WO2020177037A1

WO2020177037A1 - Floatable and submersible sonar robot comprising annular air sac

Info

Publication number: WO2020177037A1
Application number: PCT/CN2019/076769
Authority: WO
Inventors: 刘浩源; 郑玉军; 郑瑞云; 孙立晶; 田丙奇
Original assignee: 唐山哈船科技有限公司; 唐山圣因海洋科技有限公司
Priority date: 2019-03-01
Filing date: 2019-03-01
Publication date: 2020-09-10
Also published as: AU2020100124A4

Abstract

A floatable and submersible sonar robot comprising an annular air sac, comprising a sealed body (1), an air sac (2), a sonar apparatus (3), a gas compressor (4), and a control apparatus (8), a high pressure gas chamber (11) being disposed in the sealed body (1), two ends of the gas compressor (4) respectively being in communication with the high pressure gas chamber (11) and the air sac (2), an air guide pipe (5) provided with an adjustment valve (6) also being disposed between the high pressure gas chamber (11) and the air sac (2), and the high pressure gas chamber (11), the gas compressor (4), the air sac (2), and the air guide pipe (5) constituting a gas circulation channel; the air sac (2) is fixed onto the outer wall of the sealed body (1), the sonar apparatus (3) is fixed to the upper surface of the sealed body (1) and connected to the control apparatus (8) arranged in the sealed body (1), and the gas compressor (4) is connected to the control apparatus (8). The present sonar robot can automatically ascend or descend, and can move horizontally under the action of external force; using the sonar apparatus on the sealed body facilitates monitoring of different seabed conditions.

Description

Snorkeling sonar robot including annular airbag

Technical field

The invention relates to the technical field of seabed monitoring, in particular to a snorkeling sonar robot including an annular airbag.

Background technique

The ocean is rich in resources and contains a large number of organisms. The research on seabed organisms can bring a lot of help to mankind. Therefore, it is very necessary to monitor seabed organisms.

However, because the seabed itself has little sunlight and organisms are highly resistant to light, using artificially turned on submarine-type observation equipment to enter the seabed will affect the entire seabed environment and cannot accurately monitor the true conditions of the seabed.

Summary of the invention

Aiming at the deficiencies of the prior art, the present invention proposes a snorkeling sonar robot including an annular airbag, which can lurch on the seabed and monitor the seabed environment.

In order to achieve the above-mentioned object of the invention, the present invention provides the following technical solutions: a snorkelable sonar robot including an annular airbag, including a sealing body, an airbag, a sonar device, a gas compressor and a control device, and a high-pressure gas is arranged in the sealing body The two ends of the gas compressor are respectively communicated with the high-pressure gas cavity and the airbag. A gas duct with a regulating valve is also provided between the high-pressure gas cavity and the airbag. The gas compressor, the airbag, and the air duct constitute a gas circulation channel; the airbag is fixed on the outer wall of the sealing body, the sonar device is fixed on the upper surface of the sealing body, and is arranged on the sealing body. The control device in the main body is connected, and the gas compressor is connected to the control device.

Further, it also includes a pusher, the pusher is fixed on the sealing body and connected with the control device.

Further, the sealing body has a spherical shape with asymmetrical density distribution.

Further, the control device includes a controller that collects the signals collected by the sonar device and controls the operation of the thruster.

Further, the control device further includes a rechargeable battery, a memory and a communication device, and the rechargeable battery, the memory and the communication device are all connected to the controller.

Further, an infrared camera connected to the control device is provided on the sealed body.

Further, the pusher is provided with at least one, and the controlled rotation is connected to the sealing body.

Further, the airbag is fixed at the lower part of the spherical shape.

Further, the outer cover of the infrared camera device is provided with a transparent window.

Further, the controlled rotation connection is horizontal 0-180 degree rotation.

Compared with the prior art, the present invention has the following advantages: the sonar robot is equipped with an airbag around the sealed body, combined with the high-pressure gas cavity in the sealed body, so that the sonar robot can rise or sink, move horizontally under the action of external force, and reuse The sonar device on the sealed main body facilitates monitoring of different seabed conditions.

Description of the drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only These are some embodiments of the present invention. For those of ordinary skill in the art, without creative work, other drawings can be obtained based on the structures shown in these drawings.

