CN113306686A - Remote control type multi-joint deep sea inspection unmanned system - Google Patents
Remote control type multi-joint deep sea inspection unmanned system Download PDFInfo
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- CN113306686A CN113306686A CN202110635892.2A CN202110635892A CN113306686A CN 113306686 A CN113306686 A CN 113306686A CN 202110635892 A CN202110635892 A CN 202110635892A CN 113306686 A CN113306686 A CN 113306686A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/16—Control of attitude or depth by direct use of propellers or jets
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
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- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to a remote control type multi-joint deep sea inspection unmanned system which comprises a head cabin, a middle cabin and a tail cabin which are sequentially and flexibly connected, wherein each cabin body is respectively provided with a propeller, the middle cabin is loaded with an underwater sensor and internally provided with a motion control module, the tail cabin is connected with a control cabinet positioned above the water surface through a cable, the motion control module is connected with a computer positioned above the water surface, and the control cabinet is connected with the computer; the head cabin is connected with the middle cabin through a flexible joint, and the middle cabin is connected with the tail cabin through a flexible joint. Compared with the prior art, the unmanned underwater vehicle has the advantages of flexible movement, stable detection, improvement of safety and reliability of the unmanned system during underwater movement and the like.
Description
Technical Field
The invention relates to the technical field of unmanned systems, in particular to a remote control type multi-joint deep sea inspection unmanned system.
Background
In recent years, as more and more underwater facilities are laid on the seabed, remote-control unmanned systems are applied to inspection of underwater facilities such as underwater oil and gas production systems, seabed observation networks, and the like. At present, most remote control type unmanned systems are of single rigid structures, do not have good trafficability in increasingly complex underwater facilities, are heavy and do not move flexibly. The underwater snakelike unmanned system has good flexibility and trafficability, adopts a bionic driving mode simulating snake motion, and is not enough in motion stability because the body needs to swing continuously in order to maintain forward motion. Due to the fact that complex hydrodynamic modeling is involved, a high-precision control effect is difficult to obtain, the underwater inspection device does not have stable underwater detection capability generally, and the underwater inspection device cannot be used for inspection tasks of underwater facilities.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a remote control type multi-joint deep sea inspection unmanned system.
The purpose of the invention can be realized by the following technical scheme:
a remote control type multi-joint deep sea inspection unmanned system comprises a head cabin, a middle cabin, a tail cabin, two flexible joints, a cable, a control cabinet and a computer.
The head cabin is positioned at the head of the unmanned system, is used for detecting the front of the unmanned system, has certain movement capability, and is also a data processing and operation center of the unmanned system.
The middle cabin is positioned in the middle of the unmanned system, is used for carrying various underwater sensors for underwater detection, has certain movement capability, is also responsible for underwater positioning of the unmanned system, and is also a movement control center of the unmanned system.
The tail cabin is positioned at the tail part of the unmanned system, is responsible for power management of the whole unmanned system and has certain movement capability.
The two flexible joints are respectively positioned at two ends of the middle cabin of the unmanned system and are used for bending angles among different cabin bodies.
The cable is located at the rear end of the tail cabin and used for being connected with an underwater unmanned system, supplying power to the underwater unmanned system, communicating and controlling the underwater unmanned system.
The control cabinet is positioned at the other section of the cable above the water surface and used for providing power for the underwater unmanned system and switching communication and control signals.
And the computer is positioned above the water surface and is used for carrying out communication control with the unmanned system.
Preferably, the head cabin comprises a forward looking sonar, a head cabin front end cover, two illuminating lamps, two cameras, a head cabin barrel body, two head propellers, a head cabin rear end cover, a head cabin inner support, a single board computer and a flexible joint driving module.
As a preferable aspect of the present invention, the forward looking sonar is located in front of the head cabin, and is used for performing acoustic imaging and detection in front of the unmanned system, so as to identify a forward obstacle; the head cabin front end cover is positioned at the front end of the head cabin and used for protecting the head of the unmanned system; the two illuminating lamps are arranged on the front end cover of the head cabin, are symmetrical with each other, are perpendicular to the connecting line of the two cameras, and are used for illuminating the front of the unmanned system; the two cameras are arranged on the front end cover of the head cabin, are symmetrical to each other, are perpendicular to the connecting line of the two illuminating lamps, and are used for shooting videos in front of the unmanned system in real time; the head cabin body is used for protecting the components in the cabin; the two head propellers are positioned at the left side and the right side of the head cabin, the propelling directions are mutually vertical and respectively form an included angle of 45 degrees with the barrel direction of the head cabin, and the two head propellers are used for the motion of an unmanned system; the head cabin rear end cover is positioned at the tail part of the unmanned system, the through hole in the middle is provided with a watertight connecting terminal for supplying power to the flexible joint, and the through hole in the upper part is provided with a watertight connecting terminal for communicating with other cabin bodies and transmitting power; the head cabin inner support is positioned inside the head cabin, is used for supporting the inner structure of the head cabin and is used for fixing each part inside the head cabin; the single-board computer is arranged on a bracket in the head cabin and is used for processing and calculating data acquired by the unmanned system and is also responsible for communicating with the water surface computer; the flexible joint driving module is arranged on one side, close to the rear end cover of the head cabin, of the inner support of the head cabin and used for driving a flexible joint connected with the head cabin.
