CN212500965U - Emergent recovery unit of underwater robot - Google Patents
Emergent recovery unit of underwater robot Download PDFInfo
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- CN212500965U CN212500965U CN201920592184.3U CN201920592184U CN212500965U CN 212500965 U CN212500965 U CN 212500965U CN 201920592184 U CN201920592184 U CN 201920592184U CN 212500965 U CN212500965 U CN 212500965U
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Abstract
The utility model relates to an underwater robot field provides an emergent recovery unit of underwater robot, including the come-up device, the come-up device includes valve, high pressure gas storage device and withstand voltage gasbag, and when underwater robot was out of control, the valve was opened, and gaseous ease among the high pressure gas storage device is to withstand voltage gasbag, and withstand voltage gasbag is inflated back volume grow, buoyancy grow, drives underwater robot come-up to the surface of water. The utility model has the characteristics of device repeatedly usable, floating speed are faster, because along with the reduction of the degree of depth, water reduces for the external pressure that withstand voltage gasbag was applyed, and withstand voltage gasbag's volume can increase, and consequently the degree of depth is less, and withstand voltage gasbag volume is big more, and the buoyancy that provides is big more, and floating speed is fast more. Therefore, the floating cage is particularly suitable for occasions needing quick floating.
Description
Technical Field
The utility model belongs to the underwater robot field relates to an emergent recovery unit, in particular to emergent recovery unit of underwater robot.
Background
After the underwater robot finishes underwater observation or operation tasks, the underwater robot floats to the water surface according to a program, sends position coordinates to an operator and is recycled by the operator. However, in the actual use process, due to the reasons of the main control program failure, the power failure, the driving system failure and the like of the underwater robot, the underwater robot has dangerous conditions of incapability of floating up, sinking into the water bottom and loss in the use process.
Therefore, an emergency recovery device is needed for protecting the underwater robot from floating out of the water surface after the above fault phenomenon occurs, and sending positioning information to the control personnel to wait for rescue.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing an emergent recovery unit of underwater robot to the above-mentioned problem that exists among the prior art.
The purpose of the utility model can be realized by the following technical proposal: the utility model provides an emergent recovery unit of underwater robot, includes the come-up device, the come-up device includes valve, high pressure gas storage device and withstand voltage gasbag, and when underwater robot was out of control, the valve was opened, and gas escape among the high pressure gas storage device is to withstand voltage gasbag, and volume grow, buoyancy grow after withstand voltage gasbag was aerifyd drive underwater robot come-up to the surface of water.
The utility model discloses a theory of operation: the underwater robot is in a zero-buoyancy or slightly positive-buoyancy (the buoyancy is slightly larger than the gravity) state when working, the depth sensing device can detect the depth of the underwater robot in real time, after the depth value of the underwater robot exceeds an error allowable range, the underwater robot and the emergency protection device transmit and feed back information, if the underwater robot is confirmed to be out of the water surface, the underwater robot cannot float out of the water surface by itself, the emergency recovery device can start emergency protection, the floating device starts to enable the underwater robot to float upwards until the underwater robot floats out of the water surface, and the positioning device positions the underwater robot and waits for rescue of an operator.
Preferably, the pressure-resistant airbag includes an inner airbag and an outer airbag.
Preferably, the valve is communicated with the inner airbag, the inner airbag is attached to the outer airbag after being inflated, and the inner airbag forms a cavity after being inflated.
Preferably, a pressure sensor is provided in the pressure-resistant bladder. When the pressure of the pressure-resistant air bag is suddenly reduced in an inflated state, information that the pressure-resistant air bag is damaged is sent to the operation table, and therefore an operator can pay attention to the movement of the underwater robot.
Preferably, the inner bladder is made of an elastic material.
Preferably, the floating device can be used for multiple times.
Preferably, before the high-pressure gas storage device is used, gas with corresponding pressure intensity can be pre-filled according to the estimated water depth of the working water area of the underwater robot, so that the water depth corresponding to the gas storage pressure intensity is larger than the water depth of the working water area of the underwater robot.
Preferably, a positioning device is further arranged in the upper floating device, the positioning device comprises a depth sensing device, and the depth sensing device is used for detecting the depth of the underwater robot in real time; the positioning device further comprises a Beidou positioning device, and the Beidou positioning device is used for positioning the current position of the underwater robot after the underwater robot floats out of the water surface.
Preferably, the power supply is completely independent of the underwater robot.
Preferably, a power supply device and a switch device are arranged in the floating device, and the power supply device and the switch device are completely independent of the underwater robot.
Preferably, the floatation device is waterproof.
