CN113511039A - Detection device with deep diving function and detection method thereof - Google Patents
Detection device with deep diving function and detection method thereof Download PDFInfo
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- CN113511039A CN113511039A CN202110913547.0A CN202110913547A CN113511039A CN 113511039 A CN113511039 A CN 113511039A CN 202110913547 A CN202110913547 A CN 202110913547A CN 113511039 A CN113511039 A CN 113511039A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
- B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
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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
- B63G8/14—Control of attitude or depth
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/30—Parts of fuselage relatively movable to reduce overall dimensions of aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
Abstract
The invention discloses a detection device with a deep diving function and a detection method thereof, wherein the detection device with the deep diving function comprises a main rotor mechanism, four groups of auxiliary rotor mechanisms, an auxiliary rotor retracting mechanism, four underwater propellers, a pressure bearing cabin, a rotor mechanism fixing frame and a shell. The detection device with the deep diving function utilizes four underwater propellers to propel underwater, can overcome the buoyancy effect to realize diving and underwater maneuvering motion, and realizes the detection of the environment in a deeper sea area; the four groups of auxiliary rotor wing mechanisms can be used for swinging downwards and withdrawing, so that the resistance in the submerging and floating processes is reduced, and meanwhile, the gravity center of the detection device moves downwards, thereby being beneficial to the stability of the detection device in water; the auxiliary rotor wing retraction and release mechanisms are utilized to control the four groups of auxiliary rotor wing mechanisms to swing to the horizontal position, so that the flight lift force and the air flight cruising ability of the detection device are improved; the height gauge is used for preventing the detection device from touching the bottom.
Description
Technical Field
The invention relates to a detection device, in particular to a detection device with a deep diving function and a detection method thereof.
Background
The cross-medium ocean exploration equipment can be traced back to the concept of a submerged amphibious cross-medium airplane proposed in 1934 at the earliest. However, due to the significant difference between water environment and air environment, it is not easy for an aircraft to meet the requirements of both media simultaneously. Although a plurality of manned amphibious aircraft design schemes are proposed in some countries such as the United states, no amphibious navigation in the air and sea is really realized. In recent decades, with the development of unmanned system technology, the research of cross-medium detection equipment has advanced greatly, and many concepts and variants are generated, and the complexity and technical difficulty of the system are reduced compared with that of an unmanned aircraft. However, these cross-medium detection devices can only make shallow sea navigation in general, and it is difficult to meet the deep sea detection requirements.
The cross-medium marine environment detection device with the deep submergence function has a plurality of technical problems to be overcome. For example, the contradiction of the weight requirements of the detection device in air flight and deep submergence, the realization of modal transition between media, the design of a multi-media propulsion system meeting the requirements, the attitude stability and the like. In order to solve the problems, the invention provides a detection device with a deep diving function and a detection method thereof.
Disclosure of Invention
The purpose of the invention is as follows: the detection device with the deep diving function and the detection method thereof can meet the requirement of detecting the environment of a deeper sea area.
The technical scheme is as follows: the detection device with the deep diving function comprises a main rotor mechanism, four groups of auxiliary rotor mechanisms, an auxiliary rotor retracting mechanism, four underwater propellers, a pressure bearing cabin, a rotor mechanism fixing frame and a shell;
an installation cavity is arranged in the shell; the pressure-bearing cabin and the rotor wing mechanism fixing frame are both arranged in the mounting cavity; the lower end of the main rotor wing mechanism is arranged on the rotor wing mechanism fixing frame, and the upper end of the main rotor wing mechanism extends out of the shell; the four groups of auxiliary rotor wing mechanisms are synchronously hinged on the rotor wing mechanism fixing frame in an up-and-down swinging manner; four containing grooves are formed in the shell, and the four groups of auxiliary rotor wing mechanisms are respectively positioned in the four containing grooves after being swung downwards; the auxiliary rotor wing retracting mechanisms are arranged on the rotor wing mechanism fixing frames and are used for driving the four groups of auxiliary rotor wing mechanisms to synchronously swing up and down; the four underwater propellers are all arranged outside the shell;
a controller, a wireless communication module, a memory and a propeller driving circuit are arranged in the pressure bearing cabin; a water depth sensor, a temperature sensor and a salinity sensor which are electrically connected with the controller are arranged on the shell; the lower end of the shell is provided with a height meter which is electrically connected with the controller; the propeller driving circuit is electrically connected with the four underwater propellers, and the controller coordinately controls the four underwater propellers to rotate forwards and reversely through the propeller driving circuit; the main rotor wing mechanism, the four groups of auxiliary rotor wing mechanisms and the auxiliary rotor wing retraction and release mechanisms are all driven and controlled by the controller.
Further, the main rotor mechanism comprises a main rotor arm, a main rotor motor and a main rotor; the lower end of the main rotor arm is fixed on the rotor mechanism fixing frame, and the upper end of the main rotor arm extends out of the shell; the main rotor motor is arranged at the extending end of the main rotor arm; the main rotor is arranged on an output shaft of the main rotor motor;
a main rotor wing driving circuit electrically connected with the controller is arranged in the pressure bearing cabin; the main rotor drive circuit is electrically connected with the main rotor motor, and the controller drives the main rotor motor to rotate through the main rotor drive circuit.