Preferably, the middle chamber comprises two middle chamber end covers, a middle chamber barrel body, two middle propellers, a laser imager, a Doppler velocimeter, a shallow stratigraphic profile instrument, an underwater sound beacon, a middle chamber inner support and a motion control module.
Preferably, the two middle cabin end covers are positioned at two ends of the middle cabin and used for sealing the barrel body of the middle cabin, the upper through hole of each middle cabin end cover is provided with a watertight connecting terminal for communicating with other cabin bodies and transmitting power, and the lower part of each middle cabin end cover can be provided with various underwater detection equipment; the middle cabin barrel body is used for protecting the components in the cabin; the two middle propellers are positioned at the upper side and the lower side of the middle cabin, have the same propelling direction and are vertical to the barrel body direction of the head cabin; the laser imager is arranged at the bottom of the middle cabin and is used for carrying out laser imaging on the structure of the underwater facility; the Doppler velocimeter is arranged at the bottom of the middle cabin and is used for measuring the speed of the unmanned system relative to the sea bottom and simultaneously measuring the flow velocity of the seawater at the bottom; the shallow stratum profiler is arranged at the bottom of the middle cabin and is used for performing acoustic imaging on an underwater facility structure buried under a shallow layer; the underwater acoustic beacon is arranged at one section of the upper part of the middle cabin, forms an underwater positioning system with the water surface ultra-short base line array and is used for acquiring the position of the underwater unmanned system; the middle cabin inner support is positioned in the middle cabin, is used for supporting the inner structure of the middle cabin and is used for fixing each part in the middle cabin; the motion control module is arranged on a support inside the middle cabin and used for attitude calculation and motion control of the unmanned system.
Preferably, the tail cabin comprises a front end cover of the tail cabin, a barrel body of the tail cabin, two tail propellers, a rear end cover of the tail cabin, a depth sensor, an internal support of the tail cabin, a flexible joint driving module and a power management module.
Preferably, the front end cover of the tail cabin is positioned at the front part of the tail cabin, the through hole in the middle is provided with a watertight connecting terminal for supplying power to the flexible joint, and the through hole in the upper part is provided with a watertight connecting terminal for communicating with other cabin bodies and transmitting power; the tail cabin barrel body is used for protecting the components in the cabin; the two tail propellers are positioned on the left side and the right side of the tail cabin, the propulsion directions are mutually vertical, and the included angles of 45 degrees are respectively formed between the propulsion directions and the direction of the cylinder body of the tail cabin, and the two tail propellers are used for the motion of the unmanned system; the tail cabin rear end cover is positioned at the tail part of the tail cabin and used for protecting the tail part of the unmanned system, and a watertight connecting terminal is arranged on the tail cabin rear end cover and connected with a cable through a through hole; the depth sensor is arranged on the rear end cover of the tail cabin and used for acquiring water depth data of the unmanned system; the tail cabin inner support is positioned in the tail cabin and used for supporting the inner structure of the tail cabin and fixing each component in the tail cabin; the flexible joint driving module is arranged on one side, close to a front end cover of the tail cabin, of the internal support of the tail cabin and is used for driving a flexible joint connected with the tail cabin; the power management module is arranged on one side, close to the rear end cover of the tail cabin, of the inner support of the tail cabin and used for supplying power to all parts in the unmanned system.
As the optimization of the invention, the flexible joint comprises a flexible joint front end cover, four flexible joint middle skeletons, bionic artificial muscles and a flexible joint rear end cover.
Preferably, the flexible joint front end cover is positioned at the front end of the flexible joint, the upper part of the flexible joint front end cover is vacant and used for wiring to facilitate communication and power transmission between the cabin bodies, and the middle through hole of the flexible joint front end cover is provided with a watertight connecting terminal for supplying power to the bionic artificial muscle; the middle skeletons of the four flexible joints are sequentially connected, and the heads and the tails of the skeletons are respectively connected with the front end cover and the rear end cover of the flexible joints; the bionic artificial muscle is positioned among the middle skeletons of the four flexible joints, between the front end cover of the flexible joint and the middle skeleton, and between the middle skeleton of the flexible joint and the rear end cover of the flexible joint. As the preferred scheme, the bionic artificial muscles are thirty, the left side and the right side of the flexible joint front end cover are taken as the standard, three layers of bionic artificial muscles are symmetrically arranged between the end parts of the middle skeleton of the flexible joint, between the end parts and the flexible joint front end cover and between the end parts and the flexible joint rear end cover, and each layer is provided with five bionic artificial muscles. The bionic artificial muscle is formed by winding a dielectric elastomer film composite material and is used for drawing the middle skeleton of the flexible joint to realize the bending of the flexible joint.
Preferably, the connection relationship of each component of the remote control type multi-joint deep sea inspection unmanned system is as follows:
on the electrical connection, the remote control type multi-joint deep sea inspection unmanned system is not provided with a built-in battery, the unmanned system is supplied with power by a water control cabinet through a cable, the electric energy firstly passes through a power supply management module, then the power supply management module respectively supplies power to each electric component of the unmanned system, each electric component comprises a shallow stratum profiler, a forward looking sonar, a laser imager, an underwater sound beacon, a Doppler velocimeter, a depth sensor, a single-board computer, two flexible joint driving modules, two cameras, two illuminating lamps, a motion control module and six propellers, wherein a set of inertia measurement unit is arranged in the motion control module, and in addition, the electric energy transmitted to the two flexible joint driving modules is distributed to each bionic artificial muscle by the flexible joint driving modules.
