CN208453227U - A kind of more bodies cruise devices of the miniature formula that snorkels - Google Patents

Abstract

The utility model provides a kind of more body cruise devices of the miniature formula that snorkels, the more body cruise devices of the miniature formula that snorkels include hull and two battery flats, the hull is connect with battery flat described in each by least two hollow framves, the hull is placed in, described two battery flats are placed in down, spatially three is in triangular prism structure, the hull interior is equipped with control device, executive device and telecontrol equipment, the battery flat includes cabin and battery flat end socket, is equipped with detecting and locating system inside the end socket of the hull and described two battery flats.The utility model uses two battery flats and provides power for the overall operation for the device that cruises, quickly rear endurance is provided for the normal operation etc. of equipment each on ship, the controller for instructing and controlling each equipment in movement executing mechanism is generated by industrial personal computer, realizes that underwater robot navigates by water the intelligence degree of posture stablized and substantially increase unmanned hull under water.

Description

A kind of more bodies cruise devices of the miniature formula that snorkels

Technical field

The utility model relates to submarine fields, more particularly to a kind of more bodies cruise devices of miniature formula that snorkels.

Background technique

The simultaneous effect by the big dynamical system in land and ocean two such as islands and reefs, littoral zone, natural ecological environment fragility are changeable.Island Topographic surveys such as reef, littoral zone are the premise and basis of protection, exploitation and management marine resources, but due to islands and reefs, littoral zone Various particularity, the topographic survey development of work are faced with numerous difficulties.In the prior art, if using traditional aeroplane photography Measurement method can solve the landform picture for obtaining the water surface above testing difficulty area and analyze relevant terrain data, but this Inefficiency and accuracy of the kind mode in terms of data processing are poor；And region below for the water surface, in the prior art may be used It is unfolded to measure in a manner of using underwater robot carrying instrument.

There is also following some problems for currently used underwater robot:

1. equipment waterborne generallys use draining/water suction mode and realizes to when snorkeling under water, however the miniature more bodies of the formula that snorkels Cruise device is limited by its space structure, it is difficult to install that corresponding compressor etc. is huge, heavier equipment；

2. the structure of existing underwater robot is varied, monomer-type, multi-hull type can be divided mainly into, during snorkeling, It is difficult to realize sensor mounting areas the emerging compared with limits of robot, therefore generally protrudes cabin by using sensor The mode of body.Which not only gives the watertight means of the more body cruise devices of the miniature formula that snorkels to bring biggish measurement difficulty, but also The sensitive zones of protrusion cabin easily collide with the barrier in water during navigation, increase underwater robot and navigate by water process In resistance；

3. the maintenance mode that existing underwater robot navigates by water posture under water is varied, for example pass through control propulsion device Pose, control the steering posture etc. of rudder blade, however be usually relatively complex in its control process, control result can't reach To expected effect.

The more bodies of the miniature formula that snorkels of offshore to realize irregular oscillation cruise position during devices navigation, route speed plus Speed, real-time geographical locations positioning, the pattern of barrier and the accurate monitoring in opposite geographical location, are that the subsequent miniature formula that snorkels is more Contexture by self, automatic obstacle avoiding, long-range monitoring and the scheduling in body cruise device air route provide data foundation, it is therefore necessary to study in one It cruises equipment towards the underwater topography measurement of islands and reefs, solves that data acquisition is difficult, data-handling efficiency and the poor problem of accuracy.

In view of the above drawbacks, the utility model creator obtains originally practical new finally by prolonged research and practice Type.

Utility model content

To solve the above problems, the technical solution adopted in the utility model is, the miniature more bodies of the formula that snorkels of one kind are provided and are patrolled Navigate device, and the more bodies cruise devices of the miniature formula that snorkels include hull and two battery flats, the hull and each described battery flat By at least two hollow framves connections, spatially three puts in triangular prism structure for the hull and two battery flats.

It include the first covering sleeve and the on the bellyhold preferably, the hull includes bellyhold, hull end socket and stern Two covering sleeves, the hull end socket include third covering sleeve, and the stern includes the 4th covering sleeve, the third covering Sleeve and the first covering sleeve connection, the second covering sleeve and the 4th covering sleeve connection.

Preferably, the hull end socket includes a glass round end, the stern includes rudder blade hole and propeller hole, the ship The third covering sleeve of body end socket is equipped with the first card cylinder, and the 4th covering sleeve of the stern is equipped with the second card Cylinder, the first card cylinder are equipped with sealed groove, seal after making the third covering sleeve and the first covering sleeve connection, The second card cylinder is equipped with sealed groove, seals after making the second covering sleeve and the 4th covering sleeve connection, and described the One card cylinder is equipped with maintenance bayonet, and the second card cylinder is provided with the second bayonet.

Preferably, the hull interior is equipped with control device, executive device and telecontrol equipment, the control device includes Industrial personal computer and driving machine, the two are mounted on the rack, and the executive device includes water tank, are had between the water tank and high pressure gas cylinder Connecting tube connection, the telecontrol equipment includes fixing device, and motor and line handspike, the motor are housed on the fixing device Propeller is connected by main shaft, the line handspike connects rudder blade by U-shaped bar.

Preferably, the rack includes the first maintenance ring, the first maintenance ring is equipped with the first fixture block, first card Block mutually agrees with the maintenance bayonet, and the fixing device includes the 4th maintenance ring, and the 4th maintenance ring is equipped with the second card Block, second fixture block mutually agree with second bayonet.

Preferably, the battery flat includes cabin and battery flat end socket, the cabin includes the first battery flat covering sleeve, The battery flat end socket includes the second battery flat covering sleeve, is equipped with third card cylinder on the second battery flat covering sleeve, The third card cylinder is equipped with sealed groove, keeps the first battery flat covering sleeve and the second battery flat covering sleeve close Envelope connection, the battery flat two-end structure is symmetrical, and sensor bayonet and battery carrier bayonet are provided on the third card cylinder, described Sensor bayonet is for fixing fixing rack for sensor.

