A boost device for AUVs of multi-main dimension and multi-rudder type

Abstract

The application provides an AUV boosting device which can be used for multi-main-scale and multi-rudder type AUVs, and the telescopic connecting rod can be applied to the multi-main-scale AUV, can be recycled, can be detached, and is high in operability, so that the cost is greatly reduced; the AUV is accelerated by the boosting motor, the sailing distance of the AUV sailing to the starting control can be shortened, the AUV is directly started, the out-of-control stage at low speed is avoided, the length requirement of the test water area and the process of solving the related hydrodynamics at low speed are reduced, and the energy consumption of the AUV is reduced; therefore, the application can avoid the problem that the AUV is prone to out of control due to the unstable posture of the AUV during the process that the speed and the propeller rotating speed of the AUV start from zero to reach the stable sailing process; and the whole process has no contact with the rudder and the propeller at the rear end of the AUV, does not affect the subsequent movement and the structure of the rudder, and can be used for cross rudders and X-shaped rudders.

Description

Technical Field

[0001] This invention belongs to the field of underwater robot (AUV) technology, and particularly relates to an AUV propulsion device that can be used for multiple main scales and multiple rudder types. Background Technology

[0002] During the test, in the initial stage of navigation, the underwater robot AUV's speed and thruster rotation speed started from zero. The underwater robot AUV (hereinafter referred to as AUV) was in the start-up control stage, and its navigation attitude stability was poor.

[0003] Traditional methods involve controlling the attitude of an AUV in its initial stage through a control system and control strategy. This approach requires understanding the hydrodynamics of the AUV at low speeds, and relevant parameters can be obtained through simulation or experimentation, which is a complex process. Alternatively, the AUV can be driven underwater for a distance until its speed becomes controllable, and then its attitude can be adjusted through the control system. This approach places high demands on the design of the AUV's control system and parameters. Summary of the Invention

[0004] To address the aforementioned issues, this invention provides an AUV booster that can be used for multiple main scales and multiple rudder types. It is applicable to multiple main scale AUVs, can be reused, and can shorten the travel distance from AUV navigation to takeoff control, thereby reducing the length requirements of the test water area and its own energy consumption.

[0005] A booster device for AUVs with multiple main scales and multiple rudder types includes two parallel slide rails, steel cables, first to third telescopic links, and a hoisting system. The first to third telescopic links are arranged between the two parallel slide rails to form a booster assembly. The first and second telescopic links are slidable along the two parallel slide rails, and the third telescopic link is fixed to the end of the parallel slide rails, so that one end of the two parallel slide rails is closed and the other end is open. The hoisting system is used to lower the booster assembly underwater from the shore via steel cables, and the steel cables are fixed to the parallel slide rails. Simultaneously, a fixed-length rope I connects the first and second telescopic links, and the second telescopic link is connected to the third telescopic link or to a fixed device on the shore via a variable-length rope II.

[0006] A booster motor is installed on the second telescopic link. The bottom of the AUV to be boosted has a slot for locking the first and second telescopic links. When the AUV needs boost, the booster motor provides thrust to the second telescopic link, causing it to slide on the horizontal slide rail, thereby driving the AUV to move. The AUV then drives the first telescopic link to slide on the horizontal slide rail. Finally, the AUV, the first telescopic link, and the second telescopic link slide out from the open end of the horizontal slide rail in sequence. The two telescopic links are retrieved by rope I and rope II.

[0007] Furthermore, when the material density of the telescopic link is greater than that of water, the first and second telescopic links slide out of the horizontal slide rail and sink.

[0008] When the material density of the telescopic link is less than that of water, the first and second telescopic links slide out of the horizontal slide rail and float upwards.

[0009] When the underwater robot is under negative buoyancy and is fully submerged in water, the resultant force of buoyancy and gravity is downward. The robot is positioned at the upper end of the telescopic link, where the density of the telescopic link is greater than the density of water. Conversely, when the underwater robot is under negative buoyancy and is fully submerged in water, the resultant force of buoyancy and gravity is upward. The robot is positioned at the lower end of the telescopic link, where the density of the telescopic link is less than the density of water.

[0010] Furthermore, the parallel slide rail has a segmented structure, with each segment fixed together by pins. The number of slide rail segments is related to the boost speed required by the AUV and the length of the underwater robot. The greater the required boost speed, the more segments there are and the longer the parallel slide rail is.