On the communication connection, the motion control module is respectively connected with the six propellers, the two illuminating lamps and the two flexible joint driving modules in a one-way mode to realize the control of the six propellers, the two illuminating lamps and the two flexible joint driving modules, and meanwhile, the motion control module is also connected with the single-board computer in a two-way mode to carry out two-way communication; the single board computer is in bidirectional connection with the power supply management module, on one hand, the single board computer can receive information about electric energy distribution sent by the power supply management module, and on the other hand, the single board computer can also perform related configuration on the power supply management module; the single board computer is respectively connected with the two cameras in a bidirectional way, so that on one hand, the single board computer can receive image information transmitted back by the cameras, and on the other hand, the single board computer can control the cameras; the single-board computer is respectively connected with the shallow stratum profiler, the forward-looking sonar, the laser imager, the underwater acoustic beacon, the Doppler velocimeter and the depth sensor in a bidirectional way to realize communication and control with the shallow stratum profiler, the forward-looking sonar, the laser imager, the underwater acoustic beacon, the Doppler velocimeter and the depth sensor; the single-board computer is in bidirectional connection with the overwater control cabinet and is used for communication and control between the three-section underwater unmanned system and the overwater part; the control cabinet is connected with the computer in two directions and is used for communication and control between the computer and the control cabinet, and the control cabinet is equivalent to a switching part between the computer and the single board computer on the communication connection.
Preferably, the remote control type multi-joint deep sea inspection unmanned system performs tasks and comprises the following steps:
s1: in a task, after the unmanned system is started, firstly, the single board computer carries out self-checking to judge whether each functional module per se is normal or not, if not, a maintainer carries out maintenance, and the task is ended; if the water is normal, hoisting the unmanned system by a winch to launch;
s2: after the unmanned system is launched, firstly, the motion control module controls each propeller to adjust the self posture of the unmanned system, and then after the forward-looking sonar, the underwater acoustic beacon and the Doppler velocimeter are opened, an operator remotely controls the unmanned system to sail to an area needing to be inspected underwater;
s3: after the area needing to be inspected is reached, the shallow stratum profiler and the laser imager are controlled to be opened, the remote control unmanned system is used for inspecting the underwater facilities, and meanwhile, the unmanned system returns the acoustic image and the optical image of the underwater sensor;
s4: when the task does not need to be finished, the remote control unmanned system continues to execute the inspection task; when the task needs to be finished, the shallow stratum profiler and the laser imager are closed firstly, then the remote control unmanned system sails to the position near the water surface support ship, the forward-looking sonar, the underwater acoustic beacon and the Doppler velocimeter are closed, finally the unmanned system is hoisted to be loaded onto the ship through the winch, and the task is finished.
Compared with the prior art, the remote control type multi-joint deep sea inspection unmanned system provided by the invention at least has the following beneficial effects:
1) compared with the traditional remote control type underwater unmanned system, the invention is added with the bendable flexible joints, so that the angles among the three cabin bodies can be adjusted, and the system has high motion flexibility and trafficability.
2) Compared with the traditional underwater snakelike unmanned system, the underwater vehicle-mounted underwater vehicle is not driven by a snakelike bionic wave propulsion mode, but is driven by a traditional propeller, has high motion stability and has stable underwater detection capability.
3) Compared with the traditional single rigid underwater unmanned system, the distributed multi-group propeller arrangement is adopted, so that the distributed multi-group propeller arrangement has high redundancy and can complete more actions with high complexity.
4) The unmanned system is in a remote control type, three cabin bodies of the unmanned system are connected through flexible joints, communication and power transmission are carried out through watertight cables, the flexible joint driving module, the propeller and the illuminating lamp can be controlled by the motion control module through the design of the flexible joints, the inspection moving direction of the unmanned system is further controlled, the flexibility is high, in special cases, the front-looking sonar, the underwater acoustic beacon and the Doppler speedometer can be turned off after the unmanned system is turned off through the cooperation of the three flexible joints and remotely controlled by the shallow stratum profiler and the laser imager to sail near a water surface supporting ship, and the safety and the reliability of the unmanned system during underwater activities are effectively improved.
5) The flexible joint design of the bionic artificial muscle is adopted, and the flexible joint is more smooth to bend and more energy-saving.
