WO2020177039A1 - 一种具有活动腔体的可浮潜声呐机器人 - Google Patents

一种具有活动腔体的可浮潜声呐机器人 Download PDF

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Publication number
WO2020177039A1
WO2020177039A1 PCT/CN2019/076772 CN2019076772W WO2020177039A1 WO 2020177039 A1 WO2020177039 A1 WO 2020177039A1 CN 2019076772 W CN2019076772 W CN 2019076772W WO 2020177039 A1 WO2020177039 A1 WO 2020177039A1
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WIPO (PCT)
Prior art keywords
sonar
robot
control device
movable cavity
snorkeling
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PCT/CN2019/076772
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English (en)
French (fr)
Inventor
刘浩源
郑瑞云
郑玉军
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
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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/CN2019/076772 priority Critical patent/WO2020177039A1/zh
Priority to AU2020100123A priority patent/AU2020100123A4/en
Publication of WO2020177039A1 publication Critical patent/WO2020177039A1/zh

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    • 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 with a movable cavity.
  • 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 with a movable cavity, which can lurch on the seabed and monitor the seabed environment.
  • a snorkeling sonar robot with a movable cavity comprising a sealed body, a sonar device, a gas compressor and a control device, and a high-pressure gas tank is arranged in the sealed body
  • the output end of the gas compressor is in communication with the high-pressure gas tank, the inlet end is provided in the sealing body, and the high-pressure gas tank is connected with a purge valve
  • the sealing body is composed of a two-part sealed movable connection: The two parts sink to the bottom of the sea when they are close, and float on the water when they are far away
  • the sonar device is fixed on the upper surface of the sealing body, and is connected to the control device provided in the sealing body.
  • the control device is connected.
  • the pusher is fixed on the sealing body and connected with the control device.
  • the sealing body is composed of two hemispheres with asymmetric 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.
  • a pressure gauge which measures the pressure in the sealing body, and communicates with the air release valve via the control device.
  • 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: adopting a main body composed of two parts that can be movably connected, the robot is raised or lowered by changing its volume, and the power is combined to make the sonar robot move down horizontally, and the sealing main body is used again.
  • the sonar device is convenient to monitor different seabed conditions.
  • Fig. 1 is a schematic diagram of the structure of a snorkeling sonar robot with a movable cavity floating on the surface of the present invention
  • FIG. 2 is a schematic structural diagram of the snorkeling sonar robot with a movable cavity in the state of sinking on the seabed 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.
  • a snorkeling sonar robot with a movable cavity includes a sealed body 1, a sonar device 3, a gas compressor 4, and a control device 6.
  • the sealed body 1 is provided with a high-pressure gas tank 11,
  • the output end of the gas compressor 4 is in communication with the high-pressure gas tank 11, the inlet end is provided in the sealed body 1, and the high-pressure gas tank 11 is connected with a gas release pipe 8, and the gas release pipe 8 is provided with a gas release valve 9;
  • the sealing body 1 is composed of a two-part sealed movable connection: the two parts sink into the seabed when they are close, and float on the water surface when they are far away;
  • the sonar device 3 is fixed on the upper surface of the sealing body 1, and is arranged on the
  • the control device 6 in the sealed body 1 is connected, and the gas compressor 4 is connected to the control device 6.
  • the sealing body 1 is set as two parts that can be movably and sealedly connected. When the two parts are separated, the volume of the sealing body 1 is increased, and there will be a greater buoyancy effect in the water, while floating on the water; When closed, the volume of the entire sealing body 1 is the smallest, and the buoyancy force received is less than its own weight, so that the sealing body 1 will sink to the seabed; a high-pressure gas tank 11 and a gas compressor 4 are arranged in the sealing body 1, according to the sealing body 1. The volume changes required at different depths are used to control the gas distribution in the high-pressure gas tank 11 and the sealing body 1.
  • the gas compressor 4 extracts the gas from the sealing body 1 and sends it into the high-pressure gas tank 11; Conversely, when floating, the high-pressure gas in the high-pressure gas tank 11 is output to the sealing body 1 through the air release valve.
  • a barometer is provided in the sealing body 1 to measure the air pressure in the sealing body 1; it is connected with the air release valve 9 through a control device to ensure that the air pressure in the sealing body 1 is stable. Especially when there are workers in the sealing body 1, the pressure inside should be maintained at normal pressure.
  • the high-pressure gas tank 11 is a metal sealed cavity 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 with the gas compressor 4, and the outlet An air release valve is connected to communicate with the inside of the sealing body 1.
  • 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 6, and the operation of the sonar device 3 and the collected information are all controlled by the control device 6.
  • the sealing body 1 itself is two hemispheres with asymmetrical density distribution, which is light up and heavy to ensure that the sonar device 3 above it can always be up and monitor the surrounding seabed environment.
  • the high-pressure gas tank 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 number of electric push rods 2 are set at the joint of the two hemispheres, and a folding pressure-resistant film 7 is arranged on the periphery of the several electric push rods 2. Under the action of the electric push rod 2, the pressure-resistant film is driven to expand, and the two hemispheres are mutually Far away, the volume of the sealing body 1 is enlarged; if the pressure-resistant membrane is driven to contract, the two hemispheres gradually close together, reducing the volume of the sealing body 1.
  • the upper and lower ends of the folded pressure-resistant film are respectively connected to the two hemispheres in a sealed manner, and the folded pressure-resistant film itself is a ring structure, so that the two hemispheres are far away or closed to ensure that seawater will not enter the seal from the folded pressure-resistant film In the main body 1.
  • a thruster 5 is provided under the sonar robot, and the thruster 5 is used to drive the sonar robot to move back and forth in the sea, especially the thruster 5 is connected to the lower part of the sonar robot via a rotating shaft 51, and the rotation angle of the thruster 5 around the rotating shaft 51 is 0-180 Degree means that the thruster 5 can adjust the forward direction of the sonar robot at will.
  • the propeller 5 is of a rotating blade type or a water spray type. One side is connected to the rotating shaft 51 via a bearing seat, and the rotation of the propeller 5 on the rotating shaft 51 is completed by a motor.
  • the above-mentioned propeller 5 and the motor are all connected with the control device 6, and the control device 6 regulates the operation.
  • At least one propeller 5 is provided, and the optimal number is three, which are distributed under the sealing body 1.
  • the control device 6 includes a controller for collecting signals collected by the sonar device 3 and controlling the operation of the thruster 5; it also includes a rechargeable battery, a memory, and communication equipment, and the rechargeable battery, memory and communication equipment 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 snorkeling sonar robot with a movable cavity of the present invention uses the change of the volume of the sealing body 1 to change the buoyancy received by itself, and can sink into the seabed or float on the water surface.
  • 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.
  • the invention discloses a snorkeling sonar robot with a movable cavity, which includes a sealed body, a sonar device, a gas compressor and a control device.
  • the sealed body is provided with a high-pressure gas tank, and the output end of the gas compressor Connected with the high-pressure gas tank, the inlet end is arranged in the sealing body, the high-pressure gas tank is connected with a gas release valve;
  • the sonar device When floating on the water surface; the sonar device is fixed on the upper surface of the sealing body, connected with the control device provided in the sealing body, and the gas compressor is connected with the control device.
  • the sonar robot of the present invention can automatically rise or sink, combine with other power for horizontal movement, and then use the sonar device on the sealed body to facilitate monitoring of different seabed conditions.

