CN106864707B - A kind of ocean robot detection system based on Beidou satellite navigation - Google Patents
A kind of ocean robot detection system based on Beidou satellite navigation Download PDFInfo
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- CN106864707B CN106864707B CN201710002617.0A CN201710002617A CN106864707B CN 106864707 B CN106864707 B CN 106864707B CN 201710002617 A CN201710002617 A CN 201710002617A CN 106864707 B CN106864707 B CN 106864707B
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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
-
- 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
- B63C11/34—Diving chambers with mechanical link, e.g. cable, to a base
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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
-
- 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
- B63G8/14—Control of attitude or depth
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
- B63H1/36—Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/10—Devices for withdrawing samples in the liquid or fluent state
- G01N1/14—Suction devices, e.g. pumps; Ejector devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/18—Water
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Ocean & Marine Engineering (AREA)
- Health & Medical Sciences (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- Analytical Chemistry (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Medicinal Chemistry (AREA)
- Hydrology & Water Resources (AREA)
- Computer Networks & Wireless Communication (AREA)
- Food Science & Technology (AREA)
- Combustion & Propulsion (AREA)
- Sampling And Sample Adjustment (AREA)
Abstract
The present invention relates to marine exploration fields, more particularly to a kind of ocean robot detection system based on Beidou satellite navigation, it includes underwater robot detection device, the robot detection device is connect by buoy cable with the buoy communication device for swimming in the water surface, the buoy communication device is connect by Big Dipper communications satellite with monitor terminal, the take-up and pay-off device coordinated with buoy cable is provided in the buoy communication device, the buoy cable includes conducting wire, it is evenly provided with steel wire on the outside of the guiding, Protection glue shell is provided on the outside of the steel wire；Robot detection device is connected with buoy communication device using buoy cable, and connect buoy communication device with remote terminal by Big Dipper communications satellite, using weak electric field into the transmission of row information, greatly improve efficiency of transmission, reduce equipment volume, greatly reduces the power consumption of communication.
Description
Technical field
The present invention relates to marine exploration field more particularly to a kind of ocean robot detection systems based on Beidou satellite navigation
System.
Background technology
China is the wide country in a marine site, and being rich in marine site has a large amount of mineral resources, and has had some stones
Oil is being exploited, and therefore, it is necessary to carry out water quality detection and sampling detection to ocean.
Existing marine exploration system includes mostly remote terminal, signal transmitting apparatus and robot detection device, and is showed
There are a underwater acoustic communication and optic communication that the signal transmission of marine exploration system mostly uses greatly, equipment volume existing for this communication
Greatly, the defects of power consumption is big, communication bandwidth is limited.
Invention content
The ocean robot detection system based on Beidou satellite navigation that the object of the present invention is to provide a kind of, using cork line
Cable connects robot detection device with buoy communication device, and by buoy communication device and remotely whole by Big Dipper communications satellite
End connection, using weak electric field into the transmission of row information, greatly improves efficiency of transmission, reduces equipment volume, greatly drops
The power consumption of low communication.
In order to achieve the goal above, the technical solution adopted by the present invention is：A kind of ocean machine based on Beidou satellite navigation
Tool people's detection system, it includes underwater robot detection device 50, and the robot detection device 50 passes through buoy cable
49 connect with the buoy communication device 48 for swimming in the water surface, and the buoy communication device 48 passes through Big Dipper communications satellite 47 and prison
Control terminal 46 connects, and the take-up and pay-off device coordinated with buoy cable 49 is provided in the buoy communication device 48, described
Buoy cable 49 includes conducting wire 51, and the outside of the conducting wire 51 is evenly provided with steel wire 52, the outside of the steel wire 52
It is provided with Protection glue shell 53.