Drawings
FIG. 1 is a schematic structural component diagram of a remote control type multi-joint deep sea inspection unmanned system in the embodiment;
FIG. 2 is a schematic view of an external structure of the head chamber at a left angle in the embodiment;
FIG. 3 is a schematic view of the external structure of the head chamber at a right angle in the embodiment;
FIG. 4 is a schematic view showing the internal structure of the head chamber in the embodiment;
FIG. 5 is a schematic diagram showing an external structural configuration of the middle compartment at a left viewing angle in the example;
FIG. 6 is a schematic view showing the external structure of the middle compartment at a right angle in the embodiment;
FIG. 7 is a schematic view showing the internal structure of the middle tank in the embodiment;
FIG. 8 is a schematic diagram illustrating an external structural configuration of the aft nacelle at a left viewing angle in the example;
FIG. 9 is a schematic view of the external structure of the tail tank at a right angle in the embodiment;
FIG. 10 is a schematic view showing the internal structure of the tail tank in the embodiment;
FIG. 11 is a schematic structural component view of a flexible joint according to an embodiment;
FIG. 12 is a connection relationship diagram of components in the remote control type multi-joint deep sea inspection unmanned system in the embodiment;
FIG. 13 is a flowchart of a process for executing tasks by the remote control type multi-joint deep sea inspection unmanned system in the embodiment;
the reference numbers in the figures indicate:
1. 1-1 of head cabin, 1-2 of forward-looking sonar, 1-2 of head cabin front end cover, 1-3 of illuminating lamp, 1-4 of camera, 1-5 of head cabin barrel body, 1-6 of head propeller, 1-7 of head cabin rear end cover, 1-8 of head cabin inner support, 1-9 of single board computer, 1-10 of first flexible joint driving module, 2 of middle cabin, 2-1 of middle cabin end cover, 2-2 of middle cabin barrel body, 2-3 of middle propeller, 2-4 of laser imager, 2-5 of Doppler velocimeter, 2-6 of shallow stratum profiler, 2-7 of hydroacoustic beacon, 2-8 of middle cabin inner support, 2-9 of motion control module, 3 of tail cabin, 3-1 of motion control module, 3-2 parts of a tail cabin front end cover, 3-3 parts of a tail cabin barrel body, 3-4 parts of a tail propeller, 3-5 parts of a tail cabin rear end cover, 3-6 parts of a depth sensor, 3-7 parts of a tail cabin inner support, 3-8 parts of a second flexible joint driving module, 4 parts of a power supply management module, 4 parts of a flexible joint, 4-1 parts of a flexible joint front end cover, 4-2 parts of a flexible joint middle framework, 4-3 parts of a bionic artificial muscle, 4-4 parts of a flexible joint rear end cover, 5 parts of a cable, 6 parts of a control cabinet, 7 parts of a computer.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, shall fall within the scope of protection of the present invention.
Examples
As shown in fig. 1, the invention relates to a remote control type multi-joint deep sea inspection unmanned system, which comprises a head cabin 1, a middle cabin 2, a tail cabin 3, two flexible joints 4, a cable 5, a control cabinet 6 and a computer 7.
The head cabin 1 is positioned at the head of the unmanned system, is used for detecting the front of the unmanned system, has certain movement capability, and is also a data processing and operation center of the unmanned system. The middle cabin 2 is positioned in the middle of the unmanned system, is used for carrying various underwater sensors for underwater detection, has certain movement capability, is also responsible for underwater positioning of the unmanned system, and is also a movement control center of the unmanned system. The tail cabin 3 is positioned at the tail of the unmanned system, is responsible for power management of the whole unmanned system and has certain movement capability. The two flexible joints 4 are respectively positioned at two ends of the middle cabin 2 of the unmanned system and are used for bending angles among different cabin bodies. And the cable 5 is positioned at the rear end of the tail cabin 3 and is used for connecting an underwater unmanned system, supplying power to the underwater unmanned system and controlling communication. The control cabinet 6 is positioned at the other end of the cable 5 and is above the water surface and used for providing power for the underwater unmanned system and switching communication and control signals. The computer 7 is positioned above the water surface and is used for carrying out communication control with the unmanned system.
The three cabin bodies of the remote control type multi-joint deep sea inspection unmanned system can be connected with each other through flexible joints.
The components of the remote control type multi-joint deep sea inspection unmanned system are described one by one.
The external structure composition schematic diagram of the head cabin 1 is shown in fig. 2 and fig. 3, the internal structure composition schematic diagram of the head cabin 1 is shown in fig. 4, and the head cabin comprises a forward-looking sonar 1-1, a head cabin front end cover 1-2, two illuminating lamps 1-3, two cameras 1-4, a head cabin barrel body 1-5, two head propellers 1-6, a head cabin rear end cover 1-7, a head cabin internal support 1-8, a single board computer 1-9 and a first flexible joint driving module 1-10.
The forward-looking sonar 1-1 is located in front of the head cabin 1 and used for carrying out acoustic imaging and detection on the front of the unmanned system and identifying a front obstacle. The head cabin front end cover 1-2 is positioned at the front end of the head cabin 1 and used for protecting the head of the unmanned system. The two illuminating lamps 1-3 and the two cameras 1-4 are arranged on a front end cover 1-2 of the head cabin, the two illuminating lamps 1-3 are mutually symmetrical, the two cameras 1-4 are mutually symmetrical, a connecting line of the two illuminating lamps 1-3 is perpendicular to a connecting line of the two cameras 1-4, the illuminating lamps 1-3 are used for illuminating the front of the unmanned system, and the cameras 1-4 are used for shooting videos in front of the unmanned system in real time. The head cabin barrel body 1-5 is used for protecting the components in the cabin; the two head propellers 1-6 are positioned at the left side and the right side of the head cabin 1, the propulsion directions are mutually vertical and respectively form an included angle of 45 degrees with the axial direction of the cylinder body of the head cabin cylinder body 1-5, and the head cabin is used for the motion of an unmanned system. The head cabin rear end cover 1-7 is located at the tail of the unmanned system, through holes are respectively arranged at the central position of the head cabin rear end cover 1-7 and above the central position, watertight connecting terminals are mounted in the through holes in the middle and used for supplying power to the flexible joints 4, and watertight connecting terminals are mounted in the through holes in the upper portion and used for communicating with other cabin bodies and transmitting power. The head compartment internal supports 1-8 are located inside the head compartment 1 for supporting the internal structure of the head compartment 1 and for fixing the various components inside the head compartment 1. The single board computer 1-9 is arranged on the inner bracket 1-8 of the head cabin and is used for processing and calculating data acquired by the unmanned system and is also responsible for communicating with the water surface computer 7. The first flexible joint driving module 1-10 is arranged on one side, close to a head cabin rear end cover 1-7, of a head cabin inner support 1-8 and used for driving a flexible joint 4 connected with the head cabin 1.
