A low-speed approaching and hovering submarine for underwater targets combined with multiple propellers
A submersible body, thruster technology, applied in the direction of instrumentation, non-electric variable control, altitude or depth control, etc.
Inactive Publication Date: 2018-08-24
710TH RES INST OF CHINA SHIPBUILDING IND CORP
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Problems solved by technology
Conventional detection AUVs are usually equipped with only one set of horizontal propellers, one set of horizontal steering gear, and one set of vertical steering gear, which determines that it can only perform motion detection in water, and cannot hover in a fixed place in the ocean control or close-in observation of suspicious targets
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[0052] The present invention will be described in detail below with reference to the accompanying drawings and examples.
[0053] In the present invention, a lateral propeller is respectively added to the lateral direction of the bow section and the stern section of the submerged body, and a set of vertical propellers are installed in the middle of the submerged body. With this configuration, the long-range AUV can approach the target at a low speed for alignment observation or hover control to process the target. The invention breaks through the traditional AUV motion control technology and has reached the domestic leading level.
[0054] A low-speed approaching and hovering submarine body for an underwater target combined with multiple propellers, comprising: a horizontal propeller 10, a vertical propeller 11 and two lateral propellers 12;
[0055] The horizontal thruster 10 is fixedly connected to the positive tail of the submerged body, and its axis coincides with the axi...
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The invention discloses a multi-propeller combined underwater target low-speed approach and hover submersible body, which is characterized in that it further comprises: a horizontal propeller, a vertical propeller and two lateral propellers; the horizontal propeller is fixed It is connected to the positive tail of the submersible body, and its axis coincides with the axis of the submersible body; a vertical channel is opened at the position of the buoyancy center of the submersible body, and the vertical thruster is fixedly connected to the inner wall of the vertical channel; The bow section and the stern section are respectively provided with a horizontal channel that runs through the submersible body horizontally. On the inner wall of the horizontal channel of the segment is the rear side thruster, and the propellers of the two side thrusters face oppositely. The invention is used to solve the difficult problem of precise hovering control of long-range AUVs when performing close-range aiming observation or processing targets around suspicious underwater targets.
Description
technical field [0001] The invention relates to the technical field of underwater navigation; in particular, it relates to an underwater target approaching and hovering submerged vehicle combined with multiple propellers at low speed. Background technique [0002] Long-range AUV is a cable-free underwater robot, which is widely used in ocean exploration, ocean hydrological detection, underwater engineering, underwater target processing and other fields. Conventional detection AUVs are usually equipped with only one set of horizontal propellers, one set of horizontal steering gear, and one set of vertical steering gear, which determines that it can only perform motion detection in water, and cannot hover in a fixed place in the ocean Control or approach and observe suspicious targets. With the increasing demand for long-range AUVs in the military, higher requirements are put forward for the motion control of long-range AUVs. In order to expand the operation function and app...
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IPC IPC(8): G05D1/06
CPCG05D1/0692
Inventor 査智向伟万经训
Owner 710TH RES INST OF CHINA SHIPBUILDING IND CORP