Abstract

一种具有活动腔体的可浮潜声呐机器人，包括密封主体（1）、声呐装置（3）、气体压缩机（4）和控制装置（6），密封主体内设有高压气体罐（11），气体压缩机的输出端与高压气体罐连通，入口端设在密封主体内，高压气体罐连接有放气阀（9）；密封主体为两部分密封活动连接构成：两部分靠近时沉入海底，远离时浮于水面；声呐装置固定在密封主体上表面上，与设在密封主体内的控制装置连接，气体压缩机与控制装置连接。该声呐机器人能自动上升或下沉，结合其它动力作水平移动，再利用密封主体上的声呐装置，方便监测不同海底情况。

Description

一种具有活动腔体的可浮潜声呐机器人 技术领域
本发明涉及海底监测技术领域，尤其是一种具有活动腔体的可浮潜声呐机器人。
背景技术
海洋中资源丰富，含有大量的生物，对海底生物的研究，能为人类带来很多的帮助，因此对海底生物进行监测，是非常必要的。
但由于海底本身阳光少，生物对光线抵触大，采用人工开启潜艇式观测设备进入海底，会影响整个海底环境，无法准确地监测到海底真实情况。
发明内容
本发明针对现有技术的不足，提出一种具有活动腔体的可浮潜声呐机器人，能潜伏在海底，监测海底环境。
为了实现上述发明目的，本发明提供以下技术方案：一种具有活动腔体的可浮潜声呐机器人，包括密封主体、声呐装置、气体压缩机和控制装置，所述密封主体内设有高压气体罐，所述气体压缩机的输出端与所述高压气体罐连通，入口端设在所述密封主体内，所述高压气体罐连接有放气阀；所述密封主体为两部分密封活动连接构成：两部分靠近时沉入海底，远离时浮于水面；所述声呐装置固定在所述密封主体上表面上，与设在所述密封主体内的所述控制装置连接，所述气体压缩机与所述控制装置连接。
进一步地，还包括有推进器，所述推进器固定在所述密封主体上，与所述控制装置连接。
进一步地，所述密封主体由密度分布高低不对称的两个半球构成。
进一步地，所述控制装置包括控制器，收集所述声呐装置收集的信号，以及控制所述推进器运作。
进一步地，所述控制装置还包括充电电池、存储器和通讯设备，所述充电电池、存储器和通讯设备均与所述控制器连接。
进一步地，所述密封主体上设有与所述控制装置连接的红外摄像装置。
进一步地，所述推进器设有至少一个，受控转动连接在所述密封主体上。
进一步地，还包括压力计，测定所述密封主体内的压力，经所述控制装置与所述放气阀连通。
进一步地，所述红外摄像装置外罩设有透明窗。
进一步地，所述受控转动连接为水平0-180度旋转。
与现有技术相比，本发明具有以下优点：采用能活动连接的两部分密封构成的主体，通过改变其容积使得机器人上升或下降，再结合动力使得声呐机器人下水平移动，再利用密封主体上的声呐装置，方便监测不同海底情况。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图示出的结构获得其他的附图。
图1为本发明具有活动腔体的可浮潜声呐机器人浮于水面状态的结构示意图；
图2为本发明具有活动腔体的可浮潜声呐机器人沉于海底状态的结构示意图；
图示标记：
1-密封壳体、11-高压气体罐、2-电动推杆、3-声呐装置、4-气体压缩机、5-推进器、51-转轴、6-控制装置、7-耐压膜、8-放气管、9-放气阀。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明的一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
需要说明，若本发明实施例中有涉及方向性指示(诸如上、下、左、右、前、后……)，则该方向性指示仅用于解释在某一特定姿态(如附图所示)下各部件之间的相对位置关系、运动情况等，如果该特定姿态发生改变时，则该方向性指示也相应地随之改变。
另外，各个实施例之间的技术方案可以相互结合，但是必须是以本领域普通技术人员能够实现为基础，当技术方案的结合出现相互矛盾或无法实现时应当认为这种技术方案的结合不存在，也不在本发明要求的保护范围之内。
如图1所示，一种具有活动腔体的可浮潜声呐机器人，包括密封主体1、声呐装置3、气体压缩机4和控制装置6，所述密封主体1内设有高压气体罐11，所述气体压缩机4的输出端与所述高压气体罐11连通，入口端设在所述密封主体1内，所述高压气体罐11连接有放气管8，放气管8上设有放气阀9；所述密封主体1为两部分密封活动连接构成：两部分靠近时沉入海底，远离时浮于水面；所述声呐装置3固定在所述密封主体1上表面上，与设在所述密封主体1内的所述控制装置6连接，所述气体压缩机4与所述控制装置6连接。
