CN111137423A

CN111137423A - Sonar underwater detection equipment with self-pressure relief device for dynamic and static diving belt

Info

Publication number: CN111137423A
Application number: CN202010065458.0A
Authority: CN
Inventors: 刘艳臣
Original assignee: Tsinghua University
Current assignee: Tsinghua University
Priority date: 2020-01-20
Filing date: 2020-01-20
Publication date: 2020-05-12

Abstract

The invention relates to underwater detection equipment with a self-pressure-relief device for a dynamic and static diving belt, which comprises a machine shell, a control system and a propeller, wherein the control system is installed in the machine shell, the propeller is installed at the tail part of the machine shell, a water pump and a water bag are installed in the machine shell, a water inlet of the water pump is connected with a water inlet pipe, a water outlet of the water pump is connected with a water inlet of the water bag through a pipeline, a water outlet of the water bag is connected with a water outlet pipe, and the water outlet pipe and the. The invention uses multi-pump and multi-water bag (air bladder) mode to intake and discharge water, controls the vertical floating and diving of the robot, realizes the static vertical floating and diving of the underwater detection equipment and simultaneously considers the dynamic gliding floating and diving, makes the control of the underwater operation of the equipment more flexible, realizes the multi-dimensional operation, and can carry the underwater detection equipment such as sonar.

Description

Sonar underwater detection equipment with self-pressure relief device for dynamic and static diving belt

Technical Field

The invention belongs to the field of environmental detection, and relates to underwater detection equipment, in particular to sonar underwater detection equipment with a self-pressure relief device for a dynamic and static submersible vehicle.

Background

Unmanned deep water underwater detection equipment in the world is comprehensively developed currently, but is limited by underwater communication barriers, pressure resistance and sensor technology, and a micro submarine has the characteristics of small pressure-resistant depth, poor sealing performance, insensitive environment sensing and the like, and cannot take two modes of static vertical floating and dynamic gliding floating into consideration in the aspect of floating. On the sensor and control system bus, most of the modules use various cables to transmit respectively, so that the cable coarse and heavy transmission distance is rarely controlled to exceed 200 meters.

Disclosure of Invention

The invention aims to overcome the defects in the prior art and provides the high-frequency visible sonar network high-speed bus underwater detection equipment with the functions of moving, diving, static diving, multi-pump and multi-swim bladder automatic pressure relief.

The technical scheme adopted by the invention for solving the technical problem is as follows:

an underwater detection device comprises a machine shell, a control system and a propeller, wherein the control system is installed in the machine shell, the propeller is installed at the tail of the machine shell, a water pump and a water bag are installed in the machine shell, a water inlet of the water pump is connected with a water inlet pipe, a water outlet of the water pump is connected with a water inlet of the water bag through a pipeline, a water outlet of the water bag is connected with a water drainage pipe, the water drainage pipe and the water inlet pipe are both led out of the machine shell from the tail of the machine shell, a pressure relief water drainage pipe is installed on a pipeline connecting the water pump and.

And, one-way relief valve include copper pipe and rubber sleeve, the one end and the pressure release drain pipe of copper pipe are connected, and the other end is sealed, makes a pressure release hole at the lateral wall of copper pipe, the suit rubber sleeve on the copper pipe, rubber sleeve shutoff pressure release hole.

And the number of the water pumps and the water bags is more than two.

And the machine shell comprises a machine head, a machine room, a machine tail and a protective shell, wherein the protective shell is coated outside the machine room, the machine head is hermetically connected with the machine room in an isolated mode, and the machine room is hermetically connected with the machine tail in an isolated mode.

And a deck is transversely and fixedly arranged in the cabin, the cabin is divided into an upper sub-cabin and a lower sub-cabin, a water pump and a control system are fixedly arranged on the deck in the upper sub-cabin, a water bag is arranged in the lower sub-cabin, and a battery is arranged at the bottom outside the cabin through a battery sealing box.

