CN116280118A

CN116280118A - Hybrid unmanned underwater gliding type operation robot and acoustic monitoring system thereof

Info

Publication number: CN116280118A
Application number: CN202310530271.7A
Authority: CN
Inventors: 杨志国; 颜曦; 宗乐; 陆欢佳; 赵月霞; 童成涛; 孟庆健; 刘惠化
Original assignee: Hangzhou Rayfi Technology Co ltd; National Deep Sea Center
Current assignee: Hangzhou Rayfi Technology Co ltd; National Deep Sea Center
Priority date: 2023-05-12
Filing date: 2023-05-12
Publication date: 2023-06-23
Anticipated expiration: 2043-05-12
Also published as: CN116280118B

Abstract

The invention provides a hybrid unmanned underwater gliding type operation robot and an acoustic monitoring system thereof, and relates to the field of underwater monitoring. The unmanned aerial vehicle comprises an unmanned aerial vehicle shell, wherein a controller, a double-shaft motor, two storage batteries and three partition plates are arranged in the unmanned aerial vehicle shell, two ends of the double-shaft motor are respectively provided with a gliding wing plate, and four groups of auxiliary mechanisms are respectively arranged on one side of each gliding wing plate. According to the underwater gliding type operation robot, the underwater gliding type operation robot can sink and move upwards at the preset position according to the preset setting, meanwhile, the illumination lamp and the shooting device are matched to obtain visual information of the underwater topography, workers can intuitively and simply watch underwater environments at some positions, the deficiency of data collection of the energy converter is supplemented, the effectiveness of underwater environment monitoring is guaranteed, and the working quality of the underwater gliding type operation robot is improved.

Description

Hybrid unmanned underwater gliding type operation robot and acoustic monitoring system thereof

Technical Field

The invention relates to an underwater operation robot, in particular to a hybrid unmanned underwater gliding type operation robot and an acoustic monitoring system thereof, and belongs to the technical field of underwater monitoring.

Background

The water environment is one of the main parts of the natural environment, and along with the increasing serious problems of economic and social development and environment opposition, the problems of the disclosed deposition environment, water pollution, water resource protection and the like are more and more.

Underwater environmental monitoring is one of the very active water environment research fields in recent years, and the monitoring has important significance in the aspects of tracking and protecting endangered marine mammals, fish shoal positioning, classifying and tracking, salvaging and salvaging, submarine pipeline detection and the like.

The unmanned underwater gliding type operation robot is equipment commonly used in the underwater environment monitoring working process, after the unmanned underwater gliding type operation robot is lowered to the water, the unmanned underwater gliding type operation robot can only glide on a preset route, the strain capacity of the emergency on the corresponding route is poor, the underwater environment can be detected and monitored only through an acoustic monitoring device, the data is single, and the underwater environment research difficulty is high.

Disclosure of Invention

To solve the technical problems: the invention provides an unmanned underwater gliding type operation robot, which comprises an unmanned aerial vehicle shell, wherein the unmanned aerial vehicle shell comprises a sonar detector, a transducer, a high-pressure pump and two tail wings, a controller, a double-shaft motor, two storage batteries and three partition boards are arranged inside the unmanned aerial vehicle shell, the two ends of the double-shaft motor are respectively provided with a gliding wing board, four groups of auxiliary mechanisms are respectively arranged on one side of each gliding wing board, each group of auxiliary mechanisms is respectively provided with four hydraulic cylinders and four limiting clamping rods, stress points between the gliding wing boards and the unmanned aerial vehicle shell are increased, the stability of the operation of the gliding wing boards is guaranteed, the possibility that the influence of water pressure is separated from the unmanned aerial vehicle shell in the operation process is reduced, the service life of the underwater gliding type operation robot is guaranteed, the two gliding wing boards are fixedly connected with a water guide elbow pipe, a pump body, a booster valve, a three-way valve and a plurality of connecting pipelines, the tops and bottoms of the connecting pipelines are fixedly connected with a piece, the functions of occupying the gliding wing boards of the underwater gliding type operation machine are increased, the water guide pipe is more than that the bottom of the unmanned aerial vehicle is provided with a transparent, the transparent environment is not provided with a transparent device, and the transparent environment is not recorded, and the transparent environment is not can be easily illuminated by the transparent device.

Preferably, the unmanned aerial vehicle shell still includes water pump and two control valves, water pump fixed connection is in unmanned aerial vehicle shell front end, two control valves are fixed connection respectively in water pump play water end both sides, through water pump and two control valve cooperation, the direction of advance of control unmanned aerial vehicle shell, one side fixedly connected with signal amplifier that the unmanned aerial vehicle shell top is close to the water pump.

Preferably, the high-pressure pump fixedly connected with is in unmanned aerial vehicle shell inside rear end, high-pressure pump water outlet end fixedly connected with honeycomb duct, honeycomb duct one side fixedly connected with two injection pipes, two are tail vane respectively fixedly connected with unmanned aerial vehicle shell rear end top and bottom, and the water of high-pressure pump is through two injection pipes blowout, and the thrust that produces promotes the unmanned aerial vehicle shell and advance, two injection pipes respectively with two tail vane fixed connection.

Preferably, high-pressure pump water inlet end fixedly connected with pipe, pipe fixedly connected with a plurality of inlet tubes, a plurality of inlet tube one end all runs through the unmanned aerial vehicle shell and extends to the unmanned aerial vehicle shell outside, and a plurality of inlet tubes are annular distribution on the unmanned aerial vehicle shell, draw water in through each direction, avoid the rivers that draw water the production to cause unmanned aerial vehicle shell skew.

