CN105083506B - The automatic levitating device and its control method of underwater robot - Google Patents
The automatic levitating device and its control method of underwater robot Download PDFInfo
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- CN105083506B CN105083506B CN201510534423.6A CN201510534423A CN105083506B CN 105083506 B CN105083506 B CN 105083506B CN 201510534423 A CN201510534423 A CN 201510534423A CN 105083506 B CN105083506 B CN 105083506B
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- air bag
- cabin
- underwater robot
- central controller
- igniter
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Abstract
The invention belongs to marine technology equipment fields, and in particular to the automatic levitating device and its control method of underwater robot.Due to the complexity of underwater robot working environment, it is possible that the case where failures such as leak urgent need emerges, at this moment its internal leakage sensor can detect water leakage, and transmit the signal to central controller, signal is sent to igniter after central controller processing judgement, activate igniter, igniter fire, which causes chemical reaction, moment to generate bulk gas, gas enters air bag after being filtered, air bag flicks airbag cover after expanding rapidly, air bag robot surface expansion under water immediately, the volume and buoyancy of underwater robot are increased after expansion, last underwater robot emerges under the action of net buoyancy, staff can have found in time and be recycled under the booster action of GPS locator.The configuration of the present invention is simple, reliable operation greatly improve the ability of underwater robot reply special circumstances.
Description
Technical field:
The invention belongs to marine technology equipment fields, and in particular to the automatic levitating device of underwater robot and its control
Method.
Background technique:
Due to marine resources development needs and marine environmental monitoring there is an urgent need to many developed countries are not in the world
The disconnected marine environmental monitoring system for updating national seas under its jurisdiction strengthens marine environment and resource investigation monitoring that the world shares sea area
Means, therefore attention of the underwater robot as marine environment and the important means of resource investigation monitoring increasingly by various countries.Water
Lower robot is that one kind can be carried by platforms such as naval vessels, submarine, aircrafts and itself also can be used as other subaqueous survey sensors
Carrying platform.
Complicated and changeable due to marine environment, underwater robot works the possibility of failure of occuring now and then under water, for example leaks
The failures such as water, power depletion, it is this in emergency circumstances, it is one or several in propeller, empennage, power supply and way circuit plate etc.
Can lose the job ability.When to prevent underwater robot from working under water, after the unexpected ability of losing the job of burst, underwater robot
And its loss of data carried, the apparatus inside data and underwater robot is protected, at this moment needs to make submarine navigation device most
It floats on ocean surface fastly, so that staff timely and effectively recycles corresponding equipment recycling, maintenance and data collection.
In view of the above-mentioned problems, the present invention proposes the automatic levitating device and its control method of underwater robot, convenient for underwater
Robot, being capable of quick emersion water automatically by air bag in the case where the power sources such as leak propeller and tail vane fail
Face greatly improves the ability of underwater robot reply special circumstances.
Summary of the invention:
It is an object of the present invention to: it proposes the automatic levitating device and its control method of underwater robot, is convenient for underwater
People can emerge in time in the case where the power sources such as leak propeller and tail vane failure etc. and carry out equipment recycling, maintenance
And data collection.
In order to realize the purpose of the present invention, proposed adoption following technical scheme:
The device by leakage sensor, central controller, igniter, GPS locator, air bag cabin, airbag cover, filter,
Sodium azide and air bag composition.The leakage sensor is mounted on the inner wall that sealing cabin is easy the cabin junction of leak, collection
It is responsible for acquisition and transmission water leakage, which is sent to underwater sealing cabin center of inside controller detection electricity through its transmission cable
The input terminal on road, central controller judged according to the signal detected underwater sealing environment whether leak.If judging result is
When leak, central controller sends signal to igniter, activates igniter, and igniter fire causes chemical reaction moment generation gas
Body, gas enter air bag after being filtered, and air bag flicks airbag cover after expanding rapidly, with rear gasbag robot under water
After the expansion of surface, the volume of underwater robot is increased after expansion, so that its buoyancy is greater than gravity, last underwater robot is net
It emerges under the action of buoyancy, staff can have found in time and be recycled under the booster action of GPS locator.
Advantages of the present invention is with good effect:
1, the present invention increases the volume of underwater robot by the way of air bag inflation, so that increasing its buoyancy makes it
It floating, structure is simple, and it is easy to operate, it is at low cost.
