CN114148493A - Manned underwater vehicle - Google Patents
Manned underwater vehicle Download PDFInfo
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- CN114148493A CN114148493A CN202111477475.6A CN202111477475A CN114148493A CN 114148493 A CN114148493 A CN 114148493A CN 202111477475 A CN202111477475 A CN 202111477475A CN 114148493 A CN114148493 A CN 114148493A
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- cabin body
- main cabin
- main
- underwater vehicle
- camera
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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
- B63G8/08—Propulsion
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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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Closed-Circuit Television Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a manned underwater vehicle which comprises a closed main cabin body and an underwater navigation station arranged on the upper surface of the main cabin body, wherein a battery cabin for providing power and an electric control assembly for controlling are arranged in the main cabin body; at least two independently controllable horizontal propellers are symmetrically arranged on the rear side of the main cabin body, horizontal water inlet ducts communicated with the horizontal propellers are correspondingly arranged, and the thrust direction of the horizontal propellers is parallel to the length direction of the main cabin body; at least four vertical thrusters which can be independently controlled are symmetrically arranged on the periphery of the main cabin body, vertical water inlet ducts communicated with the vertical thrusters are correspondingly arranged, and the thrust direction of the vertical thrusters is perpendicular to that of the horizontal thrusters. The manned underwater vehicle provided by the invention has the advantages of high operation freedom degree, good stability and convenience in operation and use.
Description
Technical Field
The invention relates to the technical field of underwater vehicles, in particular to a manned underwater vehicle.
Background
An underwater vehicle, namely a submersible vehicle, is a high-reliability underwater electric power navigation body, and the application of the underwater electric power navigation body mainly focuses on the following aspects: firstly, the underwater transportation vehicle is used as an underwater vehicle for quickly transporting divers and equipment thereof to a specified place for production and engineering operation; secondly, underwater surveying is carried out; and thirdly, underwater rescue and the like.
Generally, underwater vehicles require movement of the fuselage through thrusters within the fuselage, typically having horizontal thrusters that primarily control forward, reverse, and steering of the vehicle, and vertical thrusters that primarily control the ascent, descent, depthkeeping, and pitching movements of the vehicle. The vertical thruster of the existing underwater vehicle is usually arranged at one end of a vehicle body, and because the other end of the vehicle body is lack of control, the stable fixed-depth navigation and the horizontal vertical lifting operation of the vehicle body of the existing underwater vehicle can not be realized, and the stable horizontal navigation under the pitching attitude can not be realized, so that the underwater vehicle has the advantages of small operation freedom, poor maneuvering performance, low flexibility and poor stability, and can not be well adapted to the complex underwater environment to carry out free and stable observation and engineering operation; secondly, the current part of underwater vehicles adopts a differential rudder plate mode to control steering, and the problem of inconvenient use exists.
Therefore, it is objectively needed to develop a manned underwater vehicle with high freedom of operation, good stability and convenient operation and use.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the manned underwater vehicle has high freedom degree of operation, good stability and convenient operation and use.
In order to solve the technical problems, the invention adopts the technical scheme that:
the manned underwater vehicle comprises a closed main cabin body and an underwater navigation station arranged on the upper surface of the main cabin body, wherein a battery cabin and an electrical control assembly are arranged in the main cabin body, and a main display instrument, a parameter setting button, and a functional handle and an attitude handle which are positioned on two sides of the main display instrument are arranged at the front end of the underwater navigation station;
the rear side of the main cabin body is symmetrically provided with at least two independently controllable horizontal thrusters, the positions of the two sides of the main cabin body close to the rear side are respectively provided with a horizontal water inlet duct communicated with the horizontal thrusters, and the thrust direction of the horizontal thrusters is parallel to the length direction of the main cabin body;
at least four independently controllable vertical propellers are symmetrically arranged on the periphery of the main cabin body, vertical water inlet ducts communicated with the vertical propellers are respectively arranged at the bottom of the main cabin body, and the thrust direction of the vertical propellers is vertical to that of the horizontal propellers;
the main display instrument, the parameter setting button, the function handle, the gesture handle, the horizontal propeller and the vertical propeller are communicated with the battery compartment through wires and are connected with the electrical control assembly.
