CN216083499U - Acousto-magnetic-optical detector comprehensive carrying device of underwater robot - Google Patents
Acousto-magnetic-optical detector comprehensive carrying device of underwater robot Download PDFInfo
- Publication number
- CN216083499U CN216083499U CN202121570641.2U CN202121570641U CN216083499U CN 216083499 U CN216083499 U CN 216083499U CN 202121570641 U CN202121570641 U CN 202121570641U CN 216083499 U CN216083499 U CN 216083499U
- Authority
- CN
- China
- Prior art keywords
- rod
- underwater robot
- towing
- detector
- acousto
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 239000000463 material Substances 0.000 claims abstract description 36
- 238000007667 floating Methods 0.000 claims abstract description 35
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 19
- 238000001514 detection method Methods 0.000 claims description 25
- 230000003287 optical effect Effects 0.000 claims description 16
- 239000002184 metal Substances 0.000 claims description 9
- 229910052755 nonmetal Inorganic materials 0.000 claims description 8
- 238000004804 winding Methods 0.000 claims description 6
- 230000005484 gravity Effects 0.000 claims description 5
- 230000003068 static effect Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 244000025254 Cannabis sativa Species 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Landscapes
- Testing Or Calibration Of Command Recording Devices (AREA)
Abstract
The utility model discloses a comprehensive carrying device of an underwater robot acousto-optic detector, belonging to the technical field of the comprehensive carrying device of the underwater robot acousto-optic detector, wherein an acoustic response beacon is fixedly arranged at the top of the underwater robot, a second floating body material is fixedly assembled on a towing rod, inclination angle sensors are fixedly arranged at the assembly positions of a height control rod and the towing rod and on the towing rod, a response type acoustic beacon is fixed on an electromagnetic detector, a USBL sonar array is fixedly arranged at the bottom of a water surface tugboat, a second sheathed towing rope is wound and assembled on a retractable pulley block structure, a third floating body material is uniformly and fixedly assembled at the upper part of the second sheathed towing rope, and a positioning towing weight is uniformly and fixedly assembled at the lower part of the second sheathed towing rope, so that the underwater robot carries the underwater acousto-optic detector at the same time, and the application problem of the underwater acousto-optic detector is realized, and the height of the electromagnetic detector can be accurately calculated.
Description
Technical Field
The utility model relates to the technical field of an underwater robot acoustic-magnetic optical detector comprehensive carrying device, in particular to an acoustic-magnetic optical detector comprehensive carrying device of an underwater robot.
Background
The underwater or underwater buried metal target detection relates to the application of a plurality of fields, such as underwater buried oil-gas pipeline routing detection, underwater metal evidence target detection, underwater buried explosive detection, underwater military target detection and the like, an underwater small metal target detector generally adopts an electromagnetic detection principle, and the detection distance of the electromagnetic detector is smaller, so that when the electromagnetic detector is applied underwater, the space interval between the electromagnetic detector and the underwater is required to be smaller, such as 1m, and the space interval is so small that the underwater electromagnetic detector is difficult to carry and use on a mobile robot platform, so that the underwater robot has larger potential safety hazards, such as fishing net hooks, collision underwater obstacles and the like, and in addition, because the carrying platform is close to a seabed, the acoustic detector cannot be carried and used on the robot at the same time, so the underwater robot simultaneously carries the acoustic magneto-optical detector and has the problem that the acoustic magneto-optical detector cannot be compatible in the use mode, the underwater acoustic detection device requires a larger spacing distance with the seabed, such as more than 10m, and the electromagnetic detector is closer to the detection target, such as 1m, so that the acoustic magnetic optical detector is difficult to be simultaneously and compatibly carried and applied, multiple platforms are required to carry and detect, and the precise control of the electromagnetic detector close to the seabed cannot be realized.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a comprehensive carrying device of an acousto-magnetic-optical detector of an underwater robot, which aims to solve the problems in the background technology.
