Underwater unmanned hydrographic survey underwater vehicle

Abstract

The utility model provides an underwater unmanned hydrographic survey underwater vehicle which comprises an underwater vehicle cabin body, and lifting wings are symmetrically installed on the left side and the right side of the front section of the underwater vehicle cabin body respectively. Stabilizing wings are symmetrically installed on the left side and the right side of the rear section of the underwater vehicle cabin respectively. A data acquisition control bin, a battery bin and a drainage bin are sequentially arranged in the underwater vehicle cabin from front to back. The system has the following advantages: (1) multiple hydrological measurement modules are integrated, hydrological parameters such as water flow velocity, water temperature, river (sea) bottom terrain and sediment content can be obtained through single sailing, and the measurement efficiency is improved; (2) hydrological parameter measurement at various depths can be realized, hydrological data at different depths can be more accurately and meticulously acquired, and more accurate data can be provided for engineering or scientific research; (3) unmanned operation is adopted, so that the operation risk can be reduced; and (4) being detachable, small in storage space, light in structure and convenient to load, unload and transport.

Description

Technical Field

[0001] The utility model belongs to the technical field of hydrological survey equipment, and in particular relates to an underwater unmanned hydrological survey submersible. Background Art

[0002] Water resources are an indispensable basic element for human life and economic development, and hydrological measurement can provide accurate hydrological data, help predict hydrological trends, and optimize water resource scheduling and management. Therefore, hydrological measurement is of great significance to the rational use and sustainable development of water resources.

[0003] The traditional hydrological measurement method is that personnel drive boats on the water surface to conduct hydrological measurements. Commonly used measuring devices are external measuring devices or unpowered floating devices. This measurement method has the following problems: low efficiency of hydrological measurement; in some waters with strong winds and waves, it poses a certain degree of threat to the safety of personnel and ships. In addition, the traditional hydrological measurement method can only measure a single hydrological parameter, which further reduces efficiency. Utility Model Content

[0004] In view of the defects in the prior art, the utility model provides an underwater unmanned hydrographic survey submersible, which can effectively solve the above problems.

[0005] The technical solution adopted by the utility model is as follows:

[0006] The utility model provides an underwater unmanned hydrographic survey submersible, comprising a submersible cabin (1), wherein lift wings (2) are symmetrically installed on the left and right sides of the front section of the submersible cabin (1); and stabilizing wings (3) are symmetrically installed on the left and right sides of the rear section of the submersible cabin (1);

[0007] Inside the submersible cabin (1), a data acquisition control cabin (4), a battery cabin (5) and a drainage cabin (6) are arranged in sequence from front to rear; a plurality of hydrological data measurement modules and an attitude motor (7) are installed in the data acquisition control cabin (4); the output end of the attitude motor (7) is connected to the root of the elevator (2); a power supply battery (8) is arranged in the battery cabin (5); an engine (9) is installed in the drainage cabin (6); an engine water inlet (10) is arranged on the side of the drainage cabin (6), and an engine water outlet (11) is arranged at the rear end of the drainage cabin (6).

[0008] Preferably, the hydrological data measurement module comprises a water flow velocity measurement module (12), a water flow temperature measurement module (13), a sediment content measurement module (14) and a water depth measurement module (15).

[0009] Preferably, a water flow velocity measuring probe (16), a water flow temperature measuring probe (17), a sediment content measuring instrument (18) and a depth sounding sonar (19) are installed outside the bottom of the submersible cabin (1);

[0010] The water flow velocity measuring probe (16) is connected to the water flow velocity measuring module (12); the water flow temperature measuring probe (17) is connected to the water flow temperature measuring module (13); the sediment content measuring instrument (18) is connected to the sediment content measuring module (14); and the depth sounding sonar (19) is connected to the water depth measuring module (15).

[0011] Preferably, two engines (9) are symmetrically installed in the drainage chamber (6), the engine water inlet holes (10) are respectively opened on the left and right sides of the drainage chamber (6), and the engine water outlet holes (11) are respectively opened on the left and right sides of the rear end of the drainage chamber (6);

[0012] The engine (9) on the left side is respectively connected to the engine water inlet (10) on the left side and the engine water outlet (11) on the left side;

[0013] The engine (9) on the right side is respectively connected to the engine water inlet (10) on the right side and the engine water outlet (11) on the right side.

[0014] Preferably, an arc-shaped end cover (20) is installed at the head end of the submersible cabin (1).