The schematic diagram of the external structure composition of the middle chamber 2 is shown in fig. 5 and 6, the schematic diagram of the internal structure composition of the middle chamber 2 is shown in fig. 7, and the schematic diagram comprises two middle chamber end covers 2-1, a middle chamber barrel 2-2, two middle propellers 2-3, a laser imager 2-4, a doppler velocity meter 2-5, a shallow stratum profiler 2-6, an underwater acoustic beacon 2-7, a middle chamber internal support 2-8 and a motion control module 2-9.
The two middle cabin end covers 2-1 are positioned at two ends of the middle cabin barrel body 2-2 and used for sealing the middle cabin barrel body 2-2, through holes are respectively arranged above the two middle cabin end covers 2-1, and watertight connecting terminals are installed on the through holes at the upper parts and used for communicating with other cabin bodies and transmitting power. The middle cabin barrel body 2-2 is used for protecting the internal components. The two middle propellers 2-3 are positioned at the upper and lower sides of the middle cabin 2, have the same propelling direction and are vertical to the middle cabin barrel body 2-2. The laser imaging instrument 2-4 is arranged at the bottom of the middle cabin 2 and is used for carrying out laser imaging on the structure of the underwater facility. The Doppler velocimeter 2-5 is arranged at the bottom of the middle cabin 2 and is used for measuring the speed of the unmanned system relative to the sea bottom and measuring the flow velocity of the seawater at the bottom. The shallow profiler 2-6 is arranged at the bottom of the middle cabin 2 and is used for carrying out acoustic imaging on an underwater facility structure buried under a shallow layer. The underwater acoustic beacons 2-7 are arranged at one end of the top of the middle cabin 2, and form an underwater positioning system together with the water surface ultra-short baseline array, so as to obtain the position of the underwater unmanned system. The middle cabin inner support 2-8 is located inside the middle cabin 2, and is used for supporting the inner structure of the middle cabin 2 and fixing each part inside the middle cabin 2. The motion control module 2-9 is arranged on the support 2-8 in the middle cabin and used for attitude calculation and motion control of the unmanned system.
The schematic external structural composition diagram of the tail cabin 3 is shown in fig. 8 and 9, and the schematic internal structural composition diagram of the tail cabin 3 is shown in fig. 10, and the tail cabin comprises a tail cabin front end cover 3-1, a tail cabin barrel body 3-2, two tail propellers 3-3, a tail cabin rear end cover 3-4, a depth sensor 3-5, a tail cabin internal support 3-6, a second flexible joint driving module 3-7 and a power management module 3-8.
The tail cabin front end cover 3-1 is positioned at the front part of the tail cabin 3, through holes are respectively arranged at the central position and above the central position of the tail cabin front end cover 3-1, watertight connecting terminals are arranged in the through holes in the middle part and used for supplying power to the flexible joints 4, and watertight connecting terminals are arranged in the through holes in the upper part and used for communicating with other cabin bodies and transmitting power. The tail cabin barrel body 3-2 is used for protecting the internal components. The two tail propellers 3-3 are respectively positioned at the left side and the right side of the tail cabin 3, the propulsion directions are mutually vertical, and respectively form an included angle of 45 degrees with the axial direction of the tail cabin barrel body 3-2, and the tail cabin barrel body is used for the motion of an unmanned system. The tail cabin rear end cover 3-4 is positioned at the tail part of the tail cabin 3 and used for protecting the tail part of the unmanned system, and a through hole is reserved on the tail cabin rear end cover 3-4 and used for being connected with a cable 5 through a watertight connecting terminal. The depth sensor 3-5 is mounted on a rear end cover 3-4 of the tail cabin and used for acquiring water depth data of the unmanned system. The aft nacelle inner support 3-6 is located inside the aft nacelle 3 for supporting the inner structure of the aft nacelle 3 and for fixing various components inside the aft nacelle 3. The second flexible joint driving module 3-7 is arranged on one side, close to the tail cabin front end cover 3-1, of the tail cabin inner support 3-6 and is used for driving a flexible joint 4 connected with the tail cabin 3; the power management module 3-8 is arranged on one side, close to the rear end cover 3-4 of the tail cabin, of the support 3-6 in the tail cabin and used for supplying power to all parts in the unmanned system.