In order to achieve the purpose, the utility model provides the following technical scheme: a comprehensive carrying device of an acoustic-magnetic-optical detector of an underwater robot comprises a sunk-bottom metal target arranged on a seabed, a water surface tugboat arranged on the water surface and the underwater robot arranged under the water surface, wherein a height gauge is fixedly arranged in the underwater robot, an acoustic response beacon is fixedly arranged at the top of the underwater robot, a connecting support is fixedly assembled at the rear end of the underwater robot, a first sheath dragging rope is fixedly connected onto the connecting support, floating body material balls are uniformly and fixedly arranged on the first sheath dragging rope, a dragging rod is fixedly assembled at the bottom end of the first sheath dragging rope, a second floating body material is fixedly assembled on the dragging rod, a height control rod arranged on the seabed is fixedly connected at the bottom end of the dragging rod, and inclination sensors are fixedly arranged at the assembly positions of the height control rod and the dragging rod and on the dragging rod, the tilt angle sensor is fixedly connected with a connecting rod through a flexible connecting structure, the other end of the connecting rod is fixedly connected and assembled with an electromagnetic detector, the electromagnetic detector is fixedly provided with a first floating body material through a non-metal fixed structure, the underwater robot and the inclination angle sensor are both fixedly provided with a camera and a lighting lamp group, a response type acoustic beacon is fixed on the electromagnetic detector, a USBL sonar array is fixedly arranged at the bottom of the water surface tug boat, a retractable pulley block structure is fixedly arranged on the right side of the top of the water surface tugboat, a data processing display terminal is fixedly arranged on the water surface tugboat, and a second drag rope with a sheath is wound and assembled on the retraction pulley block structure, a third floating body material is uniformly and fixedly assembled at the upper part of the second drag rope with the sheath, and drag positioning weights are uniformly and fixedly assembled at the lower part of the second drag rope with the sheath.
Preferably, the electromagnetic detector adjusts the attitude to be horizontal through the first floating body material, the non-metal fixed structure, the towing positioning weight and the like, and is slightly positive buoyancy, the interval between the center of gravity and the center of buoyancy is required to be as large as possible, meanwhile, the structure appearance of the electromagnetic detector has a smooth streamline shape and a symmetrical structure, so that the electromagnetic detector is balanced in stress during navigation and cannot swing during navigation, after the attitude is adjusted, the towing body formed by combining the electromagnetic detector and the first floating body material needs to be towed by trial, so that the towing body cannot swing during navigation at different speeds, the stress balance is adjusted, and the structural member does not generate an asymmetric rudder effect.
Preferably, the height of the electromagnetic detector is influenced by the navigation speed of the underwater robot, the inclination angle sensor on the towing rod is an attitude sensor, the inclination angle sensor at the assembly position of the height control rod and the towing rod is an attitude sensor, and the height of the underwater robot is accurately calculated according to the angle of the inclination angle sensor and the length of the height control rod, so that the height control of the electromagnetic detector is implemented, the close-range detection requirements of the optical observation equipment and the electromagnetic detector are met, and meanwhile, the acoustic detection equipment mounted on the underwater robot meets the far-range mounting and detection requirements of the acoustic equipment.
Preferably, the height control rod is of a rigid structure, the height control rod is an insulating nonmagnetic rod, the attitude sensor controls the inclination attitude angle of the height control rod, and the underwater robot adjusts the advancing speed or height to realize the control of the height of the electromagnetic detector.
Preferably, the towing rod is an insulating nonmagnetic heavy rod, the second floating body material is wrapped at one end of the towing rod to enable the second floating body material to be in a floating state at one end of the second floating body material, the other end of the second floating body material is sunk, a fixed inclination angle posture is achieved in water in a static state, the towing rod and the height control rod are movably connected in a limited range in a rotatable direction, the other end of the towing rod is connected with the first sheath towing rope to prevent winding, and the other end of the first sheath towing rope is connected with the underwater robot.
