AU2020100124A4 - Snorkeling sonar robot with an annular air bag - Google Patents
Snorkeling sonar robot with an annular air bag Download PDFInfo
- Publication number
- AU2020100124A4 AU2020100124A4 AU2020100124A AU2020100124A AU2020100124A4 AU 2020100124 A4 AU2020100124 A4 AU 2020100124A4 AU 2020100124 A AU2020100124 A AU 2020100124A AU 2020100124 A AU2020100124 A AU 2020100124A AU 2020100124 A4 AU2020100124 A4 AU 2020100124A4
- Authority
- AU
- Australia
- Prior art keywords
- air bag
- sonar
- sealed body
- control device
- snorkeling
- 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.)
- Ceased
Links
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
Landscapes
- 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
Abstract The invention discloses a snorkeling sonar robot with an annular air bag, comprising a sealed body, an air bag, a sonar device, a gas compressor and a control device, wherein the sealed body is provided with a high pressure gas chamber, the gas compressor is communicated with the high pressure gas chamber and the air bag respectively at both ends, an air duct with a regulating valve is arranged between the high pressure gas chamber and the air bag, and the high pressure gas chamber, the gas compressor, the air bag and the air duct form a gas circulation channel; the air bag is fixed to the outer wall of the sealed body, the sonar device is fixed to the surface of the sealed body and connected to the control device in the sealed body, and the gas compressor is connected with the control device. The sonar robot is able to rise or sink automatically, move horizontally with external force, and monitor submarine conditions with the sonar device on the sealed body. (Figure 1) Figure 1
Description
Snorkeling Sonar Robot with An Annular Air Bag
Field of the Invention
The invention relates to the field of submarine monitoring, and more particularly, to a snorkeling sonar robot with an annular air bag.
Background of the Art
The sea is abundant in resources and living organisms, and the research of benthic organisms is very helpful for mankind, so it is essential to monitor benthic organisms.
Due to lack of sunlight, benthic organisms are strongly against light. Because manually actuated submarine observation equipment will affect the underwater environment, it cannot accurately monitor real conditions under the sea.
Summary of the Invention
To address drawbacks of the prior art, the invention provides a snorkeling sonar robot with an annular air bag, which can move under water to monitor the submarine environment.
To achieve the said purpose, the invention provides a snorkeling sonar robot with an annular air bag, comprising a sealed body, an air bag, a sonar device, a gas compressor and a control device, wherein the sealed body is provided with a high pressure gas chamber, the gas compressor is communicated with the high pressure gas chamber and the air bag respectively at both ends, an air duct with a regulating valve is arranged between the high pressure gas chamber and the air bag, and the high pressure gas chamber, the gas compressor, the air bag and the air duct form a gas circulation channel; the air bag is fixed to the outer wall of the sealed body, the sonar device is fixed to the surface of the sealed body and connected to the control device in the sealed body, and the gas compressor is connected with the control device.
Furthermore, the invention also includes a propeller, which is fixed to the sealed body and connected with the control device.
Furthermore, the sealed body is a sphere with asymmetric density distribution.
Furthermore, the control device includes a controller, which collects signals collected by the sonar device and controls movement of the propeller.
Furthermore, the control device also includes a rechargeable battery, a memory and a communication apparatus, which are all connected with the controller.
Furthermore, the sealed body is provided with an infrared photography device, which is connected with the control device.
Furthermore, there is at least one propeller, which is controllably and rotationally connected to the sealed body.
Furthermore, the air bag is fixed to the lower part of the sphere.
Furthermore, the infrared photography device is provided with a transparent cover.
Furthermore, the controlled rotational connection allows horizontal rotation between 0 and 180 degrees.
Compared with the prior art, the invention has the advantages that the sonar robot is able to rise or sink with an air bag arranged around the sealed body and a high pressure gas chamber in the sealed body, move horizontally with external force, and monitor submarine conditions with a sonar device on the sealed body.
Description of the Drawings
To illustrate technical solutions in the embodiments of the invention or in the prior art more clearly, the accompanying drawings used in description of the embodiments or prior art are briefly introduced hereinafter. Apparently, the accompanying drawings described hereinafter merely show some embodiments of the invention. Those skilled in the art may, without creative efforts, derive other drawings based on the structures shown in the accompanying drawings.
Figure 1 illustrates a structural representation of the invention.
Reference signs:
1-sealed body, 11-high pressure gas chamber, 2-air bag, 3-sonar device, 4-gas compressor, 5-air duct, 6-regulating valve, 7-propeller, 71-rotating shaft, 8-control device.
Detailed Description of the Invention
The technical solutions in the preferred embodiments of the invention will be clearly and completely described hereinafter with reference to the accompanying drawings. Apparently, the preferred embodiments are only part of the embodiments of the invention, not all of the embodiments. Other embodiments obtained by those skilled in the art based on the preferred embodiments of the invention without creative work all fall in the scope of protection of the invention.
