An autonomous altitude determination module for small deep-sea underwater vehicles

Abstract

An autonomous altitude determination module for a small deep-sea underwater vehicle, which relates to the field of underwater vehicles. The present invention is designed to solve the problem that existing small underwater machines cannot conduct deep-sea exploration due to extreme pressure in the deep sea, which brings inconvenience to the research of deep-sea exploration. The present invention comprises a silicone body (1), a laser ranging sensor (2), a circuit board (3), a fin stabilizer (4), a magnetic coil flexible actuator (5) and a power supply, wherein the circuit board (3) and the power supply are sealed and embedded in the silicone body (1), the laser ranging sensor (2) is mounted on the front end surface of the silicone body (1), the fin stabilizer (4) is mounted on the left and right sides of the upper end surface of the silicone body (1), and the magnetic coil flexible actuator (5) is mounted on the upper end surface of the silicone body (1), and the magnetic coil flexible actuator (5) drives the dorsal fin blade (5-1) to provide driving power for the vehicle to dive. The present invention is used for deep-sea exploration.

Description

Technical Field

[0001] The present invention relates to a vehicle, in particular to an autonomous altitude determination module for a small deep-sea underwater vehicle, belonging to the field of deep-sea exploration. Background Art

[0002] With the proposal of the strategy of building a strong maritime nation and the high development of land and offshore resources, the exploration of deep-sea resources has become a current research hotspot. Due to the extreme hydrostatic pressure in the deep sea, traditional rigid robots require pressure vessels and pressure compensation systems, which results in the robot body being usually large and bulky, and the appearance being difficult to integrate well with the seabed environment. In addition, the robot is expensive, the overall design is relatively complex, and the scalability is poor.

[0003] In addition, the propulsion systems of these robots are mostly implemented by propellers or jets, which may disturb the fish schools on the seabed and are not conducive to deep-sea observation. At the same time, the advantages of the new underwater robot, such as low cost, small size, easy manufacturing and scalability, are of great strategic significance for future deep-sea exploration.

[0004] At present, the depth control of small underwater machines is mainly divided into buoyancy control and dynamic control methods. Among them, buoyancy control is mainly adjusted by changing the volume change of the underwater robot. Pistons or pumps can be used to compress gas or liquid, or gas can be generated by electrolyzing water to achieve volume change. Dynamic control mainly adjusts the robot to neutral buoyancy and changes the pitch angle of the robot fish's pectoral fin to achieve floating and diving movements. This control method has certain requirements for the robot's swimming speed. In addition, the control method of combining the dorsal fin with a sensor can be used to drive the dorsal fin to generate a downward thrust to achieve depth control. However, all of the above control methods can only be tested in offshore areas because these designs cannot withstand the extreme pressure of the deep sea.

[0005] In summary, most of the existing small underwater machines cannot withstand the extreme loads of the deep sea, resulting in the inability to conduct deep-sea exploration, which brings inconvenience to deep-sea exploration research. Summary of the invention

[0006] The purpose of the present invention is to solve the problem that existing small underwater machines cannot withstand the extreme loads of the deep sea, resulting in the inability to conduct deep sea exploration, which brings inconvenience to the research of deep sea exploration. Further, an autonomous altitude determination module for deep sea small underwater vehicles is provided.

[0007] The technical solution of the present invention is: an autonomous altitude determination module for a small deep-sea underwater vehicle, which includes a silicone body, a laser ranging sensor, a circuit board, a fin stabilizer, a magnetic coil flexible actuator and a power supply. The circuit board and the power supply are sealed and embedded in the silicone body, the laser ranging sensor is installed on the front end surface of the silicone body, the fin stabilizer is installed on the left and right sides of the upper end surface of the silicone body, the magnetic coil flexible actuator is installed on the upper end surface of the silicone body, and the magnetic coil flexible actuator drives the dorsal fin blades to provide driving power for the vehicle to dive.

[0008] Furthermore, the silicone body is a rectangular silicone block or a bionic fish shape.

