CN211032936U

CN211032936U - Flight detection ship

Info

Publication number: CN211032936U
Application number: CN201921651478.5U
Authority: CN
Inventors: 刘春梅
Original assignee: 刘春梅
Current assignee: Tibet Qiancheng Information Technology Co.,Ltd.
Priority date: 2019-09-29
Filing date: 2019-09-29
Publication date: 2020-07-17
Anticipated expiration: 2029-09-29

Abstract

The utility model discloses a flight detection ship, including hull (1), support (2) of setting in hull (1) top, set up grabbing device (3) in support (2) inside, set up underwater robot (4) in grabbing device (3) inside, flight device (5) of setting on support (2), detection device (6) of setting on flight device (5) and setting are inside in support (2) to be used for controlling hull (1) motion, grabbing device (3) motion, flight device (5) motion, main control system (7) of detection device (6) work. A flight detection ship in time discover the potential safety hazard that the waters appears through the mode that the flight was patrolled, improve underwater robot's detection efficiency and ageing.

Description

Flight detection ship

Technical Field

The utility model relates to a waters detection area, concretely relates to flight detection ship for waters system.

Background

The water area refers to rivers, lakes, canals, channels, reservoirs, ponds, management ranges and hydraulic facilities thereof, and the coverage range is wide. Generally, when monitoring and managing water areas such as rivers, lakes, seas and the like, not only the water quality of the water areas to be managed needs to be monitored, but also the managed water areas need to be patrolled at regular time, so that measures can be taken in time when accidents happen to the water areas.

One type of ROV, Remote Operated Vehicle (Remote Operated Vehicle), Unmanned Underwater Vehicle (UUV), generally comprises: the device comprises a power propeller, a remote control electronic communication device, a black-white or color camera, a camera pitching tripod head, a user peripheral sensor interface, a real-time online display unit, a navigation positioning device, an automatic rudder navigation unit, an auxiliary illuminating lamp, a Kevlar zero-buoyancy towing cable and other unit components. The ROV has various functions, different types of ROVs are used for executing different tasks, and the ROV is widely applied to various fields of army, coast guard, maritime affairs, customs, nuclear power, water and electricity, marine oil, fishery, marine rescue, pipeline detection, marine scientific research and the like.

In the prior art, people transport the ROV to a place needing to be detected regularly for detection, and the detection mode has poor timeliness and cannot find problems and potential safety hazards in a water area in time.

Application number is CN201910377873.7 discloses a surface of water robot that independently cruises, which comprises a ship body, first cavity has been seted up on the hull, the hole has been seted up to the rotation on the top inner wall of first cavity, rotate downthehole rotation and install the internal thread pipe, the threaded rod is installed to internal thread intraductal screw thread, the top of threaded rod extends to outside the internal thread pipe, the bottom of internal thread pipe extends to in the first cavity and fixed mounting has first conical gear, fixed mounting has first motor in the first cavity, fixed mounting has second conical gear on the output shaft of first motor, second conical gear and first conical gear meshing, the top fixed mounting of threaded rod has panoramic camera and three-dimensional laser radar. The problem is timely found through real-time operation on the water surface, but the detection process has limitations.

Disclosure of Invention

The utility model relates to an overcome the relatively poor problem of underwater robot ageing in the testing process among the prior art, provide a flight detection ship, in time discover the potential safety hazard that the waters appears through the mode that the flight was patrolled, improve underwater robot's detection efficiency and ageing.

The utility model provides a flight detection ship, its characterized in that: including the hull, the setting is in the support of hull top sets up the grabbing device that is used for holding underwater robot of below in the middle of the support sets up the inside underwater robot of grabbing device sets up flying device on the support sets up last detection device of flying device is in with the setting inside being used for control of support the hull motion grabbing device motion flying device motion the main control system of detection device work.

Preferably, the support comprises a first support plate and a second support plate which are arranged in parallel, and a support column vertically connecting four corners of the first support plate and the second support plate, wherein support arms inclining downwards are arranged at the left end and the right end of the first support plate; the first support plate, the second support plate and the support column form a cavity, and the grabbing device is arranged in the cavity; the lower sides of the left side and the right side of the first support plate are fixedly connected with the ship body through the end parts of the support arms, the flying device is arranged above the first support plate, and the control host is arranged on the first support plate.

As a preferred scheme, a group of the support arms is respectively arranged at the left end and the right end of the first support plate, and the left support arm and the right support arm are symmetrically arranged; and a ship body is fixedly arranged below each group of support arms.

