An emergency buoy for an AUV

Abstract

The application discloses an emergency buoy of an AUV, which is simple in structure, small in size and applicable to deep water areas. When the AUV is in distress and cannot float up, the buoy will automatically float up, and the AUV shares real-time position with the buoy, so that personnel can conveniently carry out salvage and search and rescue. The buoy is composed of a buoy water surface cabin, a buoy underwater cabin and buoyancy material, power supply systems of the parts are independent, and the power supply systems provide power for control modules and electronic equipment of the parts. The buoy underwater cabin is connected with the AUV through a modular interface, and the buoy water surface cabin is connected with the buoy underwater cabin through a strong electromagnet. When the AUV is in distress, the electromagnet is powered off, the buoy water surface cabin is floated up to the water surface through the positive buoyancy of the buoyancy material, meanwhile, the buoy underwater cabin shares position information of the AUV with the buoy water surface cabin in real time, and the buoy water surface cabin sends its own position information and the position information of the AUV to a staff host computer.

Description

TECHNICAL FIELD

[0001] The present application relates to the underwater robot technical field, especially to an AUV emergency buoy. BACKGROUND

[0002] With the increasing of the ocean research and exploration activities, the underwater robot technology field is also increasingly valued by domestic and foreign researchers, AUV (unmanned underwater vehicle) is widely used in seabed resource exploration, seabed topographic mapping, seabed archaeology and other fields in recent years. However, the loss of AUV will bring great economic losses to the user.

[0003] In the existing AUV, some are equipped with emergency rescue device, that is, the AUV automatically releases the buoy with a cable when it is in distress, and the AUV is lifted out of the water surface through the cable; but this emergency device occupies a large space, and the cable is easy to be stuck in the reef gap, so that the buoy cannot float, which makes the staff unable to know the specific position of the AUV, in addition, due to the limited length of the cable, this buoy with cable is not suitable for deep water.

[0004] Therefore, the miniaturization, simplification and deep water of the AUV emergency buoy have become a difficult problem that must be solved by domestic and foreign AUV research departments. SUMMARY

[0005] Therefore, the present application provides a small and simple AUV emergency buoy which can be used in deep water.

[0006] In order to achieve the above purpose, the present application adopts the following technical scheme: an AUV emergency buoy, comprising:

[0007] The underwater cabin of the buoy is internally provided with a buoy underwater cabin control panel, a power supply independent of the AUV and the buoy water cabin, a modular AUV communication interface and an underwater communication positioning antenna; the upper part of the buoy underwater cabin is provided with a strong electromagnet; the lower part of the buoy underwater cabin is provided with threaded holes around for fixed connection with the AUV; the lower central part of the buoy underwater cabin is provided with a modular AUV communication interface for communication with the AUV.

[0008] The water cabin of the buoy is internally provided with a buoy communication positioning antenna, a water-tight plug and an LED stroboscopic lamp; the lower part of the buoy water cabin is connected with the buoy underwater cabin through a strong electromagnet; the buoy water cabin is provided with buoyancy material around; the buoy water cabin is internally provided with a battery pack independent of the AUV and the buoy underwater cabin, and a water cabin control panel.

[0009] The buoyancy material is conical and divided into two parts; the left and right sides of the buoyancy material are respectively provided with threaded holes; the buoyancy material is clamped around the buoy water cabin through bolts.

[0010] The beneficial effects of the present application are: each cabin of the buoy has a separate control and power system, the reliability of the system is improved, so that even if the AUV loses power or the control system fails, the buoy can still communicate with the outside world and send its own position information; the buoy has a built-in control system that can actively monitor AUV fault information and automatically release the buoy's water cabin according to the fault information; the buoy pressure cabin can withstand deep water pressure after pressure testing; the buoy has a simple structure, compact design, low cost, and modular installation interface, and users can choose whether to install it. BRIEF DESCRIPTION OF DRAWINGS

[0011] Fig. 1 Figure 1 is a schematic diagram of the overall structure of an AUV emergency buoy of the present application;

[0012] Fig. 2 Figure 2 is a schematic diagram of the overall structure of an AUV emergency buoy of the present application;

[0013] Fig. 3 Figure 3 is a schematic diagram of the internal structure of the buoy water cabin of an AUV emergency buoy of the present application;

[0014] Fig. 4 Figure 4 is a schematic diagram of the internal structure of the buoy underwater cabin of an AUV emergency buoy of the present application;

[0015] Fig. 5 Figure 5 is an enlarged schematic diagram of the connection between the buoy underwater cabin and the buoy water cabin of an AUV emergency buoy of the present application.