Compared with the prior art, the utility model has the advantages of it is following:
1. the method that the weight is abandoned to reduce the weight of the underwater robot has certain limitation on the use occasion, the abandoned weight is difficult to recover, even if the abandoned weight can be recovered, the abandoned weight also has great economic cost, and certain ecological influence can be caused if the abandoned weight is not recovered. In addition, in some situations, such as when the underwater robot is used for detecting the submarine pipeline or repairing the submarine pipeline, if the weight is discarded, the submarine equipment is damaged with a certain probability, so that the underwater robot needs to perform emergency treatment in other ways.
The utility model has the characteristics of device repeatedly usable, floating speed are faster, because along with the reduction of the degree of depth, water reduces for the external pressure that withstand voltage gasbag was applyed, and withstand voltage gasbag's volume can increase, and consequently the degree of depth is less, and withstand voltage gasbag volume is big more, and the buoyancy that provides is big more, and floating speed is fast more. Therefore, the floating cage is particularly suitable for occasions needing quick floating.
2. The utility model discloses be totally independent of underwater robot's control system, power supply unit, switching device all do not use underwater robot's equipment to the device that floats, furthest reduces with underwater robot system's contact to guarantee emergent recovery unit's operation.
3. The utility model discloses in still being equipped with pressure sensor, when withstand voltage gasbag pressure dip under the state of aerifing, send withstand voltage gasbag destroyed information to operation panel, the operating personnel of being convenient for pay close attention to this underwater robot's trend immediately.
4. The utility model is also provided with a positioning device, wherein, a depth sensor is used for detecting the depth information of the underwater robot in real time, and the depth is used as the weight information for evaluating the emergency state of the underwater robot; the Beidou positioning device is used for starting the emergency recovery device of the underwater robot, and sends the current position information of the underwater robot to the control platform after floating out of the water surface and the current information in the emergency mode.
5. The utility model discloses simple structure, low power dissipation, operation are reliable, can promote the security of underwater robot system operation.
6. The high-pressure gas storage device is a core component, when in use, the water depth corresponding to the pressure of the stored gas is required to be ensured to be larger than that of the working water area of the underwater robot, and in engineering practice, the pressure of the high-pressure gas storage device is approximate to 1MPa of task and corresponds to 10m of water depth. Therefore, the high-pressure gas storage device can be filled with gas with different pressures in advance at different application depths, and the high-pressure gas storage device has good flexibility in use.
7. The pressure-resistant air bag is in a compressed state in an initial state, has small volume, does not influence the normal work of the underwater robot, and starts to expand after the valve is opened and filled with gas to provide buoyancy, is convenient to operate and has better reliability.
8. The double-layer air bag can realize different functions, the inner air bag has high elasticity, small volume and small occupied space when not inflated, is convenient to fold, store and butt with a valve, and can change the shape along with the shape of the outer air bag; the shape and the size of the outer-layer air bag can be designed in advance according to different work of the underwater robot, only the outer-layer air bag has micro elasticity, and an operator can control the overall size of the underwater robot after the floating device is started; and outer gasbag material is thicker, prevents effectively that the gasbag from being cut open or puncture by sharp object under water, even outer gasbag is cut open, the inlayer gasbag also can regard as emergent gasbag to use, and the dual guarantee floating device accomplishes underwater robot's the task of floating, has guaranteed underwater robot's recovery.
Drawings
FIG. 1 is a schematic structural view of an underwater robot and an emergency recovery device;
FIG. 2 is an enlarged view of a portion A of FIG. 1;
in the figure, 0, an underwater robot; 1. a pressure-resistant air bag; 2. a valve; 3. a high pressure gas storage device; 4. a floating device; 5. an inner air bag; 6. an outer air bag; 7. a pressure sensor.
Detailed Description
The following are specific embodiments of the present invention, and the technical solutions of the present invention are further described, but the present invention is not limited to these embodiments.
As shown in the figure, the emergency recovery device for the underwater robot comprises a floating device 4, wherein the floating device 4 comprises a valve, a high-pressure gas storage device 3 and a pressure-resistant airbag 1, when the underwater robot 0 is out of control, the valve is opened, gas in the high-pressure gas storage device 3 escapes to the pressure-resistant airbag 1, and the pressure-resistant airbag 1 is inflated to increase the volume and the buoyancy and drive the underwater robot 0 to float to the water surface.