Preferably, the controller, two batteries and three division boards are all fixedly connected inside the unmanned aerial vehicle shell, three the division boards are all arranged between the controller and the high-pressure pump, the double-shaft motor is arranged between two division boards, two division boards are all arranged between two batteries, two batteries are separated and arranged, the probability of synchronous damage of the two batteries is reduced, the stability of the work of the underwater gliding type operation robot is guaranteed, two mounting tubes are fixedly connected between the transparent glass box and the unmanned aerial vehicle shell, the energy converter is fixedly connected inside the transparent glass box, the transparent glass box cannot influence the illumination of the light generated by the work of the lighting lamp to the underwater environment, the work effect of the lighting lamp is guaranteed, and the sonar detector is fixedly connected to the top of the transparent glass box.

Preferably, pneumatic cylinder one end and unmanned aerial vehicle shell fixed connection, spacing kelly fixed connection is in pneumatic cylinder one side, and is a plurality of the equal fixed cover in pneumatic cylinder outside is equipped with stable cover, stable cover one end and unmanned aerial vehicle shell fixed connection, two support circular slot have all been seted up to one side that the wing board of gliding is close to the unmanned aerial vehicle shell, are two of four spacing kelly that annular distributes and support circular slot alignment that the wing board was seted up, fixedly connected with transmission shaft between biax motor both ends and two wing boards of gliding respectively, the pneumatic cylinder work can promote spacing kelly partly inside supporting circular slot, carries out auxiliary support to the wing board of gliding, increases the impetus between wing board and the unmanned aerial vehicle shell, the transmission shaft passes through the bearing and rotates with the unmanned aerial vehicle shell and is connected.

Preferably, fill water piece one end and gliding pterygoid lamina fixed connection, water return bend one side with set up in a plurality of in gliding pterygoid lamina bottom fill water piece fixed connection, fill the inside water deformation of piece, fill a plurality of water pieces of water deformation and provide weight and the bottom support that sink for the unmanned aerial vehicle shell, water return bend one end and three-way valve fixed connection, three-way valve fixed connection is between booster valve and the pump body, water return bend, drain valve, booster valve, three-way valve, the equal fixed connection of the pump body in gliding pterygoid lamina bottom.

The utility model provides an unmanned underwater gliding operation robot acoustic monitoring system, the inside signal conditioning module and the calculation module of being provided with of controller, transducer and signal conditioning module electric connection, signal conditioning module output electric connection has analog-to-digital conversion module, analog-to-digital conversion module output electric connection has image forming module, image forming module output electric connection has storage module, storage module internally stored has control program, sonar detector output and calculation module input electric connection, and the sonar detector detects that there is the barrier in the gliding operation robot forward direction under water, electric connection has the contrast module between calculation module and the storage module, makes the underwater gliding operation robot get back to the route that original control program set up after avoiding debris, guarantees to meet the submarine environment that the route is located and monitor.

Preferably, the comparison module comprises a reset instruction, the reset instruction is used for controlling the work of the double-shaft motor, the pump body, the high-pressure pump, the water pump and the control valve, the calculation module comprises an upward movement instruction and a avoidance instruction, the upward movement instruction is used for controlling the double-shaft motor and the pump body to work, the avoidance instruction is used for controlling the high-pressure pump, the water pump and the control valve to work, the comparison module is electrically connected with the signal amplifier, the calculation module and the comparison module are used for comparing and calculating the upward movement or the offset movement quantity after receiving the upward movement instruction or the avoidance instruction, and the comparison is used for recording after comparing with the control program, so that the position of a newly-increased obstacle on the navigation line of the underwater gliding type operation robot is conveniently calculated by staff in the later period.

Preferably, the control program comprises an advancing/suspending instruction and a sinking/lifting instruction, wherein the advancing/suspending instruction is used for controlling the pump body and the high-pressure pump to work, the sinking/lifting instruction is used for controlling the shooting device, the lighting lamp, the double-shaft motor, the drain valve, the three-way valve, the pump body and the hydraulic cylinder to work, and the underwater gliding type operation robot can work after automatically avoiding sundries, so that the underwater navigation safety of the underwater gliding type operation robot is ensured.

The invention provides a hybrid unmanned underwater gliding type operation robot and an acoustic monitoring system thereof, which have the following beneficial effects:

this hybrid unmanned underwater gliding type operation robot and acoustic monitoring system thereof provides the support for the static foundation of unmanned aerial vehicle shell, control shooting device this moment, the transducer, illumination lamps and lanterns work simultaneously, the illumination lamps and lanterns that are installed by transparent glass case work is ambient lighting, the shooting device of work is shot the record to the submarine environment that is illuminated, the staff can directly perceivedly simple watch the submarine environment of some positions, the deficiency of data is collected to the transducer is supplied, guarantee submarine environment monitoring's validity, can be according to setting in advance, make underwater gliding type operation robot carry out the work of sinking up in preset position, illumination lamps and lanterns and shooting device cooperation acquire the audio-visual data of submarine topography simultaneously, guarantee the accuracy of monitoring submarine environment change, improve submarine gliding type operation robot work quality.

