CN110510084B - Full sea depth composite detection vehicle and application method thereof - Google Patents
Full sea depth composite detection vehicle and application method thereof Download PDFInfo
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- CN110510084B CN110510084B CN201811440488.4A CN201811440488A CN110510084B CN 110510084 B CN110510084 B CN 110510084B CN 201811440488 A CN201811440488 A CN 201811440488A CN 110510084 B CN110510084 B CN 110510084B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
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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
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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
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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
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
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Abstract
The invention relates to the technical field of full sea depth detection equipment, in particular to a full sea depth composite detection vehicle and a use method thereof. The invention not only reduces the cost and improves the efficiency, but also realizes the clustering scientific investigation operation in the true sense in a novel full sea depth detection mode of 'one-diving-multiple-function'.
Description
Technical Field
The invention relates to the technical field of full sea depth detection equipment, in particular to a full sea depth composite detection vehicle and a use method thereof.
Background
Along with the continuous progress of science and technology, the investment cost of science and technology research and development is higher and higher, and an important goal of many scientific research fields in research and development is how to reduce cost and improve efficiency, for example, in the rocket field, a novel launching mode of 'one rocket and multiple stars' gradually replaces a traditional mode of 'one rocket and one star', so that rocket carrying capacity is fully utilized, the cost of satellite launching is reduced, the goal of space clustering collaborative operation is realized, and the development and utilization efficiency of space is improved.
For the technical field of full sea depth detection equipment, scientific researchers in various countries continuously develop new full sea depth detection equipment, such as manned diving equipment, unmanned diving equipment, deep sea landers and the like, and the problems of full sea depth pressure, full sea depth communication and the like must be overcome when the equipment works normally, so that the research and development process of the full sea depth detection equipment is huge, but various full sea depth detection equipment at home and abroad are basically in a single type input operation investigation mode at present, and research in the aspect of cluster collaborative scientific investigation is lacking, so that the research and development cost of the current full sea depth scientific investigation equipment is higher, the working efficiency is lower, and the scientific investigation content is insufficient.
Disclosure of Invention
The invention aims to provide a full sea depth composite type detection vehicle and a use method thereof, wherein a detection vehicle body and a travel accompanying robot are combined, so that the detection cost is effectively reduced, and the travel accompanying robot is separated from the detection vehicle body and performs cluster detection and cooperative operation within a certain range around the detection vehicle body, so that the detection efficiency is improved, and the real clustered scientific investigation operation is realized.
The aim of the invention is realized by the following technical scheme:
the full sea depth composite type detection vehicle comprises a detection vehicle body and a travel accompanying robot, wherein the travel accompanying robot is arranged on the detection vehicle body, a mechanical limiting component and an electromagnetic limiting component are arranged between the travel accompanying robot and the detection vehicle body, the mechanical limiting component comprises a connecting block, a connecting seat and a falling locating pin, the connecting block is fixedly arranged on the travel accompanying robot, the connecting seat is fixedly arranged on the detection vehicle body, the falling locating pin comprises a locating buckle connected with a pull rope and a locating main shaft sleeved with a spring, the connecting block and the connecting seat are connected through the locating main shaft, the locating main shaft is limited and compresses the spring through the locating buckle, the locating buckle is pulled through the pull rope, the electromagnetic limiting component comprises a limiting electromagnet, a load throwing ballast iron and a load throwing electromagnet, the limiting electromagnet is fixedly arranged on the detection vehicle body, the load throwing electromagnet is fixedly arranged on the travel accompanying robot, and the limiting electromagnet and the load throwing electromagnet are adsorbed on two sides of the load throwing ballast iron; the detection vehicle body is provided with a positioning beacon, and the travel accompanying robot is provided with an underwater sound positioning device; the swimming accompanying robot is provided with a horizontal propeller and a vertical propeller.
The locating pin that drops is equipped with the locating pin casing, and the locating spindle cartridge in on the locating pin casing, just the locating shaft head of locating spindle front end stretches out to the locating pin casing and inserts in corresponding connecting block after passing corresponding connecting seat locating shaft in the locating pin casing is served and is equipped with the spring locating pin casing is kept away from locating shaft head one end is equipped with the location buckle.
