CN204871545U

CN204871545U - Automatic come -up system of underwater robot

Info

Publication number: CN204871545U
Application number: CN201520655366.2U
Authority: CN
Inventors: 马德飞; 严天宏; 陈夏琨; 薛侠峰; 王广耀; 王旭东
Original assignee: China Jiliang University
Current assignee: China Jiliang University
Priority date: 2015-08-25
Filing date: 2015-08-25
Publication date: 2015-12-16
Anticipated expiration: 2025-08-25

Abstract

The utility model belongs to marine technology equips field, the automatic come -up system of concretely relates to underwater robot. Because underwater robot operational environment's complexity, the condition that may appear leaking and be badly in need of emerging, at this moment, its inside sensor that leaks just can detect the signal that leaks, and with this signal transfer to central controller, the apex firearm was sent a signal after central controller handled and judges, activation point firearm, the ignition of some firearm causes chemical reaction and can produce a large amount of gases, the gaseous gasbag that gets into after the filter filters, the gasbag behind the inflation is opened gasbag lid bullet rapidly, the gasbag expandes directly over the robot immediately under water, the volume and the buoyancy of underwater robot have been increased after the expansion, last underwater robot emerges under the effect of net buoyancy, the staff just can in time discover under the supporting role of GPS locator and with its recovery. The utility model discloses simple structure, the reliable operation has greatly improved the underwater robot and has deald with special circumstances's ability.

Description

A kind of automatic buoyancy system of under-water robot

Technical field:

The utility model belongs to maritime technology equipment field, is specifically related to the automatic buoyancy system of a kind of under-water robot.

Background technology:

Due to the needs of marine resources development and marine environmental monitoring in the urgent need to, a lot of developed country constantly updates the marine environmental monitoring system of national seas under its jurisdiction in the world, and the strengthening world has marine environment and the resource exploration monitoring means in marine site.Under-water robot is more and more subject to the attention of various countries as the important means that marine environment and resource exploration are monitored.Under-water robot a kind ofly can be carried by the platform such as naval vessels, submarine, aircraft and self also can be used as the carrying platform of other underwater survey sensors.

Complicated and changeable due to marine environment, under-water robot works the possibility of fault of occuring now and then under water, such as leak, the fault such as power depletion, in emergency circumstances this, one or several in screw propeller, empennage, power supply and way circuit plate etc. can come out of action ability.When working under water for preventing under-water robot; after the unexpected come out of action ability that happens suddenly; under-water robot and the loss of data of carrying thereof; apparatus inside protected data and under-water robot; at this moment need to allow submarine navigation device float on ocean surface as early as possible, reclaim so that staff reclaims corresponding equipment timely and effectively, keep in repair and Data Collection.

For the problems referred to above, the utility model proposes the automatic buoyancy system of a kind of under-water robot, be convenient to AUV leaking, when the propulsion source such as screw propeller and tail vane lost efficacy, under-water robot relies on air bag can the emerging of fast speed automatically, drastically increases the ability that under-water robot tackles extraordinary circumstances.

Utility model content:

The object of the utility model is: propose the automatic buoyancy system of a kind of under-water robot and control method method thereof and control method thereof, be convenient to under-water robot leaking, when the propulsion source such as screw propeller and tail vane lost efficacy, can emerge in time and carry out equipment recovery, maintenance and Data Collection.

In order to realize the object of the utility model, intend by the following technical solutions:

This device is made up of leakage sensor, central controller, firing unit, air bag cabin, airbag cover, filter, sodium azide and air bag.Described leakage sensor is arranged on the inwall of the body junction, cabin that sealing cabin easily leaks, collection is responsible for gathering and transmission water leakage, this signal is sent to the input end of underwater sealing cabin center of inside controller testing circuit through its transmission cable, according to the signal detected, central controller judges whether underwater sealing environment leaks.If judged result is when leaking, central controller sends signal to firing unit, activate firing unit, igniter fire initiating chamical reaction produces gas instantaneously, air bag is entered after gas is filtered, after air bag undergoes rapid expansion, airbag cover is flicked, after launching directly over rear gasbag under water robot, the volume of under-water robot is increased after expansion, its buoyancy is made to be greater than gravity, last under-water robot emerges under the effect of net buoyancy, staff just can under the booster action of GPS locator Timeliness coverage being reclaimed.