Preferably, the towing rod is a rigid heavy rod, optical image observation equipment can be installed on the towing rod, a flexible connecting structure and a connecting rod are arranged at the rotating connecting position of the towing rod and the height control rod, the flexible connecting structure and the connecting rod have an anti-winding function, and the flexible connecting structure is connected with the electromagnetic detector.
Compared with the prior art, the utility model has the beneficial effects that: the utility model has reasonable structural design, and aims at different requirements of the use of the electromagnetic detector, the combination of the carrying mode and the towing mode of the underwater robot is utilized, the use problem of carrying the acoustic-magnetic-optical detector by the underwater robot is solved, the accurate control problem of the electromagnetic detector close to the seabed is solved, the underwater robot sails at a certain speed to ensure that the height control rod generates a required angle range, the underwater electromagnetic detector is controlled to detect the sunk metal target on the seabed at a lower height, the detection requirement of the underwater electromagnetic detector close to the seabed is met, the towing body is balanced in stress by adjusting the structure of the towing body to be streamline and symmetrical, the towing body is ensured not to swing and hook obstacles in sailing, the towing rod is a rigid structure close to the seabed, optical image observation equipment can be arranged on the towing rod to observe the underwater target, the underwater robot carries an electromagnetic detector, the electromagnetic detector adjusts the posture to be horizontal through a first floating body material, a non-metal fixed structure, a towing positioning heavy object and the like, the electromagnetic detector is slightly positive buoyancy, the interval between the center of gravity and the center of buoyancy is required to be as large as possible, meanwhile, the structure appearance of the underwater robot has a smooth streamline shape and a symmetrical structure, so that the underwater robot is balanced in stress when sailing and does not swing during sailing, after the posture of a towing body formed by combining the electromagnetic detector and the first floating body material is adjusted, the towing body needs to be towed in a trial mode, the towing body is guaranteed not to swing during sailing at different speeds, the stress balance is adjusted, a structural part does not generate an asymmetric rudder effect, the posture of the electromagnetic detector is stable during use, vibration is small, the underwater robot sails in a fixed height mode, carries an acoustic detector and an optical observation device on the underwater robot, implements detection of front and underwater targets, and meets the requirement of far distance detection of the acoustic detector, the underwater robot can not generate float grass hook, has good safety and is beneficial to popularization and use of the underwater robot, the underwater robot can automatically control the navigation speed or navigation height (such as 10m) of the underwater robot according to the navigation height control requirement of a towed body, detection and observation equipment such as sound and light are arranged on the underwater robot, the length of a first drag rope with a sheath can be determined in a pilot mode during design, the first drag rope with the sheath cannot be too flexible, the drag rope with the sheath can be used for ensuring the navigation safety of the underwater robot and adapting to and meeting the detection height requirement of an acoustic detector, for navigation safety, the underwater robot can be guided to navigate by a surface ship, as shown in figure 2, under the condition of shallow water, the underwater robot can also be powered, communicated and positioned by adopting a cable mode to control the underwater robot to execute an underwater towing detection task, the underwater robot adopts a self-contained mode to record underwater course, And recovering the data such as the voyage, the optical image and the like, and then carrying out playback analysis on the data.
Drawings
FIG. 1 is a schematic diagram of a carrying method of an acoustic-optic detector of an underwater unmanned robot according to the utility model;
FIG. 2 is a schematic view of the underwater unmanned robot navigating by a surface ship under sound control;
fig. 3 is a schematic view of the underwater unmanned robot towed by a surface ship.