Preferably, the cabin internal battery mounting rack, the battery installing rack both ends be respectively provided with the first fixed ring and Second fixed ring, the battery installing rack middle part are equipped with mounting plate support ring, at least one electricity are housed on the battery installing rack Pond group installs case.

Preferably, first fixed ring and the second fixed ring are equipped with maintenance tooth, the maintenance tooth and the battery carrier Bayonet mutually agrees with.

Preferably, placing the battery pack installs case and the industrial personal computer, the driving machine one in the first hollow frame The connection electric wire of body, the hollow frame of third place the connection electric wire of the equipment in the battery installing rack and the stern.

Preferably, being equipped with detecting and locating system, the spy inside the end socket of the hull and described two battery flats Surveying positioning system includes laser range sensor, GPS positioning sensor, radar range finder, infrared thermoviewer, binocular vision sensing Device etc.

Compared with the prior art the utility model has the beneficial effects that:

1, for realizing snorkeling for the more bodies cruise devices of the miniature formula that snorkels, the present apparatus uses water tank and high pressure gas cylinder one Equipment replaces compressor arrangement；

1) spatial volume of the equipment is sufficiently small, meets equipment and requires hull overall device light design requirement；

2) equipment manufacturing cost is at low cost, and the electronic valve for only needing to control by industrial personal computer in equipment can be realized and compress The similar draining of machine and inlet function；

3) equipment environmental pollution injury is smaller, has certain environment protection significance；

2, the sensor being arranged in cabin for the more body cruises of the miniature formula that snorkels is difficult to floatation surface in robot under water After the problem of exposing the surface, a kind of mode that battery is placed in two sides floating body is proposed, so that the miniature formula that snorkels more bodies cruises Center of gravity is located between floating body and the miniature formula that snorkels more bodies cruise device cabins, namely make the hull of the more bodies cruises of the miniature formula that snorkels with And two the structure of attached body put using the space structure of triangular prism of lying low；

1) triangular prism structure guarantees that the equipment keeps the stabilization of its posture during navigation, reduce from ocean current and its The shock interference of his small floating barrier avoids influencing the data acquisition of measuring device on ship；

2) hull is higher than the position of the attached body of two battery flats, and the overall weight of hull is lighter, the weight of the attached body of two battery flats Measure heavier, such a construction ensures after the cabin draining of the miniature formula that snorkels more bodies cruise, center of gravity continues to decline, to guarantee Sensor can be located on the water surface after the more body cruise devices of the miniature formula that snorkels emerge；

3) the Powered Propulsion mode cruised for realizing the more bodies of the miniature formula that snorkels, the present apparatus use two attached intracorporal battery packs Overall operation for the more body cruises of the miniature formula that snorkels provides power, is after the normal operation etc. of each equipment on ship provides quickly Endurance is generated the controller for instructing and controlling each equipment in movement executing mechanism by industrial personal computer, and assists electric pushing-type rudder Adaptive control mode realizes that stablizing and substantially increasing miniature floating for posture is navigated by water in the more body cruises of the miniature formula that snorkels under water The intelligence degree of the more body cruise devices of submersible.

Detailed description of the invention

Fig. 1 is the structural schematic diagram of the more bodies cruise devices of the miniature formula that snorkels of the utility model；

Fig. 2 is the bellyhold part surface structure schematic diagram of the more bodies cruise devices of the miniature formula that snorkels of the utility model；

Fig. 3 is the first covering tube-in-tube structure schematic diagram of the more bodies cruise devices of the miniature formula that snorkels of the utility model；

Fig. 4 is the hull end socket protective shell structural schematic diagram of the more bodies cruise devices of the miniature formula that snorkels of the utility model；

Fig. 5 is the stern protective shell structural schematic diagram of the more bodies cruise devices of the miniature formula that snorkels of the utility model；

Fig. 6 is the stern schematic diagram of internal structure of the more bodies cruise devices of the miniature formula that snorkels of the utility model；

Fig. 7 is the hull interior structural schematic diagram of the more bodies cruise devices of the miniature formula that snorkels of the utility model；

Fig. 8 is the controling device structure diagram of the more bodies cruise devices of the miniature formula that snorkels of the utility model；

Fig. 9 is the executive device structural schematic diagram of the more bodies cruise devices of the miniature formula that snorkels of the utility model；

Figure 10 is the telecontrol equipment structural schematic diagram of the more bodies cruise devices of the miniature formula that snorkels of the utility model；

Figure 11 is the telecontrol equipment main view of the more bodies cruise devices of the miniature formula that snorkels of the utility model；

Figure 12 is the battery flat structural schematic diagram of the more bodies cruise devices of the miniature formula that snorkels of the utility model；

Figure 13 is the first battery flat covering tube-in-tube structure schematic diagram of the more bodies cruise devices of the miniature formula that snorkels of the utility model；

Figure 14 is the battery flat end enclosure structure schematic diagram of the more bodies cruise devices of the miniature formula that snorkels of the utility model；

Figure 15 is the fixing rack for sensor structural schematic diagram of the more bodies cruise devices of the miniature formula that snorkels of the utility model；

Figure 16 is the battery installing rack concrete structure schematic diagram of the more bodies cruise devices of the miniature formula that snorkels of the utility model；

Figure 17 is the battery mounting plates structure schematic diagram of the more bodies cruise devices of the miniature formula that snorkels of the utility model；

Figure 18 is the first fixed ring structural schematic diagram of the more bodies cruise devices of the miniature formula that snorkels of the utility model；

Figure 19 is the supporting ring structure schematic diagram of the more bodies cruise devices of the miniature formula that snorkels of the utility model；

Figure 20 is the battery pack installs case structural schematic diagram of the more bodies cruise devices of the miniature formula that snorkels of the utility model.

Specific embodiment

Below in conjunction with attached drawing, the above and other technical features and advantages of the present invention are described in more detail.