The travel accompanying robot comprises a travel carrier, horizontal thrusters and vertical thrusters, wherein a front end cover is arranged at the front end of the travel carrier, an illuminating lamp and a camera are arranged in the front end cover, the vertical thrusters are arranged at the center of gravity position of the middle part of the travel carrier, a battery is arranged in the rear part of the travel carrier, a tail wing is arranged at the rear end of the travel carrier, the horizontal thrusters are arranged on two sides of the tail wing, a CTD sensor is arranged at the tail end of the tail wing, and a control module is arranged in the travel carrier.
The outside of navigation carrier is equipped with the support frame, the support frame includes the support ring at navigation carrier both ends and a plurality of bracing pieces between two support rings, the frame outside and the space department of navigation carrier are full of the buoyancy material.
The front end cover is a vacuum glass sphere, a battery compartment for accommodating batteries is arranged in the rear part of the navigation carrier, and a battery compartment cover plate capable of being opened and closed is arranged in the battery compartment.
The detecting vehicle body comprises a vehicle body frame, vehicle body buoyancy materials and walking tracks, wherein the walking tracks are arranged on two sides of the vehicle body frame, the vehicle body buoyancy materials are arranged on the upper side of the vehicle body frame, and the swimming accompanying robot is arranged on the upper side of the vehicle body buoyancy materials.
The walking driving device is arranged in the vehicle body frame, and an output shaft of the walking driving device is fixedly connected with driving wheels of the walking caterpillar tracks on the corresponding sides through couplings respectively.
The water surface positioning and recycling assembly comprises an iridium beacon, a flag and a stroboscopic lamp.
The detection vehicle body is provided with a vehicle body frame, a primary ballast assembly and a secondary ballast assembly are arranged in the vehicle body frame, the primary ballast assembly is arranged at the front part of the vehicle body frame, the secondary ballast assembly is arranged at the rear end of the vehicle body frame, the primary ballast assembly comprises a primary electromagnet and a primary ballast iron, and the secondary ballast assembly comprises a secondary electromagnet and a secondary ballast iron.
A method of using the full sea depth composite probe vehicle, comprising:
1. the detection vehicle body and the travel accompanying robot are distributed on the sea surface, a pull rope is pulled to drag a positioning buckle on the falling positioning pin, so that a positioning main shaft on the falling positioning pin is separated from the connecting block and the connecting seat, and the mechanical limiting component releases the limit;
2. the travel accompanying robot is unpowered and submerged along with the body of the detection vehicle under the action of gravity;
3. when the sea floor lands, the primary electromagnet in the vehicle body of the detection vehicle acts to discard the primary ballast iron;
4. after the seabed landes, the electromagnetic limit is released by the action of a limit electromagnet in the electromagnetic limit assembly, and a vertical propeller and a horizontal propeller on the travel accompanying robot are started, so that the travel accompanying robot is separated from the body of the detection vehicle;
5. when in submarine detection, a positioning beacon on the body of the detection vehicle transmits an underwater sound signal to an underwater sound positioning device of the travel accompanying robot, so that the travel accompanying robot judges the position of the robot relative to the body of the detection vehicle by receiving the acoustic signal from the positioning beacon, and adjusts and controls the working range of the robot by a horizontal propeller and a vertical propeller to realize cluster detection and cooperative operation;
6. after detection is completed, the load-throwing electromagnet on the travel accompanying robot is used for throwing the load-throwing iron, the tail part of the travel accompanying robot is tilted and does not float to the water surface in a power mode, and meanwhile, the secondary electromagnet at the rear end of the detection vehicle body is used for throwing the secondary load-throwing iron, and the tail part of the detection vehicle body is tilted and floats to the water surface in a power mode;
7. after the exploration vehicle body and the accompanying robot are exposed out of the water surface, the scientific investigation mother ship approaches and recovers the exploration vehicle body and the accompanying robot.
