CN109353473A - A kind of submersible and submersible system - Google Patents
A kind of submersible and submersible system Download PDFInfo
- Publication number
- CN109353473A CN109353473A CN201811034054.4A CN201811034054A CN109353473A CN 109353473 A CN109353473 A CN 109353473A CN 201811034054 A CN201811034054 A CN 201811034054A CN 109353473 A CN109353473 A CN 109353473A
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- China
- Prior art keywords
- depth
- under water
- water
- buoyage
- communication module
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 175
- 238000004891 communication Methods 0.000 claims abstract description 70
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 claims description 3
- 230000007935 neutral effect Effects 0.000 claims description 3
- 230000009189 diving Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 239000003550 marker Substances 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000007599 discharging Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B22/00—Buoys
-
- 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
- B63C11/48—Means for searching for underwater objects
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Combustion & Propulsion (AREA)
- Acoustics & Sound (AREA)
- Testing Or Calibration Of Command Recording Devices (AREA)
- Chemical & Material Sciences (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses submersibles, including move under water under water device, buoyage, release device, cable and length adjustment device；The device that moves under water under water includes first communication module and the first water depth sensor；First water depth sensor is for detecting depth of water depth；Buoyage includes first processing module, second communication module, third communication module, satellite positioning module and the second water depth sensor；Satellite positioning module is for obtaining location information；Second water depth sensor is for detecting depth of water depth；Buoyage is moved under water on device under water by release device fixation；Third communication module can be communicated to connect by cable with first communication module, length adjustment device is used to adjust the length of cable, and first processing module is used to the current location information of depth of water depth and buoyage that the device that moves under water under water is presently in being sent to user control terminal.Present invention configuration equipment cost is low, and location information is accurate.The invention also discloses a kind of submersible systems.
Description
Technical field
The present invention relates to electronic equipment field of locating technology, and in particular to a kind of submersible and submersible system.
Background technique
Frequently as the auxiliary tool searched and rescued under water, rescue worker needs to search out by underwater robot underwater robot
When object, the position of underwater robot is known, to know the specific location of object.
The prior art often positions submarine target by being equipped with the method for ultra short baseline locating system in robot under water
Object, its working principle is that: acoustic marker is installed under water, hull waterborne is equipped with ultra-short baseline array, underwater machine in robot
Acoustic marker on device people issues acoustical signal and calculates underwater robot after the ultra-short baseline array on hull receives acoustical signal
Target bearing and distance.However, this method needs to install acoustic marker in robot under water, hull installation waterborne is ultrashort
Baseline basic matrix, the deployment cost for configuring the ultra short baseline locating system are high.
Summary of the invention
The technical problem to be solved by the invention is to provide a kind of submersible and diving systems, can be filled by length adjustment
Adjustment is set for connecting the length of buoyage with the cable for the device that under water moves under water so that the position of buoyage with move under water under water
The position of device is corresponding, and sends user for the depth of water depth of location information and the underwater device that moves under water where buoyage
Controlling terminal allows a user to the specific location for accurately obtaining the device that moves under water under water, and configuration equipment cost is low, and location information is quasi-
Really.
In order to solve the above technical problems, the present invention provides a kind of submersibles, comprising: the device that moves under water under water, buoy
Device, release device, the length adjustment device of cable and setting on the cables；
The device that moves under water under water includes first communication module and first depth of water connecting with first communication module sensing
Device；First water depth sensor is used to detect the depth of water depth that the device that moves under water under water is presently in；
The buoyage include first processing module, second communication module, third communication module, satellite positioning module with
And second water depth sensor；The satellite positioning module is for obtaining the current location information of the buoyage；Described second
Water depth sensor is for detecting the depth of water depth that the buoyage is presently in；The second communication module is used to control with user
Terminal processed can communicate to connect；The first processing module and the second communication module, the third communication module, the satellite
Locating module and second water depth sensor connection；
The buoyage by the release device be fixed on it is described move under water on device under water, the release device is used for
When receiving the control signal of user control terminal transmission, the buoyage is discharged；
The third communication module can be communicated to connect by the cable with the first communication module, the length adjustment
Device obtains the depth of water depth that device is presently in of moving under water under water, logical by described first by the third communication module
Letter module obtains the depth of water depth that the buoyage is presently in, and in the depth of water for detecting that the buoyage is presently in
When depth is zero, the length of the cable is locked, so that the length of the cable is equal to the device that moves under water under water and is presently in
Depth of water depth；
The first processing module is used to move under water what device was presently under water for described by the second communication module
Depth of water depth and the current location information of the buoyage are sent to user control terminal.