Embodiment one

The utility model provides a kind of more body cruise devices of the miniature formula that snorkels, and cruise device uses multi-hull type structure, guarantees equipment Steady steaming, as shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, the miniature more bodies cruise devices of the formula that snorkels include:

One hull 1, the hull 1 include bellyhold 2, hull end socket 3, stern 4；

The bellyhold 2 includes a hollow elongated cylinder 21, is alongst provided in the hollow elongated cylinder 21 Two rows of circular holes, the number at least two of every row's circular hole, in the present embodiment, the number of every row are three；

The first covering sleeve 22 is welded on one end of the hollow elongated cylinder 21, the first covering sleeve 22 wraps A hollow round table 221 and outer seal ring 222 are included, the outer seal ring 222 is similar to torus, and overall diameter is than the hollow round table 221 Open end diameter is big, and the big one end of the outer diameter of path and the first covering sleeve 22 is welded, 221 outer diameter of hollow round table Small one end is welded in the hollow elongated cylinder 21, the hollow round table 221 and the hollow elongated cylinder 211 after welding Junction transitions smooth, one end of the hollow elongated cylinder 211 one end big without departing from the outer diameter of the hollow round table 221 The plane at place, on the hollow round table 221 using medium position as starting point to the big one end of its outer diameter through there is the first hole slot 223, first hole slot 223 is evenly arranged for four in the hollow round table surrounding in the present embodiment, the outer seal ring 222 On be provided with screw hole corresponding with the first hole slot 223 on hollow round table 221, the hollow round table 221 and the outer seal ring 222 It is structure as a whole；

The second covering sleeve 23, the second covering sleeve 23 are welded on the other end of the hollow elongated cylinder 21 It is identical as the structure of the first covering sleeve 22 and mounting means；

The hull end socket 3 includes a glass round end 31, constitutes transparent glass shell, the glass by a half of oval ball Third covering sleeve 32 is installed, the third covering sleeve 32 is identical zero with the first covering sleeve 22 on glass round end 31 Part, the head side of the small one end of outer diameter towards the glass round end 31 are fixed on the glass round end 31, both sides' connection Locate transitions smooth, the glass round end 31 is the first card cylinder 33 by running through the part that the third covering sleeve 32 stretches out, Gap section between the third covering sleeve 32 and the glass round end 31 is actually to be concavely formed a first end face, First card cylinder, 33 outer surface is equipped with the sealing of a placement sealing rubber ring at the annulus of the third covering sleeve 32 Groove, for placing sealing ring；When the hull end socket 3 is connect with the hull 1, the first covering sleeve 22 and described Third covering sleeve 32 is fixed by screw, the first end face with the outer seal ring 222 is axial suits, sealed groove with it is close Sealing rubber ring forms closed sealing ring, can effectively the dual water prevented outside cruise device infilter in cruise device, first card Maintenance bayonet 34 is additionally provided on cylinder 33；

Preferably, the maintenance bayonet 34 is set as symmetrical two；

Preferably, also adding on the third covering sleeve 32, there are four hole slots, have on the first covering sleeve 22 Corresponding screw hole is fastenedly connected the third covering sleeve and the first covering sleeve 22, make the hull end socket 3 with The connection of the bellyhold 2 more has stability；Four hole slots, for facilitating the disassembly work of bellyhold 2 described in glass end socket Make, its working principle is that in the case where the third covering sleeve 32 has been fixed with the first covering sleeve 22, described in The turn of the screw inside hole slot, the top power for the plane that can be suited by screw bottom and the first end face with it, gradually offsets close The power that sealing rubber ring agrees with is to complete the disassembly of the hull end socket 3 and the bellyhold 2.

The stern 4 includes open circles frustum 41, and the open circles frustum 41 is provided with rudder on the small one end of outer diameter Leaf hole 45, the rudder blade hole 45 forms a short cylindrical to 41 internal stretch of hollow cone rotary table, in the open circles frustum There is a propeller hole 46 on the small one end of 41 outer diameters, the propeller hole 46 extends internally, and forms a short cylindrical main shaft；

4th covering sleeve 42 is housed on the big one end of 41 outer diameter of open circles frustum, the 4th covering sleeve 42 with The third covering sleeve 32 is identical parts, gap concave-shaped of the 4th covering sleeve 42 between the frustum of a cone 41 It is second end face at a plane, the small one end of 42 outer diameter of the 4th covering sleeve is mounted on institute towards the propeller hole 46 It states on open circles frustum 41, both sides junction transitions smooth, the big one end of 41 outer diameter of open circles frustum is no more than described the The inner diameter size of biend, wherein the second card cylinder 43 be the open circles frustum 41 through the 4th covering sleeve 42 with it is described The part that second end face is stretched out；It is close equipped with a placement close to the surface of the 4th covering sleeve 42 on the second card cylinder 43 The sealed groove of sealing rubber ring, when the stern 4 is connect with the hull 1, outside the second covering sleeve 23 and the described 4th Big envelope cylinder 42 is connected by screw, internal second end face axial restraint, while sealing rubber ring mutually suits with sealed groove Closed sealing ring is formed it into, the effective dual water prevented outside cruise device infilters in cruise device, the second card cylinder 43 On be additionally provided with the second bayonet 44, second bayonet 44 is L-type, and fastener needs to be inserted into rotation, makes to fix stronger；

Preferably, second bayonet 44 is set as symmetrically two；

Preferably, the 4th covering sleeve 42 is equipped with 8 hole slots, it is symmetrical arranged respectively along annulus axis, wherein Four hole slots are for fixing the second covering sleeve 23 and the 4th covering sleeve 42；Four additional hole slot is outer for two The disassembly of big envelope cylinder；Wherein, the effect of eight hole slots is alternately realized respectively, i.e. for fixing, four hole slots are used for four hole slots Disassembly, disassembly principle are consistent with the disassembly principle of hollow cylinder 2 with glass end socket 3.