This hybrid unmanned underwater gliding type operation robot and acoustic monitoring system thereof makes the operation after the gliding type operation robot under water can avoid debris automatically, guarantee the safety of underwater navigation of gliding type operation robot under water, and calculate the volume of upward movement or skew motion after the gliding type operation robot under water receives the instruction of shifting up or avoid the instruction through calculation module and contrast module contrast, record after comparing with control program, make things convenient for the staff later stage to calculate the position of newly-increased barrier on the gliding type operation robot airline under water, make things convenient for the later stage to salvage or destroy the barrier, guarantee the safety and stability of the gliding type operation robot under water navigation on the airline.

This unmanned and unmanned underwater gliding type operation robot and acoustic monitoring system thereof, when the wing plate of gliding is perpendicular or parallel with the submarine, be two of four spacing bars that annular distributes and the support circular slot that the wing plate was seted up and align, the pneumatic cylinder work can promote the support circular slot inside with spacing bar part this moment, carries out auxiliary stay to the wing plate of gliding, increases the impetus between wing plate and the unmanned aerial vehicle shell, guarantees the life of wing plate of gliding.

This hybrid unmanned underwater gliding type operation robot and acoustic monitoring system thereof, the water of high pressure pump is spouted through two injection pipes, and the thrust that produces promotes unmanned aerial vehicle shell and gos forward. And a plurality of inlet tubes are annular and distribute on the unmanned aerial vehicle shell, draw water through all directions, avoid the rivers that draw water the production to cause unmanned aerial vehicle shell skew, guarantee unmanned aerial vehicle shell navigation at predetermined route.

This hybrid unmanned underwater gliding type operation robot and acoustic monitoring system thereof, gliding pterygoid lamina is rotatory perpendicular with the bottom to a plurality of water filling piece are inside to fill water for unmanned aerial vehicle shell weight gain, and unmanned aerial vehicle shell buoyancy reduces greatly to the bottom subsidence, and a plurality of water filling piece that fill water support unmanned aerial vehicle shell with the bottom contact earlier, increase the function of the gliding pterygoid lamina that occupies the great constitution structure of underwater gliding type operation robot, increase the economic benefits that the gliding pterygoid lamina used.

Drawings

FIG. 1 is a schematic diagram of the overall structure of the present invention;

FIG. 2 is a schematic view of the transparent glass case of the present invention;

FIG. 3 is a schematic view of a partial structure of a unmanned aerial vehicle housing according to the present invention;

FIG. 4 is a schematic view of the water filling member of the present invention;

FIG. 5 is a schematic view of the structure of the connecting pipe according to the present invention;

FIG. 6 is a schematic view of the structure of the glide wing plate of the present invention;

FIG. 7 is a schematic view of a water guiding elbow of the present invention;

FIG. 8 is a schematic structural view of a stabilizing sleeve according to the present invention;

FIG. 9 is a schematic view of the structure of the tail vane of the present invention;

FIG. 10 is a schematic view of a flow conduit according to the present invention;

FIG. 11 is a schematic diagram of a system according to the present invention;

FIG. 12 is a system diagram of a reset instruction according to the present invention;

FIG. 13 is a system diagram of a comparison module of the present invention;

fig. 14 is a system schematic diagram of the control program of the present invention.

Reference numerals illustrate: 1. unmanned aerial vehicle shell; 2. a signal amplifier; 3. installing a pipe; 4. a transparent glass case; 5. a sonar detector; 6. a photographing device; 7. a transducer; 8. a lighting fixture; 9. a controller; 10. a storage battery; 11. a partition plate; 12. a biaxial motor; 13. a transmission shaft; 14. a gliding wing plate; 15. a water filling member; 16. a connecting pipe; 17. a water guide elbow; 18. a drain valve; 19. a pressure increasing valve; 20. a three-way valve; 21. a pump body; 22. a hydraulic cylinder; 23. a limit clamping rod; 24. a stabilizing sleeve; 25. a high pressure pump; 26. a round tube; 27. a water inlet pipe; 28. a flow guiding pipe; 29. a jet pipe; 30. tail wing plates; 31. a water pump; 32. a control valve; 33. a signal conditioning module; 34. an analog-to-digital conversion module; 35. an image forming module; 36. a storage module; 37. a control program; 38. forward/hover instruction; 39. sink/move up instructions; 40. a computing module; 41. a comparison module; 42. a move-up instruction; 43. avoidance instructions; 44. a reset instruction.

Detailed Description

The embodiment of the invention provides a hybrid unmanned underwater gliding type operation robot and an acoustic monitoring system thereof.

Please refer to fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6, fig. 7, fig. 8, fig. 9, fig. 10, fig. 11, fig. 12, fig. 13 and fig. 14, including unmanned aerial vehicle shell 1, unmanned aerial vehicle shell 1 includes sonar detector 5, transducer 7, high-pressure pump 25 and two tail vane 30, unmanned aerial vehicle shell 1 inside is provided with controller 9, biax motor 12, two battery 10 and three division board 11, biax motor 12 both ends all are provided with gliding pterygoid lamina 14, two gliding pterygoid lamina 14 one side all is provided with four sets of auxiliary mechanism, every auxiliary mechanism of group all is provided with four pneumatic cylinders 22 and four spacing draw-in bars 23, two supporting circular grooves have all been seted up to one side that two gliding pterygoid lamina 14 are close to unmanned aerial vehicle shell 1, two all fixedly connected with water guide bend 17, drain valve 18, booster valve 19, three-way valve 20, pump body 21 and a plurality of connecting pipes 16, a plurality of connecting pipes 16 top and bottom all fixedly connected with 15, unmanned aerial vehicle shell 1 bottom is provided with water filling glass case 4, transparent glass lamp 4 inside transparent case 4 is provided with transparent lamp device 6.