In a kind of optional embodiment, the device that moves under water under water further includes Second processing module；Described first is logical
Letter module is connect by the Second processing module with first water depth sensor.
In a kind of optional embodiment, the second communication module is wireless communication module.
In a kind of optional embodiment, second wireless communication module includes wireless communication unit and wireless communication
Antenna；The radio antenna is connect by the wireless communication unit with the first processing module, the wireless communication
Antenna is arranged on the buoyage.
In a kind of optional embodiment, the satellite positioning module includes satellite positioning unit and satellite positioning day
Line；The satellite positioning antennas is connect by satellite activity's unit with the first processing module, the satellite positioning day
Line is arranged on the buoyage.
In a kind of optional embodiment, indicator light is additionally provided on the buoyage.
In a kind of optional embodiment, loudspeaker is additionally provided on the buoyage.
In a kind of optional embodiment, the cable is neutral buoyancy cable.
In order to solve identical technical problem, the present invention also provides a kind of submersible systems, including dive as described above
Hydrophone further includes user control terminal；The user control terminal is sent under the operation of user to the second communication module
Control signal.In order to solve identical technical problem, the invention also provides a kind of submersible systems, including diving as above
Device further includes user control terminal；User control terminal sends control signal under the operation of user, to second communication module.
Compared with the prior art, the beneficial effect of the embodiment of the present invention is: the present invention proposes a kind of submersible and diving
Device system is moved under water device and buoyage under water by configuring buoyage on the device that moves under water under water, and by cable connection,
Realize information exchange；When user's control moves under water device arrival object under water, the control information of user is received to discharge buoy
Device, and cable length is controlled by length adjustment device and locks the length of cable when detecting that buoyage rises to the water surface
Degree, so that the device that moves under water under water is in the underface of buoyage, therefore, user can pass through the location information of acquisition buoyage
And the depth of water depth for the device that moves under water under water, accurately know the specific location for the device that moves under water under water；Device configuration letter in the present invention
It is single, it is at low cost, and the device that moves under water under water can be accurately positioned.
Detailed description of the invention
In order to illustrate more clearly of technical solution of the present invention, attached drawing needed in embodiment will be made below
Simply introduce, it should be apparent that, the accompanying drawings in the following description is only some embodiments of the present invention, general for this field
For logical technical staff, without creative efforts, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of structural schematic diagram of submersible provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Referring to Fig. 1, it is a kind of structural schematic diagram of submersible provided in an embodiment of the present invention.The embodiment of the present invention mentions
A kind of submersible is supplied, comprising: the device 100 that moves under water under water, buoyage 200, release device 300, cable 400 and setting exist
Length adjustment device 500 on the cable 400；
The device 100 that moves under water under water include first communication module 11 and connect with the first communication module 11 the
One water depth sensor 12；First water depth sensor 12 is used to detect the depth of water that the device 100 that moves under water under water is presently in
Depth；
The buoyage 200 includes first processing module 21, second communication module 22, third communication module 23, satellite
Locating module 24 and the second water depth sensor 25；The satellite positioning module 24 is current for obtaining the buoyage 200
Location information；Second water depth sensor 25 is for detecting the depth of water depth that the buoyage 200 is presently in；It is described
Second communication module 22 with user control terminal for that can communicate to connect；The first processing module 21 communicates mould with described second
Block 22, third communication module 23, satellite positioning module 24 and second water depth sensor 25 connection；
The buoyage 200 by the release device 300 be fixed on it is described move under water on device 100 under water, it is described to release
Device 300 is put for discharging the buoyage 200 when receiving the control signal of user control terminal transmission；
The third communication module 23 can be communicated to connect by the cable 400 with the first communication module 11, described
Length adjustment device 500 obtains the depth of water depth that the device 100 that moves under water under water is presently in by the third communication module 23
Degree obtains the depth of water depth that the buoyage 200 is presently in by the first communication module 11, and described detecting
When the depth of water depth that buoyage 200 is presently in is zero, the length of the cable 400 is locked, so that the length of the cable 400
Degree is equal to the depth of water depth that the device 100 that moves under water under water is presently in；
The first processing module 21 is used for by the second communication module 22 that the device 100 that moves under water under water is current
The current location information of locating depth of water depth and the buoyage 200 is sent to user control terminal.
