CN107102334B - Unmanned ship underwater sonar mine-sweeping detection system - Google Patents
Unmanned ship underwater sonar mine-sweeping detection system Download PDFInfo
- Publication number
- CN107102334B CN107102334B CN201710282944.6A CN201710282944A CN107102334B CN 107102334 B CN107102334 B CN 107102334B CN 201710282944 A CN201710282944 A CN 201710282944A CN 107102334 B CN107102334 B CN 107102334B
- Authority
- CN
- China
- Prior art keywords
- probe
- mine
- unmanned ship
- sonar
- fixed
- Prior art date
- 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.)
- Active
Links
Images
Classifications
-
- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/04—Systems determining presence of a target
-
- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/521—Constructional features
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V1/00—Seismology; Seismic or acoustic prospecting or detecting
- G01V1/38—Seismology; Seismic or acoustic prospecting or detecting specially adapted for water-covered areas
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V13/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices covered by groups G01V1/00 – G01V11/00
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Life Sciences & Earth Sciences (AREA)
- Computer Networks & Wireless Communication (AREA)
- Acoustics & Sound (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geophysics (AREA)
- Manufacturing & Machinery (AREA)
- Automation & Control Theory (AREA)
- Oceanography (AREA)
- Environmental & Geological Engineering (AREA)
- Geology (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses an unmanned ship underwater sonar mine-sweeping detection system, which relates to the field of unmanned ship mine-sweeping and comprises the following components: the unmanned ship is provided with a supporting plate. The driving mechanism is fixed on the supporting plate and comprises a motor and a worm and gear mechanism, the motor drives the worm and gear mechanism to transmit, and the driving mechanism further comprises a shield which is covered on the motor and the worm and gear mechanism. The first rotating shaft is arranged on the worm gear mechanism, the worm gear mechanism drives the first rotating shaft to rotate during transmission, and two ends of the first rotating shaft respectively penetrate through the supporting plate and the protective cover. And a support rod fixed to one end of the first rotation shaft penetrating the support plate. Sonar mine sweeping detection device, it includes transducer and probe transmitter, and the one end at the bracing piece is fixed to the transducer, and probe transmitter detachably fixes on the transducer, and the probe can be changed automatically. The unmanned ship underwater sonar mine-sweeping detection system has the advantages of high mine-sweeping detection accuracy, low installation and disassembly cost and low maintenance cost.
Description
Technical Field
The invention relates to the field of unmanned ship mine sweeping, in particular to an underwater sonar mine sweeping detection system for an unmanned ship.
Background
The unmanned ship is an intelligent unmanned platform which can execute various civil and military tasks in complex water area environments such as oceans and the like, is mainly used for detection and patrol, and can execute work with strong repeatability in severe ocean environments for a long time. The unmanned ship is adopted, personnel living space is not needed to be considered, the hold capacity and the load of the ship can be reduced, the labor cost is reduced, the operation precision is improved through autonomous operation, the risk of misoperation of personnel is reduced, and meanwhile the ship can carry more goods or equipment.
Unmanned ship is because of its small, the stealthy is good, in recent years obtains the attention and the development of all countries in the world, wherein utilize unmanned ship to sweep the thunder and become the application focus, utilize unmanned ship to sweep the thunder and mainly lean on sonar technique to realize at present, but current sonar equipment is usually fixed the ship bottom work of unmanned ship, its rotational degree of freedom is poor, the scope of sonar equipment scanning detection has seriously been influenced, and then influenced the accuracy of sonar equipment detection, and fix at the ship bottom, it is difficult to dismantle and wash, whole maintenance efficiency is low. In addition, sonar equipment is generally through the probe transmission sound wave signal, and current probe transmitter generally fixes on the transducer of sonar equipment, in case the probe transmitter damages, needs to maintain the transducer of whole sonar equipment, and its cost of maintenance is too high.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an unmanned ship underwater sonar mine-sweeping detection system which is high in mine-sweeping detection accuracy, simple and convenient to install and disassemble and low in maintenance cost.
In order to achieve the above purposes, the technical scheme adopted by the invention is as follows:
an unmanned ship underwater sonar mine-sweeping detection system, comprising:
the unmanned ship is provided with a supporting plate;
the driving mechanism is fixed on the supporting plate and comprises a motor, a worm and gear mechanism and a shield, wherein the motor drives the worm and gear mechanism to transmit, and the shield is covered on the motor and the worm and gear mechanism;
the first rotating shaft is arranged on the worm gear mechanism, the worm gear mechanism drives the first rotating shaft to rotate during transmission, and two ends of the first rotating shaft respectively penetrate through the supporting plate and the protective cover;
a support rod fixed to one end of the first rotation shaft penetrating the support plate; and
sonar sweep thunder detecting device, it includes transducer and probe transmitter, the transducer is fixed the one end of bracing piece, probe transmitter detachably fixes on the transducer.