[0009] Furthermore, the main body of the laser distance measuring sensor is embedded in the silicone body, the laser window of the laser distance measuring sensor leaks out of the silicone body, and the laser window is vertically downward.

[0010] Furthermore, the fin stabilizer comprises a silicone film and a frame, the frame is installed on both sides of the silicone body in the length direction, and the silicone film is installed inside the frame.

[0011] Preferably, the skeleton is in the shape of a fish fin.

[0012] Furthermore, the magnetic coil flexible actuator includes a dorsal fin blade, a resin base, a magnet and a coil. The resin base is provided with a "V"-shaped groove, the coil is embedded in the inclined surface of the "V"-shaped groove, the wire end of the coil is electrically connected to the circuit board, the dorsal fin blade is vertically inserted in the "V"-shaped groove, the magnet is located in the "V"-shaped groove and is symmetrically attached to the end face of the dorsal fin blade.

[0013] Preferably, a groove is provided on the bottom end surface of the "V"-shaped groove of the resin base.

[0014] Further, the outer side of the magnet is inserted into the coil.

[0015] Furthermore, the dorsal fin blades are flexible blades.

[0016] Furthermore, the number of the magnetic coil flexible actuator is at least one.

[0017] Compared with the prior art, the present invention has the following effects:

[0018] The present invention is a low-cost, small-volume, easy-to-manufacture deep-sea autonomous altitude-fixing module for 3,000-meter underwater exploration in the deep sea. Unlike most small underwater robots that can only explore offshore, the present invention uses a laser rangefinder sensor instead of a pressure sensor, provides a downward potential through a magnetic coil flexible actuator 5, and cooperates with the module's own slight positive buoyancy to control the height position of the vehicle. The module uses a silicone matrix to protect the circuit board, resists deep-sea high pressure, can work under a high pressure of 35MPa, and has an altitude-fixing error range of ±5 cm, successfully realizing the altitude-fixing function of deep-sea manipulation of a small flexible robot module. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of the present invention. Figure 2 yes Figure 1 main view. Figure 3 yes Figure 1 Top view of the . Figure 4 This is the front view of the magnetic coil flexible actuator. Figure 5 yes Figure 4 Top view of the . Figure 6 yes Figure 5 Cross-sectional view along BB. Figure 7 is a side view of the magnetic coil flexible actuator. Figure 8 yes Figure 7 Axial schematic diagram of . Fig. 9 It is a height setting principle diagram of the present invention. DETAILED DESCRIPTION

[0020] Specific implementation method 1: Combination Figures 1 to 8 The present embodiment is described as follows. The present embodiment comprises a silicone body 1, a laser ranging sensor 2, a circuit board 3, a fin stabilizer 4, a magnetic coil flexible actuator 5 and a power supply. The circuit board 3 and the power supply are sealed and embedded in the silicone body 1. The laser ranging sensor 2 is mounted on the front end surface of the silicone body 1. The fin stabilizer 4 is mounted on the left and right sides of the upper end surface of the silicone body 1. The magnetic coil flexible actuator 5 is mounted on the upper end surface of the silicone body 1. The magnetic coil flexible actuator 5 drives the dorsal fin blade 5-1 to provide driving power for the vehicle to dive.

[0021] The autonomous altitude setting module of the present invention is used for a small underwater vehicle in the deep sea. The dorsal fin is driven by an electromagnetic coil to provide a driving force for diving. The integrated underwater vehicle needs to have a slight positive buoyancy. The sensor needs to face the seabed to receive altitude feedback information. When the set altitude is reached, the dorsal fin stops driving, and the vehicle floats up under the influence of positive buoyancy. When the vehicle floats up beyond the set altitude, the dorsal fin is driven again, thereby controlling the vehicle to work at a fixed altitude underwater. The present invention provides a new underwater control idea for miniaturized deep-sea robots, which has certain strategic significance. The module has strong scalability and can be easily integrated into a small underwater robot. It also has the characteristics of low cost, easy production, small size, and light weight.