Fig. 1 is a schematic diagram of the structure of a snorkeling sonar robot including an annular airbag according to the present invention;

Icon mark:

1- sealed housing, 11- high-pressure gas chamber, 2- airbag, 3- sonar device, 4- gas compressor, 5- air pipe, 6-regulating valve, 7- propeller, 71- shaft, 8- control device .

detailed description

The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

It should be noted that if there is a directional indication (such as up, down, left, right, front, back...) in the embodiment of the present invention, the directional indication is only used to explain that it is in a specific posture (as shown in the drawings). If the specific posture changes, the relative positional relationship, movement, etc. of the components below will also change the directional indication accordingly.

In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on what can be achieved by a person of ordinary skill in the art. When the combination of technical solutions is contradictory or cannot be achieved, it should be considered that such a combination of technical solutions does not exist. , Is not within the protection scope of the present invention.

As shown in Figure 1, a snorkeling sonar robot including an annular airbag includes a sealing body 1, an airbag 2, a sonar device 3, a gas compressor 4, and a control device 8. The sealing body 1 is provided with a high-pressure gas cavity 11. Both ends of the gas compressor 4 are respectively communicated with the high-pressure gas chamber 11 and the airbag 2, and an air duct 5 with a regulating valve 6 is also provided between the high-pressure gas chamber 11 and the airbag 2. The high-pressure gas chamber 11, the gas compressor 4, the airbag 2 and the air duct 5 constitute a gas circulation channel; the airbag 2 is fixed on the outer wall of the sealing body 1, and the sonar device 3 is fixed on The upper surface of the sealing body 1 is connected to the control device 8 provided in the sealing body 1, and the gas compressor 4 is connected to the control device 8.

A high-pressure gas chamber 11 and a gas compressor 4 are provided in the sealed body 1. The inlet of the gas compressor 4 is connected to the airbag 2, and the gas in the airbag 2 is compressed and transported to the high-pressure gas chamber 11, where the airbag 2 needs to be filled. At this time, the compressed gas in the high-pressure gas chamber 11 is sent to the airbag 2 through the air guide tube 5, and the specific operation is to open the regulating valve 6 on the air guide tube 5.

The above-mentioned gas circulation operation is to adjust the rising or falling of the sealing body 1 and changing the volume of the airbag 2 to change the buoyancy received by the sealing body 1. Specifically, when the sonar robot needs to be sent to the seabed, the gas compressor 4 sucks out the gas of the airbag 2 cleanly, and the formed high-pressure gas is delivered to the high-pressure gas chamber 11 until the airbag 2 is reduced to the minimum volume, and then the main body 1 is sealed. The buoyancy is less than its own weight, and it will sink to the bottom of the sea. Conversely, when the sonar robot rises or rises to the sea, the regulating valve 6 is opened, and the high-pressure gas in the high-pressure gas chamber 11 is discharged into the airbag 2 through the air duct 5, and the exhaust volume of the regulating valve 6 can be adjusted to control the volume of the airbag 2. So as to achieve the ascent speed and height control.

The above components are specifically: the high-pressure gas chamber 11 is a metal sealed chamber with a fixed volume, with a pressure resistance of 30 MPa, such as bottle-shaped, can-shaped, and other pressure-resistant shapes, with a one-way inlet and outlet, the inlet is connected to the gas compressor 4, and the outlet Connect with the air duct 5. The airbag 2 is a cavity made of elastic material, such as rubber, which can be deformed, and the volume is 15-25 times that of the high-pressure gas cavity 11. The regulating valve 6 can be set as an electric type, such as a solenoid valve, and the switch can be controlled by the control device 8.

A sonar device 3 is provided on the upper part of the sealing body 1, and the sonar device 3 is used to monitor the submarine environment. The sonar device 3 specifically includes passive sonar and active sonar. The active sonar emits sound waves into the water, finds the target by receiving the echo reflected by underwater objects, and measures its parameters; the target distance can be estimated by the time difference between the original sound wave and the arrival of the echo ; The target azimuth is obtained by measuring the difference between the two sub-arrays in the receiving sound array. Active sonar is composed of transmitter, sound array, receiver (including signal processing), and display console. The passive sonar detects the target by receiving the radiated noise of the target and determines its parameters; it is composed of three parts: receiving sound array, receiver (signal processing) and display console. The sonar device 3 is connected with the control device 8, and the operation of the sonar device 3 and the collected information are all controlled by the control device 8.

