A mother-child type unmanned underwater mapping vehicle

Abstract

The present invention discloses a mother-and-child type unmanned underwater surveying and mapping vehicle, comprising a mother ship and a daughter ship, wherein two daughter ships are provided, and the two daughter ships are arranged on both sides of the mother ship through a grabbing and locking mechanism, wherein the grabbing and locking mechanism comprises an electric telescopic rod and an arc hook, wherein the arc hook is connected to the telescopic end of the electric telescopic rod, and the electric telescopic rod is fixed to the inside of the mother ship, and reset electromagnets are embedded on both sides of the mother ship, wherein the reset electromagnets are arranged opposite to the positioning iron blocks on the sides of the daughter ships, and the reset electromagnets and the electric telescopic rods are both connected to the controller on the mother ship. A mother-and-child type unmanned underwater surveying and mapping vehicle adopting the above structure releases the daughter ship for underwater detection when the waterway is blocked, thereby ensuring the comprehensiveness of underwater surveying and mapping.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater surveying and mapping, and in particular to a mother-and-child type unmanned underwater surveying and mapping vehicle. Background Art

[0002] In the surveying and mapping work of water environments such as rivers and lakes, floating obstacles often occur on the water surface, blocking traditional surface vehicles, making it impossible for them to pass through the obstructed area and continue surveying and mapping operations, resulting in incomplete coverage of underwater surveying and mapping operations. Summary of the invention

[0003] The purpose of the present invention is to provide a mother-and-child type unmanned underwater mapping vehicle, which can release the daughter ship to carry out underwater detection when the waterway is blocked, thereby ensuring the comprehensiveness of underwater mapping.

[0004] To achieve the above-mentioned purpose, the present invention provides a mother-and-child type unmanned underwater mapping vehicle, including a mothership and a daughtership, wherein two daughterships are provided, and the two daughterships are arranged on both sides of the mothership through a grabbing and locking mechanism, the grabbing and locking mechanism includes an electric telescopic rod and an arc-shaped hook, the arc-shaped hook is connected to the telescopic end of the electric telescopic rod, the electric telescopic rod is fixed to the inside of the mothership, and reset electromagnets are embedded on both sides of the mothership, the reset electromagnets are arranged opposite to the positioning iron blocks on the sides of the daughtership, and the reset electromagnets and the electric telescopic rods are both connected to the controller on the mothership.

[0005] Preferably, a limiting slot is provided on the circumferential side of the sub-ship, a sub-ship multi-beam depth sounder is fixed to the middle of the sub-ship, a communication antenna is fixed on the sub-ship, a sub-ship camera is fixed to the front end of the sub-ship, and a sub-ship propulsion propeller is provided at the rear end of the sub-ship.

[0006] Preferably, a mothership multi-beam depth sounder is provided at the front end of the mothership, a mothership propulsion propeller is provided at the rear end of the mothership, and a GPS locator, a data transmission antenna and a radio antenna are provided on the mothership. The GPS locator, the data transmission antenna and the radio antenna are all connected to the controller, and the data transmission antenna communicates with the communication antenna.

[0007] Preferably, three of the grabbing and locking mechanisms are provided on one side, and the arc-shaped hook located in the middle has an opening direction opposite to that of the other two arc-shaped hooks.

[0008] Preferably, a connecting plate is provided at one end of the arc-shaped hook, the middle part of the connecting plate is connected to the mother ship through a fixing pin, and one end of the connecting plate is hinged to the telescopic end of the electric telescopic rod.

[0009] Therefore, the present invention adopts a mother-and-child type unmanned underwater mapping vehicle with the above structure, which has the following beneficial effects:

[0010] (1) Sub-ships are set up on both sides of the mother ship. When the waterway is blocked, the sub-ships are released to conduct underwater detection, ensuring the comprehensiveness of underwater mapping.

[0011] (2) The sub-ship is mounted and released by grasping the locking mechanism, which facilitates the recovery and locking of the sub-ship.

[0012] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a schematic diagram of the structure of a mother-and-child type unmanned underwater mapping vehicle of the present invention;

[0014] Figure 2 This is a schematic diagram of the sub-ship structure of the present invention;

[0015] Figure 3 This is a schematic diagram of the structure of the grabbing and locking mechanism of the present invention.

[0016] Reference numerals

[0017] 1. Mothership; 11. Mothership multi-beam depth sounder; 12. Controller; 13. GPS locator; 14. Data transmission antenna; 15. Radio antenna; 16. Mothership propeller; 2. Daughtership; 21. Daughtership camera; 22. Limiting card slot; 23. Daughtership multi-beam depth sounder; 24. Communication antenna; 25. Daughtership propeller; 3. Grasping and locking mechanism; 31. Electric telescopic rod; 32. Arc hook; 33. Connecting plate; 34. Fixing pin. DETAILED DESCRIPTION

