The invention provides a self-sinking underwater vehicle based on obstacle identification and an identification method thereof, and relates to the technical field of underwater equipment action, the self-sinking underwater vehicle can autonomously sail according to a preset route in a default state, meanwhile, a sonar is used for continuously exploring underwater obstacles, and under the condition that the sonar detects that the obstacles exist underwater, the self-sinking underwater vehicle is automatically identified. The control system calculates the direction and thrust required to advance from the current position of the control system to an obstacle according to the detection result of the sonar and sends out an instruction to drive the power and steering device, so that the underwater vehicle advances towards the obstacle, the hatch cover is opened at the obstacle through the automatic control device for self-sinking, the rope buoy is released from the water inlet, the hatch cover is driven to be opened, and then the underwater vehicle is driven to move forwards. Water flow enters the underwater vehicle, self-sinking of the underwater vehicle is achieved, the buoy is released outwards from the water inlet to emerge out of the water surface, then the obstacle is marked, the underwater vehicle sinking to the bottom in water can become an underwater fixture of the buoy, the buoy is prevented from floating away, in this way, the obstacle is rapidly marked, and the marking efficiency is improved.

    本发明提供一种基于障碍物标识的自沉式潜航器及其标识方法,涉及水下设备作用技术领域,默认状态下可根据预先设定的航线自主航行,同时利用声呐不断探索水下障碍物,在声呐探测到水下有障碍物的情况下,控制系统依据声呐的探测结果,计算出从自身当前位置到障碍物处所需前进的方向和推力,发出指令驱动动力及转向装置,使得潜航器向障碍物前进,并在障碍物处利用自控装置打开舱盖自沉,并从进水口处释放出绳索浮标,带动舱盖打开,水流进入潜航器内部,实现潜航器的自沉,从进水口处向外释放浮标浮出水面,进而对障碍物进行标记,进水沉底的潜航器可成为浮标的水下固定物,避免浮标飘走,如此实现对障碍物的快速标识,提高标识效率。


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    Title :

    Self-sinking underwater vehicle based on obstacle identification and identification method thereof


    Additional title:

    一种基于障碍物标识的自沉式潜航器及其标识方法


    Contributors:
    ZHAO ZIJUN (author)

    Publication date :

    2024-08-30


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen / B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen



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