CN113085461B - Marine environment detection platform with deep submergence function and detection method thereof - Google Patents
Marine environment detection platform with deep submergence function and detection method thereof Download PDFInfo
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- CN113085461B CN113085461B CN202110420739.8A CN202110420739A CN113085461B CN 113085461 B CN113085461 B CN 113085461B CN 202110420739 A CN202110420739 A CN 202110420739A CN 113085461 B CN113085461 B CN 113085461B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
- B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
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Abstract
The invention discloses a marine environment detection platform with a deep diving function and a detection method thereof, wherein the marine environment detection platform with the deep diving function comprises a control cabin, four groups of rotor wing mechanisms, a floating air bag, an equipment installation frame, a sensing mechanism installation box, a centering clamping mechanism, a landing support mechanism and a counterweight adjusting mechanism; the counterweight adjusting mechanism is utilized to release the counterweight after data acquisition is finished, so that the gravity is greater than the buoyancy, and floating is realized; the clamping mechanism placed in the middle is used for facilitating installation of the sensing mechanism mounting box, and the sensing mechanism mounting box for carrying different sensors is convenient to replace. The landing support mechanism is linked with the balance weight adjusting mechanism, so that the landing support mechanism is ensured not to influence each sensor before data acquisition is completed, and the instrument is prevented from being collided when the landing is recovered.
Description
Technical Field
The invention relates to an environment detection platform, in particular to an ocean environment detection platform with a deep diving function.
Background
The cross-medium ocean exploration equipment can be traced back to the concept of a submerged amphibious cross-medium airplane proposed in 1934 at the earliest. However, due to the significant difference between water environment and air environment, it is not easy for an aircraft to meet the requirements of both media simultaneously. Although a plurality of manned amphibious aircraft design schemes are proposed in some countries such as the United states, no amphibious navigation in the air and sea is really realized. In recent decades, with the development of unmanned systems technology, the research of cross-medium detection equipment has advanced greatly, resulting in many concepts and variants, and the complexity and technical difficulty of such systems are reduced compared with that of manned vehicles. However, these cross-medium detection devices can only make shallow sea navigation in general, and it is difficult to meet the deep sea detection requirements.
The cross-medium marine environment detection platform with the deep submerging function has a plurality of technical problems to be overcome. For example, the contradiction of the aerial flight and deep submergence of the detection platform to the weight requirement, the realization of modal transition between media, the design of a multi-media propulsion system meeting the requirements, the attitude stability and the like. In order to solve the problems, the invention provides a marine environment detection platform with a deep submergence function.
Disclosure of Invention
The purpose of the invention is as follows: the marine environment detection platform with the deep diving function is provided, and the requirement of detecting the environment in a deeper sea area can be met.
The technical scheme is as follows: the invention relates to a marine environment detection platform with a deep diving function, which comprises a control cabin, four groups of rotor wing mechanisms, a floating air bag, an equipment installation frame, a sensing mechanism installation box, a centering clamping mechanism, a landing support mechanism and a counterweight adjusting mechanism, wherein the control cabin is provided with a plurality of groups of rotor wing mechanisms;
the four groups of rotor wing mechanisms are all arranged on the control cabin; the equipment mounting frame is a U-shaped frame; the upper edges of two sides of the equipment mounting frame are fixed on the lower side surface of the control cabin; the floating air bag is arranged on the upper part of the equipment mounting frame in a surrounding way; an air pump for inflating and deflating the floating air bag is arranged on the equipment mounting frame; the counterweight adjusting mechanism is arranged at the lower part of the equipment mounting frame and is used for adjusting the weight of the whole equipment; the centering clamping mechanism is arranged on the equipment mounting frame and used for clamping and mounting the sensing mechanism mounting box; the landing support mechanism is arranged on the equipment mounting frame in a folding mode, is linked with the counterweight adjusting mechanism and is used for linkage unfolding support when the counterweight adjusting mechanism releases a counterweight; a water depth sensor, a temperature sensor and a salinity sensor are arranged on the outer side wall of the sensing mechanism mounting box;
a sonar is arranged on the lower side surface of the equipment mounting frame; an air pressure sensor is arranged on the outer side wall of the control bin; a GPS module, a gyroscope, a controller, an air pump driving circuit, a memory and a wireless communication module are arranged in the control bin, and the sonar, the air pump driving circuit, the air pressure sensor, the wireless communication module, the memory, the water depth sensor, the temperature sensor and the salinity sensor are all electrically connected with the controller; the controller drives the air pump to inflate and deflate through the air pump driving circuit; the counterweight adjusting mechanism and the four rotor wing mechanisms are driven by a controller.