In the figure: 1. an electromagnetic detector; 2. a first float material; 3. a connecting rod; 4. a camera and a lighting lamp set; 5. a towing bar; 6. a second float material; 7. a first jacketed haul rope; 8. a ball of buoyant material; 9. A flexible connection structure; 10. an answering acoustic beacon; 11. a height control lever; 12. a tilt sensor; 13. a non-metallic fixation structure; 14. connecting a bracket; 15. a height gauge; 16. an acoustic response beacon; 17. USBL sonar array; 18. a pulley block retracting structure; 19. a data processing display terminal; 20. a third float material; 21. A second jacketed haul rope; 22. dragging a positioning weight; 23. an underwater robot; 24. a surface tug; 25. A seabed; 26. sinking a bottom metal target; 27. the surface of the water.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, fig. 2 and fig. 3, the present invention provides a technical solution: a comprehensive carrying device of an acoustic magnetic optical detector of an underwater robot comprises a sunk metal target 26 arranged on a seabed 25, a water surface tug 24 arranged on a water surface 27 and an underwater robot 23 arranged below the water surface 27, wherein a height gauge 15 is fixedly arranged in the underwater robot 23, an acoustic response beacon 16 is fixedly arranged at the top of the underwater robot 23, a connecting support 14 is fixedly assembled at the rear end of the underwater robot 23, a first sheath dragging rope 7 is fixedly connected to the connecting support 14, floating body material balls 8 are uniformly and fixedly arranged on the first sheath dragging rope 7, a dragging rod 5 is fixedly assembled at the bottom end of the first sheath dragging rope 7, a second floating body material 6 is fixedly assembled on the dragging rod 5, a height control rod 11 arranged on the seabed 25 is fixedly connected to the bottom end of the dragging rod 5, and inclination angle sensors 12 are fixedly arranged at the assembly position of the height control rod 11 and the dragging rod 5 and on the dragging rod 5, the position of an inclination angle sensor 12 is fixedly connected with a connecting rod 3 through a flexible connecting structure 9, the other end of the connecting rod 3 is fixedly connected and assembled with an electromagnetic detector 1, a first floating body material 2 is fixedly assembled on the electromagnetic detector 1 through a non-metal fixing structure 13, a camera and a lighting lamp group 4 are fixedly arranged on an underwater robot 23 and the inclination angle sensor 12, a response type sound beacon 10 is fixed on the electromagnetic detector 1, a USBL sonar array 17 is fixedly arranged at the bottom of a surface tug 24, a retractable pulley block structure 18 is fixedly arranged at the right side of the top of the surface tug 24, a data processing display terminal 19 is fixedly arranged on the surface tug 24, and a second sheathed hauling rope 21 is wound and assembled on the retracting pulley block structure 18, the upper part of the second sheathed hauling rope 21 is uniformly and fixedly assembled with a third floating body material 20, and the lower part of the second sheathed hauling rope 21 is uniformly and fixedly assembled with a towing positioning weight 22.
The electromagnetic detector 1 adjusts the posture to be horizontal through the first floating body material 2, the nonmetal fixed structure 13, the towing positioning heavy object 22 and the like, and is slightly positive buoyancy, the interval between the center of gravity and the center of buoyancy is required to be as large as possible, meanwhile, the structure appearance of the electromagnetic detector has a smooth streamline shape and a symmetrical structure, so that the electromagnetic detector is stressed in balance when in navigation and cannot swing in navigation, after the posture of a towing body formed by combining the electromagnetic detector 1 and the first floating body material 2 is adjusted, trial towing is carried out, the towing body is ensured not to swing when in navigation at different speeds, the stress balance is adjusted, and the structural part does not generate an asymmetric rudder effect;
the height of the electromagnetic detector 1 is influenced by the navigation speed of the underwater robot 23, the inclination angle sensor 12 on the towing rod 5 is an attitude sensor, the inclination angle sensor 12 at the assembly position of the height control rod 11 and the towing rod 5 is an attitude sensor, and the height of the underwater robot 23 is accurately calculated according to the angle of the inclination angle sensor 12 and the length of the height control rod 11, so that the height control of the electromagnetic detector 1 is implemented, the short-distance detection requirements of optical observation equipment and the electromagnetic detector 1 are met, and meanwhile, acoustic detection equipment is installed on the underwater robot 23 to meet the long-distance installation and detection requirements of the acoustic equipment;
the height control rod 11 is of a rigid structure, the height control rod 11 is an insulating nonmagnetic rod, the attitude sensor controls the inclination attitude angle of the height control rod 11, and the underwater robot 23 adjusts the advancing speed or the height to realize the height control of the electromagnetic detector 1;
the towing rod 5 is an insulated nonmagnetic heavy rod, the second floating body material 6 is coated at one end of the towing rod 5, so that the second floating body material 6 is in a floating state at one end and is sunk at the other end, a fixed inclination angle posture is realized in water in a static state, the towing rod 5 and the height control rod 11 are movably connected in a limited range in a rotatable direction, the other end of the towing rod 5 is connected with the first sheath towing rope 7 to prevent winding, and the other end of the first sheath towing rope 7 is connected with the underwater robot 23;
the towing rod 5 is a rigid heavy rod and can be provided with optical image observation equipment, the towing rod 5 and the height control rod 11 are rotatably connected by the flexible connecting structure 9 and the connecting rod 3, the anti-winding function is achieved, and the flexible connecting structure 9 is connected with the electromagnetic detector 1.