On the basis of the technical scheme, unmanned ship sonar mine-sweeping detection system still includes hoisting device, hoisting device is used for the drive first rotation axis reciprocating motion from top to bottom, still be equipped with controlling means on the unmanned ship, still be equipped with pressure sensor on the transducer, pressure sensor sends signal extremely controlling means, controlling means basis signal drive hoisting device promotes first rotation axis.
On the basis of the technical scheme, the lifting device comprises a lifting rod, a lifting sleeve and a lifting support, the lifting support is fixed on the unmanned ship, one end of the lifting rod is fixed on the lifting support, the other end of the lifting rod is fixed on the lifting sleeve, the lifting sleeve is connected with one end, passing through the protective cover, of the first rotating shaft, the first rotating shaft can rotate relative to the lifting sleeve, and the lifting sleeve is detachably fixed on the protective cover.
On the basis of the technical scheme, the bracing piece includes first festival pole and second festival pole, first festival pole is fixed first rotation axis passes one end of backup pad is served, the transducer is fixed the one end of second festival pole, the second festival pole passes through controlling means can follow first festival pole is flexible, and works as when the second festival pole moves first festival pole tip, the second festival pole passes through controlling means can wind first festival pole rotates, unmanned ship still is equipped with accomodates the cabin, it is used for accomodating sonar mine-sweeping detection device.
On the basis of the technical scheme, the unmanned ship is further provided with a cleaning device, the cleaning device is arranged above the storage cabin, and the cleaning device is used for cleaning the sonar mine-sweeping detection device stored in the storage cabin.
On the basis of the technical scheme, one end of the second section rod is provided with a support rod flange, the transducer is provided with a connecting rod, two ends of the connecting rod are provided with connecting flanges, one of the connecting flanges is connected with the transducer, and the other of the connecting flanges is connected with the support rod flange through right-angle iron.
On the basis of the technical scheme, the one end of probe transmitter is equipped with a convex part, the one end of transducer is equipped with the stiff end, the stiff end is equipped with accepts the portion of acceping the convex part, the both sides of stiff end be equipped with the first through-hole of portion's intercommunication of acceping, the convex part is equipped with the second through-hole, stiff end and convex part are together fixed through split bolt detachable.
On the basis of the technical scheme, the probe emitter is provided with a single chip microcomputer and a probe, and the single chip microcomputer and the probe are both connected with the control device.
On the basis of the technical scheme, the probe comprises a supporting part and a probe head, a third through hole is formed in the bottom of the probe emitter, and the probe head can extend out of the third through hole when the supporting part is supported on the third through hole.
On the basis of the technical scheme, still be equipped with flexible push rod and probe change device in the probe transmitter, flexible push rod with controlling means links to each other, the probe includes the clamping part, flexible push rod is close to the one end of clamping part is equipped with accepts the centre gripping hand of clamping part, the centre gripping hand is the electro-magnet, be equipped with a plurality of accepting holes in the probe change device, every all be equipped with one in the accepting hole the probe, the probe transmitter still be equipped with controlling means's continuous second rotation axis, the second rotation axis be equipped with the rotatory gear that accepting hole quantity equals, the drive of second rotation axis the probe change device is rotatory, just when the probe change device is changeing on each rotatory gear, one of them accepting hole is located under the flexible push rod.
Compared with the prior art, the invention has the advantages that:
(1) the underwater sonar mine-sweeping detection system of the unmanned ship comprises a sonar mine-sweeping detection device, wherein the sonar mine-sweeping detection device is integrally fixed at one end of a supporting rod, and when a lifting device operates, the supporting rod drives the sonar mine-sweeping detection device to lift together. In addition, because first rotation axis rotates and will drive the bracing piece and rotate, and then can drive sonar mine-sweeping detection device and use first rotation axis to do 360 degrees rotations as the axle, sonar mine-sweeping detection device is doing the lifting motion on the one hand, and on the other hand still rotates around first rotation axis to fine expansion the scope that sonar mine-sweeping detection device surveyed, improved the accuracy that sonar equipment surveyed, solved the inaccurate problem of traditional unmanned ship mine-sweeping.