Orientational terms herein (such as up, down, left, right, front and back) are only used to explain relative positions and movements of the components in a particular posture (as shown in the accompanying drawings). When the particular posture is changed, the orientational terms change accordingly.
In addition, the technical solutions in the embodiments can be combined but only on the premise that the combination can be achieved by those skilled in the art. When combinations of the technical solutions are contradictory or cannot be achieved, it should be regarded that the combination neither exist nor fall into the scope of protection of the invention.
As shown in Figure 1, a snorkeling sonar robot with an air bag, comprising a sealed body 1, an air bag 2, a sonar device 3, a gas compressor 4 and a control device 8, wherein the sealed body 1 is provided with a high pressure gas chamber 11, the gas compressor 4 is communicated with the high pressure gas chamber 11 and the air bag 2 respectively at both ends, an air duct 5 with a regulating valve 6 is arranged between the high pressure gas chamber 11 and the air bag 2, and the high pressure gas chamber 11, the gas compressor 4, the air bag 2 and the air duct 5 form a gas circulation channel; the air bag 2 is fixed to the outer wall of the sealed body 1, the sonar device 3 is fixed to the surface of the sealed body 1 and connected to the control device 8 in the sealed body, and the gas compressor 4 is connected with the control device 8.
The high pressure gas chamber 11 and the gas compressor 4 are arranged in the sealed body 1. The gas compressor 4 communicated with the air bag 2 at its inlet compresses gas in the air bag 2 and delivers the gas to the high pressure gas chamber 11. When the air bag 2 needs to be filled, compressed gas in the high pressure gas chamber 11 is delivered to the air bag 2 through the air duct 5 by opening the regulating valve 6 on the air duct 5.
The aforesaid gas circulation enables the sealed body 1 to go up or down by changing the volume of the air bag 2 accompanied by changes in the buoyance of the sealed body 1. Specifically, when the sonar robot needs to go down, the gas compressor 4 extracts gas from the air bag 2 and delivers compressed gas to the high pressure gas chamber 11 until the air bag 2 shrinks to the minimum volume. Because the buoyance of the sealed body 1 is less than its weight at this moment, it will sink to bottom of the sea. Conversely, if the sonar robot needs to go up or rise to the surface of the sea, the regulating valve 6 is opened, which allows high pressure gas in the high pressure gas chamber 11 to enter the air bag 2 through the air duct 5, and the regulating valve 6 may be adjusted to control the volume of the air bag 2 so that the rising speed and height may be regulated.
The high pressure gas chamber 11 is a sealed metal chamber with a fixed volume, which has a pressure resistance of 30MPa, a pressure-poof shape, such as bottle shape or tank shape, and unidirectional conducting inlet and outlet, wherein the inlet is communicated with the gas compressor 4 and the outlet connected with the air duct 5. The air bag 2 is a cavity made of an elastic material, such as rubber, so that its shape is changeable, and its volume is 15-25 times of that of the high pressure gas chamber 11. The regulating valve 6 may be designed as electric, such as electromagnetic valve, and be regulated by the control device 8.
The sonar device 3 is arranged at the top of the sealed body 1 to monitor the submarine environment. The sonar device 3 includes passive sonar and active sonar. Active sonar generates a sound wave, detects a target by receiving echoes reflected by an underwater object, and measures its parameters; distance to the target is estimated by measuring the time from emission to reception; and bearing of the target is determined by measuring the difference between two subarrays in the acoustic receiving array. Active sonar consists of transmitter, acoustic array, receiver (including signal processer) and display console. Passive sonar detects a target by picking up noise produced by the target and measures its parameters; passive sonar consists of acoustic receiving sonar, receiver (signal processor) and display console. The sonar device 3 is connected to the control device 8. The work of the device 3 and all information it collects are controlled by the control device 8.
The sealed body 1 is a sphere with asymmetric density distribution, the upper half being lighter than the lower part, so that the sonar device 3 is always at the top when monitoring the submarine environment. Inside the sealed body 1, the high pressure gas chamber 11 is arranged in the upper half and the other equipment in the lower part.
A propeller 7 is arranged under the sonar robot to drive the sonar robot back and forth under the sea. Particularly, the propeller 7 is connected to the bottom of the sonar robot by a rotating shaft 71, and the propeller 7 rotates 0-180 degrees around the rotating shaft 71, which means the sonar robot is able to move in any direction with the aid of the propeller 7.
The propeller 7 is rotating-blade-type or water-jet-type, it is connected on one side with the rotating shaft 71 by a bearing support, and its rotation around the rotating shaft 71 is driven by a motor. The propeller 7 and the motor are both connected to and controlled by the control device 8.
The number of the propeller 7 arranged under the sealed body 1 is at least one, preferably three.
The control device 8 includes a controller, which collects signals collected by the sonar device 3 and controls movement of the propeller 7; the control device 8 also includes a rechargeable battery, a memory and a communication apparatus, which are all connected with the controller.
The sealed body 1 is also provided with an infrared photography device to monitor benthic organisms by infrared, and a transparent cover is arranged outside the infrared photography device.
