CN113377117A - Acoustic-magnetic-optical detector comprehensive carrying device and carrying method of underwater robot - Google Patents
Acoustic-magnetic-optical detector comprehensive carrying device and carrying method of underwater robot Download PDFInfo
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- CN113377117A CN113377117A CN202110782829.1A CN202110782829A CN113377117A CN 113377117 A CN113377117 A CN 113377117A CN 202110782829 A CN202110782829 A CN 202110782829A CN 113377117 A CN113377117 A CN 113377117A
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Abstract
The invention discloses a comprehensive carrying device of an underwater robot acousto-optic detector, belonging to the technical field of the comprehensive carrying device of the underwater robot acousto-optic detector, wherein an acoustic response beacon is fixedly arranged at the top of the underwater robot, a second floating body material is fixedly assembled on a towing rod, inclination angle sensors are fixedly arranged at the assembly positions of a height control rod and the towing rod and on the towing rod, a response type acoustic beacon is fixed on an electromagnetic detector, a USBL sonar array is fixedly arranged at the bottom of a water surface tugboat, a second sheathed towing rope is wound and assembled on a retractable pulley block structure, a third floating body material is uniformly and fixedly assembled at the upper part of the second sheathed towing rope, and a positioning towing weight is uniformly and fixedly assembled at the lower part of the second sheathed towing rope, so that the underwater robot carries the underwater acousto-optic detector at the same time, and the application problem of the underwater acousto-optic detector is realized, and the height of the electromagnetic detector can be accurately calculated.
Description
Technical Field
The invention relates to the technical field of an underwater robot acoustic-magnetic optical detector comprehensive carrying device, in particular to an acoustic-magnetic optical detector comprehensive carrying device and a carrying method of an underwater robot.
Background
The underwater or underwater buried metal target detection relates to the application of a plurality of fields, such as underwater buried oil-gas pipeline routing detection, underwater metal evidence target detection, underwater buried explosive detection, underwater military target detection and the like, an underwater small metal target detector generally adopts an electromagnetic detection principle, and the detection distance of the electromagnetic detector is smaller, so that when the electromagnetic detector is applied underwater, the space interval between the electromagnetic detector and the underwater is required to be smaller, such as 1m, and the space interval is so small that the underwater electromagnetic detector is difficult to carry and use on a mobile robot platform, so that the underwater robot has larger potential safety hazards, such as fishing net hooks, collision underwater obstacles and the like, and in addition, because the carrying platform is close to a seabed, the acoustic detector cannot be carried and used on the robot at the same time, so the underwater robot simultaneously carries the acoustic magneto-optical detector and has the problem that the acoustic magneto-optical detector cannot be compatible in the use mode, the underwater acoustic detection device requires a larger spacing distance with the seabed, such as more than 10m, and the electromagnetic detector is closer to the detection target distance, such as 1m, so that the acoustic-magnetic-optical detector is difficult to be simultaneously and compatibly carried and applied, multiple platforms are required to carry and detect, and the precise control of the electromagnetic detector close to the seabed cannot be realized.
Disclosure of Invention
The invention aims to provide a comprehensive carrying device and a carrying method for an acousto-magnetic-optical detector of an underwater robot, which aim to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: a comprehensive carrying device of an acoustic-magnetic-optical detector of an underwater robot comprises a sunk-bottom metal target arranged on a seabed, a water surface tugboat arranged on the water surface and the underwater robot arranged under the water surface, wherein a height gauge is fixedly arranged in the underwater robot, an acoustic response beacon is fixedly arranged at the top of the underwater robot, a connecting support is fixedly assembled at the rear end of the underwater robot, a first sheath dragging rope is fixedly connected onto the connecting support, floating body material balls are uniformly and fixedly arranged on the first sheath dragging rope, a dragging rod is fixedly assembled at the bottom end of the first sheath dragging rope, a second floating body material is fixedly assembled on the dragging rod, a height control rod arranged on the seabed is fixedly connected at the bottom end of the dragging rod, and inclination sensors are fixedly arranged at the assembly positions of the height control rod and the dragging rod and on the dragging rod, the tilt angle sensor is fixedly connected with a connecting rod through a flexible connecting structure, the other end of the connecting rod is fixedly connected and assembled with an electromagnetic detector, the electromagnetic detector is fixedly provided with a first floating body material through a non-metal fixed structure, the underwater robot and the inclination angle sensor are both fixedly provided with a camera and a lighting lamp group, a response type acoustic beacon is fixed on the electromagnetic detector, a USBL sonar array is fixedly arranged at the bottom of the water surface tug boat, a retractable pulley block structure is fixedly arranged on the right side of the top of the water surface tugboat, a data processing display terminal is fixedly arranged on the water surface tugboat, and a second drag rope with a sheath is wound and assembled on the retraction pulley block structure, a third floating body material is uniformly and fixedly assembled at the upper part of the second drag rope with the sheath, and drag positioning weights are uniformly and fixedly assembled at the lower part of the second drag rope with the sheath.
