CN221294143U - Unmanned aerial vehicle-based underwater ROV detection system - Google Patents
Unmanned aerial vehicle-based underwater ROV detection system Download PDFInfo
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- CN221294143U CN221294143U CN202323375116.7U CN202323375116U CN221294143U CN 221294143 U CN221294143 U CN 221294143U CN 202323375116 U CN202323375116 U CN 202323375116U CN 221294143 U CN221294143 U CN 221294143U
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Abstract
The utility model discloses an underwater ROV detection system based on an unmanned aerial vehicle, which comprises the unmanned aerial vehicle (1) and an ROV robot (2), and is characterized in that: the unmanned aerial vehicle (1) propeller strut (3) on be connected with a plurality of fixed cover (4) of evenly distributed in the circumferencial direction, all fixed cover (4) support the life buoy jointly, the below of unmanned aerial vehicle (1) is provided with connecting plate (5), the both ends of connecting plate (5) are provided with fixed cage actuating mechanism (6), fixed cage constitute by left fixed cage (7) and right fixed cage (8) two parts, these two parts all drive through fixed cage actuating mechanism (6), still be provided with cable retracting mechanism (9) in the center department of connecting plate (5) bottom end face, still be provided with fixed clamping jaw (10) on the bottom end face of connecting plate (5), be provided with at the top of ROV robot with fixed clamping jaw (10) assorted link (11).
Description
Technical Field
The utility model relates to the field of underwater detection, in particular to an underwater ROV detection system based on an unmanned plane.
Background
The unmanned plane is used as a novel unmanned intelligent carrier, has high flexibility and strong environmental adaptability, and can fly in a wider area, so that the unmanned plane can be used for detecting and reconnaissance tasks in a plurality of complex environments and under severe conditions. The device has the greatest characteristics of being capable of replacing people to work, reducing the labor cost and guaranteeing the safety of operators.
The cabled unmanned remote control submersible (ROV) is used as a high-efficiency flexible machine and is mainly used for hydrologic detection, underwater detection, anti-diving and anti-torpedo and other scenes. Currently, reliable cabled ROVs are usually controlled by cable connections, so that the range of motion is limited and operation can only be performed over the length of the cable.
By combining the characteristics of the unmanned aerial vehicle and the cabled ROV, the detection system of the unmanned aerial vehicle and the ROV is formed, and the detection system has become the latest hot spot in the field of underwater detection. The existing mode is that a fixed cage which can be opened and closed is arranged below the unmanned aerial vehicle, the ROV is arranged in the cage, so that the ROV can be transported to a water area to be surveyed from the air by the unmanned aerial vehicle, after the detection is finished, the ROV returns to the cage again, and the unmanned aerial vehicle brings the ROV back to a working ship, so that the operation is very convenient.
However, the system still has certain problems in the use process, wherein one of the obvious problems is that: no matter how far the distance between the two detected water areas is, the ROV can be recovered and can be driven by the unmanned aerial vehicle to move to the next water area, so that the working efficiency is relatively low;
Meanwhile, the ROV robot cannot be fixed in the fixed cage, and once the conditions of shaking, jolting and the like occur in the flight process of the unmanned aerial vehicle, the ROV robot can rigidly collide with the fixed cage, so that the ROV is easily damaged, and the service life and the detection effect of the ROV robot are affected.
There is thus a need for a method or apparatus that solves the above-mentioned problems.
Disclosure of Invention
The unmanned aerial vehicle-based underwater ROV detection system is simple in structure, ingenious in design and reasonable in layout, and can realize short-distance navigation by driving an unmanned aerial vehicle by the ROV.