The invention has the advantages and positive effects that:
1. according to the invention, the detection vehicle body is combined with the travel accompanying robot, the travel accompanying robot follows the detection vehicle body to carry out unpowered submergence, the load in the submergence process is saved, the travel accompanying robot is separated from the detection vehicle body after landing and carries out clustered detection and collaborative operation within a certain range around the detection vehicle body, so that the detection efficiency is greatly improved, and the novel full-sea deep detection mode of 'one diving multiple functions' realizes the clustered scientific investigation operation in a true sense.
2. The invention is provided with the mechanical limit component and the electromagnetic limit component between the detection vehicle body and the swimming robot, wherein the mechanical limit mode taking the falling locating pin as a main core component realizes the hard limit function of the swimming robot, can overcome the severe swing in the water surface laying process, does not need the diver to perform the drainage pin removal operation, realizes the soft limit function of the swimming robot by taking the throwing electromagnet, the throwing ballast iron and the limit electromagnet as the electromagnetic limit mode of the core component, ensures the stable positioning and simultaneously conveniently releases the limit, and provides reliable guarantee for the diving mode of 'one diving multiple functions'.
3. The invention discloses a novel full sea depth detection device with a composite-separation-floating mode, which is characterized in that a first-stage electromagnet and a second-stage electromagnet are arranged in a detection vehicle body, the corresponding ballast iron is removed from adsorption at different stages to finish safe landing and floating of the vehicle body, and a travel accompanying robot removes the adsorption of the load-throwing ballast iron at different stages through a limit electromagnet and a load-throwing electromagnet to finish the actions of separating the travel accompanying robot from the detection vehicle body and the action of the load-throwing floating.
4. The detection vehicle body provided by the invention is provided with a stable crawler-type movable chassis, has stronger adaptability and operation capability to a seabed complex environment, and provides a stable and reliable carrier for the travel accompanying robot.
5. The tour accompanying robot is provided with the vertical propeller and the horizontal propeller, wherein the vertical propeller is arranged at the gravity center position of the tour accompanying robot to finish the floating and descending motions of the tour accompanying robot, the horizontal propeller is arranged at the two sides of the tail part of the tour accompanying robot to finish the horizontal motions of the tour accompanying robot, and the motions of advancing, retreating, steering and the like can be realized.
6. The invention can complete the functions of cluster detection and collaborative operation, wherein the camera, the illuminating lamp and the CTD sensor carried by the tour accompanying robot are combined with the characteristic of flexible steering, so that the surrounding environment of a land vehicle can be detected and inspected, the working state of the body of the detection vehicle can be observed and monitored, video information shot by the tour accompanying robot can be used as scientific research data of a more systematic scientific research personnel, meanwhile, an operator can monitor the video information on the detection vehicle through a micro optical fiber, and a series of control operations can be carried out on the detection vehicle, so that the comprehensive systematic detection, inspection and sampling of a certain area can be realized.
7. The invention adopts the iridium beacon, the flag and the stroboscopic lamp as a water surface searching and positioning system, the position information sent by the iridium beacon is used for determining the position of the probe vehicle body and the stroboscopic lamp, which emerge from the water surface, and the position prompting function of the flag and the stroboscopic lamp in daytime and at night is combined, so that the probe vehicle body and the stroboscopic robot are ensured to search and smoothly recover, and the expense loss in the scientific research process is reduced.
8. The swimming accompanying robot acquires the coordinate position of the robot relative to the body of the detection vehicle by receiving the underwater sound signal from the body of the detection vehicle, controls the robot to complete the task of the cluster detection and collaborative operation of the full-sea-depth composite detection vehicle within a certain range, overcomes the winding problem of the traditional cable by the underwater sound positioning technology, increases the operation range of the cluster scientific investigation to a certain extent, and is an innovative submarine cluster operation mode.
Drawings
Figure 1 is a schematic view of the appearance of the present invention,
figure 2 is a schematic view of the tour accompanying robot of figure 1,
figure 3 is a schematic view of the internal structure of the tour accompanying robot in figure 2,
figure 4 is a schematic view of the shedding dowel of figure 1,
figure 5 is a schematic view of the internal structure of the body frame in figure 1,
fig. 6 is a schematic of the workflow of the present invention.
