CN208036569U - Ocean profile observation semi-submersible type intelligent robot - Google Patents

Abstract

The utility model discloses a semi-submersible intelligent robot for ocean profile observation, which comprises a buoy, an underwater carrier, a collision avoidance sonar, an altimeter, a battery compartment, a depth gauge, a counterweight module, a control cabin, a winch, an observation sensor, and a propeller , rudder; the buoy is connected with the underwater vehicle through a fixed rod; the anti-collision sonar is installed at the front of the underwater vehicle, facing forward horizontally; the altimeter and the depth gauge are respectively installed at the bow and middle of the underwater vehicle, and both are vertically downward ; The battery cabin, counterweight module, control cabin, and winch are installed in the underwater vehicle; the propeller and rudder are installed in the stern of the underwater vehicle. The observation sensor is connected to the winch through the armored cable, and the sensor is fixed by the sensor locking sleeve and the pulley lock. The utility model is suitable for the observation of marine characteristics with vertically changing distribution in coastal waters and sea areas with complex environments, such as thermoclines, anoxic ocean water bodies, red tides, and the like.

Description

Semi-submersible intelligent robot for ocean profile observation

technical field

The utility model relates to a robot for ocean profile environment observation, in particular to a semi-submersible intelligent robot for ocean profile observation.

Background technique

Some phenomena in the ocean are not evenly distributed horizontally but also vertically, such as red tides and water hypoxia. In order to understand the causes of these ocean phenomena and carry out effective prevention and treatment, it is necessary to obtain observation data at different depths. The traditional methods are satellite remote sensing and buoys. The former can obtain large-area observation data, but only seawater surface data, and the resolution is low. The latter can obtain profile data, but only fixed-point observation data, and the coverage is small. . In recent years, the rapid development of underwater robot technology represented by AUV and underwater glider has been widely used in marine environment observation. AUV can sail at a fixed altitude, fixed depth, and fixed speed, has little interference to the environment, and can obtain more accurate observation data, but it is not suitable for gliding up and down in the vertical plane. In addition, the offshore environment of our country is complex, especially the waste fishing nets affect the underwater The operation is safe, and the AUV cannot send the observation data to the monitoring center in real time underwater, so it can only download the data after the observation task is completed and surfaced. Underwater gliders can glide in the vertical plane and surface regularly for data transmission. However, like AUVs, they also face the security threat of underwater fishing nets in offshore waters. At the same time, the depth of offshore waters ranges from a few meters to tens of meters, which is not suitable for gliding in profile. .

Utility model content

In order to overcome the problems in the prior art, the purpose of this utility model is to provide a semi-submersible intelligent robot for ocean profile observation, through which the main control computer in the control cabin controls the profile observation module to realize the observation sensor at different depths , Realize observation in different areas through the propulsion module, realize real-time data transmission through the communication and positioning antenna on the buoy, and solve the problem of large-scale offshore ocean profile observation.

The utility model is achieved through the following technical solutions:

A semi-submersible intelligent robot for ocean profile observation, which mainly includes two parts: a buoy and an underwater vehicle; There are three parts in the middle and back. The front part is equipped with collision avoidance sonar and altimeter; the middle part is equipped with depth gauge, battery cabin, control cabin, and profile observation module. The profile observation module includes observation sensors, transmission and counters, winch motors, and sensors. Locking sleeve, winch, pulley lock, armored cable, the observation sensor is connected to the winch through the armored cable, the winch is driven by the winch motor, the transmission and the counter control the lowering depth of the observation sensor, and the sensor locking sleeve and the pulley lock fix the observation sensor ; There is a propulsion module at the rear.

The propulsion module includes a propeller motor, a propeller, a rudder motor, a rudder, and a vertical stabilizer, the propeller is connected to the propeller motor through magnetic coupling, the rudder is installed on the vertical stabilizer, and the rudder angle is controlled by the rudder motor.

The control cabin includes a radio module, a bluetooth module, a satellite module and a main control computer.

The collision avoidance sonar is connected with the control cabin, and the observation data of the collision avoidance sonar is processed by the main control computer in the control cabin to adjust the rotating speed of the propeller and change the rudder angle of the rudder to realize intelligent collision avoidance.