(2) The invention relates to an underwater sonar mine-sweeping detection system of an unmanned ship, wherein a probe emitter of the underwater sonar mine-sweeping detection system is detachably fixed on a transducer. When the probe transmitter needs to be maintained, the probe transmitter only needs to be detached from the transducer, then the probe transmitter is repaired independently, the whole transducer does not need to be maintained, and the maintenance cost is reduced.
(3) The underwater sonar mine-sweeping detection system of the unmanned ship is provided with the probe replacing device and the telescopic push rod, when the probe is damaged and needs to be replaced, the whole replacing operation can be carried out under the action of the telescopic push rod only by rotating the probe replacing device, and the probe replacing can be completed in time.
(4) The underwater sonar mine-sweeping detection system of the unmanned ship is provided with a storage cabin, and the storage cabin is used for storing sonar mine-sweeping detection devices. Because the sonar mine-sweeping detection device works under water, the sonar mine-sweeping detection device is corroded by seawater for a long time and also faces the problems of hanging aquatic plants and oil stains. Conventionally, it is often necessary to submerge personnel for maintenance or cleaning, or to wait until the unmanned ship is moored before processing. The former needs underwater operation, and the risk is higher, and the cost is also higher, and the latter then can not in time maintain and wash the processing to sonar mine-sweeping detection device, probably leads to sonar mine-sweeping detection device to damage in advance. Can accomodate sonar mine-sweeping detection device in accomodating the under-deck through unmanned shipboard's controlling means, then maintain sonar mine-sweeping detection device in accomodating the under-deck. In addition, the unmanned ship is also provided with a cleaning device, the cleaning device is arranged above the storage cabin, and the sonar mine-sweeping detection device in the storage cabin can be cleaned by the cleaning device. Therefore, underwater operation is avoided, and the sonar mine-sweeping detection device can be maintained and cleaned timely.
Drawings
FIG. 1 is a schematic structural diagram of an unmanned ship underwater sonar mine-sweeping detection system;
FIG. 2 is a schematic structural diagram of a sonar mine-sweeping detection device according to the present invention;
FIG. 3 is a block diagram showing the structure of a cleaning apparatus according to the present invention;
FIG. 4 is a schematic structural view of a probe exchanging apparatus according to the present invention;
FIG. 5 is a schematic structural view of the telescopic rod of the present invention;
FIG. 6 is a schematic view of the structure of the probe of the present invention.
In the figure: 1-unmanned ship, 11-control device, 12-support plate, 13-containing cabin, 14-cleaning device, 2-driving mechanism, 21-motor, 211-motor base, 22-worm gear mechanism, 221-worm bearing bracket, 222-bearing support, 23-shield, 3-first rotating shaft, 4-support rod, 41-first rod, 42-second rod, 43-support rod flange, 5-lifting device, 51-lifting rod, 52-lifting sleeve, 53-fixing bracket, 54-lifting bracket, 6-sonar mine-sweeping detection device, 61-transducer, 611-fixing end, 612-containing part, 613-first through hole, 614-connecting rod, 615-connecting flange, 616-pressure sensor, 62-probe launcher, 621-convex part, 622-second through hole, 623-single chip microcomputer, 624-probe, 624 a-supporting part, 624 b-probe, 624 c-clamping part, 625-third through hole, 626-telescopic push rod, 626 a-clamping hand, 627-probe replacing device, 627 a-accommodating hole, 7-split bolt, 8-right angle iron and 9-second rotating shaft.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
Referring to fig. 1, the invention provides an underwater sonar mine-sweeping detection system for an unmanned ship, which comprises an unmanned ship 1, a driving mechanism 2, a first rotating shaft 3, a support rod 4 and a sonar mine-sweeping detection device 6.
The unmanned ship 1 is provided with a support plate 12, the support plate 12 can be fixed at the bow or the stern of the unmanned ship 1, and the support plate 12 mainly plays a role in supporting and fixing.
The driving mechanism 2 is fixed on the support plate 12, and the driving mechanism 2 includes a motor 21, a worm gear mechanism 22 and a shield 23. An output shaft of the motor 21 is linked with the worm gear mechanism 22, and the worm gear mechanism 22 can be driven to transmit after the motor 21 runs. The lower part of the motor 21 is fixed with the support plate 12 through the motor base 211, and the worm gear mechanism 22 is fixed on the support plate 12 through the worm bearing bracket 221. The shield 23 covers the motor 21 and the worm gear mechanism 22 to protect them.