[0011] Furthermore, the hoisting system includes a crane, a telescopic boom, and pulleys;

[0012] The telescopic rotating arm is installed on the crane support of the crane. The telescopic rotating arm adjusts the length of the steel cable through pulleys, thereby adjusting the initial water depth of the AUV and the angle between it and the horizontal plane.

[0013] Furthermore, the closed end of the booster component is pressed against the shore, using the shore as a support point.

[0014] Furthermore, the lengths of the first to third telescopic links can be adjusted according to the AUV diameter and rudder dimensions, and sliders are provided at both ends of the first and second telescopic links, so that the first and second telescopic links slide by inserting the sliders into the grooves of the slide rail.

[0015] Beneficial effects:

[0016] 1. This invention provides an AUV booster device applicable to multiple main scales and multiple rudder types. The telescopic linkage used is suitable for multi-main scale AUVs, is reusable, detachable, and highly operable, greatly reducing costs. By accelerating the AUV through the booster motor, the travel distance from AUV navigation to control can be shortened, allowing for direct control and avoiding the loss of control phase at low speeds. This reduces the length requirements of the test water area and the process of solving relevant hydrodynamic problems at low speeds, thus reducing its own energy consumption. Therefore, this invention can avoid the problem of AUV easily losing control due to AUV attitude instability during the process of AUV speed and thruster speed from zero to stable navigation. Moreover, the entire process has no contact with the rudder and thruster at the rear of the AUV, and does not affect subsequent motion or rudder structure. It can be used for cruciform and X-shaped rudders.

[0017] 2. This invention provides an AUV booster device applicable to multiple main scales and multiple rudder types. It uses a booster motor to accelerate the AUV, thereby reducing the AUV's travel distance while achieving the same speed. In other words, it can shorten the travel distance from the AUV to the start of control, thereby reducing the length requirements of the test water area and its own energy consumption.

[0018] 3. This invention provides an AUV booster that can be used for multiple main scales and multiple rudder types. It adopts a hoisting system for operation on shore, which reduces the difficulty of testing. Furthermore, the first and second telescopic links used for booster sliding are retrievable, making it highly operable and low in cost.

[0019] 4. This invention provides an AUV booster that can be used for multiple main scales and multiple rudder types. It can preset the initial equilibrium angle of attack, adjust the angle of the horizontal slide rail through the hoisting system, and then adjust it according to the AUV. The slide rail is adjusted to the required equilibrium angle of attack, so that the AUV has an ideal navigation attitude when it leaves the guide rail to carry out the next technical implementation, mission completion, etc., thereby increasing the underwater navigation stability of the AUV. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall AUV booster device of the present invention;

[0021] Figure 2 This is a top view of the slide rail of the present invention;

[0022] Figure 3 This is a schematic diagram of the sliding of the telescopic linkage on the parallel slide rail.

[0023] Figure 4 This is a schematic diagram showing the sinking of the telescopic link after it slides out of the horizontal slide rail when the material density of the telescopic link is greater than that of water.

[0024] Figure 5 This is a schematic diagram showing the upward movement of the telescopic link after it slides out of the horizontal slide rail when the material density of the telescopic link is less than that of water.

[0025] Figure 6 This is a schematic diagram showing the matching of the slot at the bottom of the AUV with the telescopic linkage.

[0026] 1- Crane, 2- Crane support, 3- Telescopic rotating arm, 4- Pulley, 5- Limiting roller, 6- Ground, 7- Water surface, 8- Steel cable I, 9- Steel cable II, 10- Steel cable III, 11- Slide rail I, 12- First pin, 13- Slide rail II, 14- Second pin, 15- Slide rail III, 16- Connection between steel cable I and slide rail I, 17- Connection between steel cable II and slide rail II, 18- Connection between steel cable III and slide rail III, 19- First telescopic link, 20- Second telescopic link, 21- Boosting motor; 22- Third telescopic link, 23- Rope I, 24- Rope II. Detailed Implementation

[0027] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.

