Unmanned auxiliary navigation equipment of underwater vehicle and cluster application system of unmanned auxiliary navigation equipment

Abstract

The invention discloses unmanned auxiliary navigation equipment of an underwater vehicle and a cluster application system of the unmanned auxiliary navigation equipment, and relates to the technical field of underwater vehicles. The multiple independent unmanned auxiliary navigation devices are firmly connected with the underwater vehicle through the connecting assemblies, the propelling power of the unmanned auxiliary navigation devices also becomes the propelling power of the underwater vehicle, an additional power source is provided for movement of the underwater vehicle on the water surface, and the maneuvering performance of the underwater vehicle is improved. And through an unmanned and cluster remote control mode, the system can adapt to worse sea conditions, and a larger time window is provided for recovery and maintenance operation of the underwater vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater vehicles, and in particular to an unmanned auxiliary navigation device for an underwater vehicle and its cluster application system. Background Art

[0002] For an underwater vehicle, the thrust center of its propulsion power is generally located on the central axis of the vehicle. This layout facilitates controlling the movement of the underwater vehicle in water. When the underwater vehicle needs to be recovered and maintained, it needs to surface. At this time, the thrust center of its propulsion power is very close to the water surface, and the tail rudder paddle loses its function, which all lead to a significant deterioration in the maneuverability of the underwater vehicle on the water surface. Especially when the underwater vehicle conducts surface maneuvers in large waves, its control becomes very difficult.

[0003] In the prior art, generally, a cable is manually connected to the underwater vehicle surfaced on the water, and then pulled to drive the underwater vehicle. This method is cumbersome and not suitable for high sea conditions. The time window for recovering and maintaining the underwater vehicle is narrow, and the safety is poor. Summary of the Invention

[0004] Based on this, in view of the above problems, it is necessary to propose an unmanned auxiliary navigation device for an underwater vehicle and its cluster application system. By connecting a plurality of independent unmanned auxiliary navigation devices to the underwater vehicle, an additional power source is provided for the movement of the underwater vehicle on the water surface, ensuring the maneuverability of the underwater vehicle on the water surface, and thus providing convenient conditions for the recovery and maintenance of the underwater vehicle.

[0005] To achieve the above object, the technical solution of the present invention is as follows:

[0006] An unmanned auxiliary navigation device for an underwater vehicle, characterized in that it includes a power propulsion component, a communication control component, a connection component, an energy component and a frame, and further includes a remote controller controlled by a control personnel;

[0007] The power propulsion component, the communication control component, the connection component and the energy component are all installed inside or on the frame; the energy component provides energy for the power propulsion component, the communication control component and the connection component;

[0008] The connection component is installed at the head of the unmanned auxiliary navigation device; the unmanned auxiliary navigation device can be connected to the underwater vehicle through the connection component; the opposite side of the head of the unmanned auxiliary navigation device is the tail of the unmanned auxiliary navigation device;

[0009] The power propulsion component can drive the unmanned auxiliary navigation device to complete forward and backward, left and right, and horizontal rotation movements on the water surface;

[0010] The frame further includes a counterweight. Before the unmanned assisted navigation device is launched into the water, adjusting the counterweight can adjust the draft of the unmanned assisted navigation device.

[0011] The communication control component includes a communication antenna and a control board. The control board is installed in a watertight box, and the watertight box is installed in the frame. The controller controls the remote controller and issues instructions to the control board through the communication antenna.

[0012] When the unmanned assisted navigation device is placed in water, the unmanned assisted navigation device can be remotely controlled to sail on the water surface to the vicinity of the underwater vehicle. The controller uses the remote controller to connect the connection component to the underwater vehicle, and the power propulsion component drives the underwater vehicle to move through the connection component.

[0013] Further, the power propulsion component includes at least two thrusters. The two thrusters are arranged along the head and tail direction of the unmanned assisted navigation device, and the propulsion directions of the two thrusters are perpendicular to each other.

[0014] Further, the power propulsion component includes at least two azimuth thrusters. The two thrusters are arranged along the head and tail direction of the unmanned assisted navigation device.

[0015] Further, the power propulsion component further includes a plurality of thrusters arranged horizontally, and the propulsion directions of the thrusters are not the same. Further, the connection component includes a connection power sub-component, a guiding sub-component, and a connection fixing sub-component. The specific types and distributions of the connection fixing sub-component and the guiding sub-component are determined according to the shape of the underwater vehicle.