The schematic structural composition diagram of the flexible joint 4 is shown in fig. 11, and comprises a flexible joint front end cover 4-1, four flexible joint middle skeletons 4-2, thirty bionic artificial muscles 4-3 and a flexible joint rear end cover 4-4.
The flexible joint front end cover 4-1 is positioned at the front end of the flexible joint 4, the upper part of the flexible joint front end cover is vacant and used for wiring to facilitate communication and power transmission between the cabin bodies, and the middle part of the flexible joint front end cover is provided with a through hole which can be provided with a watertight connecting terminal for supplying power to the bionic artificial muscle 4-3. The middle frameworks 4-2 of the four flexible joints are sequentially connected, and the heads and the tails of the four flexible joints are respectively connected with the front end cover 4-1 of the flexible joint and the rear end cover 4-4 of the flexible joint. The middle frameworks 4-2 of the four flexible joints, the front end cover 4-1 of the flexible joints and the rear end cover 4-4 of the flexible joints form five sections of spaces for installing the bionic artificial muscles.
The thirty bionic artificial muscles 4-3 are positioned between four flexible joint middle frameworks 4-2, between a flexible joint front end cover 4-1 and the middle framework 4-2 and between the flexible joint middle framework 4-2 and a flexible joint rear end cover 4-4, and are fifteen respectively from left to right (three layers of bionic artificial muscles 4-3 are symmetrically arranged between the end parts of the flexible joint middle frameworks 4-2, between the end parts and the flexible joint front end cover 4-1 and between the end parts and the flexible joint rear end cover 4-4, and each layer is 5), the bionic artificial muscles 4-3 are formed by winding a dielectric elastomer film composite material and are used for drawing the flexible joint middle frameworks 4-2 to realize the bending of the flexible joints 4.
The connection relation diagram of each component of the remote control type multi-joint deep sea inspection unmanned system is shown in figure 12. On the electrical connection, the remote control type multi-joint deep sea inspection unmanned system is not provided with a built-in battery, the water control cabinet supplies power to the unmanned system through a cable, and electric energy firstly passes through the power supply management module and then is supplied with power to each power utilization component of the unmanned system by the power supply management module. The power utilization assembly comprises a shallow stratum profiler, a forward-looking sonar, a laser imager, an underwater acoustic beacon, a Doppler velocimeter, a depth sensor, a single-board computer, two flexible joint driving modules, two cameras, two illuminating lamps, a motion control module and six propellers, wherein a set of inertia measurement unit is arranged in the motion control module, and in addition, electric energy transmitted to the two flexible joint driving modules is distributed to each bionic artificial muscle by the flexible joint driving modules. On the communication connection, the motion control module is respectively connected with the six propellers, the two illuminating lamps and the two flexible joint driving modules in a one-way mode to realize the control of the six propellers, the two illuminating lamps and the two flexible joint driving modules, and meanwhile, the motion control module is also connected with the single-board computer in a two-way mode to carry out two-way communication; the single board computer is in bidirectional connection with the power supply management module, on one hand, the single board computer can receive information about electric energy distribution sent by the power supply management module, and on the other hand, the single board computer can also perform related configuration on the power supply management module; the single board computer is respectively connected with the two cameras in a bidirectional way, so that on one hand, the single board computer can receive image information transmitted back by the cameras, and on the other hand, the single board computer can control the cameras; the single-board computer is respectively connected with the shallow stratum profiler, the forward-looking sonar, the laser imager, the underwater acoustic beacon, the Doppler velocimeter and the depth sensor in a bidirectional way to realize communication and control with the shallow stratum profiler, the forward-looking sonar, the laser imager, the underwater acoustic beacon, the Doppler velocimeter and the depth sensor; the single-board computer is in bidirectional connection with the overwater control cabinet and is used for communication and control between the three-section underwater unmanned system and the overwater part; the control cabinet is connected with the computer in two directions and is used for communication and control between the computer and the control cabinet, and the control cabinet is equivalent to a switching part between the computer and the single board computer on the communication connection.
Fig. 13 shows a flow chart of a task program executed by the remote control type multi-joint deep sea inspection unmanned system. In a task, after the unmanned system is started, firstly, the single board computer carries out self-checking of the unmanned system, whether each functional module of the unmanned system is normal is judged, if not, a maintainer carries out maintenance, and the task is ended; and if the water is normal, hoisting the unmanned system by a winch to launch. After the unmanned system is launched, the six propellers are controlled by the motion control module to adjust and stabilize the posture of the unmanned system, the forward-looking sonar, the underwater acoustic beacon and the Doppler velocimeter are opened, and then an operator remotely controls the unmanned system to sail to an area needing to be inspected underwater. After the area is reached, an operator opens the shallow layer profiler and the laser imager, then the remote control unmanned system checks the underwater facilities, and simultaneously the unmanned system returns the acoustic images and the optical images of all the sensors. When the task does not need to be finished, the operator continues to remotely control the unmanned system to execute the inspection task; when the task needs to be finished, an operator firstly closes the shallow stratum profiler and the laser imager, then remotely controls the unmanned system to sail to the position near the water surface support ship, then closes the forward-looking sonar, the underwater sound beacon and the Doppler velocimeter, and finally hoists the unmanned system to go onto the ship through the winch, and the task is finished.