Further, it includes two groups of explorers designed side by side, and the explorer includes main body 1, the main body 1
Lower section front and rear sides be provided with lifting gasbag 15, both sides are provided with hang gliding 2, and top is provided with connecting seat 4, and two main bodys
Connecting seat 4 on 1 is connected by connecting rod 5, and the lower section of the main body 1 is provided with water quality detector 16 and sampler 18,
The accumulator 20, controller 19 and baric systerm for being internally provided with interconnection of the main body 1, the controller 19 with
Buoy cable 49 is connected to, and the water quality detector 16 and sampler 18, lifting gasbag 15 are connected to controller 19.
Further, the connecting rod 5 includes the outer tube 6 being connect with connecting seat 4, is socketed in the outer tube 6
There is interior loop bar 12, and the end of two interior loop bars 12 is locked by lock sleeve 14, the interior loop bar 12 and setting in connecting seat 4
Push rod cylinder 8 connect, the push rod cylinder 8 is connected to controller 19.
Further, the outer tube 6 is interference fitted by connector sleeve 7 and is inserted into connecting seat 4, the interior loop bar 12
For stepped stem, and the side being connect with push rod cylinder 8 is big end, what being internally provided with of the outer tube 6 coordinated with big end
The cylinder head of limited block 13, the push rod cylinder 8 is connected with collets 9, and the collets 9 are fixed with electromagnet block 10,
The cooperation iron block and the magnetic cooperation of electromagnet block 10, the electromagnet block 10 that the interior loop bar 12 is embedded in by end connect
To controller 19.
Further, the tail portion of the main body 1 is provided with Bionical motion apparatus 3, and the Bionical motion apparatus 3 includes
It is connected to 1 tail portion of main body and shape bionical swing gum cover 26 similar with fish tail, is provided in the bionical swing gum cover 26
The swinging block 27 coordinated with it, the swinging block 27 coordinate with the pendulous device 28 in main body 1, and the pendulous device 28 connects
It is connected to controller 19.
Further, gradient regulator is provided in the main body 1, the gradient regulator includes that setting exists
The pitch adjustment frame 21 of bottom in main body 1 is provided with into the adjusting lead screw 22 of front and back trend, institute on the pitch adjustment frame 21
The one end for the adjusting lead screw 22 stated is connected with regulation motor 23, and adjusts and be socketed with the adjusting pouring weight coordinated with it on lead screw 22
24, the regulation motor 23 is connected to controller 19.
Further, the adjusting lead screw 22 is provided with two groups, and about the center symmetric setting of main body 1, described
It adjusts pouring weight 24 and the pitch adjustment sliding rail 25 of bottom setting in main body 1 coordinates.
Further, the sampler 18 includes the sampling lifting cylinder 34 being arranged in 1 bottom of main body, and described takes
The lower section of sample lifting cylinder 34 is connected with sampling lifting seat 35, and the sampling lifting seat 35 is downwardly open center column,
And opening is combined with sampling syringe 36, the lower part of the sampling syringe 36 is communicated with and samples syringe needle 37, is internally provided with and takes
The upper end of sample piston 38, the sampling cock 38 pulls cylinder 39 to connect with the piston that 35 inside of sampling lifting seat is arranged, institute
The sampling lifting cylinder 34 and piston stated pull cylinder 39 to be connected to controller 19.
Further, the bottom of the main body 1 is provided with sampling adjustment seat 29, is arranged in the sampling adjustment seat 29
There is sampling shaft 31, one end of the sampling shaft 31 is connected with sampling motor 32, and samples and be socketed with sampling in shaft 31
Rotation seat 33, the sampling lifting cylinder 34 setting are provided with sampling probe below sampling rotation seat 33 in the main body 1
The sample receiving box 17 of first 37 cooperation, the sampling motor 32 are connected to controller 19.
Further, the lower section of the main body 1 is provided with the sampling coordinated with sampling adjustment seat 29 and adjusts sliding rail 30, and
The lower section of main body 1 is provided with the multistage adjusting cylinder 40 coordinated with sampling adjustment seat 29, and the lower section of the main body 1 is arranged side by side
There are no less than two sample receiving boxs 17, the multistage cylinder 40 that adjusts to be connected to controller 19.