[0022] Specific implementation method 2: Combination Figures 1 to 3 To explain this embodiment, the silicone body 1 of this embodiment is a rectangular silicone block or a bionic fish shape. This arrangement is convenient for providing a carrier to realize the loading of the laser ranging sensor 2, the circuit board 3, the anti-roll fin 4, the magnetic coil flexible actuator 5 and the power supply. The other components and connection relationships are the same as those of the specific embodiment 1.

[0023] Specific implementation method three: Combination Figures 1 to 3To explain this embodiment, the main body of the laser distance sensor 2 of this embodiment is embedded in the silicone body 1, and the laser window of the laser distance sensor 2 leaks out of the silicone body 1, and the laser window is vertically downward. This arrangement facilitates accurate detection of height information. Other components and connection relationships are the same as those of the second embodiment.

[0024] Specific implementation method four: Combination Figures 1 to 3 This embodiment is described. The anti-roll fin 4 of this embodiment includes a silicone film 4-1 and a frame 4-2. The frame 4-2 is installed on both sides of the silicone body 1 in the length direction, and the silicone film 4-1 is installed in the frame 4-2. This arrangement is convenient for playing the role of anti-roll and reducing the roll angle of the module. Other components and connection relationships are the same as those of the specific embodiment three.

[0025] Specific implementation method five: Combination Figures 1 to 3 To illustrate this embodiment, the skeleton 4-2 of this embodiment is shaped like a fish fin. In this way, the other components and connection relationships are the same as any one of the specific embodiments 1 to 4.

[0026] Specific implementation method six: Combination Figures 4 to 8 To explain this embodiment, the magnetic coil flexible actuator 5 of this embodiment includes a dorsal fin blade 5-1, a resin base 5-2, a magnet 5-3 and a coil 5-4. The resin base 5-2 is provided with a "V"-shaped groove 5-5, and the coil 5-4 is embedded in the inclined surface of the "V"-shaped groove 5-5. The wire end of the coil 5-4 is electrically connected to the circuit board 3. The dorsal fin blade 5-1 is vertically inserted in the "V"-shaped groove 5-5. The magnet 5-3 is located in the "V"-shaped groove 5-5 and is symmetrically attached to the end face of the dorsal fin blade 5-1. In this way, the magnetic coil flexible actuator 5 is a driving device, which adopts the method of bionic dorsal fin, and drives the dorsal fin blade to generate downward propulsion through the magnetic coil. The integrated underwater vehicle needs to have a slight positive buoyancy (the integrated underwater vehicle as a whole needs to have a slight positive buoyancy, the value can be adjusted according to different depths, the following is a reference value, it can be set to 2g near the coast, the deep sea buoyancy can be readjusted according to different vehicles, and can be adjusted according to the buoyancy of about 4g for small vehicles), the laser ranging sensor needs to face the seabed to receive height feedback, and when the set height is reached, the dorsal fin blade stops driving, and the vehicle floats up due to the positive buoyancy. When it floats up above the set height (the specific parameters are determined by the sensor, and the working range of the sensor determines the adjustable height, which can be set arbitrarily), the dorsal fin is driven again, so as to control the vehicle to work at a fixed height underwater. The other components and connection relationships are the same as any one of the specific implementation methods one to five.

[0027] The maximum height of the height setting depends on the working range of the sensor. For details of the height setting flowchart, see Fig. 9,Set the height parameter in advance in the circuit board. The height parameter does not exceed the maximum working range of the sensor. If the magnetic coil actuator is not driven, the module will float up, and if the magnetic coil actuator is driven, it will dive down. The two are combined with the control circuit through the feedback of the sensor to make the module determine to sail at a certain height.

[0028] Specific implementation method seven: Combination Figures 4 to 8 To explain this embodiment, a groove 5-6 is provided on the bottom end surface of the "V"-shaped groove 5-5 of the resin base 5-2 of this embodiment. This arrangement facilitates the insertion of the dorsal fin blades, and fixation is achieved by gluing, ensuring safety and stability during use. Other components and connection relationships are the same as any one of the specific embodiments 1 to 6.