As a preferred scheme, the grabbing device comprises a grabbing motor arranged on the second support plate, the middle position of a first swing rod is connected with an output shaft of the grabbing motor, and two ends of the first swing rod are symmetrically and respectively hinged with two connecting rods; the grabbing device further comprises two second swing rods which are arranged in bilateral symmetry, the free ends of the two connecting rods are respectively hinged to the upper ends of the two second swing rods, the middle positions of the two second swing rods are respectively hinged to two sides of the second support plate, and the lower ends of the second swing rods are provided with grippers extending towards the middle and used for grabbing or releasing the underwater robot.

Preferably, the grabbing device comprises two grabbing brackets, each grabbing bracket is provided with a vertical connecting plate used for being fixed to the side face of the second bracket plate, and two connecting lugs are used for being in butt joint with two swing rod connecting lugs arranged on the second swing rod and enabling the second swing rod to be hinged to the side face of the second bracket plate through a hinge shaft.

Preferably, the free end of the hand grip is provided with a guide wheel.

The grabbing device drives the connecting rod through the rotation of two ends of the first swing rod, the connecting rod drives the second swing rods symmetrically arranged on two sides to swing, so that the grippers at the tail ends of the second swing rods can move in a folding and unfolding mode, grabbing and releasing of the underwater robot are completed, the driving motor of the grabbing device is controlled through the control host, and the grabbing device has the advantages of being simple in structure and good in reliability. When the underwater robot does not work, the underwater robot is fixed by the two grippers, and when the underwater robot needs to operate, the underwater robot is released by the grippers and enters a water area to work through the own propeller of the underwater robot. The free end of the hand grip is provided with a guide wheel which can reduce the resistance in the releasing process.

Preferably, the flying device comprises an aircraft support fixedly connected with the first support plate, an oil tank arranged on the aircraft support and a plurality of aircrafts uniformly distributed at the outer end of the circumference of the aircraft support; the aircraft includes a rotor, a rotary-wing engine for driving rotation of the rotor, and an oil line for connecting the rotary-wing engine to the oil tank.

Preferably, the aircraft support comprises a plurality of upright posts and a fixing plate arranged at the upper ends of the upright posts, the lower ends of the upright posts are connected with the upper surface of the first support plate, a plurality of support rods are radially and outwardly arranged on the side surface of the fixing plate, and the aircraft is arranged at the end parts of the support rods.

Preferably, the number of the struts of the aircraft support is 8, the struts are uniformly distributed around the fixing plate, and 8 groups of the aircraft are arranged at the ends of the struts.

Preferably, the ship body comprises a ship body fixedly connected with the support arm, a propeller arranged below the tail of the ship body and a power device arranged in the ship body and used for driving the propeller to move.

Preferably, an umbilical cable for providing energy and data transmission for the underwater robot is arranged on the support.

Preferably, a protective frame for protecting the propeller is arranged at the tail part of the ship body.

Preferably, a positioning camera for positioning the underwater robot is arranged at a position below the second support plate of the support.

The utility model discloses in the use, the flight detection ship inspects the detection waters in the sky, when detection device finds that the waters appears unusually, sends signal and data to the main control system, and the main control system judges whether need land to the surface of water according to the signal and the data received and carries out further inspection; when further inspection is needed, the control host controls the flight detection ship to land near the abnormal position and then runs to the abnormal position through the ship body for inspection; when the ship body reaches an abnormal position, the ship body stops moving, and meanwhile, the underwater robot is released by the grabbing arm to enter a water area to work. And if the control host cannot judge whether to perform landing inspection, related data needs to be sent to the central control system for manual judgment.

The utility model discloses owing to be equipped with the hull at the flying device, make it adjust the detection mode according to actual conditions in the testing process, improved detection efficiency and detection precision.

The utility model discloses be equipped with underwater robot on the hull, when needs further detect the submarine condition, can emit underwater robot and carry out further detection, improved the accuracy that detects.

Drawings

FIG. 1 is a front view of a flight detection vessel;

FIG. 2 is a side view of a flight detection vessel;

FIG. 3 is a perspective view of a flight detection vessel;

FIG. 4 is a perspective view of a flight detection vessel hull;

FIG. 5 is a perspective view of a flight inspection boat support;

FIG. 6 is a front view of a flight inspection boat grasping apparatus and an underwater robot;

FIG. 7 is a perspective view of a flight inspection boat grasping apparatus;

FIG. 8 is a perspective view of a flight inspection boat flight device;

FIG. 9 is an exploded schematic view of a flight detection vessel;

fig. 10 is a schematic view of an underwater robot of a flight inspection ship in an operating state.

