An AUV underwater positioning monitoring device and method
By designing an AUV underwater positioning and monitoring device, and utilizing a combination of floats, winding rods, and marker display panels, the problem of buoy instability was solved, achieving stable buoy positioning and effective use of marker display panels, thereby improving the positioning efficiency of the detector and the durability of the markers.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2023-03-03
- Publication Date
- 2026-03-27
AI Technical Summary
In existing technologies, after an underwater detector or submersible releases a buoy, the buoy is easily affected by surface waves or wind, resulting in unstable floating and affecting subsequent positioning and salvage operations.
An AUV underwater positioning and monitoring device was designed, including a float, a winding rod, a one-way rotation limiting component, an intersection limiting component, and a tilting component. By controlling the rotation of the winding rod and the flipping of the marking display board, the stability and visibility of the float on the water surface are ensured, providing convenient positioning conditions.
This achieved stable positioning of the float on the water surface, improved the efficiency of the staff in locating the detector and extended the service life of the marker display board, and enhanced the ease of finding the buoy.
Smart Images
Figure CN116767464B_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the field of underwater target positioning, and particularly relates to an AUV underwater positioning monitoring device and method. BACKGROUND
[0002] The underwater deployment and recovery of an AUV (Autonomous Underwater Vehicle) is a frontier technology in the field of marine applications, especially the AUV carried and deployed by a deep-sea carrier, which can effectively improve the ability of AUV continuous operation and the concealment of operation. At present, in order to explore underwater conditions, underwater detectors or underwater submersibles are used to dive into the water for operation, or the army launches mines into the water during deep-sea training, or objects fall into the water. Due to the complexity of the water, the underwater detector, underwater submersible, mine, and object falling into the water are often lost. At this time, the buoy needs to be released from the detector, and then the staff can search for the position of the detector through the positioning module in the buoy.
[0003] Generally, after the buoy is released, it is not convenient to limit the rope connected with the buoy. After the buoy floats to the water surface, it will be blown by the waves or wind on the water surface, so that the buoy will drift around on the water surface. At this time, the staff will also be affected by the movement of the buoy relative to the position of the detector when finding the buoy, which will affect the subsequent staff's salvage work of the detector. SUMMARY
[0004] The present application aims to solve the problem of being unable to accurately and quickly position the detector, and provides an AUV underwater positioning monitoring device and method.
[0005] To achieve the above-mentioned purpose, the present application provides the following technical scheme: an AUV underwater positioning monitoring device and method, comprising a floating block, the bottom of the floating block is provided with a line storage cavity, the inner side of the line storage cavity is provided with a winding rod, the outer side of the winding rod is provided with a traction rope, both ends of the line storage cavity are connected with a shaping plate, the shaping plate is connected with the winding rod through a one-way limited rotation assembly, the one-way limited rotation assembly adjusts the rotation direction of the winding rod through a limited intersection assembly, the outer side of the floating block is connected with an identification display plate through a moving and turning assembly, and the moving and turning assembly is connected with the limited intersection assembly through a continuous collector.
[0006] As a further further scheme of the present application: the one-way rotation limiting assembly comprises a first moving plate arranged on the top of the shaping plate, a forward rotation tooth block is rotatably connected to the top of the first moving plate through a rotating shaft, a downward moving limiting groove is arranged on the inner side of the first moving plate, reverse rotation tooth discs are arranged at the two ends of the winding rod outside the wire storage cavity, a forward rotation tooth disc is arranged at one end of the reverse rotation tooth disc, a second moving plate is arranged at one end of the shaping plate, an upward moving limiting groove is arranged on the inner side of the second moving plate, a reverse rotation tooth block is rotatably connected to the top of the second moving plate through a rotating shaft, and a spiral torsion bar is connected to the reverse rotation tooth block and the rotating shaft outside the second moving plate.
[0007] As a further further scheme of the present application: the one-way rotation limiting assembly comprises a first moving plate arranged on the top of the shaping plate, a forward rotation tooth block is rotatably connected to the top of the first moving plate through a rotating shaft, a downward moving limiting groove is arranged on the inner side of the first moving plate, reverse rotation tooth discs are arranged at the two ends of the winding rod outside the wire storage cavity, a forward rotation tooth disc is arranged at one end of the reverse rotation tooth disc, a second moving plate is arranged at one end of the shaping plate, an upward moving limiting groove is arranged on the inner side of the second moving plate, a reverse rotation tooth block is rotatably connected to the top of the second moving plate through a rotating shaft, and a spiral torsion bar is connected to the reverse rotation tooth block and the rotating shaft outside the second moving plate.