[0015] The utility model provides an underwater unmanned hydrographic survey submersible with the following advantages:

[0016] (1) Integrate multiple hydrological measurement modules to obtain hydrological parameters such as water flow velocity, water temperature, river (sea) bottom topography, and sediment content in a single voyage, thereby improving measurement efficiency;

[0017] (2) It can realize the measurement of hydrological parameters at various depths, collect hydrological data at different depths more accurately and meticulously, and provide more accurate data for engineering or scientific research;

[0018] (3) Unmanned operation can reduce operational risks;

[0019] (4) It can be disassembled, has a small storage space, and has a light structure, making it easy to load, unload and transport. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A schematic diagram of the three-dimensional structure of an underwater unmanned hydrographic survey submersible provided by the utility model;

[0021] Figure 2A schematic diagram of the three-dimensional structure of an underwater unmanned hydrographic survey submersible provided by the utility model in an upward-looking direction;

[0022] Figure 3 This is a diagram of the internal structure of an underwater unmanned hydrographic survey submersible provided by the utility model. DETAILED DESCRIPTION

[0023] In order to make the technical problems, technical solutions and beneficial effects solved by the utility model more clear, the utility model is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the utility model and are not used to limit the utility model.

[0024] See also Figures 1 to 3 The utility model provides an underwater unmanned hydrographic survey submersible, comprising a submersible cabin 1, wherein the front left and right sides of the submersible cabin 1 are symmetrically provided with lift wings 2; the rear left and right sides of the submersible cabin 1 are symmetrically provided with stabilizing wings 3;

[0025] Inside the submersible cabin 1, a data acquisition control compartment 4, a battery compartment 5 and a drainage compartment 6 are arranged in sequence from front to rear; a plurality of hydrological data measurement modules and an attitude motor 7 are installed in the data acquisition control compartment 4; the output end of the attitude motor 7 is connected to the root of the elevator 2; a power supply battery 8 is arranged in the battery compartment 5; an engine 9 is installed in the drainage compartment 6; an engine water inlet 10 is arranged on the side of the drainage compartment 6, and an engine water outlet 11 is arranged at the rear end of the drainage compartment 6.

[0026] The utility model does not limit the types of hydrological data measurement modules installed specifically. For example, the hydrological data measurement module includes a water flow velocity measurement module 12, a water flow temperature measurement module 13, a sediment content measurement module 14 and a water depth measurement module 15. A water flow velocity measurement probe 16, a water flow temperature measurement probe 17, a sediment content measurement instrument 18 and a depth measurement sonar 19 are installed outside the bottom of the submersible cabin 1; the water flow velocity measurement probe 16 is connected to the water flow velocity measurement module 12; the water flow temperature measurement probe 17 is connected to the water flow temperature measurement module 13; the sediment content measurement instrument 18 is connected to the sediment content measurement module 14; the depth measurement sonar 19 is connected to the water depth measurement module 15.

[0027] In the present application, two engines 9 are symmetrically installed in the drainage bin 6, an engine water inlet hole 10 is respectively opened on the left and right sides of the drainage bin 6, and an engine water outlet hole 11 is respectively opened on the left and right sides of the rear end of the drainage bin 6; the engine 9 on the left side is respectively connected to the engine water inlet hole 10 on the left side and the engine water outlet hole 11 on the left side; the engine 9 on the right side is respectively connected to the engine water inlet hole 10 on the right side and the engine water outlet hole 11 on the right side.

[0028] In order to reduce the resistance of the submersible when sailing underwater, an arc-shaped end cover 20 is installed at the head end of the submersible cabin 1.

[0029] The utility model provides an underwater unmanned hydrographic survey submersible, which as a whole comprises four parts: a hydrographic data acquisition system, a navigation attitude control system, a power system and a power supply system.

[0030] Hydrological data acquisition system: It is a key structure for conducting hydrological measurements, including a water flow velocity measuring probe 16, a water flow temperature measuring probe 17, a sediment content measuring instrument 18 and a depth sounding sonar 19, which are respectively controlled by a water flow velocity measuring module 12, a water flow temperature measuring module 13, a sediment content measuring module 14 and a water depth measuring module 15 in the submersible cabin 1 and collect corresponding detection data.

[0031] Navigation attitude control system: Due to the limitations of detection depth, water flow, terrain and other factors, it is necessary to control the attitude of the submersible in real time and control stability, which specifically includes attitude motor 7, elevator wing 2 and stabilizing wing 3; attitude motor 7 adjusts the navigation attitude by controlling the angle of elevator wing 2, and controls the navigation attitude of the submersible under turbulent conditions through stabilizing wing 3. By controlling the angle of elevator wing 2, the submersible can reach different detection depths at the same time. In this application, elevator wing 2 and stabilizing wing 3 are made of high-strength composite materials.

