WO2020177037A1 - Robot sonar flottant et submersible comprenant un sac d'air annulaire - Google Patents

Robot sonar flottant et submersible comprenant un sac d'air annulaire Download PDF

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Publication number
WO2020177037A1
WO2020177037A1 PCT/CN2019/076769 CN2019076769W WO2020177037A1 WO 2020177037 A1 WO2020177037 A1 WO 2020177037A1 CN 2019076769 W CN2019076769 W CN 2019076769W WO 2020177037 A1 WO2020177037 A1 WO 2020177037A1
Authority
WO
WIPO (PCT)
Prior art keywords
sonar
airbag
robot including
sealing body
control device
Prior art date
Application number
PCT/CN2019/076769
Other languages
English (en)
Chinese (zh)
Inventor
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 (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 唐山哈船科技有限公司, 唐山圣因海洋科技有限公司 filed Critical 唐山哈船科技有限公司
Priority to PCT/CN2019/076769 priority Critical patent/WO2020177037A1/fr
Priority to AU2020100124A priority patent/AU2020100124A4/en
Publication of WO2020177037A1 publication Critical patent/WO2020177037A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/14—Control of attitude or depth
    • B63G8/24—Automatic depth adjustment; Safety equipment for increasing buoyancy, e.g. detachable ballast, floating bodies
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/39—Arrangements of sonic watch equipment, e.g. low-frequency, sonar

Definitions

  • the invention relates to the technical field of seabed monitoring, in particular to a snorkeling sonar robot including an annular airbag.
  • 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 civilization. Therefore, it is very necessary to monitor seabed organisms.
  • the present invention proposes a snorkeling sonar robot including an annular airbag, which can lurch on the seabed and monitor the seabed environment.
  • 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.
  • the pusher is fixed on the sealing body and connected with the control device.
  • the sealing body has a spherical shape with asymmetrical density distribution.
  • control device includes a controller that collects the signals collected by the sonar device and controls the operation of the thruster.
  • 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.
  • an infrared camera connected to the control device is provided on the sealed body.
  • the pusher is provided with at least one, and the controlled rotation is connected to the sealing body.
  • the airbag is fixed at the lower part of the spherical shape.
  • the outer cover of the infrared camera device is provided with a transparent window.
  • controlled rotation connection is horizontal 0-180 degree rotation.
  • 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.
  • Fig. 1 is a schematic diagram of the structure of a snorkeling sonar robot including an annular airbag according to the present invention
  • 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 .
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 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.
  • 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.
  • a gas channel to circulate to change the buoyancy received by itself, and can sink into the seabed or float on the water.
  • 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.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Ocean & Marine Engineering (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

La présente invention concerne un robot sonar flottant et submersible comprenant un sac d'air annulaire, comprenant un corps étanche (1), un sac d'air (2), un appareil sonar (3), un compresseur de gaz (4) et un appareil de commande (8), une chambre de gaz haute pression (11) étant disposée dans le corps étanche (1), deux extrémités du compresseur de gaz (4) étant respectivement en communication avec la chambre de gaz haute pression (11) et le sac d'air (2), un tuyau de guidage d'air (5) pourvu d'une vanne de réglage (6) étant également disposé entre la chambre de gaz haute pression (11) et le sac d'air (2), et la chambre de gaz haute pression (11), le compresseur de gaz (4), le sac d'air (2), et le tuyau de guidage d'air (5) constituant un canal de circulation de gaz ; le sac d'air (2) est fixé sur la paroi externe du corps étanche (1), l'appareil sonar (3) étant fixé à la surface supérieure du corps étanche (1) et relié à l'appareil de commande (8) agencé dans le corps étanche (1), et le compresseur de gaz (4) étant relié à l'appareil de commande (8). Le présent robot sonar peut monter ou descendre automatiquement, et peut se déplacer horizontalement sous l'action d'une force externe ; utiliser l'appareil sonar sur le corps étanche facilite la surveillance de différentes conditions de fond marin.
PCT/CN2019/076769 2019-03-01 2019-03-01 Robot sonar flottant et submersible comprenant un sac d'air annulaire WO2020177037A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/CN2019/076769 WO2020177037A1 (fr) 2019-03-01 2019-03-01 Robot sonar flottant et submersible comprenant un sac d'air annulaire
AU2020100124A AU2020100124A4 (en) 2019-03-01 2020-01-24 Snorkeling sonar robot with an annular air bag

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2019/076769 WO2020177037A1 (fr) 2019-03-01 2019-03-01 Robot sonar flottant et submersible comprenant un sac d'air annulaire

Publications (1)

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WO2020177037A1 true WO2020177037A1 (fr) 2020-09-10

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AU (1) AU2020100124A4 (fr)
WO (1) WO2020177037A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113479310A (zh) * 2021-08-16 2021-10-08 中国船舶科学研究中心 一种潜水器水下应急自救装置
CN114260924A (zh) * 2022-03-01 2022-04-01 广东海洋大学 一种水下机械手
US20230103110A1 (en) * 2021-09-24 2023-03-30 Guangzhou University Underwater robot based on variable-size auxiliary drive and control method thereof

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2351718A (en) * 1999-07-09 2001-01-10 Dr James Edward Stangroom Improvements in, or relating to,the control of buoyancy underwater at great depths
US20090031940A1 (en) * 2007-07-31 2009-02-05 Stone William C Underwater Vehicle With Sonar Array
CN102079376A (zh) * 2010-09-17 2011-06-01 朱惠芬 一种双体安全超静音潜艇及其设计自救方法
CN103744083A (zh) * 2013-04-23 2014-04-23 苏州爱思索电子科技有限公司 一种浮标式声纳导航系统装置
CN106394835A (zh) * 2016-10-28 2017-02-15 重庆交通大学 水下检测机器人
CN109319048A (zh) * 2018-11-28 2019-02-12 唐山哈船科技有限公司 一种用于海底探测的声呐装置

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2351718A (en) * 1999-07-09 2001-01-10 Dr James Edward Stangroom Improvements in, or relating to,the control of buoyancy underwater at great depths
US20090031940A1 (en) * 2007-07-31 2009-02-05 Stone William C Underwater Vehicle With Sonar Array
CN102079376A (zh) * 2010-09-17 2011-06-01 朱惠芬 一种双体安全超静音潜艇及其设计自救方法
CN103744083A (zh) * 2013-04-23 2014-04-23 苏州爱思索电子科技有限公司 一种浮标式声纳导航系统装置
CN106394835A (zh) * 2016-10-28 2017-02-15 重庆交通大学 水下检测机器人
CN109319048A (zh) * 2018-11-28 2019-02-12 唐山哈船科技有限公司 一种用于海底探测的声呐装置

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113479310A (zh) * 2021-08-16 2021-10-08 中国船舶科学研究中心 一种潜水器水下应急自救装置
CN113479310B (zh) * 2021-08-16 2022-06-14 中国船舶科学研究中心 一种潜水器水下应急自救装置
US20230103110A1 (en) * 2021-09-24 2023-03-30 Guangzhou University Underwater robot based on variable-size auxiliary drive and control method thereof
US11667363B2 (en) * 2021-09-24 2023-06-06 Guangzhou University Underwater robot based on variable-size auxiliary drive and control method thereof
CN114260924A (zh) * 2022-03-01 2022-04-01 广东海洋大学 一种水下机械手
CN114260924B (zh) * 2022-03-01 2022-05-03 广东海洋大学 一种水下机械手

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