The technical scheme of the utility model is as follows: an unmanned aerial vehicle-based underwater ROV detecting system, includes unmanned aerial vehicle 1 and ROV robot 2, its characterized in that: the screw support rod 3 of the unmanned aerial vehicle 1 is connected with a plurality of fixing sleeves 4 which are uniformly distributed in the circumferential direction, all the fixing sleeves 4 support life rings together, a connecting plate 5 is arranged below the unmanned aerial vehicle 1, two ends of the connecting plate 5 are provided with fixing cage driving mechanisms 6, the fixing cage driving mechanisms 6 are connected with fixing cages, each fixing cage consists of a left fixing cage 7 and a right fixing cage 8, the two parts are driven by the fixing cage driving mechanisms 6, a cable retracting mechanism 9 is further arranged at the center of the bottom end face of the connecting plate 5, a fixing clamping jaw 10 is further arranged on the bottom end face of the connecting plate 5, a connecting frame 11 matched with the fixing clamping jaw 10 is arranged at the top of the ROV robot,
The connecting plate 5 is also provided with a positioning frame, the positioning frame is provided with positioning mechanisms 13 symmetrically distributed, and the positioning mechanisms 13 are matched with positioning holes arranged at the end part of the ROV robot 2.
The cable winding and unwinding mechanism 9 comprises a supporting seat 14 arranged on the bottom end face of the connecting plate 5, a rotating shaft is rotatably supported on the supporting seat 14, the rotating shaft is driven by the winding and unwinding machine, meanwhile, a cable is wound on the rotating shaft, one end of the cable is fixedly connected with the rotating shaft, and the other end of the cable is fixedly connected with the ROV robot.
The fixed clamping jaw 10 comprises a clamping jaw support frame 15 fixedly connected with the connecting plate 5, two clamping jaw bodies 16 which are symmetrically distributed are rotatably supported at the lower part of the clamping jaw support frame 15, arc-shaped teeth 17 are arranged at the inner sides of the clamping jaw bodies 16, the arc-shaped teeth 17 on the two clamping jaw bodies 16 are meshed with each other, a clamping jaw driving cylinder 18 is rotatably connected on the clamping jaw support frame 15, the working end of the clamping jaw driving cylinder 18 is rotatably connected with the top end of one clamping jaw body 16, guide frames 19 are also connected at the front side and the rear side of the clamping jaw support frame 15, the guide frames 19 are integrally in a herringbone shape,
A plurality of equally spaced limiting blocks 24 are arranged on the connecting frame 11, and gaps between adjacent limiting blocks 24 are matched with the fixed clamping jaw 10.
The positioning mechanism 13 comprises a fixing plate 20 which is directly fixedly connected with a positioning frame, an elastic rod 21 is connected to the fixing plate 20, a plurality of elastic supporting rods 22 which are uniformly distributed in the circumferential direction are arranged at the tail end of the elastic rod 21, shield-shaped positioning sheets 23 are connected to the end parts of the elastic supporting rods 22, all the shield-shaped positioning sheets 23 jointly encircle to form a conical positioning piece, and the positioning piece is matched with a positioning hole at the end part of the ROV robot 2.
Compared with the prior art, the utility model has the following advantages:
The underwater ROV detection system based on the unmanned aerial vehicle has the advantages that the structure is simple, the design is ingenious, the layout is reasonable, the special structure is designed for solving the problems of the detection system combined by the traditional unmanned aerial vehicle and the ROV in the working process, the clamping jaw capable of clamping and fixing the ROV robot is arranged besides the mechanisms such as a fixing cage and a cable winding and unwinding mechanism which are the same as the traditional structure, and the positioning mechanism matched with the ROV robot is matched with the ROV robot, so that the ROV robot can be rapidly and firmly positioned and clamped, on one hand, the relative motion between the ROV robot and the unmanned aerial vehicle can not occur in the flight process, the ROV robot can be effectively protected, and the service life and reliability of the ROV robot can be prolonged; on the other hand, after the ROV and the unmanned aerial vehicle are combined into an integrated structure, the ROV can drive the unmanned aerial vehicle to realize short-distance water surface navigation, so that the transferring steps and processes are simplified, and the working efficiency is improved. The detection system has the advantages of simple manufacturing process and low manufacturing cost, and is particularly suitable for popularization and application in the field and has very broad market prospect.
Drawings
Fig. 1 is a schematic overall structure of an embodiment of the present utility model.
Fig. 2 is a schematic view of the structure of a fixing cage portion in the embodiment of the present utility model.
Fig. 3 is a schematic structural view of a positioning mechanism part in the embodiment of the utility model.