[0008] As a further further scheme of the present application: the one-way rotation limiting assembly comprises a first moving plate arranged on the top of the shaping plate, a forward rotation tooth block is rotatably connected to the top of the first moving plate through a rotating shaft, a downward moving limiting groove is arranged on the inner side of the first moving plate, reverse rotation tooth discs are arranged at the two ends of the winding rod outside the wire storage cavity, a forward rotation tooth disc is arranged at one end of the reverse rotation tooth disc, a second moving plate is arranged at one end of the shaping plate, an upward moving limiting groove is arranged on the inner side of the second moving plate, a reverse rotation tooth block is rotatably connected to the top of the second moving plate through a rotating shaft, and a spiral torsion bar is connected to the reverse rotation tooth block and the rotating shaft outside the second moving plate.
[0009] As a further further scheme of the present application: the one-way rotation limiting assembly comprises a first moving plate arranged on the top of the shaping plate, a forward rotation tooth block is rotatably connected to the top of the first moving plate through a rotating shaft, a downward moving limiting groove is arranged on the inner side of the first moving plate, reverse rotation tooth discs are arranged at the two ends of the winding rod outside the wire storage cavity, a forward rotation tooth disc is arranged at one end of the reverse rotation tooth disc, a second moving plate is arranged at one end of the shaping plate, an upward moving limiting groove is arranged on the inner side of the second moving plate, a reverse rotation tooth block is rotatably connected to the top of the second moving plate through a rotating shaft, and a spiral torsion bar is connected to the reverse rotation tooth block and the rotating shaft outside the second moving plate.
[0010] As a further further scheme of the present application: the moving assembly comprises a U-shaped fixed plate arranged outside the floating block, a guide limiting block is arranged outside the U-shaped fixed plate, a directional dynamic plate is arranged inside the guide limiting block and outside the U-shaped fixed plate, a toothed rotating disc connected with the identification display plate is arranged inside the directional dynamic plate, a limiting rotating tooth rod engaged with the toothed rotating disc is arranged inside the U-shaped fixed plate, a lead hole is formed in the top of the U-shaped fixed plate, a lead slot is arranged on one side of the lead hole, an identification layer is arranged inside the identification display plate, a single-groove threaded rotating rod is rotatably connected to one end of the directional dynamic plate through a bearing, an inner screw sleeve plate is sleeved outside the single-groove threaded rotating rod, first coupling conical toothed discs are arranged on both sides of the toothed rotating disc, a second coupling conical toothed disc engaged with the first coupling conical toothed disc is arranged at one end of the single-groove threaded rotating rod, a displacement limiting groove is formed in the inside of the limiting rotating tooth rod, a displacement sliding plate is slidably connected to the inside of the displacement limiting groove, a pulling fixed rod connected with the inner screw sleeve plate is slidably connected to the inside of the displacement sliding plate, a close-connection compression spring connected with the inner screw sleeve plate is arranged at one end of the displacement sliding plate, and a flow resistance plug is arranged at the bottom of the directional dynamic plate.
[0011] As a further further scheme of the present application: the flow resistance plug comprises a dynamic connecting plate arranged at the bottom of the directional dynamic plate, a dynamic guide column penetrating into the inside of the support plate holder is arranged at the top of the dynamic connecting plate, a flow resistance blocking plate is arranged at the top of the dynamic guide column, a flow resistance block is arranged at the top of the flow resistance blocking plate, a flow resistance water hole is formed in the outside of the flow resistance block, and a suspension compression spring sleeved outside the dynamic guide column is arranged at the top of the dynamic connecting plate.
[0012] As a further further scheme of the present application: the outer wall of the flow resistance block is matched with the outer wall of the water storage pipe, and the flow resistance block is a hollow topless tubular structure.
[0013] As a further further scheme of the present application: a through hole matched with the directional dynamic plate is arranged in the inside of the guide limiting block, the pulling rope and the lead slot are in a matched state, and the rotating shaft of the toothed rotating disc connected with the identification display plate is rotatably connected with the directional dynamic plate through a bearing.
[0014] The application further discloses an AUV underwater positioning monitoring device and method.