Further, the sample receiving box 17 includes box body 41, offers on the box body 41 and matches with sampling syringe needle 37
That closes connects sample mouth 42, and the depth for connecing sample mouth 42 is more than the length of sampling syringe needle 37, and connects on the box body 41 at sample mouth 42
It is provided with pressure inductor 43, the folding block 45 for being internally provided with and connecing the cooperation of sample mouth 42 of the box body 41, two pieces of foldings
Block 45 is connect with the folding cylinder 44 being arranged in box body 41 respectively by tooth engagement, the pressure inductor 43 and folding
Cylinder 44 is connected to controller 19, and the activity of the actuated signal control folding cylinder 44 of pressure inductor 43.
Beneficial effects of the present invention are：
1, robot detection device is connected with buoy communication device using buoy cable, and will by Big Dipper communications satellite
Buoy communication device is connect with remote terminal, using weak electric field into the transmission of row information, greatly improves efficiency of transmission, is reduced
Equipment volume, greatly reduces the power consumption of communication.
2, two explorers are linked to be by a robot detection device by connecting rod, and then improve stationarity, prevented
Rollover, while when the exploring block on some explorer breaks down, can by the same parts of another spy machine into
Row detection improves lasting detectivity, while can also carry out two sub-samplings to the sample of the same area, improves the standard of detection
Exactness.
3, connecting rod uses the pattern of outer tube and interior loop bar, and interior loop bar is connect with the push rod cylinder in connecting seat, this
Sample can adjust the length of entire connecting rod, to better meet the needs of detection.
4, the design of limited block, and push rod cylinder is connect by electromagnet block with cooperation iron block magnetism, and then can pass through
Connector sleeve is extracted from connecting seat, then electromagnet block is made to power off by the thrust of push rod cylinder, and then connecting rod can be made whole
It unloads, and then it can be made rapidly to emerge in an explorer failure, while another explorer can be after
Continuous detection.
5, the design of Bionical motion apparatus can be very good the movement of cooperation hang gliding, improve sport efficiency, while can also
Reduce noise.
6, the design of gradient regulator, can be by the angle of inclination of the motor adjustment main body of pouring weight in water, in turn
Better Effect on Detecting may be implemented.
7, the symmetric design of two adjusting pouring weights, can prevent from turning on one's side when adjusting pouring weight, and then can make
Main body is more steady when adjusting.
8, sampler is ingenious in design, is sampled by the way of vacsorb, and sampling efficiency is high, and operates letter
It is single, while can also prevent sample from escaping.
9, it samples shaft and samples the design of motor, sampling probe head can be made to be rotated, and then can be with main body lower section
The sample receiving box of setting coordinates, and the sample taken is sent in sample receiving box, and then can play better Sample storage effect, together
When can also continue sample.
10, sampling adjusts sliding rail and the multistage design for adjusting cylinder, and sampling probe cylinder can be made to move left and right, and then can will
Each sampling, which is sent in different sample receiving boxs, to be preserved, so that the later stage obtains better analysis result.
11, the structure design of sample receiving box, can be very good with sampling syringe needle cooperation, while can prevent sample from connecing sample mouth again
Effusion, the preservation effect of sample are good.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of the ocean robot detection system based on Beidou satellite navigation.
Fig. 2 is the sectional view of buoy cable.
Fig. 3 is the structural schematic diagram of robot detection device.
Fig. 4 is 90 degree of rotation figures of the partial enlarged view of A in Fig. 3.
Fig. 5 is the structural schematic diagram of explorer.
Fig. 6 is the sectional view of B-B in Fig. 5.
Fig. 7 is the partial enlarged view of D in Fig. 6.
Fig. 8 is the partial enlarged view of C in Fig. 5.
Fig. 9 is the sectional view of F-F in Fig. 8.