Fig. 4 is a schematic perspective view of a fixed jaw portion according to an embodiment of the present utility model.
Fig. 5 is a schematic view (front view) of a fixed jaw portion according to an embodiment of the present utility model.
Fig. 6 is a schematic diagram of an ROV robot connected to a fixed jaw in an embodiment of the utility model.
Unmanned aerial vehicle 1, ROV robot 2, screw branch 3, fixed cover 4, connecting plate 5, fixed cage actuating mechanism 6, left fixed cage 7, right fixed cage 8, cable take-up and pay-off mechanism 9, fixed clamping jaw 10, link 11, positioning mechanism 13, supporting seat 14, clamping jaw support frame 15, clamping jaw body 16, arc tooth 17, clamping jaw actuating cylinder 18, leading truck 19, fixed plate 20, elastic rod 21, elastic support rod 22, shield-shaped spacer 23, stopper 24.
Detailed Description
The following description of the embodiments of the utility model refers to the accompanying drawings, in which: as shown in fig. 1 to 6, an underwater ROV detection system based on an unmanned aerial vehicle comprises the unmanned aerial vehicle 1 and the ROV robot 2, wherein a plurality of fixing sleeves 4 uniformly distributed in the circumferential direction are connected to a propeller strut 3 of the unmanned aerial vehicle 1, all the fixing sleeves 4 support a life buoy jointly, a connecting plate 5 is arranged below the unmanned aerial vehicle 1, two ends of the connecting plate 5 are provided with a fixing cage driving mechanism 6, the fixing cage driving mechanism 6 is connected with a fixing cage, the fixing cage consists of a left fixing cage 7 and a right fixing cage 8, the two parts are driven by the fixing cage driving mechanism 6, a cable retraction mechanism 9 is further arranged at the center of the bottom end face of the connecting plate 5, a connecting frame 11 matched with the fixing clamping jaw 10 is further arranged at the top of the ROV robot,
The connecting plate 5 is also provided with a positioning frame, the positioning frame is provided with positioning mechanisms 13 symmetrically distributed, and the positioning mechanisms 13 are matched with positioning holes arranged at the end part of the ROV robot 2.
The cable winding and unwinding mechanism 9 comprises a supporting seat 14 arranged on the bottom end face of the connecting plate 5, a rotating shaft is rotatably supported on the supporting seat 14, the rotating shaft is driven by the winding and unwinding machine, meanwhile, a cable is wound on the rotating shaft, one end of the cable is fixedly connected with the rotating shaft, and the other end of the cable is fixedly connected with the ROV robot.
The fixed clamping jaw 10 comprises a clamping jaw support frame 15 fixedly connected with the connecting plate 5, two clamping jaw bodies 16 which are symmetrically distributed are rotatably supported at the lower part of the clamping jaw support frame 15, arc-shaped teeth 17 are arranged at the inner sides of the clamping jaw bodies 16, the arc-shaped teeth 17 on the two clamping jaw bodies 16 are meshed with each other, a clamping jaw driving cylinder 18 is rotatably connected on the clamping jaw support frame 15, the working end of the clamping jaw driving cylinder 18 is rotatably connected with the top end of one clamping jaw body 16, guide frames 19 are also connected at the front side and the rear side of the clamping jaw support frame 15, the guide frames 19 are integrally in a herringbone shape,
A plurality of equally spaced limiting blocks 24 are arranged on the connecting frame 11, and gaps between adjacent limiting blocks 24 are matched with the fixed clamping jaw 10.
The positioning mechanism 13 comprises a fixing plate 20 which is directly fixedly connected with a positioning frame, an elastic rod 21 is connected to the fixing plate 20, a plurality of elastic supporting rods 22 which are uniformly distributed in the circumferential direction are arranged at the tail end of the elastic rod 21, shield-shaped positioning sheets 23 are connected to the end parts of the elastic supporting rods 22, all the shield-shaped positioning sheets 23 jointly encircle to form a conical positioning piece, and the positioning piece is matched with a positioning hole at the end part of the ROV robot 2.