Furthermore, a main rotor wing fixing device is arranged on the main rotor wing arm; the main rotor wing fixing device comprises a sliding sleeve and two push rods; the sliding sleeve is arranged on the upper end of the main rotor arm in a sliding manner; four blocking notches for blocking the rotation of the main rotor wing are arranged on the sliding sleeve; the upper ends of the two push rods are fixed on the sliding sleeve, the lower ends of the two push rods are fixed on the auxiliary rotor wing retracting mechanisms, the auxiliary rotor wing retracting mechanisms drive the sliding sleeve to slide downwards when driving the four groups of auxiliary rotor wing mechanisms to swing upwards, and the auxiliary rotor wing mechanisms drive the sliding sleeve to slide upwards when driving the four groups of auxiliary rotor wing mechanisms to swing downwards.
Furthermore, the auxiliary rotor wing retracting mechanism comprises an auxiliary rotor wing retracting motor, a driving screw rod and a lifting disc; the auxiliary rotor wing retracting motor is arranged on the upper side disc; the driving screw is in butt joint with an output shaft of the auxiliary rotor wing retracting motor; a threaded hole is formed in the center of the lifting disc, and the driving screw rod is screwed in the threaded hole; the lower ends of the two push rods are fixed on the lifting disc; the upper ends of the four groups of auxiliary rotor wing mechanisms are hinged on the lifting disc;
a retraction driving circuit electrically connected with the controller is arranged in the pressure bearing cabin; the retraction driving circuit is electrically connected with the auxiliary rotor retraction motor, and the controller drives the auxiliary rotor retraction motor to rotate through the retraction driving circuit.
Furthermore, the auxiliary rotor wing mechanism comprises an auxiliary rotor wing arm and an auxiliary rotor wing motor; the upper part of the auxiliary rotor arm is hinged on the rotor mechanism fixing frame through a hinge seat; the upper end of the auxiliary rotor arm is hinged on the lifting disc through a connecting rod; the auxiliary rotor motor is arranged on the lower end of the auxiliary rotor arm; an auxiliary rotor wing is arranged on an output shaft of the auxiliary rotor wing motor;
an auxiliary rotor wing driving circuit electrically connected with the controller is arranged in the pressure bearing cabin; the auxiliary rotor wing driving circuit is electrically connected with the four auxiliary rotor wing motors, and the controller coordinately controls the four auxiliary rotor wing motors through the auxiliary rotor wing driving circuit.
Furthermore, each auxiliary rotor wing mechanism is provided with a rotor wing blocking mechanism; the rotor wing blocking mechanism comprises a rotating square pipe, a telescopic square pipe and a pull rope; one end of the rotating square tube is rotatably arranged on the auxiliary rotor arm, and one end of the telescopic square tube is elastically and telescopically arranged on the other end of the rotating square tube; a torsion spring is arranged between the rotating square tube and the auxiliary rotor wing arm, the torsion spring drives the rotating square tube to rotate to be perpendicular to the auxiliary rotor wing arm when the auxiliary rotor wing arm swings downwards, and the telescopic square tube blocks the auxiliary rotor wing; one end of the stay cord is fixed on the rotor wing mechanism fixing frame, the other end of the stay cord is fixed on the rotating square tube, and the stay cord pulls the rotating square tube when the auxiliary rotor wing arm swings upwards, so that the rotating square tube rotates until the rotating square tube is parallel to the auxiliary rotor wing arm.
Furthermore, the other end of the telescopic square tube is provided with a roller.
Furthermore, four protective barriers which transversely surround the four underwater propellers are arranged on the shell.
Furthermore, four buoyancy chambers are arranged at the upper part of the shell and used for providing buoyancy to enable the detection device to stably float on the water surface.