Compared with prior art, the beneficial effects of the utility model are:

The utility model adopt air bag once namely open expansion mechanism after receiving useful signal, even if enter large water gaging in the body of cabin can ensure that under-water robot can emerge automatically.

The utility model is when power depletion or circuit break down, and can send signal to firing unit and air bag equally, be that namely under-water robot emerges in time.

Accompanying drawing illustrates:

Fig. 1 is the total workflow diagram of the automatic levitating device of under-water robot;

Fig. 2 is under-water robot working state figure;

Fig. 3 is underwater air bag cabin cutaway view;

Fig. 4 is underwater birds-eye view.

1 be leakage sensor, 2 be wherein central controller, 3 be firing unit, 4 for GPS locator, 5 be air bag cabin, 6 be airbag cover, 7 be filter, 8 for sodium azide and 9 be air bag.

Detailed description of the invention:

Below in conjunction with accompanying drawing, the utility model is further illustrated.

As in Figure 2-4, the utility model is by by comprising by leakage sensor 1, central controller 2, firing unit 3, GPS locator 4, air bag cabin 5, airbag cover 6, filter 7, sodium azide 8 and air bag 9 form, wherein the detection head of leakage sensor 1 is arranged on the inwall of the body junction, cabin easily leaked, central controller 2 is coupled on overall CPU2, firing unit 3 is embedded on the body wall of cabin, head is placed in 5 li, external air bag cabin, cabin, GPS locator 4 simultaneously, filter 7, sodium azide 8 and air bag 9 are also all placed in 5 li, air bag cabin, and closed by airbag cover 6, and airbag cover 6 is bonded on the body wall of cabin by chemical adhesive, GPS locator 4 uses chemical adhesive to be bonded in the bottom in air bag cabin 5, and the position be positioned near filter 7, air bag 9 lower end also uses chemical adhesive to be bonded in the slotted eye in air bag cabin 5.

Described leakage sensor 1 is arranged on the inwall of the body junction, cabin that sealing cabin easily leaks, collection is responsible for gathering and transmission water leakage, this signal is sent to the input end of underwater sealing cabin center of inside controller 2 testing circuit through its transmission cable, according to the signal detected, central controller 2 judges whether underwater sealing environment leaks.If judged result is when leaking, central controller 2 sends signal to firing unit, activate firing unit 3, there is chemical reaction and produce gas instantaneously in firing unit 3 igniting initiation sodium azide 8, gas enters air bag 9 after filter 7 filters, after air bag 9 undergoes rapid expansion, airbag cover 6 is flicked, after launching directly over rear gasbag 9 under water robot, the volume of under-water robot is increased after expansion, its buoyancy is made to be greater than gravity, last under-water robot emerges under the effect of net buoyancy, staff just can under the booster action of GPS locator 4 Timeliness coverage being reclaimed.

Claims

1. the automatic buoyancy system of under-water robot, it is characterized in that: comprise by leakage sensor (1), central controller CPU (2), firing unit (3), GPS locator (4), air bag cabin (5), airbag cover (6), filter (7), sodium azide (8) and air bag (9) composition, wherein the detection head of leakage sensor (1) is arranged on the inwall of the body junction, cabin easily leaked, central controller (2) is coupled on overall CPU, firing unit (3) is embedded on the body wall of cabin, the air bag cabin (5) that head is placed in cabin external is inner, GPS locator (4) simultaneously, filter (7), it is inner that sodium azide (8) and air bag (9) are also all placed in air bag cabin (5), and closed by airbag cover (6), and airbag cover (6) is bonded on the body wall of cabin by chemical adhesive, GPS locator (4) uses chemical adhesive to be bonded in the bottom of air bag cabin (5), and the position be positioned near filter (7), air bag (9) lower end also uses chemical adhesive to be bonded in the slotted eye of air bag cabin (5).