CN111746765A - Unmanned underwater topography survey aircraft - Google Patents
Unmanned underwater topography survey aircraft Download PDFInfo
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- CN111746765A CN111746765A CN202010656219.2A CN202010656219A CN111746765A CN 111746765 A CN111746765 A CN 111746765A CN 202010656219 A CN202010656219 A CN 202010656219A CN 111746765 A CN111746765 A CN 111746765A
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- side frame
- frame
- unmanned underwater
- assembly
- video
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/38—Arrangement of visual or electronic watch equipment, e.g. of periscopes, of radar
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/39—Arrangements of sonic watch equipment, e.g. low-frequency, sonar
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Ocean & Marine Engineering (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses an unmanned underwater topography measuring aircraft, which comprises: a control unit including a closed cylindrical body, and a control panel and a power supply unit provided in the cylindrical body; the frame body is a frame body formed by multiple sections of sectional materials and comprises an underframe, a first side frame and a second side frame, wherein the first side frame and the second side frame are arranged on two opposite sides of the underframe; the cylindrical body is connected to the frame body through fixing pieces respectively arranged on the first cross beam and the third cross beam; the device comprises a buoy, a sonar component and a video acquisition component. The unmanned underwater topography measuring aircraft provided by the invention is formed by common sectional materials, has smaller fluid resistance and is low in manufacturing cost.
Description
Technical Field
The invention relates to underwater measuring equipment, in particular to an unmanned underwater topography measuring aircraft.
Background
The underwater topography measurement is a specific measurement in engineering measurement, and is used for measuring the plane positions and elevations of rivers, lakes, reservoirs, estuaries and near-sea water bottom points so as to draw the mapping work of an underwater topography map. One important aspect is water depth measurements. The water depth measurement generally adopts instruments such as a sounding rod, a sounding hammer and a sonar echosounder, the water bottom elevation is calculated according to the water depth measurement and water level observation result, and finally, the topography condition of the water bottom is represented by an equal depth line (or called a contour line). For water depth measurement, a sonar echo sounder is generally used at present, has the advantages of high precision and efficiency, has the maximum sounding depth of 10000m, and develops from single-frequency and single-beam sounding to multi-frequency and multi-beam sounding, from point-shaped and linear sounding to strip-shaped sounding, and from pure sounding to image display and real-time drawing. For example, a submarine topography detector (also called a side scan sonar) can detect the general position, range, shape, properties and submarine surface shape of ship bottom navigation obstacles such as reefs, sunken ships and the like, and display the general position, range, shape, properties and submarine surface shape in an image. The general landform detecting instrument needs to be carried by a carrier, and can be directly carried by a ship for rivers with small depth or offshore areas. However, for deep sea, the common ship carrier cannot meet the requirement of deep sea terrain mapping, so that an underwater self-cruising robot is currently available, and carries a multi-beam sounding device to measure deep sea terrain. For example, the autonomous underwater robot of survey 600 type designed by the Shenyang automation institute of Chinese academy of sciences is an unmanned marine system capable of performing submarine topography survey and underwater target exploration. The method has the characteristics of flexible arrangement, wide surveying and mapping range, high surveying and mapping resolution and the like. The method can be widely applied to the fields of marine resource exploration, submarine environment mapping, underwater target exploration, submarine petroleum pipeline detection, underwater archaeology, counter terrorism and the like. However, for underwater topography measurement of small scientific research institutions or teaching purposes, the underwater vehicle is too high in manufacturing cost, and large-scale popularization and application of the underwater vehicle are limited.
Disclosure of Invention
In view of the above problems of the prior art, it is an object of the present invention to provide an unmanned underwater vehicle for measuring terrain, which is applicable to terrain measurement in a water area having a small depth, and which is inexpensive.