The first rotating shaft 3 is arranged on a worm wheel of the worm gear mechanism 22, wherein two ends of the first rotating shaft 3 respectively penetrate through the supporting plate 12 and the protective cover 23, and after the motor 21 runs, the worm gear mechanism 22 drives the first rotating shaft 3 to rotate when transmitting. In order to increase the stability of the first rotating shaft 3, a bearing support 222 is further provided on the corresponding support plate 12 below the worm gear mechanism 22, and the first rotating shaft 3 passes through the bearing support 222 to ensure the stability of rotation.
The support rod 4 is positioned below the support plate 12 and fixed to one end of the first rotating shaft 3 passing through the support plate 12.
Referring to fig. 2, the sonar mine-sweeping detection device 6 comprises a transducer 61 and a probe emitter 62, wherein the transducer 61 is fixed at one end of the support rod 4, and the probe emitter 62 is detachably fixed on the transducer 61. According to the invention, one end of a support rod 4 is provided with a support rod flange 43, a transducer 61 is provided with a connecting rod 614, two ends of the connecting rod 614 are provided with connecting flanges 615, one connecting flange 615 is connected with the transducer 61, and the other connecting flange 615 is connected with the support rod flange 43 through a right-angle iron 8. Thereby fixing the transducer 61 to one end of the support rod 4. Because sonar mine-sweeping detection device 6 is monolithic to be fixed in the one end of bracing piece 4, the rotation of first rotation axis 3 will drive bracing piece 4 and rotate, and then can drive sonar mine-sweeping detection device 6 and use first rotation axis 3 to do 360 degrees rotations as the axle to fine expansion the scope that sonar mine-sweeping detection device 6 surveyed, improved the accuracy that sonar equipment surveyed, and then fine improvement unmanned ship's reliability of sweeping the mine.
The underwater sonar mine-sweeping detection system for the unmanned ship further comprises a lifting device 5, and the lifting device 5 is used for driving the first rotating shaft 3 to move up and down in a reciprocating mode. The lifting device 5 of the present invention comprises a lifting rod 51, a lifting sleeve 52 and a lifting bracket 54, wherein the lifting bracket 54 is fixed on the unmanned ship 1, one end of the lifting rod 51 is fixed on the lifting bracket 54, the other end is fixed on the lifting sleeve 52, the lifting sleeve 52 is connected with one end of the first rotating shaft 3 penetrating the shield 23, and the first rotating shaft 3 can rotate relative to the lifting sleeve 52. In order to ensure the stability of the structure under the first rotating shaft 3, the present invention detachably fixes the lifting sleeve 52 on the shield 23, and specifically, the lifting sleeve 52 is detachably fixed on the shield 23 by using the fixing bracket 53, the fixing bracket 53 is fixed on the shield 23, the fixing bracket 53 comprises two oppositely arranged parts, each of which is provided with an arc-shaped snap ring, when the two snap rings are closed, the two snap rings can be clamped on the lifting sleeve 52, and then the snap rings can be locked by screws to fix the lifting sleeve 52 on the shield 23. Further, the fixing bracket 53 may be extended to be engaged with the lifting rod 51.
The unmanned ship 1 is further provided with a control device 11, the transducer 61 is further provided with a pressure sensor 616, and the pressure sensor 616 can sense the depth of water of the transducer 61, specifically, the pressure sensor 616 in the invention is a drop-in liquid level transmitter. The pressure sensor 616 sends a signal to the control device 11, and the control device 11 drives the lifting device 5 to lift the first rotating shaft 3 according to the signal, so that the water depth of the transducer 61 can be adjusted to the optimal position at the right moment. The optimal position is determined by the sea condition characteristics and the ship shape characteristics, the sea condition characteristics mainly refer to the influence caused by sea waves, namely the probe emitter 62 is required to be arranged under the sea waves to avoid the severe influence of the sea waves, and the corresponding depth relation is required to be determined according to experiments. The ship-type characteristic means that the sonar minesweeping detection device 6 is installed at the bow or the stern, the installation position is different, and the considered factors are different. If the unmanned ship is installed at a place close to the bow of the unmanned ship, the problem that the bow tilts when the unmanned ship rapidly advances forwards and brings the probe emitter 62 out of the water surface needs to be considered, and the elevation amount of the bow also needs to be determined according to experiments to correspond to the elevation condition of the ship type. If the ship is installed near the unmanned stern section, the water disturbance and noise influence of a stern jet pump or a propeller are considered, and the feasible depth can be determined through experiments, such as model tests and field tests.