Embodiment two

The more bodies cruise devices of the miniature formula that snorkels as described above, the present embodiment is different from place and is, in conjunction with Fig. 1, figure It 7, include control device 11, executive device 12, telecontrol equipment 13 in the hull 1 shown in Fig. 8, Fig. 9, Figure 10, Figure 11；

The control device 11 includes a driving machine 111 and industrial personal computer 112, the driving machine 111 and the industrial personal computer 112 are stacked and are arranged close to by upper and lower mode in the rack 113 of 22 position of the first covering sleeve of the hull 1, institute It states rack 113 and includes the first maintenance ring 1131 and the second maintenance ring 1132, the first maintenance ring 1131 and the second maintenance ring 1132 are connected and fixed by three connecting rods, and respectively there is a beam in the place in the partially close center of circle of two maintenance rings, are connected with pedestal on the beam 1133 both ends are equipped with the driver 111 on the pedestal, and the industrial personal computer 112 is housed on the driver 111, described Industrial personal computer 112 is mainly used for receiving the information of the more body cruise each equipment of device of the miniature formula that snorkels and makes phase to information analysis The reflection answered, for example the execution that order controls the more body cruise each equipment of device of the miniature formula that snorkels is planned and issued in real time to route；

Preferably, the first fixture block 1134 is also equipped on the first maintenance ring, first fixture block 1134 and the hull 34 phase of maintenance bayonet on end socket 3 is agreed with, and the stabilization of the control device is kept；

The executive device 12 includes water tank 121 and high pressure gas cylinder 122, and the water tank 121 and the high pressure gas cylinder 122 are equal For short cylinder, diameter is more smaller than the internal diameter of the bellyhold 2, and 121 surface of the water tank respectively includes water inlet and goes out The mouth of a river is separately installed with electronic valve in its two root canal, and the position of two pipes is in the different sides of the water tank 121, Middle water inlet is in 121 highest point of water tank, and water outlet, in 121 lowest point of water tank, connecting tube and water inlet are same On a face, and electronic valve is installed in connecting tube, while connecting tube is used for the water tank 121 and the high pressure gas cylinder 122 Connection, have a blow vent 126 on another face of the high pressure gas cylinder 122, facilitate the inflation of high pressure gas cylinder；

Preferably, the water tank 121 is connected with the high pressure gas cylinder 122 by a short cylindrical hollow cylinder, constitute both sides One cylindrical body simultaneously keeps being conducive to implement the coordination work between high pressure gas cylinder 122 and the water tank 121 in same position height Make；

The telecontrol equipment 13 includes fixing device, and the fixing device includes third maintenance ring 1311, the 4th maintenance ring 1312, the 5th maintenance ring 1313, the 6th maintenance ring 1314, the third maintenance ring 1311 are annulus, diameter and 2 internal diameter phase of bellyhold Agree with, deviate has a crossbeam thereon at the position in the center of circle, there are three circular holes on the third maintenance ring 1311, is uniformly distributed, two A to be arranged at the crossbeam both ends, a setting has corresponding three circular holes on bottom, the 4th maintenance ring 1312, Described in three circular holes mutually fixed by connecting rod, the 4th maintenance ring 1312 is the annulus of semisolid, the 4th maintenance There is the second fixture block 1316 on ring 1312, second fixture block 1316 is symmetrically arranged two pieces, the second bayonet on remaining stern 4 44 phases are agreed with, and are stablized fixing device, are avoided the offset and rotation of position, the third maintenance ring 1311 and the 4th maintenance ring 1312 bottom has fixed frame 133 to be connected, and is equipped with motor 132 on the fixed frame 133；

The 5th maintenance ring 1313 is mounted on the inside of the stern 4, is an annulus, is provided with and the 4th maintenance The corresponding circular hole of ring 1312, connecting rod on the 4th maintenance ring 1312 and the tracheae 1315 extend out phase therewith Even, the 6th maintenance ring 1314 is arranged after the 5th maintenance ring 1313, is mounted on the stern 4, diameter ratio The 5th maintenance ring 1313 is smaller, and a transverse slat is provided on the 6th maintenance ring 1314, a bearing is housed on the transverse slat, A main shaft 135 is connected out on the motor 132, the main shaft 135 passes through the bearing, extends the stern 4, pacifies in end Equipped with propeller 1351；

One end of first straight line push rod 136 and second straight line push rod 137 is installed on the 5th maintenance ring 1313, it is described It is flexibly connected the middle part of the first U-shaped bar 1361 on the other end of first straight line push rod 136, the one of the first U-shaped bar 1361 End is vertical to be extended, and the stern 4 is pierced by, and is connected to rudder blade 1362, and 1362 surface of rudder blade is equipped with an encoder, and described the The both ends of one U-shaped bar 1361 are symmetrical arranged, and the other end of the second straight line push rod 137 is equipped with the second U-shaped bar 1363, described Be set to the described first U-shaped bar identical, the first U-shaped bar 1361 and the second U-shaped bar 1363 on second U-shaped bar 1363 It is installed in right-angled intersection；

Preferably, organic by the place setting in rudder blade hole on the first U-shaped bar 1361 and the second U-shaped bar 1363 Tool axle envelope；

Preferably, being provided with mechanical shaft seal by the place in propeller hole 46 in the main shaft 135；

Embodiment three

The more bodies cruise devices of the miniature formula that snorkels as described above, the present embodiment is different from place and is, in conjunction with Fig. 1, figure 12, shown in Figure 13, Figure 14, the hull 1 is connect with battery flat 6 by least two open circles pylons, in the present embodiment, by Three hollow frame connections；

The battery flat 6 includes: cabin 61, battery flat end socket 62

The cabin 61 is the long cylinder of cylindrical, hollow, and diameter is less than the bellyhold 2 of the hull 1, is provided with above The circular hole mutually agreed with the hollow connection frame, one end are welded with the first battery flat covering sleeve 63, first electricity Pond out of my cabin big envelope cylinder 63 be a truncated conical shape hollow cylinder, the small one end of outer diameter is welded in the cabin, institute after welding The junction transitions smooth of the first battery flat covering sleeve 63 and the cabin 61 is stated, one end of the cabin 61 is without departing from described Plane where the big one end of the outer diameter of first battery flat covering sleeve 63, the first battery flat covering sleeve 63 include a circle Platform, having a solid circle on the big one end of the rotary table outer diameter is the outer seal ring 631 of the first battery flat, the first battery flat covering The structure that ring 631 and the first battery flat covering sleeve are integrated；The first battery flat covering sleeve is with medium position Starting point, through there is the second hole slot 632, has and described second in seal ring 631 to the big one end of its outer diameter outside first battery flat The first screw hole of connection 633 that hole slot 632 matches；