In the first embodiment, the transducer 7 is composed of a transmitting transducer and a receiving transducer, the transmitting transducer converts an electric signal into an acoustic signal, the acoustic signal is transmitted to the water, the receiving transducer receives the anti-rebound acoustic signal and converts the anti-rebound acoustic signal into an electric signal, the electric signal is transmitted to the controller 9, and the information of the underwater topography, the vegetation and the landform of the water area is obtained by detection. The underwater gliding operation robot composed of the controller 9, the double-shaft motor 12, the storage battery 10, the partition plate 11, the gliding wing plate 14, the water guide bent pipe 17, the drain valve 18, the booster valve 19, the three-way valve 20, the pump body 21, the connecting pipeline 16 and other parts periodically sails on a fixed route, so that the corresponding water area water bottom environment change can be monitored, data are provided for water area water bottom ecological change and landform change research, the water area is monitored, and the maintenance and treatment, ecological control, economic benefit and other aspects of the water area are favorably adjusted.

When the double-shaft motor 12 is controlled to work, the working double-shaft motor 12 drives the two gliding wing plates 14 to rotate through the two fixed transmission shafts 13, and after the gliding wing plates 14 are controlled to rotate 90 degrees clockwise by taking the figure 1 of the specification as a reference, the gliding wing plates 14 are vertical to the water at the moment.

The two pump bodies 21 and the two three-way valves 20 are controlled to work simultaneously when the double-shaft motor 12 is controlled to work, normally closed channels of the working three-way valves 20 are opened, and at the moment, the pump bodies 21 work to fill water into the water filling pieces 15 through the three-way valves 20 and the water guide bent pipes 17, and because two adjacent water filling pieces 15 are communicated through the connecting pipeline 16, the water filling pieces 15 are simultaneously deformed.

The plurality of water filling members 15 capable of elastic deformation are filled with water into a shape as shown in fig. 1 of the specification, and the plurality of water filling members 15 capable of water filling deformation are rotated by 90 degrees by the gliding wing plates 14 and then are vertical to the ground. And the gliding pterygoid lamina 14 is rotatory perpendicular with the bottom this moment to a plurality of water filling pieces 15 are inside to fill water for unmanned aerial vehicle shell 1 weight gain, and unmanned aerial vehicle shell 1 buoyancy reduces greatly to the bottom subsidence, and a plurality of water filling pieces 15 that fill water contact earlier with the bottom to support unmanned aerial vehicle shell 1. The shooting device 6, the energy converter 7 and the lighting lamp 8 which are arranged at the bottom of the unmanned aerial vehicle shell 1 are prevented from being damaged by contact with the water bottom. Through parts cooperation such as biax motor 12, gliding pterygoid lamina 14, water filling piece 15, connecting tube 16, water guide return bend 17, drain valve 18, booster valve 19, three-way valve 20, pump body 21, for the static support that provides of the undersea of unmanned aerial vehicle shell 1, control camera 6 this moment, transducer 7, illumination lamps and lanterns 8 simultaneous working, the illumination lamps and lanterns 8 work of being installed by transparent glass case 4 is illumination around, the camera 6 of work is shot the record to the submarine environment that is illuminated, the staff can directly perceived simple watch the submarine environment of some positions, supply the not enough of data to transducer 7 collection, guarantee submarine environment monitoring's validity.

When the unmanned aerial vehicle housing 1 sinks to the water bottom, the water discharge valve 18 and the pump body 21 are controlled to work, and the three-way valve 20 stops working. When the drain valve 18 is operated, the elastically deformed water-filled member 15 is restored. And two adjacent water filling pieces 15 are fixed through a connecting pipeline 16, as shown in fig. 5; meanwhile, one side of the water guide bent pipe 17 is fixedly connected with a plurality of water filling pieces 15 arranged at the bottom of the gliding wing plate 14. As shown in fig. 2 and 4. The plurality of water filling members 15 to which the water guide bent pipe 17 is fixed are thus communicated with the adjacent plurality of water filling members 15 through the plurality of hollow connecting pipes 16. Therefore, the plurality of water filling pieces 15 arranged at the top of the gliding wing plate 14 are communicated with the plurality of water filling pieces 15 arranged at the bottom of the gliding wing plate 14 through the plurality of hollow connecting pipelines 16, the water inside the plurality of water filling pieces 15 at the top of the gliding wing plate 14 is discharged into the plurality of water filling pieces 15 at the bottom of the gliding wing plate 14 through the plurality of connecting pipelines 16, the water inside the plurality of water filling pieces 15 at the bottom of the gliding wing plate 14 is discharged into the water guide elbow 17 fixed at one side, the water inside the water guide elbow 17 is finally discharged through the water discharge valve 18 fixed at one side of the water guide elbow 17, as shown in fig. 7, the flowing power of the water inside the water filling pieces 15 is the force generated when the elastically deformed water filling pieces 15 are restored, so that the water inside the water filling pieces 15 is discharged through the water guide elbow 17 and the water discharge valve 18, and the water inside the water filling pieces 15 is discharged by the water discharge valve 18 is deactivated. The pump body 21 of work is through three-way valve 20 to the inside infusion rivers of booster valve 19, the rivers are by the blowout after the booster valve 19 is pressurized, apply the power of upwards moving for unmanned aerial vehicle shell 1, make unmanned aerial vehicle shell 1 upwards move until the motion to the surface of water, and at this in-process control pump body 21 stop work, biax motor 12 work resets the position of gliding pterygoid lamina 14, gliding pterygoid lamina 14 is parallel with the water bottom this moment, make in the water of unmanned aerial vehicle shell 1 suspension, increase the function of the gliding pterygoid lamina 14 that occupies the great constitution structure of gliding work robot under water, increase the economic benefits that gliding pterygoid lamina 14 used.

