Obstacle avoidance navigation device and method for underwater target detection

Abstract

The present invention discloses an obstacle avoidance navigation device and method for underwater target detection, relates to the technical field of underwater detection, solves the problem of difficulty in obstacle avoidance of existing aircraft, comprises an aircraft shell, a camera for shooting is installed at the front end of the aircraft shell, and a propeller is installed at the rear end of the aircraft shell, and also comprises a mounting sleeve installed on the outer side of the aircraft shell, and a plurality of track rings are fixed on the outer side of the mounting sleeve through a connecting column, and a plurality of track rings are installed on the outer side of each of the plurality of track rings for mounting detection equipment. The present invention designs a plurality of support members to meet the needs of mounting and docking a plurality of searchlights, cameras, integrated sensors and other equipment, so that target detection is more convenient. At the same time, when encountering obstacles, the angles of the plurality of support members can be adjusted and moved to a line, which greatly reduces the space occupied by the equipment, making it easier to pass through obstacles and convenient to avoid.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater detection, and in particular to an obstacle avoidance navigation device and method for underwater target detection. Background Art

[0002] An underwater vehicle refers to a small, recoverable underwater self-propelled vehicle used for underwater reconnaissance, remote-controlled mine hunting and combat. It is an unmanned intelligent small weapon equipment platform that uses submarines or surface ships as support platforms and can autonomously navigate long distances underwater for a long time.

[0003] In the process of underwater reconnaissance, the existing underwater vehicles mainly use navigation to automatically navigate according to the pre-planned route or are remotely controlled in real time by the operator. However, during the underwater navigation, they may encounter various complex and uncertain obstacles such as reefs, fishing nets, sunken ships, silt, etc., which make it impossible to navigate according to the pre-designed route or plan. It is necessary to temporarily change the underwater route to avoid obstacles, otherwise it may cause collision damage accidents. The existing detectors have a constant volume and it is difficult to avoid them effectively. They cannot detect in a small space and the detection angle is limited. Therefore, we propose an obstacle avoidance navigation device and method for underwater target detection. Summary of the invention

[0004] The object of the present invention is to provide an obstacle avoidance navigation device and method for underwater target detection that is convenient for avoiding obstacles, so as to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an obstacle avoidance navigation device for underwater target detection, comprising an aircraft shell, a camera for shooting is installed at the front end of the aircraft shell, and a propeller is installed at the rear end of the aircraft shell, and also includes a mounting sleeve installed on the outside of the aircraft shell, and a plurality of track rings are fixed to the outside of the mounting sleeve through connecting columns, and a plurality of bearings for installing detection equipment are installed on the outside of the plurality of track rings, and an adjustment component for adjusting the positions of a plurality of bearings is installed at the outer end of the mounting sleeve, an adjustment gear ring is rotatably installed on the aircraft shell corresponding to the rear end of the mounting sleeve, and an adjustable balance member is installed in the aircraft shell, and the adjustment component can also control the volume of the adjustable balance member exposed outside the aircraft shell through the adjustment gear ring.

[0006] Preferably, the supporting member includes a supporting platform slidably sleeved on the outside of the track ring, a docking platform is fixed on the outside of the supporting platform, limiting grooves are opened on the outside of the mounting sleeve at positions corresponding to multiple track rings, and limiting plates slidably inserted into the limiting grooves are fixed at both ends of the supporting platform.

[0007] Preferably, connecting members are installed between the supporting platforms in the plurality of supporting members.

[0008] Preferably, the connecting member includes multiple connecting plates and connecting pieces, the connecting plates and connecting pieces are respectively fixed on the inner sides of the two outermost supporting platforms, and the connecting plates and connecting pieces are respectively fixed on both sides of the supporting platform located in the middle, and a connecting rod is provided between the multiple supporting platforms, one end of the connecting rod is fixed to the connecting plate, and the other end slides through the connecting piece and is fixed with a limiting ring. The design of the connecting member enables multiple supporting platforms to be docked at equal angles.

[0009] Preferably, the adjustment component includes an adjustment motor fixed to the outside of the outermost support platform through a mounting frame, the output end of the adjustment motor is fixed with an adjustment gear through a coupling, the outer end of the adjustment gear ring is fixed with a track gear ring, and the track gear ring is meshed with the adjustment gear, and the other end is fixed with a limiting gear ring, and a clamping piece is installed on the outside of the support platform at the other outermost end. The designed adjustment component can retract and fold multiple support platforms into a line.