Reference numerals:

1-hull, 11-hull, 12-propeller, 13-battery compartment; 2-bracket, 21-first bracket plate, 22-second bracket plate, 23-pillar, 24-bracket arm, 241-left bracket arm, 242-right bracket arm; 3-a grabbing device, 31-a grabbing motor, 32-a first swing rod, 33-a connecting rod, 34-a second swing rod, 341-a swing rod connecting lug, 35-a grabbing bracket, 351-a vertical connecting plate, 352-a connecting lug, 36-a gripper, 37-a hinge shaft and 38-a guide wheel; 4-an underwater robot; 5-flight device, 51-aircraft bracket, 511-upright column, 512-fixed plate, 513-strut, 52-oil tank, 53-aircraft, 531-rotor, 532-rotor engine, 533-oil pipe; 6-detection device, 61-radar monitor, 62-camera; 7-control the host computer; 8-umbilical cables; 9-positioning the camera.

Detailed Description

Example 1

As shown in fig. 1-3, fig. 9, the utility model provides a flight detection ship, hull 1 including two bilateral symmetry arrangements, set up in two hulls 1 tops have support 2, set up and be equipped with grabbing device 3 below 2 intermediate positions of support for embrace and release underwater robot 4, this grabbing device 3 holds underwater robot 4 in the below of support 2 promptly, this underwater robot is the ROV promptly, the unmanned underwater vehicle of remote control is the underwater robot who is used for observing under water, inspection and construction, this equipment belongs to prior art. A flying device 5 is arranged on the support 2 and used for driving the whole ship body 1 and the underwater robot 4 to fly; the flying device 5 is provided with a detection device 6 for exploring abnormal objects on the sea surface and shooting the surface condition of the water dam body; a control host 7 for controlling the movement of the ship body 1, the movement of the grabbing device 3, the movement of the flying device 5 and the work of the detection device 6 is arranged in the support 2; an umbilical cable 8 is arranged on the bracket 2, is connected with the underwater robot and is used for providing energy and data transmission for the underwater robot 4; referring to fig. 6, a positioning camera 9 for positioning the underwater robot 4 is provided at a central position below the stand 2, and the positioning camera 9 is aimed at the upper side of the underwater robot 4 to determine a gripping position.

As shown in fig. 5, the rack 2 includes a first rack plate 21 and a second rack plate 22 which are horizontally arranged in parallel, four pillars 23 are vertically connected at four corners between the first rack plate 21 and the second rack plate 22, and the control host 7 is arranged on the first rack plate 21; the left end and the right end of the first support plate 21 are respectively provided with a group of support arms 24, namely, the front and the back of the left end of the first support plate 21 are provided with two left support arms 241, the two left support arms 241 are inclined downwards and arranged in parallel, the right end of the first support plate 21 is provided with a group of support arms 24 which comprise two right support arms 242 arranged in front and back positions, the right support arms 242 and the left support arms 241 are distributed in bilateral symmetry, and the left support arms 241 and the right support arms 242 are respectively used for connecting the ship body 1 which is arranged in bilateral symmetry; the first support plate 21, the second support plate 22 and the strut 23 form a cavity, the grabbing device 3 is arranged below the cavity, the ship body 1 is fixedly connected with the support arm 24, the flying device 5 is arranged above the first support plate 21, and the control host 7 is arranged on the first support plate 21.

As shown in fig. 4, two hulls 1 are provided, and the hull 1 includes a hull 11 fixedly connected with the free ends of the support arms 24, that is, the hull 1 on the left side is connected with two left support arms 241; the right hull 1 is connected to a right support arm 242, the free end of which support arm 24 is provided with a connection plate by means of which it is connected to the upper surface of the hull 11. A propeller 12 is arranged below the tail part of the ship body 11, and the power device for providing power for the propeller 12 can be a storage battery which is arranged in a battery compartment 13 on the ship body, obviously, a power source such as a fuel engine can also be adopted; the hull 1 is provided at the rear with a fender bracket 14 for protecting the propeller 12, and as shown in fig. 4, the fender bracket 14 is formed by connecting 5 fender rods, and the shape thereof is not limited thereto, as long as the propeller 12 is protected.