Preferably, the electromagnetic detector adjusts the attitude to be horizontal through the first floating body material, the non-metal fixed structure, the towing positioning weight and the like, and is slightly positive buoyancy, the interval between the center of gravity and the center of buoyancy is required to be as large as possible, meanwhile, the structure appearance of the electromagnetic detector has a smooth streamline shape and a symmetrical structure, so that the electromagnetic detector is balanced in stress during navigation and cannot swing during navigation, after the attitude is adjusted, the towing body formed by combining the electromagnetic detector and the first floating body material needs to be towed by trial, so that the towing body cannot swing during navigation at different speeds, the stress balance is adjusted, and the structural member does not generate an asymmetric rudder effect.
Preferably, the height of the electromagnetic detector is influenced by the navigation speed of the underwater robot, the inclination angle sensor on the towing rod is an attitude sensor 12B, the inclination angle sensor at the assembly position of the height control rod and the towing rod is an attitude sensor 12A, and the height of the underwater robot is accurately calculated according to the angle of the inclination angle sensor and the length of the height control rod, so that the height control of the electromagnetic detector is implemented, the close-range detection requirements of optical observation equipment and the electromagnetic detector are met, and meanwhile, acoustic detection equipment mounted on the underwater robot meets the far-range mounting and detection requirements of the acoustic equipment.
Preferably, the height control rod is of a rigid structure, the height control rod is an insulating nonmagnetic rod, the attitude sensor 12A controls the inclination attitude angle of the height control rod, and the underwater robot adjusts the advancing speed or height to realize the height control of the electromagnetic detector.
Preferably, the towing rod is an insulating nonmagnetic heavy rod, the second floating body material is wrapped at one end of the towing rod to enable the second floating body material to be in a floating state at one end of the second floating body material, the other end of the second floating body material is sunk, a fixed inclination angle posture is achieved in water in a static state, the towing rod and the height control rod are movably connected in a limited range in a rotatable direction, the other end of the towing rod is connected with the first sheath towing rope to prevent winding, and the other end of the first sheath towing rope is connected with the underwater robot.
Preferably, the towing rod is a rigid heavy rod, optical image observation equipment can be installed on the towing rod, a flexible connecting structure and a connecting rod are arranged at the rotating connecting position of the towing rod and the height control rod, the flexible connecting structure and the connecting rod have an anti-winding function, and the flexible connecting structure is connected with the electromagnetic detector.