[0016] 1 buoy water cabin upper end cover, 2 end cover screw, 3 buoy water cabin water-tight cabin, 4 buoy water cabin control system, 5 buoy water cabin power supply, 6 buoy water cabin power supply support plate, 7 buoy water cabin power supply support frame, 8 buoy water cabin lower end cover, 9 buoy water cabin electromagnet, 10 buoy water cabin communication plug, 11 electromagnet coil, 12 GPS antenna, 13 water-tight plug, 14 4G antenna, 15 iridium star antenna, 16 buoy underwater cabin electromagnet, 17 magnet fixing bolt, 18 buoy underwater cabin water-tight cabin, 19 buoy underwater cabin lower end cover, 20 buoy-AUV communication wire harness, 21 buoy underwater cabin communication antenna, 22 buoy underwater cabin power supply, 23 buoy underwater cabin control system, 24 buoy underwater cabin communication plug, 25 buoyancy material. DETAILED DESCRIPTION

[0017] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor are within the scope of protection of the present application.

[0018] Referring to the drawings of the present application Figs. 1 to 3 According to an embodiment of the present application, an emergency buoy of an AUV comprises:

[0019] The buoy has three parts: buoy water surface cabin, buoy underwater cabin and buoy buoyancy material.

[0020] When the AUV is working in normal conditions, the buoy water surface cabin and the buoy underwater cabin are tightly fixed together by the magnetism of the electromagnet, and when the AUV cannot float, the electromagnet is powered off, the buoy water surface cabin and the buoy underwater cabin are separated, and the buoyancy material is fixed on the cabin wall of the buoy water surface cabin by the clamping force of the bolt.

[0021] The buoy water surface cabin upper end cover 1 is fixed on the buoy water surface cabin water-tight cabin 3 by the end cover screw 2, the contact part between the buoy water surface cabin water-tight cabin 3 and the buoy water surface cabin upper end cover 1 is sealed by a sealing ring, and the pressure container is tested by pressure.

[0022] The buoy water surface cabin control system 4 is fixed above the buoy water surface cabin power supply 5 by a screw, the buoy water surface cabin power supply 5 is fixed above the buoy water surface cabin power supply support plate 6 by a bolt, the buoy water surface cabin power supply support plate 6 is connected above the buoy water surface cabin power supply support frame 7 by a screw, and the buoy water surface cabin power supply support frame 7 is connected below the buoy water surface cabin lower end cover 8 by its own thread.

[0023] The buoy water surface cabin lower end cover 8 is connected and fixed below the buoy water surface cabin electromagnet 9 by a screw at the lower part of the buoy water surface cabin water-tight cabin 3, and the buoy water surface cabin communication plug 10 and the electromagnet coil 11 are fixed inside the buoy water surface cabin lower end cover 8. The GPS antenna 12, the water-tight plug 13, the 4G antenna 14 and the iridium star antenna 15 are fixed on the top of the buoy water surface cabin water-tight cabin 3.

[0024] Each part is connected to the buoy water surface cabin water-tight cabin in a sealed manner, and a rubber sealing strip is used to avoid liquid leakage.

[0025] The buoy underwater cabin electromagnet 16 is fixed on the top of the buoy underwater cabin water-tight cabin 18 by the magnet fixing bolt 17, the buoy underwater cabin lower end cover 19 is fixed at the bottom of the buoy underwater cabin water-tight cabin 18 by a screw, the buoy-AUV communication wire harness 20 and the buoy underwater cabin communication antenna 21 are fixed at the bottom of the buoy underwater cabin lower end cover 19, the buoy underwater cabin power supply 22 and the buoy underwater cabin control system 23 are fixed inside the buoy underwater cabin water-tight cabin 18, and the buoy underwater cabin communication plug 24 is fixed on the top of the buoy underwater cabin water-tight cabin.

[0026] Each part is connected to the buoy underwater cabin water-tight cabin in a sealed manner, and a rubber sealing strip is used to avoid liquid leakage.