The underwater robot 0 is in a zero-buoyancy or slightly positive-buoyancy (the buoyancy is slightly larger than the gravity) state when working, the depth sensing device can detect the depth of the underwater robot 0 in real time, when the depth value of the underwater robot 0 exceeds an error allowable range, information is transmitted and fed back between the underwater robot 0 and the emergency protection device, if the underwater robot 0 is confirmed to be in fault and cannot float out of the water surface by itself, the emergency recovery device can start emergency protection, the floating device 4 is started to enable the underwater robot 0 to float up until the underwater robot floats out of the water surface, the positioning device positions the underwater robot 0, and an operator waits for rescue.
The pressure-resistant balloon includes an inner balloon 5 and an outer balloon 6. The valve 2 is communicated with the inner layer air bag 5, the inner layer air bag 5 is attached to the outer layer air bag 6 after being inflated, and the inner layer air bag 5 forms a cavity after being expanded. A pressure sensor 7 is arranged in the pressure-resistant air bag. When the pressure of the pressure-resistant air bag is suddenly reduced in an inflated state, information that the pressure-resistant air bag is damaged is sent to the operation table, and therefore an operator can pay attention to the movement of the underwater robot. The inner air bag 5 is made of elastic materials, and the gas stored in the high-pressure gas storage device 3 is inert gas, so that the gas in the high-pressure gas storage device 3 is prevented from generating biochemical reaction and damaging the safety of an underwater robot or other underwater devices.
The floating device 4 can be used for a plurality of times. Before the high-pressure gas storage device 3 is used, gas with corresponding pressure intensity can be pre-filled according to the estimated water depth of the working water area of the underwater robot 0, so that the water depth corresponding to the gas storage pressure intensity is larger than the water depth of the working water area of the underwater robot 0.
A positioning device is also arranged in the floating device 4, the positioning device comprises a depth sensing device, and the depth sensing device is used for detecting the depth of the underwater robot 0 in real time; the positioning device further comprises a Beidou positioning device, and the Beidou positioning device is used for positioning the current position of the underwater robot 0 after the underwater robot 0 floats out of the water surface.
The power supply is completely independent of the underwater robot 0. And a power supply device and a switch device are arranged in the floating device 4, and the power supply device and the switch device are completely independent of the underwater robot 0. The floating device 4 is waterproof.
The method that the weight is abandoned to reduce the weight of the underwater robot 0 has certain limitation on the use occasion, the abandoned weight is difficult to recover, even if the abandoned weight can be recovered, the great economic cost can be paid, and certain ecological influence can be caused if the weight is not recovered. In addition, in some situations, for example, when the underwater robot 0 is used for submarine pipeline detection or equipment maintenance, if the weight is discarded, there is a case that the underwater equipment is damaged with a certain probability, so it is necessary to perform emergency treatment of the underwater robot 0 in other manners.
The utility model has the characteristics of device repeatedly usable, the speed of floating is faster, because along with the reduction of the degree of depth, water reduces for the external pressure that withstand voltage gasbag 1 applied, and withstand voltage gasbag 1's volume can increase, and consequently the degree of depth is less, and withstand voltage gasbag 1 volume is big more, and the buoyancy that provides is big more, and the speed of floating is fast more. Therefore, the floating cage is particularly suitable for occasions needing quick floating.
The utility model discloses be totally independent of underwater robot 0's control system, power supply unit, switching device floating device 4 all do not use underwater robot 0's equipment, furthest reduce with underwater robot 0 system's contact to guarantee emergent recovery unit's operation.
The utility model discloses in still be equipped with pressure sensor 7, when withstand voltage gasbag pressure dip under the inflated state, send the information to the operation panel that withstand voltage gasbag has destroyed, even the operating personnel of being convenient for pay close attention to this underwater robot 0 move to.
The utility model is also provided with a positioning device, wherein, a depth sensor is used for detecting the depth information of the underwater robot 0 in real time, and the depth is used as the weight information for evaluating the emergency state of the underwater machine; the Beidou positioning device is used for starting the emergency recovery device for the underwater robot 0, and sends the current position information of the underwater robot 0 and the current information in the emergency mode to the control platform after floating out of the water surface.
The utility model discloses simple structure, low power dissipation, operation are reliable, can promote the security of 0 system operation of underwater robot.
The high-pressure gas storage device 3 is a core component, and when in use, the water depth corresponding to the pressure of the stored gas is required to be ensured to be larger than that of the working water area of the underwater robot 0, and in engineering practice, the pressure of the high-pressure gas storage device is approximate to 1MPa, and the water depth corresponds to 10 m. Therefore, the high-pressure gas storage device 3 can be filled with gas with different pressures in advance in different application depths, and the use flexibility is good.
The pressure-resistant air bag 1 is in a compressed state in an initial state, has small volume, does not influence the normal work of the underwater robot 0, and starts to expand in volume after the valve is opened and filled with gas to provide buoyancy, is convenient to operate and has better reliability.
