CN219077449U

CN219077449U - Remote control unmanned underwater vehicle

Info

Publication number: CN219077449U
Application number: CN202190000492.8U
Authority: CN
Inventors: 鲁斯兰·拉迪科维奇·库尔穆哈梅托夫; 萨利姆詹·阿扎托维奇·加福罗夫; 里纳特·马拉托维奇·阿克比罗夫
Original assignee: Autonomous Non Profit Organization For Higher Education University Of Innopolis\
Current assignee: Autonomous Non Profit Organization For Higher Education University Of Innopolis\
Priority date: 2021-05-31
Filing date: 2021-12-28
Publication date: 2023-05-26
Anticipated expiration: 2031-12-28
Also published as: WO2022255904A1

Abstract

The carrier belongs to the technical field of underwater, in particular to a remote unmanned underwater carrier (ROUUV) for ocean or river purposes. The remotely controlled unmanned underwater vehicle comprises a cylindrical hermetically sealed hollow housing fitted with a horizontal propeller, a vertical propeller and a buoyancy module connected to each other by threaded connections. The buoyancy module includes an outer shell, side plates and side walls which are connected to each other, and a floating body in the buoyancy module corresponds to the inside of the buoyancy module at the same time, and drain holes are formed in the outer shell and the side walls.

Description

Remote control unmanned underwater vehicle

Technical Field

The present application claims paris convention priority of patent No. RU 206387, the entire disclosure of which is incorporated by reference in its entirety.

The vehicle belongs to the field of underwater technology, in particular a remotely controlled unmanned underwater vehicle (ROUUV) for marine or river purposes, and can be used for various underwater research, performing simple maneuvers under water, such as photograph and video taking of underwater objects, and in underwater robots.

Background

A modular remotely controlled unmanned underwater vehicle (patent RU193287U1, IPC B63G8/00, B63H25/00, B63C11/48; bulletin No.30 (10/22/2019 bull.no. 30) of the 10 th month 22 of 2019) is disclosed, comprising a plastic housing with a hermetically sealed module placed therein, made of radio-transparent material, while the mentioned modules are equipped with their own power supply and with electronics with radio modules that combine the electronics of all modules into a single wireless information and control network, according to which additional modules on water are introduced, including power supply, wired communication unit, radio module, satellite navigation system unit and electromechanical devices for moving the modules on water surface, with the vehicle interconnected with the control panel at the vehicle support or directly interconnected from the operator. The water module is connected to the underwater part of the vehicle by a wired communication line and the radio module of the water part of the vehicle (water module) is connected to the control panel (unit). The disadvantage of this utility model is the high hydrodynamic resistance, since the housing has protruding elements.

An automatic water vehicle (RU 173254U1,IPC B63G8/00B63C11/48; bulletin No.23 of month 08 of 2017 (18.08.2017 bull.no. 23)) is disclosed, which comprises a remote control housing having a propeller connected to a drive, which can vary buoyancy, a gear motor mounted in the housing, providing a holding and fixing of the housing in a vertical position, each steering gear being fixed to a shaft of one of the gear motors, a camera mounted on the housing according to the proposed utility model, a rotating propeller with a ballast volume on the side of the housing being mounted as a propeller, the top of the housing being made in the form of a platform with process equipment placed for research and maintenance work thereon, the steering gears being made in the form of propellers mounted in pairs in the front and rear of the housing, and at least two cameras being mounted on the platform. The disadvantage of the present utility model is the high hydrodynamic resistance.

CN206615369 discloses a fishing device for special complexity searching of underwater criminal investigation environment (2017, 7, 11, B63C 7/00B63C 11/49). The utility model relates to complex underwater searching and salvaging devices designed for detection and to the technical field of electric submersible remote control vehicles. Typically the physical data (debris) processed settles on the bottom of rivers and ponds and on the water section containing large amounts of suspension near the bottom, the water is cloudy and the visibility is essentially zero. The optical imaging apparatus of the underwater robot may not function properly. The utility model relates to an underwater search and rescue robot with a tortoise-shaped shell, which comprises a shell, a transparent observation window, a focusing cover and an LED lamp strip. The camera may operate and transmit an image of the object from the bottom of the reservoir through the viewing window. The underwater debris searching function is realized, and then the remote rescue carrier mounted at the tail of the robot can realize the underwater debris searching function. The housing has a more streamlined shape, but the open positioning of the propeller increases the hydrodynamic resistance.