The invention also provides a detection method of the detection device with the deep diving function, which comprises the following steps:
parameter setting step: presetting each depth to be measured and storing the depth in a memory;
a step of water surface landing: the main rotor mechanism and the four groups of auxiliary rotor mechanisms drive the detection device to fly to a position to be detected and descend under the coordination control of the controller, the altimeter feeds back height data from the water surface to the controller in real time, the controller judges whether the detection device is close to the water surface, when the controller judges that the detection device is close to the water surface, the controller controls the auxiliary rotor retracting mechanisms to drive the four groups of auxiliary rotor mechanisms to swing upwards and ascend, so that the detection device keeps stable falling of the posture until the four underwater propellers are immersed in the water, and the controller controls the four underwater propellers to work and keeps the posture of the detection device stably floating on the water surface; the controller controls the auxiliary rotor wing retraction mechanisms to drive the four groups of auxiliary rotor wing mechanisms to retract downwards, and the main rotor wing mechanism stops working;
a submerging step: the controller coordinately controls the four underwater propellers to generate thrust larger than buoyancy so as to submerge; the water depth sensor detects water depth data in real time and feeds the water depth data back to the controller, the controller judges whether the water depth data reach a preset deepest depth, the altimeter feeds the detection data back to the controller in real time, the controller judges whether the water depth data reach the bottom of the water, and when the controller judges that the detection device reaches the preset deepest depth or is about to reach the bottom of the water, the controller controls the four underwater propellers to enable the detection device to be suspended in the water;
a floating detection step: the controller controls the four underwater propellers to stop working, and the detection device starts to float upwards under the action of buoyancy; in the floating process of the detection device, when a specified depth is reached, the controller controls the temperature sensor, the salinity sensor and the water depth sensor to acquire data and store the data in the memory until the detection device stably floats out of the water surface, and the controller controls the wireless communication module to upload the data in the memory to the remote control center to finish detection;
taking off from the water surface: the controller controls the four underwater propellers to keep the posture of the detection device stable, the controller controls the rotor wing retraction jack to drive the four groups of auxiliary rotor wing mechanisms to swing upwards to enable the four groups of auxiliary rotor wing mechanisms to be separated from the water surface, then the main rotor wing mechanism and the four groups of auxiliary rotor wing mechanisms drive the detection device to be separated from the water surface under the control of the controller, the altimeter feeds back data to the controller in real time, whether the altimeter is separated from the water surface is judged by the controller, and when the controller judges that the detection device is separated from the water surface, the controller controls the rotor wing retraction jack to drive the four groups of auxiliary rotor wing mechanisms to swing horizontally and controls the four underwater propellers to stop working, so that take-off is completed. Compared with the prior art, the invention has the beneficial effects that: four underwater propellers are used for propelling underwater, the detection device can overcome the buoyancy effect to realize submergence and underwater maneuvering motion, and the detection of the environment in a deeper sea area is realized; the four groups of auxiliary rotor wing mechanisms can be used for swinging downwards and withdrawing, so that the resistance in the submerging and floating processes is reduced, and meanwhile, the gravity center of the detection device moves downwards, thereby being beneficial to the stability of the detection device in water; the auxiliary rotor wing retraction and release mechanisms are utilized to control the four groups of auxiliary rotor wing mechanisms to swing to the horizontal position, so that the flight lift force and the air flight cruising ability of the detection device are improved; the altimeter is used for realizing the bottom touch prevention of the detection device; data acquisition is realized by utilizing a water depth sensor, a temperature sensor and a salinity sensor; storing the signal data acquired by each sensor by using a memory; and uploading the data in the memory to a remote control center by using the wireless communication module.
Drawings
FIG. 1 is a perspective view of the internal structure of the present invention;
FIG. 2 is a state diagram of the present invention in a dive;
FIG. 3 is a bottom view of the present invention;
FIG. 4 is a partial cross-sectional view of the present invention;
figure 5 is an enlarged partial view of the rotor blocking mechanism of the present invention;
FIG. 6 is a state diagram of the present invention in flight;
FIG. 7 is a state diagram of the auxiliary rotor mechanism of the present invention in an elevated position;
FIG. 8 is a schematic diagram of the circuit structure of the present invention;
FIG. 9 is a flow chart of the water surface descent steps of the present invention;
FIG. 10 is a flow chart of the submerging steps of the present invention;
FIG. 11 is a flow chart of the float detection step of the present invention;
FIG. 12 is a flow chart of the water surface takeoff procedure of the present invention.
Detailed Description
The technical solution of the present invention is described in detail below with reference to the accompanying drawings, but the scope of the present invention is not limited to the embodiments.
Example 1:
as shown in fig. 1 to 8, the probe apparatus with a deep submergence function disclosed in the present invention includes: the main rotor wing mechanism, the four groups of auxiliary rotor wing mechanisms, the auxiliary rotor wing retraction and release mechanisms, the four underwater propellers 16, the pressure bearing cabin 20, the rotor wing mechanism fixing frame 12 and the shell 6;
a mounting cavity is arranged in the shell 6; the pressure-bearing cabin 20 and the rotor wing mechanism fixing frame 12 are both arranged in the installation cavity, and the rotor wing mechanism fixing frame 12 is positioned above the pressure-bearing cabin 20; the lower end of the main rotor wing mechanism is arranged on the rotor wing mechanism fixing frame 12, and the upper end of the main rotor wing mechanism extends out of the shell 6; the four groups of auxiliary rotor wing mechanisms are synchronously hinged on the rotor wing mechanism fixing frame 12 in an up-and-down swinging manner, are distributed in a cross shape after being swung upwards, and extend out of the mounting cavity; four accommodating grooves 8 communicated with the mounting cavity are vertically formed in the shell 6, and the four groups of auxiliary rotor wing mechanisms are respectively positioned in the four accommodating grooves 8 after swinging downwards; the auxiliary rotor wing retracting mechanisms are arranged on the rotor wing mechanism fixing frame 12 and are used for driving the four groups of auxiliary rotor wing mechanisms to swing up and down; the four underwater propellers 16 are all arranged on the pressure bearing cabin 20 through the cross-shaped bracket 19, and the four underwater propellers 16 are all positioned outside the shell 6;
a controller, a wireless communication module, a memory and a propeller driving circuit are arranged in the pressure bearing chamber 20; a water depth sensor, a temperature sensor and a salinity sensor which are electrically connected with the controller are arranged on the shell 6; a height meter 17 electrically connected with the controller is arranged at the lower end of the shell 6; the propeller driving circuit is electrically connected with the four underwater propellers 16, and the controller coordinately controls the four underwater propellers 16 to rotate forwards and backwards through the propeller driving circuit; the main rotor wing mechanism, the four groups of auxiliary rotor wing mechanisms and the auxiliary rotor wing retraction and release mechanisms are all driven and controlled by the controller.