[0010] Preferably, the clamping member includes a mounting plate fixed to the outside of the outermost support platform, two clamping rods are slidably inserted in the mounting plate, and the outer ends of the two clamping rods are fixed with clamping plates clamped with the limiting tooth rings, and the outer sides of the two clamping rods are sleeved with pushing springs for pushing the clamping plates outwards, and the designed clamping plates are clamped with the limiting tooth rings, so that the support platform at the outermost end is limited. When the pushing force on the support platform at the outermost end is too large, the clamping plate will retract and move a certain angle, and then clamp the limiting tooth ring again to achieve angle adjustment of the support platform.

[0011] Preferably, the adjustable balance member includes a plurality of adjusting screws, the plurality of adjusting screws are rotatably installed in the aircraft shell, and a transmission gear meshing with the adjusting gear ring is fixed at one end, and a mounting plate is rotatably installed at the other end and fixed in the aircraft shell through the mounting plate, a plurality of mounting openings are opened on the outer side of the aircraft shell corresponding to the positions of the plurality of adjusting screws, and balance plates are installed in the plurality of mounting openings, docking members are installed on the plurality of balance plates, and docked with the aircraft shell through the docking members, a moving platform is threadedly sleeved on the outer side of the adjusting screw, and the tail end of the moving platform is connected to the balance plate, an adjusting plate is fixed on the outer end of the mounting frame of the adjusting motor, and a plate abutting against the adjusting plate is fixed on the outer side of the adjusting gear ring, and the extension and retraction adjustment of the balance plate can be achieved through the designed adjustable balance member.

[0012] Preferably, the docking member includes a docking rod, a docking port is opened on the balance plate, and the docking rod slides through the docking port, connecting blocks are fixed at both ends of the docking rod, and are fixed to the aircraft shell through the connecting blocks, so that the connection to the balance plate is satisfied through the designed docking member.

[0013] Preferably, the movable platform includes a threaded cylinder rotatably sleeved on the outer side of the adjusting screw rod, a movable cylinder is rotatably sleeved on the outer side of the threaded cylinder, and a limit opening is opened on the outer side of the threaded cylinder, a receiving opening is opened in the movable cylinder, and a limit strip which is engaged with the limit opening is provided in the receiving opening, two telescopic rods fixed to the inner wall of the receiving opening are fixed on the outer side of the limit strip, and an extrusion spring is sleeved on the outer side of the telescopic rod, and a docking plate rotatably connected to the balance sheet is fixed to the rear end of the movable cylinder. The design of the movable platform enables the adjusting screw rod to drive the movement of the threaded cylinder and the movable cylinder when rotating, and after moving to the limit position, the adjusting screw rod continues to rotate and cannot drive the movable cylinder to continue moving.

[0014] Preferably, a method for obstacle avoidance navigation for underwater target detection comprises the following steps:

[0015] Acquire images of the underwater environment ahead of the navigation route; and

[0016] The position of the detection device and the exposed volume of the navigation device are adjusted according to the image.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] The present invention designs multiple bearing members to meet the needs of installing and docking multiple searchlights, cameras, integrated sensors and other equipment, making target detection more convenient. At the same time, when encountering obstacles, the multiple bearing members can be adjusted in angle and moved to a line, which greatly reduces the space occupied by the equipment and makes it easier to pass through obstacles and avoid them. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0020] Figure 2 It is a schematic diagram of a partial cross-sectional structure of the present invention from another angle;

[0021] Figure 3 for Figure 2 Enlarged view of point A in the middle;

[0022] Figure 4 This is a schematic diagram of the connection between the adjustment assembly on the mounting sleeve and multiple bearing members of the present invention;

[0023] Figure 5 for Figure 4 Enlarged view of point B in the middle;

[0024] Figure 6 It is a schematic diagram of another angle of connection between the adjustment assembly on the mounting sleeve and multiple bearing members of the present invention;

[0025] Figure 7 for Figure 6 Enlarged view of point C in the middle;

[0026] Figure 8 It is a schematic diagram of the structure of the adjustable balance member inside the shell of the aircraft of the present invention in a partial cross-section;

[0027] Fig. 9 It is a schematic diagram of a partial cross-sectional structure of the mobile station of the present invention.