The carrying method comprises the following steps: aiming at different requirements of the use of an electromagnetic detector, the use problem that the underwater robot carries the acousto-magnetic-optical detector at the same time is solved by combining a carrying mode and a towing mode of the underwater robot, the problem of accurate control of the electromagnetic detector close to the seabed is solved, the underwater robot sails at a certain speed to ensure that a height control rod generates a required angle range, the underwater electromagnetic detector is controlled to detect a sunk metal target on the seabed at a lower height to meet the detection requirement that the underwater electromagnetic detector is close to the seabed, the towing body is balanced in stress by adjusting the structure of the towing body to be streamline and symmetrical, the towing body is ensured not to swing and not to hook obstacles in sailing, the towing rod is a rigid structure close to the seabed, optical image observation equipment can be arranged on the towing rod to observe underwater targets, and the underwater robot carries the electromagnetic detector, the electromagnetic detector adjusts the posture to be horizontal through a first floating body material, a non-metal fixed structure, a towing positioning weight and the like, has micro positive buoyancy, requires the interval between the gravity center and the floating center to be as large as possible, simultaneously has a smooth streamline structure and a symmetrical structure in the structural appearance, ensures that the electromagnetic detector is stressed in balance when sailing and cannot swing when sailing, ensures that the towing body formed by combining the electromagnetic detector and the first floating body material cannot swing when sailing at different speeds after the posture is adjusted, adjusts the stress balance, does not generate an asymmetric rudder effect on a structural part, has more stable posture and small vibration when in use, sails in a fixed height mode by an underwater robot, carries an acoustic detector and an optical observation device on the towing body to detect front and underwater targets, meets the detection requirement of the acoustic detector on the height, and cannot generate a float hook, the underwater robot has good safety and is beneficial to popularization and use of the underwater robot, the underwater robot can automatically control the navigation speed or navigation height (such as 10m) of the underwater robot according to the navigation height control requirement of a towed body, acousto-optic detection and observation equipment and the like are arranged on the underwater robot, the length of a first drag rope with a sheath can be determined in a pilot mode during design, the first drag rope with the sheath cannot be too flexible, the drag rope with the sheath can be used, the underwater robot can be ensured to be safe in navigation and also can adapt to and meet the detection height requirement of an acoustic detector, for the purpose of safe navigation, the underwater robot can be guided to navigate by a surface ship, as shown in figure 2, under the condition of shallow water, the underwater robot can also be powered, communicated and positioned in a cable mode to control the underwater robot to execute an underwater drag detection task, and the underwater robot adopts a self-contained mode to record the underwater course, the navigation distance and the navigation distance, And recovering data such as optical images and the like, and then carrying out playback analysis on the data.
Compared with the prior art, the invention has the beneficial effects that: the invention has reasonable structural design, and aims at different requirements of the use of the electromagnetic detector, the combination of the carrying mode and the towing mode of the underwater robot is utilized, the use problem of carrying the acoustic-magnetic-optical detector by the underwater robot is solved, the accurate control problem of the electromagnetic detector close to the seabed is solved, the underwater robot sails at a certain speed to ensure that the height control rod generates a required angle range, the underwater electromagnetic detector is controlled to detect the sunk metal target on the seabed at a lower height, the detection requirement of the underwater electromagnetic detector close to the seabed is met, the towing body is balanced in stress by adjusting the structure of the towing body to be streamline and symmetrical, the towing body is ensured not to swing and hook obstacles in sailing, the towing rod is a rigid structure close to the seabed, optical image observation equipment can be arranged on the towing rod to observe the underwater target, the underwater robot carries an electromagnetic detector, the electromagnetic detector adjusts the posture to be horizontal through a first floating body material, a non-metal fixed structure, a towing positioning heavy object and the like, the electromagnetic detector is slightly positive buoyancy, the interval between the center of gravity and the center of buoyancy is required to be as large as possible, meanwhile, the structure appearance of the underwater robot has a smooth streamline shape and a symmetrical structure, so that the underwater robot is balanced in stress when sailing and does not swing during sailing, after the posture of a towing body formed by combining the electromagnetic detector and the first floating body material is adjusted, the towing body needs to be towed in a trial mode, the towing body is guaranteed not to swing during sailing at different speeds, the stress balance is adjusted, a structural part does not generate an asymmetric rudder effect, the posture of the electromagnetic detector is stable during use, vibration is small, the underwater robot sails in a fixed height mode, carries an acoustic detector and an optical observation device on the underwater robot, implements detection of front and underwater targets, and meets the requirement of far distance detection of the acoustic detector, the underwater robot can not generate float grass hook, has good safety and is beneficial to popularization and use of the underwater robot, the underwater robot can automatically control the navigation speed or navigation height (such as 10m) of the underwater robot according to the navigation height control requirement of a towed body, detection and observation equipment such as sound and light are arranged on the underwater robot, the length of a first drag rope with a sheath can be determined in a pilot mode during design, the first drag rope with the sheath cannot be too flexible, the drag rope with the sheath can be used for ensuring the navigation safety of the underwater robot and adapting to and meeting the detection height requirement of an acoustic detector, for navigation safety, the underwater robot can be guided to navigate by a surface ship, as shown in figure 2, under the condition of shallow water, the underwater robot can also be powered, communicated and positioned by adopting a cable mode to control the underwater robot to execute an underwater towing detection task, the underwater robot adopts a self-contained mode to record underwater course, And recovering the data such as the voyage, the optical image and the like, and then carrying out playback analysis on the data.