Because the sonar mine-sweeping detection device 6 works underwater, the sonar mine-sweeping detection device is corroded by seawater for a long time and faces the problems of hanging water plants and oil stains, the sonar mine-sweeping detection device 6 needs to be overhauled and cleaned regularly. Conventionally, it is often necessary to submerge personnel for maintenance or cleaning, or to wait until the unmanned ship is moored before processing. The former needs underwater operation, and the risk is higher, and the cost is also higher, and the latter then can not in time maintain and wash the processing to sonar mine-sweeping detection device 6, may lead to sonar mine-sweeping detection device 6 to damage in advance. In order to overcome the above problems, the present invention adopts a mode in which a storage compartment 13 is provided in the unmanned ship 1, and the storage compartment 13 is used for storing the sonar minesweeping detection device 6. Meanwhile, an improvement is made on the upper support rod 4, wherein the upper support rod 4 includes a first link rod 41 and a second link rod 42, the first link rod 41 is fixed to one end of the first rotation shaft 3 penetrating through the support plate 12, the transducer 61 is fixed to one end of the second link rod 42, the second link rod 42 is retractable along the first link rod 41 by the control device 11, and when the second link rod 42 moves to the end of the first link rod 41, the second link rod 42 is rotatable around the first link rod 41 by the control device 11. The sonar mine-sweeping detection device 6 is placed into the storage cabin 13 through rotation of the second section rod 42. Therefore, the sonar mine-sweeping detection device 6 can be stored in the storage cabin 13 through the control device 11 on the unmanned ship 1, and then the sonar mine-sweeping detection device 6 is maintained in the storage cabin 13, so that underwater operation is avoided. In addition, a cleaning device 14 can be further arranged on the unmanned ship 1, the cleaning device 14 is arranged above the storage cabin 13, and is shown in fig. 3, the cleaning device 14 mainly comprises a spray head, a brush roller and a clear water circulating system, the spray head is responsible for spraying and washing the sonar mine-sweeping detection device 6 by using water, and the brush roller is used for brushing the sonar mine-sweeping detection device 6, so that the aim of cleaning the sonar mine-sweeping detection device 6 is fulfilled.
The probe emitter 62 of the present invention is detachably fixed on the transducer 61, specifically, a protrusion 621 is disposed at one end of the probe emitter 62, a fixing end 611 is disposed at one end of the transducer 61, wherein the fixing end 611 is disposed with a receiving portion 612 for receiving the protrusion 621. When the probe emitter 62 needs to be fixed to the transducer 61, the protrusion 621 only needs to be engaged with the receiving portion 612. In order to fix the probe emitter 62 to the transducer 61 more firmly, a first through hole 613 communicating with the receiving portion 612 is provided on both sides of the fixed end 611, a second through hole 622 is provided on the protruding portion 621, and the fixed end 611 and the protruding portion 621 can be fixed together by passing the fixed end 611 and the protruding portion 621 through the first through hole 613 and the second through hole 622 by means of the counter bolt 7. After adopting such structure, when needing to change probe transmitter 62, only need with probe transmitter 62 from transducer 61 pull down can, then repair probe transmitter 62 alone, need not maintain whole transducer 61, reduced cost of maintenance.
Referring to fig. 4 to 6, a single chip microcomputer 623 and a probe 624 are arranged in the probe emitter 62. The singlechip 623 and the probe 624 are both connected with the control device 11. The probe 624 includes a holding portion 624a and a probe 624b, the bottom of the probe emitter 62 is provided with a third through hole 625, and the holding portion 624a can hold the third through hole 625 to extend the probe 624b from the third through hole 625. The transducer 61 transmits sonar sound signals through the probe 624 to the water bottom, while also receiving feedback sound signals through the probe 624. The probe 624 also transmits the received feedback sound wave signal to the single chip 623. The single chip microcomputer 623 analyzes and processes signals sent by the probe 624 and feeds the signals back to the control device 11, and the unmanned ship 1 can detect whether a mine exists nearby or not in this way.
To avoid working underwater when the probe 624 is damaged and needs to be replaced. The underwater sonar mine-sweeping detection system of the unmanned ship can automatically replace damaged probes. Specifically, a telescopic push rod 626 and a probe replacing device 627 are further arranged in the probe launcher 62, the telescopic push rod 626 is connected to the control device 11, the probe 624 includes a clamping portion 624c, a clamping hand 626a for accommodating the clamping portion 624c is arranged at one end of the telescopic push rod 626 close to the clamping portion 624c, the clamping hand 626a is an electromagnet, a plurality of accommodating holes 627a are arranged in the probe replacing device 627, one probe 624 is arranged in each accommodating hole 627a, the probe launcher 62 is further provided with a second rotating shaft 9 connected to the control device 11, the second rotating shaft 9 is provided with rotating gear positions equal to the number of the accommodating holes 627a, the second rotating shaft 9 drives the probe replacing device 627 to rotate, and when the probe replacing device 627 rotates to each rotating gear position, one of the accommodating holes 627a is located right below the telescopic push rod 626.