The unmanned system is in a remote control type, three cabin bodies of the unmanned system are connected through flexible joints, communication and power transmission are carried out through watertight cables, the flexible joint driving module, the propeller and the illuminating lamp can be controlled by the motion control module through the design of the flexible joints, the inspection moving direction of the unmanned system is further controlled, the flexibility is high, in special cases, the front-looking sonar, the underwater acoustic beacon and the Doppler speedometer can be turned off after the unmanned system is turned off through the cooperation of the three flexible joints and remotely controlled by the shallow stratum profiler and the laser imager to sail near a water surface supporting ship, and the safety and the reliability of the unmanned system during underwater activities are effectively improved. Compared with the traditional remote control type underwater unmanned system, the invention has the advantages that the angle among the three cabin bodies is adjustable due to the addition of the bendable flexible joints, and the system has high motion flexibility and trafficability. The underwater detection device is propelled by the integrated distributed propeller, has high motion stability, has stable underwater detection capability, has high redundancy and can complete a plurality of actions with high complexity.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and those skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A remote control type multi-joint deep sea inspection unmanned system is characterized by comprising a head cabin (1), a middle cabin (2) and a tail cabin (3) which are sequentially and flexibly connected, wherein each cabin body is respectively provided with a propeller, the middle cabin (2) is loaded with an underwater sensor, a motion control module (2-9) for controlling the propellers is arranged in the middle cabin, the tail cabin (3) is connected with a control cabinet (6) positioned above the water surface through a cable (5), the motion control module (2-9) is connected with a computer (7) positioned above the water surface, and the control cabinet (6) is connected with the computer (7);
the unmanned system is firstly self-checked after being started, if the self-check is normal, the unmanned system is controlled to launch, after the unmanned system launches, the motion control module (2-9) controls the propeller to adjust the self posture of the unmanned system, then the underwater sensor is turned on, and the unmanned system is remotely controlled to sail to an area needing to be inspected underwater; and after the underwater sensor arrives at the area, the underwater sensor is started, the remote control unmanned system checks the underwater facilities, and meanwhile, the unmanned system returns the acquisition information of the underwater sensor.
2. The remote control type multi-joint deep sea inspection unmanned system according to claim 1, wherein the head cabin (1) is connected with the middle cabin (2) through a flexible joint (4), and the middle cabin (2) is connected with the tail cabin (3) through a flexible joint (4).
3. The remote-control type multi-joint deep sea inspection unmanned system according to claim 2, wherein the head cabin (1) comprises a forward-looking sonar (1-1), a head cabin front end cover (1-2), an illuminating lamp (1-3), a camera (1-4), a head cabin barrel body (1-5), a head propeller (1-6), a head cabin rear end cover (1-7), a head cabin inner support (1-8), a single board computer (1-9) and a first flexible joint driving module (1-10), the head cabin front end cover (1-2) and the head cabin rear end cover (1-7) are respectively located at the front end and the rear end of the head cabin barrel body (1-5), and the forward-looking sonar (1-1), the illuminating lamp (1-3) and the camera (1-4) are mounted on the head cabin front end cover (1-2) And is connected with the motion control module (2-9); the two head propellers (1-6) are respectively arranged at the left side and the right side of the head cabin (1), the propelling directions of the two head propellers are mutually vertical, and the respective propelling directions form an included angle of 45 degrees with the axial direction of the barrel body of the head cabin barrel body (1-5); a through hole for installing a first watertight connecting terminal is formed in the head cabin rear end cover (1-7), the first watertight connecting terminal is connected with a flexible joint (4), the head cabin inner support (1-8) is arranged inside the head cabin barrel body (1-5), and the single board computer (1-9) and the first flexible joint driving module (1-10) are installed on the head cabin inner support (1-8); the single-board computer (1-9) is wirelessly connected with the computer (7) above the water surface, one end of the first flexible joint driving module (1-10) is connected with the motion control module (2-9), and the other end is connected with the flexible joint (4).
4. The remote-controlled multi-joint deep-sea inspection unmanned system according to claim 3, the middle cabin (2) comprises a middle cabin barrel body (2-2), middle cabin end covers (2-1) arranged at two ends of the middle cabin barrel body (2-2), middle propellers (2-3) arranged on the outer wall of the middle cabin barrel body (2-2), an underwater sensor arranged at the bottom of the middle cabin barrel body (2-2) and a motion control module (2-9) arranged inside the middle cabin barrel body (2-2), wherein the two middle propellers (2-3) are arranged on the upper side and the lower side of the outer wall of the middle cabin barrel body (2-2), the propelling directions of the two propellers are the same and are vertical to the direction of the middle cabin barrel body (2-2), and the underwater sensor is connected with the single board computer (1-9).
5. The remote control type multi-joint deep sea inspection unmanned system according to claim 4, wherein the underwater sensor comprises a laser imager (2-4), a Doppler velocimeter (2-5), a shallow layer profiler (2-6) and an underwater acoustic beacon (2-7), the laser imager (2-4), the Doppler velocimeter (2-5) and the shallow layer profiler (2-6) are arranged at the bottom of the middle cabin barrel (2-2), the underwater acoustic beacon (2-7) is arranged at one end of the top of the middle cabin barrel (2-2), and a middle cabin inner support (2-8) used for installing a motion control module (2-9) is arranged inside the middle cabin barrel (2-2).