The positioning and communication antenna includes a GPS antenna, a satellite antenna, and a radio antenna, and is connected with the control cabin through a feeder through a fixed pole.

The observation data of the observation sensor is transmitted to and stored in the control cabin through the Bluetooth module in the control cabin, and the main control computer in the control cabin controls the section observation module to realize observation by the observation sensor at different depths.

After voltage conversion, the battery compartment supplies power to the collision avoidance sonar, altimeter, depth gauge, winch motor, propeller motor, rudder motor, and control cabin through connectors.

The semi-submersible intelligent robot for ocean profile observation is further provided with a counterweight module.

Advantage and beneficial effect of the present utility model are:

1. The utility model controls the depth of the observation sensor through the winch, and can realize the section observation of marine phenomena;

2. The buoyancy provided by the buoys in the utility model can make the robot semi-submerged in the water surface and avoid being entangled by underwater fishing nets in offshore waters;

3. The utility model can realize the change of the observation position and improve the observation range through the propulsion module at the stern;

4. The utility model can transmit the observation data to the monitoring center in real time through the communication and positioning antenna installed on the buoy.

Description of drawings

Fig. 1 is a kind of structural representation of the utility model;

Fig. 2 is a kind of perspective view of the utility model;

Among them: 1 is the collision avoidance sonar, 2 is the underwater vehicle, 3 is the buoy, 4 is the altimeter, 5 is the battery compartment, 6 is the fixed rod, 7 is the depth gauge, 8 is the counterweight module, 9 is the control cabin, 10 11 is the Bluetooth module, 12 is the satellite module, 13 is the main control computer, 14 is the observation sensor, 15 is the transmission and counter, 16 is the winch motor, 17 is the sensor locking sleeve, 18 is the winch, 19 is the pulley Lock, 20 is the propeller motor, 21 is the propeller, 22 is the rudder motor, 23 is the rudder; 24 is the vertical stabilizer plate, 25 is the armored cable, 26 is the circuit board support, 27 is the control cabin support, 28 is the satellite antenna, 29 Is a GPS antenna, 30 is a radio antenna, and 31 is a strobe light.

Detailed ways

Below in conjunction with accompanying drawing, the utility model is described in further detail.

As shown in Figures 1 and 2, a semi-submersible intelligent robot for ocean profile observation mainly includes two parts: a buoy 3 and an underwater carrier 2 . The buoy 3 is provided with a strobe light 31, a positioning and communication antenna, and is exposed to the water surface to ensure smooth communication.

The buoy 3 is connected with the underwater carrier 2 through the fixed rod 6, and the buoy provides positive buoyancy for the semi-submersible intelligent robot; The touch sonar 1 faces forward horizontally, which can detect underwater obstacles, and the altimeter 4 faces vertically downward to measure the height of the underwater vehicle from the seabed; the middle part is equipped with a depth gauge 7, a battery compartment 5, a control compartment 9, and a profile observation module, the depth gauge 7 is vertically downward, and is used to measure the depth of the underwater vehicle. The section observation module includes an observation sensor 14, a transmission and a counter 15, a winch motor 16, a sensor locking sleeve 17, a winch 18, and a pulley Lock 19, armored cable 25, observation sensor 14 is connected with winch 18 through armored cable 25, winch 18 is driven by winch motor 16, transmission and counter 15 control observation sensor 14 lowering depth, realize different depths according to armored cable 25 lowering length Observation, the sensor locking sleeve 17 and the pulley lock 19 fix the observation sensor 14. The rear has a propulsion module.

Described propulsion module comprises propeller motor 20, propeller 21, rudder motor 22, rudder 23, vertical stabilizer 24, and propeller 21 links to each other with propeller motor 20 through magnetic coupling, can effectively solve dynamic sealing problem, prevents water leakage, and rudder 23 is installed on Above the vertical stabilizer plate 24, the rudder angle is controlled by the rudder motor 22.

The control cabin 9 includes a radio module 10 , a bluetooth module 11 , a satellite module 12 , and a main control computer 13 . The control cabin 9 is fixed on the middle part of the underwater carrier through the mounting bracket 27, and the above-mentioned modules and the main control computer are fixed through the circuit board mounting bracket 26.

The collision avoidance sonar 1 is connected with the control cabin 9, and the observation data of the collision avoidance sonar 1 is processed by the main control computer 13 in the control cabin 9 to adjust the rotating speed of the propeller 21 and change the rudder angle of the rudder 23 to realize intelligent avoidance. bump.

The positioning and communication antenna includes a GPS antenna 29 , a satellite antenna 28 , and a radio antenna 30 , which are connected to the control cabin 9 through the fixed pole 6 through a feeder.

The observation data of the observation sensor 14 is transmitted to and stored in the control cabin through the Bluetooth module 11 in the control cabin 9, and the main control computer 13 in the control cabin 9 controls the section observation module to realize observation by the observation sensor 14 at different depths .

The battery compartment 5 supplies power to the collision avoidance sonar 1, the altimeter 4, the depth gauge 7, the winch motor 16, the propeller motor 20, the rudder motor 22, and the control cabin 9 through connectors after voltage conversion.

The robot is further provided with a counterweight module 8 . The counterweight module 8 provides the robot with its own weight adjustment capability, and can adjust the weight of the counterweight according to the density of seawater in different sea areas to ensure that the semi-submersible robot is in a neutral buoyancy state.

Example

The satellite module 12 of the present utility model can adopt commercially available products, is purchased from U.S. Iridium Star Company, and model is A3LA-RG, has included satellite communication and GPS positioning function, and antenna is customized development, and the development of antenna is well known to those skilled in the art; The radio module 10 can be a commercially available product, purchased from DIGI Company in the United States, the model is XTP9B-DSP-001, and the antenna model is A09-HASM-675; the propeller motor 20 can be a commercially available product, purchased from Shenzhen Hewei Precision Technology Co., Ltd. The model is 36PA; the observation sensor 14 can be a commercially available product, purchased from Canada RBR Company, and the model is a multi-parameter water quality meter. Main control computer 13 can adopt commercially available products, purchased from Feiling Embedded Technology Company, model is OKMX6Q/DL-C; Altimeter 4 can adopt commercially available products, purchased from British Tritech Company, model is PA200/20; Rudder motor 22 A commercially available product can be used, purchased from Dalian Leboyish Technology Company, model MX-64T; a commercially available product can be used for the depth gauge 7, purchased from Swiss Keller Company, model 3L10L. The collision avoidance sonar 1 can be a commercially available product, which is purchased from TELEDYNE Company in the United States, and the model is M900-2250.

The buoy 3 provides positive buoyancy for the semi-submersible intelligent robot used for ocean profile observation, ensuring that the robot can be suspended on the sea surface in a semi-submerged form, thereby avoiding the danger caused by other obstacles such as fishing nets in offshore waters. Satellite antenna 28, GPS antenna 29, radio antenna 30 and strobe light 31 are exposed to the water surface to ensure real-time communication and positioning. Wherein the GPS antenna 29 provides real-time positioning information for the robot, the radio antenna 30 provides short-distance high-speed data transmission for the robot, the satellite antenna 28 provides the slow two-way data transmission beyond the line of sight for the robot, and the strobe light 31 provides for the semi-submersible robot. Maritime search service, and at the same time play a warning role for passing ships to avoid collisions.

When a semi-submersible intelligent robot is used for ocean profile observation to carry out offshore operations, first obtain its distance from the seabed through the altimeter 4, obtain the depth through the depth gauge 7, and calculate the thickness of the profile observation independently by the main control computer 13, and through the control The winch motor 16 releases the armored cable 25 and lowers the observation sensor 14 to observe in different water layers. The depth of the observation sensor is obtained through the drive of the winch and the counter 15, and is recorded and stored by the main control computer 13 to obtain profile observation data.

After the profile observation of a position is completed, the main control computer 13 gives instructions to the winch motor 16, and the observation sensor 14 is put away to enter the sensor locking sleeve 17, so as to avoid scratching and entanglement with underwater obstacles when navigating to the next observation point At the same time, the armored cable 25 is locked by the pulley lock 19 to prevent the sensor 14 from colliding with the sensor locking sleeve 17.

After the observation sensor 14 is returned to the sensor locking sleeve 17, the main control computer 13 communicates with the bluetooth module in the observation sensor through the internal bluetooth module 11, stores the observation data in the main control computer 13, and transmits the observation data through the communication system. The data is sent to the monitoring center. If the semi-submersible robot is closer to the monitoring center, the radio module 10 can be used for data transmission; if the distance is far away, the satellite module 12 can be used for data transmission.

After the robot completes the profile observation of a station, the main control computer 13 can accept the instructions of the monitoring center, and issue navigation instructions to the propeller motor 20 of the propulsion module, and issue heading instructions to the rudder motor 22, so as to reach the designated target station; The observation data can be processed online by the main control computer 13, and the next best observation station position can be independently determined to realize intelligent observation.

During the navigation process of the semi-submersible intelligent robot for ocean profile observation, the main control computer 13 can independently judge the distance and shape of obstacles by using the observation data of the collision avoidance sonar 1, and plan the navigation path to realize autonomous obstacle avoidance and autonomous navigation. observe.

The utility model can be applied to the observation of marine characteristics with vertically changing distribution in coastal waters and sea areas with complex environments, such as thermoclines, anoxic ocean water bodies, red tides, and the like.

Claims (8)

1. a kind of ocean profile observation semi-submersible type intelligent robot, it is characterised in that：It include mainly floating drum（3）, underwater carrier （2）Two parts；

Floating drum（3）Equipped with stroboscopic lamp（31）, positioning and communication antenna, floating drum（3）Pass through fixed link（6）With underwater carrier（2）Phase Even；

Underwater carrier（2）Three parts after in before being divided into, front are equipped with anticollision sonar（1）, altimeter（4）；

Middle part is equipped with depth gauge（7）, battery flat（5）, control cabinet（9）, profiling observation module, the profiling observation module includes Observation sensor（14）, transmission and counter（15）, winch motor（16）, sensor lock sleeve（17）, winch（18）, pulley lock （19）, armoured cable（25）, observation sensor（14）Pass through armoured cable（25）With winch（18）It is connected, winch（18）By winch motor （16）Driving, transmission and counter（15）Control observation sensor（14）Transfer depth, sensor lock sleeve（17）With pulley lock （19）To observation sensor（14）It is fixed；

Rear portion is equipped with propulsion die.

2. ocean profile observation semi-submersible type intelligent robot described in accordance with the claim 1, it is characterised in that：Propulsion die packet Include propeller motor（20）, propeller（21）, rudder motor（22）, rudder（23）, vertically stabilize plate（24）, propeller （21）Pass through magnetic coupling and propeller motor（20）It is connected, rudder（23）Mounted on vertical stable plate（24）Above, the side of passing through To rudder motor（22）Control direction rudder angle.

3. ocean profile observation semi-submersible type intelligent robot described in accordance with the claim 1, it is characterised in that：The control Cabin（9）Including radio module（10）, bluetooth module（11）, satellite modules（12）, main control computer（13）.

4. ocean profile observation semi-submersible type intelligent robot described in accordance with the claim 3, it is characterised in that：The collision prevention Sonar（1）With control cabinet（9）It is connected, anticollision sonar（1）Observation data pass through control cabinet（9）Interior main control computer（13）Place Reason adjusts propeller（21）Rotating speed and change rudder（23）Rudder angle, realize intelligent Collision Avoidance.

5. ocean profile observation semi-submersible type intelligent robot described in accordance with the claim 1, it is characterised in that：The positioning Include GPS antenna with communication antenna（29）, satellite antenna（28）, wireless aerial（30）, fixed link is passed through by feeder line（6）With Control cabinet（9）It is connected.

6. ocean profile observation semi-submersible type intelligent robot described in accordance with the claim 3, it is characterised in that：The observation Sensor（14）Observation data pass through control cabinet（9）Interior bluetooth module（11）It is transmitted in control cabinet and is preserved, controlled Cabin processed（9）Interior main control computer（13）It controls profiling observation module and realizes observation sensor（14）It is seen in different depth It surveys.

7. ocean profile observation semi-submersible type intelligent robot described in accordance with the claim 1, it is characterised in that：The battery flat （5）By connector it is respectively anticollision sonar after overvoltage is converted（1）, altimeter（4）, depth gauge（7）, winch motor （16）, propeller motor（20）, rudder motor（22）, control cabinet（9）Power supply.

8. ocean profile observation semi-submersible type intelligent robot described in accordance with the claim 1, it is characterised in that：It is further provided with Counterweight module（8）.