[0028] In the figure: 1-vehicle housing; 2-camera; 3-thruster; 4-mounting sleeve; 5-track ring; 6-carrying member; 7-adjusting assembly; 8-adjusting gear ring; 9-adjustable balance member; 10-carrying platform; 11-docking platform; 12-limiting groove; 13-limiting plate; 14-connecting member; 15-connecting plate; 16-connecting piece; 17-connecting rod; 18-limiting ring; 19-adjusting motor; 20-adjusting gear; 21-limiting gear ring; 22-clamping member; 23-mounting plate ; 24-clamping rod; 25-clamping plate; 26-push spring; 27-adjusting screw; 28-transmission gear; 29-mounting plate; 30-mounting port; 31-balance plate; 32-docking piece; 33-moving platform; 34-docking rod; 35-docking port; 36-threaded cylinder; 37-moving cylinder; 38-limiting port; 39-storage port; 40-limiting strip; 41-telescopic rod; 42-extrusion spring; 43-docking plate; 44-adjusting plate; 45-resisting plate; 46-track gear ring. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] Example 1

[0031] See also Figure 1 and Figure 2, an obstacle avoidance navigation device for underwater target detection shown in the figure is used for navigation of underwater vehicles, specifically including a vehicle shell 1, a camera 2 for shooting is installed at the front end of the vehicle shell 1 for obtaining the underwater environment image ahead of the navigation route, and a propeller 3 is installed at the rear end of the vehicle shell 1 for providing power, and also includes a mounting sleeve 4 installed on the outside of the vehicle shell 1, and a plurality of track rings 5 ​​are fixed to the outside of the mounting sleeve 4 through a connecting column, a plurality of bearing members 6 for detecting equipment installation are installed on the outside of the plurality of track rings 5, and an adjusting component 7 for position adjustment of the plurality of bearing members 6 is installed at the outer end of the mounting sleeve 4, an adjusting gear ring 8 is rotatably installed on the vehicle shell 1 corresponding to the rear end of the mounting sleeve 4, and an adjustable balancing member 9 is installed in the vehicle shell 1, and the adjusting component 7 can also control the volume of the adjustable balancing member 9 exposed in the vehicle shell 1 through the adjusting gear ring 8. In this way, the support member 6 and the adjustable balance member 9 can be adjusted simultaneously through the adjustment component 7, which saves the number of adjustment components 7, reduces the overall weight of the navigation device, and reduces the consumption caused by the subsequent navigation drive due to its own weight.

[0032] It should be noted that: in this solution, the camera 2 designed at the front end of the aircraft shell 1 is a main camera, which is used to observe the front view during navigation, so as to facilitate remote control by personnel on shore.

[0033] It is worth noting that the design of the carrier 6 is mainly used to install the detection equipment required for detection, so as to facilitate the subsequent detection and inspection of the target.

[0034] See also Figure 4-Figure 7 The bearing member 6 shown in the figure includes a bearing platform 10 which is slidably sleeved on the outside of the track ring 5, and a docking platform 11 is fixed on the outside of the bearing platform 10 for plugging and installing the detection device. Limiting grooves 12 are opened on the outside of the installation sleeve 4 corresponding to the positions of the plurality of track rings 5, and limiting plates 13 which are slidably plugged with the limiting grooves 12 are fixed at both ends of the bearing platform 10, and connecting members 14 are installed between the bearing platforms 10 in the plurality of bearing members 6;

[0035] It should be noted that: by designing the docking station 11 to be connected with the detection equipment, the equipment required for target detection can be effectively installed, so that different equipment can be installed when detecting different targets, making the detection more flexible.

[0036] Also, see Figure 4 Figure 6 and Figure 7The connecting member 14 shown in the figure includes a plurality of connecting plates 15 and connecting pieces 16. The connecting plates 15 and connecting pieces 16 are fixed to the inner sides of the two outermost bearing platforms 10 respectively. The connecting plates 15 and connecting pieces 16 are fixed to the two sides of the bearing platform 10 located in the middle respectively. A connecting rod 17 is provided between the plurality of bearing platforms 10. One end of the connecting rod 17 is fixed to the connecting plate 15, and the other end slides through the connecting piece 16 and is fixed with a limiting ring 18.