Figure 10 is the structural schematic diagram of sample receiving box.
Label character as shown in the figure is expressed as：1, main body；2, hang gliding；3, Bionical motion apparatus；4, connecting seat；5, it connects
Bar；6, outer tube；7, connector sleeve；8, push rod cylinder；9, collets；10, electromagnet block；11, coordinate iron block；12, interior loop bar；
13, limited block；14, lock sleeve；15, lifting gasbag；16, water quality detector；17, sample receiving box；18, sampler；19, it controls
Device；20, accumulator；21, pitch adjustment frame；22, lead screw is adjusted；23, regulation motor；24, pouring weight is adjusted；25, pitch adjustment is slided
Rail；26, bionical swing gum cover；27, swinging block；28, pendulous device；29, adjustment seat is sampled；30, feeding adjusts sliding rail；31, it takes
Sample shaft；32, motor is sampled；33, rotation seat is sampled；34, lifting cylinder is sampled；35, lifting seat is sampled；36, syringe is sampled；
37, syringe needle is sampled；38, sampling cock；39, piston pulls cylinder；40, multistage to adjust cylinder；41, box body；42, sample mouth is connect；43,
Pressure inductor；44, cylinder is opened and closed；45, block is opened and closed；46, monitor terminal；47, Big Dipper communications satellite；48, buoy communication device；
49, buoy cable；50, robot detection device；51, conducting wire；52, steel wire；53, Protection glue shell.
Specific implementation mode
In order to make those skilled in the art more fully understand technical scheme of the present invention, below in conjunction with the accompanying drawings to the present invention into
The description of row detailed description, this part is only exemplary and explanatory, should not there is any limitation to protection scope of the present invention
Effect.
As shown in Fig. 1-Figure 10, concrete structure of the invention is：A kind of ocean robot spy based on Beidou satellite navigation
Examining system, it includes underwater robot detection device 50, and the robot detection device 50 passes through buoy cable 49 and drift
The buoy communication device 48 kept afloat connects, and the buoy communication device 48 passes through Big Dipper communications satellite 47 and monitor terminal
46 connect, and the take-up and pay-off device coordinated with buoy cable 49, the cork line are provided in the buoy communication device 48
Cable 49 includes conducting wire 51, and the outside of the conducting wire 51 is evenly provided with steel wire 52, and the outside of the steel wire 52 is provided with
Protection glue shell 53.
Preferably, it includes two groups of explorers designed side by side, and the explorer includes main body 1, the main body 1
Lower section front and rear sides are provided with lifting gasbag 15, and both sides are provided with hang gliding 2, and top is provided with connecting seat 4, and two main bodys 1
On connecting seat 4 connected by connecting rod 5, the lower section of the main body 1 is provided with water quality detector 16 and sampler 18, institute
The accumulator 20, controller 19 and baric systerm for being internally provided with interconnection for the main body 1 stated, the controller 19 with it is floating
Graticule cable 49 is connected to, and the water quality detector 16 and sampler 18, lifting gasbag 15 are connected to controller 19.
Preferably, the connecting rod 5 includes the outer tube 6 being connect with connecting seat 4, is socketed in the outer tube 6
Interior loop bar 12, and the end of two interior loop bars 12 is locked by lock sleeve 14, the interior loop bar 12 and setting in connecting seat 4
Push rod cylinder 8 connects, and the push rod cylinder 8 is connected to controller 19.
Preferably, the outer tube 6 is interference fitted by connector sleeve 7 and is inserted into connecting seat 4, and the interior loop bar 12 is
Stepped stem, and the side being connect with push rod cylinder 8 is big end, the outer tube 6 is internally provided with the limit coordinated with big end
Position block 13, the cylinder head of the push rod cylinder 8 are connected with collets 9, and the collets 9 are fixed with electromagnet block 10, institute
The cooperation iron block and the magnetic cooperation of electromagnet block 10, the electromagnet block 10 that the interior loop bar 12 stated is embedded in by end are connected to
Controller 19.
Preferably, the tail portion of the main body 1 is provided with Bionical motion apparatus 3, and the Bionical motion apparatus 3 includes connecting
Be connected on 1 tail portion of main body and shape bionical swing gum cover 26 similar with fish tail, be provided in the bionical swing gum cover 26 with
Its swinging block 27 coordinated, the swinging block 27 coordinate with the pendulous device 28 in main body 1, the pendulous device 28 connection
To controller 19.
Preferably, gradient regulator is provided in the main body 1, the gradient regulator includes being arranged in master
The pitch adjustment frame 21 of bottom in body 1 is provided with into the adjusting lead screw 22 of front and back trend on the pitch adjustment frame 21, described
One end of adjusting lead screw 22 be connected with regulation motor 23, and adjust and be socketed with the adjusting pouring weight 24 coordinated with it on lead screw 22,
The regulation motor 23 is connected to controller 19.
Preferably, the adjusting lead screw 22 is provided with two groups, and about the center symmetric setting of main body 1, the tune
It saves pouring weight 24 and the pitch adjustment sliding rail 25 of bottom setting in main body 1 coordinates.
Preferably, the sampler 18 includes the sampling lifting cylinder 34 being arranged in 1 bottom of main body, the sampling
The lower section of lifting cylinder 34 is connected with sampling lifting seat 35, and the sampling lifting seat 35 is downwardly open center column, and
Opening is combined with sampling syringe 36, and the lower part of the sampling syringe 36 is communicated with sampling syringe needle 37, is internally provided with sampling
The upper end of piston 38, the sampling cock 38 pulls cylinder 39 to connect with the piston that 35 inside of sampling lifting seat is arranged, described
Sampling lifting cylinder 34 and piston pull cylinder 39 be connected to controller 19.
Preferably, the bottom of the main body 1 is provided with sampling adjustment seat 29, is provided in the sampling adjustment seat 29
Shaft 31 is sampled, one end of the sampling shaft 31 is connected with sampling motor 32, and samples and be socketed with sampling turn in shaft 31
Dynamic seat 33, the sampling lifting cylinder 34 setting are provided with sampling syringe needle below sampling rotation seat 33 in the main body 1
The sample receiving box 17 of 37 cooperations, the sampling motor 32 are connected to controller 19.
Preferably, the lower section of the main body 1 is provided with the sampling coordinated with sampling adjustment seat 29 and adjusts sliding rail 30, and main
The lower section of body 1 is provided with the multistage adjusting cylinder 40 coordinated with sampling adjustment seat 29, and the lower section of the main body 1, which is arranged side by side, to be had
No less than two sample receiving boxs 17, the multistage cylinder 40 that adjusts are connected to controller 19.
Preferably, the sample receiving box 17 includes box body 41, offers on the box body 41 and coordinates with sampling syringe needle 37
Connect sample mouth 42, the depth for connecing sample mouth 42 is more than the length of sampling syringe needle 37, and connects and set on the box body 41 at sample mouth 42
It is equipped with pressure inductor 43, the folding block 45 for being internally provided with and connecing the cooperation of sample mouth 42 of the box body 41, two pieces of folding blocks
45 by tooth engagement, and is connect respectively with the folding cylinder 44 being arranged in box body 41, the pressure inductor 43 and folding gas
Cylinder 44 is connected to controller 19, and the activity of the actuated signal control folding cylinder 44 of pressure inductor 43.
When specifically used, signal will be controlled by Big Dipper communications satellite 47 by remote terminal 46 and pass to buoy communication dress
48 are set, and then controller 19 is passed to by cork line 49, controlling lifting gasbag 15 by controller 19 later makes under explorer
Suitable depth is dropped to, the entire length of connecting rod 5 is adjusted by push rod cylinder 8 again later, then passes through 23 band of regulation motor
The dynamic lead screw 22 that adjusts moves, and then keeps adjusting pouring weight movable in main body 1, and then regulates the angle of inclination of main body 1, Zhi Houtong
The activity that pendulous device 28 controls swinging block 27 is crossed, and then control biomimetics swing gum cover 26 and swing, and drive main body 1 to move, simultaneously
16 moment of water quality detector detects water quality situation, and when needing sampling, sampling lifting seat 35 is driven by sampling lifting cylinder 34
It is up and down, and then sampling syringe needle 37 is made to touch sample, pull cylinder 39 that sampling cock 38 is driven to rise by piston later,
And then sample is made to be inhaled into sampling syringe 36, gone up later by sampling lifting cylinder 34, makes 32 turns of sampling motor later
Dynamic 90 degree, syringe 36 then will be sampled to being pushed forward by sampling lifting cylinder 34 again, and then make sampling syringe needle 37 and connect sample mouth 42
Cooperation, while sampling syringe 36 being made to generate pressure to pressure inductor 43, and then signal is passed into controller 19, control folding
Cylinder 44 drives folding block 45 to open, and then pulls cylinder 39 to push sampling cock 38 by piston, and then sample is pushed into
In box body 41, gone up later by sampling lifting cylinder 34, sampling syringe needle 37 is made to leave, then pressure inductor 43 does not have pressure
Signal, and then opening and closing cylinder 44 makes folding block 45 be closed, and makes 32 return of sampling motor again later, then adjusts cylinder by multistage
40 make the movable lattice of sampling sliding seat 29 or so, then need to repeat the above steps when sampling.
It should be noted that herein, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that the process, method, article or equipment including a series of elements includes not only those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or equipment institute it is intrinsic
Element.
Principle and implementation of the present invention are described for specific case used herein, the explanation of above example
It is merely used to help understand the method and its core concept of the present invention.The above is only a preferred embodiment of the present invention, it answers
When pointing out due to the finiteness of literal expression, and objectively there is unlimited concrete structure, for the common skill of the art
For art personnel, without departing from the principle of the present invention, several improvement, retouching or variation can also be made, can also incited somebody to action
Above-mentioned technical characteristic is combined in the right way；These improve retouching, variation or combination, or the not improved structure by invention
Think and technical solution directly applies to other occasions, is regarded as protection scope of the present invention.
Claims (8)
1. a kind of ocean robot detection system based on Beidou satellite navigation, which is characterized in that it includes underwater robot
Detection device（50）, the robot detection device（50）Pass through buoy cable（49）It communicates and fills with the buoy for swimming in the water surface
It sets（48）Connection, the buoy communication device（48）Pass through Big Dipper communications satellite（47）With monitor terminal（46）Connection, it is described
Buoy communication device（48）It is inside provided with and buoy cable（49）The take-up and pay-off device of cooperation, the buoy cable（49）Packet
Include conducting wire（51）, the conducting wire（51）Outside be evenly provided with steel wire（52）, the steel wire（52）Outside setting
There is Protection glue shell（53）, it includes two groups of explorers designed side by side, and the explorer includes main body（1）, the main body
（1）Lower section front and rear sides be provided with lifting gasbag（15）, both sides are provided with hang gliding（2）, top is provided with connecting seat（4）,
And two main bodys（1）On connecting seat（4）Pass through connecting rod（5）Connection, the main body（1）Lower section be provided with water quality detection
Device（16）And sampler（18）, the main body（1）The accumulator for being internally provided with interconnection（20）, controller（19）
And baric systerm, the controller（19）With buoy cable（49）Connection, the sampler（18）Including being arranged in master
Body（1）The sampling lifting cylinder of bottom（34）, the sampling lifting cylinder（34）Lower section be connected with sampling lifting seat（35）,
The sampling lifting seat（35）For downwardly open center column, and opening is combined with sampling syringe（36）, described takes
Sample syringe（36）Lower part be communicated with sampling syringe needle（37）, be internally provided with sampling cock（38）, the sampling cock（38）
Upper end with sampling lifting seat（35）The piston of inside setting pulls cylinder（39）Connection, the water quality detector（16）, rise
Sending down abnormally ascending capsule（15）, sampling lifting cylinder（34）Cylinder is pulled with piston（39）It is connected to controller（19）.
2. a kind of ocean robot detection system based on Beidou satellite navigation according to claim 1, which is characterized in that
The connecting rod（5）Including with connecting seat（4）The outer tube of connection（6）, the outer tube（6）Inside it is socketed with inner sleeve bar
（12）, and two interior loop bars（12）End pass through lock sleeve（14）Locking, the interior loop bar（12）With connecting seat（4）Inside set
The push rod cylinder set（8）Connection, the push rod cylinder（8）It is connected to controller（19）.
3. a kind of ocean robot detection system based on Beidou satellite navigation according to claim 2, which is characterized in that
The outer tube（6）Pass through connector sleeve（7）Interference fit is inserted into connecting seat（4）Interior, described interior loop bar（12）For stepped stem,
And with push rod cylinder（8）The side of connection is big end, the outer tube（6）Be internally provided with the limited block coordinated with big end
（13）, the push rod cylinder（8）Cylinder head be connected with collets（9）, the collets（9）It is fixed with electromagnet block
（10）, the interior loop bar（12）The cooperation iron block and electromagnet block being embedded in by end（10）Magnetism cooperation, the electromagnetism
Iron block（10）It is connected to controller（19）.
4. a kind of ocean robot detection system based on Beidou satellite navigation according to claim 1, which is characterized in that
The main body（1）Tail portion be provided with Bionical motion apparatus（3）, the Bionical motion apparatus（3）Including being connected to main body
（1）Tail portion and shape bionical swing gum cover similar with fish tail（26）, the bionical swing gum cover（26）Inside be provided with and its
The swinging block of cooperation（27）, the swinging block（27）With main body（1）Interior pendulous device（28）Cooperation, the pendulous device
（28）It is connected to controller（19）.
5. a kind of ocean robot detection system based on Beidou satellite navigation according to claim 2, which is characterized in that
The main body（1）It is inside provided with gradient regulator, the gradient regulator includes being arranged in main body（1）Interior bottom
Pitch adjustment frame（21）, the pitch adjustment frame（21）On be provided with into the adjusting lead screw of front and back trend（22）, the tune
Save lead screw（22）One end be connected with regulation motor（23）, and adjust lead screw（22）On be socketed with the adjusting pouring weight coordinated with it
（24）, the regulation motor（23）It is connected to controller（19）.
6. a kind of ocean robot detection system based on Beidou satellite navigation according to claim 5, which is characterized in that
The adjusting lead screw（22）Two groups are provided with, and about main body（1）Center symmetric setting, the adjusting pouring weight（24）With
Main body（1）The pitch adjustment sliding rail of interior bottom setting（25）Cooperation.
7. a kind of ocean robot detection system based on Beidou satellite navigation according to claim 1, which is characterized in that
The main body（1）Bottom be provided with sampling adjustment seat（29）, the sampling adjustment seat（29）On be provided with sampling shaft
（31）, the sampling shaft（31）One end be connected with sampling motor（32）, and sample shaft（31）On be socketed with sampling turn
Dynamic seat（33）, the sampling lifting cylinder（34）Setting is in sampling rotation seat（33）Lower section, the main body（1）On be provided with
Sample syringe needle（37）The sample receiving box of cooperation（17）, the sampling motor（32）It is connected to controller（19）.