The working process of the unmanned aerial vehicle-based underwater ROV detection system provided by the embodiment of the utility model is as follows: the operation ship is sailed to a water area needing to be detected underwater, then the unmanned aerial vehicle 1 is discharged, an ROV robot 2 is arranged in a fixed cage below the unmanned aerial vehicle 1, the unmanned aerial vehicle 1 falls to the water surface of a designated water area under the control of an operator, at the moment, the unmanned aerial vehicle 1 is supported by a life buoy and floats on the water surface, then an operator remotely sends a signal to a control module in the system through a wireless network, a fixed cage driving mechanism 6 acts to drive a left fixed cage 7 and a right fixed cage 8 to be opened, the ROV robot 2 is separated from the unmanned aerial vehicle 1 and is immersed into the water for detection, and various parameters are collected; in the process of submerging the ROV robot 2, the control module can also send a signal to the receiving and discharging machine, and the receiving and discharging machine drives the rotating shaft to rotate, and the cable is discharged to match with the movement of the ROV robot 2;
After the detection work of the ROV robot 2 in the water area is finished, the receiving and discharging machine drives the rotating shaft to reversely rotate, the cable is wound, the ROV robot 2 is retracted below the unmanned aerial vehicle 1, then the fixed cage driving mechanism 6 acts, the left fixed cage 7 and the right fixed cage 8 are closed again to enclose the ROV robot in the ROV robot, if the distance of the next water area is far, an operator controls the unmanned aerial vehicle 1 to take off from the water surface, the ROV robot 2 moves to the next water area, if the distance of the next water area is relatively close, an instruction can be directly sent to the ROV robot 2, and as the unmanned aerial vehicle 1 and the ROV robot 2 are fixedly connected into an integral structure through the fixed clamping jaw 10, the ROV robot 2 can directly drive the unmanned aerial vehicle 1 to integrally sail on the water surface and travel to the next water area; the above operation is then repeated to detect the water area with ROV robot 2;
After all detection works are finished, the ROV robot 2 is recovered, and an operator controls the unmanned aerial vehicle 1 to take off from the water surface to drive the ROV robot 2 to return to the operation ship;
In the process of recycling the ROV robot 2, under the action of pulling the cable, the ROV robot 2 moves to the position right below the unmanned aerial vehicle 1, the pulling of the cable has a certain guiding effect, when the ROV robot 2 moves in place, a conical positioning piece formed by a plurality of shield-shaped positioning pieces 23 can be inserted into a positioning hole formed at the end part of the ROV robot 2, and as the whole positioning piece is conical, even if the positioning piece is not completely aligned with the positioning hole, the positioning piece can be smoothly led into the positioning hole as long as the end part of the positioning piece is positioned in the range of the positioning hole; after entering the positioning hole, as all the shield-shaped positioning sheets 23 are connected to the elastic support rods 22, the shield-shaped positioning sheets 23 can be supported in the positioning hole, and certain fastening force exists between the shield-shaped positioning sheets and the positioning hole, so that the positioning effect is better achieved;
In the process of returning the ROV robot 2, the connecting frame 11 at the top of the ROV robot moves to the range of the guide frame 19, after the positioning piece positions the ROV robot 2, the clamping jaw driving cylinder 18 in the fixed clamping jaw 10 acts to drive one clamping jaw body 16 to swing, and as the clamping jaw body 16 is connected with the other clamping jaw body 16 through the transmission pair of the arc-shaped teeth 17, the two clamping jaw bodies 16 can perform synchronous reverse swinging motions, so that clamping motions are realized;
The clamping jaw body 16 is clamped at the gap between the two limiting blocks 24, even if deviation exists, the clamping jaw body 16 slides relative to the spherical surface after being contacted with the spherical surface of the limiting blocks 24 because the shape of the limiting blocks 24 is spherical, so that automatic adjustment is realized, and the clamping jaw body 16 is ensured to be clamped on the connecting frame 11 between the two limiting blocks 24;
So far, the ROV robot 2 is fixedly connected with the unmanned aerial vehicle 1 through the positioning piece and the fixed clamping jaw 10; the fixed cage drive mechanism 6 is then actuated, the left and right fixed cages 7 and 8 reclose to enclose the ROV robot therein, further preventing separation of the ROV robot 2 from the drone 1.