[0015] S1: When the probe releases the floating block, the floating block will pull the traction rope due to its buoyancy. Since the traction rope is directly connected to the probe, the winding rod will be unwound under the action of the floating block floating up at this time. In this process, the reverse tooth disc will drive the forward tooth block through the inclined surface of the outer side of the reverse tooth disc, so that the forward tooth block swings relative to the first moving plate. At the same time, the screw torsion bar is used to restore the swing of the forward tooth block. In this process, the forward tooth disc and the reverse tooth block are in a separated state, so that the winding rod can rotate in one direction, so as to make the device stably unwind the traction rope, thereby increasing the stability of the release of the traction rope;
[0016] S2: When the floating block floats out of the water, the water flow in the water storage pipe will flow out of the water storage pipe through the drainage hole under the action of gravity. At this time, the depth sensor detects the depth of the water in the water storage pipe. When the water flow passes through the drainage hole and flows out of the water storage pipe, the depth sensor detects that the depth of the water in the water storage pipe changes. At this time, the depth sensor transmits an electrical signal to the controller in the floating block. At this time, the controller makes the electric push rod extend. The electric push rod extends and pushes the traction moving plate to move downward. At this time, the traction moving plate drives the first moving plate to move downward, so that the first moving plate moves downward relative to the shaping plate under the limitation of the downward moving limit groove. In this way, the upper connecting tooth plate moves with the movement of the first moving plate, so that the upper connecting tooth plate drives the alternate tooth rotating disc to rotate. When the alternate tooth rotating disc rotates, it can drive the lower connecting tooth plate to move. In this way, the second moving plate moves upward relative to the shaping plate under the limitation of the upward moving limit groove. In this way, the reverse tooth block is buckled into the outer side of the forward tooth disc, and the reverse tooth disc and the forward tooth block are separated. In this way, the winding rod can be limited, so that the winding rod can only wind the traction rope. In this way, it can prevent the floating block from floating around on the water surface due to the release of the too long traction rope, so as to increase the stability of the floating block and provide convenience for the subsequent positioning of the probe below.
[0017] S3: When the alternate tooth rotating disc rotates, it can drive the rotating rope rod to rotate, so as to make the bevel gear chuck at both ends of the rotating rope rod rotate with the rotation of the rotating rope rod. In this way, the plurality of rotating rope rods can rotate in the same direction, so as to wind the four-directional pulling ropes at the same time, thereby providing power for the moving and turning assembly, thereby providing convenience for the subsequent unfolding of the identification display board.
[0018] S4: When the collector operates, the pull rope can be wound, at this time the pull rope moves along the lead hole, the lead slot, so that the top of the directional dynamic plate is pulled by the pull rope, so that the directional dynamic plate moves up relative to the U-shaped plate, so that the directional dynamic plate drives the identification display plate to move up through the toothed turntable, in the process the toothed turntable rotates along the limit gear bar under the action of the limit gear bar end click, so that the toothed turntable rotates relative to the directional dynamic plate, so that the toothed turntable drives the identification display plate to rotate, so that the identification display plate is turned over during the upward movement, so that the identification display plate is turned to an inclined state with the float, so that the identification layer is exposed, so that the float is more eye-catching, so that the subsequent staff can find the buoy easily, thereby increasing the efficiency of the staff to find the buoy, and preventing the identification layer from falling off due to long-term exposure to air, thereby increasing the service life of the identification display plate;
[0019] S5: When the directional dynamic plate moves up relative to the U-shaped plate, the movable connecting plate can be moved, so that the movable connecting plate moves relative to the support plate, so that the blocking flow plate is inserted into the water storage pipe, so that the drainage hole outside the water storage pipe is shielded, and the blocking flow hole is dislocated with the drainage hole as the blocking flow plate moves up, so that the blocking flow hole moves above the drainage hole. At this time, the blocking flow hole can be shielded by the inner wall of the water storage pipe, so that the external water flow can not flow into the water storage pipe through the drainage hole, so that the external water flow can not flow into the water storage pipe when the float is affected by the wind and waves, thereby preventing the inflow of external water flow from affecting the operation of the depth sensor, and increasing the stability of the winding rod.