[0029] Specific implementation method eight: Combination Figure 6 To explain this embodiment, the outer side of the magnet 5-3 of this embodiment is inserted into the coil 5-4. This arrangement ensures that the magnet can swing back and forth between the centers of the two coils, and also ensures that the overall design size is relatively compact, increases torque, and improves the utilization rate of the magnetic field. The other components and connection relationships are the same as any one of the specific embodiments 1 to 7.

[0030] Specific implementation method nine: Combination Figures 4 to 8 To explain this embodiment, the dorsal fin blade 5-1 of this embodiment is a flexible blade. Such a configuration facilitates rapid swinging and ensures driving strength. Other components and connection relationships are the same as any one of the specific embodiments 1 to 8.

[0031] Specific implementation method ten: Combination Figures 1 to 3 In this embodiment, the number of the magnetic coil flexible actuator 5 is at least one. This arrangement is convenient for actual depth detection needs, and the greater the number, the deeper the deep sea detection. The other components and connection relationships are the same as any one of the specific embodiments 1 to 9.

[0032] Combination Figures 1 to 9 The working principle of the present invention is described:

[0033] The autonomous altitude determination module for a small deep-sea underwater vehicle of the present invention is mainly composed of the following four parts: a magnetic coil flexible actuator, a circuit board for altitude control (the magnetic coil actuator is driven by controlling the back and forth change of the current, and the opening and closing of the circuit are controlled by receiving feedback from the sensor. When the set height is reached or exceeded, the circuit board controls the magnetic coil to work, and when the set height is not reached, the magnetic coil is controlled not to work), a laser ranging sensor and a power supply.

[0034] When assembling the magnetic coil actuator, apply glue to the outer periphery of the coil and place it in the groove of the resin base. The coil wire ends are led out from the through holes below the grooves to facilitate connection with the circuit board. The two magnets are symmetrically attracted to each other and glued to both sides of the PET dorsal fin blades. Apply glue to the square area under the blades and insert it into the groove of the resin base. At this time, it is necessary to ensure that the magnet is positioned directly opposite the center of the circular groove to indicate a successful installation.

[0035] It is worth noting that the two coils need to be connected in series. When connecting the circuit board, it is necessary to ensure the current direction of the coil, that is, the magnetic field direction of the coil. When the magnetic field of the left coil appears to attract the magnet, the magnetic field generated by the right coil needs to repel the magnet, which is manifested as the dorsal fin blades flapping to the left. When the current reverses direction, the blades flap in the opposite direction, thereby realizing the back and forth flapping of the dorsal fin.

[0036] The magnetic coil base is made of 3D resin printing. The base is symmetrically designed, and the V-shaped angle in the middle is used to limit the swing of the dorsal fin. The choice of coil directly affects the thrust of the actuator. The current and the number of coil turns are important factors affecting the size of the magnetic field generated by the coil. Select the coil with appropriate parameters (i.e. the wire diameter, number of turns, inner diameter, outer diameter, resistance, height, etc.) and power supply. When the two coils are connected in series, the coil will heat up seriously when working in the air, but because the working environment is underwater, when working in the water, the water around the coil can quickly help cool down and ensure the stable operation of the actuator.

[0037] The parameters of a single cylindrical magnet (NdFeB) need to be slightly smaller than the inner diameter parameters of the coil. This can ensure that the magnet can swing back and forth between the centers of the two coils and that the overall design size is relatively compact, increasing the torque and improving the utilization of the magnetic field.

[0038] PET sheets are used as the driving dorsal fin blades. The dorsal fin blades are designed with a cantilever beam structure, and flexible blades are used instead of hard blades to increase thrust. The rigidity of PET itself can ensure that the dorsal fin can remain vertical without driving the coil, which is more in line with the bionic design. A single-chip microcomputer is used to control the direction of current change, and the sensor uses a laser ranging sensor, but it needs to be protected against pressure, that is, if there is a cavity inside, fill the cavity with silicone oil.