Wherein 1 is a walking track, 2 is a car body buoyancy material, 201 is a positioning beacon, 3 is a swimming robot, 301 is a front end cover, 302 is a supporting ring, 303 is a supporting rod, 304 is a buoyancy material, 305 is a vertical propeller, 3051 is a vertical propeller bracket, 306 is a horizontal propeller, 3061 is a horizontal propeller bracket, 307 is a mounting bracket, 308 is an iridium beacon, 309 is a flag, 310 is a strobe lamp, 311 is a tail fin, 312 is a battery, 3121 is a battery compartment cover plate, 313 is an illuminating lamp, 314 is a camera, 315 is a CTD sensor, 316 is a water sound positioning device, 317 is a mounting seat, 4 is a mechanical limiting component, 401 is a positioning buckle, 402 is a positioning pin shell, 403 is a positioning spindle, 4031 is a positioning spindle end, 404 is a spring, 405 is a connecting block, 406 is a connecting seat, 5 is a car body frame, 501 is a primary electromagnet, 502 is a ballast iron bracket, 503 is a walking driving device, 505 is a secondary ballast iron, and 506 is a secondary electromagnet bracket. 507 is a secondary electromagnet, 508 is a coupler, 6 is an electromagnetic limiting assembly, 601 is a limiting electromagnet, 602 is a load-rejection ballast iron, and 603 is a load rejection electromagnet.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings.
As shown in fig. 1 to 6, the invention comprises a detection vehicle body and a companion robot 3, as shown in fig. 1, the detection vehicle body comprises a vehicle body frame 5, a vehicle body buoyancy material 2 and a walking caterpillar 1, wherein the two sides of the vehicle body frame 5 are provided with the walking caterpillar 1, the upper side of the vehicle body frame 5 is provided with the vehicle body buoyancy material 2, the upper side of the vehicle body buoyancy material 2 is provided with the companion robot 3, a mechanical limit component 4 and an electromagnetic limit component 6 are arranged between the companion robot 3 and the vehicle body buoyancy material 2, as shown in fig. 2 and 4, the mechanical limit component 4 comprises a connecting block 405, a connecting seat 406 and a falling locating pin with a pull rope, the connecting block 405 is fixedly arranged on the companion robot 3, the connecting seat 406 is fixedly arranged on the vehicle body buoyancy material 2, the connecting block 405 and the connecting seat 406 are connected through the falling locating pin, and the falling locating pin is released by pulling the pull rope, as shown in fig. 3, the electromagnetic limit component 6 comprises a limit electromagnet 601, a cast iron 602 and a cast iron carrier 603, and a limit electromagnet 601 are fixedly arranged on the vehicle body 2, and the companion iron 602 is released from the companion robot 3, namely, when the companion iron 3 is not released from the companion robot 602, and the companion robot 3 is not required to be released from being attached to the companion robot 602, and the companion robot 3 is released from the companion robot 602 when the companion iron 3 is released from being attached to the companion robot 3. The vehicle body buoyancy material 2, the limit electromagnet 601 and the load rejection electromagnet 603 are all well known in the art.
As shown in fig. 4, the falling-off positioning pin includes a positioning main shaft 403, a positioning buckle 401 and a positioning pin housing 402, the positioning main shaft 403 is inserted on the positioning pin housing 402, a positioning shaft end 4031 at the front end of the positioning main shaft 403 extends out of the positioning pin housing 402 and is inserted into a corresponding connection block 405 after passing through a corresponding connection seat 406 to achieve limiting, a spring 404 is sleeved on the positioning shaft end 4031 in the positioning pin housing 402, a positioning buckle 401 is arranged at one end of the positioning pin housing 402 far away from the positioning shaft end 4031, the main body of the positioning main shaft 403 is clamped and limited by the positioning buckle 401 and compresses the spring 404, in this embodiment, the positioning buckle 401 is hinged with the positioning pin housing 402, and a torsion spring is arranged on a hinge shaft to ensure that the positioning buckle 401 presses the positioning main shaft 403, the positioning buckle 401 is connected with a pull rope, when limiting is released, the positioning buckle 401 is rotated by pulling the pull rope to no longer limit the positioning main shaft 403, the positioning main shaft 403 moves under the action of the spring 404 and the front end 4031 is withdrawn from the shaft end 405 and the connection block 406, so that limiting is released.