[0028] like Figure 1 As shown, an AUV booster device applicable to multiple main scales and multiple rudder types includes two parallel slide rails, steel cables, first to third telescopic links, and a hoisting system. The hoisting system includes a crane, a telescopic boom, and pulleys. The first to third telescopic links are arranged between the two parallel slide rails to form a booster assembly. The first and second telescopic links can slide along the two parallel slide rails, and the third telescopic link is fixed to the end of the parallel slide rails, so that one end of the two parallel slide rails is closed and the other end is open. The hoisting system is used for navigation on shore. The booster assembly is lowered underwater via a steel cable. The closed end of the booster assembly rests against the shore, using the shore as a support point. The steel cable is fixed to a parallel slide rail. Specifically, the telescopic rotating arm is installed on the crane's support frame. The telescopic rotating arm adjusts the length of the steel cable via pulleys to adjust the initial water depth of the AUV and the angle between it and the horizontal plane. At the same time, a fixed-length rope I is connected between the first telescopic link and the second telescopic link. The second telescopic link is connected to the third telescopic link or to a fixed device on the shore via a variable-length rope II.

[0029] A booster motor is installed on the second telescopic link. The bottom of the AUV to be boosted has a slot for locking the first and second telescopic links. When the AUV needs boost, the booster motor provides thrust to the second telescopic link, causing it to slide on the horizontal slide rail, thereby driving the AUV to move. The AUV then drives the first telescopic link to slide on the horizontal slide rail. Finally, the AUV, the first telescopic link, and the second telescopic link slide out from the open end of the horizontal slide rail in sequence. The two telescopic links are retrieved by rope I and rope II.

[0030] It should be noted that the parallel slide rail has a segmented structure, with each segment fixed together by pins. The number of segments is related to the required boost speed of the AUV; the higher the required boost speed, the longer the AUV, the more segments, and the longer the parallel slide rail. For example, as shown... Figure 1 As shown, a small, movable crane with a limit device operates from the shore. The telescopic rotating arm can be adjusted in length and rotation angle according to the test site. Cables I, II, and III can be adjusted via pulleys and a tensioning device. The lengths of cables I, II, and III can be adjusted via a pulley motor. Cable I is fixedly connected to slide rail I, cable II to slide rail II, and cable III to slide rail III; the connection points between the cables and slide rails are detachable. Slide rail I and slide rail II are fixedly connected by a first pin, and slide rail II and slide rail III are fixedly connected by a second pin. The first and second pins are detachable, allowing adjustment of the slide rail length through the detachable pins between the slide rails. Adjusting the length of the cables allows adjustment of the initial water depth of the AUV. The angle between the slide rails and the horizontal plane can be adjusted through the fixed connections between the slide rails and cables and the rotating arm of the small crane.

[0031] like Figure 2 The diagram shown is a top view of the slide rail. Because the slide rail is symmetrical, only the upper half is described. Items 11, 12, 13, 14, and 15 are... Figure 1 The diagram shows slide rail I, first pin, slide rail II, second pin, and slide rail III. Points 16, 17, and 18 are the points where steel cables I, II, and III are fixed to slide rails I, II, and III, respectively, allowing for connection and disconnection between the slide rails and steel cables. Point 19 is the first telescopic link, with both ends moving on the slide rail via sliders; this is a passive motion device. Point 20 is the second telescopic link, with both ends moving on the slide rail via sliders; this is an active motion device. Point 21 is a motor fixed to the second telescopic link. Point 22 is the third telescopic link, with both ends fixed to the slide rail via pins. Point 23 is an adjustable rope I; and point 24 is an adjustable rope II.

[0032] like Figure 6 As shown, slots are provided at both ends of the AUV to hold the first and second retractable connecting rods. The arrangement of the slots should be based on the length of the AUV. In other words, the present invention uses grooves to fix the relative position of the retractable connecting rods and the underwater robot, thus supporting the underwater robot to move forward.

[0033] The first, second, and third telescopic connecting rods can be adjusted according to the width and diameter of the AUV; a motor is fixedly connected to the second telescopic connecting rod, and the movement and speed of the second connecting rod can be adjusted by the motor current. The second telescopic connecting rod is the active motion device.

[0034] Since the first and second telescopic links are fixed to the AUV through the slots, the relative distance between the first and second telescopic links no longer changes. Since the second telescopic link is driven by a motor and runs on the slide rail through the sliders at both ends, the first telescopic link moves at the same speed on the slide rail through the sliders at both ends.

[0035] The second telescopic link is connected to the first telescopic link by a rope I according to the distance between them. The length of rope I can be adjusted according to the distance between the first and second telescopic links. The length of rope I does not change during the forward movement of the two telescopic links.