将密封主体1设为两个可活动密封连接的部分，在两部分分开时，使得密封主体1的容积增大，在水内会存在较大的浮力作用，而浮于水面；而在 两部分合拢时，整个密封主体1的容积最小，受到的浮力小于其自身重量，而使得密封主体1会下沉至海底；在密封主体1内设置高压气体罐11和气体压缩机4，根据密封主体1所在不同深度所需的容积变化，来调控高压气体罐11与密封主体1内的气体分布：若需要下沉时，气体压缩机4抽取密封主体1内的气体，送入高压气体罐11中；反之，上浮时，高压气体罐11内的高压气经放气阀输出到密封主体1中。
优选的，在密封主体1内设有气压计，测量密封主体1内的气压；经控制装置来与放气阀9连接，确保密封主体1内的气压稳定。尤其是在密封主体1内有工作人员时，其内的压力应该维持在常压下。
上述零部件具体分别为：高压气体罐11为容积固定的金属密封腔，耐压30MPa，如瓶状、罐状等耐压形状，带单向导通的出入口，入口与气体压缩机4连通，出口连接有放气阀与密封主体1内连通。
再在密封主体1的上部设有声呐装置3，利用声呐装置3对海底环境进行监测。其中声呐装置3具体包括被动声呐、主动声呐，主动声呐向水中发射声波，通过接收水下物体反射的回波发现目标，并测量其参量；目标距离可通过发射原声波与回波到达的时间差估计；目标方位则通过测量接收声阵中两子阵间的差异得到。主动声呐由发射机、声阵、接收机(包括信号处理)、显示控制台几个部分组成。而被动声呐通过接收目标的辐射噪声探测目标，并测定其参量；它由接收声阵、接收机(信号处理)和显示控制台三部分组成。声呐装置3与控制装置6连接，声呐装置3工作以及所收集到的信息均由控制装置6来调控。
密封主体1本身为密度分布高低不对称的两个半球，上轻下重，确保其上方的声呐装置3能始终处于上方，对周围的海底环境进行监测。在实际设置时，在密封主体1球体内，高压气体罐11设在上部，其余设备设在下部。
两个半球对接处设置若干个电动推杆2，在若干个电动推杆2的外围设 置折叠耐压膜7，在电动推杆2的作用下，驱动耐压膜伸展开，同时两个半球相互远离，扩大了密封主体1的容积；若驱动耐压膜收缩，两个半球逐渐合拢，减小密封主体1的容积。折叠耐压膜的上下端分别与两个半球密封连接，而折叠耐压膜自身为环状结构，这样使得两个半球处在远离或合拢情况下，确保海水不会由折叠耐压膜进入密封主体1中。
在声呐机器人的下方设有推进器5，利用推进器5驱动声呐机器人在海中前后移动，尤其是推进器5经转轴51连接在声呐机器人下部，推进器5绕转轴51的转动角度为0-180度，即意味着推进器5可随意调整声呐机器人的前进方向。
推进器5为旋转叶片式或喷水式，一侧经轴承座与转轴51连接，而推进器5在转轴51上的转动，由电机驱动完成。上述推进器5及电机均与控制装置6连接，由控制装置6来调控运行。
推进器5设有至少一个，最佳数量为三个，分布在密封主体1下方。
控制装置6包括控制器，用于收集声呐装置3收集的信号，并控制推进器5的运行；还包括充电电池、存储器和通讯设备，充电电池、存储器和通讯设备均与控制器连接。
密封主体1上还设有红外摄像装置，通过红外方式监测海底的生物情况，在红外摄像装置外罩设有透明窗。
充电电池提供所有用电设备的电源，可事先充满；存储器便于储存声呐装置3以及红外摄像装置收集的信息；通讯设备可将上述收集的信息发送给服务站。
本发明具有活动腔体的可浮潜声呐机器人，利用密封主体1自身容积变化，改变了自身所受浮力大小，可沉入海底或浮于水面。在海底里再结合上面的声呐装置以及红外摄像装置，收集海底生物情况。由于采用声呐方式、红外摄像方式，对海底环境影响小，所收集的信息准确可靠。
再利用声呐机器人上的推进器，能自由潜行，移动性好。
以上所述仅是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本发明的保护范围。
本发明公开了一种具有活动腔体的可浮潜声呐机器人，包括密封主体、声呐装置、气体压缩机和控制装置，所述密封主体内设有高压气体罐，所述气体压缩机的输出端与所述高压气体罐连通，入口端设在所述密封主体内，所述高压气体罐连接有放气阀；所述密封主体为两部分密封活动连接构成：两部分靠近时沉入海底，远离时浮于水面；所述声呐装置固定在所述密封主体上表面上，与设在所述密封主体内的所述控制装置连接，所述气体压缩机与所述控制装置连接。本发明声呐机器人能自动上升或下沉，结合其它动力作水平移动，再利用密封主体上的声呐装置，方便监测不同海底情况。