And the aircraft nose adopt the translucent cover, install the camera in the aircraft nose, the camera is installed on the cloud platform.

And four propellers are symmetrically arranged on the outer side of the tail, and the propeller electric controller is arranged in the tail.

And the control system comprises a navigation controller, a router and an underwater optical fiber machine which are sequentially connected through a network cable, wherein the navigation controller is respectively electrically connected with a water pump and a propeller and is electrically connected with a diving lamp, the router is respectively connected with a sonar and a camera through the network cable, the underwater optical fiber machine is connected with a ground optical fiber machine through an optical fiber, and the ground optical fiber machine is wirelessly connected with a panel control computer and is wirelessly connected with a remote controller.

Moreover, the network cable is an RJ45 interface network cable.

Further, a detection device such as a sonar may be mounted on the housing.

The invention has the advantages and positive effects that:

1. the invention uses multi-pump multi-water sac (air bladder) mode to intake and discharge water, controls the vertical floating and diving of the robot, realizes the static vertical floating and diving of the underwater detection equipment and simultaneously considers the dynamic gliding floating and diving, leads the control of the underwater operation of the robot to be more flexible and realizes the multi-dimensional operation.

2. According to the invention, the pressure-resistant shell is manufactured by using aluminum alloy and 304 stainless steel, and hard flanges are butted at the joints, so that the sealing damage caused by extrusion deformation is prevented, and the high-reliability high-pressure-resistant performance of the pressure-resistant shell with the depth of more than 60 meters underwater is realized.

3. The invention uses RJ45 network bus, can arbitrarily expand task unit, and expand transmission bandwidth to 1000M. Only one thin optical fiber is used for controlling the tail fiber. Convenient to use, the tail optical fiber does not have the influence to the operation gesture.

4. The invention realizes accurate detection and image visibility through the high-frequency sonar when the device works in sewage, low-visibility or invisible water areas and at night.

5. The tubular pressure measuring overpressure self-relief valve is used for realizing automatic pressure relief of overpressure of the swimming bladder, an unreliable electronic pressure limiting system is omitted, electronic components are reduced, reliability is improved, and cost is reduced.

6. The invention can remotely control the startup and shutdown, and prevent the disconnection caused by forgetting to open the switch after water drainage. And the power switch has high reliability, and the reliability of operation is ensured.

7. The invention adopts a 30-channel PWM signal remote controller which is manufactured by adopting the pulse control of a singlechip, is connected with a ground station computer through a USB, converts a potentiometer signal into a PWM signal and then converts the PWM signal into a special digital communication protocol for a robot, realizes the return display of attitude data and the like of a digital control underwater detection device and an underwater detection device, is connected with the robot through a wire, is inconvenient to hold and cannot be moved randomly, increases 30 controllable units after adopting the digital remote controller, has unlimited control distance and is integrated with the ground station.

8. The optical fiber receiving unit is in 2.4G/5.8G double-frequency wireless connection with a ground station system. The receiving unit is in wireless connection with the ground station system, and an operator can hold the ground station by hand to transfer the ground station at will without being bound.

Drawings

FIG. 1 is a perspective view of the present invention;

FIG. 2 is an exploded view of the structure of the present invention;

FIG. 3 is an internal structural view of the present invention;

FIG. 4 is a front view of the pressure relief valve;

FIG. 5 is a sectional view taken along line A-A of FIG. 4;

FIG. 6 is a control circuit diagram of the present invention;

fig. 7 is a water path connection diagram of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the following embodiments, which are illustrative only and not limiting, and the scope of the present invention is not limited thereby.

A sonar underwater detection device with a self-pressure-relief device for a dynamic and static submersible comprises a machine shell, a control system 11, a water pump 9, a water bag 14, a battery 13 and a propeller, wherein the control system, the water pump and the water bag are installed in the machine shell, the battery is installed on the lower portion outside the machine shell, and the propeller is installed on the tail portion of the machine shell.