As shown in fig. 6 and 7, the grabbing device 3 includes a grabbing motor 31 disposed on the second frame plate 22 of the frame 2, the center of the first swing link 32 is connected to the output shaft of the grabbing motor 31, that is, two free ends of the first swing link 32 are in central symmetry, and two ends of the first swing link 32 are symmetrically hinged to two connecting rods 33 respectively; the two second swing rods 34 are symmetrically hinged and fixed on two sides of the second bracket plate 22, the free ends of the two connecting rods 33 are hinged to the upper ends of the two second swing rods 34 respectively, and the lower end of each second swing rod 34 is provided with two grippers 36 extending towards the middle for gripping or releasing the underwater robot 4. Preferably, the second swing link 34 is connected to both sides of the second supporting plate 22 through a grabbing bracket 35, each grabbing bracket 35 has a vertical connecting plate 351, the vertical connecting plate 351 is fixed to a side surface of the second supporting plate 22, two connecting lugs 352 are vertically extended outwards from front and rear end portions of the vertical connecting plate 351, two swing link connecting lugs 341 are arranged at a middle position of the second swing link 34, and the second swing link 34 is hinged to the grabbing bracket through a hinge shaft 37 after the swing link connecting lugs 341 are abutted to the connecting lugs 352; a guide wheel 38 is preferably provided at the free end of the gripper 36 to facilitate a reduction of the drag when releasing the underwater robot 4. The grabbing motor 31 is connected with the control host 7. As shown in fig. 7, when the underwater robot needs to be released, the grabbing motor 31 rotates counterclockwise to drive the first swing link 32 to rotate, and then the connecting rod 33 pulls the second swing link 34 on the left side in the drawing to rotate clockwise around the hinge shaft 37, the connecting rod 33 on the right side pulls the second swing link 34 on the right side to rotate counterclockwise around the hinge shaft 37, and the grippers 36 on the two sides are opened, so that the underwater robot 4 is released; referring to fig. 10, the underwater robot 4 enters the water with the umbilical 8 and the underwater robot 4 moves underwater by its own power propeller. When the underwater robot 4 returns to the position below the ship body, referring to fig. 6, the underwater robot 4 is aimed by the positioning camera 9, and when the underwater robot is aimed at the grabbing position, the grabbing motor 31 rotates clockwise to drive the grabbing hands 36 on the two sides to close up to hold the underwater robot 4 tightly.

As shown in fig. 8, the flying device 5 includes an aircraft support 51 fixedly connected to the first support plate 21, the aircraft support 51 includes 4 vertical columns 511, the lower ends of the vertical columns 511 are connected to the upper support plate 21 of the support 2, the upper ends of the vertical columns 511 are provided with fixing plates 512, the fixing plates are provided with oil tanks 52 thereon, the fixing plates are preferably circular or regular polygon, 8 support rods 513 uniformly extend radially outwards around the fixing plates 512, and the end of each support rod 513 is provided with an aircraft 53; aircraft 53 includes rotor 531, rotor motor 532 for driving rotor 531 in rotation, and oil line 533 for connecting rotor motor 532 to the oil tank. Rotary drive is provided to rotor 531 via rotor motor 532, causing the rotor to rotate and thereby effect flight. Wherein rotor 531, rotor engine 532 are both prior art.

As shown in fig. 2 and 3, the detecting device 6 includes a radar monitor 61 and a camera 62, and is used for detecting foreign objects in the sea area and shooting the surface of the sea or the dam, and transmitting the detected foreign objects to the control host 7.

The utility model discloses in the use, the flight detection ship is in the detection waters of aerial inspection, when detection device 6 (can be for camera, radar) finds that waters surface or dam body surface appear unusually, sends signal and data to main control system 7, and main control system 7 judges whether need descend to the surface of water according to the signal and the data received and carries out further inspection; when further inspection is needed, the control host 7 controls the flight detection ship to land near the abnormal position and then drive to the abnormal position through the ship body 1 for inspection; when the ship body 1 reaches an abnormal position, the movement is stopped, and simultaneously the gripper 36 is driven by the motor to release the underwater robot 4 so as to enter the water area for working. If the control host 7 cannot judge whether to perform the landing check, the relevant data needs to be sent to the central control system for manual judgment.

The foregoing description is intended to be illustrative rather than limiting, and it will be appreciated by those skilled in the art that various modifications, changes, and equivalents may be made without departing from the spirit and scope of the invention as defined in the appended claims.

Claims

1. A flight inspection boat, characterized by: including hull (1), set up support (2) above hull (1), the setting is in the grabbing device (3) that are used for holding underwater robot (4) of below are in the middle of support (2), set up grabbing device (3) inside underwater robot (4) sets up flying device (5) on support (2) set up detection device (6) on flying device (5) are in with set up support (2) inside is used for control hull (1) motion grabbing device (3) motion flying device (5) motion detection device (6) the control host computer (7) of work.