Furthermore, each rotor wing mechanism comprises a rotor wing cantilever, a rotor wing driving motor and a cylindrical duct; one end of each of the four rotor wing cantilevers is respectively arranged on the front side, the rear side, the left side and the right side of the control cabin, and the four rotor wing cantilevers are distributed in a cross shape; the rotor wing driving motor is arranged at the other end of the rotor wing cantilever, and an output shaft of the rotor wing driving motor is vertically upward; the rotor wing is arranged on an output shaft of the rotor wing driving motor; the cylindrical duct is fixed on the rotor wing cantilever, and the central line of the cylindrical duct is superposed with the axis of the output shaft of the rotor wing driving motor; the tips of the blades of the rotor wings are close to the inner side wall of the cylindrical duct; the four cylindrical ducts are connected through connecting plates; a vent is arranged at the center of the connecting plate and above the control cabin;
a rotor motor driving circuit is arranged in the control bin, the rotor motor driving circuit is electrically connected with a controller, and the controller coordinately controls four rotor driving motors through the rotor motor driving circuit.
Furthermore, a buoyancy tank is arranged below each rotor wing driving motor; the buoyancy tank is of a double-layer structure, the outer layer of the buoyancy tank is a carbon fiber shell, and the inner part of the buoyancy tank is a stainless steel gas storage tank filled with high-pressure gas.
Furthermore, the counterweight adjusting mechanism comprises two counterweight boxes, a counterweight box driving motor, two counterweight blocks, two counterweight block baffles and a driving gear;
the two counterweight boxes are respectively fixed at the lower parts of the left and right side surfaces of the equipment mounting frame; the two balancing weights are arranged in the two balancing weight boxes; the lower side surfaces of the two counterweight boxes are respectively provided with an opening for sliding out the counterweight block; the device installation frame is internally provided with two partition plates at horizontal intervals, and the two partition plates divide the space in the device installation frame into an upper layer space, a middle layer space and a lower layer space; the sensing mechanism mounting box is positioned in the upper space; the counterweight box driving motor is arranged in the lower layer space, and the end part of an output shaft of the counterweight box driving motor penetrates through the partition plate and then extends into the middle layer space; the driving gear is arranged on the penetrating end of the output shaft of the counterweight box driving motor; a long hole is respectively and longitudinally arranged on the left side wall and the right side wall of the equipment mounting frame, and the two long holes are communicated with the middle layer space; the two counterweight block baffles respectively extend out of the equipment mounting frame through the two strip holes, and the extending sides of the two counterweight block baffles respectively extend to the lower parts of the counterweight boxes on the corresponding sides; racks are fixed on the rear side edge of the left counterweight block plate and the front side edge of the right counterweight block plate, and the two racks are meshed with the driving gear; a positioning plate is fixed on the upper side surfaces of the two counterweight block baffles and is used for pressing the inner side surfaces of the corresponding sides of the equipment mounting frame; two limiting plates for longitudinally limiting the two counterweight block baffles are fixed on the upper side surface of the lower baffle plate; pressing flanges which are pressed on the upper side surfaces of the counterweight block baffles on the corresponding sides are fixed on the two limiting plates; and a counterweight motor driving circuit is arranged in the control bin, the counterweight motor driving circuit is electrically connected with the controller, and the controller drives the counterweight box driving motor to rotate through the counterweight motor driving circuit.
Furthermore, the centering clamping mechanism consists of a hand-screwed bolt and a pressing plate; a fixing plate is transversely fixed above the partition plate positioned on the upper side in the equipment mounting frame; a threaded hole is formed in the center of the partition plate on the upper side, a hand-screwed bolt is screwed in the threaded hole in a threaded manner, and the upper end of the hand-screwed bolt penetrates through the partition plate on the upper side upwards and then is rotatably installed on the lower side surface of the pressing plate; a clamping nut for tightening is screwed on the hand-screwed bolt through threads; the upper side surface of the pressure plate is tightly pressed on the lower side surface of the sensing mechanism mounting box, and the upper side surface of the sensing mechanism mounting box is tightly pressed on the lower side surface of the fixing plate.
Furthermore, a rubber pad is arranged on the upper side surface of the pressing plate.
Furthermore, the landing support mechanism comprises four support rods, four spring buckles and four linkage rods; the front side surface and the rear side surface of each of the two balancing weights are provided with a circular groove, and the lower part of each circular groove is positioned outside the balancing weight box; a vertical groove communicated with the circular groove is arranged below each circular groove; the four support rods are hinged to the left side surface and the right side surface of the equipment mounting frame in pairs respectively, the two support rods on the right side are located on the front side and the rear side of the counterweight box on the right side respectively, and the two support rods on the left side are located on the front side and the rear side of the counterweight box on the left side respectively; the four linkage rods are respectively fixed on the four support rods, and the end parts of the four linkage rods respectively extend into the circular grooves outside the counterweight boxes on the corresponding sides; four spring buckles are all installed on equipment fixing frame, and four spring buckles are located the below of four bracing pieces respectively, with the buckle bracing piece.