The closest analogue is a complex of remotely controlled unmanned underwater vehicles NEREI-350 (RU 108747U 1B 63C 11/49g01v 8/00, 2011, 27 bulletin No.27 (27.09.2011 bull.no. 27)), comprising an on-board part (OP) mounted on a supporting vessel, connected by cables to an off-board Underwater Part (UP) and comprising a control panel and an information display, a receiving antenna block of an underwater navigation system with a lowering pole and equipped with a television camera, an illumination and transponder beacon of the underwater navigation system, characterized in that the control panel and the information display are made in the form of modules structurally placed in a plastic container with universal power-on contacts and connectors for connecting communication cables to the cable reel, the receiving antenna block of the underwater navigation system and the UP control lever, the off-board part of the UP complex being made in the form of a remotely controlled vehicle module comprising a carrying frame with a buoyancy unit and an electronic box, as well as an electric power box, two propellers, a main steering screw, two-propellers, a main steering, a propeller, a lateral steering, a main steering, and a transponder beacon. Furthermore, the optical box is manufactured in the form of a single housing for a television camera and illumination, and is equipped with a rotating device for setting the viewing angle of the television camera, and two transverse propellers are installed according to a V-shaped diagram, the functions of a vertical propeller and a lag propeller can be simultaneously achieved. The housing and the devices comprised in the module are connected by means of a hermetically sealed cable provided with a pressure-tight connector for providing an electrical connection between them. The complex has buoyancy units placed on the support frame, making the remotely controlled unmanned underwater vehicle heavier and thus deteriorating its hydrodynamic properties, in particular increasing its hydrodynamic resistance.

Disclosure of Invention

The result of the technique is a reduction in hydrodynamic drag when the remotely controlled unmanned underwater vehicle is operated underwater.

Technical problem

The technical problem identified is the high hydrodynamic resistance of remotely controlled unmanned underwater vehicles.

Solution to the technical problem

The result is provided by a remotely controlled unmanned underwater vehicle comprising a hollow housing fitted with a cylindrical airtight seal of a horizontal propeller and a vertical propeller, and a buoyancy module connected to each other by means of a threaded connection, characterized in that the buoyancy module comprises an interconnected housing, side plates and side walls forming an oval shape, and a floating body located in the buoyancy module corresponds to the inside thereof at the same time, and in that drain holes are made in the housing and the side walls.

The shells, side plates and side walls of the buoyancy module may be interconnected by threaded connections.

The shells, side plates and side walls of the buoyancy module may be interconnected by glue joints.

The float body in the buoyancy module is made of rigid polyurethane foam with closed cells.

Positive results

The proposed solution is novel and allows to reduce the hydrodynamic resistance of the ROUUV when operating under water, which will increase the speed of the ROUUV movement and the accuracy of the manoeuvre.

Drawings

The technical nature of the proposed vehicle is explained by the accompanying drawings:

fig. 1 shows an overall view of a ROUUV;

FIG. 2 shows an overall view of the buoyancy module;

FIG. 3 illustrates buoyancy module components;

fig. 4 shows a bottom view of the buoyancy module.

Detailed Description

The implementation scheme of the utility model.

The remotely controlled unmanned underwater vehicle (fig. 1) comprises a cylindrical hermetically sealed hollow housing 1, on which hollow housing 1 are mounted a buoyancy module 4, four horizontal propellers 2 and two vertical propellers 3. The support 6 and the cylindrical housing of the battery 5 are fixedly mounted under the housing 1 by means of threaded connections. The sonar modem 7, the locator module 8 and the four LED deep sea lights 9 are also secured to the cylindrical hermetically sealed hollow housing 1 by means of threaded connections, the number of which can be reduced or increased if necessary. In the cylindrical hermetically sealed hollow housing 1, a camera and an electronic unit (not shown in the figures) are placed, including a ROUUV control module, a camera control module,

propeller control modules

2 and 3, a sonar signal converter module, a pressure sensor signal converter module, a leakage sensor signal converter module, and other functional modules may be included according to the configuration for a specific problem.

The cylindrical hermetically sealed housing 1 is made of aluminum and is designed for submersion to a depth of up to 300m, has high strength at low weight, is protected from corrosion by anodization and is resistant to mechanical damage.

The horizontal propeller 2 and the vertical propeller 3 may be fixed to the cylindrical hermetically sealed hollow housing 1 by means of screw or bolt connections or by any other method currently known from the prior art. The horizontal propeller 2 is positioned at an angle to the centre line of the housing 1, whereas the centre line of the propeller 2 forms a diamond shape, which ensures a high rov operability in the horizontal plane. The

propellers

2, 3 are Blue robot propellers or other similar propellers. Each

propeller

2, 3 has a propulsion force of up to 5 kilograms force (kgf), which is sufficient to obtain a high rov operability. The total propulsion of the propeller 2 in the direction of the longitudinal axis of the ROUUV is 14kgf both in the direction of the ROUUV movement and when the propulsion is reversed. The total propulsive force of the vertical propeller 3 when it is turned down and reversed is 10kgf.