Therefore, when the control device 11 does not receive a signal or if the signal is abnormal, it is considered that the probe 624 is damaged, and at this time, the control device 11 drives the telescopic push rod 626 to move downward, and the clamping portion 624c is clamped by the clamping hand 626a, and the fixing between the two is maintained by the electromagnet. Then, the telescopic push rod 626 moves upward, when the telescopic push rod 626 is completely withdrawn from the receiving hole 627a, the second rotating shaft 9 drives the probe exchanging device 627 to rotate to another rotation shift position, so as to place the replaced probe 624 under the telescopic push rod 626, and then the telescopic push rod 626 moves downward again, pushing the replaced probe 624 to move downward together, thereby completing the replacement of the probe 624.
The specific mode of carrying out mine sweeping detection by utilizing the underwater sonar mine sweeping detection system of the unmanned ship is as follows: firstly, the control device 11 drives the second section rod 42 to rotate around the first section rod 41, the sonar mine-sweeping detection device 6 extends out of the storage cabin 13, the pressure sensor 616 on the transducer 61 sends a signal to the control device 11, the control device 11 drives the lifting device 5 to lift the first rotating shaft 3 according to the signal, specifically, the fixing of the fixing support 53 on the lifting sleeve 52 is loosened, the lifting rod 51 lifts the lifting sleeve 52, and meanwhile, the first rotating shaft 3 is driven to move together. Therefore, the depth of water where the sonar mine-sweeping detection device 6 is located can be adjusted to enable the sonar mine-sweeping detection device to be located at the optimal depth of water. Then will promote sleeve 52 through fixed bolster 53 and fix, start actuating mechanism 2, make first rotation axis 3 begin to rotate to drive sonar mine-sweeping detection device 6 and do 360 degrees rotatory surveys, and sonar mine-sweeping detection device 6 is last transducer 61 passes through probe 624 and launches the sound wave signal of sonar to submarine, still receives the sound wave signal of feedback simultaneously through probe 624. The probe 624 also transmits the received feedback sound wave signal to the single chip 623. The single chip microcomputer 623 analyzes and processes signals sent by the probe 624 and feeds the signals back to the control device 11, and the unmanned ship 1 can detect whether a mine exists nearby or not in this way. Then the subsequent mine sweeping treatment can be carried out.
The present invention is not limited to the above-described embodiments, and it will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the principle of the present invention, and such modifications and improvements are also considered to be within the scope of the present invention. Those not described in detail in this specification are within the skill of the art.
Claims (10)
1. The utility model provides an unmanned ship sonar mine sweeping detection system under water which characterized in that includes:
the unmanned ship (1) is provided with a support plate (12);
the driving mechanism (2) is fixed on the supporting plate (12), the driving mechanism (2) comprises a motor (21) and a worm and gear mechanism (22), the motor (21) drives the worm and gear mechanism (22) to transmit, the driving mechanism (2) further comprises a shield (23), and the shield (23) is covered on the motor (21) and the worm and gear mechanism (22);
the first rotating shaft (3) is arranged on the worm gear mechanism (22), the worm gear mechanism (22) drives the first rotating shaft (3) to rotate when transmitting, and two ends of the first rotating shaft (3) respectively penetrate through the supporting plate (12) and the shield (23);
a support rod (4) fixed to one end of the first rotation shaft (3) passing through the support plate (12);
the sonar mine-sweeping detection device (6) comprises a transducer (61) and a probe emitter (62), wherein the transducer (61) is fixed at one end of the supporting rod (4), and the probe emitter (62) is detachably fixed on the transducer (61);
the lifting device (5) is used for driving the first rotating shaft (3) to reciprocate up and down; and
a storage cabin (13), wherein the storage cabin (13) is used for storing the sonar minesweeping detection device (6).
2. The unmanned ship underwater sonar mine-sweeping detection system according to claim 1, characterized in that: still be equipped with controlling means (11) on unmanned ship (1), still be equipped with pressure sensor (616) on transducer (61), pressure sensor (616) send the signal to controlling means (11), controlling means (11) basis signal drive hoisting device (5) promote first rotation axis (3).