8. a kind of ocean robot detection system based on Beidou satellite navigation according to claim 7, which is characterized in that
The main body（1）Lower section be provided with sampling adjustment seat（29）The sampling of cooperation adjusts sliding rail（30）, and main body（1）Under
Side is provided with and sampling adjustment seat（29）The multistage of cooperation adjusts cylinder（40）, the main body（1）Lower section be arranged side by side have
No less than two sample receiving boxs（17）, described multistage to adjust cylinder（40）It is connected to controller（19）.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810977374.7A CN108839780B (en) | 2017-01-03 | 2017-01-03 | A kind of underwater sampling mechanism |
| CN201810977375.1A CN108860523B (en) | 2017-01-03 | 2017-01-03 | A kind of two-shipper stable type underwater sampling mechanism |
| CN201710002617.0A CN106864707B (en) | 2017-01-03 | 2017-01-03 | A kind of ocean robot detection system based on Beidou satellite navigation |
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| CN201710002617.0A CN106864707B (en) | 2017-01-03 | 2017-01-03 | A kind of ocean robot detection system based on Beidou satellite navigation |
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| CN201810977375.1A Division CN108860523B (en) | 2017-01-03 | 2017-01-03 | A kind of two-shipper stable type underwater sampling mechanism |
| CN201810977374.7A Division CN108839780B (en) | 2017-01-03 | 2017-01-03 | A kind of underwater sampling mechanism |
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| CN106864707A CN106864707A (en) | 2017-06-20 |
| CN106864707B true CN106864707B (en) | 2018-10-23 |
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| CN201810977375.1A Active CN108860523B (en) | 2017-01-03 | 2017-01-03 | A kind of two-shipper stable type underwater sampling mechanism |
| CN201710002617.0A Active CN106864707B (en) | 2017-01-03 | 2017-01-03 | A kind of ocean robot detection system based on Beidou satellite navigation |
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| CN201810977375.1A Active CN108860523B (en) | 2017-01-03 | 2017-01-03 | A kind of two-shipper stable type underwater sampling mechanism |
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| CN110595823B (en) * | 2019-10-25 | 2021-10-26 | 扬州大学 | Underwater sampling device for detecting ethylene in rice body and using method thereof |
| CN112097747A (en) * | 2020-09-05 | 2020-12-18 | 赵振伟 | Ocean detection system and detection device thereof |
| CN113044173B (en) * | 2021-04-27 | 2022-10-28 | 中节能天融(山西)科技有限公司 | Water quality monitoring device for water pollution treatment |
| CN112986521B (en) * | 2021-05-21 | 2021-07-23 | 徐州中国矿大岩土工程新技术发展有限公司 | Detection and mining device for heavy metal polluted water body in coal-filling mine goaf and operation method thereof |
| CN113484089A (en) * | 2021-07-02 | 2021-10-08 | 江苏恩测检测技术有限公司 | Water quality sampler with remote multi-depth-setting function |
| CN113465995B (en) * | 2021-09-03 | 2021-11-19 | 潍坊鑫起机械科技有限公司 | Water quality testing sampling device |
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| CN114750909B (en) * | 2022-05-24 | 2023-05-12 | 鲁东大学 | Submersible ocean pollutant observation equipment and working method thereof |
| CN115140280B (en) * | 2022-09-05 | 2022-11-11 | 常州科德水处理成套设备股份有限公司 | Timing sampling device for sewage treatment |
| CN118107757B (en) * | 2024-04-19 | 2024-06-28 | 中国电建集团华东勘测设计研究院有限公司 | Underwater sampling robot for marine ecology |
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| Publication number | Publication date |
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| CN106864707A (en) | 2017-06-20 |
| CN108839780A (en) | 2018-11-20 |
| CN108839780B (en) | 2019-10-11 |
| CN108860523A (en) | 2018-11-23 |
| CN108860523B (en) | 2019-09-27 |
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Effective date of registration: 20190416 Address after: 100029 3-4 Floor of Crawford Building, 23 Huixin East Street, Chaoyang District, Beijing Patentee after: Beijing techlink intelligent Polytron Technologies Inc Address before: 523000 No. 1, University Road, Songshan Lake Science and Technology Industrial Park, Dongguan, Guangdong Patentee before: Dongguan University of technology |