When the gliding wing plate 14 is perpendicular to or parallel to the water bottom, the hydraulic cylinder 22 works to push the limiting clamping rod 23 into the supporting circular groove formed in the gliding wing plate 14, and the limiting clamping rod 23 and the hydraulic cylinder 22 cooperate to limit the position of the gliding wing plate 14. Increase the stress point between gliding pterygoid lamina 14 and the unmanned aerial vehicle shell 1, guarantee the stability of gliding pterygoid lamina 14 work, reduce the influence that receives water pressure in the working process of gliding pterygoid lamina 14 and the possibility that unmanned aerial vehicle shell 1 breaks away from, guarantee the life of gliding formula work robot under water.

Please refer to fig. 1, fig. 3, fig. 9 and fig. 10 again, unmanned aerial vehicle shell 1 still includes water pump 31 and two control valves 32, water pump 31 fixed connection is in unmanned aerial vehicle shell 1 front end, two control valves 32 are fixed connection respectively in water pump 31 play water end both sides, one side fixedly connected with signal amplifier 2 that unmanned aerial vehicle shell 1 top is close to water pump 31, high-pressure pump 25 fixed connection is in the inside rear end of unmanned aerial vehicle shell 1, high-pressure pump 25 play water end fixedly connected with honeycomb duct 28, two injection pipes 29 of honeycomb duct 28 one side fixedly connected with, two are tail pterygoid lamina 30 respectively fixed connection in unmanned aerial vehicle shell 1 rear end top and bottom, two injection pipes 29 respectively with two tail pterygoid lamina 30 fixed connection, high-pressure pump 25 water inlet end fixedly connected with pipe 26, pipe 26 fixedly connected with a plurality of inlet tubes 27, a plurality of inlet tube 27 one end all run through unmanned aerial vehicle shell 1 and extend to unmanned aerial vehicle shell 1 outside.

In the second embodiment, the control valve 32 on the left side and the water pump 31 are controlled to operate simultaneously, so that the water pump 31 pumps water and ejects the water through the control valve 32, and the generated thrust acts on the unmanned aerial vehicle housing 1 to shift the unmanned aerial vehicle housing 1 rightward. The water pump 31 and the control valve 32 on the right side are operated simultaneously, and the generated thrust acts on the unmanned aerial vehicle housing 1 to offset the unmanned aerial vehicle housing 1 to the left. The advancing direction of the unmanned aerial vehicle housing 1 is controlled by the cooperation of the water pump 31 and the two control valves 32.

The high-pressure pump 25 is pumped by the round pipe 26 and the water inlet pipe 27, and the flow guide pipe 28 is arranged between the two injection pipes 29 fixed by the two tail wing plates 30 and the high-pressure pump 25, so that the water pumped by the high-pressure pump 25 is sprayed out by the two injection pipes 29, and the generated thrust pushes the unmanned aerial vehicle shell 1 to advance. And a plurality of inlet tubes 27 are annular and distribute on unmanned aerial vehicle shell 1, draw water through all directions, avoid the rivers that draw water the production to cause unmanned aerial vehicle shell 1 skew, guarantee unmanned aerial vehicle shell 1 and voyage at predetermined route.

Please refer to fig. 1 and 3 again, the controller 9, two batteries 10 and three division boards 11 are all fixedly connected inside the unmanned aerial vehicle housing 1, the three division boards 11 are all arranged between the controller 9 and the high-pressure pump 25, the double-shaft motor 12 is arranged between two division boards 11, the two division boards 11 are all arranged between the two batteries 10, two mounting pipes 3 are fixedly connected between the transparent glass box 4 and the unmanned aerial vehicle housing 1, the transducer 7 is fixedly connected inside the transparent glass box 4, and the sonar detector 5 is fixedly connected at the top of the transparent glass box 4.

Embodiment three, through three division board 11 with unmanned aerial vehicle shell 1 internal separation into a plurality of spaces, separate two battery 10 and set up, reduce the probability that two battery 10 damaged in step, guarantee this stability of gliding formula work robot work under water. And the high-pressure pump 25, the biaxial motor 12, and the controller 9 are separately installed to avoid damage thereof at the same time.

And fix transparent glass case 4 through a plurality of mounting tubes 3, transparent glass case 4 can not influence the illumination of light to the submarine environment that illumination lamps and lanterns 8 work produced, guarantees the effect of illumination lamps and lanterns 8 work.