In order to achieve the above object, an aspect of the present invention provides an unmanned underwater vehicle for measuring terrain, comprising:
a control unit including a closed cylindrical body, and a control panel and a power supply unit provided in the cylindrical body;
the frame body is a frame body formed by multiple sections of sectional materials and comprises an underframe, a first side frame and a second side frame, wherein the first side frame and the second side frame are arranged on two opposite sides of the underframe; the cylindrical body is connected to the frame body through fixing pieces respectively arranged on the first cross beam and the third cross beam;
the two floating barrels are respectively positioned outside the first side frame and the second side frame and are fixed by fixing pieces arranged on the first side frame and the second side frame;
the propelling assembly is arranged on the chassis and comprises a first propelling assembly generating forward driving force, a second propelling assembly generating downward driving force and a third propelling assembly generating backward propelling force;
a sonar component arranged on the chassis and used for sending sonar waves for detection to the water bottom;
and the video acquisition assembly is arranged on the second cross beam and is used for acquiring video information of the surrounding environment of the aircraft.
Preferably, the section bar constituting the frame body is an "L" shaped section bar.
Preferably, a first side frame edge beam is arranged on the outer side, close to the underframe, of the first side frame, a second side frame edge beam is arranged on the outer side, close to the underframe, of the second side frame, and two ends of each of the first side frame edge beam and the second side frame edge beam are respectively provided with an elastic supporting leg which bends downwards.
Preferably, the elastic leg is an arc-shaped plate.
Preferably, two ends of the underframe corresponding to the traveling direction of the aircraft are formed into included angle ends, and the joint of the underframe and the first side frame and the second side frame is formed into a straight underframe side edge.
Preferably, the end of the control part in the traveling direction of the aircraft is configured as a light-transmitting spherical shell, and a lighting assembly is arranged in the spherical shell.
Preferably, the sonar module includes a sonar body, an interface provided at an end of the sonar body, and a fixing clip portion.
Preferably, the interface is a magnetic interface.
Preferably, the video acquisition assembly comprises a video assembly body, a first fixing seat and a second fixing seat, the first fixing seat and the second fixing seat are arranged at two ends of the video assembly body, the first fixing seat is connected with the second cross beam, and the second fixing seat is connected with the underframe.
Preferably, the video component body comprises a light-transmitting cover and a camera arranged in the light-transmitting cover, the camera is electrically connected with a video processing control panel, a first rotating base is arranged on the first fixing base, a second rotating base is arranged on the second fixing base, and the camera is connected with the first rotating base and the second rotating base in a rotating mode through the video control panel respectively.
Compared with the prior art, the unmanned underwater topography measuring aircraft provided by the invention is formed by common sectional materials, has smaller fluid resistance and is low in manufacturing cost. The underwater topographic surveying instrument can be suitable for underwater topographic surveying in the field of small scientific research institutions or education and teaching. In some improvements, the sonar component can be connected with the control part through the magnetic attraction interface, so that waterproof processing is facilitated. In other improved schemes of the invention, the video acquisition assembly can be arranged to be rotatable by 360 degrees, so that the video acquisition of the surrounding water area environment can be realized without arranging a plurality of cameras.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
This document provides an overview of various implementations or examples of the technology described in this disclosure, and is not a comprehensive disclosure of the full scope or all features of the disclosed technology.
Drawings
Fig. 1 is a schematic perspective view of an unmanned underwater vehicle for measuring topography.
Fig. 2 is another perspective view of the unmanned underwater vehicle for measuring terrain according to the present invention.
Fig. 3 is a schematic structural view (including a fixing member) of a frame body of the unmanned underwater vehicle for measuring terrain according to the present invention.
Fig. 4 is a schematic perspective view of a video capture assembly of the unmanned underwater vehicle of the present invention.
Fig. 5 is a partial cross-sectional view of a video capture assembly of the unmanned underwater topography survey aircraft of the present invention.
Fig. 6 is another schematic structural view (excluding the light-transmitting cover) of the video capture assembly of the unmanned underwater vehicle of the present invention.
Fig. 7 is a schematic perspective view of a sonar module of the unmanned underwater vehicle according to the present invention.
Fig. 8 is a functional block diagram of the unmanned underwater vehicle for measuring terrain according to the present invention.