6. The remote control type multi-joint deep sea inspection unmanned system according to claim 5, wherein the tail cabin (3) comprises a tail cabin barrel body (3-2), a tail cabin front end cover (3-1) and a tail cabin rear end cover (3-4) which are arranged at the front end and the rear end of the tail cabin barrel body (3-2), tail propellers (3-3) which are arranged at the left side and the right side of the tail cabin barrel body (3-2), a second flexible joint driving module (3-7) which is arranged inside the tail cabin barrel body (3-2) and a depth sensor (3-5) which is arranged on the tail cabin rear end cover (3-4), the propelling directions of the two tail propellers (3-3) are mutually vertical and respectively form an included angle of 45 degrees with the axial direction of the barrel body of the tail cabin barrel body (3-2), the tail cabin rear end cover (3-4) is provided with a through hole for installing a second watertight connecting terminal, the second watertight connecting terminal is connected with a cable (5), one end of a second flexible joint driving module (3-7) is connected with the motion control module (2-9), the other end of the second flexible joint driving module is connected with the flexible joint (4), and the depth sensor (3-5) is connected with the single board computer (1-9).
7. The remote-controlled multi-joint deep-sea inspection unmanned system according to claim 6, the flexible joint (4) comprises a flexible joint front end cover (4-1), a bionic artificial muscle (4-3), a flexible joint rear end cover (4-4) and four flexible joint middle skeletons (4-2), the four flexible joint middle skeletons (4-2) are connected in sequence, and the middle frameworks (4-2) of the flexible joints at two sides are respectively connected with the front end covers (4-1) of the flexible joints and the rear end covers (4-4) of the flexible joints, and the bionic artificial muscles (4-3) are arranged among the middle frameworks (4-2) of the flexible joints, between the front end covers (4-1) of the flexible joints and the middle frameworks (4-2) of the flexible joints and between the middle frameworks (4-2) of the flexible joints and the rear end covers (4-4) of the flexible joints.
8. The remote control type multi-joint deep sea inspection unmanned system according to claim 6, wherein the control cabinet (6) is provided with a power supply management module for supplying power to each power utilization component of the system, and the power supply management module is connected with the unmanned system through a cable (5).
9. The remote control type multi-joint deep sea inspection unmanned system according to claim 8, wherein the motion control module (2-9) is connected with the head thruster (1-6), the middle thruster (2-3), the tail thruster (3-3), the illuminating lamp (1-3), the first flexible joint driving module (1-10) and the second flexible joint driving module (3-7) in a one-way manner, and is connected with the single board computer (1-9) in a two-way manner; the single board computer (1-9) is bidirectionally connected with the power supply management module, and the single board computer (1-9) is bidirectionally connected with the camera (1-4); the single-board computers (1-9) are respectively connected with the underwater sensors and the depth sensors (3-5) in a bidirectional way; the single board computers (1-9) are connected with the control cabinet (6) in a bidirectional way; the control cabinet (6) is connected with the computer (7) in a bidirectional way.
10. The remote-control type articulated deep sea inspection unmanned system according to claim 9, wherein the remote-control type articulated deep sea inspection unmanned system performs inspection tasks including the following steps:
1) in a task, after the unmanned system is started, firstly, the single board computer (1-9) carries out self-checking, whether each functional module per se is normal is judged, if not, a maintainer carries out maintenance, and the task is ended; if the water is normal, hoisting the unmanned system by a winch to launch;
2) after the unmanned system is launched, firstly, the motion control module (2-9) controls each propeller to adjust the self posture of the unmanned system, and then, after the forward looking sonar (1-1), the underwater acoustic beacon (2-7) and the Doppler velocimeter (2-5) are opened, an operator remotely controls the unmanned system to sail to an area needing to be inspected underwater;
3) after the area needing to be inspected is reached, the shallow stratum profilers (2-6) and the laser imaging instruments (2-4) are controlled to be opened, the remote control unmanned system is used for inspecting underwater facilities, and meanwhile, the unmanned system returns acoustic images and optical images of the underwater sensor;
4) when the task does not need to be finished, the remote control unmanned system continues to execute the inspection task; when the task needs to be finished, the shallow stratum profiler (2-6) and the laser imager (2-4) are firstly closed, then the remote control unmanned system sails to the vicinity of a water surface support ship, the forward looking sonar (1-1), the underwater sound beacon (2-7) and the Doppler velocimeter (2-5) are closed, finally the unmanned system is hoisted to the ship through a winch, and the task is finished.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114572369A (en) * | 2022-03-14 | 2022-06-03 | 中国舰船研究设计中心 | Modularized snakelike underwater robot and use method thereof |
| CN114766393A (en) * | 2022-04-06 | 2022-07-22 | 滨州学院 | Inspection device for deep sea cultivation |
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- 2021-06-08 CN CN202110635892.2A patent/CN113306686A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114572369A (en) * | 2022-03-14 | 2022-06-03 | 中国舰船研究设计中心 | Modularized snakelike underwater robot and use method thereof |
| CN114766393A (en) * | 2022-04-06 | 2022-07-22 | 滨州学院 | Inspection device for deep sea cultivation |
| CN114766393B (en) * | 2022-04-06 | 2023-09-26 | 滨州学院 | Inspection device for deep sea cultivation |
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