CN116902180A - Underwater carrying device - Google Patents
Underwater carrying device Download PDFInfo
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- CN116902180A CN116902180A CN202311135952.XA CN202311135952A CN116902180A CN 116902180 A CN116902180 A CN 116902180A CN 202311135952 A CN202311135952 A CN 202311135952A CN 116902180 A CN116902180 A CN 116902180A
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- underwater
- lower deck
- underwater vehicle
- carrying device
- cabin
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- 230000006854 communication Effects 0.000 claims abstract description 28
- 238000004891 communication Methods 0.000 claims abstract description 28
- 230000009189 diving Effects 0.000 claims abstract description 14
- 230000008859 change Effects 0.000 claims abstract description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 23
- 238000001514 detection method Methods 0.000 claims description 6
- 238000009826 distribution Methods 0.000 claims description 4
- 238000012545 processing Methods 0.000 claims description 4
- 230000004308 accommodation Effects 0.000 claims description 2
- 239000002390 adhesive tape Substances 0.000 claims 1
- 238000000034 method Methods 0.000 description 10
- 238000005286 illumination Methods 0.000 description 7
- 239000000463 material Substances 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 239000004576 sand Substances 0.000 description 3
- 230000005484 gravity Effects 0.000 description 2
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- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007175 bidirectional communication Effects 0.000 description 1
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- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005520 electrodynamics Effects 0.000 description 1
- 230000004438 eyesight Effects 0.000 description 1
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- 238000004519 manufacturing process Methods 0.000 description 1
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Classifications
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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
- B63C11/34—Diving chambers with mechanical link, e.g. cable, to a base
- B63C11/44—Diving chambers with mechanical link, e.g. cable, to a base of open type, e.g. diving-bells
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- 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
- B63G8/16—Control of attitude or depth by direct use of propellers or jets
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The application provides an underwater carrying device. The underwater carrying device comprises a cabin body and a driving console. The cabin body includes: the top of the upper floating plate is provided with a hoisting frame; the four corners of the lower deck are provided with vertical thrusters; the connecting truss is connected between the upper floating plate and the lower deck, and a horizontal propeller is arranged on the connecting truss. The driving control platform is arranged between the adjacent connecting trusses and can control the vertical propeller and the horizontal propeller to propel so as to change the pose state of the cabin. The underwater carrying device is of an open frame structure, has good stability, is convenient for divers to freely enter and exit the diving device, and has certain additional load carrying capacity. The underwater carrying device can be independently driven by a diver or driven by a mother ship by a wireless remote control in the background, and can acquire underwater position information through satellite positioning and keep real-time communication with the mother ship.
Description
Technical Field
The application relates to the technical application field of underwater equipment, in particular to an underwater carrying device.
Background
An underwater vehicle/submarine, i.e. a submarine, is a highly reliable underwater electrodynamic vehicle, the use of which is mainly focused on the following aspects: firstly, as an underwater carrier, a diver and equipment thereof are quickly transported to a designated place for production and engineering operation; secondly, carrying out underwater surveying; thirdly, rescue under water and the like.
In general, an underwater vehicle needs to realize movement of the body through a propeller in the body, and generally has a horizontal propeller and a vertical propeller, wherein the horizontal propeller mainly controls forward movement, backward movement and steering of the vehicle, and the vertical propeller mainly controls ascending, descending, depthkeeping and pitching movement of the vehicle.
Currently, underwater manned submersible mainly has two types, namely a closed type structure and a non-closed type structure. The sealed small manned submersible with the boat body or spherical shell structure is inconvenient for a diver to freely and stably go in and out of the submersible due to small steady height when working under water.
In the background section, the foregoing information is disclosed only for enhancement of understanding of the background of the application and therefore it may not constitute prior art information that is already known to a person of ordinary skill in the art.
Disclosure of Invention
At least one embodiment of the present application provides an underwater vehicle. The underwater carrying device comprises a cabin body and a driving console.
The cabin body includes: the top of the upper floating plate is provided with a hoisting frame; the four corners of the lower deck are provided with vertical thrusters; the connecting truss is connected between the upper floating plate and the lower deck, and a horizontal propeller is arranged on the connecting truss.
The driving control platform is arranged between the adjacent connecting trusses and can control the vertical propeller and the horizontal propeller to propel so as to change the pose state of the cabin.
According to some alternative embodiments of the application, the underwater vehicle further comprises: the camera is arranged on the driving control platform; the illuminating lamp is arranged adjacent to the camera and can provide illuminating light for the camera.
According to some alternative embodiments of the application, the bottom of the lower deck is provided with a supporting seat, and the supporting seat can form a containing space at the bottom of the lower deck.
According to some alternative embodiments of the application, the underwater vehicle further comprises: and the safety handrail is arranged on the connecting truss.
According to some alternative embodiments of the application, the steering console comprises: the diving three-purpose meter has the functions of depth detection, pressure detection and north pointing; a thermometer capable of detecting an ambient temperature; the navigation display screen can display the pose state and the safety prompt information of the cabin body; and a control handle capable of controlling the vertical propeller and the horizontal propeller.
According to some alternative embodiments of the application, the underwater vehicle further comprises: the double-layer ballast tank is arranged on the lower deck and is used for adjusting buoyancy balance; the fixed-depth load-throwing unit is arranged at the bottom center of the lower deck and comprises a unit inner cavity and a load-throwing block which is arranged in the unit inner cavity, and the cabin body can float upwards rapidly through the load-throwing of the load-throwing block; the front view sonar is arranged on the lower deck and is used for detecting an underwater environment; the Doppler flow velocity meter is arranged on the lower deck and is used for detecting the flow velocity of water flow in the working environment; and the pressure/depth sensor is arranged on the lower deck and is used for detecting the real-time depth of the underwater carrying device.
According to some alternative embodiments of the application, the underwater vehicle further comprises: the communication floating ball is arranged at the top of the upper floating plate, and the mother ship can keep contact with the underwater carrying device through the communication floating ball by wireless communication.
According to some optional embodiments of the application, the lower deck is a hollowed deck, and anti-collision fenders and/or anti-collision rubber strips are arranged around the lower deck.
According to some alternative embodiments of the application, the underwater vehicle further comprises: the safety belt is arranged between any two adjacent connecting trusses.
According to some alternative embodiments of the application, the underwater vehicle further comprises: the power supply bin is arranged on the lower deck and can provide electric power required by underwater operation; the control cabin is arranged on the lower deck, the control cabin is connected with the driving control console and the power supply cabin, and the control cabin can be used for energy distribution, signal acquisition and processing and signal output.
The underwater carrying device is of an open frame structure, has good stability, is convenient for divers to freely enter and exit the diving device, and has certain additional load carrying capacity. The underwater carrying device can be independently driven by a diver or driven by a mother ship by a wireless remote control in the background, can acquire underwater position information through satellite positioning, and can be in real-time communication with the mother ship, so that the mother ship can conveniently master the working state of the underwater vehicle.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application as claimed.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 shows a schematic view of the structure of an underwater vehicle according to an exemplary embodiment of the present application.
Fig. 2 shows a schematic view of the structure of an underwater vehicle according to some embodiments of the application.
Fig. 3 illustrates a bottom view of an underwater vehicle according to some embodiments of the application.
Fig. 4 shows a flow chart of a method of using an underwater vehicle according to an example embodiment of the application.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. However, the exemplary embodiments can be embodied in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar parts, and thus a repetitive description thereof will be omitted.
The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the application. One skilled in the relevant art will recognize, however, that the application can be practiced without one or more of the specific details, or with other methods, components, materials, devices, or the like. In these instances, well-known structures, methods, devices, implementations, materials, or operations are not shown or described in detail.
The flow diagrams depicted in the figures are exemplary only, and do not necessarily include all of the elements and operations/steps, nor must they be performed in the order described. For example, some operations/steps may be decomposed, and some operations/steps may be combined or partially combined, so that the order of actual execution may be changed according to actual situations.
The terms first, second and the like in the description and in the claims and in the above-described figures are used for distinguishing between different objects and not necessarily for describing a sequential or chronological order. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus.
Hereinafter, an underwater vehicle according to an embodiment of the present application will be described in detail with reference to the accompanying drawings.
Fig. 1 shows a schematic view of the structure of an underwater vehicle according to an exemplary embodiment of the present application.
Referring to fig. 1, the underwater vehicle of the exemplary embodiment includes a cabin 100 and a steering deck 200.
The hull 100 includes an upper floating plate 110, a lower deck 120, and a connecting truss 130.
The top of the upper floating plate 110 is provided with a hanger 111. The hoisting frame 111 is used for being connected to a mother ship crane, and when the underwater carrying device is used for launching or needs to be hoisted to a mother ship after being floated up, the hoisting frame 111 can be pulled by a crane pulling rope of the mother ship, so that stable and reliable connection is provided for the underwater carrying device to go up and down the mother ship.
According to an alternative embodiment of the present application, the upper floating plate 110 is filled with a buoyancy material, so that the entire underwater vehicle (without the communication floating ball) is in a weak positive buoyancy state. When the underwater carrying device performs underwater operation, the gravity center of the underwater carrying device is lower, and the floating center of the underwater carrying device is upper, so that the vertical stability of the underwater carrying device can be ensured when the underwater carrying device works underwater.
The lower deck 120 has a diver seat at the bow, and vertical thrusters 121 are provided at four corners of the lower deck 120, and the vertical thrusters 121 can provide driving force for the floating or submerging of the underwater vehicle. The lower deck surface 120 is a load-bearing work area that provides a certain amount of room for divers to move about.
According to an alternative embodiment of the present application, 1 fixed seat bench is provided on the lower deck 120 for divers, and 3 removable roll-over folding benches are provided (the rear legs of the folding benches are bolted to the ballast tank side walls). The stool surface and the front legs are folded and stored on the ballast tank cover at ordinary times, when the ballast tank is needed to be used, the stool surface is turned outwards, then the front supporting legs are turned for about 270 degrees and then fixed by the spring pins at the two sides of the front supporting legs, and finally the stool surface is placed to be horizontal and locked with the spring pins of the rear legs. Safety belts are arranged on two sides of the seat to provide riding safety protection for divers.
According to an alternative embodiment of the application, the left and right sides and the tail of the underwater vehicle are provided with snap-in safety belt type flexible guardrails (both ends are fixed on the connecting truss 130).
According to an alternative embodiment of the application, the lower deck 120 is a light metal frame structure, the lower deck 120 is a hollowed deck, the deck working surface is a permeable grid, and water flow can freely pass through the hollowed part of the lower deck 120.
The connection truss 130 is connected between the upper floating plate 110 and the lower deck 120, the connection truss 130 is embedded with buoyancy material, and the connection truss 130 is provided with a horizontal propeller 132.
According to an alternative embodiment of the present application, 4 horizontal thrusters 132 symmetrically arranged at an angle of 45 ° are installed on the 4 connection trusses 130 at the center-blocking plane position of the underwater vehicle, to provide driving force for horizontal movement (forward/backward, left/right movement, steering, etc.) of the underwater vehicle.
The steering console 200 is disposed between the adjacent connection trusses 130, and the steering console 200 can control the vertical propeller 121 and the horizontal propeller 132 to perform propulsion so as to change the posture of the cabin 100.
The maximum manned safety working depth of the underwater carrying device is 40m of the limit depth of leisure diving, and the safety working depth of the device carried on the underwater carrying device is 100 m. Before the underwater carrying device enters water, the maximum working depth (such as sightseeing diving can be set to 10 meters or shallower) is preset on the mother ship, and the control unit automatically tracks the maximum working depth to limit the depth, so that the underwater carrying device is ensured to move in the set safe depth all the time.
The maximum horizontal moving speed of the water purification of the underwater carrying device is 2 knots, the normal and stable running of 1 knot can be ensured, and the continuous working time is not less than 3 hours; in order to ensure the safety of diving operation, the vertical lifting speed is controlled within 0.3m/s, and the software system of the underwater carrying device has the safety protection functions of maximum safe working depth, floating speed, floating residence depth, residence time and the like.
The underwater carrying device is of an open frame structure, has good stability, is convenient for divers to freely enter and exit the diving device, and has certain additional load carrying capacity. The underwater carrying device can be independently driven by a diver or driven by a mother ship by a wireless remote control in the background, can acquire underwater position information through satellite positioning, and can be in real-time communication with the mother ship, so that the mother ship can conveniently master the working state of the underwater vehicle.
Fig. 2 shows a schematic view of the structure of an underwater vehicle according to some embodiments of the application.
Fig. 3 illustrates a bottom view of an underwater vehicle according to some embodiments of the application.
Referring to fig. 2 and 3, the underwater vehicle of some embodiments includes a hull 100, a driving console 200, a camera 300, an illumination lamp 400, a safety rail 500, a double-deck ballast tank 600, a constant-depth load-rejection unit 700, a front-view sonar 800, a doppler flow meter 900, a communication floating ball 1000, a safety belt 1100, a power supply compartment 1200, a pressure/depth sensor 1300, and a control compartment 1400.
The hull 100 includes an upper floating plate 110, a lower deck 120, and a connecting truss 130.
The top of the upper floating plate 110 is provided with a hanger 111, a camera 300 and a lighting lamp 400.
The illumination lamp 400 is arranged adjacent to the camera 300, and the illumination lamp 400 can provide illumination light for the camera 300, so that the camera 300 can better capture the underwater environment in front of the camera 300 in the underwater operation process.
According to an alternative embodiment of the application, in the actual configuration process, the camera 300 and the illumination lamp 400 can be additionally arranged at other parts of the underwater carrying device according to the requirement, so that a better underwater vision is provided for divers.
The lower deck 120 has a diver seat at the bow, and vertical thrusters 121 are provided at four corners of the lower deck 120, and the vertical thrusters 121 can provide driving force for the floating or submerging of the underwater vehicle.
The bottom of lower deck 120 is provided with supporting seat 122, and supporting seat 122 can form the accommodation space in the bottom of lower deck 120. When the underwater carrier is in the water environment, such as the state of the underwater carrier being a mother ship or a facing surface, the supporting seat 122 can be used for supporting the ground of the underwater carrier, so that the equipment such as instruments, equipment and sealed cabins installed at the bottom of the lower deck 120 can be effectively prevented from being damaged due to bearing pressure.
The upper floating plate 110 and the lower deck 120 are provided with the anti-collision assembly 140 all around, and the anti-collision assembly 140 assembly can be effectively used as a buffer during underwater operation. When the underwater vehicle encounters an emergency collision, the anti-collision assembly 140 can serve as a contact body at the first time, so that the impact received by the collision is greatly reduced, the underwater vehicle can be in a stable and stable working environment, and the anti-collision assembly 140 can provide protection for other structural members and divers of the underwater vehicle.
According to alternative embodiments of the present application, the bump guard assembly 140 may be one or more of conventional underwater bump guards, bump strips, and the like.
The steering console 200 is fixed by the cross bars between the connecting trusses 130, and the steering console 200 includes a diving tri-purpose watch, a thermometer, a navigation display screen, and a steering handle.
The diving three-purpose meter has the functions of depth detection, pressure detection, north-pointing and the like.
The thermometer is capable of detecting an ambient temperature.
The navigation display screen can display the pose state and safety prompt information of the cabin 100.
According to an alternative embodiment of the present application, the pose status of the hull 100 includes, but is not limited to, pose-related parameters such as the position, pose, depth of dive, and speed of voyage of the hull 100.
The safety prompt information of the cabin 100 includes, but is not limited to, safety parameters such as the ambient temperature of the cabin 100, the flow rate/direction of the water flow, the submergence time, and the electric quantity.
The control handle can control the vertical propeller 121 and the horizontal propeller 132, and the control of the control handle on the vertical propeller 121 and the horizontal propeller 132 can realize the adjustment of the pose state of the cabin 100. For example, when the cabin 100 needs to move forward, backward, float up, dive down, turn around, etc., the posture of the cabin 100 can be freely adjusted by controlling the parameters such as the on/off and the output power of the corresponding vertical propeller 121 and horizontal propeller 132 through the control handle.
The control handle can also control the retraction of the communication floating ball 1000, the communication floating ball 1000 is arranged at the top of the upper floating plate 110, and the mother ship can keep in contact with the communication floating ball 1000 through satellite positioning, so that the underwater position information of the underwater carrying device can be monitored in real time, and the mother ship can conveniently master the working state of the underwater carrying device.
The camera 300 also can set up in driving control platform 200, and light 400 is close to the camera 300 setting, and light 400 can provide illumination light for camera 300 to the camera 300 can be better catch the underwater environment at the top of upper strata kickboard 110 in the operation under water, and the light 400 of setting up in driving control platform 200 also can provide better underwater sight for the diver.
According to some alternative embodiments of the application, 1 down-looking panoramic camera 300 and illumination lamp 400 are embedded (ensuring that the top is flat and free of release) in the top of the underwater carrier to provide dynamic information of personnel inside the underwater carrier for the surface mother ship. The top of the upper floating plate 110 is provided with 1 communication floating ball storage cabin, and a small electric reel (a floating ball communication cable is retracted) is embedded and installed, and a 60 m-length zero-buoyancy cable is configured according to the maximum working depth of 40 m. After the underwater carrying device enters water, the communication floating ball 1000 floats on the water surface all the time, and a real-time communication link is established between the underwater carrying device and the mother ship; the communication floating ball 1000 is of positive buoyancy, and a GNSS receiver (providing longitude and latitude information for an underwater carrier), a strobe light and a radio communication device are arranged on the communication floating ball 1000.
Through the communication floating ball 1000, the surface mother ship can monitor the underwater working condition of the underwater carrying device in real time and intervene in the operation of the underwater carrying device when necessary, thereby providing redundancy guarantee for the safe operation of the underwater carrying device.
The safety handrail 500 is provided to the connection truss 130, and a diver can temporarily stand by holding the safety handrail 500 during an underwater operation.
A double ballast tank 600 is provided on the lower deck 120, the double ballast tank 600 being used to adjust the buoyancy balance. The double layer ballast tank 600 is double-layered inside and outside. The ballast in the outer cabin is columnar granite with polished surfaces, and the ballast in the inner cabin is a plurality of uniform-arrangement equal-weight small sand bags (or broken stone bags). Additional load carrying capacity is provided by means of ballast reduction or small sandbags are added or subtracted to trim the underwater vehicle to a weak positive buoyancy.
The columnar ballasts are respectively arranged in short cylindrical containers which are uniformly and symmetrically arranged, the sleeve containers are of a vertically through structure, the length of the cylinder is shorter than that of the ballasts, and the columnar ballasts are convenient to fill and release. The columnar ballast is fixed by a spring locking bolt on the outer side wall, a cylindrical groove is processed at the corresponding position of the rear side wall of the columnar ballast, and when the columnar ballast is released, the bolt is pulled outwards by manpower, and the columnar ballast slides downwards to be separated from the underwater carrying device under the action of gravity. The inner layer ballast tank is a square box with a grid water permeable structure; the upper cover of the ballast tank is a water permeable grid type upper cover, and is automatically locked by adopting a torsion spring hinge mode, so that the ballast tank is convenient to open, fill and take sand bags.
The fixed-depth load rejection unit 700 is arranged at the bottom center position of the lower deck 120, and the fixed-depth load rejection unit 700 comprises a unit inner cavity and a load rejection weight which is arranged in the unit inner cavity, and the cabin 100 can be quickly floated by the load rejection weight.
According to the alternative embodiment of the application, when the underwater carrying device accidentally exceeds a preset working depth or needs to be floated in an emergency, the cabin 100 can be quickly floated by the load-throwing and throwing heavy block.
According to an alternative embodiment of the present application, the fixed-depth load rejection unit 700 adopts an electromagnetic attraction structure, which is disposed on the central line of the underwater vehicle, i.e., is installed in the middle of the double-layer ballast tank 600, and this arrangement is beneficial to reducing the influence on the horizontal stability of the underwater vehicle during the load rejection of the fixed-depth load rejection unit 700.
Forward-looking sonar 800 is disposed on lower deck 120, and forward-looking sonar 800 can be used for detecting underwater environment and providing guarantee for safe navigation of divers.
The doppler flowmeters 900 are disposed on the lower deck 120, and the doppler flowmeters 900 can be used to detect the flow rate of water in the working environment. A pressure/depth sensor 1300 is provided on the lower deck 120, the pressure/depth sensor 1300 being used to detect the real-time depth of the underwater vehicle.
The safety belt 1100 is disposed between any two adjacent connection trusses 130, and can provide a guarantee for safe navigation of the diver during driving of the underwater vehicle by the diver, so as to prevent the diver from being thrown out of the underwater vehicle when encountering a crisis.
The power supply bin 1200 is disposed on the lower deck 120, and the power supply bin 1200 can provide power required for underwater operation, and the power supply bin 1200 is a closed space. The electronics of the underwater vehicle are connected to the power supply compartment 1200 by internal cabling to avoid the effects of water currents received by the underwater vehicle electronics during use.
The control cabin 1400 is disposed on the lower deck 120, the control cabin 1400 connects the steering console 200 and the power cabin 1200, and the control cabin 1400 can be used for energy distribution, signal acquisition processing, and signal output.
According to an alternative embodiment of the present application, the control pod 1400 is a control hub of the underwater vehicle, the control pod 1400 is connected to the electronic devices/sensors, the console 200, the vertical 121 and horizontal 132 propellers and the power pod 1200 of the underwater vehicle, and the control pod 1400 is capable of providing energy distribution, information acquisition/processing, and output of control signals/integrated information.
Fig. 4 shows a flow chart of a method of using an underwater vehicle according to an example embodiment of the application.
Referring to fig. 4, in S401, parameters are set.
The diver sets the maximum safe working depth and the floating speed according to the movable range requirement of the diving task. The underwater carrying device automatically records the residence time of the underwater working surface (depth), automatically generates the floating residence depth and the residence time according to the diving safety rule, and is convenient for the automatic control of the underwater carrying device. At the moment, the surface mother ship can also intervene preferentially, so that the safety of diving operation is ensured.
In S402, the communication is checked.
Checking the working state of instruments and equipment carried by the underwater carrying device and the communication between the underwater carrying device and the mother ship, and after all the conditions are normal, hanging the underwater carrying device to enter water and disconnecting the lifting hook.
In S403, the communication floating ball is released.
The diver releases the communication floating ball through the driving control platform, and the length of the mooring rope can be released according to the working depth, and the working depth is generally 5 to 8 meters more.
At S404, the weight is adjusted.
After the diver adjusts the seat and takes place, the balance weight is adjusted on the water surface, and the adjustment can be carried out by adding or subtracting the sand bag in the ballast tank, so that the top of the underwater carrying device is level with the water surface or slightly exposed out of the water surface.
At S405, the underwater vehicle is started.
After each preparation work is in place, the diver starts the underwater carrying device to work and checks whether the working state of each carried instrument is normal again, so that the communication with the mother ship and the information transmission are ensured to be normal.
In S406, an underwater operation is performed.
After all is normal, the diver ties the safety belt, and drives the underwater carrying device into the water according to the plan to execute the diving operation.
At S407, the job is ended and floated up.
After the work is finished, the diver drives the underwater carrying device through the driving control platform, the underwater carrying device floats to the water surface according to the safety operation rule, and after the underwater carrying device approaches the mother ship, the underwater carrying device is lifted and recovered by the mother ship.
The underwater carrying device can be separated from the limitation of the lifting hook, a person (diver) drives to dive in the water, the frame type structure is convenient for the diver to go in and out, the diver can be helped to move in a large underwater range, the communication floating ball and the operation mother ship are in bidirectional communication, and the real-time monitoring of the working state of the underwater carrying device by personnel is conveniently ensured.
The exemplary embodiments of the present application have been particularly shown and described above. It is to be understood that this application is not limited to the precise arrangements, instrumentalities and instrumentalities described herein; on the contrary, the application is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.
Claims (10)
1. An underwater vehicle, comprising:
cabin body includes:
the top of the upper floating plate is provided with a hoisting frame;
the four corners of the lower deck are provided with vertical thrusters;
the connecting truss is connected between the upper floating plate and the lower deck, and a horizontal propeller is arranged on the connecting truss;
the driving control platform is arranged between the adjacent connecting trusses and can control the vertical propeller and the horizontal propeller to propel so as to change the pose state of the cabin.
2. The underwater vehicle of claim 1, further comprising:
the camera is arranged on the driving control platform;
the illuminating lamp is arranged adjacent to the camera and can provide illuminating light for the camera.
3. An underwater vehicle as in claim 1 wherein,
the lower deck bottom is provided with the supporting seat, the supporting seat can be in the accommodation space is formed to lower deck bottom.
4. The underwater vehicle of claim 1, further comprising:
and the safety handrail is arranged on the connecting truss.
5. The underwater vehicle of claim 1, wherein the steering console comprises:
the diving three-purpose meter has the functions of depth detection, pressure detection and north pointing;
a thermometer capable of detecting an ambient temperature;
the navigation display screen can display the pose state and the safety prompt information of the cabin body;
and a control handle capable of controlling the vertical propeller and the horizontal propeller.
6. The underwater vehicle of claim 1, further comprising:
the double-layer ballast tank is arranged on the lower deck and is used for adjusting buoyancy balance;
the fixed-depth load-throwing unit is arranged at the bottom center of the lower deck and comprises a unit inner cavity and a load-throwing block which is arranged in the unit inner cavity, and the cabin body can float upwards rapidly through the load-throwing of the load-throwing block;
the front view sonar is arranged on the lower deck and is used for detecting an underwater environment;
the Doppler flow velocity meter is arranged on the lower deck and is used for detecting the flow velocity of water flow in the working environment;
and the pressure/depth sensor is arranged on the lower deck and is used for detecting the real-time depth of the underwater carrying device.
7. The underwater vehicle of claim 1, further comprising:
the communication floating ball is arranged at the top of the upper floating plate, and the mother ship can keep contact with the underwater carrying device through the communication floating ball by wireless communication.
8. An underwater vehicle as in claim 1 wherein,
the lower deck is a hollowed deck, and anti-collision fenders and/or anti-collision adhesive tapes are arranged around the lower deck.
9. The underwater vehicle of claim 1, further comprising:
the safety belt is arranged between any two adjacent connecting trusses.
10. The underwater vehicle of claim 1, further comprising:
the power supply bin is arranged on the lower deck and can provide electric power required by underwater operation;
the control cabin is arranged on the lower deck, the control cabin is connected with the driving control console and the power supply cabin, and the control cabin can be used for energy distribution, signal acquisition and processing and signal output.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311135952.XA CN116902180A (en) | 2023-09-05 | 2023-09-05 | Underwater carrying device |
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