As shown in fig. 2 to 3, the travel accompanying robot 3 comprises a navigation carrier, a horizontal propeller 306 and a vertical propeller 305, wherein the front end of the navigation carrier is provided with a front end cover 301 formed by vacuum glass spheres, a mounting seat 317 is arranged in the front end cover 301, the end part of the mounting seat 317 is provided with a lighting lamp 313 and a camera 314, the center of gravity position in the middle of the navigation carrier is provided with the vertical propeller 305 and a vertical propeller bracket 3051, the vertical propeller 305 is arranged on the vertical propeller bracket 3051, the rear part of the navigation carrier is provided with a battery compartment for accommodating a battery 312, the battery compartment is provided with a battery compartment cover plate 3121 capable of being opened and closed, the rear end of the navigation carrier is provided with a tail fin 311, the fin 311 both sides are equipped with horizontal propeller support 3061, all are equipped with horizontal propeller 306 on every horizontal propeller support 3061 the end of fin 311 is equipped with the CTD sensor, navigation carrier and fin 311's junction is equipped with installing support 307, be equipped with the surface of water location recovery subassembly on the installing support 307, in this embodiment, the surface of water location recovery subassembly includes iridium beacon 308, flag 309 and strobe 310, after companion's swimming robot 3 floats to the surface of water, scientific research personnel combines information and flag 309 that iridium beacon 308 sent and the striking positional information suggestion of strobe 310 to seek recovery plant fast. The horizontal propeller 306, vertical propeller 305, illumination lamp 313, camera 314, CTD sensor, iridium beacon 308, flag 309, strobe light 310 are all well known in the art.
The outside of navigation carrier is equipped with the support frame, the support frame includes the support ring 302 at navigation carrier both ends and a plurality of bracing pieces 303 between two support rings 302, horizontal propeller support 3061 installs on the support ring 302 of afterbody, be equipped with control module in the navigation carrier and be used for controlling above-mentioned each propeller and each electronic components, just the frame outside and the space department of navigation carrier are full of buoyancy material 304 and guarantee buoyancy. The control modules and buoyancy 304 within the navigational vehicle are well known in the art.
As shown in fig. 1 and fig. 3, a positioning beacon 201 is disposed on the upper side of the body buoyancy material 2, an underwater sound positioning device 316 is disposed on the lower side of the front portion of the companion robot 3, after the companion robot 3 is separated from the probe vehicle body, the probe vehicle body transmits an underwater sound signal to the underwater sound positioning device 316 of the companion robot 3 through the positioning beacon 201 in the scientific investigation operation and site transfer process, and the companion robot 3 judges the position of the companion robot relative to the probe vehicle body through the high-speed underwater sound signal, so that the tasks of full sea depth cluster detection and collaborative operation of the companion robots 3 can be completed within a certain range. The hydroacoustic positioning device 316 and positioning beacon 201 are well known in the art and are commercially available products.
As shown in fig. 5, a primary ballast assembly and a secondary ballast assembly are arranged in the vehicle body frame 5, the primary ballast assembly is arranged at the front part of the vehicle body frame 5, the secondary ballast assembly is arranged at the rear end of the vehicle body frame 5, the primary ballast assembly comprises a primary electromagnet 501 and a primary ballast iron 502, the primary electromagnet 501 discards the primary ballast iron 502 when the vehicle body is landed on the seabed, the secondary ballast assembly comprises a secondary electromagnet 507 and a secondary ballast iron 505, the secondary electromagnet 507 discards the secondary ballast iron 505 when the vehicle body floats upwards, a primary electromagnet bracket 503 is arranged at the front part of the vehicle body frame 5, the primary electromagnet 501 is mounted on the primary electromagnet bracket 503, a secondary electromagnet bracket 506 is arranged at the rear end of the vehicle body frame 5, and the secondary electromagnet 507 is mounted on the secondary electromagnet bracket 506. In addition, a plurality of electronic components for detection are provided in the vehicle body frame 5, and a sampling basket and a sampling manipulator are provided at the front end of the vehicle body frame 5, and the electronic components for detection, the sampling basket and the manipulator are all known in the art.