The machine shell comprises a machine head 1, a machine room 8, a machine tail 3 and a protective shell 2, wherein the protective shell is coated outside the machine room. The machine head is hermetically connected with the machine cabin in an isolated manner, the machine cabin is hermetically connected with the machine tail in an isolated manner, a deck 10 is transversely and fixedly arranged in the machine cabin, the machine cabin is divided into an upper sub-cabin and a lower sub-cabin, two water pumps and a control system are fixedly arranged on the deck in the upper sub-cabin, and two water bags are arranged in the lower sub-cabin. The battery is sealed by a battery sealing box 5 fixedly arranged at the outer bottom of the cabin.

The machine head and the machine room are in butt joint with each other through hard flanges 7, and hard partition plates 6 are coaxially mounted at joints and used for isolating the machine room from the machine head and the machine tail to achieve sealing of the machine room.

The casing is made of aluminum alloy, and the protective shell is made of 304 stainless steel. Prevent the sealing from being damaged due to extrusion deformation.

The aircraft nose adopt the translucent cover, install camera 15 in the aircraft nose, the camera is installed on the cloud platform, is installed the sonar on the casing. The propeller electric controller is arranged in the tail, and the propeller electric controller is sealed by an electric controller sealing box 12. Four propellers 4 are radially and symmetrically arranged on the outer side of the tail, wherein the upper propeller and the lower propeller realize pitching motion of the submarine, and the left propeller and the right propeller are used for changing the advancing direction of the submarine.

The water pumps and the water bags are respectively two, the water inlets of the two water pumps are connected with the water inlet pipe, the water outlets of the two water pumps are connected with the water inlets of the two water bags through pipelines, the water outlets of the two water bags are connected with the water outlet pipe, the water outlet pipe and the water inlet pipe are both led out from the tail part of the shell, the water outlet pipe is arranged on the water outlet pipe, and the water inlet pipe is provided with a water suction. And a pressure relief drain pipe is arranged on a pipeline connecting the water pump and the water bag, and is led out from the tail part of the shell and connected with a one-way pressure relief valve 16. The water is drained by using a double-pump double-water-sac (air bladder) mode, and the vertical floating and submerging of the robot are controlled.

The one-way pressure release valve comprises a copper pipe 16-1 and a rubber sleeve 16-2, one end of the copper pipe is connected with a pressure release drain pipe, the other end of the copper pipe is sealed, a pressure release hole 16-3 is formed in the side wall of the copper pipe, the rubber sleeve is sleeved on the copper pipe, and the rubber sleeve blocks the pressure release hole. When the water pressure in the water sac reaches a high point, water flows out of the pressure relief hole to prevent the water sac from bursting.

The control system comprises a navigation controller, a router and an underwater optical fiber machine which are sequentially connected through an RJ45 network bus, wherein the navigation controller is respectively electrically connected with two water pump electric regulators and four propeller electric regulators, and the navigation controller is connected with a diving lamp through an MOS switch. The router is respectively connected with the sonar and the camera through an RJ45 network bus, the underwater optical fiber machine is connected with the ground optical fiber machine through optical fibers, and the ground optical fiber machine is connected with the tablet control computer and the tablet control computer wireless connection remote controller through an RJ45 network bus.

The interface of a control unit, a detection unit, a video acquisition unit and a data protocol are designed by using an RJ45 standard, and are converted into optical fibers through an RJ45 interface to carry out remote bidirectional transmission, so that all modules of the whole system are compatible with one network optical fiber for carrying out bidirectional data and control signal transmission.

A30-channel PWM signal remote controller which is controlled and manufactured by adopting a singlechip is in wireless connection with a panel control computer through a USB (universal serial bus), converts potentiometer signals into PWM signals and then converts the PWM signals into a special digital communication protocol for a robot, and achieves the back-passing display of attitude data and the like of underwater detection equipment under the digital control.