Drawings
FIG. 1 is a schematic diagram of a carrying method of an acoustic-optic detector of an underwater unmanned robot according to the invention;
FIG. 2 is a schematic view of the acoustic control sailing of the underwater unmanned robot by the water tug boat of the invention;
fig. 3 is a schematic drawing of the underwater unmanned robot towed by a water surface tug boat for navigation.
In the figure: 1. an electromagnetic detector; 2. a first float material; 3. a connecting rod; 4. a camera and a lighting lamp set; 5. a towing bar; 6. a second float material; 7. a first jacketed haul rope; 8. a ball of buoyant material; 9. a flexible connection structure; 10. an answering acoustic beacon; 11. a height control lever; 12. a tilt sensor; 13. a non-metallic fixation structure; 14. connecting a bracket; 15. a height gauge; 16. an acoustic response beacon; 17. USBL sonar array; 18. a pulley block retracting structure; 19. a data processing display terminal; 20. a third float material; 21. a second jacketed haul rope; 22. dragging a positioning weight; 23. an underwater robot; 24. a surface tug; 25. a seabed; 26. sinking a bottom metal target; 27. the surface of the water.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, fig. 2 and fig. 3, the present invention provides a technical solution: a comprehensive carrying device of an acoustic magnetic optical detector of an underwater robot comprises a sunk metal target 26 arranged on a seabed 25, a water surface tug 24 arranged on a water surface 27 and an underwater robot 23 arranged below the water surface 27, wherein a height gauge 15 is fixedly arranged in the underwater robot 23, an acoustic response beacon 16 is fixedly arranged at the top of the underwater robot 23, a connecting support 14 is fixedly assembled at the rear end of the underwater robot 23, a first sheath dragging rope 7 is fixedly connected to the connecting support 14, floating body material balls 8 are uniformly and fixedly arranged on the first sheath dragging rope 7, a dragging rod 5 is fixedly assembled at the bottom end of the first sheath dragging rope 7, a second floating body material 6 is fixedly assembled on the dragging rod 5, a height control rod 11 arranged on the seabed 25 is fixedly connected to the bottom end of the dragging rod 5, and inclination angle sensors 12 are fixedly arranged at the assembly position of the height control rod 11 and the dragging rod 5 and on the dragging rod 5, the position of an inclination angle sensor 12 is fixedly connected with a connecting rod 3 through a flexible connecting structure 9, the other end of the connecting rod 3 is fixedly connected and assembled with an electromagnetic detector 1, a first floating body material 2 is fixedly assembled on the electromagnetic detector 1 through a non-metal fixing structure 13, a camera and a lighting lamp group 4 are fixedly arranged on an underwater robot 23 and the inclination angle sensor 12, a response type sound beacon 10 is fixed on the electromagnetic detector 1, a USBL sonar array 17 is fixedly arranged at the bottom of a surface tug 24, a retractable pulley block structure 18 is fixedly arranged at the right side of the top of the surface tug 24, a data processing display terminal 19 is fixedly arranged on the surface tug 24, and a second sheathed hauling rope 21 is wound and assembled on the retracting pulley block structure 18, the upper part of the second sheathed hauling rope 21 is uniformly and fixedly assembled with a third floating body material 20, and the lower part of the second sheathed hauling rope 21 is uniformly and fixedly assembled with a towing positioning weight 22.