As shown in fig. 5, two traveling driving devices 504 are disposed in the vehicle body frame 5, and output shafts of the two traveling driving devices 504 are respectively fixedly connected with driving wheels of the traveling crawler 1 on corresponding sides through a coupling 508, so as to drive the vehicle body of the probe vehicle to travel.
As shown in fig. 1, the rear end of the body buoyancy material 2 of the probe vehicle body is also provided with a water surface positioning and recovering component, and the water surface positioning and recovering component comprises an iridium beacon 308, a flag 309 and a strobe 310.
As shown in fig. 1, in the present embodiment, two travel accompanying robots 3 are provided on a vehicle body buoyancy member 2.
The working principle of the invention is as follows:
as shown in fig. 6, when the invention works, firstly, an operator lays the invention on the sea surface through a laying system on a mother ship, a scientific research person pulls the positioning buckle 401 through a pull rope, mechanical limit between the body of the detection vehicle and the accompanying robot 3 is released, the falling positioning pin is recovered, and the accompanying robot 3 is used for diving the body of the following detection vehicle under the action of gravity without power.
When the invention approaches the seabed ground by a certain height, the control unit sends a signal to control the primary electromagnet 501 in the vehicle body frame 5 to act to discard the primary ballast iron 502, so that the negative buoyancy of the vehicle body is reduced, and the landing is slowly completed.
When the invention lands and starts working, the limit electromagnet 601 in the electromagnetic limit assembly 6 acts to release the electromagnetic limit, and the control module in the travel accompanying robot 3 sends a control signal to coordinate the vertical propeller 305 and the horizontal propeller 306 to work, so that the travel accompanying robots 3 are separated from the body of the detection vehicle.
After the tour accompanying robot 3 is separated from the probe vehicle body, the probe vehicle body transmits a sound signal to the sound positioning device 316 of the tour accompanying robot 3 through the positioning beacon 201 in the scientific investigation operation and site transfer process, the tour accompanying robot 3 judges the coordinate position of the tour accompanying robot relative to the probe vehicle body through the sound signal, adjusts and controls the tour accompanying robot to perform cluster detection and collaborative operation within a certain range through the horizontal propeller 306 and the vertical propeller 305, and can monitor a video image of the probe vehicle body work site and store video information in time.
When all the work tasks are completed, the load rejection electromagnet 603 on the accompanying robot 3 rejects the load rejection ballast iron 602 to increase the positive buoyancy of the self, the tail part of the accompanying robot 3 is tilted and does not float to the water surface dynamically, and meanwhile, the secondary electromagnet 507 at the rear end of the vehicle body of the detection vehicle rejects the secondary ballast iron 505 to increase the positive buoyancy of the vehicle body.
After the probe car body and the companion robot 3 are exposed to the water surface, an operator on the scientific investigation mother ship determines the position of each device which is exposed to the water surface by searching the geographical position information sent by the iridium beacons 308 on each device, and the probe car body and the companion robot 3 are quickly approaching and recovered by combining the striking position prompt functions of the flag 309 and the strobe light 310 of the device.