The main reference numbers:
1 … control section; 2 … rack body; 3 … buoy; 4 … a propulsion assembly; 5 … sonar component; 6 … video capture component; 7 … a fastener; 11 … a cylindrical body; 12 … spherical shell; 21 … chassis; 22 … first top edge rail; 23 … second top edge rail; 24 … first side frame; 25 … second side frame; 26 … first beam; 27 … second beam; 28 … third beam; 29 … resilient legs; 211 … included corner ends; 212 … chassis side edges; 241 … first sideframe side rail; 251 … second side frame side rail; 41 … a first propulsion assembly; 42 … second propulsion assembly; 43 … third propulsion assembly; 51 … sonar body; 52 … a snap-in part; a 53 … interface; 61 … first fixed seat; 62 … second fixed seat; 63 … a first rotating base; 64 … second rotating base; 65 … video processing control panel; 66 … camera; 67 … USB interface; 68 … light transmissive cover; 10 … remote control terminal; 20 … power supply components; 30 … control panel; 31 … processor; a 32 … communication component; 33 … analog-to-digital conversion component.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be described below clearly and completely with reference to the accompanying drawings of the embodiments of the present disclosure.
It is to be understood that the described embodiments are only a few embodiments of the present disclosure, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the disclosure without any inventive step, are within the scope of protection of the disclosure.
Unless otherwise defined, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this disclosure belongs. The use of the word "comprising" or "comprises", and the like, in this disclosure is intended to mean that the elements or items listed before that word, include the elements or items listed after that word, and their equivalents, without excluding other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may also include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.
To maintain the following description of the embodiments of the present disclosure clear and concise, a detailed description of known functions and known components have been omitted from the present disclosure.
As shown in fig. 1, 2, 3 and 8, an unmanned underwater vehicle for measuring terrain according to an aspect of the present invention includes:
a control unit 1, the control unit 1 including a closed cylindrical body 11, and a control board 30 and a power supply module 20 provided in the cylindrical body 11; as shown in fig. 8, in order to transmit the control command and the sonar signal, the control board 30 actually includes a processor 31, a communication component 32 electrically connected to the processor 31, and an analog-to-digital conversion component 33, where the analog-to-digital conversion component 33 is configured to perform analog-to-digital conversion on the sonar echo collected by the sonar component 5, and then send the sonar echo to the remote control terminal 10 through the communication component 32.
In this embodiment, the main framework of the aircraft is a frame body 2, the frame body 2 is a frame body formed by multiple sections of profiles, for example, an "L" profile, and includes a bottom frame 21, and a first side frame 24 and a second side frame 25 disposed on two opposite sides of the bottom frame 21, a first top edge beam 22 is disposed on the top of the first side frame 24, a second top edge beam 23 is disposed on the top of the second side frame 25, the first top edge beam 22 and the second top edge beam 23 are parallel to each other, and a first cross beam 26, a second cross beam 27, and a third cross beam 28 are sequentially disposed between the first top edge beam 22 and the second top edge beam 23; the cylindrical body 11 is connected to the frame body 2 through fixing pieces 7 respectively arranged on the first cross beam 26 and the third cross beam 28; in some modifications, a first side frame edge beam 241 is arranged on the first side frame 24 close to the outer side of the bottom frame 21, a second side frame edge beam 251 is arranged on the second side frame 25 close to the outer side of the bottom frame 21, and two ends of each of the first side frame edge beam 241 and the second side frame edge beam 251 are respectively provided with a downward bent elastic leg 29. The resilient legs 29 may facilitate the overall landing of the aircraft on the riverbed, and furthermore, preferably, the resilient legs 29 may be an arc-shaped plate, which further reduces the cost.
In addition, the lifting frame further comprises two buoys 3 which are oppositely arranged and used for generating two buoyancy forces for driving the frame body 2 to ascend, wherein the two buoys 3 are respectively positioned outside the first side frame 24 and the second side frame 25 and are fixed through fixing pieces 7 arranged on the first side frame 24 and the second side frame 25; the setting of flotation pontoon 3, the main objective makes the aircraft wholly need not to set up the propulsion subassembly that drives the aircraft come-up for whole cost reduces.