Furthermore, the spring fastener is a U-shaped elastic fastener, and outward fastener flanges are arranged on the edges of the two sides of the spring fastener; a buckle strip is arranged on the two inner side edges of each spring buckle; each support rod is provided with a buckle plane matched with the buckle strip.
The invention also provides a detection method of the marine environment detection platform with the deep diving function, which comprises the following steps:
parameter setting step: presetting coordinates of a position to be detected and each depth to be measured, and storing the coordinates and each depth in a memory;
a step of dive detection:
the method comprises the following steps that firstly, a controller coordinately controls four groups of rotor wing mechanisms to take off, coordinate information is compared in real time through a GPS module, a detection platform flies to a set coordinate position, and then the controller coordinately controls the detection platform to stably land on the water surface through an air pressure sensor and a gyroscope;
step two, the controller controls the air pump to deflate the floating air bag through the air pump driving circuit, so that the gravity of the marine environment detection platform with the deep diving function is larger than the buoyancy for diving;
step three, the water depth sensor detects water depth data in real time and feeds the water depth data back to the controller, the controller judges whether the water depth data reaches a set depth, when the controller judges that the detection platform reaches the set depth, the controller coordinately controls the four groups of rotor wing mechanisms to move to generate thrust, so that the detection platform is suspended at the set depth, meanwhile, the controller controls the temperature sensor, the salinity sensor and the water depth sensor to collect the temperature, the salinity and the water depth data of the set depth and store the data into a memory, and the controller controls the four groups of rotor wing mechanisms to stop moving after the depth data is collected;
step four, repeating the step three until the detection platform finishes collecting the data of each set depth, and finishing the detection;
a floating recovery step: after detection is finished, the controller controls the balance weight adjusting mechanism to release the balance weight, so that the buoyancy of the detection platform is larger than the gravity and floats out of the water surface, the water depth sensor and the air pressure sensor detect data in real time and feed back the data to the controller, the controller judges whether the four groups of rotor wing mechanisms completely float out of the water surface, and when the controller judges that the four groups of rotor wing mechanisms completely float out of the water surface, the controller coordinately controls the four groups of rotor wing mechanisms to take off, so that the marine environment detection platform with the deep diving function flies back to the observation station to finish recovery.
Further, the method also comprises the step of obstacle avoidance: the sonar detects the platform surrounding environment in real time and feeds back signals to the controller, judges whether there is the barrier around by the controller, and when the controller judges that there is the barrier around, the controller coordinates and controls four groups of rotor mechanism motion and produce thrust and avoid the barrier.
Compared with the prior art, the invention has the beneficial effects that: data acquisition is realized by utilizing a water depth sensor, a temperature sensor and a salinity sensor; the air pump is used for inflating and deflating the floating air bag, so that the volume of the floating air bag is reduced, the buoyancy is larger than the gravity in the submerging process, and submerging is realized; releasing the balance weight by using a balance weight adjusting mechanism after data acquisition is finished, so that the gravity is greater than the buoyancy, and floating is realized; utilize clamping mechanism placed in the middle to be convenient for install the sensing mechanism mounting box, the sensing mechanism mounting box of different sensors of the change of being convenient for carries, clamping mechanism is pressed from both sides the sensing mechanism mounting box placed in the middle simultaneously, has guaranteed that the focus is placed in the middle. The landing support mechanism is linked with the balance weight adjusting mechanism, so that the landing support mechanism is ensured not to influence each sensor before data acquisition is completed, and the instrument is prevented from being collided when the landing is recovered.
Drawings
FIG. 1 is a front view of the present invention;
FIG. 2 is a bottom view of the present invention;
FIG. 3 is a left side view of the counterweight adjustment mechanism of the present invention;
FIG. 4 is a cross-sectional view of the equipment mounting frame of the present invention;
FIG. 5 is a top view of the present invention;
fig. 6 is a schematic circuit structure of the present invention.
Detailed Description
The technical solution of the present invention is described in detail below with reference to the accompanying drawings, but the scope of the present invention is not limited to the embodiments.
