
Device be rotation connection so that underwater acoustic communication set 10 can OQ t device rotation, realize 360 ° rotation.The automatic distributing and discharging anchor
Device realizes that unmanned boat pinpoints work for discharging anchor automatically when hull 1 reaches designated position with fixed hull 1.
In said program, the rotation connection mode of underwater acoustic communication set and lifting gear allows underwater acoustic communication set to carry out
360 degree of rotation is located in signal optimum position in order to which underwater acoustic communication set finds best communication angle, improves data and returns
The efficiency and quality of receipts improve the accuracy and reliability of deep-sea observation.
In said program, the hull 1 be catamaran, the hull 1 be equipped with a supporting rack 3, below supporting rack 3 and
It is equipped with a fixed plate 2 positioned at the center of hull 1, the upper surface of fixed plate 2 is higher than the water line of hull 1, in the bottom of fixed plate 2
Equipped with sounding instrument 17, the sounding instrument 17 is connect with automatic control system, is used for real-time water depth value.
In said program, sounding instrument is set, in order to determine the depth of underwater acoustic communication set and/or residing region on unmanned boat
Degree lays depth convenient for control underwater acoustic communication set.
In conjunction with shown in Fig. 4, specifically, the lifting gear includes the first electric winch 4 being mounted on supporting rack 3, by
The hoistable platform 12 of first electric winch 4 driving, is arranged the device for regulating rotary on hoistable platform 12 and electronic compass 14, institute
It states the first electric winch 4 to connect with automatic control system, is controlled and run by automatic control system.The underwater acoustic communication set 10 is installed
On device for regulating rotary, rotated by device for regulating rotary driving underwater acoustic communication set 10.
The armored cable 8 is wrapped on the first electric winch 4, and the hoistable platform 12 is tied up to by four head-ropes 16
On armored cable 8 so that the gravity that hoistable platform 12 is born is transferred to armored cable 8, armored cable 8 and water by head-rope 16
One end that sound communication machine 10 connects is not subject to tractive force, and the first electric winch 4 drives hoistable platform by drawing armored cable 8
12 movements.Automatic control system is according to the 4 folding and unfolding armour of the first electric winch of underwater sound communication AUTOMATIC QUALITY CONTROL of underwater acoustic communication set 10
Cable 8 is filled, the rise and fall of underwater acoustic communication set 10 are completed, realizes the depthkeeping communication of different depth.
In said program, the hoistable platform 12 is a square plate, and every 16 one end of head-rope is connected to the four of square plate
A vertex, the other end are both connected on armored cable 8.Above-mentioned square plate and corresponding elevating mechanism are, it can be achieved that underwater acoustic communication set
Stabilization lay and recycle, stable structure is reliable, is suitable for deep-sea and observes more complicated environment, has higher applicability.
The device for regulating rotary includes motor 13 and rotating disc 11；The motor 13 is fixed on hoistable platform 12, electricity
Machine 13 and electronic compass 14 are connect by armored cable 8 with automatic control system, and the shaft of motor 13 is connect with rotating disc 11, and
13 shaft of motor is fixedly mounted on perpendicular to hoistable platform 12, underwater acoustic communication set 10 on rotating disc 11, when 13 shaft of motor rotates
When, rotating disc 11 will rotate therewith, to drive the rotation of underwater acoustic communication set 10.Automatic control system is passed using armored cable 8
Defeated signal, the bearing data that control motor 13 is rotated within the scope of 360 ° of level, and measured using electronic compass 14 realize the underwater sound
The oriented control of communication equipment 10.The installation direction keeping parallelism of the electronic compass 14 and underwater acoustic communication set 10, to ensure electricity
Sub- compass 14 can measure the direction of underwater acoustic communication set 10.The automatic control system is using the first electric winch 4 to armouring electricity
The rotation of the folding and unfolding and rotating disc 11 of cable 8 automatically adjusts the depth and direction of underwater acoustic communication set 10, realizes the steady of underwater data
Fixed, high-efficiency transfer.