Claims (8)
1. The application method of the full sea depth composite probe vehicle is characterized by comprising the following steps of: the full sea depth composite type detection vehicle comprises a detection vehicle body and a travel accompanying robot (3), wherein the travel accompanying robot (3) is arranged on the detection vehicle body, a mechanical limit component (4) and an electromagnetic limit component (6) are arranged between the travel accompanying robot (3) and the detection vehicle body, the mechanical limit component (4) comprises a connecting block (405), a connecting seat (406) and a falling off locating pin, the connecting block (405) is fixedly arranged on the travel accompanying robot (3), the connecting seat (406) is fixedly arranged on the detection vehicle body, the falling off locating pin comprises a locating buckle (401) connected with a pull rope and a locating main shaft (403) sleeved with a spring (404), the connecting block (405) and the connecting seat (406) are connected through the locating main shaft (403), the locating main shaft (403) is limited and compresses the spring (404), the locating buckle (401) is pulled through the pull rope, the electromagnetic limit component (6) comprises a limit electromagnet (601), a polishing iron (602) and a polishing electromagnet (603), and the limiting electromagnet (601) are fixedly arranged on the detection vehicle body and the two sides of the polishing electromagnet (603) are fixedly arranged on the polishing electromagnet (603; a positioning beacon (201) is arranged on the body of the detection vehicle, and an underwater sound positioning device (316) is arranged on the travel accompanying robot (3); the swimming accompanying robot (3) is provided with a horizontal propeller (306) and a vertical propeller (305); the detection vehicle body is provided with a vehicle body frame (5), a primary ballast assembly and a secondary ballast assembly are arranged in the vehicle body frame (5), the primary ballast assembly is arranged at the front part of the vehicle body frame (5), the secondary ballast assembly is arranged at the rear end of the vehicle body frame (5), the primary ballast assembly comprises a primary electromagnet (501) and a primary ballast iron (502), and the secondary ballast assembly comprises a secondary electromagnet (507) and a secondary ballast iron (505);
the application method of the full sea depth composite probe vehicle comprises the following steps:
1. the detection vehicle body and the travel accompanying robot (3) are arranged on the sea surface, a pull rope is pulled to drag a positioning buckle (401) on a falling positioning pin, a positioning main shaft (403) on the falling positioning pin is separated from a connecting block (405) and a connecting seat (406), and a mechanical limiting assembly (4) is used for limiting;
2. the travel accompanying robot (3) is unpowered and submerged along with the body of the probe vehicle under the action of gravity;
3. when the sea floor lands, the primary electromagnet (501) in the body of the detection vehicle is used for discarding the primary ballast iron (502);
4. after the sea floor landings, a limit electromagnet (601) in the electromagnetic limit assembly (6) acts to release electromagnetic limit, and a vertical propeller (305) and a horizontal propeller (306) on the travel accompanying robot (3) are started to enable the travel accompanying robot (3) to be separated from the body of the detection vehicle;
5. when in submarine detection, a positioning beacon (201) on the body of the detection vehicle transmits an underwater sound signal to an underwater sound positioning device (316) of the accompanying robot (3), so that the accompanying robot (3) judges the position of the robot relative to the body of the detection vehicle by receiving the acoustic signal from the positioning beacon (201), and adjusts and controls the working range of the robot by a horizontal propeller (306) and a vertical propeller (305), thereby realizing cluster detection and collaborative operation;
6. after detection is completed, the load-throwing electromagnet (603) on the travel accompanying robot (3) is used for throwing away the load-throwing ballast iron (602), the tail part of the travel accompanying robot (3) is lifted and does not float to the water surface in a power-free manner, and meanwhile, the secondary electromagnet (507) at the rear end of the vehicle body of the detection vehicle is used for throwing away the secondary ballast iron (505), and the tail part of the vehicle body of the detection vehicle is lifted and floats to the water surface in a power-free manner;
7. after the exploration vehicle body and the accompanying robot (3) are exposed out of the water, the scientific investigation mother ship approaches and recovers the exploration vehicle body and the accompanying robot (3).
2. The method for using the full sea depth composite probe vehicle according to claim 1, wherein the method comprises the following steps: the locating pin that drops is equipped with locating pin casing (402), locating spindle (403) cartridge in on locating pin casing (402), just locating spindle (4031) of locating spindle (403) front end stretches out outside locating pin casing (402) and inserts in corresponding connecting block (405) after passing corresponding connecting seat (406) locating spindle (4031) in locating pin casing (402) go up the cover and be equipped with spring (404) locating pin casing (402) are kept away from locating spindle (4031) one end is equipped with location buckle (401).
3. The method for using the full sea depth composite probe vehicle according to claim 1, wherein the method comprises the following steps: the travel accompanying robot (3) comprises a travel carrier, horizontal thrusters (306) and vertical thrusters (305), a front end cover (301) is arranged at the front end of the travel carrier, a lighting lamp (313) and a camera (314) are arranged in the front end cover (301), the vertical thrusters (305) are arranged at the center of gravity position of the middle part of the travel carrier, a battery (312) is arranged in the rear part of the travel carrier, a tail wing (311) is arranged at the rear end of the travel carrier, the horizontal thrusters (306) are arranged on two sides of the tail wing (311), a CTD sensor (315) is arranged at the tail end of the tail wing (311), and a control module is arranged in the travel carrier.
