Heterogeneous submersible cluster agile collaboration architecture
Through the heterogeneous submersible cluster collaborative architecture, the inefficiency of single-unit submersibles under complex marine environments and diverse tasks is solved, and efficient task completion and adaptability are achieved.
Patent Information
- Application Number
- CN202422073212.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-26
- Publication Date
- 2025-07-04
- Estimated Expiration
- 2034-08-26
AI Technical Summary
When facing complex marine environments and diverse tasks, existing single-unit submersibles have limited loads, short working hours, small task range and poor redundancy, making it difficult to efficiently complete large-scale and high-complex underwater tasks.
The heterogeneous submersible cluster agile collaboration architecture is adopted, including information search cluster, task execution cluster, manned operation cluster, platform guarantee cluster and static network support cluster. Through each node cluster, information interaction and collaborative operation are realized through the performance of each node cluster.
It has achieved that under the complex marine environment and diverse mission requirements, heterogeneous submersible clusters can better complete task goals and improve task efficiency and adaptability.
Smart Images
Figure CN223067197U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of heterogeneous submersible cooperative technology, and particularly relates to an agile cooperative architecture for a heterogeneous submersible cluster. Background Art
[0002] Most current underwater submersibles operate individually. However, individual submersibles have the disadvantages of limited load, short working time, small task range, poor redundancy, and low task execution efficiency. With the in-depth exploration of the ocean, in the face of the vast and complex ocean environment and the increasing complexity of task requirements, it is difficult for individual submersibles to complete large-scale and highly complex underwater tasks due to their own limitations. Therefore, the method of cooperative operation of multiple submersibles has received more and more attention.
[0003] Most of the existing submersible cluster technologies use submersibles with a single structure, and the functions and capabilities of the submersibles are mostly the same. When facing complex ocean environments and different task requirements, they are sometimes unable to achieve the task objectives well due to their own capabilities.
[0004] Therefore, it is necessary to provide an agile cooperative architecture for a heterogeneous submersible cluster to solve the above problems. Summary of the Utility Model
[0005] The utility model provides an agile cooperative architecture for a heterogeneous submersible cluster to solve the problem that existing submersibles are sometimes unable to achieve the task objectives well due to their own capabilities when facing complex ocean environments and different task requirements.
[0006] The agile cooperative architecture for a heterogeneous submersible cluster of the utility model adopts the following technical solutions, including:
[0007] An information search cluster for observing or detecting underwater task information;
[0008] A task execution cluster for determining task objectives and executing task commands according to the information observed or detected by the information search cluster;
[0009] A manned operation cluster for summarizing the information observed or detected by the information search cluster and performing manual underwater operations according to the summarized information;
[0010] A platform support group for carrying unmanned submersibles and charging loads;
[0011] And a static network support group for building an information interaction support network across media, and performing information interaction between the information search cluster, the task execution cluster, the manned operation cluster, and the platform support group through the information interaction support network.
[0012] Preferably, the static network support group includes one or more of buoys and subsea moorings.
[0013] Preferably, the information search cluster includes one or more of a wave glider, an underwater glider, and a biomimetic fish.
[0014] Preferably, the task execution cluster includes one or more of an unmanned boat and an unmanned vehicle.
[0015] Preferably, the manned operation cluster includes a mother ship and a manned submersible.
[0016] Preferably, the platform support group includes a self - contained UUV.
[0017] The beneficial effects of the present utility model are as follows:
[0018] The present invention aims at "agility, generalization, and reliability", and studies a heterogeneous submersible cluster collaborative architecture for typical application scenarios. The heterogeneous submersible cluster agile collaborative architecture divides submersibles into several node groups according to their performance. Each node group executes tasks suitable for its own node group according to requirements, decomposes complex ocean operation tasks into a series of subtasks, and achieves the goal of agile integration of heterogeneous submersible clusters for specific task scenarios, thereby realizing better completion of task goals in complex ocean environments and different task requirements. BRIEF DESCRIPTION OF THE DRAWINGS
[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or in 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 following drawings are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.
[0020] Figure 1 It is a schematic diagram of the overall structure of an agile collaborative architecture of a heterogeneous submersible cluster of the present utility model;
[0021] Figure 2 It is a schematic diagram of the network structure of the ocean observation application scenario in Embodiment 1 of an agile collaborative architecture of a heterogeneous submersible cluster of the present utility model;
[0022] Figure 3 It is a schematic diagram of the network structure of the ocean observation application scenario in Embodiment 2 of an agile collaborative architecture of a heterogeneous submersible cluster of the present utility model;
[0023] Figure 4 It is a schematic diagram of the network structure of the manned - unmanned collaborative operation application scenario in Embodiment 3 of an agile collaborative architecture of a heterogeneous submersible cluster of the present utility model. DETAILED DESCRIPTION OF THE EMBODIMENTS
[0024] The following will clearly and completely describe the technical solutions in the embodiments of the present utility model in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.
[0025] An embodiment of an agile collaborative architecture for a heterogeneous underwater vehicle cluster of the present utility model is as Figure 1 shown, including: an information search cluster, a task execution cluster, a manned operation cluster, a platform support group, and a static network support group. The information search cluster is used for observing or detecting underwater task information; the task execution cluster is used for determining task objectives and executing task commands according to the information observed or detected by the information search cluster; the manned operation cluster is used for summarizing the information observed or detected by the information search cluster and performing manual underwater operations according to the summarized information; the platform support group is used for carrying unmanned underwater vehicles and charging the payloads; the static network support group is used for constructing a cross-media information interaction support network, and through the information interaction support network, information interaction is carried out among the information search cluster, the task execution cluster, the manned operation cluster, and the platform support group.
[0026] Specifically, the information search cluster includes one or more of a wave glider, an underwater glider, and a biomimetic fish; the task execution cluster includes one or more of an unmanned boat and an unmanned vehicle; the manned operation cluster includes a mother ship and a manned submersible; the platform support group includes a self-contained UUV, and the static network support group includes one or more of surface buoys and underwater mooring buoys. A static support network is constructed through the surface buoys and / or underwater mooring buoys, and the information interaction among the information search cluster, the task execution cluster, the manned operation cluster, and the platform support group can be established by using the static support network.
[0027] The following will describe the present utility model in conjunction with the accompanying drawings and specific embodiments:
[0028] Embodiment 1
[0029] As Figure 2As shown in the figure, an ocean observation cluster collaborative architecture is formed by a cluster of submersibles through different combinations to adapt to the ocean observation environment. It specifically includes: a mother ship, a buoy, a moored buoy, an underwater glider (UG), a wave glider (WG), an unmanned surface vehicle (USV), and an autonomous underwater vehicle (AUV). Its target tasks mainly focus on observing the ocean characteristics of a large range of nearshore or coastal areas, collecting ocean environmental information, and featuring the task characteristics of large-scale long-term, high spatio-temporal resolution, and multi-element synchronous observation. Temperature-depth sensors (CTDs), chlorophyll meters, fluorometers, and meteorological instruments are carried on the autonomous underwater vehicles, underwater gliders, and wave gliders. The ocean observation cluster collaborative architecture is a fixed-mobile combined distributed observation network as shown in Figure 2 the figure. The task process is as follows: ① Deploy the buoys and moored buoys in the static network support group to collect cross-domain information, communicate, and assist in positioning on the water surface and underwater; ② Use the information search cluster to conduct coarse-grained information observation on the water surface and underwater, and mark the areas of concern; ③ Use the underwater glider (UG) or biomimetic fish, wave glider (WG) to conduct fast and accurate observation to obtain fine-grained observation information of the areas of concern.
[0030] Embodiment 2
[0031] As shown in Figure 3 the figure, an ocean exploration cluster collaborative architecture is formed by a cluster of submersibles through different combinations to adapt to the ocean observation environment. Its target tasks mainly focus on port security and anti-submarine operations. It includes a mother ship, a buoy, a moored buoy, an underwater glider (UG), a wave glider (WG), an unmanned surface vehicle (USV), and an autonomous underwater vehicle (UUV). The buoys and moored buoys in the static network support group are used for long-term wide-area detection and monitoring in cooperation with the information search cluster. The unmanned surface vehicle (USV) and autonomous underwater vehicle (UUV) of the task execution cluster are used for precise detection, tracking, positioning, and identification. It features strong randomness, event-driven, and highly dynamic self-organization. Active and passive detection sonars are carried on the underwater gliders, wave gliders, and underwater vehicles. Its network architecture is a highly dynamic self-organizing detection network as shown in Figure 3 the figure. Specifically, the task process of the ocean exploration cluster architecture is as follows: ① Use the underwater glider (UG) and wave glider (WG) of the information search cluster to conduct long-term wide-area mobile detection on the water surface and underwater, and implement long-term containment and monitoring; ② Use the self-contained UUV of the platform support group to summarize detection and containment information, perform decision-making calculations, and replenish energy; ③ After receiving the suspected target information detected by the underwater glider (UG) and wave glider (WG) of the information search cluster, the unmanned surface vehicle and autonomous underwater vehicle execute real-time detection and tracking tasks.
[0032] Embodiment 3
[0033] As shown in Figure 4As shown in the figure, it is a collaborative architecture of manned and unmanned cooperative operation clusters formed by a submersible cluster adapting to the marine observation environment through different combinations. The collaborative architecture of manned and unmanned cooperative operation clusters includes: a mother ship, a manned submersible (specifically, the "Jiaolong" HOV is adopted in this embodiment), a buoy, a moored buoy, a wave glider, an underwater glider, an unmanned boat, and an autonomous underwater vehicle (AUV). The target task of the collaborative architecture of manned and unmanned cooperative operation clusters is to support the calibration of the operation area through a static network support group, to detect and confirm the operation area closely through the wave gliders and underwater gliders in the information search cluster and the autonomous underwater vehicles and unmanned boats in the task execution cluster, and for the manned nodes to perform fine operations, so as to achieve marine remote sensing, marine engineering survey, and marine scientific research, with the task characteristics of high real-time performance, human-computer interaction, and precise implementation. The wave gliders, underwater gliders, autonomous underwater vehicles, and manned submersibles are equipped with side-scan or forward-looking sonars, optical sensors, and operation manipulators, and its network mechanism is a manned and unmanned cooperative operation network as Figure 4 As shown in the figure, the task process is as follows: ①Construct a cross-media information interaction support network through the buoys and moored buoys in the static network support group, and conduct cross-domain information collection, communication, detection, and auxiliary positioning support network for different media; ②Use the information search cluster and the task execution cluster to conduct environment and terrain detection and calibration of the target area; ③Formulate the task process through the mother ship of the manned operation cluster, and use the manned submersible ("Jiaolong" HOV) to dive to the target area for precise operation.
[0034] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.
Claims
1. An agile collaborative architecture for heterogeneous underwater vehicle clusters, characterized in that, Including: An information search cluster for observing or detecting underwater mission information; A mission execution cluster for determining mission objectives and executing mission commands based on the information observed or detected by the information search cluster; A manned operation cluster for summarizing the information observed or detected by the information search cluster and performing manual underwater operations based on the summarized information; A platform support cluster for carrying unmanned submersibles and charging payloads; And a static network support cluster for constructing a cross-media information interaction support network and conducting information interaction among the information search cluster, the mission execution cluster, the manned operation cluster, and the platform support cluster through the information interaction support network.
2. The agile collaborative architecture of a heterogeneous submersible vehicle cluster according to claim 1, wherein The static network support cluster includes one or more of buoys and subsea buoys.
3. The agile collaborative architecture of a heterogeneous submersible vehicle cluster according to claim 1, characterized in that, The information search cluster includes one or more of wave gliders, underwater gliders, and biomimetic fish.
4. An agile collaborative architecture for a heterogeneous submersible vehicle cluster according to claim 1, characterized in that The mission execution cluster includes one or more of unmanned boats and unmanned surface vehicles.
5. The agile collaborative architecture of a heterogeneous submersible vehicle cluster according to claim 1, characterized in that, The manned operation cluster includes a mother ship and a manned submersible.
6. The agile collaborative architecture of a heterogeneous submersible vehicle cluster according to claim 1, characterized in that, The platform support cluster includes a self-contained UUV.