Four underwater propellers 16 are used for propelling underwater, the detection device can overcome the buoyancy effect to realize submergence and underwater maneuvering motion, and the detection of the deep sea environment is realized; the four groups of auxiliary rotor wing mechanisms can be used for swinging downwards and withdrawing, so that the resistance in the submerging and floating processes is reduced, and meanwhile, the gravity center of the detection device moves downwards, thereby being beneficial to the stability of the detection device in water; the auxiliary rotor wing retraction and release mechanisms are utilized to control the four groups of auxiliary rotor wing mechanisms to swing to the horizontal position, so that the flight lift force and the air flight cruising ability of the detection device are improved; the height meter 17 is used for realizing the bottom touch prevention of the detection device; data acquisition is realized by utilizing a water depth sensor, a temperature sensor and a salinity sensor; storing the signal data acquired by each sensor by using a memory; and uploading the data in the memory to a remote control center by using the wireless communication module.
Further, the main rotor mechanism comprises a main rotor arm 4, a main rotor motor 2 and a main rotor 1; the lower end of the main rotor wing arm 4 is fixed on the rotor wing mechanism fixing frame 12, and the upper end extends out of the shell 6; the main rotor motor 2 is arranged on the extending end of the main rotor arm 4, and the output shaft of the main rotor motor 2 is vertically upward;
a main rotor drive circuit electrically connected with the controller is arranged in the pressure bearing chamber 20; the main rotor drive circuit is electrically connected with the main rotor motor 2, and the controller drives the main rotor motor 2 to rotate through the main rotor drive circuit.
Utilize main rotor arm 4 to lift main rotor motor 2 and main rotor 1 height and keep away from the surface of water, improved detection device's surface of water ability of taking off.
Further, a main rotor fixing device is arranged on the main rotor arm 4; the main rotor wing fixing device comprises a sliding sleeve 3 and two push rods 5; the sliding sleeve 3 is slidably mounted on the upper end of the main rotor arm 4; four blocking notches 26 for blocking the rotation of the main rotor 1 are provided on the upper edge of the sliding sleeve 3; the upper ends of the two push rods 5 are fixed on the lower edge of the sliding sleeve 3, the lower ends of the two push rods 5 penetrate through the rotor wing mechanism fixing frame 12 and then are fixed on the auxiliary rotor wing retraction jack, the auxiliary rotor wing retraction jack drives the sliding sleeve 3 to slide downwards when driving the four groups of auxiliary rotor wing mechanisms to swing upwards, and the sliding sleeve 3 is driven to slide upwards when driving the four groups of auxiliary rotor wing mechanisms to swing downwards.
Utilize sliding sleeve 3, two push rods 5 and four to block the cooperation between notch 26, guaranteed that the whereabouts in-process is assisted rotor jack and is driving four and assist rotor mechanism and put down the time, two push rods 5 of drive upwards promote sliding sleeve 3, make 1 cards of main rotor block in blockking notch 26, guarantee that main rotor mechanism and assistance rotor mechanism all are fixed after detecting device enters into water, prevent to influence detecting device's dive.
Further, the auxiliary rotor wing retracting mechanism comprises an auxiliary rotor wing retracting motor 28, a driving screw 27 and a lifting disc 25; the auxiliary rotor wing retracting motor 28 is arranged on the upper side surface of the rotor wing mechanism fixing frame 12, an output shaft of the rotor wing retracting motor penetrates through the upper side plate of the rotor wing mechanism fixing frame 12, and the driving screw 27 is butted on the output shaft of the auxiliary rotor wing retracting motor 28; a threaded hole is formed in the center of the lifting disc 25, a driving screw 27 is screwed in the threaded hole, and the lower end of the driving screw 27 is rotatably mounted on the upper side surface of the pressure bearing chamber 20; the lower ends of the two push rods 5 are fixed on the lifting disc 25; the upper ends of the four groups of auxiliary rotor wing mechanisms are hinged on the lifting disc 25;
a retraction driving circuit electrically connected with the controller is arranged in the pressure bearing chamber 20; the retraction drive circuit is electrically connected with the auxiliary rotor retraction motor 28, and the controller drives the auxiliary rotor retraction motor 28 to rotate through the retraction drive circuit.