As for the propelling component 4 of the embodiment of the present invention, referring to fig. 2, it is disposed on the chassis 21, and includes a first propelling component 41 generating forward driving force, a second propelling component 42 generating downward driving force, and a third propelling component 43 generating backward propelling force; meanwhile, the integral frame of the aircraft of the present invention has a smaller fluid resistance, and in order to further reduce the moving resistance of the aircraft in the water body, as shown in fig. 1 to 3, both ends of the underframe 21 in the traveling direction of the aircraft are configured as included angle ends 211, and the joints of the underframe 21 with the first side frame 24 and the second side frame 25 are configured as straight underframe side edges 212. The angled end 211 facilitates reducing fluid drag and, when the first propulsion assembly 41 and the third propulsion assembly 43 are disposed at the angled end 211, respectively, the first propulsion assembly 41 and the third propulsion assembly 43 operate simultaneously to produce a resultant forward force, while one of them operates to facilitate overall steering of the aircraft.
A sonar module 5, which is a main component for measuring the terrain, and is substantially identical to the prior art in practice, is provided on the base frame 21 for emitting sonar waves for detection to the water bottom; as shown in fig. 7, the sonar module 5 includes a sonar main body 51, an interface 53 provided at an end of the sonar main body 51, and a fixing clip portion 52. The only difference is that in the present invention, as an improvement, the interface 53 can be a magnetic interface, which is more beneficial to a waterproof design.
In addition, in order to facilitate observing the working state of the aircraft on the water bottom, the embodiment of the invention further comprises a video acquisition assembly 6 which is arranged on the second cross beam 27 and is used for acquiring video information of the environment around the aircraft. Also, since the light on the water bottom may be poor, it is preferable that the end of the control portion 1 in the traveling direction of the aircraft is configured as a light-transmitting spherical shell 12, and a lighting assembly (not shown in the figure) is provided in the spherical shell 12.
Further, as shown in fig. 4 to 6, preferably, the video capture assembly 6 includes a video assembly body, and a first fixing seat 61 and a second fixing seat 62 disposed at two ends of the video assembly body, where the first fixing seat 61 is connected to the second beam 27, and the second fixing seat 62 is connected to the bottom frame 21. In order to save the number of cameras, in a modified embodiment of the present invention, the video capturing assembly is designed to be rotatable by 360 degrees, specifically, the video assembly body includes a transparent cover 68 and a camera 66 disposed in the transparent cover 68, the camera 66 is electrically connected to a video processing control board 65, the first fixing base 61 is provided with a first rotating base 63, the second fixing base 62 is provided with a second rotating base 64, and the camera 66 is respectively rotatably connected to the first rotating base 63 and the second rotating base 64 through the video control board 65. The first rotary base 63 or the second rotary base 64 is driven to rotate by a small dc motor (not shown) separately provided.
The above embodiments are only exemplary embodiments of the present invention, and are not intended to limit the present invention, and the scope of the present invention is defined by the claims. Various modifications and equivalents may be made by those skilled in the art within the spirit and scope of the present invention, and such modifications and equivalents should also be considered as falling within the scope of the present invention.
Claims (10)
1. Unmanned underwater topography is with aircraft includes:
a control unit including a closed cylindrical body, and a control panel and a power supply unit provided in the cylindrical body;
the frame body is a frame body formed by multiple sections of sectional materials and comprises an underframe, a first side frame and a second side frame, wherein the first side frame and the second side frame are arranged on two opposite sides of the underframe; the cylindrical body is connected to the frame body through fixing pieces respectively arranged on the first cross beam and the third cross beam;
the two floating barrels are respectively positioned outside the first side frame and the second side frame and are fixed by fixing pieces arranged on the first side frame and the second side frame;
the propelling assembly is arranged on the chassis and comprises a first propelling assembly generating forward driving force, a second propelling assembly generating downward driving force and a third propelling assembly generating backward propelling force;
a sonar component arranged on the chassis and used for sending sonar waves for detection to the water bottom;
and the video acquisition assembly is arranged on the second cross beam and is used for acquiring video information of the surrounding environment of the aircraft.
2. The unmanned underwater vehicle for measuring the terrain as claimed in claim 1, wherein the section bars constituting the frame body are "L" shaped section bars.
3. An unmanned underwater vehicle for measuring terrain as claimed in claim 1, wherein the first side frame is provided with a first side frame side beam near the outer side of the underframe, the second side frame is provided with a second side frame side beam near the outer side of the underframe, and two ends of the first side frame side beam and the second side frame side beam are respectively provided with a downward bending elastic supporting leg.