The working principle is as follows: aiming at different requirements of the use of the electromagnetic detector 1, the combination of the carrying mode and the dragging mode of the underwater robot 23 is utilized, the use problem that the underwater robot 23 carries the acoustic-magnetic-optical detector at the same time is solved, the precise control problem of the electromagnetic detector 1 close to the seabed 25 is solved, the underwater robot 23 sails at a certain speed to ensure that the height control rod 11 generates a required angle range, the underwater electromagnetic detector 1 is controlled to detect the sunk metal target 26 on the seabed 25 at a lower height, the requirement that the underwater electromagnetic detector 1 is close to the seabed 25 is met, the towing body is balanced in stress by adjusting the structure of the towing body to be streamline and symmetrical, the towing body is ensured not to swing and hook obstacles in sailing, the towing rod 5 is a rigid structure close to the seabed 25, optical image observation equipment can be arranged on the towing body to observe the underwater target, the underwater robot 23 carries the electromagnetic detector 1, the electromagnetic detector 1 adjusts the posture to be horizontal through the first floating body material 2, the nonmetal fixed structure 13, the towing positioning weight 22 and the like, and is slightly positive buoyancy, the interval between the center of gravity and the center of buoyancy is required to be as large as possible, meanwhile, the structure appearance has a smooth streamline shape and a symmetrical structure, so that the underwater robot is balanced in stress during navigation, and does not swing during navigation, after the posture of the towed body formed by combining the electromagnetic detector 1 and the first floating body material 2 is adjusted, the towed body needs to be towed by trial, so that the towed body can not swing during navigation at different speeds, the stress balance is adjusted, the structural part does not generate asymmetric effect, the posture of the electromagnetic detector 1 is stable during use, the vibration is small, the underwater robot 23 navigates in a fixed-height mode, an acoustic detector and an optical observation device are carried on the underwater robot 23 to detect front and underwater targets, the underwater robot 23 can be guided to sail by a surface ship for safety, as shown in figure 2, under the condition of shallow water, the underwater robot 23 can also be powered, communicated and positioned by a cable mode to control the underwater robot 23 to execute an underwater towing detection task, the underwater robot 23 records data such as underwater course, optical image and the like in a self-contained manner, and performs playback analysis on the data after recovery.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. The utility model provides a comprehensive carrying device of acousto-optic magnetic detector of underwater robot, is including setting up sunken end metal object (26) on seabed (25), setting up surface of water tow boat (24) on surface of water (27) and setting up underwater robot (23) under surface of water (27), its characterized in that: a height gauge (15) is fixedly arranged in the underwater robot (23), a sound response beacon (16) is fixedly arranged at the top of the underwater robot (23), a connecting support (14) is fixedly assembled at the rear end of the underwater robot (23), a first sheath dragging rope (7) is fixedly connected to the connecting support (14), floating body material balls (8) are uniformly and fixedly arranged on the first sheath dragging rope (7), a dragging rod (5) is fixedly assembled at the bottom end of the first sheath dragging rope (7), a second floating body material (6) is fixedly assembled on the dragging rod (5), a height control rod (11) arranged on a seabed (25) is fixedly connected to the bottom end of the dragging rod (5), and inclination angle sensors (12) are fixedly arranged at the assembly position of the height control rod (11) and the dragging rod (5) and on the dragging rod (5), the device is characterized in that a connecting rod (3) is fixedly connected to