CN209988088U

CN209988088U - Portable unmanned ship and underwater robot combined detection and salvage system

Info

Publication number: CN209988088U
Application number: CN201920720679.XU
Authority: CN
Inventors: 蒋晨龙; 胡相胜; 刘桂伶; 管万里; 袁鑫; 韩洋
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-05-20
Filing date: 2019-05-20
Publication date: 2020-01-24
Anticipated expiration: 2029-05-20

Abstract

The utility model discloses a portable unmanned ship and underwater robot combined detection fishing system, which comprises a winding roll, an unmanned ship, a cable, an underwater robot, a clamping groove and a remote control gripper, wherein the unmanned ship is a catamaran, a fixed seat is arranged above the unmanned ship, an overwater electronic bin is fixed above the fixed seat, the left end of the overwater electronic bin is provided with the winding roll, and the cable is arranged on the winding roll; the underwater robot is characterized in that an underwater electronic bin is arranged inside the underwater robot, a remote control gripper is arranged in front of the underwater robot, 2 propelling motors are arranged on two sides of the underwater robot, and an underwater camera is arranged in front of the underwater electronic bin. The utility model discloses integrated the first stage and the second stage of traditional salvage mode, can arrive the place of affairs by the very first time, need not matters such as extra negotiation hiring boat, the operation can be carried out after the integration equipment carries out simple equipment and debugging, can improve the operating efficiency who searches for ands rescue under water greatly.

Description

Portable unmanned ship and underwater robot combined detection and salvage system

Technical Field

The utility model relates to a rescue technical field at sea specifically is a system is salvaged in joint detection of portable unmanned ship + underwater robot.

Background

Rescue salvage at sea refers to the work of searching, rescuing and the like performed by the country or the department aiming at marine accidents and the like. Maritime search and rescue needs strong technical systems and the like, the maritime search and rescue is far from enough by the personal power, and the maritime search and rescue needs to be linked together in the whole society.

At 10 am on 28 th of 10 th of 2018, one bus in Chongqing Wanzhou area falls into the river, although a rescue team arrives at the scene at the fire speed and immediately carries out rescue, the rescue team does not start to accurately position the position of the falling-bridge vehicle until midnight of the day along with the transportation of related instrument equipment. The slow operation speed exposes a plurality of defects of emergency salvage operation in China, and how to implement salvage work with high efficiency and high quality also becomes a difficult problem to be solved urgently.

The traditional emergency salvage is mainly divided into the following three stages: in the first stage, a sonar is dragged by a surface ship to scan, the submarine topography is manually interpreted, a suspicious target is searched, and the location is calibrated through a GPS. And in the second stage, an observation-level underwater robot or a diver is used for underwater camera shooting and evidence obtaining from a suspicious marked place, so that a direct information source is provided for the next-stage operation scheme, and the underwater camera shooting and evidence obtaining method is an important basis for executing underwater engineering operation. And in the third stage, a working-level underwater robot or a diver is adopted to implement precise underwater mooring, mooring and other salvage operations.

The existing working mode depending on the cooperation of multiple parts of a surface ship, an underwater robot and even a diver has the defects of low efficiency, high price and difficult execution. 1. The inefficiency is manifested in: the first and second stages are very inefficient in joining. And marking the suspicious site after the sonar data in the first stage needs to be processed off line, and then entering the second stage to mark the point and release the underwater robot. 2. The high price is embodied in that: the first stage requires the hiring of suitable vessels, which is often expensive. The inefficiency results in high costs. 3. The execution difficulty is reflected in that: the rented ship is not necessarily provided with proper resources, and the time for the ship to travel from an anchorage to a working water area is required, so that the best opportunity is easily missed. The first two phases require a large amount of equipment and associated technicians, which often cannot arrive at the site in the first place and are costly. In different water areas and under different weather conditions, the implementation of the step 3 is also very difficult, and in addition, the accident of falling into water is sudden, so that search and rescue workers are difficult to completely and timely deploy search and rescue work.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a portable unmanned ship + underwater robot jointly surveys salvage system to solve the problem that proposes among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme: a portable unmanned ship and underwater robot combined detection fishing system comprises a winding roll, an unmanned ship, cables, an underwater robot, an underwater camera, an above-water electronic bin, a fixed seat, a clamping groove, a remote control gripper, an underwater electronic bin and a propulsion motor, wherein the unmanned ship is a catamaran;

the underwater robot is characterized in that an underwater electronic bin is arranged inside the underwater robot, a remote control gripper is arranged in front of the underwater robot, 2 propelling motors are arranged on two sides of the underwater robot, and an underwater camera is arranged in front of the underwater electronic bin.