Utilize drive lead screw 27 drive lifting disk 25 to reciprocate, drive four groups and assist the rotor mechanism luffing motion, realized the control that four groups assist the rotor mechanism and expand or pack up, lifting disk 25 drives four groups and assists the rotor mechanism and go up the pendulum and leave the surface of water simultaneously, improves detection device's surface of water ability of taking off.
Further, the auxiliary rotor mechanism includes an auxiliary rotor arm 9 and an auxiliary rotor motor 18; the upper part of the auxiliary rotor wing arm 9 is hinged on a rotor wing mechanism fixing frame 12 through a hinge seat 11; the upper end of the auxiliary rotor wing arm 9 is hinged on the lifting disc 25 through a connecting rod 10; an auxiliary rotor motor 18 is mounted on the lower end of the auxiliary rotor arm 9; an auxiliary rotor 15 is mounted on an output shaft of the auxiliary rotor motor 18;
an auxiliary rotor wing driving circuit electrically connected with the controller is arranged in the pressure bearing chamber 20; the auxiliary rotor drive circuit is electrically connected with the four auxiliary rotor motors 18, and the controller coordinately controls the four auxiliary rotor motors 18 through the auxiliary rotor drive circuit.
The auxiliary rotor motor 18 is used for driving the two auxiliary rotors 15 to rotate, so that the direction of the main rotor mechanism is adjusted in a flying process, and the detection device can be guaranteed to reach a point to be detected smoothly.
Furthermore, each auxiliary rotor wing mechanism is provided with a rotor wing blocking mechanism; the rotor wing blocking mechanism comprises a rotating square pipe 21, a telescopic square pipe 22 and a pull rope 13; one end of a square rotating pipe 21 is rotatably installed on the circumferential surface of the lower end of the auxiliary rotor arm 9, and one end of a square telescopic pipe 22 is elastically and telescopically installed on the other end of the square rotating pipe 21; a torsion spring is arranged between the square rotating tube 21 and the auxiliary rotor wing arm 9, the torsion spring drives the square rotating tube 21 to rotate to be vertical to the auxiliary rotor wing arm 9 when the auxiliary rotor wing arm 9 swings downwards, and the telescopic square tube 22 blocks the auxiliary rotor wing 15; one end of the pull rope 13 is fixed on the rotor wing mechanism fixing frame 12, the other end is fixed on the rotating square tube 21, and when the pull rope 13 swings up on the auxiliary rotor wing arm 9, the rotating square tube 21 is pulled to rotate until the rotating square tube 21 is parallel to the auxiliary rotor wing arm 9; when assisting rotor motor 18 and being two single output shaft motors, assist rotor mechanism and contain two flexible square pipes 22, and two flexible square pipes 22 respectively the telescopic installation of elasticity on the both ends of rotatory square pipe 21.
When the pulling rope 13 swings upwards on the auxiliary rotor wing mechanism, the rotating square tube 21 is pulled, so that the rotating square tube 21 is parallel to the auxiliary rotor wing arm 9, and the telescopic square tube 22 is ensured not to block the auxiliary rotor wing 15 to rotate; when the auxiliary rotor wing arm 9 swings downwards, the torsion spring is utilized to drive the rotating square tube 21 to rotate to be perpendicular to the auxiliary rotor wing arm 9, so that the telescopic square tube 22 blocks the auxiliary rotor wing 15, and the auxiliary rotor wing mechanism can be ensured to be successfully retracted into the accommodating groove 8; utilize flexible square pipe 22 elasticity telescopic type to install on rotatory square pipe 21, flexible square pipe 22 retracts when assisting rotor 15 to block rotatory square pipe 21, prevents to assist rotor 15 impaired.
Further, a roller 23 is mounted on the other end of the telescopic square tube 22. The sliding friction between the telescopic square tube 22 and the auxiliary rotor 15 is changed into rolling friction by the roller 23, so that the damage of the auxiliary rotor 15 is reduced.
Furthermore, four branch end parts of the cross-shaped bracket 19 extend out through the shell 6; the paddle shafts of the four underwater propellers 16 are respectively and vertically fixed on the extending ends of the four branches of the cross-shaped bracket 19; four protective barriers 14 are arranged on the housing 6, each of which laterally surrounds four underwater propellers 16.
The cross-shaped bracket 19 ensures that the four underwater propellers 16 can be uniformly propelled, so that the detection device is kept balanced and the direction is convenient to adjust; the underwater propeller 16 is protected by the protective fence 14, and the underwater propeller 16 is prevented from being damaged when the detection device is collided.
Furthermore, four buoyancy chambers 7 are installed on the upper portion of the housing 6 for providing buoyancy to enable the detector to stably float on the water surface.