The rechargeable battery powers all electric equipment and it is pre-charged; the memory stores information gathered by the sonar device 3 and the infrared photography device; the communication apparatus sends the collected information to the service station.
The snorkeling sonar robot with an annular air bag in the invention is able to sink into the sea or float onto the surface as the buoyance changes with air circulation. Under the sea, it collects information of benthic organisms with the aid of sonar device and infrared photography device. Because sonar and infrared photography have little impact on the submarine environment, the information collected is accurate and reliable.
In addition, the sonar robot has good mobility with the propeller(s).
While only preferred embodiments of the invention are given hereinabove, it will be appreciated by those skilled in the art that many improvements and modifications may be made without departing from the scope of the invention. It should be regarded that the improvements and modifications are within the scope of protection of the invention.
In the claims which follow and in the preceding description of the invention, except where the context requires otherwise due to express language or necessary implication, the word “comprise” or variations such as “comprises” or “comprising” is used in an inclusive sense, i.e. to specify the presence of the stated features but not to preclude the presence or addition of further features in various embodiments of the invention.
Claims (5)
- Claims1. A snorkeling sonar robot with an annular air bag, characterized in that: the snorkeling sonar robot with an annular air bag comprises a sealed body, an air bag, a sonar device, a gas compressor and a control device, wherein the sealed body is provided with a high pressure gas chamber, the gas compressor is communicated with the high pressure gas chamber and the air bag respectively at both ends, an air duct with a regulating valve is arranged between the high pressure gas chamber and the air bag, and the high pressure gas chamber, the gas compressor, the air bag and the air duct form a gas circulation channel; the air bag is fixed to the outer wall of the sealed body, the sonar device is fixed to the surface of the sealed body and connected to the control device in the sealed body, and the gas compressor is connected with the control device.
- 2. The snorkeling sonar robot with an annular air bag according to claim 1, characterized in that: the snorkeling sonar robot with an annular air bag also includes a propeller, which is fixed to the sealed body and connected with the control device.
- 3. The snorkeling sonar robot with an annular air bag according to claim 1, characterized in that: the sealed body is a sphere with asymmetric density distribution.
- 4. The snorkeling sonar robot with an annular air bag according to claim 2, characterized in that: the control device includes a controller, which collects signals collected by the sonar device and controls movement of the propeller.
- 5. The snorkeling sonar robot with an annular air bag according to claim 4, characterized in that: the control device also includes a rechargeable battery, a memory and a communication apparatus, which are all connected with the controller.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| AUPCT/CN2019/076769 | 2019-03-01 | ||
| PCT/CN2019/076769 WO2020177037A1 (en) | 2019-03-01 | 2019-03-01 | Floatable and submersible sonar robot comprising annular air sac |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| AU2020100124A4 true AU2020100124A4 (en) | 2020-02-27 |
Family
ID=69621467
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| AU2020100124A Ceased AU2020100124A4 (en) | 2019-03-01 | 2020-01-24 | Snorkeling sonar robot with an annular air bag |
Country Status (2)
| Country | Link |
|---|---|
| AU (1) | AU2020100124A4 (en) |
| WO (1) | WO2020177037A1 (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113479310B (en) * | 2021-08-16 | 2022-06-14 | 中国船舶科学研究中心 | Submersible underwater emergency self-rescue device |
| CN113753206B (en) * | 2021-09-24 | 2022-07-29 | 广州大学 | Underwater robot based on variable-volume auxiliary drive and control method |
| CN114260924B (en) * | 2022-03-01 | 2022-05-03 | 广东海洋大学 | Underwater mechanical arm |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2351718B (en) * | 1999-07-09 | 2003-02-12 | Dr James Edward Stangroom | Improvements in, or related to, the control of buoyancy underwater at great de pths |
| US8220408B2 (en) * | 2007-07-31 | 2012-07-17 | Stone William C | Underwater vehicle with sonar array |
| CN102079376A (en) * | 2010-09-17 | 2011-06-01 | 朱惠芬 | Dual-hull safe ultra-silent submarine and self-rescue method thereof |
| CN103744083A (en) * | 2013-04-23 | 2014-04-23 | 苏州爱思索电子科技有限公司 | Float type sonar navigation system device |
| CN106394835B (en) * | 2016-10-28 | 2021-01-26 | 重庆交通大学 | Underwater detection robot |
| CN109319048A (en) * | 2018-11-28 | 2019-02-12 | 唐山哈船科技有限公司 | A kind of sonar unit for habitata |
-
2019
- 2019-03-01 WO PCT/CN2019/076769 patent/WO2020177037A1/en active Application Filing
-
2020
- 2020-01-24 AU AU2020100124A patent/AU2020100124A4/en not_active Ceased
Also Published As
| Publication number | Publication date |
|---|---|
| WO2020177037A1 (en) | 2020-09-10 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| FGI | Letters patent sealed or granted (innovation patent) | ||
| MK22 | Patent ceased section 143a(d), or expired - non payment of renewal fee or expiry |