2. A flight inspection boat in accordance with claim 1, wherein: the support (2) comprises a first support plate (21) and a second support plate (22) which are arranged in parallel, a support column (23) is vertically connected with four corners of the first support plate (21) and the second support plate (22), and two ends of the first support plate (21) are provided with support arms (24) which incline downwards; the first support plate (21), the second support plate (22) and the strut (23) form a cavity, and the grabbing device (3) is arranged in the cavity; the lower sides of the left side and the right side of the first support plate (21) are fixedly connected with the ship body (1) through the end parts of the support arms (24), the flying device (5) is arranged above the first support plate (21), and the control host (7) is arranged on the first support plate (21).

3. A flight inspection boat in accordance with claim 2, wherein: the left end and the right end of the first support plate (21) are respectively provided with a group of support arms (24), and the left group of support arms and the right group of support arms (24) are symmetrically arranged; a ship body (1) is fixedly arranged below each group of support arms (24).

4. A flight inspection boat according to claim 3, wherein: the grabbing device (3) comprises a grabbing motor (31) arranged on the second support plate (22), the middle position of a first swing rod (32) is connected with an output shaft of the grabbing motor (31), and two ends of the first swing rod (32) are symmetrically hinged with two connecting rods (33) respectively; the grabbing device (3) further comprises two second swing rods (34) which are arranged in bilateral symmetry, the free ends of the two connecting rods (33) are hinged to the upper ends of the two second swing rods (34), the middle positions of the two second swing rods (34) are hinged to the two sides of the second support plate (22) respectively, and the lower end of each second swing rod (34) is provided with a grabbing hand (36) extending towards the middle and used for grabbing or releasing the underwater robot (4).

5. A flight inspection boat according to claim 4, wherein: the gripping device (3) further comprises two gripping brackets (35), the gripping brackets (35) having: a vertical connecting plate (351) for being fixed to a side of the second holder plate (22); and the two connecting lugs (352) are used for being butted with the two swing rod connecting lugs (341) arranged on the second swing rod (34) and hinging the second swing rod (34) to the side surface of the second bracket plate (22) through a hinging shaft (37).

6. A flight inspection boat according to claim 5, wherein: the free end of the handle (36) is provided with a guide wheel (38).

7. A flight inspection boat according to any one of claims 2 to 6, wherein: the flying device (5) comprises an aircraft support (51) fixedly connected with the first support plate (21), an oil tank (52) arranged on the aircraft support (51) and a plurality of aircrafts (53) uniformly distributed at the outer end of the circumference of the aircraft support (51); the aircraft (53) comprises a rotor (531), a rotor motor (532) for driving the rotor (531) to rotate and an oil pipe (533) for connecting the rotor motor (532) and the oil tank (52).

8. A flight inspection boat in accordance with claim 7, wherein: aircraft support (51) include several stand (511) and establish fixed plate (512) in several stand (511) upper end, the lower extreme of stand with connect above first stand plate (21), radially outwards radiate in the side of fixed plate (512) and be provided with several spinal branch poles (513), aircraft (53) are established the tip of spinal branch pole (513).

9. A flight inspection boat in accordance with claim 8, wherein: the number of the supporting rods (513) of the aircraft support (51) is 8, the supporting rods are uniformly distributed around the fixing plate (512), and 8 groups of the aircraft (53) are arranged at the end parts of the supporting rods (513).

10. A flight inspection boat according to any one of claims 2 to 6, wherein: the ship body (1) comprises a ship body (11) fixedly connected with the support arm (24), a propeller (12) arranged below the tail part of the ship body (11) and a power device arranged in the ship body (11) and used for driving the propeller (12) to move; and a protective frame (14) for protecting the propeller (12) is arranged at the tail part of the ship body (1).

11. A flight inspection boat in accordance with claim 9, wherein: the ship body (1) comprises a ship body (11) fixedly connected with the support arm (24), a propeller (12) arranged below the tail part of the ship body (11) and a power device arranged in the ship body (11) and used for driving the propeller (12) to move; and a protective frame (14) for protecting the propeller (12) is arranged at the tail part of the ship body (1).

12. A flight inspection boat according to any one of claims 1 to 6, wherein: an umbilical cable (8) for providing energy and data transmission for the underwater robot (4) is arranged on the support (2).

13. A flight inspection boat in accordance with claim 11, wherein: an umbilical cable (8) for providing energy and data transmission for the underwater robot (4) is arranged on the support (2).

14. A flight inspection boat according to any one of claims 2 to 6, wherein: and a positioning camera (9) used for positioning the underwater robot (4) is arranged at the position below the second support plate (22) of the support (2).