[0020] Compared with the prior art, the beneficial effects of the present application are:
[0021] 1. By setting the one-way limit rotation assembly and the limit intersection assembly, when the probe releases the float, the float will pull the traction rope due to its buoyancy, at this time the winding rod will unwind the traction rope under the action of the float rising, in the process the reverse tooth block will one-way limit the rotation of the reverse tooth disc, so that the winding rod rotates one-way, so that the device stably unwinds the traction rope, when the float floats out of the water, the water flow in the water storage pipe will flow out of the water storage pipe through the drainage hole under the action of gravity, at this time the depth sensor will detect the change of the depth of the water in the water storage pipe, at this time the controller in the float will transmit an electrical signal to the depth sensor, at this time the controller will make the electric push rod extend, so that the reverse tooth block is buckled outside the clockwise tooth disc, and the reverse tooth disc is separated from the clockwise tooth block, thereby limiting the winding rod, so that the winding rod can only wind the traction rope, so that the float can not float around on the water surface due to the too long released traction rope, thereby increasing the stability of the float.
[0022] 2、By setting limit exchange components, continuous collector, when the alternating teeth rotating disc rotates, it can drive the rotating rope rod to rotate, so as to make the inclined tooth chuck at both ends of the rotating rope rod rotate with the rotating rope rod, so that multiple rotating rope rods rotate in the same direction, so as to provide power for the moving and turning component, so that the fixed tooth rotating disc drives the identification display board to rotate, so that the identification display board is turned over during the upward movement, so that the identification display board is turned to an inclined state with the float, so that the identification layer is exposed, so that the float is more eye-catching, so that the subsequent staff can find the float more conveniently, thereby increasing the staff's efficiency of finding the float, and preventing the identification layer from falling off due to long-term exposure to air, thereby increasing the service life of the identification display board;
[0023] 3、By setting the moving and turning component and the blocking flow insert, when the directional dynamic plate moves upward relative to the U-shaped fixed plate, it can drive the dynamic connecting plate to move, so that the dynamic connecting plate moves relative to the supporting plate, so that the blocking flow plate is inserted into the water storage pipe, so as to shield the drainage water hole outside the water storage pipe, and the blocking flow hole is dislocated with the drainage water hole as the blocking flow plate moves upward, at this time, the blocking flow hole can be shielded by the inner wall of the water storage pipe, so as to prevent external water flow from flowing into the water storage pipe through the drainage water hole, prevent the external water flow from entering the water storage pipe when the float is subjected to wind and waves, thereby preventing the inflow of external water flow from affecting the operation of the depth sensor, and increasing the stability of the winding rod. BRIEF DESCRIPTION OF DRAWINGS
[0024] Figure 1 It is a structural schematic diagram of the present application;
[0025] Figure 2 It is a structural schematic diagram of the present application; Figure 1 It is an enlarged view of A in the present application;
[0026] Figure 3 It is a structural schematic diagram of the present application; Figure 1 It is an enlarged view of B in the present application;
[0027] Figure 4 It is a structural schematic diagram of the present application;
[0028] Figure 5 It is a connection schematic diagram of the present application;
[0029] Figure 6 It is a connection schematic diagram of the present application;
[0030] Figure 7 It is a connection schematic diagram of the present application;
[0031] Figure 8 Connection diagram of the flow resistance plug and the water storage tube of the present application;
[0032] Figure 9 Electric push rod and depth sensor electrical conduction flow chart of the present application.
[0033] In the figure: 1, floating block; 2, line storage cavity; 3, traction rope; 4, winding rod; 501, identification display board; 502, depth sensor; 503, water storage tube; 504, support plate holder; 505, guide column; 506, moving link plate; 507, pull rope; 508, rope limiting disc; 509, rotating rope rod; 510, helical tooth chuck; 511, clockwise tooth disc; 512, U-shaped fixed plate; 513, directional moving plate; 514, lead wire slot; 515, fixed tooth rotating disc; 516, rotation limiting tooth rod; 517, water guiding hole; 518, suspension spring; 519, counterclockwise tooth disc; 520, shaping plate; 521, electric push rod; 522, first moving direction plate; 523, clockwise rotating tooth block; 524, downward moving limiting slot; 525, traction moving plate; 526, downward connecting tooth fixed plate; 527, upward moving limiting slot; 528, second moving direction plate; 529, alternate tooth rotating disc; 530, counterclockwise rotating tooth block; 531, upward connecting tooth fixed plate; 532, helical torsion bar; 533, lead wire hole; 534, identification layer; 535, flow resistance water hole; 536, flow resistance block; 537, flow resistance plate; 538, guide limiting block; 539, connecting flange disc; 540, anti-movement limiting slot; 541, traction fixed rod; 542, attached connecting spring; 543, displacement sliding plate; 544, single-slot threaded rotating rod; 545, first connecting rotating bevel gear disc; 546, second connecting rotating bevel gear disc; 547, inner screw sleeve plate. DETAILED DESCRIPTION
[0034] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.