The invention has the beneficial effects that: a manned underwater vehicle is characterized in that four vertical thrusters capable of being independently controlled in a frequency conversion mode and two horizontal thrusters capable of being independently controlled in a frequency conversion mode are mounted on a main cabin body, and the four vertical thrusters and the two horizontal thrusters are matched with each other for use, so that the underwater vehicle can achieve posture actions such as forward movement, backward movement, upward floating movement, downward submerging movement, horizontal translation, turning, overturning movement, upward and downward movement, fixed-depth hovering and the like. Secondly, an underwater navigation station is arranged on the main cabin body, and the underwater navigation station is a diver groveling and holding station when carrying people, so that the body of the diver is supported, and the fatigue generation speed of the diver is reduced; meanwhile, a diver lies on the upper surface of the main cabin body, controls the functional handle on the other hand and the attitude handle on the other hand, controls the on/off and acceleration/deceleration of the underwater vehicle through the functional handle, controls various running attitudes of the underwater vehicle through the attitude handle, is convenient to operate and control, is more accurate in attitude control, can realize attitude control at low speed and in a static state, cannot control the type of vehicle by a rudder plate, and further improves the running freedom of the underwater vehicle. Finally, the invention can be used for carrying people or goods, can carry out tasks such as transportation and the like under water for a long time, and improves the applicability of the invention, namely the invention provides the manned underwater vehicle which has high freedom degree of operation, good stability and convenient operation and use.
Drawings
Fig. 1 to 3 are perspective views of a manned underwater vehicle according to an embodiment of the invention from different perspectives;
FIG. 4 is a schematic perspective view of a rotatable camera assembly according to an embodiment of the present invention;
FIG. 5 is a schematic view of the flexible antenna and the water deflector according to an embodiment of the present invention;
description of reference numerals:
1. a main cabin; 11. a battery compartment; 12. a horizontal water inlet duct; 13. a vertical water inlet duct; 14. a protective mesh enclosure; 15. a slideway; 16. a flow blocking cover; 17. a water baffle; 171. a drainage groove; 18. a transparent arc surface;
2. an underwater navigation station; 21. a main display instrument; 22. a parameter setting button; 23. a functional handle; 24. a gesture handle; 25. a bracket; 26. a handrail.
3. A horizontal thruster;
4. a vertical thruster;
5. an elastic antenna;
6. a front camera;
7. a rotatable camera assembly; 71. rotating the motor; 72. a drive bevel gear; 73. a driven bevel gear; 74. and a rear camera.
Detailed Description
In order to explain technical contents, achieved objects, and effects of the present invention in detail, the following description is made with reference to the accompanying drawings in combination with the embodiments.
Referring to fig. 1 to 5, the manned underwater vehicle comprises a closed main cabin body and an underwater navigation station arranged on the upper surface of the main cabin body, wherein a battery cabin and an electrical control assembly are arranged in the main cabin body, and a main display instrument, a parameter setting button, and a function handle and an attitude handle which are positioned on two sides of the main display instrument are arranged at the front end of the underwater navigation station;
the rear side of the main cabin body is symmetrically provided with at least two independently controllable horizontal thrusters, the positions of the two sides of the main cabin body close to the rear side are respectively provided with a horizontal water inlet duct communicated with the horizontal thrusters, and the thrust direction of the horizontal thrusters is parallel to the length direction of the main cabin body;
at least four independently controllable vertical propellers are symmetrically arranged on the periphery of the main cabin body, vertical water inlet ducts communicated with the vertical propellers are respectively arranged at the bottom of the main cabin body, and the thrust direction of the vertical propellers is vertical to that of the horizontal propellers;
the main display instrument, the parameter setting button, the function handle, the gesture handle, the horizontal propeller and the vertical propeller are communicated with the battery compartment through wires and are connected with the electrical control assembly.