Utilize four buoyancy cabins 7 to provide buoyancy for detecting device, and buoyancy cabin 7 is in the center of buoyancy that guarantees detecting device that detecting device upper portion can be better and is higher than the focus, both can guarantee the gesture stability of detecting device come-up and dive in-process, stability when can guaranteeing detecting device surface of water again and float.
As shown in fig. 8 to 12, the present invention also provides a detection method of a detection apparatus with a deep submergence function, comprising the steps of:
parameter setting step: presetting each depth to be measured and storing the depth in a memory;
a step of water surface landing: the controller coordinately controls the main rotor motor 2 and the four auxiliary rotor motors 18 through the main rotor driving circuit and the auxiliary rotor driving circuits to drive the detection device to fly and descend, the height meter 17 feeds back height data from the water surface to the controller in real time, the controller judges whether the height data is close to the water surface, when the controller judges that the detection device is 5 meters away from the water surface, the controller drives the auxiliary rotor retraction motor 28 to rotate through controlling the retraction driving circuit, the lifting disc 25 moves downwards under the driving of the driving screw 27, the four auxiliary rotor arms 9 swing upwards and rise to enable the detection device to keep stable posture and fall until the four underwater propellers 16 are immersed in the water, the controller coordinately controls the four underwater propellers 16 to work through the propeller driving circuits to keep stable posture of the detection device to float on the water surface; then the controller controls the main rotor motor 2 and the four auxiliary rotor motors 18 to stop working, the controller drives the auxiliary rotor retracting motors 28 to rotate by controlling the retracting drive circuit, the lifting disc 25 moves upwards under the drive of the drive screw 27 to drive the two push rods 5 to push the sliding sleeve 3 to move upwards, the blocking notch 26 buckles the main rotor 1, meanwhile, the four auxiliary rotor arms 9 swing downwards, each torsion spring drives each rotating square tube 21 to rotate to be vertical to the auxiliary rotor arms 9, the controller inputs signals with small duty ratios to the four auxiliary rotor motors 18 to enable each auxiliary rotor 15 to rotate slowly, the auxiliary rotors 15 stop rotating after being blocked by the telescopic square tubes 22, and the lower ends of the four auxiliary rotor arms 9 are retracted into the four accommodating grooves 8;
a submerging step: the controller coordinately controls the four underwater propellers 16 to generate thrust larger than buoyancy through the propeller driving circuit so as to submerge; the water depth sensor detects water depth data in real time and feeds the water depth data back to the controller, the controller judges whether the water depth data reach a preset deepest depth, the altimeter 17 feeds the detection data back to the controller in real time, the controller judges whether the water depth data reach the bottom of the water, and when the controller judges that the detection device reaches the preset deepest depth or is about to reach the bottom of the water, the controller controls the four underwater thrusters 16 to enable the detection device to be suspended in the water;
a floating detection step: the controller controls the four underwater propellers 16 to stop working, and the detection device starts to float upwards under the buoyancy action of the four buoyancy chambers 7; in the floating process of the detection device, when a specified depth is reached, the controller controls the temperature sensor, the salinity sensor and the water depth sensor to acquire data and store the data in the memory until the detection device stably floats out of the water surface, and the controller controls the wireless communication module to upload the data in the memory to the remote control center to finish detection;
taking off from the water surface: the controller coordinately controls the four underwater propellers 16 through the propeller driving circuit to keep the posture of the detection device stable, the controller drives the auxiliary rotor wing retracting motor 28 to rotate through controlling the retracting driving circuit, the lifting disc 25 moves downwards under the driving of the driving screw 27 to drive the two push rods 5 to push the sliding sleeve 3 to move downwards, the main rotor wing 1 is separated from the blocking notch 26, meanwhile, the four auxiliary rotor wing arms 9 swing upwards to be separated from the water surface, each pull rope 13 pulls each rotating square tube 21 to rotate until the rotating square tube is parallel to the auxiliary rotor wing arms 9, and each auxiliary rotor wing 15 is not blocked; the controller is through main rotor drive circuit and the cooperation of assisting rotor drive circuit control main rotor motor 2 and four and assist rotor motor 18 rotatory, it breaks away from the surface of water to drive detecting device, altimeter 17 feeds back data to the controller in real time, judge by the controller whether break away from the surface of water, judge that detecting device breaks away from five meters after the surface of water when the controller, controller control assists the rotor and receive and release motor 28 rotatory, the lifter plate 25 upward movement, four assist rotor arms 9 and put down the tie and be the horizontality, four underwater propulsors 16 stop work of simultaneous control ware control, accomplish and take off.
In the detection device with the deep diving function, the altimeter 17, the deep sensor, the temperature sensor and the salinity sensor are all the existing digital sensors and are used for acquiring data; the controller adopts the existing ARM processor module and is used for realizing coordination control; the memory adopts the existing memory; the wireless communication module adopts the existing wireless communication module to upload the data in the memory to the remote control center; the underwater propeller 16 adopts an existing underwater propeller and is used for controlling the submergence depth and the submergence direction of the detection device under water; the main rotor motor 2, the auxiliary rotor retracting motor 28 and the auxiliary rotor motor 18 are all the existing stepping motors; the main rotor drive circuit, the retractable drive circuit and the auxiliary rotor drive circuit all adopt corresponding stepping motor drive circuits.