Preferably, second hole slot 632 is four, uniformly it is arranged on the first battery flat covering sleeve 63, The first screw hole 633 for connection in the outer seal ring 631 of consistent first battery flat also there are four, with four holes Slot matches；

The battery flat end socket 62 includes a glass round end 621, the half elliptic shell made of transparent glass material, institute It states and the second battery flat covering sleeve 64 is installed on glass round end 621, the second battery flat covering sleeve 64 and first electricity Big envelope cylinder 63 is identical parts out of my cabin in pond, thereon includes the second battery flat outer seal ring 641, third hole slot 642, the second screw hole 643, The head side of the small one end of its outer diameter towards the glass round end 621 is fixed on the glass round end 621, both sides junction Transitions smooth, third card cylinder 65 are the part that glass round end 621 runs through that the second battery flat covering sleeve 64 stretches out, described the Three card cylinders 65 are equipped with the sealed groove 651 of a placement sealing rubber ring, in the second battery flat covering sleeve 64 and the glass It will fall in form a third end face at where gap between round end 621, when the cabin 61 and the battery flat end socket When 62 connection, after the first battery flat covering sleeve 63 and the fixation of the second battery flat covering sleeve 64, third end face and the second battery Seal ring 641 suits to form an axial seal out of my cabin, and sealing rubber ring and sealed groove suit to form a close encapsulation circle, effectively It is dual prevent external water from penetrating into, sensor bayonet 653 is provided on the third card cylinder, the sensor bayonet 653 is L Type bayonet turns in the sensor bayonet 653 and is provided with battery carrier bayonet described in battery carrier bayonet 652 at quadrant 652 be recess bayonet；

Preferably, the sensor bayonet 653 and the battery carrier bayonet 652 are provided on its opposite about the center of circle pair The bayonet shape of title；

Preferably, the other end of the cabin 61 and above-mentioned one end are equipped with identical part, 61 both ends of the cabin knot Structure is symmetrical.

Example IV

The more bodies cruise devices of the miniature formula that snorkels as described above, the present embodiment is different from place and is, in conjunction with Fig. 1, figure 12, shown in Figure 15, the battery flat end socket 62 is provided with fixing rack for sensor 66；

The fixing rack for sensor 66 includes sensor annulus 661, has equally distributed three on the sensor annulus 661 A circular hole is equipped with fixing bolt 662, the adjustable length of the fixing bolt 662, the sensor annulus on the circular hole Bracket 663 is fixed on 661,663 other end of bracket is connect with detent annulus 664, and the detent annulus 664 is than the biography Sensor annulus 661 is bigger, is uniform-distribution with three screw holes 665 thereon, and the screw hole 665 is corresponding with the bracket 663, is used to Installation bolt is symmetrically arranged on the detent annulus 664 so that the screw hole 665 is bolted with the bracket 663 There are two the fritter of protrusion, the fritter of the protrusion agrees with 653 phase of sensor bayonet, described in the fritter order of the protrusion Fixing rack for sensor 66 is locked in the battery flat end socket 62, avoids falling off.

Preferably, the fixing bolt 662 is three, it is evenly distributed on the sensor annulus 661, the fixation Bolt adjustable length, convenient for found in end socket one can allow the fixing rack for sensor 66 find a stable position and Sensor is locked in the fixing rack for sensor 66

Embodiment five

The more bodies cruise devices of the miniature formula that snorkels as described above, the present embodiment is different from place and is, in conjunction with Fig. 1, figure 16, shown in Figure 17, Figure 18, Figure 19, Figure 20, the cabin is provided with battery installing rack 67, and the battery installing rack 67 includes one Battery mounting plate 671, the battery mounting plate 671 are a kind of netted straight panels, are effectively reduced the vertical weight of battery；

First fixed ring 672 is housed in one end of the battery mounting plate 671, first fixed ring 672 is annulus knot Structure, medium design have two beams of orthogonal intersection to be connected on ring, set on a crossbeam of first fixed ring 672 It is equipped with a fixing groove 6721,6721 width of fixing groove and runs through first fixed ring 672 be slightly narrower than the width of the beam Two sides are each provided with a screw hole 6723 at the fixing groove both ends, and the screw hole 6723 has phase on the battery mounting plate 671 Corresponding screw hole can enable the battery mounting plate 671 and first fixed ring 672 that can be bolted, along not having There is vertical beam one end of setting fixing groove to extend out a maintenance tooth 6722, the maintenance tooth 6722 on the battery flat end socket 62 652 phase of battery carrier bayonet agree with, maintenance tooth 6722, which is fitted into the battery flat end socket 62, prevents the battery from installing Frame 67 rotates in the cabin 61；

Preferably, respectively extending out a maintenance tooth at the both ends for the beam for being not provided with the fixing groove 6721；

Preferably, the other end in the battery mounting plate 671 is equipped with the second fixed ring 673, second fixed ring 673 It is identical parts with first fixed ring 672, mounting means is also identical；

It is surveyed in the middle position of the battery mounting plate 671 close to edge one and is provided with a sulculus 6711, the sulculus 6711 are not more than the half of 671 width of battery mounting plate, and mounting plate support ring 674 is mounted on institute by the sulculus 6711 It states on battery mounting plate 671, the mounting plate support ring 674 is circular ring structure, and medium design has mutually perpendicular two beams to connect It connects on ring, wherein a beam is provided with an elongated slot 6741 for running through tow sides, the elongated slot 6741 is from the mounting plate branch The annulus of pushing out ring 674 starts on one side along a wherein beam setting, and length is described in the width of the battery mounting plate 671 subtracts The width of sulculus 711, there are two symmetrical screw holes for the also a setting in the two sides of the elongated slot 6741, in the battery mounting plate 671 On have the screw hole mutually agreed with, be inserted into the sulculus 6711 on the battery mounting plate 671 in the mounting plate support ring 674 Afterwards, the mounting plate support ring 674 is mutually fixed by bolt with the battery mounting plate 671, can effectively prevents support ring Rotation in the cabin 61, meanwhile, it is also prevented from the battery mounting plate 671 moving up and down in the cabin 61；