[0032] Power system: It is composed of high-strength steel and is the power device that controls the movement of the submersible. The engine 9 controls the navigation speed of the submersible by controlling the flow rate of water in the engine water inlet 10 and the engine water outlet 11. It can also control the water outlet speed on one side to realize the U-turn of the submersible.

[0033] Power supply system: It is composed of a number of detachable power supply batteries 8, and the overall weight of the submersible is controlled by the number of batteries.

[0034] The utility model provides an underwater unmanned hydrographic survey submersible, which works as follows:

[0035] (1) Determine the measurement route: Before the submersible enters the water, the area of ​​water to be measured is planned and the measurement path is set. After completion, the submersible is sealed and launched into the water.

[0036] (2) Underwater measurement: The submersible determines its current position and altitude based on the water depth data fed back by the depth-finding sonar 19. The engine 9 controls the flow rate of the engine water outlet 11 to control the navigation speed of the submersible. When turning is required, the engine water outlets 11 on both sides are controlled to make the submersible turn. When a water depth and altitude measurement is completed, the attitude motor 7 is driven to adjust the angle of the elevator 2 to enter the next water depth and altitude measurement.

[0037] (3) Data collection: After completing the measurement of each layer of data, the submersible surfaces, opens the sealed hatch cover, and reads the detection data collected by the water flow velocity measurement module 12, the water flow temperature measurement module 13, the sediment content measurement module 14, and the water depth measurement module 15 in the cabin.

[0038] The utility model provides an underwater unmanned hydrographic survey submersible with the following advantages:

[0039] (1) Integrate multiple hydrological measurement modules to obtain hydrological parameters such as water flow velocity, water temperature, river (sea) bottom topography, and sediment content in a single voyage, thereby improving measurement efficiency;

[0040] (2) It can realize the measurement of hydrological parameters at various depths, collect hydrological data at different depths more accurately and meticulously, and provide more accurate data for engineering or scientific research;

[0041] (3) Unmanned operation can reduce operational risks;

[0042] (4) It can be disassembled, has a small storage space, and has a light structure, making it easy to load, unload and transport.

[0043] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be considered as the protection scope of the present invention.

Claims

1. An underwater unmanned hydrographic survey submersible, characterized in that: The submersible comprises a hull (1), wherein lift wings (2) are symmetrically mounted on the left and right sides of the front section of the submersible hull (1); and stabilizing wings (3) are symmetrically mounted on the left and right sides of the rear section of the submersible hull (1); Inside the submersible cabin (1), a data acquisition control cabin (4), a battery cabin (5) and a drainage cabin (6) are arranged in sequence from front to rear; a plurality of hydrological data measurement modules and an attitude motor (7) are installed in the data acquisition control cabin (4); the output end of the attitude motor (7) is connected to the root of the elevator (2); a power supply battery (8) is arranged in the battery cabin (5); an engine (9) is installed in the drainage cabin (6); an engine water inlet (10) is arranged on the side of the drainage cabin (6), and an engine water outlet (11) is arranged at the rear end of the drainage cabin (6).

2. The underwater unmanned hydrographic survey submersible according to claim 1, characterized in that: The hydrological data measurement module comprises a water flow velocity measurement module (12), a water flow temperature measurement module (13), a sediment content measurement module (14) and a water depth measurement module (15).

3. The underwater unmanned hydrographic survey submersible according to claim 2, characterized in that: A water flow velocity measuring probe (16), a water flow temperature measuring probe (17), a sediment content measuring instrument (18) and a depth sounding sonar (19) are installed outside the bottom of the submersible cabin (1); The water flow velocity measuring probe (16) is connected to the water flow velocity measuring module (12); the water flow temperature measuring probe (17) is connected to the water flow temperature measuring module (13); the sediment content measuring instrument (18) is connected to the sediment content measuring module (14); and the depth sounding sonar (19) is connected to the water depth measuring module (15).

4. The underwater unmanned hydrographic survey submersible according to claim 1, characterized in that: Two engines (9) are symmetrically installed in the drainage chamber (6), the engine water inlet holes (10) are respectively opened on the left and right sides of the drainage chamber (6), and the engine water outlet holes (11) are respectively opened on the left and right sides of the rear end of the drainage chamber (6); The engine (9) on the left side is respectively connected to the engine water inlet (10) on the left side and the engine water outlet (11) on the left side; The engine (9) on the right side is respectively connected to the engine water inlet (10) on the right side and the engine water outlet (11) on the right side.

5. The underwater unmanned hydrographic survey submersible according to claim 1, characterized in that: An arc-shaped end cover (20) is installed at the head end of the submersible cabin (1).

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