Claims (4)
1. Unmanned aerial vehicle-based underwater ROV detecting system, including unmanned aerial vehicle (1) and ROV robot (2), its characterized in that: the screw propeller support rod (3) of the unmanned aerial vehicle (1) is connected with a plurality of fixing sleeves (4) which are uniformly distributed in the circumferential direction, all the fixing sleeves (4) support the life buoy together, a connecting plate (5) is arranged below the unmanned aerial vehicle (1), two ends of the connecting plate (5) are provided with fixing cage driving mechanisms (6), the fixing cage driving mechanisms (6) are connected with fixing cages, the fixed cage consists of a left fixed cage (7) and a right fixed cage (8), the two parts are driven by a fixed cage driving mechanism (6), a cable retracting mechanism (9) is further arranged at the center of the bottom end surface of the connecting plate (5), a fixed clamping jaw (10) is further arranged on the bottom end surface of the connecting plate (5), a connecting frame (11) matched with the fixed clamping jaw (10) is arranged at the top of the ROV robot,
The connecting plate (5) is also provided with a locating frame, the locating frame is provided with locating mechanisms (13) symmetrically distributed, and the locating mechanisms (13) are matched with locating holes arranged at the end part of the ROV robot (2).
2. The unmanned aerial vehicle-based underwater ROV detection system of claim 1, wherein: the cable winding and unwinding mechanism (9) comprises a supporting seat (14) arranged on the bottom end face of the connecting plate (5), a rotating shaft is rotatably supported on the supporting seat (14), the rotating shaft is driven by the winding and unwinding machine, meanwhile, a cable is wound on the rotating shaft, one end of the cable is fixedly connected with the rotating shaft, and the other end of the cable is fixedly connected with the ROV robot.
3. The unmanned aerial vehicle-based underwater ROV detection system of claim 1, wherein: the fixed clamping jaw (10) comprises a clamping jaw support frame (15) fixedly connected with the connecting plate (5), two clamping jaw bodies (16) which are symmetrically distributed are rotatably supported at the lower part of the clamping jaw support frame (15), arc teeth (17) are arranged at the inner sides of the clamping jaw bodies (16), the arc teeth (17) on the two clamping jaw bodies (16) are meshed with each other, a clamping jaw driving cylinder (18) is rotatably connected on the clamping jaw support frame (15), the working end of the clamping jaw driving cylinder (18) is rotatably connected with the top end of one clamping jaw body (16), guide frames (19) are also connected at the front side and the rear side of the clamping jaw support frame (15), the guide frames (19) are integrally in a herringbone shape,
A plurality of limiting blocks (24) which are distributed at equal intervals are arranged on the connecting frame (11), and gaps between adjacent limiting blocks (24) are matched with the fixed clamping jaw (10).
4. The unmanned aerial vehicle-based underwater ROV detection system of claim 1, wherein: the positioning mechanism (13) comprises a fixing plate (20) which is directly fixedly connected with a positioning frame, an elastic rod (21) is connected to the fixing plate (20), a plurality of elastic struts (22) which are uniformly distributed in the circumferential direction are arranged at the tail end of the elastic rod (21), shield-shaped positioning sheets (23) are connected to the end portions of the elastic struts (22), all shield-shaped positioning sheets (23) jointly encircle to form a conical positioning piece, and the positioning piece is matched with a positioning hole at the end portion of the ROV robot (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202323375116.7U CN221294143U (en) | 2023-12-12 | 2023-12-12 | Unmanned aerial vehicle-based underwater ROV detection system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202323375116.7U CN221294143U (en) | 2023-12-12 | 2023-12-12 | Unmanned aerial vehicle-based underwater ROV detection system |
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| Publication Number | Publication Date |
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| CN221294143U true CN221294143U (en) | 2024-07-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202323375116.7U Active CN221294143U (en) | 2023-12-12 | 2023-12-12 | Unmanned aerial vehicle-based underwater ROV detection system |
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| CN (1) | CN221294143U (en) |
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- 2023-12-12 CN CN202323375116.7U patent/CN221294143U/en active Active
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