From the above description, the beneficial effects of the present invention are: firstly, four vertical thrusters capable of being independently controlled in a frequency conversion mode and two horizontal thrusters capable of being independently controlled in a frequency conversion mode are mounted on a main cabin body, and under the condition that the four vertical thrusters and the two horizontal thrusters are matched with each other for use, the underwater vehicle can achieve posture actions such as forward movement, backward movement, upward floating, diving, horizontal translation, turning, overturning, upward and downward movement, fixed-depth hovering and the like. Secondly, an underwater navigation station is arranged on the main cabin body, and the underwater navigation station is a diver groveling and holding station when carrying people, so that the body of the diver is supported, and the fatigue generation speed of the diver is reduced; meanwhile, a diver lies on the upper surface of the main cabin body, controls the functional handle on the other hand and the attitude handle on the other hand, controls the on/off and acceleration/deceleration of the underwater vehicle through the functional handle, controls various running attitudes of the underwater vehicle through the attitude handle, is convenient to operate and control, is more accurate in attitude control, can realize attitude control at low speed and in a static state, cannot control the type of vehicle by a rudder plate, and further improves the running freedom of the underwater vehicle. Finally, the invention can be used for carrying people or goods, can carry out tasks such as transportation and the like under water for a long time, and improves the applicability of the invention, namely the invention provides the manned underwater vehicle which has high freedom degree of operation, good stability and convenient operation and use.
Furthermore, an elastic antenna and a water baffle of a non-metal part are vertically arranged at the front end of the main cabin body;
the water baffle is positioned on one side of the elastic antenna far away from the horizontal propeller, the height of the water baffle is matched with that of the elastic antenna, one side of the water baffle far away from the elastic antenna is provided with a drainage groove parallel to the upper surface of the main cabin body, and the transverse length of the water baffle is gradually increased along the direction far away from the main cabin body.
From the above description, the antenna plays a role in navigation and communication, and the antenna is provided with elasticity so that the antenna can bend and fall due to the scouring action of water flow in the sailing process, but can stand by itself under the condition of low sailing speed, and the use of the antenna in the manned underwater vehicle is ensured. Meanwhile, the water baffle is arranged on one side of the elastic antenna, which is far away from the horizontal propeller, so that the influence on the communication performance of the antenna is reduced as much as possible, and the drainage groove which is parallel to the upper surface of the main cabin body is formed in one side of the water baffle, which is far away from the elastic antenna, so that the manned underwater vehicle can buffer the washing of water flow through the drainage groove when driving forwards; the transverse length of the water baffle is gradually increased along the direction far away from the main cabin body, so that the water flow scouring force on the elastic antenna is reduced, the influence of water flow scouring on the antenna is reduced as much as possible, and the navigation and communication functions of the antenna under water are guaranteed.
Furthermore, the water baffle is an arc-shaped plate, and the center of the arc-shaped plate is positioned on the elastic antenna;
or the water baffle is a folded plate, and the connecting line of the folded edge of the folded plate and the elastic antenna is parallel to the length direction of the main cabin body.
From the above description, the structure of the water baffle is further limited, and both the arc-shaped plate and the folded plate have the function of dispersing the water flow scouring direction to two sides, so that the influence of the water flow scouring on the antenna is further reduced, and the navigation and communication functions of the antenna under water are ensured.
Furthermore, one surface of the water baffle, which is far away from the elastic antenna, is a wavy surface, the wave direction line of the wavy surface is vertical to the length direction of the main cabin body, and a drainage groove parallel to the upper surface of the main cabin body is formed in the wave trough of the wavy surface;
or a plurality of drainage grooves parallel to the upper surface of the main cabin body are transversely arranged on one surface of the water baffle, which is far away from the elastic antenna.
As can be seen from the above description, the structure of the drainage grooves is further defined so as to have the function of buffering water flow scouring.
Furthermore, a bracket is arranged in the middle of the rear end of the underwater navigation station, and the bracket is of an arc structure which is concave in front and convex in back.
From the above description, because the diver lies prone on the main cabin body when driving the navigation device, when in operation, because of the reason of inertia, for the main cabin body, the diver's body may produce the removal or the swing of all directions such as front-back, left-right, etc., even may throw away the diver, at this moment, the bracket that sets up the rear end intermediate position of navigation station under water is located between diver's two legs to support diver's buttock through the protruding arc structure in front concave back, thereby support and fix diver's body.
Further, the main cabin body with the position that the bracket corresponds is provided with the slide, the length direction of slide is on a parallel with the length direction of the main cabin body, the bottom of bracket with slide sliding connection.
As can be seen from the above description, since the divers have different heights and shapes, in order to adapt the invention to divers with different heights and shapes, the main cabin body of the invention is provided with the slide ways, and during operation, the positions of the brackets in the slide ways can be adjusted according to the actual heights and shapes of the divers, so as to ensure that the divers with different heights and shapes can be well supported.
Further, a flow blocking cover is arranged on the upper surface of the main cabin body on the front side of the main display instrument.
As can be seen from the above description, since the diver's face is easily impacted by water flow when navigating, the facial muscles are easily fatigued and the comfort is poor, this is avoided by providing a flow blocking cover at the front side of the main display instrument.
Furthermore, a face camera for recognizing face turning is arranged in the middle of the inner wall of the flow blocking cover, and auxiliary display instruments matched with the inner wall in shape are respectively arranged on two sides of the face camera;
the front side of the main cabin body is provided with a front camera, the main cabin body is respectively provided with a rotatable camera shooting assembly at a transparent cambered surface at the junction of the rear side and the two sides, the rotatable camera shooting assembly comprises a rotating motor, a driving bevel gear, a driven bevel gear and a rear camera, the rotating motor is connected with the driving bevel gear and drives the driving bevel gear to horizontally rotate, the driving bevel gear and the driven bevel gear are mutually meshed, the intersection angle between the two shafts is equal to 90 degrees, and the rear camera is fixed at the center of the driven bevel gear and faces the transparent cambered surface;
the face camera, the auxiliary display instrument, the front camera, the rotating motor and the rear camera are communicated with the battery compartment through wires and are connected with the electrical control assembly, the electrical control assembly drives the corresponding rotating motor according to the face steering identified by the face camera so as to drive the rear camera to rotate in the same direction as the face steering, and the electrical control assembly displays the real-time pictures of the rear camera on the auxiliary display instrument in the same direction as the face steering.
From the above description, it can be known that the face steering is recognized through the face camera, the electric control assembly drives the corresponding rotating motor according to the face steering to drive the rear camera to rotate in the same direction as the face steering, when the face is toward the middle position, the rear camera is aligned to the rear of the manned underwater vehicle, when the face is turned left, the rear camera positioned on the left side of the rear side is also turned left to enable the rear camera to rotate to the side from the rear, at the moment, the electric control assembly displays the real-time image of the rear camera on the auxiliary display instrument in the same direction as the face steering, so that the diver can view the images of the rear and the side in real time through the head rotation, and the front of the manned underwater vehicle is displayed on the main display instrument through the front camera in real time, so that the diver can know the underwater environment where the diver is positioned in real time, which is beneficial to the diver to execute tasks under water, and the life safety of divers can be ensured to a certain extent. Meanwhile, real-time pictures of the front camera and the rear camera can be transmitted to the monitoring end through the antenna, so that the navigation process and the operation process of the underwater vehicle can be monitored.
Further, a protective net cover is arranged above the vertical propeller on the rear side of the main cabin.