[0018] Example

[0019] Figure 1 This is a schematic diagram of the structure of a mother-and-child type unmanned underwater mapping vehicle of the present invention. Figure 2 This is a schematic diagram of the sub-ship structure of the present invention. Figure 3The schematic diagram of the structure of the grabbing and locking mechanism of the present invention is shown in the figure. A mother-child type unmanned underwater mapping vehicle includes a mothership 1 and a daughtership 2. Two daughterships 2 are provided. The two daughterships 2 are arranged on both sides of the mothership 1 through a grabbing and locking mechanism 3. A limited position slot 22 is provided on the circumferential side of the daughtership 2. A daughtership multi-beam depth sounder 23 is fixed in the middle of the daughtership 2. A communication antenna 24 is fixed on the daughtership 2. A daughtership camera 21 is fixed at the front end of the daughtership 2. A daughtership propulsion paddle 25 is arranged at the rear end of the daughtership 2. A mothership multi-beam depth sounder 11 is arranged at the front end of the mothership 1, and a mothership propulsion paddle 16 is arranged at the rear end of the mothership 1. A GPS locator 13, a data transmission antenna 14 and a radio antenna 15 are arranged on the mothership 1. The GPS locator 13, the data transmission antenna 14 and the radio antenna 15 are all connected to the controller 12. The mothership 1 is equipped with a GPS locator 13. Through real-time communication with the satellite, the current position information of the vehicle can be obtained. The data transmission antenna 14 communicates with the communication antenna 24 , and the controller 12 carried on the mother ship 1 can process the data information obtained by the mother ship beam depth sounder 11 , and feed back the detection data to the ground station in real time through the data transmission antenna 15 .

[0020] The grabbing and locking mechanism 3 includes an electric telescopic rod 31 and an arc hook 32. The arc hook 32 is connected to the telescopic end of the electric telescopic rod 31. The electric telescopic rod 31 is fixed inside the mothership 1. Reset electromagnets are embedded on both sides of the mothership 1. The reset electromagnets are arranged opposite to the positioning iron blocks on the sides of the daughter ship 2. The reset electromagnets and the electric telescopic rod 31 are both connected to the controller 12 on the mothership 1. The grabbing and locking mechanism 3 located on one side is provided with three arc hooks 32 located in the middle, and the opening direction of the other two arc hooks 32 is opposite, so that the three arc hooks 32 lock the daughter ship 2. A connecting plate 33 is provided at one end of the arc hook 32. The middle part of the connecting plate 33 is connected to the mothership 1 through a fixing pin 34. One end of the connecting plate 33 is hinged to the telescopic end of the electric telescopic rod 31.

[0021] During operation, the daughter boat 2 is mounted on both sides of the mother boat 1 through the grabbing and locking mechanism 3, the mother boat 1 and the daughter boat 2 are connected and run in parallel, and the mother boat 1 drives the mother boat propulsion paddle 16 by electricity to move forward.

[0022] The operator can communicate with the mother boat 1 through the radio antenna 15 on the mother boat 1. The operator can remotely control the mother boat 1 by operating the ground station, control its trajectory and issue action instructions to it. The data such as photos and videos taken by the daughter ship camera 21 during operation can be transmitted back to the ground station in real time through the data transmission antenna 14 carried on the mother boat 1.

[0023] When the mother ship 1's channel is blocked, the grabbing and locking mechanism 3 is opened to release the daughter boat 2. The daughter boat 2 establishes real-time communication connection and data exchange with the digital transmission antenna 14 on the mother boat 1 through the communication antenna 24, and the daughter boat 2 moves forward by driving the daughter boat propulsion paddle 25; the daughter boat 2 establishes communication connection with the mother boat 1 through the communication antenna 24, and receives action instructions and information on the travel trajectory; a daughter boat camera 21 is provided at the front of the daughter boat 2, and the captured video image data is transmitted to the ground station in real time. The operator can judge whether the water environment meets the navigation conditions through the image information captured by the daughter boat camera 21, and adjust the travel trajectory in time; the daughter boat multi-beam depth sounder 23 of the daughter boat 2 can transmit the collected data to the controller 12 in the mother boat 1 in real time through the communication antenna 24 for processing.

[0024] Therefore, the present invention adopts a mother-and-child type unmanned underwater mapping vehicle of the above structure. When the waterway is blocked, the daughter ship is released to perform underwater detection, thereby ensuring the comprehensiveness of underwater mapping.

[0025] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solution of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solution to deviate from the spirit and scope of the technical solution of the present invention.

Claims

1. A mother-and-child unmanned underwater mapping vehicle, characterized in that: It includes a mother ship and a daughter ship, wherein two daughter ships are provided, and the two daughter ships are arranged on both sides of the mother ship through a grabbing and locking mechanism, wherein the grabbing and locking mechanism includes an electric telescopic rod and an arc hook, wherein the arc hook is connected to the telescopic end of the electric telescopic rod, and the electric telescopic rod is fixed inside the mother ship, and reset electromagnets are embedded on both sides of the mother ship, wherein the reset electromagnets are arranged opposite to the positioning iron blocks on the sides of the daughter ships, and the reset electromagnets and the electric telescopic rods are both connected to a controller on the mother ship; A limited position slot is provided on the circumferential side of the sub-ship, a sub-ship multi-beam depth sounder is fixed in the middle of the sub-ship, a communication antenna is fixed on the sub-ship, a sub-ship camera is fixed at the front end of the sub-ship, and a sub-ship propulsion propeller is arranged at the rear end of the sub-ship; The front end of the mothership is provided with a mothership multi-beam depth sounder, the rear end of the mothership is provided with a mothership propulsion propeller, the mothership is provided with a GPS locator, a data transmission antenna and a radio antenna, the GPS locator, the data transmission antenna and the radio antenna are all connected to the controller, and the data transmission antenna communicates with the communication antenna; There are three grabbing and locking mechanisms on one side, and the arc-shaped hook located in the middle has an opening direction opposite to that of the other two arc-shaped hooks.

2. The mother-and-child unmanned underwater mapping vehicle according to claim 1, characterized in that: A connecting plate is provided at one end of the arc-shaped hook, the middle part of the connecting plate is connected to the mother ship through a fixing pin, and one end of the connecting plate is hinged to the telescopic end of the electric telescopic rod.

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