On the battery mounting plate 671 between first fixed ring 672 and the mounting plate support ring 674, peace Equipped with battery pack installs case 68,68 bottom of battery pack installs case is the beam-like framework of square crossing, and four sides is height phase Same baffle, long baffle is thinner compared with short shutter, in the side of the long baffle far from bottom, is drilled with and binds close to marginal position Screw hole 682, described 682 numbers of screw hole that bind are 2 to 10, and in the present embodiment, the number of the screw hole 682 that binds is 4, After battery is put into battery pack installs case 68, the screw hole 682 that binds is passed through to thin bar or cord, wraps the electricity Pond group installs case 68 prevents battery from deviating from the cabinet 68, extend out to outside the two sides of the bottom phase of the battery pack installs case 68 One rectangular small 681, in the present embodiment, the rectangular small 681 are each three of two sides of the bottom, the rectangular small 681 On be provided with screw hole, have corresponding screw hole on the battery mounting plate 671, it is by bolt that the rectangular small 681 is fixed On the battery mounting plate 671, the corresponding battery pack installs case 68 has been secured on the battery mounting plate 671；

Preferably, the battery pack installs case 68 is at least one, the battery pack installs case 68 is in the present embodiment Four, it is separately mounted to first fixed ring 672 and the mounting plate support ring 674 and second fixed ring 673 and institute On the tow sides for stating the battery mounting plate 671 between mounting plate support ring 674；

Embodiment six

The more bodies cruise devices of the miniature formula that snorkels as described above, the present embodiment is different from place and is, in conjunction with Fig. 1 institute Show, there are two the settings of battery flat 6, and the two attached body battery flat 6 is placed in down parallel, and the hull 1 is in two attached body axis Parallel conplane top, spatially three puts in triangular prism structure, and triangular prism structure guarantees described miniature snorkel The more body cruise systems of formula keep the stabilization of its posture during navigation, reduce and come from ocean current and other small floating barriers Shock interference, avoid influencing the data acquisition of measuring device on ship, improve the effect of data processing, the efficiency of data acquisition And accuracy；The hull 1 connect hollow frame by least two with two battery flats 6 and connects, in the present embodiment, institute State hollow frame be three, every end, the hollow frame both ends be welded on the hull 1 bellyhold 2 and the battery flat 6 it is described On the position of cabin 61, wherein connection electric wire is generally equipped in first and the hollow frame of third, wherein in the first hollow frame For placing the connection electric wire of the battery pack installs case 68 with the industrial personal computer 112,111 one of the driving machine, described the Three hollow framves are for the equipment in stern 4 described in battery flat 6 and the motor 132 and the line handspike etc. described in pulling Power supply, the interior emptying of the second hollow frame.

Embodiment seven

The more bodies cruise devices of the miniature formula that snorkels as described above, the present embodiment is different from place and is, in conjunction with Fig. 1 institute Show, is equipped with inside the end socket including the hull 1 and described two battery flats 6 in the miniature more body cruise devices of the formula that snorkels Detecting and locating system, the detecting and locating system includes laser range sensor, GPS positioning sensor, radar range finder, infrared Imager, binocular vision sensor etc. are mainly used for scanning the environment around hull navigation in the process, identify its ambient enviroment Barrier etc., realize that the snorkel real-time routes programmed decision-making of cruise equipment of intelligent micro provides number for the industrial personal computer 112 According to guarantee.

Embodiment eight

The more bodies cruise devices of the miniature formula that snorkels as described above, as shown in connection with fig. 1, what the present embodiment was different from is in In the working principle of the more bodies cruise devices of the miniature formula that snorkels are as follows: during navigation, the present apparatus keep above structure directly into Upstream face starts the work of its water body detection, and the attached body device battery flat of the present apparatus two is empty by the described first hollow frame and third Heart frame is separately connected the industrial personal computer 112, driving machine 111, motor 132, water tank 121 and 122 one of high pressure gas cylinder with electric wire The corresponding interface of each electronic valve and propeller 1351 etc. equipment is simultaneously continuously apparatus as discussed above power supply, guarantees this dress Set whole lasting navigation；Firstly, the data of the localized delivery by present apparatus inner sensor satellite system, the industrial personal computer 112 by the other positions of the industrial personal computer 112 for automatically generating electronic chart and being stored in the present apparatus, the hereafter industry control Machine 112 instructs accordingly according to the navigation route plane-generating of electronic chart to be sent initially to sensor satellite system and is determined Position, through feedback data into the industrial personal computer 112, the contexture by self route for the present apparatus provides Informational support and controls for movement System processed is made decisions on one's own；Then, the sensing installed inside the hull 1 of the present apparatus and the end socket of the battery flat 6 is enabled After device scans and identifies ambient enviroment, data will be delivered in the industrial personal computer 112, the industrial personal computer 112 is generating instruction It is sent in Motor execution device, whether commanding the rotation of the propeller 1351 and the rudder blade 1362；If reaching certain office In portion waters, the present apparatus needs to carry out corresponding depth under water to the present apparatus to snorkel according to route, and when work then passes through following Work path is realized；

(1) present apparatus needs to complete to stay under water completely from the water surface to when water-bed movement；