[0027] The buoy underwater cabin is connected with the AUV body. When the AUV works normally, the electromagnet coil 11 is electrified, the buoy underwater cabin and the buoy overwater cabin are connected together through the strong magnetism of the electromagnet 16 and 9. At this time, the buoy underwater cabin communicates with the AUV through the buoy-AUV communication wire bundle 20, and obtains and records the navigation track of the AUV. When the AUV appears a fault, the buoy underwater cabin control system 22 can receive the fault information sent by the AUV, and communicates with the buoy overwater cabin. The buoy overwater cabin control system 4 controls the electromagnet coil to be deenergized, the buoy overwater cabin and the buoy underwater cabin are separated, the buoy overwater cabin rises to the water surface through the positive buoyancy provided by the buoyancy material 25, and communicates with the buoy underwater cabin. The buoy underwater cabin sends the AUV navigation record and the AUV position and depth information to the buoy overwater cabin. The buoy overwater cabin sends the obtained information and the position information of itself to the staff host computer through the iridium satellite antenna 15.

Claims

1. An emergency float of an AUV, comprising a float waterborne cabin watertight cabin (3) and a float underwater cabin watertight cabin (18) and a buoyancy material (25), characterized in that: The end cap (1) of the buoy water cabin is fixed on the top of the buoy water cabin water-tight cabin (3) through end cap screws (2); the control system (4) of the buoy water cabin is fixed above the power supply (5) of the buoy water cabin through screws, the power supply (5) of the buoy water cabin is fixed above the buoy water cabin power supply support plate (6) through bolts, the buoy water cabin power supply support plate (6) is connected above the buoy water cabin power supply support frame (7) through screws, the buoy water cabin power supply support frame (7) is connected below the buoy water cabin lower end cap (8) through its own thread; the buoy water cabin lower end cap (8) is connected and fixed below the buoy water cabin electromagnet (9) in the lower part of the buoy water cabin water-tight cabin (3) through screws, the buoy water cabin lower end cap (8) is internally fixed with the buoy water cabin communication plug (10), the electromagnet coil (11); the GPS antenna (12), the water-tight plug (13), the 4G antenna (14), the iridium star antenna (15) are fixed on the top of the buoy water cabin water-tight cabin (3); the buoy underwater cabin electromagnet (16) is fixed on the top of the buoy underwater cabin water-tight cabin (18) through the magnet fixing bolt (17), the buoy underwater cabin lower end cap (19) is fixed on the bottom of the buoy underwater cabin water-tight cabin (18) through screws, the buoy-AUV communication wire harness (20), the buoy underwater cabin communication antenna (21) are fixed on the bottom of the buoy underwater cabin lower end cap (19), the buoy underwater cabin power supply (22), the buoy underwater cabin control system (23) are fixed inside the buoy underwater cabin water-tight cabin (18), the buoy underwater cabin communication plug (24) is fixed on the top of the buoy underwater cabin water-tight cabin; the buoyancy material (25) is clamped around the buoy water cabin water-tight cabin (3) through screws, the buoyancy material (25) is provided with through holes for accommodating the GPS antenna (12), the water-tight plug (13), the 4G antenna (14), the iridium star antenna (15); When the AUV works normally, the electromagnet coil (11) is powered on, the buoy underwater cabin and the buoy water cabin are connected together through the strong magnetism of the buoy underwater cabin electromagnet (16) and the buoy water cabin electromagnet (9); when the AUV fails, the buoy underwater cabin control system (23) can receive the fault information sent by the AUV and communicate with the buoy water cabin, the buoy water cabin control system (4) controls the electromagnet coil (11) to be powered off, the buoy water cabin and the buoy underwater cabin are separated, and the buoy water cabin rises to the water surface through the positive buoyancy provided by the buoyancy material (25).

2. An emergency floatation device for an AUV according to claim 1, wherein, The buoy water cabin control system (4) and the buoy underwater cabin control system (23) are independently powered by the buoy water cabin power supply (5) and the buoy underwater cabin power supply (22).

3. The emergency buoy of an AUV according to claim 1, characterized in that, The buoy water cabin lower end cap (8) and the buoy underwater cabin water-tight cabin (18) are tightly connected through the magnetic force of the buoy water cabin electromagnet (9) and the buoy underwater cabin electromagnet (16).

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