4. An unmanned underwater vehicle as claimed in claim 3, wherein the resilient leg is an arcuate plate.
5. An unmanned underwater vehicle for measuring terrain as claimed in claim 1, wherein both ends of the base frame corresponding to a traveling direction of the vehicle are configured as angle ends, and a junction of the base frame with the first side frame and the second side frame is configured as a straight side of the base frame.
6. The unmanned underwater vehicle for measuring topography of claim 1, an end of the control portion in a traveling direction of the vehicle being configured as a light-transmissive spherical shell, the spherical shell having an illumination assembly disposed therein.
7. The unmanned underwater vehicle for measuring terrain of claim 1, wherein the sonar module includes a sonar body, and an interface and a fixing clip portion provided on an end portion of the sonar body.
8. An unmanned underwater vehicle for surveying the terrain as defined by claim 7, said interface being a magnetic attraction interface.
9. The unmanned underwater vehicle for measuring terrain as claimed in claim 1, wherein the video capturing assembly includes a video assembly body, and a first fixing seat and a second fixing seat disposed at two ends of the video assembly body, the first fixing seat is connected to the second beam, and the second fixing seat is connected to the underframe.
10. The unmanned aerial vehicle for underwater topography measurement as claimed in claim 9, wherein the video module body comprises a light-transmitting cover and a camera arranged in the light-transmitting cover, the camera is electrically connected with a video processing control panel, a first rotating base is arranged on the first fixing base, a second rotating base is arranged on the second fixing base, and the camera is respectively rotatably connected to the first rotating base and the second rotating base through the video processing control panel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010656219.2A CN111746765A (en) | 2020-07-09 | 2020-07-09 | Unmanned underwater topography survey aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010656219.2A CN111746765A (en) | 2020-07-09 | 2020-07-09 | Unmanned underwater topography survey aircraft |
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| Publication Number | Publication Date |
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| CN111746765A true CN111746765A (en) | 2020-10-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010656219.2A Pending CN111746765A (en) | 2020-07-09 | 2020-07-09 | Unmanned underwater topography survey aircraft |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1640765A (en) * | 2004-12-16 | 2005-07-20 | 上海交通大学 | Semi-independent submersible device |
| CN203786566U (en) * | 2014-03-21 | 2014-08-20 | 中国海洋石油总公司 | Submarine cable maintenance underwater robot system |
| CN105151289A (en) * | 2015-10-08 | 2015-12-16 | 黎建军 | Four-rotor aircraft capable of absorbing objects based on vacuum |
| CN207145895U (en) * | 2017-08-31 | 2018-03-27 | 青岛罗博飞海洋技术有限公司 | A kind of Underwater Camera rotating basis |
| CN109085597A (en) * | 2017-06-13 | 2018-12-25 | 株式会社Posco | Unmanned boat for bathymetric surveying |
| WO2020058988A1 (en) * | 2018-09-18 | 2020-03-26 | Janyu Technologies Pvt. Ltd. | Sludge cleaning remotely operable vehicle |
-
2020
- 2020-07-09 CN CN202010656219.2A patent/CN111746765A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1640765A (en) * | 2004-12-16 | 2005-07-20 | 上海交通大学 | Semi-independent submersible device |
| CN203786566U (en) * | 2014-03-21 | 2014-08-20 | 中国海洋石油总公司 | Submarine cable maintenance underwater robot system |
| CN105151289A (en) * | 2015-10-08 | 2015-12-16 | 黎建军 | Four-rotor aircraft capable of absorbing objects based on vacuum |
| CN109085597A (en) * | 2017-06-13 | 2018-12-25 | 株式会社Posco | Unmanned boat for bathymetric surveying |
| CN207145895U (en) * | 2017-08-31 | 2018-03-27 | 青岛罗博飞海洋技术有限公司 | A kind of Underwater Camera rotating basis |
| WO2020058988A1 (en) * | 2018-09-18 | 2020-03-26 | Janyu Technologies Pvt. Ltd. | Sludge cleaning remotely operable vehicle |
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Application publication date: 20201009 |
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