The electromagnetic detector 1 adjusts the posture to be horizontal through the first floating body material 2, the nonmetal fixed structure 13, the towing positioning heavy object 22 and the like, and is slightly positive buoyancy, the interval between the center of gravity and the center of buoyancy is required to be as large as possible, meanwhile, the structure appearance of the electromagnetic detector has a smooth streamline shape and a symmetrical structure, so that the electromagnetic detector is stressed in balance when in navigation and cannot swing in navigation, after the posture of a towing body formed by combining the electromagnetic detector 1 and the first floating body material 2 is adjusted, trial towing is carried out, the towing body is ensured not to swing when in navigation at different speeds, the stress balance is adjusted, and the structural part does not generate an asymmetric rudder effect;
the height of the electromagnetic detector 1 is influenced by the navigation speed of the underwater robot 23, the inclination angle sensor 12 on the towing rod 5 is an attitude sensor 12B, the inclination angle sensor 12 at the assembly position of the height control rod 11 and the towing rod 5 is an attitude sensor 12A, and the height of the underwater robot 23 is accurately calculated according to the angle of the inclination angle sensor 12 and the length of the height control rod 11, so that the height control of the electromagnetic detector 1 is implemented, the short-distance detection requirements of optical observation equipment and the electromagnetic detector 1 are met, and meanwhile, acoustic detection equipment mounted on the underwater robot 23 meets the long-distance mounting and detection requirements of the acoustic equipment;
the height control rod 11 is of a rigid structure, the height control rod 11 is an insulating nonmagnetic rod, the attitude sensor 12A controls the inclined attitude angle of the height control rod 11, and the underwater robot 23 adjusts the advancing speed or the height to realize the height control of the electromagnetic detector 1;
the towing rod 5 is an insulated nonmagnetic heavy rod, the second floating body material 6 is coated at one end of the towing rod 5, so that the second floating body material 6 is in a floating state at one end and is sunk at the other end, a fixed inclination angle posture is realized in water in a static state, the towing rod 5 and the height control rod 11 are movably connected in a limited range in a rotatable direction, the other end of the towing rod 5 is connected with the first sheath towing rope 7 to prevent winding, and the other end of the first sheath towing rope 7 is connected with the underwater robot 23;
the towing rod 5 is a rigid heavy rod and can be provided with optical image observation equipment, the towing rod 5 and the height control rod 11 are rotatably connected by the flexible connecting structure 9 and the connecting rod 3, the anti-winding function is achieved, and the flexible connecting structure 9 is connected with the electromagnetic detector 1.
The carrying method comprises the following steps: aiming at different requirements of the use of the electromagnetic detector 1, the combination of the carrying mode and the dragging mode of the underwater robot 23 is utilized, the use problem that the underwater robot 23 carries the acoustic-magnetic-optical detector at the same time is solved, the precise control problem of the electromagnetic detector 1 close to the seabed 25 is solved, the underwater robot 23 sails at a certain speed to ensure that the height control rod 11 generates a required angle range, the underwater electromagnetic detector 1 is controlled to detect the sunk metal target 26 on the seabed 25 at a lower height, the requirement that the underwater electromagnetic detector 1 is close to the seabed 25 is met, the towing body is balanced in stress by adjusting the structure of the towing body to be streamline and symmetrical, the towing body is ensured not to swing and hook obstacles in sailing, the towing rod 5 is a rigid structure close to the seabed 25, optical image observation equipment can be arranged on the towing body to observe the underwater target, the underwater robot 23 carries the electromagnetic detector 1, the electromagnetic detector 1 adjusts the posture to be horizontal through the first floating body material 2, the nonmetal fixed structure 13, the towing positioning weight 22 and the like, and is slightly positive buoyancy, the interval between the center of gravity and the center of buoyancy is required to be as large as possible, meanwhile, the structure appearance has a smooth streamline shape and a symmetrical structure, so that the underwater robot is balanced in stress during navigation, and does not swing during navigation, after the posture of the towed body formed by combining the electromagnetic detector 1 and the first floating body material 2 is adjusted, the towed body needs to be towed by trial, so that the towed body can not swing during navigation at different speeds, the stress balance is adjusted, the structural part does not generate asymmetric effect, the posture of the electromagnetic detector 1 is stable during use, the vibration is small, the underwater robot 23 navigates in a fixed-height mode, an acoustic detector and an optical observation device are carried on the underwater robot 23 to detect front and underwater targets, the underwater robot 23 can be guided to sail by a surface ship for safety, as shown in figure 2, under the condition of shallow water, the underwater robot 23 can also be powered, communicated and positioned by a cable mode to control the underwater robot 23 to execute an underwater towing detection task, the underwater robot 23 records data such as underwater course, optical image and the like in a self-contained manner, and performs playback analysis on the data after recovery.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. The utility model provides a comprehensive carrying device of acousto-optic magnetic detector of underwater robot, is including setting up sunken end metal object (26) on seabed (25), setting up surface of water tow boat (24) on surface of water (27) and setting up underwater robot (23) under surface of water (27), its characterized in that: a height gauge (15) is fixedly arranged in the underwater robot (23), a sound response beacon (16) is fixedly arranged at the top of the underwater robot (23), a connecting support (14) is fixedly assembled at the rear end of the underwater robot (23), a first sheath dragging rope (7) is fixedly connected to the connecting support (14), floating body material balls (8) are uniformly and fixedly arranged on the first sheath dragging rope (7), a dragging rod (5) is fixedly assembled at the bottom end of the first sheath dragging rope (7), a second floating body material (6) is fixedly assembled on the dragging rod (5), a height control rod (11) arranged on a seabed (25) is fixedly connected to the bottom end of the dragging rod (5), and inclination angle sensors (12) are fixedly arranged at the assembly position of the height control rod (11) and the dragging rod (5) and on the dragging rod (5), the device is characterized in that a connecting rod (3) is fixedly connected to the position of the inclination angle sensor (12) through a flexible connecting structure (9), an electromagnetic detector (1) is fixedly connected and assembled to the other end of the connecting rod (3), a first floating body material (2) is fixedly assembled on the electromagnetic detector (1) through a non-metal fixing structure (13), a camera and a lighting lamp group (4) are fixedly arranged on the underwater robot (23) and the inclination angle sensor (12), a response type sound beacon (10) is fixed on the electromagnetic detector (1), a USBL sonar array (17) is fixedly arranged at the bottom of the surface tug (24), a retractable pulley block structure (18) is fixedly arranged on the right side of the top of the surface tug (24), a data processing display terminal (19) is fixedly arranged on the surface tug (24), and a second towing rope (21) with a sheath is wound and assembled on the retractable pulley block structure (18), the upper part of the second sheathed hauling rope (21) is uniformly and fixedly provided with a third floating body material (20), and the lower part of the second sheathed hauling rope (21) is uniformly and fixedly provided with a hauling positioning weight (22).
2. The integrated carrying device of the acousto-magnetic-optical detector of the underwater robot as claimed in claim 1, characterized in that: the electromagnetic detector (1) is adjusted to be horizontal through the first floating body material (2), the nonmetal fixed structure (13), the towing positioning weight (22) and the like, is slightly positive buoyancy, requires the interval between the center of gravity and the center of buoyancy to be as large as possible, and has a smooth streamline structure and a symmetrical structure, so that the electromagnetic detector is balanced in stress during navigation and cannot swing during navigation.
3. The integrated carrying device of the acousto-magnetic-optical detector of the underwater robot as claimed in claim 2, characterized in that: the height of the electromagnetic detector (1) is influenced by the navigation speed of the underwater robot (23), the inclination angle sensor (12) on the towing rod (5) is an attitude sensor (12B), the inclination angle sensor (12) at the assembly position of the height control rod (11) and the towing rod (5) is an attitude sensor (12A), the height of the underwater robot (23) is accurately calculated according to the angle of the inclination angle sensor (12) and the length of the height control rod (11), so that the height control of the electromagnetic detector (1) is implemented, the short-distance detection requirements of optical observation equipment and the electromagnetic detector (1) are met, and meanwhile, acoustic detection equipment mounted on the underwater robot (23) meets the long-distance mounting and detection requirements of the acoustic equipment.
4. The integrated carrying device of the acousto-magnetic-optical detector of the underwater robot as claimed in claim 3, characterized in that: height control pole (11) are rigid structure, just height control pole (11) are insulating nonmagnetic stick, and attitude sensor (12A) is through the slope gesture angle of control height control pole (11), and speed or height that move ahead are adjusted in underwater robot (23), realize the control of electromagnetic detector (1) height.
5. The integrated carrying device of the acousto-magnetic-optical detector of the underwater robot as claimed in claim 1, characterized in that: the towing rod (5) is an insulating nonmagnetic heavy rod, the second floating body material (6) is wrapped at one end of the towing rod (5) and enabled to be in a floating state at one end of the second floating body material (6), the other end of the second floating body material sinks to the bottom, a fixed inclination angle posture is achieved in water in a static state, the towing rod (5) and the height control rod (11) are movably connected in a limited range in a rotatable mode, the other end of the towing rod (5) is connected with the first sheath towing rope (7) to prevent winding, and the other end of the first sheath towing rope (7) is connected with the underwater robot (23).
6. The integrated carrying device of the acousto-magnetic-optical detector of the underwater robot as claimed in claim 5, wherein: the towing rod (5) is a rigid heavy rod and can be provided with optical image observation equipment, the towing rod (5) and the height control rod (11) are rotatably connected with each other by a flexible connecting structure (9) and a connecting rod (3), the flexible connecting structure (9) has an anti-winding function, and the flexible connecting structure (9) is connected with the electromagnetic detector (1).