[0016] Further, the connection fixing sub-component is one or more suction cups, and the connection power sub-component is a pump. One connection power sub-component is connected to one or more connection fixing sub-components through a pipeline.

[0017] Further, the connection fixing sub-component includes one or more rotatable robotic arms. The rotatable robotic arm has at least one degree of freedom, and the front end of the rotatable robotic arm has a fixed connection device matching the outer shell of the underwater vehicle.

[0018] Further, the communication control component further includes a camera. The camera includes an underwater part and an above-water part.

[0019] A cluster application system of an unmanned assisted navigation device for an underwater vehicle, characterized in that the cluster application system includes a plurality of the unmanned assisted navigation devices and a cluster controller. The unmanned assisted navigation devices are respectively controlled by their respective device remote controllers.

[0020] After the cluster application system enters the working state, the device remote controller controls the respective unmanned assisted navigation devices to navigate to the vicinity of the underwater vehicle and complete the connection;

[0021] After the connection of the unmanned assisted navigation device is completed, the device remote controller is signal-connected to the cluster controller. The cluster controller can issue commands to the device remote controller, and the device remote controller accepts the commands of the cluster controller. After completing the calculation, it issues commands to the corresponding unmanned assisted navigation device;

[0022] The underwater vehicle can be driven by multiple unmanned assisted navigation devices to perform surface movements, including forward and backward translation, left and right translation, and surface rotation.

[0023] Further, the number of the unmanned assisted navigation devices is four, which are respectively connected to the front left, front right, rear left, and rear right positions of the underwater vehicle.

[0024] Implementing the embodiments of the present invention will have the following beneficial effects:

[0025] The unmanned assisted navigation device firmly connects itself to the underwater vehicle through the connection component. Therefore, the propulsion power of the unmanned assisted navigation device also becomes the propulsion power of the underwater vehicle, improving the maneuverability of the underwater vehicle. At the same time, through the unmanned and cluster remote control methods, it can adapt to more severe sea conditions and provide a larger time window for the recovery and maintenance operations of the underwater vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0027] Among them:

[0028] Figure 1 is the structural schematic diagram of Specific Embodiment 1 of the present invention.

[0029] Figure 2 is the structural schematic diagram of Specific Embodiment 3 of the present invention.

[0030] Figure 3 is the schematic diagram of the working mode of Specific Embodiment 4 of the present invention.

[0031] Figure 4 is the schematic diagram of the connection relationship between the device of the present invention and the underwater vehicle.

[0032] Figure 5 This is a schematic diagram of the cluster working state in the present invention.

[0033] Figure 6 This is a schematic diagram of the control relationship of the cluster working state in the present invention. Detailed implementation manners

[0034] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

[0035] In order to improve the maneuverability of an underwater vehicle, the present invention discloses an unmanned assisted navigation device for an underwater vehicle and its cluster application system. By connecting multiple independent unmanned assisted navigation devices to the underwater vehicle, an additional power source is provided for the movement of the underwater vehicle on the water surface, ensuring the maneuverability of the underwater vehicle on the water surface, and thus providing convenient conditions for the recovery and maintenance of the underwater vehicle. The unmanned assisted navigation device has a positioning working condition, a connection working condition, and a boosting working condition.

[0036] An unmanned assisted navigation device for an underwater vehicle, please refer to Figure 1 , which includes a power propulsion component 1, a communication control component, a connection component 2, an energy component, and a frame 3, and also includes a remote controller controlled by a control personnel.

[0037] The main structural form of the unmanned assisted navigation device is a frame type, and the strength of the frame 3 meets the structural strength required for the positioning working condition, the connection working condition, and the boosting working condition.

[0038] The power propulsion component 1, the communication control component, the connection component, and the energy component are all installed inside or on the frame 3.

[0039] The power propulsion component 1 can drive the unmanned assisted navigation device to complete forward and backward, left and right, and horizontal rotation movements on the water surface.

[0040] Both the positioning working condition and the boosting working condition of the unmanned assisted navigation device require the power propulsion component to provide power. Among them, the power propulsion component needs to have a high operating sensitivity under the positioning working condition, and the power propulsion component 1 needs to have a large propulsion force under the boosting working condition.

