Comprehensive carrying device and carrying method for acoustic-magnetic-optical detector of underwater robot

Abstract

The invention discloses a comprehensive carrying device for an acoustic-magneto-optical detector of an underwater robot, and belongs to the technical field of comprehensive carrying devices for acoustic-magneto-optical detectors of underwater robots. An acoustic response beacon is fixedly arranged at the top of the underwater robot, and a second floating body material is fixedly assembled on a dragging rod; tilt angle sensors are fixedly arranged at the assembly position of the height control rod and the towing rod and on the towing rod, a response type acoustic beacon is fixed to the electromagnetic detector, a USBL sonar array is fixedly arranged at the bottom of the water surface tugboat, and a second towing rope with a sheath is wound and assembled on the winding and unwinding pulley block structure. Third floating body materials are evenly and fixedly assembled on the upper portion of the second dragging rope with the sheath, dragging positioning weights are evenly and fixedly assembled on the lower portion of the second dragging rope with the sheath, the underwater acoustic-magneto-optical detector can be carried by the underwater robot at the same time, simultaneous application of the underwater acoustic-magneto-optical detector is achieved, and the height of the electromagnetic detector can be accurately calculated.

Description

technical field [0001] The invention relates to the technical field of a comprehensive mounting device for an acousto-magnetic-optical detector of an underwater robot, in particular to a comprehensive mounting device and method for an acousto-magnetic-optical detector of an underwater robot. Background technique [0002] The detection of underwater or buried metal targets involves applications in many fields, such as underwater buried oil and gas pipeline routing detection, underwater metal evidence target detection, underwater buried explosives detection, underwater military target detection, etc., underwater small metal target detectors Generally, the principle of electromagnetic detection is adopted. Since the detection distance of the electromagnetic detector is small, when the electromagnetic detector is used underwater, the space interval between the electromagnetic detector and the bottom is required to be small, such as 1m. Such a small space interval makes it difficu...

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Problems solved by technology

[0002] The detection of underwater or buried metal targets involves applications in many fields, such as underwater buried oil and gas pipeline routing detection, underwater metal evidence target detection, underwater buried explosives detection, underwater military target detection, etc., underwater small metal target detectors Generally, the principle of electromagnetic detection is adopted. Since the detection distance of the electromagnetic detector is small, when the electromagnetic detector is used underwater, the space interval between the electromagnetic detector and the bottom is required to be small, such as 1m. Such a small space interval makes it difficult for the underwater electromagnetic detector Mounting and using on the mobile robot platform, there are great safety hazards for carrying underwater robots, such as fishing net hooks, collision with underwater obstacles, etc. In addition,

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