[0036] The second telescopic link is connected to the third telescopic link via rope II, or connected to the rear fixing device via pulley via rope II. The rear device can be a small crane, personnel, or other device directly behind. The length of rope II changes as the second telescopic link moves forward.

[0037] pass Figure 2 It is known that the first, second, and third telescopic links between the two parallel slide rails can be adjusted according to the diameter of the AUV and the main dimensions of the rudder plate; in addition, the speed of the second and first telescopic links can be adjusted by the booster motor.

[0038] like Figure 3 The image shown is a schematic diagram of a cross-section of the second telescopic link on the second slide rail:

[0039] 13 is the second slide rail, 25 is the slider that moves on the slide rail and is fixedly connected to the second telescopic link, 20 is the second telescopic link, and 21 is the motor.

[0040] The groove in the slide rail runs throughout. When the first telescopic link of the AUV slides to its end, it moves downward due to gravity and is connected to the second telescopic link through the first rope I. Then, when the second telescopic link slides to its end, it moves downward due to gravity and is connected to the rear end device through the rope.

[0041] When the two retractable links are engaged in the groove and the AUV slides to the open end of the slide rail, the AUV has a certain initial velocity due to inertia. The first and second retractable links fall downwards or float upwards due to gravity, so they do not contact the rudder or propulsion device at the tail and do not affect its movement. The first and second retractable links are connected by the first rope I, and the second retractable link is connected to the rear end device by the second rope II. Therefore, when the AUV slides out of the slide rail, the first and second retractable links can be retrieved through rope I and rope II.

[0042] Figure 4 This is a schematic diagram of a negative buoyancy underwater robot being tested on this experimental device. The underwater robot is placed on two telescopic connecting rods at the front and rear through limiting grooves. The telescopic connecting rods are made of a material with a density greater than that of water and a gravity greater than that of buoyancy. When the device carries the underwater robot, it travels to the end of the slide rail, and the telescopic connecting rod falls due to density, and is retrieved by a rope attached to the rear end.

[0043] Figure 5This is a schematic diagram of a positive buoyancy underwater robot being tested on this experimental device. The underwater robot is placed on two telescopic connecting rods at the front and rear through limiting grooves. The telescopic connecting rods are made of a material with a density less than that of water and a buoyancy greater than that of gravity. When the device carries the underwater robot, it travels to the end of the slide rail, and the telescopic connecting rod floats up due to its density and is retrieved by a rope attached to the rear end.

[0044] In summary, the working process of the AUV booster device of the present invention is as follows:

[0045] Deploy small mobile cranes on the shore;

[0046] The horizontal slide rail is lowered to underwater using cables, steel ropes, and tensioning devices;

[0047] The horizontal slide rail is equipped with grooves;

[0048] The horizontal slide rail can be adjusted to the angle between itself and the horizontal plane;

[0049] Two horizontal telescopic linkage mechanisms are arranged on a horizontal slide rail;

[0050] A booster motor is installed on the second telescopic link near the tail of the AUV, which is an active motion device.

[0051] The first telescopic link at the front of the AUV is a passive motion device;

[0052] The two telescopic rods are connected by rope I, the length of which is not adjustable;

[0053] The second telescopic link at the rear end is connected to the shore foundation via rope II. The length of rope II increases as the two telescopic links move forward, and it is adjustable.

[0054] Slots are arranged at the front and rear of the AUV to fix the two telescopic linkages.

[0055] No limiting device is set at the open end of the slide rail. When the telescopic link travels to the open end, the first telescopic link rushes out of the horizontal slide rail first. Due to density reasons, it falls downward or floats upward. Then, the second telescopic link rushes out of the slide rail and falls downward or floats upward in the same way.

[0056] Since the first telescopic link and the second telescopic link are connected by rope I, and the second telescopic link is also connected to the shore by rope II, when the AUV has a certain speed and breaks out of the guide rail, the two telescopic links can be retrieved by rope I and rope II.

[0057] The telescopic linkage and the distance between the slide rail can be adjusted according to installation requirements. For details, please refer to the diameter and width of the AUV.

[0058] The length of the slide rail can be extended or shortened according to the length of the AUV and the speed required for start-up control. The angle between the slide rail and the horizontal plane can be adjusted according to the test requirements.

[0059] When the AUV breaks out of the slide rail, it has a certain speed and enters the start-up and control phase, where it can perform related tasks.