Please refer to fig. 3, 6 and 8 again, pneumatic cylinder 22 one end and unmanned aerial vehicle shell 1 fixed connection, spacing kelly 23 fixed connection is in pneumatic cylinder 22 one side, and the equal fixed cover in a plurality of pneumatic cylinders 22 outsides is equipped with stable cover 24, and stable cover 24 one end and unmanned aerial vehicle shell 1 fixed connection, the biax motor 12 both ends respectively with two gliding pterygoid lamina 14 between fixedly connected with transmission shaft 13, transmission shaft 13 passes through the bearing and rotates with unmanned aerial vehicle shell 1 and be connected.

Fourth embodiment is that annular distribution has four spacing bars 23 in unmanned aerial vehicle shell 1 both sides to four spacing bars 23 are all with unmanned aerial vehicle shell 1 between fixedly connected with pneumatic cylinder 22, and with the less pneumatic cylinder 22 of unmanned aerial vehicle shell 1 fixed area and unmanned aerial vehicle shell 1 between fixedly connected with stable cover 24, guarantee the stability of pneumatic cylinder 22 installation work. When the gliding pterygoid lamina 14 is perpendicular or parallel with the submarine, be two in four spacing draw-in bars 23 that annular distributes and the support circular slot that the gliding pterygoid lamina 14 offered and align, the pneumatic cylinder 22 work can promote the support circular slot inside with spacing draw-in bar 23 a part this moment, carries out auxiliary stay to the gliding pterygoid lamina 14, increases the impetus between gliding pterygoid lamina 14 and the unmanned aerial vehicle shell 1, guarantees the life of gliding pterygoid lamina 14.

Referring to fig. 4, 5 and 7 again, one end of the water filling member 15 is fixedly connected with the gliding wing plate 14, one side of the water guiding elbow 17 is fixedly connected with a plurality of water filling members 15 arranged at the bottom of the gliding wing plate 14, one end of the water guiding elbow 17 is fixedly connected with the three-way valve 20, the three-way valve 20 is fixedly connected between the pressure increasing valve 19 and the pump body 21, and the water guiding elbow 17, the water discharging valve 18, the pressure increasing valve 19, the three-way valve 20 and the pump body 21 are fixedly connected at the bottom of the gliding wing plate 14.

In the fifth embodiment, the pump body 21 pumps water while the normally closed channel of the three-way valve 20 is opened, and at this time, the pump body 21 pumps water through the three-way valve 20, the water guide elbow 17 and the plurality of connecting pipes 16 to infuse the water into the plurality of water filling members 15, so that the water filling members 15 capable of performing elastic deformation are deformed by filling water, and the plurality of water filling members 15 deformed by filling water provide sinking weight and sinking support for the unmanned aerial vehicle housing 1.

When the pump body 21 and the drain valve 18 work simultaneously and the three-way valve 20 stops working, at this time, the pump body 21 pumps water to the inside of the booster valve 19 through the three-way valve 20, the water is sprayed out after being boosted by the booster valve 19, and according to the vertical or parallel state of the gliding wing plate 14, the functionality of the application of the gliding wing plate 14 is ensured for the unmanned aerial vehicle shell 1 through upward buoyancy or forward thrust.

Referring to fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6, fig. 7, fig. 8, fig. 9, fig. 10, fig. 11, fig. 12 and fig. 13, an acoustic monitoring system for an unmanned underwater gliding type operation robot is provided, a signal conditioning module 33 and a calculating module 40 are disposed in the controller 9, the transducer 7 is electrically connected with the signal conditioning module 33, the output end of the signal conditioning module 33 is electrically connected with an analog-to-digital conversion module 34, the output end of the analog-to-digital conversion module 34 is electrically connected with an image forming module 35, the output end of the image forming module 35 is electrically connected with a storage module 36, a control program 37 is stored in the storage module 36, the control program 37 includes an advance/suspend command 38 and a sink/float command 39, the advance/float command 38 is used for controlling the pump body 21 and the high pressure pump 25, the sink/float command 39 is used for controlling the photographing device 6, the lighting lamp 8, the biaxial motor 12, the drain valve 18, the three-way valve 20, the hydraulic cylinder 22 is used for working, the output end of the sound detector 5 is electrically connected with the calculating module 40, the input end of the calculating module 40, the calculating module 40 is electrically connected with the output end of the image forming module 35, the storage module 36 is electrically, the electric control module 41 is electrically connected with the electric motor 36, the electric reset module 41 is used for comparing the electric motor 40 with the electric motor 32, the electric command 41 is used for comparing the electric command with the high-speed command 41, the electric command 41 is used for comparing the electric command with the pump 21 and the high-speed command 43, the high-speed command 43 is used for controlling the pump 41, the high-speed command and the high-speed pump 41 is used for controlling the pump 41, and the pump 41 is used for comparing the electric command and the electric command 43, and the control command 43, and the 43 is used for controlling the electric command and the control module 41, and the 43 is used for 43.

In the sixth embodiment, the working transducer 7 of the underwater gliding type working robot collects information of the environment of the detected water during the gliding process. The information collected by the transducer 7 is amplified by the signal conditioning module 33 in the controller 9, converted into a digital signal by the analog-to-digital conversion module 34, and then transmitted to the image forming module 35, and the image forming module 35 generates a corresponding analog image from the digital signal and then transmits the corresponding analog image to the storage module 36 for storage. And the image forming module 35 is electrically connected with the signal amplifier 2, and the image data generated by the image forming module 35 is amplified by the signal amplifier 2 and then is transmitted to an onshore data center.