[0041] In the specific embodiment 1, as Figure 1As shown in the figure, the power propulsion assembly 1 includes at least two thrusters. The two thrusters are arranged along the head-tail direction of the unmanned assisted navigation device, and their propulsion directions are perpendicular to each other. The two thrusters arranged in this way can form a vector thrust in the horizontal plane, enabling the unmanned assisted navigation device to move forward and backward, left and right, and rotate horizontally on the water surface. In Specific Embodiment 1, preferably, the propulsion direction of the thruster closer to the head direction of the unmanned assisted navigation device is perpendicular to the head-tail direction of the unmanned assisted navigation device, which is called the main thruster 11. The propulsion direction of the thruster farther from the head direction of the unmanned assisted navigation device is parallel to the head-tail direction of the unmanned assisted navigation device, which is called the auxiliary thruster 12.

[0042] In Specific Embodiment 1, the positioning condition of the unmanned assisted navigation device is controlled by two thrusters. After completing positioning and connection, in the boosting condition, the main thruster plays a major role in driving the underwater vehicle to move.

[0043] In Specific Embodiment 2, the power propulsion assembly 1 includes at least two fully rotating thrusters. The two fully rotating thrusters are arranged along the head-tail direction of the unmanned assisted navigation device. The two fully rotating thrusters arranged in this way can form a vector thrust in the horizontal plane, enabling the unmanned assisted navigation device to move forward and backward, left and right, and rotate horizontally on the water surface. Compared with Specific Embodiment 1, the power propulsion assembly in Specific Embodiment 2 can endow the unmanned assisted navigation device with the function of turning in place, having better maneuverability.

[0044] In Specific Embodiment 2, the positioning condition of the unmanned assisted navigation device is controlled by two fully rotating thrusters. After completing positioning and connection, in the boosting condition, the one closer to the head among the two fully rotating thrusters plays a major role, and the other plays a minor role. The two work together to drive the underwater vehicle to move. At the same time, by adjusting the power of the two fully rotating thrusters, the bending moment on the connection assembly can be minimized as much as possible.

[0045] In Specific Embodiment 3, as Figure 2 shown. The power propulsion assembly 1 includes more than four thrusters arranged in the horizontal direction, and the propulsion directions of the thrusters are not the same. The four thrusters arranged in this way can also form a vector thrust in the horizontal plane, enabling the unmanned assisted navigation device to move forward and backward, left and right, and rotate horizontally on the water surface. Compared with Specific Embodiment 1, the power propulsion assembly in Specific Embodiment 3 can endow the unmanned assisted navigation device with the function of turning in place, having better maneuverability. Compared with Specific Embodiment 2, the thrusters in Specific Embodiment 3 do not have a rotating function, and are more reliable, but limited by the power of each thruster, the overall maneuverability may be affected.

[0046] In Specific Embodiment 3, the positioning condition of the unmanned assisted navigation device is jointly controlled by multiple thrusters. After positioning and connection are completed, in the boosting condition, the thrusters closer to the head play a major role, and those farther from the head play a minor role, jointly driving the underwater vehicle to move. At the same time, by adjusting the power of multiple thrusters, the bending moment on the connection component can be minimized as much as possible.

[0047] The connection component is installed at the head of the unmanned assisted navigation device; the unmanned assisted navigation device can be connected to the underwater vehicle through the connection component; the opposite side of the head of the unmanned assisted navigation device is the tail of the unmanned assisted navigation device.

[0048] The connection component 2 connects the unmanned assisted navigation device and the underwater vehicle, including a connection power sub-component, a guiding sub-component, and a connection fixing sub-component. The specific types and distributions of the connection fixing sub-component and the guiding sub-component are determined according to the shape of the underwater vehicle.

[0049] In some specific embodiments, such as Figure 1 、 2 shown, the connection fixing sub-component is one or more suction cups, the connection power sub-component is a pump, and one connection power sub-component is connected to one or more connection fixing sub-components through a pipeline. At this time, it is required that the underwater vehicle has a large-area and sufficiently strong smooth connection surface. As in Figure 3 the specific Embodiment 4 shown, the connection fixing sub-component is a flat and long suction cup to adapt to the flat and long smooth surface in Figure 3 . The guiding sub-component is two high-elastic lip pieces, which relatively fix the positions of the unmanned assisted navigation device and the underwater vehicle through the lip pieces without affecting the positioning accuracy of the navigation attitude of the unmanned assisted navigation device. There are four flat and long suction cups, two on the upper part and two on the lower part, to adapt to the shape characteristics of the underwater vehicle. The suction cups are attracted by the pump, thus forming a negative pressure with the surface of the waterline vehicle, and the frictional force brought by the negative pressure is the boosting force received by the underwater vehicle.