From the above description, because the diver lies prone on the main cabin body, in order to prevent that the blade of perpendicular propeller from causing unexpected injury to the diver when rotating, the top through perpendicular propeller is provided with the protection screen panel, can not neither lead to the fact the hindrance to the normal operating of perpendicular propeller, can improve the security performance when perpendicular propeller operation again.
Furthermore, handrails are respectively arranged on the two sides of the underwater navigation station of the main cabin body.
As can be seen from the above description, the handrails are respectively arranged on the two sides of the underwater navigation station of the main cabin body, so that a diver can conveniently keep on the station of the main cabin body underwater, and meanwhile, objects can be fixed through the handrails when underwater carrying is carried out.
The manned underwater vehicle can be suitable for any scene needing underwater manned or carried objects, and is described by specific embodiments as follows:
referring to fig. 1 to 5, a first embodiment of the present invention is:
the manned underwater vehicle comprises a closed main cabin body 1 and an underwater navigation station 2 arranged on the upper surface of the main cabin body 1, wherein a battery cabin 11 and an electrical control assembly are arranged in the main cabin body 1.
As shown in fig. 1 to 3, a main display instrument 21, a parameter setting button 22, and a function handle 23 and an attitude handle 24 located at two sides of the main display instrument 21 are arranged at the front end of the underwater navigation station 2, wherein a front camera 6 is arranged at the front side of the main cabin 1, so that the main display instrument 21 can display a picture of the front camera 6, various state parameters of the aircraft, a navigation picture and the like, thereby facilitating the control of the aircraft by the driver. The parameter setting button 22 is used for setting parameters of the aircraft, the functional handle 23 is used for controlling starting, stopping, accelerating and decelerating of the aircraft, and the gesture handle 24 is used for controlling moving gestures of ascending, descending, left-right turning and the like of the aircraft, so that the diver can conveniently operate and control under water.
As shown in fig. 1 to 3, a bracket 25 is arranged at the middle position of the rear end of the underwater navigation station 2, the bracket 25 is of an arc structure with a concave front part and a convex rear part, the corresponding main cabin 1 is provided with a slide way 15 at the position corresponding to the bracket 25, the length direction of the slide way 15 is parallel to the length direction of the main cabin 1, and the bottom of the bracket 25 is connected with the slide way 15 in a sliding manner, so that divers with various body heights can be supported well after adjusting the position of the bracket 25 in the slide way 15. Meanwhile, the main cabin body 1 is provided with handrails 26 on two sides of the underwater navigation station 2, so that people or objects can be conveniently carried underwater.
Wherein, the upper surface of the main cabin body 1 is provided with a flow blocking cover 16 at the front side of the main display instrument 21, which can reduce the water impact on the diver's face.
In this embodiment, at least two independently controllable horizontal thrusters 3 are symmetrically arranged on the rear side of the main cabin 1, horizontal water inlet ducts 12 communicated with the horizontal thrusters 3 are respectively arranged at the positions of the two sides of the main cabin 1 close to the rear side, and the thrust direction of the horizontal thrusters 3 is parallel to the length direction of the main cabin 1; at least four independently controllable vertical thrusters 4 are symmetrically arranged around the main cabin body 1, and meanwhile, the main cabin body 1 is provided with a protective mesh enclosure 14 above the vertical thrusters 4 positioned at the rear side, so that the normal operation of the vertical thrusters 4 is ensured, and the safety performance of the vertical thrusters 4 in operation can be improved.
Wherein, the thrust direction of the vertical propeller 4 is perpendicular to the thrust direction of the horizontal propeller 3, and the bottom of the main cabin body 1 is respectively provided with a vertical water inlet duct 13 communicated with the vertical propeller 4, so that the precise control of underwater postures is ensured by the two independently controllable horizontal propellers 3 and the at least four independently controllable vertical propellers 4.
