Benthic floating hybrid underwater mobile detection platform and detection method thereof

A detection platform and hybrid technology, applied in underwater operation equipment, geophysical measurement, ships, etc., can solve the problem of inability to meet the needs of long-term resident detection work, the impact of economy and applicability, and the slow sailing speed. And other issues

Pending Publication Date: 2021-07-30
SHANGHAI JIAO TONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Among them, the ROV needs to be tied with an umbilical cable, which limits its underwater movement range. Its open-frame cubic appearance determines that the ROV needs to withstand greater resistance during the process of advancing and diving; Although the appearance of the long body can ensure a small frontal area, it also leads to a large radius of gyration, which has its inherent disadvantages in low-speed maneuverability; due to the characteristics of the Glider without propellers and other driving devices, Although it can guarantee its good battery life, its navigation speed is slow, and it can only sail in zigzag and spiral orbits underwater, and its control performance is poor.
The above three underwater mobile detection platforms can only float in the water, and cannot meet the needs of long-term detection work on the bottom of the water.
In addition, although crawler robots can meet the needs of underwater operations, their movement is only driven by crawlers and their supporting structures, which puts forward higher requirements for the terrain of the working area, especially in areas with large seabed fluctuations. , this disadvantage is becoming more and more prominent
Moreover, crawler robots can only operate in the underwater area, and cannot take into account the relevant detection work in the water, which affects their economy and applicability
After reviewing the information, it is found that there is currently no underwater mobile detection platform that can integrate the underwater and underwater mixed detection modes. And underwater detection work, with good control performance, and has a larger operating range than the aforementioned various underwater mobile detection platforms, and has higher cost performance and other advantages

Method used

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  • Benthic floating hybrid underwater mobile detection platform and detection method thereof
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  • Benthic floating hybrid underwater mobile detection platform and detection method thereof

Examples

Experimental program
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Effect test

Embodiment 1

[0031] The invention provides a benthic-floating hybrid underwater mobile detection platform, which includes a pressure-resistant cabin 1 , a controller 3 , a power source 4 and a driving mechanism 5 . The pressure-resistant cabin 1 is a cylindrical structure with a closed cavity, and the controller 3 and the power supply 4 are installed in the cylindrical body of the pressure-resistant cabin 1 . The controller 3 includes a control module and a data acquisition module for collecting data and controlling the driving mechanism 5 . The power supply 4 can be a lithium battery or the like. The driving mechanism 5 includes a propeller 51 , a suction and drainage pump 52 and a gravity bag 53 . Among them, there are two groups of propellers 51, and the two groups of propellers 51 are installed symmetrically on both sides of the pressure chamber 1, and the two groups of symmetrically arranged propellers 51 drive the pressure chamber 1 to move forward or turn. The gravity bag 53 is fi...

Embodiment 2

[0035] This embodiment 2 is formed on the basis of embodiment 1. Through the structural design of the detachable pressure chamber and the setting of the bearing frame, the modular customization and supporting installation of underwater detection and data acquisition workpieces are realized, which is convenient for modification design , has a good carrying type. specific:

[0036]The pressure chamber 1 is preferably a detachable split structure, which facilitates the installation of components such as the controller 3 and the power supply 4 . When the pressure cabin 1 is a split structure, it preferably includes a cone forging 11 and a cylindrical section 12, the cone section 11 is preferably conical or hemispherical, and the cone section 11 can effectively guide the flow as the bow of the pressure cabin 1 The cylinder section 12 is a cylinder with one end open, and the end surface of the cone section 11 is fastened to the open end of the cylinder section 12 to form a pressure...

Embodiment 3

[0040] This embodiment 3 is a detection method of a benthic-floating hybrid underwater mobile detection platform formed on the basis of embodiment 1 or embodiment 2, and the benthic-floating hybrid underwater mobile detection platform is used for detection , including the following steps:

[0041] S1, the step of diving: when the benthic-planktonic hybrid underwater mobile detection platform is diving, the propellers 51 located on both sides of the pressure chamber 1 and the walking trolley 8 are in a static state, and the pumping and draining pump 12 is controlled by the controller 3 The water outside the pressure-resistant cabin 1 is pumped into the gravity bag 53, and the benthic-floating hybrid underwater mobile detection platform reaches a predetermined depth by increasing gravity.

[0042] S2, water movement step: when the benthic-floating hybrid underwater mobile detection platform reaches the predetermined depth, the propellers 51 on both sides of the pressure-resistan...

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Abstract

The invention relates to a benthic floating hybrid underwater mobile detection platform and a detection method thereof in the technical field of ocean robots. The benthic floating hybrid underwater mobile detection platform comprises a pressure-resistant cabin, a controller, a power supply and a driving mechanism, the pressure-resistant cabin comprises a cone section and a cylinder section, the cone section is hermetically connected with the cylinder section, a heavy frame is fixed in the cylinder section, and the controller and the power supply are mounted in the cylinder section; the driving mechanism comprises propellers, a pumping and draining pump and a gravity bag, the propellers are symmetrically installed on the side face of the cylinder section, the gravity bag is fixed in the cylinder section, one end of the pumping and draining pump enters the cylinder section and communicates with the gravity bag, and the other end of the pumping and draining pump is located outside the cylinder section; the controller is electrically connected with the power supply, the propellers are electrically connected with the controller and the power supply, and the pumping and draining pump is electrically connected with the controller and the power supply. The benthic floating hybrid underwater mobile detection platform is compact in structure, is high in integration level, and is easy to carry, assemble, arrange and recover.

Description

technical field [0001] The invention relates to the technical field of marine robots, in particular to a benthic-floating hybrid underwater mobile detection platform and a detection method thereof. Background technique [0002] At present, the mainstream underwater mobile detection platforms mainly include remotely operated unmanned submersibles (ROV), autonomous unmanned submersibles (AUV), and underwater glider (Glider). Among them, the ROV needs to be tied with an umbilical cable, which limits its underwater movement range. Its open-frame cubic appearance determines that the ROV needs to withstand greater resistance during the process of advancing and diving; Although the appearance of the long body can ensure a small frontal area, it also leads to a large radius of gyration, which has its inherent disadvantages in low-speed maneuverability; due to the characteristics of the Glider without propellers and other driving devices, Although it can guarantee its good endurance...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01V9/00B63C11/52
CPCB63C11/52G01V9/00
Inventor 于曹阳郭小龙易胤帆王浩宇钟一鸣
Owner SHANGHAI JIAO TONG UNIV
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