The optical fiber receiving unit is in 2.4G/5.8G double-frequency wireless connection with the ground station system. And forward phase control scanning is carried out by adopting a high-frequency sonar of 1.2MHZ-2.4MHZ to form a real-time sonar image and measure distance. The sonar carries out optical fiber communication with bank base ground station through the RJ45 interface, transmits data and image. The minimum detection distance of 10 cm and the maximum detection distance of more than 50 m, and the high-resolution real-time scanning image detection with the depth of 5 m to 50 m is realized.

The remote control switch is provided with a plurality of MOS tube remote control switches, the maximum passing current of a single switch is 100A, 3 sets of switches are used, and after one set of switches is damaged and fails, other switches can still be guaranteed to be electrified to enable the robot to smoothly return, so that a remote control switch main power supply is realized, and a multi-switch backup anti-interruption power supply is provided.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various changes and modifications can be made without departing from the inventive concept, and these changes and modifications are all within the scope of the present invention.

Claims

1. The utility model provides a sound diving area is from pressure relief device's underwater detection equipment, includes casing, control system, propeller, installs control system in the casing, installs the propeller at the casing afterbody, its characterized in that: the water pump and the water bag are installed in the machine shell, the water inlet of the water pump is connected with the water inlet pipe, the water outlet of the water pump is connected with the water inlet of the water bag through a pipeline, the water outlet of the water bag is connected with the water discharge pipe, the water discharge pipe and the water inlet pipe are both led out of the machine shell from the tail portion of the machine shell, the pressure relief water discharge pipe is installed on the pipeline connecting the water pump and the water bag, and the pressure relief water discharge pipe.

2. The underwater detection apparatus of claim 1, wherein: the one-way pressure release valve comprises a copper pipe and a rubber sleeve, one end of the copper pipe is connected with a pressure release drain pipe, the other end of the copper pipe is sealed, a pressure release hole is formed in the side wall of the copper pipe, the rubber sleeve is sleeved on the copper pipe, and the rubber sleeve blocks the pressure release hole.

3. The underwater detection apparatus of claim 1, wherein: the number of the water pumps and the water bags is more than two.

4. The underwater detection apparatus of claim 1, wherein: the machine shell comprises a machine head, a machine room, a machine tail and a protective shell, wherein the protective shell is coated outside the machine room, the machine head is hermetically connected with the machine room in an isolated mode, and the machine room is hermetically connected with the machine tail in an isolated mode.

5. The underwater detection apparatus of claim 4, wherein: a deck is transversely and fixedly arranged in the cabin, the cabin is divided into an upper sub-cabin and a lower sub-cabin, a water pump and a control system are fixedly arranged on the deck in the upper sub-cabin, a water bag is arranged in the lower sub-cabin, and a battery is arranged at the outer bottom of the cabin through a battery sealing box.

6. The underwater detection apparatus of claim 4, wherein: the head adopts a transparent cover, a camera is arranged in the head, and the camera is arranged on the holder.

7. The underwater detection apparatus of claim 1, wherein: four propellers are symmetrically arranged on the outer side of the tail, and a propeller electric speed regulator is arranged in the tail.

8. The underwater detection apparatus of claim 1, wherein: the control system comprises a navigation controller, a router and an underwater optical fiber machine which are sequentially connected through a network cable, wherein the navigation controller is respectively electrically adjusted with a water pump, electrically adjusted with a propeller and connected with a diving lamp, the router is respectively connected with a sonar and a camera through the network cable, the underwater optical fiber machine is connected with a ground optical fiber machine through optical fibers, and the ground optical fiber machine is wirelessly connected with a panel control computer and is wirelessly connected with a remote controller.

9. The underwater detection apparatus of claim 8, wherein: the network cable is an RJ45 interface network cable.

10. The underwater detection apparatus of claim 1, wherein: a sonar is installed on the machine shell.