The control program 37 is stored in the storage module 36, and the control program 37 is used for controlling the parts such as the water pump 31, the double-shaft motor 12, the high-pressure pump 25, the pump body 21 and the like to perform corresponding work, controlling the underwater gliding type operation robot to glide on a preset route, and monitoring the change of the underwater environment of the water area in the corresponding route range by periodically gliding the underwater gliding type operation robot on a fixed route.

Meanwhile, the control program 37 includes an advance/suspend command 38 and a sink/float command 39, wherein the advance/suspend command 38 controls the pump body 21 and the high-pressure pump 25 to work, and provides a propulsion force for the gliding advance of the underwater gliding type working robot.

After the control program 37 controls the underwater glide type working robot to glide to the set position, the sinking/upward moving instruction 39 provided inside the control program 37 controls the biaxial motor 12, the three-way valve 20 and the pump body 21, and the underwater glide type working robot sinks to the water bottom. Then the shooting device 6 and the lighting lamp 8 are controlled to work, and the working lighting lamp 8 and the shooting device 6 cooperate to collect visual appearance of the underwater environment. Then, the sinking/upward moving command 39 controls the three-way valve 20 to stop working, and after the pump body 21, the three-way valve 20 and the booster valve 19 cooperate to push the underwater gliding type operation robot to move up to a proper height, the gliding wing plate 14 is reset, and the underwater gliding type operation robot is restored to a gliding state, and for details, please refer to the first embodiment, the second embodiment and the fifth embodiment. Can be according to setting up in advance, make the gliding formula operation robot under water carry out the work of sinking at preset position and shift up, illumination lamps and lanterns 8 and shooting device 6 cooperation acquire the audio-visual data of submarine topography simultaneously, guarantee the accuracy to submarine environment change monitoring, improve the quality of gliding formula operation robot work under water.

The sonar detector 5 is arranged at the bottom of the unmanned aerial vehicle shell 1, and the working sonar detector 5 searches the advancing direction of the underwater gliding type operation robot. The sunken ship, the moving reef and the artificial object can form barriers at the water bottom, when the sonar detector 5 detects that the underwater gliding type operation robot has barriers in the advancing direction, the calculation module 40 and the comparison module 41 calculate and compare the length and width information of the barriers fed back by the sonar detector 5, and then send an upward moving instruction 42 to the underwater gliding type operation robot, so that the biaxial motor 12, the pump body 21 and other parts are matched, and the biaxial motor 12 drives the gliding wing plate 14 to rotate by 90 degrees. Simultaneously working pump body 21 infuses rivers to the inside of booster valve 19 through three-way valve 20, and the rivers are spouted after being pressurized by booster valve 19, control and move up by gliding formula operation robot under water, and the detail please refer to embodiment one, for unmanned aerial vehicle shell 1 time ascending power, avoid the barrier, high-pressure pump 25 promotes the gliding formula operation robot under water at the barrier top afterwards.

Or send a avoidance command 43 to the underwater glide type working robot to operate the control valve 32, the water pump 31 and the high-pressure pump 25, and push the underwater glide type working robot to move leftwards or rightwards, and for details, please refer to the second embodiment, the high-pressure pump 25 pushes the underwater glide type working robot to glide on the obstacle side after avoiding the obstacle. The underwater gliding type operation robot can automatically avoid sundries and then work, so that the safety of underwater navigation of the underwater gliding type operation robot is ensured.

The calculation module 40 and the comparison module 41 are used for comparing and calculating the upward movement instruction 42 or the upward movement or the offset movement quantity after avoiding the instruction 43 received by the underwater gliding type operation robot, and the upward movement or the offset movement quantity is compared with the control program 37 and then recorded, so that the position of a newly-added obstacle on the underwater gliding type operation robot route is conveniently calculated by a worker in the later stage, the obstacle is conveniently salvaged or destroyed in the later stage, and the safety and stability of the underwater gliding type operation robot sailing on the route are ensured.

After the underwater glide type operation robot avoids the obstacle, the parts such as the water pump 31, the control valve 32, the double-shaft motor 12, the pump body 21, the high-pressure pump 25 and the like are controlled to work according to the upward movement or the offset movement amount of the contrast module 41 of the underwater glide type operation robot, so that the underwater glide type operation robot returns to the route set by the original control program 37, and the underwater environment where the route is met is ensured to be monitored.

Claims

1. The utility model provides a hybrid unmanned underwater gliding type operation robot, includes unmanned aerial vehicle shell (1), unmanned aerial vehicle shell (1) include sonar detector (5), transducer (7), high-pressure pump (25) and two tailboards (30), its characterized in that: the unmanned aerial vehicle shell (1) is inside to be provided with controller (9), biax motor (12), two battery (10) and three division board (11), biax motor (12) both ends all are provided with glide pterygoid lamina (14), two glide pterygoid lamina (14) one side all is provided with four groups of complementary unit, every complementary unit all is provided with four pneumatic cylinders (22) and four spacing clamping bars (23), two equal fixedly connected with water guide return bend (17) of glide pterygoid lamina (14), drain valve (18), booster valve (19), three-way valve (20), pump body (21) and a plurality of connecting tube (16), a plurality of connecting tube (16) top and bottom equal fixedly connected with water filling piece (15), unmanned aerial vehicle shell (1) bottom is provided with transparent glass case (4), transparent glass case (4) inside fixedly connected with illumination lamps and lanterns (8) and shooting device (6).