The direct sinking of the present apparatus is realized in the planning of the real-time navigation route of the present apparatus by water filling；The industrial personal computer 112 is sent out Order in kinetic control system out, control operation between water tank 121 and the high pressure gas cylinder 122 described in executing agency with And the operation of the propeller 1351；The industrial personal computer 112 will be sent instructions in the driving machine 111 at this time, the driving The instruction morphing electronic valve being sent on water inlet is enabled it be in the state opened, and the electricity in connecting tube at this time by machine 111 Electronic valve on sub- valve and water outlet is motionless；Water filling movement is executed by water inlet inside the water tank 121；When this dress When the weight set is equal to the buoyancy of present apparatus position at this time, the industrial personal computer 112 is according to the equipment monitoring number in the present apparatus According to that will send instructions in the driving machine 111, conversion is instructed the electronic valve being sent on water inlet by the driving machine 111 Door, is automatically closed it；The above is that intelligent micro snorkels cruise equipment in a certain fixed waters position dive vertically downward Process；When equipment needs constantly change its horizontal position during dive, as dynamic dive, in the process, Its previous work is similar to its static work of dive, is aided with following operation, will realize the dynamic dive of equipment；The i.e. described industry control Machine 112 is sent instructions to simultaneously in the driving machine 111, and the driving machine 111 will be referred to by instruction morphing from another port again Order is sent to the motor 132, drives the operation of the motor 132, wherein (overall operation of the motor 132 also relies on The power supply of the battery flat 6) propeller 1351 described in drive control running so that the present apparatus slowly promotes in the injecting process The present apparatus is hidden toward underwater；Meanwhile industrial personal computer 112 sends instructions to the controller driving line handspike of the line handspike Movement, to realize that the angle of rudder blade the demands such as turns to until the hull 1 of the present apparatus can hide completely under the bottom.

(2) when present apparatus needs rise to the water surface under the bottom:

During the present apparatus rises to the water surface from the bottom according to the demand of navigation route, working mechanism and the upper phase Seemingly, reduce hull weight by the draining of the water tank 121 is making the present apparatus integrally float by water body buoyancy；It is described The real-time navigation route of industrial personal computer 112 issues commands in kinetic control system, control executing agency described in water tank 121 with it is described The operation of operation and the propeller 1351 between high pressure gas cylinder 122；The industrial personal computer 112 will send instructions to institute at this time It states in driving machine 111, the conversion of driving machine 111 is instructed and sent an instruction on electronic valve and water outlet in connecting tube Electronic valve, be discharged inside the water tank 121 using the draught head between the high pressure gas cylinder 122 and the water tank 121 Water；At the same time, the industrial personal computer 112 is sent instructions in the driving machine 111, and the driving machine 111 is logical by conversion instruction It crosses another port and sends commands to the motor 132, drive the operation of the motor 132, drive simultaneously its another drive control institute State the work of propeller 1351；When the industrial personal computer 112 receives the data of detection device in the present apparatus, namely when the present apparatus is whole Weight when being less than the buoyancy of present apparatus position at this time, the industrial personal computer 112 generates corresponding instruction and powers on to water outlet Electronic valve on sub- valve and connecting tube, until the present apparatus floats on the surface to the maximum extent completely.

(3) when the position that is arbitrarily designated of the present apparatus from dive on the water surface into water:

The present apparatus according to real-time navigation route planning by increase hull weight, the steering of the rudder blade 1362 and The sinking of hull is realized in the propulsion of the propeller 1351；The industrial personal computer 112 issues commands to fortune according to real-time navigation route In autocontrol system, the operation described in executing agency between water tank 121 and the high pressure gas cylinder 122 and the rudder blade are controlled 1362 steering and the operation of the propeller 1351；The industrial personal computer 112 is first sent instructions in driving machine at this time, driving Machine conversion, which instructs and sends an instruction to electronic valve on the electronic valve in connecting tube and water outlet, is at closing shape State, while the electronic valve of water inlet on water tank 121 described in instruction unpack is sent, so that the water tank 121 carries out internal water flooding Work；When the industrial personal computer 112 receives the data of present apparatus monitoring device, i.e., when the weight of present apparatus entirety is equal to this dress at this time When setting the water buoyancy of position, the industrial personal computer 112 is sent instructions in driving machine, and driving machine conversion instructs and refers to closing Enable the electronic valve being sent on water inlet；In the process, the industrial personal computer 112 sends instruction simultaneously and is sent to described straight The controller of push rod makes it control the steering angle of the rudder blade 1362 and steering and by sending instructions to the motor The rotation for controlling the propeller 1351 is realized in 132；The line handspike selects a wherein straight line according to the demand of steering Push rod does stretching motion, and U-shaped bar rotates and the rudder blade 1362 is made to deviate certain angle, then real by the encoder feedback It rotates angular dimension into the industrial personal computer 112 on border, described in the angle that the present apparatus is swung according to the rudder blade 1362 and cooperation The rotation propulsion of propeller 1351 is so that single unit system slowly dive, thus can be realized device dive specific location into water It is required that.

(4) when the present apparatus rises to the water surface from underwater any position:

During the present apparatus rises to the water surface from the bottom according to the demand of navigation route, working mechanism and the upper phase Seemingly, achieve the purpose that reduce present apparatus weight by the draining of the water tank 121 and make the present apparatus by water body buoyancy It is whole to float；The industrial personal computer 112 issues commands in kinetic control system according to real-time navigation route, controls executing agency Described in operation between water tank 121 and the high pressure gas cylinder 122, the rudder blade 1362 angle turn to and the propeller 1351 operation promotes.The industrial personal computer 112 is sent instructions in driving machine at this time, driving machine conversion instruction and by out code The electronic valve being sent on water inlet, electronic valve will execute out code；Send instructions to the electronic valve on water outlet And the electronic valve in connecting tube is at open state, using between the high pressure gas cylinder 122 and the water tank 121 Draught head the water inside the water tank 121 is discharged；When the weight of present apparatus entirety is floating less than present apparatus position at this time When power, the industrial personal computer 112 is sent instructions in driving machine, and driving machine conversion instructs and sends out code to and make to connect Electronic valve on pipe is closed；At the same time, the industrial personal computer 112 controls the line handspike controller and according to route demand The corresponding line handspike is selected to do stretching motion to reach the rudder blade 1362 and select rotation direction and angular dimension Purpose, and the rudder blade 1362 is rotated into the industrial personal computer 112 by the data feedbacks such as angle by the encoder；It is same with this When, industrial personal computer 112 sends instructions in motor 132 to control the propeller 1351 and adjust it and turns to and realize the rising of the present apparatus It promotes；Until the hull 1 of the present apparatus floats on the surface to the greatest extent.