Not shown in the figure are a main display instrument 21, a parameter setting button 22, a function handle 23, a posture handle 24, a front camera 6, a horizontal thruster 3 and a vertical thruster 4 all in communication with the battery compartment 11 through wires and all connected with an electrical control assembly. The battery compartment 11 is used for loading batteries to improve power of the whole underwater vehicle, and the electric control assembly is used for controlling all electronic devices on the underwater vehicle.
Not shown in the figures, the electrical control assembly also includes a plurality of underwater sensors including infrared and ultrasonic sensors, pressure sensors, torque and tilt sensors. When the underwater work model is used, the height and the weight of a diver are input into a manned underwater vehicle which is modeled in three dimensions in advance, and the manned underwater work model is obtained. During automatic control, according to the appointed underwater position of a user, the peripheral obstacle situation is identified through an infrared sensor and an ultrasonic sensor, the pressure situation of the manned underwater vehicle is identified through a pressure sensor, the inclination situation of the manned underwater vehicle is identified through a torque sensor and an inclination sensor, so that the real-time control quantity of two horizontal propellers 3 and four vertical propellers 4 is simulated and calculated in real time according to an underwater work model, the obstacle situation, the pressure situation and the inclination situation, and the two horizontal propellers 3 and the four vertical propellers 4 are respectively controlled according to the real-time control quantity. If the underwater control is manual control, the underwater working model and the obstacle condition are combined into an underwater three-dimensional picture to be displayed on the main display instrument 21, the pressure condition and the inclination condition are displayed on the underwater three-dimensional picture, a user manually controls the two horizontal propellers 3 and the four vertical propellers 4 according to the requirement, and the distance between the manned underwater vehicle and the obstacle, the running conditions of the two horizontal propellers 3 and the four vertical propellers 4 and the real-time deviation from the specified underwater position after the manned underwater vehicle receives the user control are calculated and early warned.
As shown in fig. 1 to 3, the front end of the main cabin 1 is vertically provided with an elastic antenna 5 and a water baffle 17 of a non-metal part; the water baffle 17 is positioned on one side of the elastic antenna 5 far away from the horizontal propeller 3 and is highly matched with the elastic antenna 5, one side of the water baffle 17 far away from the elastic antenna 5 is provided with a drainage groove 171 parallel to the upper surface of the main cabin body 1, and the transverse length of the water baffle 17 is gradually increased along the direction far away from the main cabin body 1. It can be known from fig. 5 that, in this embodiment, the water baffle 17 is an arc-shaped plate, the center of the arc-shaped plate is located on the elastic antenna 5, meanwhile, one surface of the water baffle 17 away from the elastic antenna 5 is a wavy surface, a wave direction line of the wavy surface is perpendicular to the length direction of the main cabin 1, and a drainage groove 171 parallel to the upper surface of the main cabin 1 is formed in a trough of the wavy surface, so as to protect the antenna. In other embodiments, the water baffle 17 is a folded plate, and the connection line between the folded edge of the folded plate and the elastic antenna 5 is parallel to the length direction of the main cabin 1. Meanwhile, in other embodiments, a plurality of drainage grooves 171 parallel to the upper surface of the main cabin 1 penetrate through one surface of the water baffle 17 away from the elastic antenna 5, which can be regarded as a plurality of protrusions are arranged on one bottom plate, and the drainage grooves 171 are formed between adjacent protrusions.