Claims (10)

  1. 一种具有活动腔体的可浮潜声呐机器人，其特征在于：包括密封主体、声呐装置、气体压缩机和控制装置，所述密封主体内设有高压气体罐，所述气体压缩机的输出端与所述高压气体罐连通，入口端设在所述密封主体内，所述高压气体罐连接有放气阀；所述密封主体为两部分密封活动连接构成：两部分靠近时沉入海底，远离时浮于水面；所述声呐装置固定在所述密封主体上表面上，与设在所述密封主体内的所述控制装置连接，所述气体压缩机与所述控制装置连接。
  2. 如权利要求1所述具有活动腔体的可浮潜声呐机器人，其特征在于：还包括有推进器，所述推进器固定在所述密封主体上，与所述控制装置连接。
  3. 如权利要求1或2所述具有活动腔体的可浮潜声呐机器人，其特征在于：所述密封主体由密度分布高低不对称的两个半球构成。
  4. 如权利要求2所述具有活动腔体的可浮潜声呐机器人，其特征在于：所述控制装置包括控制器，收集所述声呐装置收集的信号，以及控制所述推进器运作。
  5. 如权利要求4所述具有活动腔体的可浮潜声呐机器人，其特征在于：所述控制装置还包括充电电池、存储器和通讯设备，所述充电电池、存储器和通讯设备均与所述控制器连接。
  6. 如权利要求1所述具有活动腔体的可浮潜声呐机器人，其特征在于：所述密封主体上设有与所述控制装置连接的红外摄像装置。
  7. 如权利要求2所述具有活动腔体的可浮潜声呐机器人，其特征在于：所述推进器设有至少一个，受控转动连接在所述密封主体上。
  8. 如权利要求1所述具有活动腔体的可浮潜声呐机器人，其特征在于：还包括压力计，测定所述密封主体内的压力，经所述控制装置与所述放气阀连通。
  9. 如权利要求6所述具有活动腔体的可浮潜声呐机器人，其特征在于：所述红外摄像装置外罩设有透明窗。
  10. 如权利要求7所述具有活动腔体的可浮潜声呐机器人，其特征在于：所述受控转动连接为水平0-180度旋转。
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