The sealing body 1 itself is a sphere with an asymmetrical density distribution, which is light up and down heavy to ensure that the sonar device 3 above it can always be up to monitor the surrounding seabed environment. In the actual installation, the high-pressure gas chamber 11 is arranged in the upper part of the spherical body of the sealing body 1, and the other equipment is arranged in the lower part.

A thruster 7 is provided under the sonar robot, and the thruster 7 is used to drive the sonar robot to move back and forth in the sea, especially the thruster 7 is connected to the lower part of the sonar robot via a rotating shaft 71, and the rotation angle of the thruster 7 around the rotating shaft 71 is 0-180 This means that the thruster 7 can adjust the forward direction of the sonar robot at will.

The propeller 7 is of a rotating blade type or a water spray type, and one side is connected to the rotating shaft 71 via a bearing seat, and the rotation of the propeller 7 on the rotating shaft 71 is completed by a motor. The above-mentioned propeller 7 and the motor are all connected with the control device 8, and the control device 8 regulates the operation.

At least one propeller 7 is provided, and the optimal number is three, which are distributed under the sealing body 1.

The control device 8 includes a controller for collecting signals collected by the sonar device 3 and controlling the operation of the thruster 7; it also includes a rechargeable battery, a memory and a communication device, and the rechargeable battery, memory and communication device are all connected to the controller.

The sealed main body 1 is also provided with an infrared camera device to monitor the biological condition of the seabed through infrared mode, and a transparent window is provided on the outer cover of the infrared camera device.

The rechargeable battery provides power for all electrical equipment and can be fully charged in advance; the memory is convenient for storing the information collected by the sonar device 3 and the infrared camera device; the communication equipment can send the collected information to the service station.

The invention includes a snorkeling sonar robot with a ring-shaped airbag, which uses a gas channel to circulate to change the buoyancy received by itself, and can sink into the seabed or float on the water. In the bottom of the sea, combined with the above sonar device and infrared camera device to collect the life of the bottom. Due to the sonar method and infrared camera method, the impact on the seabed environment is small, and the information collected is accurate and reliable.

Using the thruster on the sonar robot, it can sneak freely and has good mobility.

The above are only the preferred embodiments of the present invention. It should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and modifications can be made, and these improvements and modifications are also It should be regarded as the protection scope of the present invention.

Claims

A snorkeling sonar robot including an annular airbag, which is characterized in that it includes a sealed body, an airbag, a sonar device, a gas compressor, and a control device. The sealed body is provided with a high-pressure gas cavity, and both ends of the gas compressor Are respectively connected to the high-pressure gas chamber and the airbag, an air duct with a regulating valve is also provided between the high-pressure gas chamber and the airbag, the high-pressure gas chamber, the gas compressor, the airbag and The air duct constitutes a gas circulation channel; the airbag is fixed on the outer wall of the sealing body, the sonar device is fixed on the upper surface of the sealing body, and is connected with the control device provided in the sealing body, The gas compressor is connected to the control device.
The snorkelable sonar robot including the annular airbag according to claim 1, further comprising a thruster, the thruster is fixed on the sealing body and connected with the control device.
The snorkelable sonar robot including an annular airbag according to claim 1 or 2, wherein the sealing body is a spherical shape with an asymmetric density distribution.
The snorkelable sonar robot including the annular airbag according to claim 2, wherein the control device includes a controller, which collects signals collected by the sonar device and controls the operation of the thruster.
The snorkeling sonar robot including the annular airbag according to claim 4, wherein the control device further includes a rechargeable battery, a memory and a communication device, and the rechargeable battery, the memory and the communication device are all connected to the controller .
The snorkelable sonar robot including the annular airbag according to claim 1, wherein the sealing body is provided with an infrared camera connected to the control device.
The snorkelable sonar robot including the annular airbag according to claim 2, characterized in that: the thruster is provided with at least one, and the controlled rotation is connected to the sealing body.
The snorkelable sonar robot including the annular airbag according to claim 3, wherein the airbag is fixed at the lower part of the spherical shape.
7. The snorkelable sonar robot including a ring airbag according to claim 6, characterized in that: the outer cover of the infrared camera device is provided with a transparent window.
7. The snorkelable sonar robot including the annular airbag according to claim 7, wherein the controlled rotation connection is horizontal 0-180 degree rotation.