[0037] It should be noted that: when multiple load platforms 10 are unfolded, when the outermost load platform 10 is controlled to move, the connecting rod 17 can be driven to move, so that the limit ring 18 at the rear end of the connecting rod 17 drives the connecting piece 16 to move, thereby driving the multiple load platforms 10 to move into an equal angle distribution. When the multiple load platforms 10 are retracted and stacked, the outermost load platform 10 is rotated so that its connecting plate 15 is in contact with the connecting piece 16 of the adjacent load platform 10, and it is continuously rotated so that the multiple connecting plates 15 are all in contact with the adjacent connecting pieces 16, so that the multiple load platforms 10 can be stacked into a line; in this way, the unfolding or retraction of each load platform 10 can be achieved by controlling the movement of the outermost load platform 10, thereby improving the efficiency of position control of the load platforms 10.

[0038] It is worth noting that after the adjacent connecting pieces 16 and connecting plates 15 are attached to each other, two adjacent supporting platforms 10 are aligned.

[0039] In addition, please participate Figure 3-Figure 5 The adjustment assembly 7 shown in the figure includes an adjustment motor 19 fixed to the outer side of the outermost bearing platform 10 through a mounting frame, an adjustment gear 20 is fixed to the output end of the adjustment motor 19 through a coupling, a track gear ring 46 is fixed to the outer end of the mounting sleeve 4, and the track gear ring 46 is meshed with the adjustment gear 20, and a limit gear ring 21 is fixed to the other end, and a clamping member 22 is installed on the outer side of the bearing platform 10 at the other outermost end;

[0040] It should be noted that: by rotating the adjusting motor 19, the adjusting gear 20 can be driven to rotate, so that the adjusting gear 20 engages and moves outside the mounting sleeve 4, driving the supporting platform 10 to rotate along the mounting sleeve 4, thereby facilitating the stacking and unfolding of multiple supporting platforms 10.

[0041] Also, see Figure 5 The clamping member 22 shown in the figure includes a mounting plate 23 fixed to the outer side of the outermost end of the bearing platform 10, two clamping rods 24 are slidably inserted in the mounting plate 23, and the outer ends of the two clamping rods 24 are fixed with a clamping plate 25 clamped with the limiting toothed ring 21, and the outer sides of the two clamping rods 24 are sleeved with a push spring 26 for pushing the clamping plate 25 outward;

[0042] It should be noted that: through the designed clamping plate 25 and the limiting tooth ring 21, when the supporting platform 10 is unfolded, the outermost supporting platform 10 can be clamped by the clamping plate 25 and the limiting tooth ring 21 to meet the requirements of unfolding multiple supporting platforms 10. At the same time, when they are stacked in a line, the outermost supporting platform 10 can also be limited.

[0043] It is worth noting that: when adjusting the angle of multiple load platforms 10 stacked in a line, it is only necessary to rotate the adjustment motor 19 to continue rotating after the multiple load platforms 10 are rotated and stacked in a line, so as to drive the multiple load platforms 10 to continue rotating, so that the clamping plate 25 in the load platform 10 in the outermost band is disengaged from the limiting gear ring 21, thereby satisfying the angle adjustment of the multiple load platforms 10 in the line, making it convenient to pass through gaps of different shapes and avoid obstacles.

[0044] Principle of effective obstacle avoidance: First, personnel install the required detection equipment on the carrier 6, and then put the aircraft into the water. The onshore personnel operate remotely and detect the underwater conditions through the camera 2 on the outer end of the aircraft. When encountering obstacles and it is difficult for the aircraft to pass through, the multiple carriers 10 are rotated and stacked in a line by adjusting the rotation of the motor 19, which can effectively avoid obstacles. When sailing through obstacles to reach the target, the multiple carriers 10 stacked in a line can be unfolded by adjusting the rotation of the motor 19, and the angle between adjacent carriers 10 is limited by the connecting rod 17, so that the multiple carriers 10 can be distributed at equal angles after unfolding, which is convenient for detecting the target using the detection equipment.

[0045] In this solution, a method for obstacle avoidance navigation for underwater target detection includes the following steps:

[0046] Acquire images of the underwater environment ahead of the navigation route; and

[0047] The position of the detection device and the exposed volume of the navigation device are adjusted according to the image.

[0048] The image is captured by a camera 2 installed at the front end of the aircraft shell 1. The position of the detection device is adjusted by an adjustment component 7. Reducing the exposed volume of the navigation device specifically refers to changing the volume of the adjustable balance member 9 exposed from the aircraft shell 1. The adjustable balance member 9 can be controlled by an adjustment gear ring 8 controlled by the adjustment component 7 to control the volume of the adjustable balance member 9 exposed from the aircraft shell 1.

[0049] Furthermore, before underwater navigation, the operation area can be determined on an electronic map to plan an initial navigation route.

[0050] When sailing underwater, the coordinates and navigation route of the underwater vehicle can be fed back through the GPS on the underwater vehicle, and the underwater environment can be fed back in real time based on the camera 2 and detection equipment on the underwater vehicle.

[0051] The onshore personnel perform corresponding operations based on the real-time feedback of the underwater environment (such as the underwater environment image ahead of the navigation route). When encountering an obstacle, the adjustment component 7 rotates and adjusts the multiple supporting parts 6, and finally stacks them into a line to reduce the volume. The volume is further reduced by retracting the adjustable balance part 9. At the same time, the propeller 3 reduces the power, so that the underwater vehicle slowly passes through the obstacle.

[0052] When the obstacle is passed and there is no obstacle ahead of the navigation route, the multiple bearing members 6 are opened by adjusting the assembly 7 so that they are evenly distributed outside the underwater vehicle, so that the detection range is wider and the effect is better. At the same time, the adjustable balance member 9 is unfolded and the power of the propeller 3 is increased to sail to the operation area.

[0053] Example 2

[0054] See also Figure 3 , Figure 6 , Figure 8 and Fig. 9 , this embodiment further explains Example 1, the adjustable balance member 9 shown in the figure includes a plurality of adjusting screw rods 27, the plurality of adjusting screw rods 27 are rotatably installed in the aircraft shell 1, and a transmission gear 28 meshing with the adjusting gear ring 8 is fixed at one end, and a mounting plate 29 is rotatably installed at the other end, and is fixed in the aircraft shell 1 through the mounting plate 29, a plurality of mounting openings 30 are opened at the outer side of the aircraft shell 1 corresponding to the positions of the plurality of adjusting screw rods 27, and a balance plate 31 is installed in each of the plurality of mounting openings 30, a docking member 32 is installed on each of the plurality of balance plates 31, and the balance plates 31 are docked with the aircraft shell 1 through the docking member 32, a moving platform 33 is threadedly sleeved on the outer side of the adjusting screw rod 27, and the tail end of the moving platform 33 is hinged to the balance plate 31, an adjusting plate 44 is fixed to the outer end of the mounting frame of the adjusting motor 19, and a butt plate 45 abutting against the adjusting plate 44 is fixed to the outer side of the adjusting gear ring 8;

[0055] It should be noted that: through the cooperation between the designed adjustment plate 44 and the abutment plate 45, the adjustment motor 19 rotates, and when it moves along the mounting sleeve 4, it can drive the adjustment gear ring 8 to rotate, so that the multiple transmission gears 28 can rotate, drive the adjustment screw rod 27 to rotate, and thus drive the moving platform 33 to move, so as to control the contraction of the balance sheet 31;

[0056] It is worth explaining in detail that in the present embodiment, after the adjusting motor 19 rotates, it will drive the adjusting gear 20 to move on the track gear ring 46. As the adjusting motor 19 moves, the adjusting plate 44 fixed on the mounting frame outside the adjusting motor 19 will eventually move to contact and abut against the abutment plate 45, thereby causing the movement of the adjusting plate 44 to drive the rotation of the abutment plate 45, thereby driving the adjusting gear ring 8 to rotate.

[0057] Also, see Figure 8 The docking member 32 shown in the figure includes a docking rod 34, a docking port 35 is opened on the balance plate 31, and the docking rod 34 slides through the docking port 35, and connecting blocks are fixed at both ends of the docking rod 34, and is fixed to the aircraft shell 1 through the connecting blocks.

[0058] It should be noted that: through the cooperation between the designed docking rod 34 and the docking port 35, the adjustment of the balance sheet 31 is more stable.

[0059] Example 3

[0060] See also Fig. 9 This embodiment further explains other embodiments. The moving platform 33 shown in the figure includes a threaded barrel 36 rotatably sleeved on the outer side of the adjusting screw rod 27, a moving barrel 37 is rotatably sleeved on the outer side of the threaded barrel 36, and a limiting opening 38 is opened on the outer side of the threaded barrel 36, a receiving opening 39 is opened in the moving barrel 37, and a limiting strip 40 engaged with the limiting opening 38 is provided in the receiving opening 39, two telescopic rods 41 fixed to the inner wall of the receiving opening 39 are fixed on the outer side of the limiting strip 40, and an extrusion spring 42 is sleeved on the outer side of the telescopic rod 41, and a docking plate 43 rotatably connected to the balance sheet 31 is fixed to the tail end of the moving barrel 37.

[0061] It should be noted that: by rotating the adjusting screw 27, the threaded barrel 36 moves on the adjusting screw 27, which can drive the moving barrel 37 and the balance sheet 31 to move, so that a part of them can be retracted, which is convenient for driving over obstacles. At the same time, the designed limit bar 40 and the limit opening 38 are mutually engaged, so that after the balance sheet 31 moves to the limit position, as the adjusting screw 27 continues to rotate, the limit bar 40 can be moved out of the limit opening 38 and accommodated in the storage opening 39, and at this time, the threaded barrel 36 no longer drives the moving barrel 37 to continue to move. The above setting enables the moving barrel 37 to not hinder the rotation of the adjusting screw 27, and then not hinder the rotation of the adjusting gear ring 8, so as to avoid the adjusting gear ring 8 hindering the adjusting motor 19 from adjusting the position of the carrier 10. On the contrary, when multiple carriers 10 are deployed, the adjusting screw 27 is reversed, and the limit bar 40 is re-moved into the limit opening 38, so that the moving barrel 37 is driven back through the threaded barrel 36, and the balance sheet 31 is pushed out, so that the movement of the aircraft is more stable.

[0062] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0063] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An obstacle avoidance navigation device for underwater target detection, comprising: An aircraft shell (1), wherein a camera (2) for photographing is installed at the front end of the aircraft shell (1), and a propeller (3) is installed at the rear end of the aircraft shell (1); It is characterized by further comprising: A mounting sleeve (4) is mounted on the outer side of the aircraft shell (1), and a plurality of track rings (5) are fixed to the outer side of the mounting sleeve (4) via connecting columns, a bearing member (6) for mounting a detection device is mounted on the outer side of each of the plurality of track rings (5), and an adjustment component (7) for adjusting the position of the plurality of bearing members (6) is mounted on the outer end of the mounting sleeve (4); The aircraft shell (1) is rotatably mounted with an adjusting gear ring (8) at the rear end corresponding to the mounting sleeve (4), and an adjustable balancing member (9) is mounted on the aircraft shell (1). The adjusting component (7) can also control the volume of the adjustable balancing member (9) exposed outside the aircraft shell (1) through the adjusting gear ring (8).

2. The obstacle avoidance navigation device for underwater target detection according to claim 1, characterized in that: The bearing member (6) comprises a bearing platform (10) which is slidably sleeved on the outside of the track ring (5); a docking platform (11) is fixed on the outside of the bearing platform (10); limiting grooves (12) are provided on the outside of the mounting sleeve (4) at positions corresponding to a plurality of the track rings (5); and limiting plates (13) which are slidably inserted into the limiting grooves (12) are fixed at both ends of the bearing platform (10).

3. The obstacle avoidance navigation device for underwater target detection according to claim 2, characterized in that: Connecting members (14) are installed between the supporting platforms (10) within the plurality of supporting members (6).