The automatic distributing and discharging anchor device includes the second electric winch 7 and hawser 5 and anchor 6 being mounted on supporting rack 3；
The hawser 5 is wrapped on the second electric winch 7, and one end is connect with anchor 6.Second electric winch 7 connects with automatic control system
It connects, the automatic control system automatically controls 7 folding and unfolding hawser 5 of the second electric winch according to the water depth value of sounding instrument 17, completes anchor
6 laying and recycling, realizes the fixed point anchoring of unmanned boat.
In said program, a through hole 15 is offered on the hoistable platform 12, the hawser 5 passes through through hole 15, uses
In the swing of limitation hoistable platform 12, hawser 5 and 8 keeping parallelism of armored cable can improve the stability of hoistable platform 12.
The middle part of the fixed plate 2 is equipped with opening, which is located under the first electric winch 4 and the second electric winch 7
Side, the size of the opening at least allow underwater acoustic communication set 10 to pass through, it is preferable that the size of opening is not less than 12 He of hoistable platform
The size of anchor 6, to allow anchor 6 and hoistable platform 12 to pass through.
The unmanned boat of the present invention recycled in real time for deep-sea observation data is filled using fixed point, depthkeeping, orientation automatic distributing and discharging
It sets, anchor is transferred automatically in precalculated position, depth and the direction of underwater acoustic communication set are automatically adjusted using adjustment structure, realize that the underwater sound is logical
The control of the fixed point, depthkeeping and orientation of letter machine, to improve underwater sound communication quality, improve deep-sea observation data record efficiency and
Quality.
In the instructions provided here, numerous specific details are set forth.It is to be appreciated, however, that the implementation of the present invention
Example can be put into practice without these specific details.In some instances, well known method, structure is not been shown in detail
And technology, so as not to obscure the understanding of this description.
Similarly, it should be understood that in order to simplify the disclosure and help to understand one or more of each inventive aspect,
Above in the description of exemplary embodiment of the present invention, each feature of the invention is grouped together into single implementation sometimes
In example, figure or descriptions thereof.However, the method for the disclosure should be construed to reflect following intention：It is i.e. required to protect
Shield the present invention claims the more features of feature than being expressly recited in each claim.
It should be noted that above-described embodiment is that the present invention will be described rather than limits the invention, and
Those skilled in the art can design alternative embodiment without departing from the scope of the appended claims.In claim
In, any reference mark between bracket should not be configured to limitations on claims.Word "comprising" is not excluded for depositing
In elements or steps etc. not listed in the claims.Word "a" or "an" before element does not exclude the presence of more
A such element.The present invention can be by means of including the hardware of several different elements and by means of properly programmed calculating
Machine is realized.If in the unit claim for listing dry systems, several in these systems can be by same
Hardware branch embodies.The use of word first, second and third etc. does not indicate that any sequence.These words can be explained
For title.
Claims (10)
1. a kind of for the unmanned boat that recycles in real time of deep-sea observation data, which is characterized in that the unmanned boat includes：
Hull with propulsion device is provided with automatic distributing and discharging device and automatic control system on the hull；
The automatic distributing and discharging device connects underwater acoustic communication set；
The automatic control system is laid and is recycled to the underwater acoustic communication set for controlling the automatic distributing and discharging device.
2. a kind of unmanned boat recycled in real time for deep-sea observation data according to claim 1, which is characterized in that
The automatic distributing and discharging device includes：Automatic distributing and discharging anchor device and lifting gear, it is logical that the lifting gear connects the underwater sound
Letter machine；
The automatic distributing and discharging anchor device for discharging anchor when the hull reaches designated position with the fixation hull automatically；Institute
Lifting gear is stated for driving the underwater acoustic communication set to move up and down, and the underwater acoustic communication set and the lifting gear are rotation
Connection so that the underwater acoustic communication set can be rotated relative to the lifting gear；
The underwater acoustic communication set is connect by armored cable with the automatic control system.
3. a kind of unmanned boat recycled in real time for deep-sea observation data according to claim 2, which is characterized in that
The lifting gear includes the first electric winch being mounted on the hull, by first electric winch driving
The device for regulating rotary on the hoistable platform is arranged in hoistable platform；First electric winch is with described automatically control
System connection, the underwater acoustic communication set are mounted on the device for regulating rotary, and the underwater sound is driven by the device for regulating rotary
Communication equipment rotates.