[0050] The force exerted by the unmanned assisted navigation device 2 on the underwater vehicle 1 includes a boosting force F parallel to the connection surface, an adsorption pressure N formed by the suction cups, a side thrust P perpendicular to the connection surface, and a thrust bending moment M brought by the boosting force, as shown in Figure 4 shown. Obviously, if the thrust bending moment is too large, it may affect the suction effect, thus affecting the boosting force.

[0051] Therefore, preferably, in the length direction of the underwater vehicle, the positions of the suction cups are respectively located in front of and behind the thrust center of the unmanned assisted navigation device under the boosting condition. In the boosting condition, the thrust bending moment on the connection fixing component can be minimized as much as possible to improve the thrust effect during boosting.

[0052] In some other specific embodiments, the connection and fixation sub-component includes one or more rotatable robotic arms. The rotatable robotic arm has at least one degree of freedom, and the front end of the rotatable robotic arm has a fixed connection device that matches the outer shell of the underwater vehicle. The specific form depends on the surface form of the underwater vehicle.

[0053] The energy component provides power for the power propulsion component, the communication and control component, and the connection component.

[0054] The energy component can be a battery, or a gasoline engine or a diesel engine. In some specific embodiments, the ventilation holes of the gasoline engine or the diesel engine are exposed above the water surface. The energy component provides energy for the power propulsion component by electric or hydraulic means. The energy component provides energy for the communication and control component by electric means. The energy component provides energy for the connection component by electric or hydraulic means.

[0055] The frame also includes counterweights. Before the unmanned assisted navigation device is launched into the water, adjusting the counterweights can adjust the draft depth of the unmanned assisted navigation device.

[0056] The unmanned assisted navigation device disclosed in the present invention should have as small a waterplane as possible to reduce the influence of wind and waves. However, its antenna, ventilation pipe (if any), and water camera (if any) are located above the waterline.

[0057] The communication and control component includes a communication antenna and a control board; the control board is installed in a watertight box, and the watertight box is installed in the frame; the control personnel control the remote controller and send instructions to the control board through the communication antenna.

[0058] The communication and control component also includes a camera, which includes an underwater part and an above-water part. The camera can be used for visual positioning and can also assist the operator to control the fine positioning of the unmanned assisted navigation device.

[0059] When the unmanned assisted navigation device is placed in the water, it can be remotely controlled to sail on the water surface to near the underwater vehicle. The control personnel use the remote controller to connect the connection component to the underwater vehicle, and the power propulsion component drives the underwater vehicle to move through the connection component.

[0060] In order to further improve the surface maneuverability of the underwater vehicle, the present invention also discloses a cluster application system for the unmanned assisted navigation device of the underwater vehicle.

[0061] The cluster application system includes a plurality of unmanned assisted navigation devices and a cluster controller. The unmanned assisted navigation devices are respectively controlled by their respective device remote controllers. As Figure 5 shown

[0062] After the cluster application system enters the working state, the device remote controller controls the corresponding unmanned assisted navigation devices to sail to the vicinity of the underwater vehicle and complete the connection.

[0063] After the unmanned assisted navigation devices complete the connection, the device remote controller establishes a signal connection with the cluster controller. The cluster controller can send commands to the device remote controller. The device remote controller receives the commands from the cluster controller, and after completing the calculation, it sends commands to the corresponding unmanned assisted navigation devices. For the control relationship, please refer to Figure 6 .

[0064] The underwater vehicle can be driven by multiple unmanned assisted navigation devices to move on the water surface, including translational movement in the front and rear directions, translational movement in the left and right directions, and rotational movement on the water surface. The forces exerted by the unmanned assisted navigation devices on the underwater vehicle include the boost force parallel to the connection surface, the lateral thrust perpendicular to the connection surface, and the thrust bending moment brought by the boost force, as shown. Therefore, each unmanned assisted navigation device provides a partial vector thrust in a certain direction for the underwater vehicle. Through the combined drive of multiple unmanned assisted navigation devices, the underwater vehicle can have flexible translational movement in the front and rear directions, translational movement in the left and right directions, and rotational movement in the horizontal direction.

[0065] In a specific embodiment, the number of unmanned assisted navigation devices is four, which are respectively connected to the left front, right front, left rear, and right rear positions of the underwater vehicle, as shown in the figure.