4. The method for using the full sea depth composite probe vehicle according to claim 3, wherein the method comprises the following steps: the outside of navigation carrier is equipped with the support frame, the support frame includes support ring (302) and a plurality of bracing pieces (303) between two support rings (302) at navigation carrier both ends, the frame outside and the space department of navigation carrier are full of buoyancy material (304).
5. The method for using the full sea depth composite probe vehicle according to claim 3, wherein the method comprises the following steps: the front end cover (301) is a vacuum glass sphere, a battery compartment for accommodating a battery (312) is arranged in the rear part of the navigation carrier, and a battery compartment cover plate (3121) capable of being opened and closed is arranged in the battery compartment.
6. The method for using the full sea depth composite probe vehicle according to claim 1, wherein the method comprises the following steps: the detecting vehicle body comprises a vehicle body frame (5), vehicle body buoyancy materials (2) and walking tracks (1), wherein the walking tracks (1) are arranged on two sides of the vehicle body frame (5), the vehicle body buoyancy materials (2) are arranged on the upper side of the vehicle body frame (5), and the swimming accompanying robot (3) is arranged on the upper side of the vehicle body buoyancy materials (2).
7. The method for using the full sea depth composite probe vehicle according to claim 6, wherein the method comprises the following steps: a traveling driving device (504) is arranged in the vehicle body frame (5), and an output shaft of the traveling driving device (504) is fixedly connected with a driving wheel of the traveling crawler belt (1) at the corresponding side through a coupler (508) respectively.
8. The method for using the full sea depth composite probe vehicle according to claim 1, wherein the method comprises the following steps: the water surface positioning and recycling assembly is arranged on the tour accompanying robot (3) and the vehicle body of the probe vehicle and comprises an iridium beacon (308), a flag (309) and a strobe lamp (310).
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| CN111830981A (en) * | 2020-07-15 | 2020-10-27 | 武汉理工大学 | Maritime rescue-oriented unmanned three-dimensional collaborative search and rescue platform |
| CN113830266A (en) * | 2021-04-14 | 2021-12-24 | 海南大学 | Single-camera flexible remote control unmanned underwater vehicle |
| CN113232809A (en) * | 2021-07-12 | 2021-08-10 | 天津海翼科技有限公司 | Modular small AUV device |
| CN113910849A (en) * | 2021-09-13 | 2022-01-11 | 河海大学 | Multi-purpose moving robot and obstacle crossing method thereof |
| CN114475994A (en) * | 2022-03-21 | 2022-05-13 | 中国船舶科学研究中心 | Portable light load rejection mechanism for AUV (autonomous Underwater vehicle) and operation method |
| CN114802666B (en) * | 2022-06-24 | 2022-10-21 | 自然资源部第一海洋研究所 | Seabed observation station with seabed autonomous movement and ocean detection functions |
| CN115723868B (en) * | 2022-12-05 | 2023-06-23 | 青岛海洋地质研究所 | Crawler device of submarine crawling crane and application method |
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| CN104648635B (en) * | 2013-11-22 | 2017-02-08 | 中国科学院沈阳自动化研究所 | Separable floating body device used for recycling AUV (Autonomous Underwater Vehicle) |
| CN105015742B (en) * | 2014-04-22 | 2017-11-24 | 上海海洋大学 | Benthoscope ballast desertion device |
| FR3024973B1 (en) * | 2014-08-19 | 2016-09-30 | Dcns | DEVICE FOR RECEIVING A UNDERWATER AND AN ASSOCIATED NAVAL VEHICLE |
| CN107315199A (en) * | 2017-07-06 | 2017-11-03 | 深圳市远东海洋矿产资源开发研究院有限公司 | A kind of crawler type deep-sea electromagnetic surveying car |
| CN108820174B (en) * | 2018-06-22 | 2020-09-29 | 西北工业大学 | Electromagnetic load rejection device of large-depth underwater autonomous vehicle |
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