3. The unmanned ship underwater sonar mine-sweeping detection system according to claim 2, characterized in that: the lifting device (5) comprises a lifting rod (51), a lifting sleeve (52) and a lifting support (54), wherein the lifting support (54) is fixed on the unmanned ship (1), one end of the lifting rod (51) is fixed on the lifting support (54), the other end of the lifting rod is fixed on the lifting sleeve (52), the lifting sleeve (52) is connected with one end, penetrating through the shield (23), of the first rotating shaft (3), the first rotating shaft (3) can rotate relative to the lifting sleeve (52), and the lifting sleeve (52) is detachably fixed on the shield (23).
4. The unmanned ship underwater sonar mine-sweeping detection system according to claim 2, characterized in that: the bracing piece (4) includes first festival pole (41) and second festival pole (42), first festival pole (41) are fixed first rotation axis (3) pass one of backup pad (12) is served, transducer (61) are fixed the one end of second festival pole (42), second festival pole (42) pass through controlling means (11) can be followed first festival pole (41) are flexible, and work as second festival pole (42) move to when first festival pole (41) tip, second festival pole (42) pass through controlling means (11) can wind first festival pole (41) rotate.
5. The unmanned ship underwater sonar mine-sweeping detection system according to claim 4, wherein: unmanned ship (1) still is equipped with belt cleaning device (14), belt cleaning device (14) are located accomodate cabin (13) top, belt cleaning device (14) are used for wasing accomodate in accomodate the interior sonar mine-sweeping detection device (6) of cabin (13).
6. The unmanned ship underwater sonar mine-sweeping detection system according to claim 4, wherein: one end of the second section rod (42) is provided with a support rod flange (43), a connecting rod (614) is arranged on the transducer (61), connecting flanges (615) are arranged at two ends of the connecting rod (614), one of the connecting flanges (615) is connected with the transducer (61), and the other connecting flange (615) is connected with the support rod flange (43) through a right angle iron (8).
7. The unmanned ship underwater sonar mine-sweeping detection system according to claim 1, characterized in that: one end of the probe emitter (62) is provided with a convex part (621), one end of the transducer (61) is provided with a fixed end (611), the fixed end (611) is provided with a containing part (612) containing the convex part (621), two sides of the fixed end (611) are provided with first through holes (613) communicated with the containing part (612), the convex part (621) is provided with second through holes (622), and the fixed end (611) and the convex part (621) are detachably fixed together through split bolts (7).
8. The unmanned ship underwater sonar mine-sweeping detection system according to claim 2, characterized in that: the probe emitter (62) is provided with a single chip microcomputer (623) and a probe (624), and the single chip microcomputer (623) and the probe (624) are both connected with the control device (11).
9. The unmanned ship underwater sonar mine-sweeping detection system according to claim 8, characterized in that: the probe (624) comprises a butting part (624a) and a probe (624b), a third through hole (625) is formed in the bottom of the probe emitter (62), and the butting part (624a) can be butted against the third through hole (625) to enable the probe (624b) to extend out of the third through hole (625).
10. The unmanned ship underwater sonar mine-sweeping detection system according to claim 9, characterized in that: the probe launcher (62) is further internally provided with a telescopic push rod (626) and a probe replacing device (627), the telescopic push rod (626) is connected with the control device (11), the probe (624) comprises a clamping portion (624c), one end, close to the clamping portion (624c), of the telescopic push rod (626) is provided with a clamping hand (626a) for accommodating the clamping portion (624c), the clamping hand (626a) is an electromagnet, a plurality of accommodating holes (627a) are arranged in the probe replacing device (627), one probe (624) is arranged in each accommodating hole (627a), the probe launcher (62) is further provided with a second rotating shaft (9) connected with the control device (11), the second rotating shaft (9) is provided with rotating gears with the number equal to that of the accommodating holes (627a), and the second rotating shaft (9) drives the probe replacing device (627) to rotate, and when the probe replacing device (627) rotates to each rotation gear, one of the accommodating holes (627a) is positioned under the telescopic push rod (626).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710282944.6A CN107102334B (en) | 2017-04-26 | 2017-04-26 | Unmanned ship underwater sonar mine-sweeping detection system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710282944.6A CN107102334B (en) | 2017-04-26 | 2017-04-26 | Unmanned ship underwater sonar mine-sweeping detection system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107102334A CN107102334A (en) | 2017-08-29 |