The double-layer air bag can realize different functions, the inner air bag has high elasticity, small volume and small occupied space when not inflated, is convenient to fold, store and butt with a valve, and can change the shape along with the shape of the outer air bag; the shape and the size of the outer-layer air bag can be designed in advance according to different work of the underwater robot, only the outer-layer air bag has micro elasticity, and an operator can control the overall size of the underwater robot after the floating device is started; and outer gasbag material is thicker, prevents effectively that the gasbag from being cut open or puncture by sharp object under water, even outer gasbag is cut open, the inlayer gasbag also can regard as emergent gasbag to use, and the dual guarantee floating device accomplishes underwater robot's the task of floating, has guaranteed underwater robot's recovery.
Appropriate changes and modifications to the embodiments described above will become apparent to those skilled in the art from the disclosure and teachings of the foregoing description. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and changes to the present invention should fall within the protection scope of the claims of the present invention. Furthermore, although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.
Claims (9)
1. The emergency recovery device for the underwater robot is characterized by comprising a floating device (4), wherein the floating device (4) comprises a valve (2), a high-pressure gas storage device (3) and a pressure-resistant airbag (1), when the underwater robot (0) is out of control, the valve (2) is opened, gas in the high-pressure gas storage device (3) escapes to the pressure-resistant airbag (1), and the pressure-resistant airbag (1) is inflated to increase in volume and buoyancy and drive the underwater robot (0) to float to the water surface; and a power supply device and a switch device are arranged in the floating device (4), and the power supply device and the switch device are completely independent of the underwater robot (0).
2. An underwater robotic emergency recovery device according to claim 1, wherein the pressure resistant air bag comprises an inner air bag (5) and an outer air bag (6).
3. The underwater robot emergency recovery device according to claim 2, wherein the valve (2) is communicated with an inner airbag (5), the inner airbag (5) is attached to an outer airbag (6) after being inflated, and the inner airbag (5) forms a chamber after being inflated.
4. An underwater robot emergency recovery device according to claim 2, characterized in that the inner airbag (5) is made of an elastic material.
5. Emergency recovery device of an underwater robot according to claim 1, characterised in that said buoyant device (4) is reusable.
6. The underwater robot emergency recovery device according to claim 1, wherein the high pressure gas storage device (3) is pre-filled with gas of corresponding pressure according to the estimated depth of water in the working water area of the underwater robot (0) before use, so that the depth of water corresponding to the gas storage pressure is greater than the depth of water in the working water area of the underwater robot (0).
7. The underwater robot emergency recovery device of claim 1, wherein a pressure sensor (7) is provided in the pressure-resistant air bag.
8. An underwater robot emergency recovery device according to claim 1, characterized in that said power supply means are completely independent of the underwater robot (0).
9. Emergency recovery device of an underwater robot according to claim 1, characterised in that said buoyant device (4) is waterproof.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920592184.3U CN212500965U (en) | 2019-04-26 | 2019-04-26 | Emergent recovery unit of underwater robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920592184.3U CN212500965U (en) | 2019-04-26 | 2019-04-26 | Emergent recovery unit of underwater robot |
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| Publication Number | Publication Date |
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| CN212500965U true CN212500965U (en) | 2021-02-09 |
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| CN201920592184.3U Active CN212500965U (en) | 2019-04-26 | 2019-04-26 | Emergent recovery unit of underwater robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113525632A (en) * | 2021-07-09 | 2021-10-22 | 北京工商大学 | Underwater intelligent robot capable of floating upwards quickly |
| CN114909103A (en) * | 2022-06-17 | 2022-08-16 | 中国石油大学(北京) | Deep sea oil well rescue system and rescue method thereof |
| CN117208175A (en) * | 2023-10-12 | 2023-12-12 | 广州航海学院 | Underwater robot |
-
2019
- 2019-04-26 CN CN201920592184.3U patent/CN212500965U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113525632A (en) * | 2021-07-09 | 2021-10-22 | 北京工商大学 | Underwater intelligent robot capable of floating upwards quickly |
| CN113525632B (en) * | 2021-07-09 | 2024-01-12 | 北京工商大学 | Underwater intelligent robot capable of quickly floating upwards |
| CN114909103A (en) * | 2022-06-17 | 2022-08-16 | 中国石油大学(北京) | Deep sea oil well rescue system and rescue method thereof |
| CN117208175A (en) * | 2023-10-12 | 2023-12-12 | 广州航海学院 | Underwater robot |
| CN117208175B (en) * | 2023-10-12 | 2024-04-09 | 广州航海学院 | Underwater robot |
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