7. The integrated carrying device of the acousto-magnetic-optical detector of the underwater robot according to any one of claims 1 to 6, characterized in that: the carrying device carrying method comprises the following steps: aiming at different requirements of the use of the electromagnetic detector (1), the use problem that the underwater robot (23) carries the acoustic-magnetic-optical detector at the same time is solved by combining the carrying mode and the towing mode of the underwater robot (23), the problem of accurate control of the electromagnetic detector (1) close to the seabed (25) is solved, the underwater robot (23) sails at a fixed speed to ensure that the height control rod (11) generates a required angle range, the underwater electromagnetic detector (1) is controlled to detect the submerged metal target (26) on the seabed (25) at a lower height to meet the requirement that the underwater electromagnetic detector (1) is close to the seabed (25) for detection, the towing body is balanced in stress by adjusting the towing body structure to be streamline and symmetrical, the towing body is ensured not to swing in sailing and not to hook obstacles, the towing rod (5) is a rigid structure close to the seabed (25), optical image observation equipment can be installed on the underwater target observation device to observe underwater targets, an underwater robot (23) carries an electromagnetic detector (1), the electromagnetic detector (1) adjusts the posture to be horizontal through a first floating body material (2), a non-metal fixed structure (13), a towing positioning heavy object (22) and the like, the electromagnetic detector is slightly positive buoyancy, the interval between the gravity center and the buoyancy center is required to be as large as possible, meanwhile, the structure appearance of the electromagnetic detector has a smooth streamline structure and a symmetrical structure, so that the electromagnetic detector is balanced in stress during navigation and does not swing during navigation, after the posture is adjusted, a towing body formed by combining the electromagnetic detector (1) and the first floating body material (2) needs to be towed in a trial mode, the towing body is ensured not to swing during navigation at different speeds, the stress balance is adjusted, the structural part does not generate asymmetric rudder effect, and the posture of the electromagnetic detector (1) is relatively stable during use, the underwater robot (23) has small vibration, sails in a height-fixed mode, carries an acoustic detector and an optical observation device on the underwater robot, implements detection of front and bottom targets, meets the long-distance detection requirement of the acoustic detector, does not generate a float hook, has good safety, and is beneficial to popularization and use of the underwater robot (23), the underwater robot (23) automatically controls the sailing speed or the sailing height (such as 10m) of the underwater robot (23) according to the sailing height control requirement of a towed body, is provided with the acoustic and optical detection and observation devices, determines the length of a first drag rope (7) with a sheath in a pilot mode during design, cannot be too flexible, can use the drag rope with the sheath, ensures the sailing safety of the underwater robot (23), adapts to and meets the detection height requirement of the acoustic detector for sailing safety, the underwater robot (23) can be guided to sail by a surface ship, as shown in figure 2, under the condition of shallow water, a cable mode can be adopted to supply power, communicate and position for the underwater robot (23), the underwater robot (23) is controlled to execute an underwater dragging detection task, the underwater robot (23) adopts a self-contained mode to record underwater course, navigation, optical image and other data, and the data are played back and analyzed after being recovered.
Priority Applications (1)
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114715344A (en) * | 2022-05-06 | 2022-07-08 | 中电科（宁波）海洋电子研究院有限公司 | Control method of mobile multilayer marine environment profile monitoring system |
| CN115056946A (en) * | 2022-04-14 | 2022-09-16 | 中国科学院水生生物研究所 | Ship-based towed mobile acoustic investigation device and method for monitoring whale dolphins |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115056946A (en) * | 2022-04-14 | 2022-09-16 | 中国科学院水生生物研究所 | Ship-based towed mobile acoustic investigation device and method for monitoring whale dolphins |
| CN115056946B (en) * | 2022-04-14 | 2023-03-28 | 中国科学院水生生物研究所 | Ship-based towed mobile acoustic investigation device and method for monitoring whale dolphins |
| CN114715344A (en) * | 2022-05-06 | 2022-07-08 | 中电科（宁波）海洋电子研究院有限公司 | Control method of mobile multilayer marine environment profile monitoring system |
| CN114715344B (en) * | 2022-05-06 | 2023-04-07 | 中电科（宁波）海洋电子研究院有限公司 | Control method of mobile multilayer marine environment profile monitoring system |
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