2. A hybrid unmanned underwater glide type work robot according to claim 1, wherein: the unmanned aerial vehicle shell (1) still includes water pump (31) and two control valves (32), water pump (31) fixedly connected with unmanned aerial vehicle shell (1) front end, two control valves (32) are fixed connection respectively in water pump (31) play water end both sides, one side fixedly connected with signal amplifier (2) that unmanned aerial vehicle shell (1) top is close to water pump (31).

3. A hybrid unmanned underwater glide type work robot according to claim 1, wherein: the high-pressure pump (25) is fixedly connected to the rear end inside the unmanned aerial vehicle shell (1), the water outlet end of the high-pressure pump (25) is fixedly connected with a guide pipe (28), two jet pipes (29) are fixedly connected to one side of the guide pipe (28), two tail wing plates (30) are respectively fixedly connected to the top and the bottom of the rear end of the unmanned aerial vehicle shell (1), and two jet pipes (29) are respectively fixedly connected with two tail wing plates (30).

4. A hybrid unmanned underwater glide type work robot according to claim 1, wherein: the high-pressure pump (25) water inlet end fixedly connected with pipe (26), pipe (26) fixedly connected with a plurality of inlet tube (27), a plurality of inlet tube (27) one end all runs through unmanned aerial vehicle shell (1) and extends to unmanned aerial vehicle shell (1) outside.

5. A hybrid unmanned underwater glide type work robot according to claim 1, wherein: the intelligent unmanned aerial vehicle comprises a controller (9), two storage batteries (10) and three partition boards (11), wherein the two storage batteries (10) and the three partition boards (11) are fixedly connected inside an unmanned aerial vehicle shell (1), the three partition boards (11) are arranged between the controller (9) and a high-pressure pump (25), a double-shaft motor (12) is arranged between the two partition boards (11), the two partition boards (11) are arranged between the two storage batteries (10), two mounting pipes (3) are fixedly connected between a transparent glass box (4) and the unmanned aerial vehicle shell (1), the transducer (7) is fixedly connected inside the transparent glass box (4), and a sonar detector (5) is fixedly connected to the top of the transparent glass box (4).

6. A hybrid unmanned underwater glide type work robot according to claim 1, wherein: the utility model provides a unmanned aerial vehicle shell (1) fixed connection, limit clamping rod (23) fixed connection is in pneumatic cylinder (22) one side, a plurality of all fixed cover in pneumatic cylinder (22) outside is equipped with stable cover (24), stable cover (24) one end and unmanned aerial vehicle shell (1) fixed connection, two one side that is close to unmanned aerial vehicle shell (1) of gliding pterygoid lamina (14) has all been seted up two and has been supported the circular slot, fixedly connected with transmission shaft (13) between biax motor (12) both ends and two gliding pterygoid lamina (14) respectively, transmission shaft (13) are passed through the bearing and are rotated with unmanned aerial vehicle shell (1) and are connected.

7. A hybrid unmanned underwater glide type work robot according to claim 1, wherein: one end of the water filling piece (15) is fixedly connected with the gliding wing plate (14), one side of the water guiding bent pipe (17) is fixedly connected with a plurality of water filling pieces (15) arranged at the bottom of the gliding wing plate (14), one end of the water guiding bent pipe (17) is fixedly connected with the three-way valve (20), the three-way valve (20) is fixedly connected between the pressure boosting valve (19) and the pump body (21), and the water guiding bent pipe (17), the drain valve (18), the pressure boosting valve (19), the three-way valve (20) and the pump body (21) are fixedly connected at the bottom of the gliding wing plate (14).

8. An acoustic monitoring system for an unmanned underwater glide type work robot, adapted for use with a hybrid unmanned underwater glide type work robot as claimed in any one of claims 1-7, characterized in that: the controller (9) is internally provided with a signal conditioning module (33) and a calculating module (40), the transducer (7) is electrically connected with the signal conditioning module (33), the output end of the signal conditioning module (33) is electrically connected with an analog-digital conversion module (34), the output end of the analog-digital conversion module (34) is electrically connected with an image forming module (35), the output end of the image forming module (35) is electrically connected with a storage module (36), a control program (37) is stored in the storage module (36), the output end of the sonar detector (5) is electrically connected with the input end of the calculating module (40), and a comparison module (41) is electrically connected between the calculating module (40) and the storage module (36).

9. An unmanned underwater glide type work robot acoustic monitoring system according to claim 8 wherein: the comparison module (41) comprises a reset instruction (44), the reset instruction (44) is used for controlling the double-shaft motor (12), the pump body (21), the high-pressure pump (25), the water pump (31) and the control valve (32) to work, the calculation module (40) comprises an upward movement instruction (42) and a avoidance instruction (43), the upward movement instruction (42) is used for controlling the double-shaft motor (12) and the pump body (21) to work, the avoidance instruction (43) is used for controlling the high-pressure pump (25), the water pump (31) and the control valve (32) to work, and the comparison module (41) is electrically connected with the signal amplifier (2).

10. An unmanned underwater glide type work robot acoustic monitoring system according to claim 8 wherein: the control program (37) comprises an advancing/suspending command (38) and a sinking/lifting command (39), wherein the advancing/suspending command (38) is used for controlling the pump body (21) and the high-pressure pump (25) to work, and the sinking/lifting command (39) is used for controlling the shooting device (6), the lighting lamp (8), the double-shaft motor (12), the drain valve (18), the three-way valve (20), the pump body (21) and the hydraulic cylinder (22) to work.