The buoyancy module 4 (fig. 2, 3) comprises a housing 10, two side plates 11 and

side walls

12a, 12b, which are fastened together by means of fasteners, such as screws and nuts (not shown in the figures) or adhesive connections, and form a streamlined oval shape providing a better fairing by the water flow from the

propellers

2, 3, which reduces the hydrodynamic resistance of the rovv. In the case of a threaded connection, a drain hole 14 and a hole 13 for a fastener (screw) are made on the surfaces of the housing 10, the side plate 11, the

side walls

12a, 12 b. The housing 10, the side plates 11, the

side walls

12a, 12b of the float module 4 are made of plastic by vacuum casting into a silicone mold or on a machine operated by an addition process, and can also be made of molded carbon fiber, characterized by high strength, and good corrosion resistance, thinness, and durability.

Within the buoyancy module 4 there are

floats

15a, 15b, 15c, 15d, 15e, 15f (fig. 3), which floats 15a, 15b, 15c, 15d, 15e, 15f are made of rigid polyurethane foam with closed cells and repeat the inner surfaces of the

side walls

12a, 12b and the housing 10. The volumes of the buoyancy module 4 and the floats 15a to 15f are designed to obtain positive buoyancy of the ROUUV with respect to the water (sea or river) in which it is to be operated, and furthermore the floats 15a to 15f are designed for frequent dive.

The holes 16 in the housing 10 and in the side plates 12 are designed for mounting the vertical propeller 3. Which allows to separate water flows with different total pressures at the inlet and outlet of the propeller 3, which is why water can flow outside the propeller 3.

The

side walls

12a, 12b face the housing 1 with their inner surfaces 18 and repeat their shape and size. The

side walls

12a, 12b and the housing 1 thus form the outer shape of a ROUUV, water flowing around during movement or during operation of the propeller 2. The profile 17 of the

side walls

12a, 12b forms an oval shape. Fig. 4 shows a dotted line which complements the shape of the

side walls

12a, 12b of the housing of the buoyancy module 4 to a complete oval shape. This shape of profile 17 protects the ROUUV housing 1 from the water flow from the propeller 2. The adopted configuration of the

side walls

12a, 12b thus precludes the occurrence of non-stationary flows contacting the rovu and reduces hydrodynamic drag.

The housing 10 has a convex elliptical shape, which improves the flow around the ROUUV, does not allow the water flows from the

propellers

2, 3 to mix (eliminating backflow), which reduces hydrodynamic drag. Cutouts 19 are made in the front and rear to place sonar (not shown), sonar modem 7, locator module 8, LED deep sea light 9, and a sealing cover (not shown) of housing 1, which is transparent, e.g. made of plexiglass. Fig. 4 shows a broken line supplementing the shape of the cover 13 with an oval shape and the size of the cutout 19 is visible thereon. The upper surface of the housing 10 is formed in the form of a cylindrical surface.

Sonar modem 7 additionally provides the possibility of installing a wired connection (not shown in the figure), characterized by a higher bandwidth compared to the sonar channel, which would allow the current image to be obtained from the ROUUV camera. The cable (not shown in the drawings) of the wired connection is high-strength, reinforced, has neutral buoyancy (no weight in water), and is designed for an operating load of 45kgf, a breaking force of 160 kgf. The ethernet connection interface is two-wire, noise-resistant, which solution allows to make the cable length larger than 300m. The LED deep sea lamp 9 is designed for a diving depth of up to 500m with a total luminous brightness of 1500 lumen providing good illumination at large depths. An underwater camera (not shown) is mounted on a rotating support (not shown) with one degree of freedom, allowing an overview image to be obtained without changing the position of the ROUUV. Pressure and temperature sensors (not shown), leak sensors (not shown) provide immediate sensing in the event of leak detection. The housing of the 5 cells contains a storage battery or cells, such as a 14.8V, 18Ah lithium ion cell, providing continuous operation for up to 2 hours in normal operation and up to 4 hours in non-dense mode of operation.

The ROUUV is interconnected with the control panel of the marine robot complex via a sonar communication channel, via a sonar modem 7 or a wired communication cable (not shown).

Industrial applicability

The vehicle may be used in a variety of underwater studies, performing simple processing underwater, such as photograph and video taking of underwater objects, and in underwater robots.

Patent literature

Patent document 1: patent RU193287

Patent document 2: patent RU 173254

Patent document 2: patent CN206615369

Patent document 2: patent RU108747

Claims

1. A remotely controlled unmanned underwater vehicle comprising a cylindrical hermetically sealed hollow housing fitted with a horizontal propeller, a vertical propeller and a buoyancy module connected to each other by screw connectors, characterized in that the buoyancy module comprises an outer shell, side plates and side walls forming an elliptical shape, which are connected to each other, and a floating body in the buoyancy module corresponds to the inside of the buoyancy module at the same time, and drain holes are made in the outer shell and the side walls.

2. The remotely controlled unmanned underwater vehicle of claim 1, wherein said housing, said side panels and said side walls are interconnected by threaded connectors.

3. The remotely controlled unmanned underwater vehicle of claim 1, wherein said housing, said side panels and said side walls are interconnected by adhesive connectors.

4. The remotely controlled unmanned underwater vehicle of claim 1, wherein the float is made of a rigid polyurethane foam having a closed cell.