[0039] Use soft silicone to seal the circuit board that needs to be protected. In order to verify the feasibility of the model and facilitate the test, a simple rectangular silicone block is used for packaging. It should be noted that the laser window of the sensor needs to expose the silicone and point vertically downward to detect the height information. At the same time, in order to ensure the reliability of the laser window under high pressure, we add vulcanized rubber to paste around the sensor, because the texture of vulcanized rubber is harder than silicone after curing and has strong adhesion. The specific method is to cut open the silicone around the sensor window and then apply a circle of vulcanized rubber.

[0040] In addition, the module may roll during actual operation. In this case, PET can be added as the skeleton, and a silicone film can be pasted in the hollow part in the middle to serve as the module's anti-roll fin. Multiple magnetic coil actuators can be connected in parallel to increase the driving force.

Claims

1. An autonomous altitude determination module for a small deep-sea underwater vehicle, characterized in that: It comprises a silicone body (1), a laser ranging sensor (2), a circuit board (3), a fin stabilizer (4), a magnetic coil flexible actuator (5) and a power supply. The circuit board (3) and the power supply are sealed and embedded in the silicone body (1). The laser ranging sensor (2) is mounted on the front end surface of the silicone body (1). The fin stabilizer (4) is mounted on the left and right sides of the upper end surface of the silicone body (1). The magnetic coil flexible actuator (5) is mounted on the upper end surface of the silicone body (1). The magnetic coil flexible actuator (5) drives the dorsal fin blades (5-1) to provide driving power for the vehicle to dive. The magnetic coil flexible actuator (5) comprises a dorsal fin blade (5-1), a resin base (5-2), a magnet (5-3) and a coil (5-4); a "V"-shaped groove (5-5) is provided on the resin base (5-2); the coil (5-4) is embedded in the inclined surface of the "V"-shaped groove (5-5); the wire end of the coil (5-4) is electrically connected to the circuit board (3); the dorsal fin blade (5-1) is vertically inserted in the "V"-shaped groove (5-5); the magnet (5-3) is located in the "V"-shaped groove (5-5) and is symmetrically attached to the end surface of the dorsal fin blade (5-1).

2. The autonomous altitude determination module for a small deep-sea underwater vehicle according to claim 1, characterized in that: The silica gel body (1) is a rectangular silica gel block or a bionic fish shape.

3. The autonomous altitude determination module for a small deep-sea underwater vehicle according to claim 2, characterized in that: The main body of the laser distance measuring sensor (2) is embedded in the silicone body (1), the laser window of the laser distance measuring sensor (2) leaks out of the silicone body (1), and the laser window is vertically downward.

4. The autonomous altitude determination module for a small deep-sea underwater vehicle according to claim 3, characterized in that: The fin stabilizer (4) comprises a silicone film (4-1) and a frame (4-2), wherein the frame (4-2) is installed on both sides of the silicone body (1) in the length direction, and the silicone film (4-1) is installed inside the frame (4-2).

5. The autonomous altitude determination module for a small deep-sea underwater vehicle according to claim 4, characterized in that: The shape of the skeleton (4-2) is fish fin-like.

6. The autonomous altitude determination module for a small deep-sea underwater vehicle according to claim 5, characterized in that: A groove (5-6) is provided on the bottom end surface of the V-shaped groove (5-5) of the resin base (5-2).

7. The autonomous altitude determination module for a small deep-sea underwater vehicle according to claim 6, characterized in that: The outer side of the magnet (5-3) is inserted into the coil (5-4).

8. The autonomous altitude determination module for a small deep-sea underwater vehicle according to claim 7, characterized in that: Dorsal fin blade (5-1) is flexible.

9. The autonomous altitude determination module for a small deep-sea underwater vehicle according to claim 1 or 8, characterized in that: The number of the magnetic coil flexible actuator (5) is at least one.

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