the position of the inclination angle sensor (12) through a flexible connecting structure (9), an electromagnetic detector (1) is fixedly connected and assembled to the other end of the connecting rod (3), a first floating body material (2) is fixedly assembled on the electromagnetic detector (1) through a non-metal fixing structure (13), a camera and a lighting lamp group (4) are fixedly arranged on the underwater robot (23) and the inclination angle sensor (12), a response type sound beacon (10) is fixed on the electromagnetic detector (1), a USBL sonar array (17) is fixedly arranged at the bottom of the surface tug (24), a retractable pulley block structure (18) is fixedly arranged on the right side of the top of the surface tug (24), a data processing display terminal (19) is fixedly arranged on the surface tug (24), and a second towing rope (21) with a sheath is wound and assembled on the retractable pulley block structure (18), the upper part of the second sheathed hauling rope (21) is uniformly and fixedly provided with a third floating body material (20), and the lower part of the second sheathed hauling rope (21) is uniformly and fixedly provided with a hauling positioning weight (22).
2. The integrated carrying device of the acousto-magnetic-optical detector of the underwater robot as claimed in claim 1, characterized in that: the electromagnetic detector (1) is adjusted to be horizontal through the first floating body material (2), the nonmetal fixed structure (13), the towing positioning heavy object (22) and the like, is slightly positive buoyancy, requires the interval between the center of gravity and the center of buoyancy to be as large as possible, and has a smooth streamline structure and a symmetrical structure in structural appearance, so that the electromagnetic detector is balanced in stress during navigation and cannot swing during navigation.
3. The integrated carrying device of the acousto-magnetic-optical detector of the underwater robot as claimed in claim 2, characterized in that: the height of the electromagnetic detector (1) is influenced by the navigation speed of the underwater robot (23), the inclination angle sensor (12) on the towing rod (5) is an attitude sensor, the inclination angle sensor (12) at the assembly position of the height control rod (11) and the towing rod (5) is an attitude sensor, the height of the underwater robot (23) is accurately calculated according to the angle of the inclination angle sensor (12) and the length of the height control rod (11), so that the height control of the electromagnetic detector (1) is implemented, the short-distance detection requirements of optical observation equipment and the electromagnetic detector (1) are met, and meanwhile, acoustic detection equipment mounted on the underwater robot (23) meets the requirements of long-distance mounting and detection of the acoustic equipment.
4. The integrated carrying device of the acousto-magnetic-optical detector of the underwater robot as claimed in claim 3, characterized in that: height control pole (11) are rigid structure, just height control pole (11) are insulating nonmagnetic stick, and attitude sensor is through the slope attitude angle of control height control pole (11), and speed or height that move ahead are adjusted in underwater robot (23), realize the control of electromagnetic detector (1) height.
5. The integrated carrying device of the acousto-magnetic-optical detector of the underwater robot as claimed in claim 1, characterized in that: the towing rod (5) is an insulating nonmagnetic heavy rod, the second floating body material (6) is wrapped at one end of the towing rod (5) and enabled to be in a floating state at one end of the second floating body material (6), the other end of the second floating body material sinks to the bottom, a fixed inclination angle posture is achieved in water in a static state, the towing rod (5) and the height control rod (11) are movably connected in a limited range in a rotatable mode, the other end of the towing rod (5) is connected with the first sheath towing rope (7) to prevent winding, and the other end of the first sheath towing rope (7) is connected with the underwater robot (23).