Preferably, the both ends of fixing base are provided with 2 draw-in grooves respectively, be provided with the buckle on the unmanned ship, the buckle card is 2 on the draw-in groove.

Preferably, the unmanned ship is of an inflatable foldable structure.

Preferably, electron storehouse on water includes motor, GPS orientation module, wireless image transmission module, sonar and battery, the output and the take-up reel of motor are connected, the sonar is located electron storehouse bottom on water.

Preferably, the cable includes a signal line and a protection line.

Preferably, the underwater electronic cabin comprises an image acquisition module, a remote control gripper control module and a storage battery, and the underwater electronic cabin is connected with the overwater electronic cabin through a cable.

Preferably, the underwater electronic cabin and the overwater electronic cabin both adopt an stmFZET single chip microcomputer as a control panel.

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

the utility model discloses newly integrated the first stage and the second stage of traditional salvage mode, designed a portable unmanned ship and boat + underwater robot joint detection salvage system, vapour car trunk just can transport, can arrive the accident place by the very first time, need not matters such as extra business hire ship, and the operation can be carried out after simple equipment and the debugging to the integration equipment, can improve the operating efficiency who searches for ands rescue under water greatly.

Drawings

Fig. 1 is a schematic structural view of the unmanned ship of the present invention.

Fig. 2 is a schematic view of the fixing base structure of the present invention.

Fig. 3 is the overall structure schematic diagram of the underwater robot of the present invention.

Fig. 4 is a top view of the underwater robot of the present invention.

In the figure: 1. the remote control device comprises a winding roll, 2, an unmanned ship, 3, a cable, 4, an underwater robot, 5, an underwater camera, 6, an overwater electronic cabin, 7, a fixed seat, 8, a clamping groove, 9, a remote control gripper, 10, an underwater electronic cabin, 11 and a propulsion motor.

Detailed Description

In order to make the technical means, creation features, achievement purposes and functions of the present invention easy to understand, the present invention is further described below with reference to the following embodiments.

In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "both ends", "one end", "the other end" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element to which the reference is made must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "connected," and the like are to be construed broadly, and for example, "connected" may be either fixedly connected or detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-4, the present invention provides an embodiment: a portable unmanned ship and underwater robot combined detection and salvage system comprises a wire winding reel 1, an unmanned ship 2, a cable 3, an underwater robot 4, an underwater camera 5, an overwater electronic bin 6, a fixed seat 7, clamping grooves 8, a remote control gripper 9, an underwater electronic bin 10 and a propulsion motor 11, wherein the unmanned ship 2 is a catamaran, the fixed seat 7 is arranged above the unmanned ship 2, the overwater electronic bin 6 is fixed above the fixed seat 7, the wire winding reel 1 is arranged at the left end of the overwater electronic bin 6, the cable 3 is arranged on the wire winding reel 1, the underwater electronic bin 10 is arranged inside the underwater robot 4, the remote control gripper 9 is arranged in front of the underwater robot 4, the propulsion motors 11 are arranged on two sides of the underwater robot 4, the underwater camera 5 is arranged in front of the underwater electronic bin 10, the clamping grooves 8 are respectively arranged at two ends of the fixed seat 7, and a buckle is arranged on the unmanned ship 2, buckle card is on 2 draw-in grooves 8, unmanned ship 2 is inflatable beta structure, electronics storehouse 6 on water includes the motor, GPS orientation module, wireless image transmission module, sonar and battery, the output and the take-up reel 1 of motor are connected, the sonar is located electronics storehouse 6 bottoms on water, cable 3 includes signal line and guard line, electronics storehouse 10 includes the image acquisition module under water, remote control tongs control module and battery, electronics storehouse 10 and electronics storehouse 6 on water pass through cable 3 to be connected under water, electronics storehouse 10 and electronics storehouse 6 on water all adopt stm32F103ZET6 singlechip as the control panel under water.

The working principle is as follows: when the utility model is used, the utility model needs to be simply known in structure, before rescue, an operator releases the portable unmanned ship and underwater robot combined detection and salvage system from the bank, the remote controller is operated to make the portable unmanned ship and underwater robot combined detection and salvage system advance to the water area of the incident, the portable unmanned ship and underwater robot combined detection and salvage system starts to automatically cruise, meanwhile, topographic information collected by the sonar is transmitted to the overwater electronic bin 6 on the unmanned ship 2 in a wired mode, the overwater electronic bin 6 is transmitted to a display screen of the operator on the bank through wireless image transmission equipment, once the operator finds suspicious underwater images, the remote controller is operated to make the portable unmanned ship and underwater robot combined detection and salvage system stop advancing, the underwater robot 4 is released through the winding reel 1, the operator remotely controls the underwater robot 4 to dive from the suspicious place to take underwater camera and evidence, the underwater image of the underwater camera 5 is transmitted to the overwater electronic bin 6 through the underwater electronic cabin 10 and the cable 3, the overwater electronic bin 6 is transmitted to a display screen of an operator on the shore through wireless image transmission equipment of the overwater electronic bin, when the operator observes that the object to be salvaged is really underwater through the image of the underwater camera 5, the GPS module on the overwater electronic bin 6 can mark the place, and then the object is salvaged through a diver or an industrial underwater salvage robot, so that the rescue work is completed.

The above description is only an example of the present invention, and the common general knowledge of the known specific structures and characteristics of the embodiments is not described herein. It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims

1. The utility model provides a portable unmanned ship + underwater robot jointly surveys salvage system, includes take-up reel (1), unmanned ship (2), cable (3), underwater robot (4), camera (5) under water, electron storehouse (6) on water, fixing base (7), draw-in groove (8), remote control tongs (9), electron storehouse (10) under water, propulsion motor (11), its characterized in that: the unmanned ship (2) is a catamaran, a fixed seat (7) is arranged above the unmanned ship (2), an overwater electronic bin (6) is fixed above the fixed seat (7), a winding roll (1) is arranged at the left end of the overwater electronic bin (6), and a cable (3) is arranged on the winding roll (1);

the underwater robot is characterized in that an underwater electronic bin (10) is arranged inside the underwater robot (4), a remote control gripper (9) is arranged in front of the underwater robot (4), 4 propelling motors (11) are arranged on two sides of the underwater robot (4), and an underwater camera (5) is arranged in front of the underwater electronic bin (10).

2. The portable unmanned ship and underwater robot combined detection fishing system of claim 1, wherein: the two ends of the fixing seat (7) are respectively provided with 2 clamping grooves (8), the unmanned ship (2) is provided with a buckle, and the buckle is clamped on the 2 clamping grooves (8).

3. The portable unmanned ship and underwater robot combined detection fishing system of claim 1, wherein: the unmanned ship (2) is of an inflatable foldable structure.

4. The portable unmanned ship and underwater robot combined detection fishing system of claim 1, wherein: the overwater electronic cabin (6) comprises a motor, a GPS positioning module, a wireless image transmission module, a sonar and a storage battery, wherein the output end of the motor is connected with the winding roll (1), and the sonar is positioned at the bottom of the overwater electronic cabin (6).

5. The portable unmanned ship and underwater robot combined detection fishing system of claim 1, wherein: the cable (3) includes a signal line and a protection line.

6. The portable unmanned ship and underwater robot combined detection fishing system of claim 1, wherein: the underwater electronic cabin (10) comprises an image acquisition module, a remote control gripper control module and a storage battery, and the underwater electronic cabin (10) is connected with the overwater electronic cabin (6) through a cable (3).

7. The portable unmanned ship and underwater robot combined detection fishing system of claim 1, wherein: and the underwater electronic cabin (10) and the overwater electronic cabin (6) both adopt an stm32F103ZET6 single-chip microcomputer as control plates.