As noted above, while the present invention has been shown and described with reference to certain preferred embodiments, it is not to be construed as limited thereto. Various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A detection device with a deep submergence function is characterized in that: the aircraft comprises a main rotor mechanism, four groups of auxiliary rotor mechanisms, an auxiliary rotor retracting mechanism, four underwater propellers (16), a pressure bearing cabin (20), a rotor mechanism fixing frame (12) and a shell (6);
an installation cavity is arranged in the shell (6); the pressure bearing cabin (20) and the rotor wing mechanism fixing frame (12) are both arranged in the mounting cavity; the lower end of the main rotor wing mechanism is arranged on the rotor wing mechanism fixing frame (12), and the upper end of the main rotor wing mechanism extends out of the shell (6); the four groups of auxiliary rotor wing mechanisms are synchronously hinged on a rotor wing mechanism fixing frame (12) in an up-and-down swinging manner; four containing grooves (8) are formed in the shell (6), and the four groups of auxiliary rotor wing mechanisms are respectively positioned in the four containing grooves (8) after swinging downwards; the auxiliary rotor wing retracting mechanisms are arranged on the rotor wing mechanism fixing frame (12) and are used for driving the four groups of auxiliary rotor wing mechanisms to synchronously swing up and down; the four underwater propellers (16) are all arranged outside the shell (6);
a controller, a wireless communication module, a memory and a propeller driving circuit are arranged in the pressure bearing cabin (20); a water depth sensor, a temperature sensor and a salinity sensor which are electrically connected with the controller are arranged on the shell (6); a height meter (17) electrically connected with the controller is arranged at the lower end of the shell (6); the propeller driving circuit is electrically connected with the four underwater propellers (16), and the controller coordinately controls the four underwater propellers (16) to rotate forwards and backwards through the propeller driving circuit; the main rotor wing mechanism, the four groups of auxiliary rotor wing mechanisms and the auxiliary rotor wing retraction and release mechanisms are all driven and controlled by the controller.
2. The deep submergence detecting device according to claim 1, wherein: the main rotor mechanism comprises a main rotor arm (4), a main rotor motor (2) and a main rotor (1); the lower end of the main rotor arm (4) is fixed on the rotor mechanism fixing frame (12), and the upper end extends out of the shell (6); the main rotor motor (2) is arranged on the extending end of the main rotor arm (4); the main rotor (1) is arranged on an output shaft of the main rotor motor (2);
a main rotor wing driving circuit electrically connected with the controller is arranged in the pressure bearing cabin (20); the main rotor drive circuit is electrically connected with the main rotor motor (2), and the controller drives the main rotor motor (2) to rotate through the main rotor drive circuit.
3. The deep submergence functional probe according to claim 2, wherein: a main rotor wing fixing device is arranged on the main rotor wing arm (4); the main rotor wing fixing device comprises a sliding sleeve (3) and two push rods (5); the sliding sleeve (3) is arranged on the upper end of the main rotor arm (4) in a sliding manner; four blocking notches (26) for blocking the rotation of the main rotor (1) are arranged on the sliding sleeve (3); the upper ends of the two push rods (5) are fixed on the sliding sleeve (3), the lower ends of the two push rods are fixed on the auxiliary rotor wing retracting mechanisms, the auxiliary rotor wing retracting mechanisms drive the sliding sleeve (3) to slide downwards when driving the four groups of auxiliary rotor wing mechanisms to swing upwards, and the auxiliary rotor wing mechanisms drive the sliding sleeve (3) to slide upwards when driving the four groups of auxiliary rotor wing mechanisms to swing downwards.
4. The deep submergence detecting device according to claim 1, wherein: the auxiliary rotor wing retracting mechanism comprises an auxiliary rotor wing retracting motor (28), a driving screw rod (27) and a lifting disc (25); the auxiliary rotor wing retracting motor (28) is arranged on the rotor wing mechanism fixing frame (12); the driving screw rod (27) is butted on an output shaft of the auxiliary rotor wing retracting motor (28), and the driving screw rod (27) is screwed on the lifting disc (25); the upper ends of the four groups of auxiliary rotor wing mechanisms are hinged on a lifting disc (25);
a retraction driving circuit electrically connected with the controller is arranged in the pressure bearing cabin (20); the retraction driving circuit is electrically connected with the auxiliary rotor retraction motor (28), and the controller drives the auxiliary rotor retraction motor (28) to rotate through the retraction driving circuit.