Example 1:
as shown in fig. 1 to 6, the disclosed marine environment detection platform with deep submergence function comprises: the device comprises a control cabin 7, four groups of rotor wing mechanisms, a floating air bag 6, an equipment mounting frame 13, a sensing mechanism mounting box 28, a centering clamping mechanism, a descending supporting mechanism and a counterweight adjusting mechanism;
the four groups of rotor wing mechanisms are all arranged on the control cabin 7; the equipment mounting frame 13 is a U-shaped frame; the upper edges of two sides of the equipment mounting frame 13 are fixed on the lower side surface of the control cabin 7; the floating airbag 6 is arranged on the upper part of the equipment mounting frame 13 in a surrounding way; an air pump 9 for inflating and deflating the flotation air bag 6 is arranged on the equipment mounting frame 13; a weight adjusting mechanism is installed at a lower portion of the apparatus mounting frame 13 for adjusting the weight of the entire apparatus; the centering clamping mechanism is arranged on the equipment mounting frame 13 and is used for clamping and mounting a sensing mechanism mounting box 28; the landing support mechanism is arranged on the equipment mounting frame 13 in a folding mode, is linked with the counterweight adjusting mechanism and is used for linkage and unfolding support when the counterweight adjusting mechanism releases a counterweight; a water depth sensor, a temperature sensor and a salinity sensor are arranged on the outer side wall of the sensing mechanism mounting box 28; a sonar 8 is arranged on the lower side surface of the equipment mounting frame 13; an air pressure sensor is arranged on the outer side wall of the control cabin 7; a GPS module, a gyroscope, a controller, an air pump driving circuit, a memory and a wireless communication module are arranged in the control bin 7, and the sonar 8, the air pump driving circuit, the air pressure sensor, the wireless communication module, the memory, the water depth sensor, the temperature sensor and the salinity sensor are all electrically connected with the controller; the controller drives the air pump 9 to inflate and deflate through the air pump driving circuit; the counterweight adjusting mechanism and the four groups of rotor wing mechanisms are all driven by the controller.
Data acquisition is realized by utilizing a water depth sensor, a temperature sensor and a salinity sensor; the air pump 9 is used for inflating and deflating the floating air bag 6, so that the volume of the floating air bag 6 is reduced in the submerging process, the buoyancy is larger than the gravity, and submerging is realized; the counterweight adjusting mechanism is utilized to release the counterweight after data acquisition is finished, so that the gravity is greater than the buoyancy, and floating is realized; the sensor mechanism mounting box 28 is convenient to mount and replace for carrying different sensors by utilizing the centered clamping mechanism, and meanwhile, the centered clamping mechanism clamps the sensor mechanism mounting box 28 in the center, so that the center of gravity is centered. The linkage of the landing support mechanism and the balance weight adjusting mechanism is utilized to ensure that the landing support mechanism does not influence each sensor before data acquisition is finished, and simultaneously, the instrument is prevented from being collided when the landing is recovered.
Furthermore, each group of rotor wing mechanisms comprises a rotor wing cantilever 5, a rotor wing 3, a rotor wing driving motor 4 and a cylindrical duct 1; one end of each of the four rotor wing cantilevers 5 is respectively arranged on the front, back, left and right side surfaces of the control cabin 7, and the four rotor wing cantilevers 5 are distributed in a cross shape; the rotor wing driving motor 4 is arranged at the other end of the rotor wing cantilever 5, and the output shaft of the rotor wing driving motor 4 is vertically upward; the rotor 3 is arranged on an output shaft of the rotor driving motor 4; the cylindrical duct 1 is fixed on the rotor wing cantilever 5, and the central line of the cylindrical duct 1 is superposed with the axis of the output shaft of the rotor wing driving motor 4; the tip of the rotor 3 is close to the inner side wall of the cylindrical duct 1; the four cylindrical culverts 1 are connected by connecting plates 18; a vent 32 is arranged at the center of the connecting plate 18 and above the control cabin 7;
a rotor motor driving circuit is arranged in the control bin 7 and electrically connected with a controller, and the controller coordinately controls the four rotor driving motors 4 through the rotor motor driving circuit.
The induced resistance of the rotor 3 is reduced by using the cylindrical duct 1, so that the rotor 3 generates larger thrust, and meanwhile, the tip of the rotor 3 is close to the cylindrical duct 1, so that the airflow loss of the tip of the rotor is reduced; the air resistance at the time of rising or falling is reduced by the air vent 32.
Further, a buoyancy tank 2 is arranged below each rotor wing driving motor 4; the buoyancy tank 2 is of a double-layer structure, the outer layer of the buoyancy tank is a carbon fiber shell, and the inside of the buoyancy tank is a stainless steel gas storage tank filled with high-pressure gas.
The buoyancy tank 2 is utilized to ensure the stability of the detection platform on the water surface, and the influence of certain wave disturbance on take-off can be resisted; the stainless steel gas storage tank is prevented from deforming due to water pressure in the submergence process by utilizing a double-layer structure.
Further, the counterweight adjusting mechanism comprises two counterweight boxes 12, a counterweight box driving motor 10, two counterweight blocks 11, two counterweight block baffles 17 and a driving gear 22;
the two weight boxes 12 are respectively fixed at the lower parts of the left and right side surfaces of the equipment mounting frame 13; the two balancing weights 11 are arranged in the two balancing weight boxes 12; an opening for sliding out the balancing weight 11 is arranged on the lower side surfaces of the two balancing weight boxes 12; two partition plates 15 are horizontally arranged in the equipment mounting frame 13 at intervals, and the space in the equipment mounting frame 13 is divided into an upper layer space, a middle layer space and a lower layer space by the two partition plates 15; the sensing mechanism mounting box 28 is located in the upper space; the counterweight box driving motor 10 is arranged in the lower layer space, and the end part of an output shaft of the counterweight box driving motor 10 penetrates through the partition plate 15 and then extends into the middle layer space; the driving gear 22 is arranged on the penetrating end of the output shaft of the counterweight box driving motor 10; a long hole is respectively and longitudinally arranged on the left side wall and the right side wall of the equipment mounting frame 13, and the two long holes are communicated with the middle layer space; the two counterweight baffles 17 extend out of the equipment mounting frame 13 through the two strip holes respectively, and the extending sides of the two counterweight baffles 17 extend to the lower parts of the counterweight boxes 12 on the corresponding sides respectively; racks are fixed on the rear side edge of the left counterweight block plate 17 and the front side edge of the right counterweight block plate 17, and the two racks are meshed with the driving gear 22; a positioning plate 23 is fixed on each of the upper side surfaces of the two counterweight block plates 17 and used for pressing on the inner side surface of the corresponding side of the equipment mounting frame 13; two limiting plates 24 for longitudinally limiting the two counterweight block baffles 17 are fixed on the upper side surface of the partition plate 15 at the lower side; a pressing flange which is pressed on the upper side face of the counterweight block plate 17 on the corresponding side is fixed on each of the two limiting plates 24; a counterweight motor driving circuit is arranged in the control cabin 7 and is electrically connected with a controller, and the controller drives the counterweight box driving motor 10 to rotate through the counterweight motor driving circuit.
Synchronously controlling the two balancing weight baffles 17 by using the balancing weight box driving motor 10 through the driving gear 22, and synchronously retracting the two balancing weight baffles 17 into the equipment mounting frame 13, thereby ensuring that the two balancing weights 11 fall synchronously; the positioning plate 23 is used for preventing the two counterweight block plates 17 from being disengaged from the driving gear 22 and falling out of the equipment mounting frame 13; utilize the cooperation between rectangular hole, limiting plate 24 and the balancing weight baffle 17, vertically spacing to two balancing weight baffles 17, guaranteed two balancing weight baffles 17 and driving gear 22 complex stability, prevent balancing weight baffle 17's the end luffing motion that stretches out simultaneously.
Further, the centering clamping mechanism consists of a hand-screwed bolt 21 and a pressure plate 20; a fixing plate 26 is transversely fixed above the partition plate 15 positioned at the upper side in the equipment-mounting frame 13; a threaded hole is formed in the center of the partition plate 15 on the upper side, a hand-screwed bolt 21 is screwed in the threaded hole in a threaded manner, and the upper end of the hand-screwed bolt 21 penetrates through the partition plate 15 on the upper side upwards and then is rotatably mounted on the lower side surface of the pressing plate 20; a clamping nut 33 for tightening is screwed on the hand-screwed bolt 21; the upper side of the pressure plate 20 is pressed against the lower side of the sensor unit mounting box 28, and the upper side of the sensor unit mounting box 28 is pressed against the lower side of the fixing plate 26.
The combination of the threaded hole and the hand-screwed bolt 21 is used for ensuring that the pressure plate 20 tightly presses the sensing mechanism mounting box 28 on the fixing plate 26; the clamping nut 33 is tightened to achieve mechanical locking of the clamping bolt 21.
Further, a rubber pad is provided on the upper side of the pressing plate 20. The sensor mechanism mounting case 28 is prevented from being deformed by being pressed by a rubber pad.
Further, the descending supporting mechanism comprises four supporting rods 14, four spring buckles 16 and four linkage rods 19; two circular grooves 34 are respectively arranged on the front side surface and the rear side surface of the two balancing weights 11, and the lower part of each circular groove 34 is positioned outside the balancing weight box 12; a vertical groove communicated with the circular groove 34 is arranged below each circular groove 34; the four support rods 14 are respectively hinged to the left side surface and the right side surface of the equipment mounting frame 13 in pairs, the two support rods 14 on the right side are respectively positioned on the front side and the rear side of the counterweight box 12 on the right side, and the two support rods 14 on the left side are respectively positioned on the front side and the rear side of the counterweight box 12 on the left side; the four linkage rods 19 are respectively fixed on the four support rods 14, and the end parts of the four linkage rods 19 respectively extend into the circular grooves 34 outside the counterweight boxes 12 on the corresponding sides; four spring buckles 16 are all installed on the device mounting frame 13, and the four spring buckles 16 are respectively located below the four support rods 14 for buckling the support rods 14.
The four linkage rods 19 extend into the circular grooves on the corresponding sides, so that the linkage rods 19 are guaranteed to swing in the corresponding circular grooves after the balancing weights 11 are released, and the linkage rods 19 are pressed down by the balancing weights 11 to drive the supporting rods 14 to swing downwards, and linkage between the four supporting rods 14 and the balancing weight adjusting mechanism is realized; the four support rods 14 are buckled by the four spring buckles 16, so that the support rods 14 are locked; the vertical grooves ensure that after the support bar 14 is locked, and after the balancing weight 11 rotates around the two linkage rods 19 on the corresponding sides, the linkage rods 19 are separated from the balancing weight 11 through the vertical grooves.
Further, the spring fastener 16 is a U-shaped elastic fastener, and outward fastener flanges are arranged on the two side edges of the spring fastener 16; two inner side edges of each spring buckle 16 are respectively provided with a buckle strip; a snap surface for engaging with a snap strip is provided on each support bar 14.
The locking strength is enhanced by the matching between the buckle strip and the buckle plane, and the support rod 14 is prevented from being separated from the spring buckle 16 due to impact when falling to the ground; the accurate clamping of the support rod 14 in the spring buckle 16 is ensured by the buckle flanging at the two side edges of the spring buckle 16.
As shown in fig. 6, the invention also provides a detection method of a marine environment detection platform with a deep diving function, which comprises the following steps:
a step of dive detection:
the method comprises the following steps that firstly, a controller coordinately controls four groups of rotor wing mechanisms to take off, coordinate information is compared in real time through a GPS module, a detection platform flies to a set coordinate position, and then the controller coordinately controls the detection platform to stably land on the water surface through an air pressure sensor and a gyroscope;
step two, the controller controls the air pump 9 to deflate the floating air bag 6 through the air pump driving circuit, so that the gravity of the marine environment detection platform with the deep diving function is larger than the buoyancy to dive;
step three, the water depth sensor detects water depth data in real time and feeds the water depth data back to the controller, the controller judges whether the water depth data reaches a set depth, when the controller judges that the detection platform reaches the set depth, the controller coordinately controls the four groups of rotor wing mechanisms to move to generate thrust, so that the detection platform is suspended at the set depth, meanwhile, the controller controls the temperature sensor, the salinity sensor and the water depth sensor to collect the temperature, the salinity and the water depth data of the set depth and store the data into a memory, and the controller controls the four groups of rotor wing mechanisms to stop moving after the depth data is collected;
step four, repeating the step three until the detection platform finishes collecting the data of each set depth, and finishing the detection;
floating recovery: after detection is finished, the controller controls the balance weight adjusting mechanism to release the balance weight, so that the buoyancy of the detection platform is larger than the gravity and floats out of the water surface, the water depth sensor and the air pressure sensor detect data in real time and feed back the data to the controller, the controller judges whether the four groups of rotor wing mechanisms completely float out of the water surface, and when the controller judges that the four groups of rotor wing mechanisms completely float out of the water surface, the controller coordinately controls the four groups of rotor wing mechanisms to take off, so that the marine environment detection platform with the deep diving function flies back to the observation station to finish recovery.
Further, the method also comprises the following obstacle avoidance step: sonar 8 real-time detection surveys platform surrounding environment and feeds back the signal to the controller, judges by the controller whether have the barrier around, when the controller judges that there is the barrier around, the controller coordinate control four sets of rotor mechanism motion production thrust and avoid the barrier.
By the detection method of the marine environment detection platform with the deep diving function, the marine environment detection platform with the deep diving function can automatically detect data and return the data to the observation station.
As noted above, while the present invention has been shown and described with reference to certain preferred embodiments, it is not to be construed as limited to the invention itself. Various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (9)
1. The utility model provides a marine environment surveys platform with deep submergence function which characterized in that: the device comprises a control cabin (7), four groups of rotor wing mechanisms, a floating air bag (6), an equipment mounting frame (13), a sensing mechanism mounting box (28), a centering clamping mechanism, a landing support mechanism and a counterweight adjusting mechanism; the four groups of rotor wing mechanisms are all arranged on the control cabin (7); the equipment mounting frame (13) is a U-shaped frame; the upper edges of two sides of the equipment mounting frame (13) are fixed on the lower side surface of the control cabin (7); the floating air bag (6) is arranged on the upper part of the equipment mounting frame (13) in a surrounding way; an air pump (9) for inflating and deflating the floating airbag (6) is arranged on the equipment mounting frame (13); the counterweight adjusting mechanism is arranged at the lower part of the equipment mounting frame (13) and is used for adjusting the weight of the whole equipment; the centering clamping mechanism is arranged on the equipment mounting frame (13) and is used for clamping and mounting a sensing mechanism mounting box (28); the descending support mechanism is arranged on the equipment mounting frame (13) in a folding mode, is linked with the counterweight adjusting mechanism and is used for linkage unfolding support when the counterweight adjusting mechanism releases a counterweight; a water depth sensor, a temperature sensor and a salinity sensor are arranged on the outer side wall of the sensing mechanism mounting box (28); a sonar (8) is arranged on the lower side surface of the equipment mounting frame (13); an air pressure sensor is arranged on the outer side wall of the control bin (7); a GPS module, a gyroscope, a controller, an air pump driving circuit, a memory and a wireless communication module are arranged in the control bin (7), and the GPS module, the gyroscope, the sonar (8), the air pump driving circuit, the air pressure sensor, the wireless communication module, the memory, the water depth sensor, the temperature sensor and the salinity sensor are all electrically connected with the controller; the controller drives the air pump (9) to inflate and deflate through the air pump driving circuit; the counterweight adjusting mechanism and the four groups of rotor wing mechanisms are driven by the controller; the counterweight adjusting mechanism comprises two counterweight boxes (12), a counterweight box driving motor (10), two counterweight blocks (11), two counterweight block baffles (17) and a driving gear (22);
the two counterweight boxes (12) are respectively fixed at the lower parts of the left and right side surfaces of the equipment mounting frame (13); the two balancing weights (11) are arranged in the two balancing weight boxes (12); the lower side surfaces of the two counterweight boxes (12) are respectively provided with an opening for sliding out the counterweight block (11); two partition plates (15) are horizontally arranged in the equipment installation frame (13) at intervals, and the space in the equipment installation frame (13) is divided into an upper layer space, a middle layer space and a lower layer space by the two partition plates (15); the sensing mechanism mounting box (28) is positioned in the upper space; the counterweight box driving motor (10) is arranged in the lower layer space, and the end part of an output shaft of the counterweight box driving motor (10) penetrates through the partition plate (15) and then extends into the middle layer space; the driving gear (22) is arranged on the penetrating end of the output shaft of the counterweight box driving motor (10); a long hole is respectively and longitudinally arranged on the left side wall and the right side wall of the equipment installation frame (13), and the two long holes are both communicated with the middle layer space; the two counterweight block baffles (17) respectively extend out of the equipment mounting frame (13) through the two strip holes, and the extending sides of the two counterweight block baffles (17) respectively extend to the lower parts of the counterweight boxes (12) on the corresponding sides; racks are fixed on the rear side edge of the left counterweight block plate (17) and the front side edge of the right counterweight block plate (17), and the two racks are meshed with the driving gear (22); a positioning plate (23) is fixed on the upper side surface of each of the two counterweight block plates (17) and is used for pressing the inner side surface of the corresponding side of the equipment mounting frame (13); two limit plates (24) used for longitudinally limiting the two counterweight block baffles (17) are fixed on the upper side surface of the partition plate (15) on the lower side; a pressing flange which is pressed on the upper side surface of the counterweight block plate (17) at the corresponding side is fixed on each of the two limiting plates (24); a counterweight motor driving circuit is arranged in the control bin (7), the counterweight motor driving circuit is electrically connected with a controller, and the controller drives the counterweight box driving motor (10) to rotate through the counterweight motor driving circuit.
2. The marine environment detection platform with deep submerging function of claim 1, wherein: each rotor wing mechanism comprises a rotor wing cantilever (5), a rotor wing (3), a rotor wing driving motor (4) and a cylindrical duct (1); one ends of the four rotor wing cantilevers (5) are respectively arranged on the front, back, left and right side surfaces of the control cabin (7), and the four rotor wing cantilevers (5) are distributed in a cross shape; the rotor wing driving motor (4) is arranged at the other end of the rotor wing cantilever (5), and the output shaft of the rotor wing driving motor (4) is vertically upward; the rotor (3) is arranged on an output shaft of the rotor driving motor (4); the cylindrical duct (1) is fixed on the rotor wing cantilever (5), and the central line of the cylindrical duct (1) is superposed with the axis of the output shaft of the rotor wing driving motor (4); the tips of the blades of the rotor wings (3) are close to the inner side wall of the cylindrical duct (1); the four cylindrical ducts (1) are connected through connecting plates (18); an air vent (32) is arranged at the center of the connecting plate (18) and above the control cabin (7);
a rotor motor driving circuit is arranged in the control bin (7), the rotor motor driving circuit is electrically connected with a controller, and the controller coordinately controls the four rotor driving motors (4) through the rotor motor driving circuit.
3. The marine environment detection platform with deep submergence function of claim 2, wherein: a buoyancy tank (2) is arranged below each rotor wing driving motor (4); the buoyancy tank (2) is of a double-layer structure, the outer layer is a carbon fiber shell, and the inner part is a stainless steel gas storage tank filled with high-pressure gas.
4. The marine environment detection platform with deep submergence function of claim 1, wherein: the centering clamping mechanism consists of a hand-screwed bolt (21) and a pressure plate (20); a fixing plate (26) is transversely fixed above the partition plate (15) positioned on the upper side in the equipment mounting frame (13); a threaded hole is formed in the center of the partition plate (15) on the upper side, a hand-screwed bolt (21) is screwed in the threaded hole in a threaded manner, and the upper end of the hand-screwed bolt (21) upwards penetrates through the partition plate (15) on the upper side and then is rotatably installed on the lower side surface of the pressing plate (20); a clamping nut (33) for tightening is screwed on the hand-screwed bolt (21) through threads; the upper side of the pressure plate (20) is tightly pressed on the lower side of the sensing mechanism mounting box (28), and the upper side of the sensing mechanism mounting box (28) is tightly pressed on the lower side of the fixing plate (26).
5. The marine environment detection platform with deep submerging function of claim 4, wherein: a rubber pad is arranged on the upper side surface of the pressure plate (20).
6. The marine environment detection platform with deep submerging function of claim 1, wherein: the descending support mechanism comprises four support rods (14), four spring buckles (16) and four linkage rods (19); the front side surface and the rear side surface of each of the two balancing weights (11) are respectively provided with a circular groove (34), and the lower part of each circular groove (34) is positioned outside the balancing weight box (12); a vertical groove communicated with the circular groove (34) is arranged below each circular groove (34); the four support rods (14) are hinged to the left side surface and the right side surface of the equipment mounting frame (13) in pairs respectively, the two support rods (14) on the right side are located on the front side and the rear side of the counterweight box (12) on the right side respectively, and the two support rods (14) on the left side are located on the front side and the rear side of the counterweight box (12) on the left side respectively; the four linkage rods (19) are respectively fixed on the four support rods (14), and the end parts of the four linkage rods (19) respectively extend into the circular grooves (34) outside the counterweight boxes (12) at the corresponding sides; four spring buckles (16) are all installed on equipment installation frame (13), and four spring buckles (16) are located the below of four bracing pieces (14) respectively for buckle bracing piece (14).
7. The marine environment detection platform with deep submerging function of claim 6, wherein: the spring fastener (16) is a U-shaped elastic fastener, and outward fastener flanges are arranged on the edges of two sides of the spring fastener (16); two inner side edges of each spring buckle (16) are respectively provided with a buckle strip; each support rod (14) is provided with a buckling plane which is matched with the buckling strip.
8. The method for detecting the marine environment detection platform with the deep submergence function according to claim 1, characterized by comprising the following steps:
a parameter setting step: presetting coordinates of a position to be detected and each depth to be measured, and storing the coordinates and each depth in a memory;
a step of dive detection:
the method comprises the following steps that firstly, a controller coordinately controls four groups of rotor wing mechanisms to take off, coordinate information is compared in real time through a GPS module, a detection platform flies to a set coordinate position, and then the controller coordinately controls the detection platform to stably land on the water surface through an air pressure sensor and a gyroscope;
step two, the controller controls the air pump (9) to deflate the floating air bag (6) through the air pump driving circuit, so that the gravity of the marine environment detection platform with the deep submergence function is larger than the buoyancy submergence;
step three, the water depth sensor detects water depth data in real time and feeds the water depth data back to the controller, the controller judges whether the water depth data reaches a set depth, when the controller judges that the detection platform reaches the set depth, the controller coordinately controls the four groups of rotor wing mechanisms to move to generate thrust, so that the detection platform is suspended at the set depth, meanwhile, the controller controls the temperature sensor, the salinity sensor and the water depth sensor to collect temperature, salinity and water depth data of the set depth and store the data in the memory, and after the collection of the depth data is finished, the controller controls the four groups of rotor wing mechanisms to stop moving;
step four, repeating the step three until the detection platform finishes collecting the data of each set depth, and finishing detection;
a floating recovery step: after detection is finished, the controller controls the balance weight adjusting mechanism to release the balance weight, so that the buoyancy of the detection platform is larger than the gravity and floats out of the water surface, the water depth sensor and the air pressure sensor detect data in real time and feed back the data to the controller, the controller judges whether the four groups of rotor wing mechanisms completely float out of the water surface, and when the controller judges that the four groups of rotor wing mechanisms completely float out of the water surface, the controller coordinately controls the four groups of rotor wing mechanisms to take off, so that the marine environment detection platform with the deep diving function flies back to the observation station to finish recovery.
9. The method for detecting the marine environment detection platform with the deep submergence function as claimed in claim 8, characterized by further comprising the step of obstacle avoidance: sonar (8) detects the surrounding environment of the detection platform in real time and feeds back signals to the controller, the controller judges whether obstacles exist around, and when the controller judges that obstacles exist around, the controller coordinates and controls the four groups of rotor wing mechanisms to move to generate thrust to avoid the obstacles.
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| CN113524998B (en) * | 2021-08-10 | 2022-07-22 | 中国人民解放军国防科技大学 | Sea-air integrated detection platform based on variable rotor and detection method thereof |
| CN113511039B (en) * | 2021-08-10 | 2023-04-21 | 江苏省海洋资源开发研究院(连云港) | Detection device with deep diving function and detection method thereof |
| CN116481597B (en) * | 2023-06-22 | 2023-08-22 | 吉林省雨涵环境工程有限公司 | Multi-parameter comprehensive environment on-line monitoring device |
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