[0060] Therefore, this invention provides an AUV booster device applicable to multiple main scales and multiple rudder types, which can avoid the problem of AUV being prone to loss of control due to AUV attitude instability during the process of AUV speed and thruster speed reaching stable navigation from zero. At the same time, the telescopic linkage used in this invention can be applied to multiple main scale AUVs, can be recycled, and greatly reduces costs. By accelerating the AUV through the booster motor, the navigation distance from the AUV to the start-up control can be shortened, reducing the length requirement of the test water area and reducing its own energy consumption. The angle of the horizontal slide rail can be adjusted according to the AUV through the hoisting system, and the slide rail can be adjusted to the required balance angle of attack so that the AUV has an ideal navigation attitude when leaving the guide rail for the next technical implementation and mission completion. Finally, the entire boosting process of this invention has no contact with the rudder and thruster of the rear section of the AUV, and does not affect its navigation process or structural strength, and can be used for cruciform rudders and X-shaped rudders.

[0061] Of course, the present invention may have other various embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art can make various corresponding changes and modifications according to the present invention, but these corresponding changes and modifications should all fall within the protection scope of the appended claims.

Claims

1. An AUV booster that can be used in multiple main scales and multiple rudder configurations, characterized in that, The device includes two parallel slide rails, steel cables, a first telescopic link, a second telescopic link, a third telescopic link, and a hoisting system. The first, second, and third telescopic links are arranged between the two parallel slide rails to form a booster assembly. The first and second telescopic links can slide along the two parallel slide rails, while the third telescopic link is fixed to the end of each parallel slide rail, resulting in one end of the two parallel slide rails being closed and the other end open. The hoisting system is used to lower the booster assembly underwater from the shore using steel cables, which are fixedly connected to the parallel slide rails. A fixed-length rope I connects the first and second telescopic links, and the second telescopic link is connected to the third telescopic link or to a fixed device on the shore via a variable-length rope II. A booster motor is installed on the second telescopic link. The bottom of the AUV to be boosted has a slot for locking the first and second telescopic links. When the AUV needs boost, the booster motor provides thrust to the second telescopic link, causing it to slide on the horizontal slide rail, thereby driving the AUV to move. The AUV then drives the first telescopic link to slide on the horizontal slide rail. Finally, the AUV, the first telescopic link, and the second telescopic link slide out from the open end of the horizontal slide rail in sequence. The two telescopic links are retrieved by rope I and rope II. When the material density of the telescopic link is greater than that of water, the first and second telescopic links slide out of the horizontal slide rail and sink. When the material density of the telescopic link is less than that of water, the first and second telescopic links slide out of the horizontal slide rail and float upwards. When the underwater robot is under negative buoyancy, and it is completely submerged in water, the resultant force of buoyancy and gravity is downward. The underwater robot is positioned at the upper end of the telescopic link, where the density of the telescopic link is greater than the density of water. When the underwater robot is under positive buoyancy, and it is completely submerged in water, the resultant force of buoyancy and gravity is upward. The underwater robot is positioned at the lower end of the telescopic link, where the density of the telescopic link is less than the density of water. The hoisting system includes a crane, a telescopic boom, and pulleys; The telescopic rotating arm is installed on the crane support of the crane. The telescopic rotating arm adjusts the length of the steel cable through pulleys, thereby adjusting the initial water depth of the AUV and the angle between it and the horizontal plane.

2. The AUV booster device applicable to multiple main scales and multiple rudder types as described in claim 1, characterized in that, The parallel slide rail has a segmented structure, with each segment fixed together by pins. The number of segments is related to the boost speed required by the AUV and the length of the underwater robot. The higher the required boost speed, the more segments there are and the longer the parallel slide rail is.

3. A booster device for AUVs with multiple main scales and multiple rudder configurations as described in claim 1 or 2, characterized in that, The closed end of the booster component rests against the shore, using the shore as a support point.

4. A booster device for AUVs with multiple main scales and multiple rudder configurations as described in claim 1 or 2, characterized in that, The lengths of the first telescopic link, the second telescopic link, and the third telescopic link can be adjusted according to the AUV diameter and the rudder size. The first telescopic link and the second telescopic link are equipped with sliders at both ends, so the first telescopic link and the second telescopic link slide by the sliders being embedded in the grooves of the slide rail.

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