4. The obstacle avoidance navigation device for underwater target detection according to claim 3, characterized in that: The connecting member (14) comprises a plurality of connecting plates (15) and connecting sheets (16), the connecting plates (15) and connecting sheets (16) being fixed on the inner sides of the two outermost bearing platforms (10), and the connecting plates (15) and connecting sheets (16) being fixed on both sides of the bearing platform (10) in the middle, and a connecting rod (17) being provided between the plurality of bearing platforms (10), one end of the connecting rod (17) being fixed to the connecting plate (15), and the other end of the connecting rod (17) being slidably passed through the connecting sheet (16) and fixed with a limiting ring (18).

5. The obstacle avoidance navigation device for underwater target detection according to claim 3, characterized in that: The adjustment assembly (7) comprises an adjustment motor (19) fixed to the outer side of the outermost support platform (10) through a mounting frame, an adjustment gear (20) is fixed to the output end of the adjustment motor (19) through a coupling, a track gear ring (46) is fixed to the outer end of the mounting sleeve (4), and the track gear ring (46) is meshed with the adjustment gear (20), and a limit gear ring (21) is fixed to the other end, and a clamping member (22) is installed on the outer side of the support platform (10) located at the other outermost end.

6. The obstacle avoidance navigation device for underwater target detection according to claim 5, characterized in that: The clamping member (22) comprises a mounting plate (23) fixed on the outer side of the outermost supporting platform (10), two clamping rods (24) are slidably inserted in the mounting plate (23), and a clamping plate (25) clamped with the limiting toothed ring (21) is fixed on the outer ends of the two clamping rods (24), and a push spring (26) for pushing the clamping plate (25) outward is sleeved on the outer sides of the two clamping rods (24).

7. The obstacle avoidance navigation device for underwater target detection according to claim 5, characterized in that: The adjustable balance member (9) comprises a plurality of adjusting screw rods (27), the plurality of adjusting screw rods (27) are rotatably mounted in the aircraft shell (1), and a transmission gear (28) meshing with the adjusting gear ring (8) is fixed at one end, and a mounting plate (29) is rotatably mounted at the other end, and the adjusting balance member (9) is fixed in the aircraft shell (1) through the mounting plate (29), and a plurality of mounting openings (30) are opened on the outer side of the aircraft shell (1) at positions corresponding to the plurality of adjusting screw rods (27), and the plurality of mounting openings (30) ) are installed with a balance sheet (31), a plurality of the balance sheets (31) are installed with a docking piece (32), and are docked with the aircraft shell (1) through the docking piece (32), the outer side of the adjusting screw rod (27) is threadedly sleeved with a moving platform (33), and the tail end of the moving platform (33) is connected to the balance sheet (31), the outer end of the mounting frame of the adjusting motor (19) is fixed with an adjusting plate (44), and the outer side of the adjusting gear ring (8) is fixed with a plate (45) that abuts against the adjusting plate (44).

8. The obstacle avoidance navigation device for underwater target detection according to claim 7, characterized in that: The docking member (32) includes a docking rod (34), a docking port (35) is formed on the balance sheet (31), and the docking rod (34) slides through the docking port (35), and connecting blocks are fixed at both ends of the docking rod (34), and the docking rod (34) is fixed to the aircraft shell (1) through the connecting blocks.

9. The obstacle avoidance navigation device for underwater target detection according to claim 7, characterized in that: The movable platform (33) comprises a threaded cylinder (36) rotatably sleeved on the outer side of the adjusting screw rod (27); a movable cylinder (37) is rotatably sleeved on the outer side of the threaded cylinder (36); a limiting opening (38) is provided on the outer side of the threaded cylinder (36); a receiving opening (39) is provided in the movable cylinder (37); a limiting strip (40) is provided in the receiving opening (39) and is engaged with the limiting opening (38); two telescopic rods (41) are fixed to the outer side of the limiting strip (40) and are fixed to the inner wall of the receiving opening (39); a compression spring (42) is sleeved on the outer side of the telescopic rod (41); a docking plate (43) rotatably connected to the balancing plate (31) is fixed to the rear end of the movable cylinder (37).

10. A method for obstacle avoidance navigation for underwater target detection, characterized in that: The method is applied to the obstacle avoidance navigation device for underwater target detection according to any one of claims 1 to 9, comprising the following steps: Acquire images of the underwater environment ahead of the navigation route; and The position of the detection device and the exposed volume of the navigation device are adjusted according to the image.

Images