The working principle of the embodiment of the present invention is: the buoyage 200 is fixed on described by the release device 300
It moves under water on device 100 under water, it is described to release when the device 100 that moves under water under water reaches object, and issues release control signal
It puts device 300 and discharges the buoyage 200, so that the buoyage 200 rises according to natural buoyancy；Second depth of water
The depth of water depth of buoyage 200 described in 25 real-time detection of sensor, when the buoyage 200 is in propradation, institute
It states length adjustment device 500 and gradually discharges 400 length of cable；When the buoyage 200 reaches the water surface and described the
When the depth of water depth that two water depth sensors 25 detect that the buoyage 200 is presently in is zero, the length adjustment device
500 locking 400 length of cable, thus, 400 length of cable is equal to the depth of water of the device 100 that moves under water under water at this time
Depth, i.e., the described device 100 that moves under water under water is located at the underface of the buoyage 200, at this point, on the buoyage 200
The location information that gets of satellite positioning module 24, also represent the location information of the device 100 that moves under water under water；At this point, institute
State first processing module 21 by the second communication module 22 that the buoyage 200 is current location information and the water
Dive luggage sets the depth of water depth that 100 are presently in and is sent to user control terminal, enables users to according to the buoyage 200
Current location information and the depth of water depth that device 100 is presently in of moving under water under water accurately know the device 100 that moves under water under water
Specific location.
In a kind of optional embodiment, the device 100 that moves under water under water further includes Second processing module 13；Described
One communication module 11 is connect by the Second processing module 13 with first water depth sensor 12.The Second processing module
13 for being converted to digital signal for the depth of water Simulation of depth signal that the water depth sensor detects, and logical by described first
Letter module 11 is transmitted.
In a kind of optional embodiment, the second communication module 22 is wireless communication module.
In a kind of optional embodiment, second wireless communication module 22 includes wireless communication unit 221 and nothing
Line communication antenna 222；The radio antenna 222 passes through the wireless communication unit 221 and the first processing module 21
Connection, the radio antenna 222 are arranged on the buoyage 200.The radio antenna 222 is arranged in institute
It states on buoyage 200, is conducive to when the buoyage 200 floats up to the water surface, the communication of the wireless communication module is not
It is influenced by complicated underwater environment, guarantees the validity of communication.
In a kind of optional embodiment, the satellite positioning module 24 includes satellite positioning unit 241 and satellite
Position antenna 242；The satellite positioning antennas 242 is connect by satellite activity's unit with the first processing module 21, institute
Satellite positioning antennas 242 is stated to be arranged on the buoyage 200.The satellite positioning antennas 242 is arranged in the buoy
On device 200, be conducive to when the buoyage 200 floats up to the water surface, the communication of the satellite positioning antennas 242 is not by multiple
Miscellaneous underwater environment influences, and guarantees the accuracy of positioning.
In a kind of optional embodiment, indicator light 25 is additionally provided on the buoyage 200.The indicator light 25 is used
In when the buoyage 200 floats up to the water surface, surrounding user is prompted, so that user quickly knows the buoyage 200
Position.