| CN107102334B true CN107102334B (en) | 2020-05-08 |
Family
ID=59658055
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710282944.6A Active CN107102334B (en) | 2017-04-26 | 2017-04-26 | Unmanned ship underwater sonar mine-sweeping detection system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107102334B (en) |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107656320A (en) * | 2017-09-11 | 2018-02-02 | 青岛骄鹏海洋科技有限公司 | A kind of autonomous floatable seabed static sounding device |
| CN108896998A (en) * | 2018-08-15 | 2018-11-27 | 上海磐波智能科技有限公司 | River sonar revolving scanning device |
| CN109595991B (en) * | 2018-12-05 | 2020-04-07 | 上海大学 | Unmanned ship intelligent mine sweeping device and mine sweeping method thereof |
| CN109884729B (en) * | 2019-04-11 | 2021-04-16 | 上海大学 | Torpedo detection control system and method with cooperation of unmanned boat and robotic fish |
| CN110091975A (en) * | 2019-05-16 | 2019-08-06 | 上海大学 | A kind of unmanned boat intelligence cloth Mine Neutralization System and its control method |
| CN110967698A (en) * | 2019-12-19 | 2020-04-07 | 北京海兰信数据科技股份有限公司 | Unmanned ship mine detection system and method |
| CN112285683B (en) * | 2020-10-30 | 2024-01-19 | 中国航空工业集团公司洛阳电光设备研究所 | Underwater expansion matrix for active directional sonar buoy |
| WO2022104706A1 (en) * | 2020-11-20 | 2022-05-27 | 唐山哈船科技有限公司 | Ocean exploration device mounting device |
| CN113607238B (en) * | 2021-08-13 | 2023-12-29 | 宁夏威尔信商品混凝土有限公司 | Protection device of cement bin level gauge |
| CN113721230A (en) * | 2021-08-26 | 2021-11-30 | 上海踌通电子科技有限公司 | High-power broadband sonar emission equipment of underwater acoustic communication network |
| CN114323098A (en) * | 2021-12-21 | 2022-04-12 | 北京科技大学 | Space protection cabin detection system and detection method |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201654234U (en) * | 2010-03-09 | 2010-11-24 | 北京新源永泰光电科技发展有限责任公司 | Mechanical scanning type active sonar frogman detection device |
| CN205067736U (en) * | 2015-10-27 | 2016-03-02 | 武汉大学 | Can dismantle probe transmitter suitable for bottom mounted sonar |
| CN205720658U (en) * | 2016-04-15 | 2016-11-23 | 青岛卓建海洋工程勘测技术有限公司 | Remotely control bottom mounted sonar detecting devices |
-
2017
- 2017-04-26 CN CN201710282944.6A patent/CN107102334B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN107102334A (en) | 2017-08-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107102334B (en) | Unmanned ship underwater sonar mine-sweeping detection system | |
| CN109715491B (en) | Underwater vehicle and inspection method | |
| CN104968563B (en) | Submersible type cleaning systems | |
| US20050199171A1 (en) | Ship hull cleaning apparatus and method of use | |
| CN208602648U (en) | The mechanical arm type of underwater robot lays recovery system | |
| CN114408137A (en) | Electro-hydraulic hybrid crawler-type multifunctional operation-level underwater robot and system | |
| EP3544881A1 (en) | Maintenance of underwater parts of a vessel | |
| KR20150058727A (en) | Underwater cleaning robot | |
| KR20160052986A (en) | Underwater cleaning robot | |
| CN113002645A (en) | Underwater magnetic adsorption crawler-type inspection robot | |
| CN105738907A (en) | Auxiliary side-scan sonar operation device | |
| KR101589098B1 (en) | Cable-driven parallel robot for cleaning of ship hull | |
| CN114750907A (en) | Offshore oil jacket platform washs underwater robot with scanning swing arm | |
| CN110696962A (en) | Unmanned ship sensor stabilizing and lifting device | |
| WO1986006696A1 (en) | Remote operated machine for cleaning, inspection and maintenance of underwater structures | |
| CN109625210B (en) | Screw centre gripping formula belt cleaning device under water | |
| CN109595991B (en) | Unmanned ship intelligent mine sweeping device and mine sweeping method thereof | |
| CN112478079B (en) | Underwater laser cleaning device for ship | |
| CN109760803A (en) | A kind of underwater cleaning robot | |
| CN214493131U (en) | Underwater magnetic adsorption crawler-type inspection robot | |
| CN212423409U (en) | Push type underwater ship bottom cleaning device | |
| KR101774924B1 (en) | Anti-fouling apparatus of ship | |
| KR101665877B1 (en) | Underwater sensor fixing apparatus for ship | |
| CN210998722U (en) | Underwater cleaning robot system | |
| US20120272889A1 (en) | Method & Apparatus for Remote Cleaning & Inspection of Underwater Structures |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |