Pneumatic underwater search and rescue propulsion device and method of use thereof

Abstract

The invention discloses a pneumatic propulsion device for underwater search and rescue and its use method, comprising a single-motor micro-motion air jet steering mechanism, a reversing cut-off anti-overshoot device, an adaptive compensation water pressure balance mechanism and a dynamic preload One-way ventilation mechanism. The invention belongs to the technical field of underwater search, and specifically refers to a pneumatic propulsion device for underwater search and rescue and its use method; the invention integrates the cable into the gas pipeline, and through the way of external armoring, the strength of the gas pipeline is strengthened. The structural strength ensures the reliability of the cable. The rotation of the motor distributes the air flow, thereby controlling the propulsion mode of the steering. Without any linkage system or feedback unit, the effect of steering underwater is realized. , the present invention also proposes an adaptive compensation type water pressure balance mechanism and a dynamic pre-tightening type one-way ventilation mechanism, through the change of water pressure at different depths, the pre-compression amount of the pre-tightening spring is changed, thereby compensating the numerical fluctuation of the air injection resistance.

Description

technical field [0001] The invention belongs to the technical field of underwater search, and specifically refers to a pneumatic propulsion device for underwater search and rescue and a method for using the same. Background technique [0002] In the process of underwater rescue or unmanned underwater search, the propulsion device is required to control the movement of the search head. Yes, up and down is a rotation axis, and left and right is a rotation axis. Generally, this kind of work needs to be composed of at least three sets of propulsion modules, and then change the propulsion force of each propulsion module through a complex control system. Through the difference of propulsion force To control the steering, to achieve this control effect, not only a complex and perfect control algorithm is required, but also each propulsion module has an independent drive unit, feedback unit, and control unit; High, not conducive to popularization and use. [0003] Underwater propu...

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Problems solved by technology

[0002] In the process of underwater rescue or unmanned underwater search, the propulsion device is required to control the movement of the search head. Yes, up and down is a rotation axis, and left and right is a rotation axis. Generally, this kind of work needs to be composed of at least three sets of propulsion modules, and then change the propulsion force of each propulsion module through a complex control system. Through the difference of propulsion force To control the steering, to achieve this control effect, not only a complex and perfect control algorithm is required, but also each propulsion module has an independent drive unit, feedback unit, and control unit; Expensive, not conducive to promotion and use

[0003] Underwater propulsion is mainly based on gas propulsion and paddle propulsion. Gas propulsion is to push the device forward through the reverse force of water on gas. However, as the depth of the dive increases, the water pressure continues to increase, that is to say Sensors need to feed back electrical signals, and the power of the air pump must be adjusted frequently to continuously adapt to the new water pressure, which will undoubtedly bring a greater workload to the already complex control system

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