In a kind of optional embodiment, loudspeaker 26 is additionally provided on the buoyage 200.The loudspeaker 26 is used
In when the buoyage 200 floats up to the water surface, surrounding user is prompted, so that user quickly knows the buoyage 200
Position.
In a kind of optional embodiment, the cable 400 is neutral buoyancy cable.
The embodiment of the present invention also proposed a kind of submersible system, further include user's control end including submersible as above
End；The user control terminal sends control signal under the operation of user, to the second communication module.
Compared with the prior art, the beneficial effect of the embodiment of the present invention is: the present invention proposes a kind of submersible and diving
Device system is moved under water device and buoyage under water by configuring buoyage on the device that moves under water under water, and by cable connection,
Realize information exchange；When user's control moves under water device arrival object under water, the control information of user is received to discharge buoy
Device, and cable length is controlled by length adjustment device and locks the length of cable when detecting that buoyage rises to the water surface
Degree, so that the device that moves under water under water is in the underface of buoyage, therefore, user can pass through the location information of acquisition buoyage
And the depth of water depth for the device that moves under water under water, accurately know the specific location for the device that moves under water under water；Device configuration letter in the present invention
It is single, it is at low cost, and the device that moves under water under water can be accurately positioned.
Above disclosed is only a preferred embodiment of the present invention, cannot limit the power of the present invention with this certainly
Sharp range, those skilled in the art can understand all or part of the processes for realizing the above embodiment, and weighs according to the present invention
Benefit requires made equivalent variations, still belongs to the scope covered by the invention.
Claims (9)
1. a kind of submersible characterized by comprising move under water under water device, buoyage, release device, cable and setting
Length adjustment device on the cables；
The device that moves under water under water includes first communication module and the first water depth sensor connecting with first communication module；Institute
State the depth of water depth that the first water depth sensor is presently in for detecting the device that moves under water under water；
The buoyage includes first processing module, second communication module, third communication module, satellite positioning module and
Two water depth sensors；The satellite positioning module is for obtaining the current location information of the buoyage；Second depth of water
Sensor is for detecting the depth of water depth that the buoyage is presently in；The second communication module is used for and user's control end
End can communicate to connect；The first processing module and the second communication module, the third communication module, the satellite positioning
Module and second water depth sensor connection；
The buoyage by the release device be fixed on it is described move under water on device under water, the release device is for connecing
When receiving the control signal of user control terminal transmission, the buoyage is discharged；
The third communication module can be communicated to connect by the cable with the first communication module, the length adjustment device
The depth of water depth that device is presently in of moving under water under water is obtained, by the first communication mould by the third communication module
Block obtains the depth of water depth that the buoyage is presently in, and in the depth of water depth for detecting that the buoyage is presently in
When being zero, the length of the cable is locked, so that the length of the cable is equal to the water that the device that moves under water under water is presently in
Depth；
The first processing module is used for the depth of water for being presently in the device that moves under water under water by the second communication module
Depth and the current location information of the buoyage are sent to user control terminal.
2. submersible as claimed in claim 1, which is characterized in that the device that moves under water under water further includes Second processing module；It is described
First communication module is connect by the Second processing module with first water depth sensor.
3. submersible as claimed in claim 1, which is characterized in that the second communication module is wireless communication module.
4. submersible as claimed in claim 3, which is characterized in that second wireless communication module includes wireless communication unit and nothing
Line communication antenna；The radio antenna is connect by the wireless communication unit with the first processing module, the nothing
Line communication antenna is arranged on the buoyage.
5. submersible as claimed in claim 1, which is characterized in that the satellite positioning module includes satellite positioning unit and satellite
Position antenna；The satellite positioning antennas is connect by satellite activity's unit with the first processing module, the satellite
Position antenna is arranged on the buoyage.
6. submersible as claimed in claim 1, which is characterized in that be additionally provided with indicator light on the buoyage.
7. submersible as claimed in claim 1, which is characterized in that be additionally provided with loudspeaker on the buoyage.
8. submersible as claimed in claim 1, which is characterized in that the cable is neutral buoyancy cable.