6. The integrated carrying device of the acousto-magnetic-optical detector of the underwater robot as claimed in claim 5, wherein: the towing rod (5) is a rigid heavy rod and can be provided with optical image observation equipment, the towing rod (5) and the height control rod (11) are rotatably connected with each other by a flexible connecting structure (9) and a connecting rod (3), the flexible connecting structure (9) has an anti-winding function, and the flexible connecting structure (9) is connected with the electromagnetic detector (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121570641.2U CN216083499U (en) | 2021-07-12 | 2021-07-12 | Acousto-magnetic-optical detector comprehensive carrying device of underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121570641.2U CN216083499U (en) | 2021-07-12 | 2021-07-12 | Acousto-magnetic-optical detector comprehensive carrying device of underwater robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216083499U true CN216083499U (en) | 2022-03-18 |
Family
ID=80665003
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121570641.2U Active CN216083499U (en) | 2021-07-12 | 2021-07-12 | Acousto-magnetic-optical detector comprehensive carrying device of underwater robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216083499U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113377117A (en) * | 2021-07-12 | 2021-09-10 | 昆明理工大学 | Acoustic-magnetic-optical detector comprehensive carrying device and carrying method of underwater robot |
| CN115056946A (en) * | 2022-04-14 | 2022-09-16 | 中国科学院水生生物研究所 | Ship-based towed mobile acoustic investigation device and method for monitoring whale dolphins |
-
2021
- 2021-07-12 CN CN202121570641.2U patent/CN216083499U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113377117A (en) * | 2021-07-12 | 2021-09-10 | 昆明理工大学 | Acoustic-magnetic-optical detector comprehensive carrying device and carrying method of underwater robot |
| CN115056946A (en) * | 2022-04-14 | 2022-09-16 | 中国科学院水生生物研究所 | Ship-based towed mobile acoustic investigation device and method for monitoring whale dolphins |
| CN115056946B (en) * | 2022-04-14 | 2023-03-28 | 中国科学院水生生物研究所 | Ship-based towed mobile acoustic investigation device and method for monitoring whale dolphins |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106240774B (en) | Unmanned ship and system | |
| US9910176B2 (en) | Method and system of a controllable tail buoy | |
| CN216083499U (en) | Acousto-magnetic-optical detector comprehensive carrying device of underwater robot | |
| US4721055A (en) | Remotely operated underwater vehicle | |
| KR101835107B1 (en) | A Fish Detecting Drone | |
| CN106530660A (en) | Underwater unmanned ship control system | |
| CN113277008B (en) | Underwater fixed-height towing device and towing method for metal detector | |
| US7775174B1 (en) | Self-propelled tow body | |
| CN113377117A (en) | Acoustic-magnetic-optical detector comprehensive carrying device and carrying method of underwater robot | |
| US6883453B1 (en) | Unmanned watercraft retrieval system | |
| CN215622551U (en) | Underwater fixed-height towing device of metal detector | |
| CN213768181U (en) | Crawler-type ROV suitable for various working conditions | |
| CN112937779A (en) | Large-scale ocean-going sea-way survey vessel | |
| CN117566064A (en) | Deep sea acoustic detection system based on L-shaped linear array and arrangement method thereof | |
| US3613629A (en) | Buoyant cable towing system | |
| GB2515852A (en) | Streamers without tailbuoys | |
| EP2993493A2 (en) | Methods and apparatus for towing acoustic source sub-arrays | |
| CN109188484B (en) | Cabled underwater robot positioning device and positioning method thereof | |
| CN203191068U (en) | Acoustic detection system with towed multi-linear arrays | |
| CN215752966U (en) | Underwater robot | |
| CN215205276U (en) | Large-scale ocean-going sea-way survey vessel | |
| CN116039884A (en) | AUV type towing observation platform and use method thereof | |
| CN113492956A (en) | Underwater robot | |
| US20210373139A1 (en) | Sonar system | |
| CN216070461U (en) | AUV formula drags observation platform |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |