CN109774897A - A kind of sonar robot that snorkels with movable chamber - Google Patents
A kind of sonar robot that snorkels with movable chamber Download PDFInfo
- Publication number
- CN109774897A CN109774897A CN201910157615.8A CN201910157615A CN109774897A CN 109774897 A CN109774897 A CN 109774897A CN 201910157615 A CN201910157615 A CN 201910157615A CN 109774897 A CN109774897 A CN 109774897A
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- China
- Prior art keywords
- sealed body
- sonar
- snorkels
- control device
- movable chamber
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Abstract
The invention discloses a kind of sonar robot that snorkels with movable chamber, including sealed body, sonar unit, gas compressor and control device, high-pressure gas tank is equipped in the sealed body, the output end of the gas compressor is connected to the high-pressure gas tank, arrival end is located in the sealed body, and the high-pressure gas tank is connected with vent valve；The sealed body be two parts air-tight movable connect and compose: two parts close to when sink to seabed, far from when bubble through the water column；The sonar unit is fixed on the sealed body upper surface, is connect with the control device being located in the sealed body, the gas compressor is connect with the control device.Sonar robot of the present invention can rise or sink automatically, move horizontally in conjunction with other power, recycle the sonar unit on sealed body, facilitate the different seabed situations of monitoring.
Description
Technical field
The present invention relates to seabed monitoring technical field, especially a kind of sonar robot that snorkels with movable chamber.
Background technique
Resourceful in ocean, containing a large amount of biology, the research to benthon can bring many sides for the mankind
It helps, therefore benthon is monitored, be very important.
But since seabed sunlight itself is few, biology contradicts greatly light, is entered using artificial submarine formula observation device of opening
Seabed will affect entire subsea environment, can not be accurately monitored seabed truth.
Summary of the invention
In view of the deficiencies of the prior art, the present invention proposes a kind of sonar robot that snorkels with movable chamber, can dive
Volt monitors subsea environment in seabed.
In order to achieve the above-mentioned object of the invention, the present invention is the following technical schemes are provided: a kind of snorkeling with movable chamber
Sonar robot, including sealed body, sonar unit, gas compressor and control device, the sealed body is interior to be equipped with high pressure
Gas tank, the output end of the gas compressor are connected to the high-pressure gas tank, and arrival end is located in the sealed body, institute
It states high-pressure gas tank and is connected with vent valve；The sealed body is that two parts air-tight movable connects and composes: two parts close to when it is heavy
Enter seabed, bubbles through the water column when separate；The sonar unit is fixed on the sealed body upper surface, is led with the sealing is located at
The intracorporal control device connection, the gas compressor are connect with the control device.
It further, further include having propeller, the propeller is fixed on the sealed body, with the control device
Connection.
Further, the sealed body is made of asymmetric two hemisphere of Density Distribution height.
Further, the control device includes controller, collects the signal that the sonar unit is collected, and control institute
State propeller running.
Further, the control device further includes rechargeable battery, memory and communication apparatus, and the rechargeable battery is deposited
Reservoir and communication apparatus are connect with the controller.
Further, the sealed body is equipped with the infrared eye connecting with the control device.
Further, the propeller is equipped at least one, and controlled rotation is connected on the sealed body.
Further, further include pressure gauge, measure the pressure in the sealed body, put through the control device with described
Air valve connection.
Further, transparency window is covered with outside the infrared eye.
Further, the controlled rotation is connected as horizontal 0-180 degree rotation.
Compared with prior art, the invention has the following advantages that the master constituted using two parts sealing that can be flexibly connected
Body, rises or falls robot by changing its volume, to move horizontally under sonar robot in conjunction with power, then benefit
With the sonar unit on sealed body, facilitate the different seabed situations of monitoring.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
The structure shown according to these attached drawings obtains other attached drawings.
Fig. 1 is that there is the present invention sonar robot that snorkels of movable chamber to bubble through the water column the structural schematic diagram of state；
Fig. 2 is the structural schematic diagram that there is the present invention sonar robot that snorkels of movable chamber to be sunken to seabed conditions；
Diagram label:
1- seal casinghousing, 11- high-pressure gas tank, 2- electric pushrod, 3- sonar unit, 4- gas compressor, 5- propeller,
51- shaft, 6- control device, the resistance to press mold of 7-, 8- bleeder pipe, 9- vent valve.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiment is only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts it is all its
His embodiment, shall fall within the protection scope of the present invention.
It is to be appreciated that if relating to directionality instruction (such as up, down, left, right, before and after ...) in the embodiment of the present invention,
Then directionality instruction be only used for explain under a certain particular pose (as shown in the picture) between each component relative positional relationship,
Motion conditions etc., if the particular pose changes, directionality instruction is also correspondingly changed correspondingly.
It in addition, the technical solution between each embodiment can be combined with each other, but must be with ordinary skill
Based on personnel can be realized, this technical side will be understood that when the combination of technical solution appearance is conflicting or cannot achieve
The combination of case is not present, also not the present invention claims protection scope within.
As shown in Figure 1, a kind of sonar robot that snorkels with movable chamber, including sealed body 1, sonar unit 3,
Gas compressor 4 and control device 6, the sealed body 1 is interior to be equipped with high-pressure gas tank 11, the output of the gas compressor 4
End is connected to the high-pressure gas tank 11, and arrival end is located in the sealed body 1, and the high-pressure gas tank 11 is connected with deflation
Pipe 8, bleeder pipe 8 are equipped with vent valve 9；The sealed body 1 is that two parts air-tight movable connects and composes: two parts close to when it is heavy
Enter seabed, bubbles through the water column when separate；The sonar unit 3 is fixed on 1 upper surface of sealed body, and is located at the sealing
The control device 6 in main body 1 connects, and the gas compressor 4 is connect with the control device 6.
Sealed body 1 is set as to the part of two movable sealed connections, when two parts separate, so that sealed body 1
Volume increase, can have biggish buoyancy in water, and bubble through the water column；And when two parts close up, entire sealing master
The volume of body 1 is minimum, and the buoyancy being subject to is less than its own weight, and makes sealed body 1 that can sink down into seabed；In sealed body
Setting high-pressure gas tank 11 and gas compressor 4 in 1, change according to volume needed for 1 place different depth of sealed body, to adjust
The gas controlled in high-pressure gas tank 11 and sealed body 1 is distributed: when if desired sinking, gas compressor 4 is extracted in sealed body 1
Gas, be sent into high-pressure gas tank 11 in；Conversely, the high pressure gas in high-pressure gas tank 11 is output to close through vent valve when floating
It seals in main body 1.
Preferably, it is equipped with barometer in sealed body 1, measures the air pressure in sealed body 1；Through control device come with put
Air valve 9 connects, it is ensured that the stable gas pressure in sealed body 1.When especially having staff in sealed body 1, in pressure
Power should maintain under normal pressure.
It is the fixed metal sealing chamber of volume that above-mentioned parts, which are specifically respectively as follows: high-pressure gas tank 11, pressure-resistant 30MPa, such as
The pressure resistance shape such as ampuliform, can-like, the entrance with one-way conduction, entrance are connected to gas compressor 4, and outlet is connected with vent valve
It is connected to in sealed body 1.
It is equipped with sonar unit 3 on the top of sealed body 1 again, subsea environment is monitored using sonar unit 3.Wherein
Sonar unit 3 specifically includes passive sonar, active sonar, and active sonar emits sound wave into water, anti-by receiving immersed body
The echo discovery target penetrated, and measure its parameter；Target range can be estimated by the time difference that transmitting original sound wave and echo reach；
Target bearing then passes through the difference that measurement receives in acoustic matrix between two submatrixs and obtains.Active sonar is by transmitter, acoustic matrix, receiver
The several part compositions of (including signal processing), display console.And passive sonar detects mesh by receiving the radiated noise of target
Mark, and measure its parameter；It is made of reception acoustic matrix, receiver (signal processing) and display console three parts.Sonar unit 3
It is connect with control device 6, the work of sonar unit 3 and collected information are regulated and controled by control device 6.
Sealed body 1 as asymmetric two hemisphere of Density Distribution height, lightness sensation in the upper and heaviness in the lower, it is ensured that the sonar above it
Device 3 can be in top always, be monitored to the subsea environment of surrounding.In actual setting, in 1 sphere of sealed body,
High-pressure gas tank 11 is located at top, remaining equipment is located at lower part.
Several electric pushrods 2 are set at two hemisphere docking, fold pressure resistance in the periphery setting of several electric pushrods 2
Film 7 drives resistance to press mold to trail under the action of electric pushrod 2, while two hemisphere are located remotely from each other, and expand sealed body 1
Volume；If resistance to press mold is driven to shrink, two hemisphere gradually close up, and reduce the volume of sealed body 1.Fold the upper and lower of resistance to press mold
End is tightly connected with two hemisphere respectively, and folding resistance to press mold itself is cyclic structure, so that two hemisphere are in separate
Or in the case of closing up, it is ensured that seawater will not be entered in sealed body 1 by folding resistance to press mold.
It is equipped with propeller 5 in the lower section of sonar robot, drives sonar robot to move in marine front and back using propeller 5
Dynamic, especially propeller 5 is connected to sonar robot lower part through shaft 51, propeller 5 around the shaft 51 rotational angle be 0-180
Degree, this means that propeller 5 can arbitrarily adjust the direction of advance of sonar robot.
Propeller 5 is orbiting vane or water jet, and side is connect through bearing block with shaft 51, and propeller 5 is in shaft
Completion is driven by motor in rotation on 51.Above-mentioned propeller 5 and motor are connect with control device 6, are adjusted by control device 6
Control operation.
Propeller 5 is equipped at least one, and optimal number is three, is distributed in 1 lower section of sealed body.
Control device 6 includes controller, for collecting the signal of the collection of sonar unit 3, and controls the operation of propeller 5；
It further include rechargeable battery, memory and communication apparatus, rechargeable battery, memory and communication apparatus are connect with controller.
It is additionally provided with infrared eye on sealed body 1, the biological situation in seabed is monitored by infrared mode, is taken the photograph infrared
As being covered with transparency window outside device.
Rechargeable battery provides the power supply of all electrical equipments, can be full of in advance；Memory convenient for storage sonar unit 3 and
The information that infrared eye is collected；The information of above-mentioned collection can be sent to service station by communication apparatus.
The present invention has the sonar robot that snorkels of movable chamber, is changed using 1 own volume of sealed body, is changed
Itself suffered buoyancy size, can sink to seabed or bubble through the water column.It in conjunction with sonar unit above and infrared is taken the photograph in seabed
As device, benthon situation is collected.It is small on subsea environment influence due to using sonar mode, infrared photography mode, it is collected
Information it is accurate and reliable.
The propeller in sonar robot is recycled, can freely be moved under water, mobility is good.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (10)
1. a kind of sonar robot that snorkels with movable chamber, it is characterised in that: including sealed body, sonar unit, gas
Gas compressor and control device, are equipped with high-pressure gas tank in the sealed body, the output end of the gas compressor with it is described
High-pressure gas tank connection, arrival end are located in the sealed body, and the high-pressure gas tank is connected with vent valve；The sealing master
Body be two parts air-tight movable connect and compose: two parts close to when sink to seabed, far from when bubble through the water column；The sonar unit is solid
It is scheduled on the sealed body upper surface, is connect with the control device being located in the sealed body, the gas compression
Machine is connect with the control device.
2. as described in claim 1 with the sonar robot that snorkels of movable chamber, it is characterised in that: further include having propulsion
Device, the propeller are fixed on the sealed body, are connect with the control device.
3. as claimed in claim 1 or 2 with the sonar robot that snorkels of movable chamber, it is characterised in that: the sealing master
Body is made of asymmetric two hemisphere of Density Distribution height.
4. as claimed in claim 2 with the sonar robot that snorkels of movable chamber, it is characterised in that: the control device packet
Controller is included, the signal that the sonar unit is collected, and the control propeller running are collected.
5. as claimed in claim 4 with the sonar robot that snorkels of movable chamber, it is characterised in that: the control device is also
Including rechargeable battery, memory and communication apparatus, the rechargeable battery, memory and communication apparatus connect with the controller
It connects.
6. as described in claim 1 with the sonar robot that snorkels of movable chamber, it is characterised in that: on the sealed body
Equipped with the infrared eye being connect with the control device.
7. as claimed in claim 2 with the sonar robot that snorkels of movable chamber, it is characterised in that: the propeller is equipped with
At least one, controlled rotation is connected on the sealed body.
8. as described in claim 1 with the sonar robot that snorkels of movable chamber, it is characterised in that: it further include pressure gauge,
The pressure in the sealed body is measured, is connected to through the control device with the vent valve.
9. as claimed in claim 6 with the sonar robot that snorkels of movable chamber, it is characterised in that: the infrared photography dress
Transparency window is covered with outside setting.
10. as claimed in claim 7 with the sonar robot that snorkels of movable chamber, it is characterised in that: the controlled rotation
It is connected as horizontal 0-180 degree rotation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910157615.8A CN109774897A (en) | 2019-03-01 | 2019-03-01 | A kind of sonar robot that snorkels with movable chamber |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910157615.8A CN109774897A (en) | 2019-03-01 | 2019-03-01 | A kind of sonar robot that snorkels with movable chamber |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109774897A true CN109774897A (en) | 2019-05-21 |
Family
ID=66486058
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910157615.8A Withdrawn CN109774897A (en) | 2019-03-01 | 2019-03-01 | A kind of sonar robot that snorkels with movable chamber |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109774897A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113353200A (en) * | 2021-07-15 | 2021-09-07 | 哈尔滨工程大学 | Motion platform for sonar monitoring robot |
| CN113443105A (en) * | 2021-07-15 | 2021-09-28 | 哈尔滨工程大学 | Protective device for sonar monitoring robot |
| CN113525639A (en) * | 2021-07-15 | 2021-10-22 | 哈尔滨工程大学 | Submarine sonar robot is with floating latent device |
| CN113525641A (en) * | 2021-07-15 | 2021-10-22 | 哈尔滨工程大学 | Emergency suspension device for seabed sonar robot |
-
2019
- 2019-03-01 CN CN201910157615.8A patent/CN109774897A/en not_active Withdrawn
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113353200A (en) * | 2021-07-15 | 2021-09-07 | 哈尔滨工程大学 | Motion platform for sonar monitoring robot |
| CN113443105A (en) * | 2021-07-15 | 2021-09-28 | 哈尔滨工程大学 | Protective device for sonar monitoring robot |
| CN113525639A (en) * | 2021-07-15 | 2021-10-22 | 哈尔滨工程大学 | Submarine sonar robot is with floating latent device |
| CN113525641A (en) * | 2021-07-15 | 2021-10-22 | 哈尔滨工程大学 | Emergency suspension device for seabed sonar robot |
| CN113525641B (en) * | 2021-07-15 | 2022-03-08 | 哈尔滨工程大学 | Emergency suspension device for seabed sonar robot |
| CN113525639B (en) * | 2021-07-15 | 2022-03-08 | 哈尔滨工程大学 | Submarine sonar robot is with floating latent device |
| CN113443105B (en) * | 2021-07-15 | 2022-06-28 | 哈尔滨工程大学 | Protective device for sonar monitoring robot |
| CN113353200B (en) * | 2021-07-15 | 2022-10-14 | 哈尔滨工程大学 | Motion platform for sonar monitoring robot |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20190521 |