In this embodiment, the electrical control assembly includes an antenna sensor disposed on the flow blocking cover 16, the main cabin 1 is provided with a multi-section telescopic rod capable of ascending and descending and being a non-metal part at the bottom of the elastic antenna 5, the telescopic rod is located between the water baffle 17 and the elastic antenna 5, the top surface and the inner side wall of the telescopic rod are provided with buffering parts, and the inner diameter of the buffering parts is larger than the maximum cross section diameter of the elastic antenna 5 by 1mm to 10mm, such as 3mm, the antenna sensor is disposed on one side of the elastic antenna 5 far away from the water baffle 17, the antenna sensor recognizes the elastic antenna 5 when the elastic antenna 5 bends to a preset angle, the electrical control assembly controls the multi-section telescopic rod to ascend according to the real-time communication intensity of the elastic antenna 5 until the real-time communication intensity of the elastic antenna 5 is equal to the preset communication intensity. Wherein, the antenna inductor can be for discerning the camera to trigger the control of telescopic link when elastic antenna 5 bends to predetermineeing the angle. The manual control of the telescopic rod can also be realized through the main display instrument 21 and the parameter setting button 22. Because the telescopic rod rises from the bottom and is buffered and supported by the buffer piece, the bending of the elastic antenna 5 can be corrected. The preset angle and the preset communication intensity can be set according to the actual requirements of the user.
Referring to fig. 1 to 5, a second embodiment of the present invention is:
on the basis of the first embodiment, not shown in the figure, a human face camera for recognizing human face steering is arranged in the middle of the inner wall of the flow blocking cover 16, and auxiliary display instruments matched with the shape of the inner wall are respectively arranged on two sides of the human face camera; as shown in fig. 4, the main cabin 1 is provided with rotatable camera modules 7 at the transparent arc surfaces 18 at the junctions of the rear side and the two sides, each rotatable camera module 7 includes a rotating motor 71, a driving bevel gear 72, a driven bevel gear 73 and a rear camera 74, the rotating motor 71 is connected with the driving bevel gear 72 and drives the driving bevel gear 72 to horizontally rotate, the driving bevel gear 72 is meshed with the driven bevel gear 73, the intersection angle between the two shafts is equal to 90 °, and the rear camera 74 is fixed at the center of the driven bevel gear 73 and faces the transparent arc surfaces 18.
Wherein, the face camera, the auxiliary display instrument, the rotating motor 71 and the rear camera 74 are communicated with the battery compartment 11 through wires and are connected with the electric control assembly. From this, the electric control subassembly turns to the corresponding rotation motor 71 of drive according to the human face that the human face camera discerned to drive back camera 74 and turn to the same direction rotation with the human face, simultaneously, the electric control subassembly turns to the equidirectional vice display instrument with the real-time picture display of back camera 74 on the human face for the diver rotates through the head and comes the picture of viewing rear and side in real time.
Thus, in the present embodiment, when carrying out manned navigation, the diver is fixed to the underwater navigation station 2 by adjusting the position of the bracket 25 on the slide 15 so as to adapt to the body shape of the diver. During underwater navigation, the main display instrument 21 is used for knowing the picture of the front camera 6, various state parameters of the aircraft, a navigation picture and the like, the auxiliary display instrument is used for knowing the side and rear pictures of the underwater environment by turning to the face direction, the parameter setting button 22 is used for setting the parameters of the aircraft, the functional handle 23 is used for controlling the starting, stopping, accelerating and decelerating of the aircraft, and the attitude handle 24 is used for controlling the moving postures of the aircraft such as ascending, descending, left-right turning and the like so as to complete the underwater execution task.
In conclusion, the manned underwater vehicle provided by the invention has the advantages of high operation freedom degree, good stability and convenience in operation and use.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all equivalent changes made by using the contents of the present specification and the drawings, or applied directly or indirectly to the related technical fields, are included in the scope of the present invention.