5. The deep submergence detecting device according to claim 4, wherein: the auxiliary rotor wing mechanism comprises an auxiliary rotor wing arm (9) and an auxiliary rotor wing motor (18); the upper part of the auxiliary rotor arm (9) is hinged on a rotor mechanism fixing frame (12) through a hinge seat (11); the upper end of the auxiliary rotor arm (9) is hinged on the lifting disc (25) through a connecting rod (10); the auxiliary rotor motor (18) is arranged on the lower end of the auxiliary rotor arm (9); an auxiliary rotor (15) is arranged on an output shaft of the auxiliary rotor motor (18);
an auxiliary rotor wing driving circuit electrically connected with the controller is arranged in the pressure bearing cabin (20); the auxiliary rotor wing driving circuit is electrically connected with the four auxiliary rotor wing motors (18), and the controller coordinately controls the four auxiliary rotor wing motors (18) through the auxiliary rotor wing driving circuit.
6. The deep submergence functional probe according to claim 5, wherein: each auxiliary rotor wing mechanism is provided with a rotor wing blocking mechanism; the rotor wing blocking mechanism comprises a rotating square pipe (21), a telescopic square pipe (22) and a pull rope (13); one end of the rotating square pipe (21) is rotatably arranged on the auxiliary rotor arm (9), and one end of the telescopic square pipe (22) is elastically and telescopically arranged on the other end of the rotating square pipe (21); a torsion spring is arranged between the square rotating tube (21) and the auxiliary rotor arm (9), the torsion spring drives the square rotating tube (21) to rotate to be perpendicular to the auxiliary rotor arm (9) when the auxiliary rotor arm (9) swings downwards, and the telescopic square tube (22) blocks the auxiliary rotor (15); one end of the pull rope (13) is fixed on the rotor wing mechanism fixing frame (12), the other end of the pull rope is fixed on the rotating square pipe (21), and when the pull rope (13) swings up the auxiliary rotor wing arm (9), the rotating square pipe (21) is pulled to rotate until the rotating square pipe (21) is parallel to the auxiliary rotor wing arm (9).
7. The deep submergence detecting device according to claim 6, wherein: the other end of the telescopic square pipe (22) is provided with a roller (23).
8. The deep submergence detecting device according to claim 1, wherein: four protective barriers (14) which respectively transversely surround the four underwater propellers (16) are arranged on the shell (6).
9. The deep submergence detecting device according to claim 1, wherein: four buoyancy chambers (7) are arranged at the upper part of the shell (6) and are used for providing buoyancy to ensure that the detecting device stably floats on the water surface.
10. The method for detecting a sounding device having a deep submerging function according to claim 1, wherein: the method comprises the following steps:
parameter setting step: presetting each depth to be measured and storing the depth in a memory;
a step of water surface landing: the main rotor mechanism and the four groups of auxiliary rotor mechanisms drive the detection device to fly to a position to be detected and descend under the coordination control of the controller, the height meter (17) feeds back height data from the water surface to the controller in real time, the controller judges whether the height data is close to the water surface, when the controller judges that the detection device is close to the water surface, the controller controls the auxiliary rotor retraction mechanisms to drive the four groups of auxiliary rotor mechanisms to swing upwards and ascend, so that the detection device keeps stable falling of the posture until the four underwater propellers (16) are immersed in the water, and the controller controls the four underwater propellers (16) to work and keeps stable floating of the posture of the detection device on the water surface; the controller controls the auxiliary rotor wing retraction mechanisms to drive the four groups of auxiliary rotor wing mechanisms to retract downwards, and the main rotor wing mechanism stops working;
a submerging step: the controller coordinately controls the four underwater propellers (16) to generate thrust greater than buoyancy so as to submerge; the water depth sensor detects water depth data in real time and feeds the water depth data back to the controller, the controller judges whether the water depth reaches a preset deepest depth, the altimeter (17) feeds the detection data back to the controller in real time, the controller judges whether the water depth reaches the bottom, and when the controller judges that the detection device reaches the preset deepest depth or is about to reach the bottom, the controller controls the four underwater thrusters (16) to enable the detection device to be suspended in water;
a floating detection step: the controller controls the four underwater propellers (16) to stop working, and the detection device starts to float upwards under the action of buoyancy; in the floating process of the detection device, when a specified depth is reached, the controller controls the temperature sensor, the salinity sensor and the water depth sensor to acquire data and store the data in the memory until the detection device stably floats out of the water surface, and the controller controls the wireless communication module to upload the data in the memory to the remote control center to finish detection;
taking off from the water surface: the controller controls the four underwater propellers (16) to keep the posture of the detection device stable, the controller controls the rotor wing retraction mechanism to drive the four groups of auxiliary rotor wing mechanisms to swing upwards to enable the four groups of auxiliary rotor wing mechanisms to be separated from the water surface, then the main rotor wing mechanism and the four groups of auxiliary rotor wing mechanisms drive the detection device to be separated from the water surface under the control of the controller, the altimeter (17) feeds back data to the controller in real time, the controller judges whether the four groups of auxiliary rotor wing mechanisms are separated from the water surface, and after the controller judges that the detection device is separated from the water surface, the controller controls the rotor wing retraction mechanism to drive the four groups of auxiliary rotor wing mechanisms to swing flat and controls the four underwater propellers (16) to stop working to finish take off.
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