2, the air bag that the present invention uses opens expansion mechanism after receiving useful signal, even if entering in cabin big
Amount water can guarantee that underwater robot can emerge automatically.
Detailed description of the invention:
Fig. 1 is the total work flow diagram of the automatic levitating device of underwater robot；
Fig. 2 is underwater robot working state figure；
Fig. 3 is the cross-sectional view in underwater air bag cabin；
Fig. 4 is underwater top view.
1 it is wherein leakage sensor, 2 is central controller, 3 is igniter, 4 is GPS locator, 5 is air bag cabin, 6 is
Airbag cover, 7 be filter, 8 be sodium azide and 9 be air bag.
Specific embodiment:
The following further describes the present invention with reference to the drawings.
As in Figure 2-4, the present invention is by by including by leakage sensor 1, central controller 2, igniter 3, GPS locator
4, air bag cabin 5, airbag cover 6, filter 7, sodium azide 8 and air bag 9 form, and wherein the detector of leakage sensor 1 is mounted on
It is easy the inner wall of the cabin junction of leak, central controller 2 is coupled on whole CPU, and igniter 3 is embedded on cabin wall,
Head is placed in the air bag cabin 5 outside cabin, while GPS locator 4, filter 7, sodium azide 8 and air bag 9 are also all placed in air bag
In cabin 5, and closed by airbag cover 6, and airbag cover 6 is bonded on cabin wall by chemical adhesive, 4 useization of GPS locator
Adhesive bonding is learned in the bottom in air bag cabin 5, and is placed in close to the position of filter 7,9 lower end of air bag also uses chemical adhesion
Agent is bonded in the slot in air bag cabin 5.
The leakage sensor 1 be mounted on sealing cabin be easy leak cabin junction inner wall, collect be responsible for acquisition and
Water leakage is transmitted, which is sent to the input of 2 detection circuit of underwater sealing cabin center of inside controller through its transmission cable
End, central controller 2 judged according to the signal detected underwater sealing environment whether leak.If judging result is leak,
Central controller 2 sends signal to igniter, activates igniter 3, and the igniting of igniter 3 causes sodium azide 8 and chemically reacts
Moment generates gas, and gas enters air bag 9 after the filtering of filter 7, and air bag 9 flicks airbag cover 6 after expanding rapidly, subsequent gas
Capsule 9 after the expansion of robot surface, increases the volume of underwater robot under water after expansion, so that its buoyancy is greater than gravity, most
Underwater robot emerges under the action of net buoyancy afterwards, staff can under the booster action of GPS locator 4 and
Shi Faxian is simultaneously recycled.
Claims (1)
1. the automatic levitating device of underwater robot, it is characterised in that: including leakage sensor (1), central controller (2), point
Firearm (3), GPS locator (4), air bag cabin (5), airbag cover (6), filter (7), sodium azide (8) and air bag (9), wherein
The detector of leakage sensor (1) is mounted on the inner wall of the cabin junction of easy leak, and central controller (2) is coupled to entirety
CPU on, leakage sensor (1) is responsible for acquisition and transmission water leakage, and water leakage is sent to underwater sealing through transmission cable
The input terminal of central controller (2) detection circuit inside cabin, on cabin wall, head is placed in outside cabin igniter (3)
Air bag cabin (5) is inner, while GPS locator (4), filter (7), sodium azide (8) and air bag (9) are also all placed in air bag cabin (5)
In, and closed by airbag cover (6), and airbag cover (6) is bonded on cabin wall by chemical adhesive, GPS locator (4) uses
Chemical adhesive is bonded in the bottom of air bag cabin (5), and is placed in close to the position of filter (7), and air bag (9) lower end also uses
Chemical adhesive is bonded in the slot of air bag cabin (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510534423.6A CN105083506B (en) | 2015-08-25 | 2015-08-25 | The automatic levitating device and its control method of underwater robot |
Applications Claiming Priority (1)
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| CN201510534423.6A CN105083506B (en) | 2015-08-25 | 2015-08-25 | The automatic levitating device and its control method of underwater robot |
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| Publication Number | Publication Date |
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| CN105083506A CN105083506A (en) | 2015-11-25 |
| CN105083506B true CN105083506B (en) | 2019-01-01 |
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