Claims (10)
1. The manned underwater vehicle is characterized by comprising a closed main cabin body and an underwater navigation station arranged on the upper surface of the main cabin body, wherein a battery cabin and an electrical control assembly are arranged in the main cabin body, and the front end of the underwater navigation station is provided with a main display instrument, a parameter setting button, and a functional handle and an attitude handle which are positioned on two sides of the main display instrument;
the rear side of the main cabin body is symmetrically provided with at least two independently controllable horizontal thrusters, the positions of the two sides of the main cabin body close to the rear side are respectively provided with a horizontal water inlet duct communicated with the horizontal thrusters, and the thrust direction of the horizontal thrusters is parallel to the length direction of the main cabin body;
at least four independently controllable vertical propellers are symmetrically arranged on the periphery of the main cabin body, vertical water inlet ducts communicated with the vertical propellers are respectively arranged at the bottom of the main cabin body, and the thrust direction of the vertical propellers is vertical to that of the horizontal propellers;
the main display instrument, the parameter setting button, the function handle, the gesture handle, the horizontal propeller and the vertical propeller are communicated with the battery compartment through wires and are connected with the electrical control assembly.
2. The manned underwater vehicle according to claim 1, wherein the front end of the main hull is vertically provided with a flexible antenna and a water baffle of non-metallic members;
the water baffle is positioned on one side of the elastic antenna far away from the horizontal propeller, the height of the water baffle is matched with that of the elastic antenna, one side of the water baffle far away from the elastic antenna is provided with a drainage groove parallel to the upper surface of the main cabin body, and the transverse length of the water baffle is gradually increased along the direction far away from the main cabin body.
3. The manned underwater vehicle of claim 2, wherein the water deflector is an arcuate plate centered on the elastic antenna;
or the water baffle is a folded plate, and the connecting line of the folded edge of the folded plate and the elastic antenna is parallel to the length direction of the main cabin body.
4. The manned underwater vehicle of claim 2, wherein the surface of the water baffle, which is far away from the elastic antenna, is a wave surface, the wave direction line of the wave surface is perpendicular to the length direction of the main cabin body, and the wave trough of the wave surface forms a drainage groove parallel to the upper surface of the main cabin body;
or a plurality of drainage grooves parallel to the upper surface of the main cabin body are transversely arranged on one surface of the water baffle, which is far away from the elastic antenna.
5. The manned underwater vehicle of claim 2, wherein a bracket is arranged at a middle position of the rear end of the underwater navigation station, and the bracket is of an arc structure which is concave at the front and convex at the rear.
6. The manned underwater vehicle of claim 5, wherein the main hull has a chute disposed at a location corresponding to the bracket, the chute having a length direction parallel to a length direction of the main hull, and the bracket having a bottom slidably connected to the chute.
7. The manned underwater vehicle of claim 2, wherein the main hull upper surface is provided with a flow shield on the front side of the main display instrument.
8. The manned underwater vehicle according to claim 7, wherein a face camera for recognizing face steering is disposed in the middle of the inner wall of the flow blocking cover, and auxiliary display instruments adapted to the shape of the inner wall are disposed on two sides of the face camera respectively;
the front side of the main cabin body is provided with a front camera, the main cabin body is respectively provided with a rotatable camera shooting assembly at a transparent cambered surface at the junction of the rear side and the two sides, the rotatable camera shooting assembly comprises a rotating motor, a driving bevel gear, a driven bevel gear and a rear camera, the rotating motor is connected with the driving bevel gear and drives the driving bevel gear to horizontally rotate, the driving bevel gear and the driven bevel gear are mutually meshed, the intersection angle between the two shafts is equal to 90 degrees, and the rear camera is fixed at the center of the driven bevel gear and faces the transparent cambered surface;
the face camera, the auxiliary display instrument, the front camera, the rotating motor and the rear camera are communicated with the battery compartment through wires and are connected with the electrical control assembly, the electrical control assembly drives the corresponding rotating motor according to the face steering identified by the face camera so as to drive the rear camera to rotate in the same direction as the face steering, and the electrical control assembly displays the real-time pictures of the rear camera on the auxiliary display instrument in the same direction as the face steering.
9. The manned underwater vehicle according to any one of claims 1 to 8, wherein the main hull is provided with a protective screen above the vertical thrusters on the rear side.
10. The manned underwater vehicle according to any one of claims 1 to 8, wherein the main hull is provided with handrails on either side of the underwater navigation station.
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