9. a kind of submersible system, which is characterized in that the submersible including any one of such as claim 1 to 8 further includes user's control
Terminal processed；The user control terminal sends control signal under the operation of user, to the second communication module.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810134730.9A CN108226961A (en) | 2018-02-09 | 2018-02-09 | A kind of submersible and submersible system |
| CN2018101347309 | 2018-02-09 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109353473A true CN109353473A (en) | 2019-02-19 |
Family
ID=62661355
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810134730.9A Pending CN108226961A (en) | 2018-02-09 | 2018-02-09 | A kind of submersible and submersible system |
| CN201811034054.4A Pending CN109353473A (en) | 2018-02-09 | 2018-09-05 | A kind of submersible and submersible system |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810134730.9A Pending CN108226961A (en) | 2018-02-09 | 2018-02-09 | A kind of submersible and submersible system |
Country Status (1)
| Country | Link |
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| CN (2) | CN108226961A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110171536A (en) * | 2019-05-21 | 2019-08-27 | 中国船舶重工集团公司第七一九研究所 | A kind of untethered alarm float based on Beidou satellite navigation system |
| CN110282082A (en) * | 2019-07-12 | 2019-09-27 | 深圳基原中正工程建设有限公司 | Satellite Relay Communication Magnetic Adsorption Recoverable Buoy |
| CN110381117A (en) * | 2019-06-19 | 2019-10-25 | 广东工业大学 | A kind of submariner communication system based on extendible buoy |
| CN114179969A (en) * | 2021-11-02 | 2022-03-15 | 天津海翼科技有限公司 | Float for angling |
| CN116772829A (en) * | 2023-08-28 | 2023-09-19 | 华海通信技术有限公司 | Anti-lost system and method for underwater equipment |
| CN118443387A (en) * | 2024-05-23 | 2024-08-06 | 深圳市朗诚科技股份有限公司 | Layered water sampler |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111413118B (en) * | 2020-03-19 | 2021-12-10 | 哈尔滨工程大学 | Underwater depth data acquisition system |
| CN111976929B (en) * | 2020-07-16 | 2022-04-05 | 哈尔滨工程大学 | An unmanned underwater vehicle with emergency self-rescue buoy and its control method |
| CN112113563A (en) * | 2020-09-18 | 2020-12-22 | 苏州臻迪智能科技有限公司 | Unmanned ship positioning system and unmanned ship positioning method |
| CN113682451B (en) * | 2021-09-16 | 2022-06-24 | 哈尔滨工程大学 | Retractable underwater robot wireless communication device and communication method thereof |
| CN114199224A (en) * | 2021-11-02 | 2022-03-18 | 天津海翼科技有限公司 | Positioning system and positioning method of underwater robot and underwater robot assembly |
| CN120503944B (en) * | 2025-06-03 | 2025-11-18 | 广东工业大学 | Split AUV system and application method thereof |
-
2018
- 2018-02-09 CN CN201810134730.9A patent/CN108226961A/en active Pending
- 2018-09-05 CN CN201811034054.4A patent/CN109353473A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110171536A (en) * | 2019-05-21 | 2019-08-27 | 中国船舶重工集团公司第七一九研究所 | A kind of untethered alarm float based on Beidou satellite navigation system |
| CN110381117A (en) * | 2019-06-19 | 2019-10-25 | 广东工业大学 | A kind of submariner communication system based on extendible buoy |
| CN110282082A (en) * | 2019-07-12 | 2019-09-27 | 深圳基原中正工程建设有限公司 | Satellite Relay Communication Magnetic Adsorption Recoverable Buoy |
| CN114179969A (en) * | 2021-11-02 | 2022-03-15 | 天津海翼科技有限公司 | Float for angling |
| CN116772829A (en) * | 2023-08-28 | 2023-09-19 | 华海通信技术有限公司 | Anti-lost system and method for underwater equipment |
| CN118443387A (en) * | 2024-05-23 | 2024-08-06 | 深圳市朗诚科技股份有限公司 | Layered water sampler |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108226961A (en) | 2018-06-29 |
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Application publication date: 20190219 |
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