4. a kind of unmanned boat recycled in real time for deep-sea observation data according to claim 3, which is characterized in that
Electronic compass is additionally provided on the hoistable platform, the device for regulating rotary includes motor and rotating disc；The motor is solid
It is scheduled on the hoistable platform, the motor and the electronic compass are connected by the armored cable and the automatic control system
It connects, the shaft of the motor is connect with the rotating disc, and the underwater acoustic communication set is fixedly mounted on the rotating disc.
5. a kind of unmanned boat recycled in real time for deep-sea observation data according to claim 3, which is characterized in that described
Armored cable is wrapped on first electric winch, and the hoistable platform is tied up to by four head-ropes on armored cable, is made
It obtains the gravity that the hoistable platform is born and armored cable is transferred to by head-rope, the first electric winch, which passes through, draws armored cable
To drive hoistable platform to move.
6. a kind of unmanned boat recycled in real time for deep-sea observation data according to claim 5, which is characterized in that described
Hoistable platform is a square plate, and one end of the every head-rope is connected to four vertex of square plate, and the other end is both connected to
On the armored cable.
7. a kind of unmanned boat recycled in real time for deep-sea observation data according to claim 3, which is characterized in that described
Automatic distributing and discharging anchor device includes the second electric winch, hawser and anchor；The cable takeup on second electric winch,
The other end is connect with the anchor；Second electric winch is connect with the automatic control system, and one is offered on the hoistable platform
Through hole, the hawser pass through the through hole, the swing for limiting the hoistable platform.
8. a kind of unmanned boat recycled in real time for deep-sea observation data according to claim 7, which is characterized in that described
Hull be equipped with a supporting rack, below support frame as described above and positioned at the hull center be equipped with a fixed plate, described first
Electric winch and the second electric winch are mounted on support frame as described above, and opening, the opening are equipped at the middle part of the fixed plate
Size at least allow the underwater acoustic communication set to pass through.
9. a kind of unmanned boat recycled in real time for deep-sea observation data according to claim 8, which is characterized in that described
The bottom of fixed plate is equipped with sounding instrument, and the sounding instrument is connect with the automatic control system.
10. a kind of unmanned boat recycled in real time for deep-sea observation data according to claim 1, it is characterised in that：Institute
It is catamaran to state hull.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810315323.8A CN108516058A (en) | 2018-04-10 | 2018-04-10 | A kind of unmanned boat recycled in real time for deep-sea observation data |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810315323.8A CN108516058A (en) | 2018-04-10 | 2018-04-10 | A kind of unmanned boat recycled in real time for deep-sea observation data |
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| CN201810315323.8A Pending CN108516058A (en) | 2018-04-10 | 2018-04-10 | A kind of unmanned boat recycled in real time for deep-sea observation data |
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| CN109131801A (en) * | 2018-10-12 | 2019-01-04 | 上海工业自动化仪表研究院有限公司 | The voluntary recall device and control method of the complete deep unmanned submersible in sea |
| CN109460061A (en) * | 2018-12-12 | 2019-03-12 | 国家***第二海洋研究所 | A kind of concurrent job method of autonomous underwater robot and geological sampling equipment |
| CN109501971A (en) * | 2018-12-27 | 2019-03-22 | 清华四川能源互联网研究院 | Unmanned boat system |
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| CN111661252A (en) * | 2020-06-19 | 2020-09-15 | 国家海洋技术中心 | Laying device of offshore seabed observation platform |
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| CN111907647A (en) * | 2020-04-23 | 2020-11-10 | 青岛海洋地质研究所 | Unmanned ship for deep and far sea geomagnetic daily variation observation |
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| CN110696961B (en) * | 2019-09-09 | 2020-12-22 | 中国船舶工业集团公司第七0八研究所 | Multi-beam equipment installation device and disassembly and assembly method thereof |
| CN111913228A (en) * | 2019-09-12 | 2020-11-10 | 青岛海洋地质研究所 | Ocean geomagnetic daily variation observation system |
| CN111907647A (en) * | 2020-04-23 | 2020-11-10 | 青岛海洋地质研究所 | Unmanned ship for deep and far sea geomagnetic daily variation observation |
| CN111661252A (en) * | 2020-06-19 | 2020-09-15 | 国家海洋技术中心 | Laying device of offshore seabed observation platform |
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