[0066] In order to reduce operation errors, the cluster controller and the device remote controller can be installed on the same panel, and the images of the cameras of each unmanned assisted navigation device are also integrated on the same device.

[0067] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in this specification.

[0068] The above embodiments only represent several implementation manners of the present application. The description is relatively specific and detailed, but it should not be construed as a limitation on the patent scope of the present application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several deformations and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. An unmanned assisted navigation device for an underwater vehicle, characterized in that, it includes a power propulsion component, a communication control component, a connection component, an energy component and a frame, and also includes a remote controller controlled by a control personnel; the power propulsion component, the communication control component, the connection component and the energy component are all installed inside or on the frame; the energy component provides energy for the power propulsion component, the communication control component and the connection component; the connection component is installed at the head of the unmanned assisted navigation device; the unmanned assisted navigation device can be connected to the underwater vehicle through the connection component; the side opposite to the head of the unmanned assisted navigation device is the tail of the unmanned assisted navigation device; the power propulsion component can drive the unmanned assisted navigation device to complete forward and backward, left and right, and horizontal rotation movements on the water surface; the frame also includes a counterweight block, and adjusting the counterweight block before the unmanned assisted navigation device is launched into the water can adjust the draft depth of the unmanned assisted navigation device; the communication control component includes a communication antenna and a control board; the control board is installed in a watertight box, and the watertight box is installed inside the frame; the control personnel controls the remote controller and issues instructions to the control board through the communication antenna; when the unmanned assisted navigation device is placed in water, the unmanned assisted navigation device can be remotely controlled to sail on the water surface to the vicinity of the underwater vehicle, and the control personnel uses the remote controller to connect the connection component to the underwater vehicle, and the power propulsion component drives the underwater vehicle to move through the connection component.

2. The unmanned assisted navigation device according to claim 1, characterized in that, the power propulsion component includes at least two thrusters, the two thrusters are arranged along the head and tail direction of the unmanned assisted navigation device, and the propulsion directions of the two thrusters are perpendicular to each other.

3. The unmanned assisted navigation device according to claim 1, characterized in that, the power propulsion component includes at least two fully rotating thrusters, and the two thrusters are arranged along the head and tail direction of the unmanned assisted navigation device.

4. The unmanned assisted navigation device according to claim 1, characterized in that, the power propulsion component further includes a plurality of thrusters arranged in the horizontal direction, and the propulsion directions of the thrusters are not the same.

5. The unmanned assisted navigation device according to claim 1, characterized in that, the connection component includes a connection power sub-component, a guiding sub-component and a connection fixing sub-component, and the specific types and distributions of the connection fixing sub-component and the guiding sub-component are determined according to the shape of the underwater vehicle.

6. The unmanned assisted navigation device according to claim 5, characterized in that, the connection fixing sub-component is one or more suction cups, the connection power sub-component is a pump, and one connection power sub-component is connected to one or more connection fixing sub-components through a pipeline.

7. The unmanned assisted navigation device according to claim 6, characterized in that, The connecting and fixing sub-component includes one or more rotatable robotic arms, the rotatable robotic arms have at least one degree of freedom, and the front end of the rotatable robotic arms has a fixed connection device matching the outer shell of the underwater vehicle.

8. The unmanned assisted navigation device according to claim 7, wherein, the communication control component further includes a camera, and the camera includes an underwater part and an above-water part.

9. A cluster application system of an unmanned assisted navigation device for an underwater vehicle, wherein, the cluster application system includes a plurality of the unmanned assisted navigation devices and a cluster controller, and the unmanned assisted navigation devices are respectively controlled by their respective device remote controllers; after the cluster application system enters the working state, the device remote controllers control the corresponding unmanned assisted navigation devices to navigate to the vicinity of the underwater vehicle and complete the connection; after the unmanned assisted navigation devices complete the connection, the device remote controllers are in signal connection with the cluster controller, the cluster controller can send commands to the device remote controllers, the device remote controllers receive the commands of the cluster controller, and after completing the calculation, send commands to the corresponding unmanned assisted navigation devices; the underwater vehicle can be driven by a plurality of the unmanned assisted navigation devices to perform surface movements, including forward and backward translation, left and right translation, and surface rotation.

10. The cluster application system of an unmanned assisted navigation device according to claim 8, wherein, the number of the unmanned assisted navigation devices is four, which are respectively connected to the front left, front right, rear left, and rear right positions of the underwater vehicle.

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