(5) present apparatus realize in water rising (dive) to designated position working mechanism:

This mechanism mainly realizes this by the rotation angular dimension of the steering of the rudder blade 1362 and the rudder blade 1362 The whole position in water of device is mobile；At this time without any water filling between the water tank 121 and the high pressure gas cylinder 122 Work and drainage works, the industrial personal computer 112 are sent to motion controller according to navigation route, by it with instruction type, transport Movement controller controls the line handspike controller, and the line handspike pushes the big of the rotational angle of the rudder blade 1362 in turn Small and rotation direction, and the angular dimension that is turned and turn to data through the encoder feedback to the industry control Machine 112, the industrial personal computer 112 send instructions to the motor 132 further according to the data of its feedback and enable it drive and control institute The work for stating propeller 1351 promotes the overall movement of the present apparatus.

The function that the present apparatus realizes automatic obstacle avoiding during navigation by the route of contexture by self can be realized as a result, Energy.

Later, it snorkels movement if the present apparatus does not need to execute, the industrial personal computer 112 is by command and control present apparatus Motor execution The steering of the propeller 1351 and the rudder blade 1362 of mechanism and corner degree realize that the present apparatus is held by programme path It is continuous to advance；Specific embodiment is as follows: the industrial personal computer 112 generates corresponding instruction according to programme path and is sent to the straight line Push rod controller and the motor 132, the line handspike controller control stretching and the retraction of the line handspike, By the movement of rudder blade 1362 described in corresponding action control, the rudder blade 1362 is mainly used for controlling present apparatus or so or more It turns to；The motor 132 controls the rotation of the propeller 1351, and the propeller 1351 is used to promote the advance of the present apparatus, It plays a driving role.

Mutual associated during the more body cruise body navigation of the miniature formula that snorkels of mode described above, to complete the water of hull Work is surveyed in physical examination.

The above is only the preferred embodiment of the utility model, it is noted that for the common skill of the art Art personnel can also make several improvement and supplement under the premise of not departing from the utility model method, these are improved and supplement Also it should be regarded as the protection scope of the utility model.

Claims (10)

1. The devices 1. a kind of more bodies of the miniature formula that snorkels cruise, which is characterized in that the miniature more bodies cruise devices of the formula that snorkels include hull and Two battery flats, the hull are connect with battery flat described in each by least two hollow framves, the hull and two batteries Spatially three puts in triangular prism structure in cabin.
2. The device 2. the more bodies of the miniature formula that snorkels according to claim 1 cruise, which is characterized in that the hull includes bellyhold, ship Body end socket and stern include the first covering sleeve and the second covering sleeve on the bellyhold, and the hull end socket includes outside third Big envelope cylinder, the stern include the 4th covering sleeve, the third covering sleeve and the first covering sleeve connection, and described the Two covering sleeves and the 4th covering sleeve connection.
3. The device 3. the more bodies of the miniature formula that snorkels according to claim 2 cruise, which is characterized in that the hull end socket includes a glass Glass round end, the stern include rudder blade hole and propeller hole, and the third covering sleeve of the hull end socket is equipped with first Card cylinder, the 4th covering sleeve of the stern are equipped with the second card cylinder, and the first card cylinder is equipped with sealed groove, makes institute It is sealed after stating third covering sleeve and the first covering sleeve connection, the second card cylinder is equipped with sealed groove, makes described It is sealed after second covering sleeve and the 4th covering sleeve connection, the first card cylinder is equipped with maintenance bayonet, the second card cylinder It is provided with the second bayonet.
4. The device 4. the more bodies of the miniature formula that snorkels according to claim 3 cruise, which is characterized in that the hull interior is equipped with control Device, executive device and telecontrol equipment processed, the control device include industrial personal computer and driving machine, and the two is mounted on the rack, institute Stating executive device includes water tank, there is connecting tube connection between the water tank and high pressure gas cylinder, and the telecontrol equipment includes maintenance dress It sets, motor and line handspike is housed on the fixing device, the motor connects propeller by main shaft, and the line handspike is logical Cross U-shaped bar connection rudder blade.
5. The device 5. the more bodies of the miniature formula that snorkels according to claim 4 cruise, which is characterized in that the rack includes the first maintenance Ring, the first maintenance ring are equipped with the first fixture block, and first fixture block mutually agrees with the maintenance bayonet, the fixing device Including the 4th maintenance ring, the 4th maintenance ring is equipped with the second fixture block, and second fixture block mutually agrees with second bayonet.
6. The devices 6. the more bodies of the miniature formula that snorkels according to claim 4 cruise, which is characterized in that the battery flat include cabin and Battery flat end socket, the cabin include the first battery flat covering sleeve, and the battery flat end socket includes the second battery flat outside envelope Cylinder is equipped with third card cylinder on the second battery flat covering sleeve, and the third card cylinder is equipped with sealed groove, makes described the One battery flat covering sleeve and the second battery flat covering sleeve are tightly connected, and the battery flat two-end structure is symmetrical, described Sensor bayonet and battery carrier bayonet are provided on third card cylinder, the sensor bayonet is for fixing fixing rack for sensor.
7. The device 7. the more bodies of the miniature formula that snorkels according to claim 6 cruise, which is characterized in that the cabin internal battery installation Frame, the battery installing rack both ends are respectively provided with the first fixed ring and the second fixed ring, peace are housed in the middle part of the battery installing rack Loading board support ring is equipped at least one battery pack installs case on the battery installing rack.
8. The device 8. the more bodies of the miniature formula that snorkels according to claim 7 cruise, which is characterized in that first fixed ring and second Fixed ring is equipped with maintenance tooth, and the maintenance tooth mutually agrees with the battery carrier bayonet.
9. The device 9. the more bodies of the miniature formula that snorkels according to claim 8 cruise, which is characterized in that described in being placed in the first hollow frame The connection electric wire of battery pack installs case and the industrial personal computer, driving machine one, the hollow frame of third place the battery pack peace The connection electric wire of vanning and the equipment in the stern.
10. The device 10. the more bodies of the miniature formula that snorkels according to claim 9 cruise, which is characterized in that the hull and described two Detecting and locating system is installed, the detecting and locating system includes laser range sensor, GPS fixed inside the end socket of a battery flat Level sensor, radar range finder, infrared thermoviewer, binocular vision sensor.