[0035] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third" are only for descriptive purposes and cannot be understood as indicating or implying relative importance. In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "arrangement" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be connected inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances. The embodiments of the present application will be described below according to the overall structure of the present application.
[0036] Please refer to Figures 1-9 In the embodiments of the present application, an AUV underwater positioning monitoring device and method, comprising a floating block 1, the bottom of the floating block 1 is provided with a line storage cavity 2, the inner side of the line storage cavity 2 is provided with a winding rod 4, the outer side of the winding rod 4 is provided with a traction rope 3, both ends of the line storage cavity 2 are connected with a shaping plate 520, the shaping plate 520 is connected with the winding rod 4 through a one-way limited rotation assembly, the one-way limited rotation assembly adjusts the rotation direction of the winding rod 4 through a limit intersection assembly, the outer side of the floating block 1 is connected with an identification display plate 501 through a moving and turning assembly, the moving and turning assembly is connected with the limit intersection assembly through a continuous collector.
[0037] In the embodiments of the present application,
[0038] S1: when the detector releases the floating block 1, the floating block 1 will move upward to the water surface under the action of the buoyancy;
[0039] S2: at this time, the one-way limited rotation assembly can be used to release the traction rope 3 by the winding rod 4;
[0040] S3: when the floating block 1 moves above the water surface, the limit intersection assembly can be used to change the limiting direction of the one-way limited rotation assembly to the winding rod 4, so as to prevent the winding rod 4 from releasing the traction rope 3 in the case of being blown by the wind, thereby limiting the extension length of the traction rope 3;
[0041] S4: When the limit exchange assembly is in operation, the identification display board 501 can be reversed through the cooperation between the continuous collector and the shift assembly, so as to make the float 1 more eye-catching, thereby facilitating the staff to find the float 1, thereby improving the recovery efficiency of the detector, and the staff can quickly locate the float 1.
[0042] S5: Then the staff can quickly salvage the detector in the water under the guidance of the float 1 and the traction rope 3.
[0043] Please refer to Figure 1 , 3 , 4, 5, the one-way limit rotation assembly comprises a first shift dynamic plate 522 arranged at the top of the shaping plate 520, the top of the first shift dynamic plate 522 is rotationally connected with a forward rotation tooth block 523 through a rotating shaft, the inner side of the first shift dynamic plate 522 is provided with a downward limit slot 524, the two ends of the winding rod 4 are provided with reverse tooth discs 519 located outside the storage line cavity 2, one end of the reverse tooth disc 519 is provided with a forward tooth disc 511, one end of the shaping plate 520 is provided with a second shift dynamic plate 528, the inner side of the second shift dynamic plate 528 is provided with an upward limit slot 527, the top of the second shift dynamic plate 528 is rotationally connected with a reverse rotation tooth block 530 through a rotating shaft, and the outer side of the rotating shaft connected with the reverse rotation tooth block 530 is clamped with a spiral torsion bar 532.
[0044] In this embodiment: when the detector releases the float 1, the float 1 will pull the traction rope 3 due to its buoyancy, since the traction rope 3 is directly connected with the detector, at this time the winding rod 4 will perform unwinding processing on the traction rope 3 under the action of the float 1 floating up, in this process, the reverse tooth disc 519 will drive the forward rotation tooth block 523 through the inclined surface of the outer side clamping tooth, so that the forward rotation tooth block 523 swings relative to the first shift dynamic plate 522, and the spiral torsion bar 532 is used to restore the swung forward rotation tooth block 523, in this process, the forward tooth disc 511 and the reverse rotation tooth block 530 are in a separated state, so that the winding rod 4 can rotate in one direction, so as to make the device stably unwind the traction rope 3, thereby increasing the stability of the release of the traction rope 3.
[0045] Please refer to Figure 1 , 3, 4, 5, the limiting assembly includes a support plate 504 connected to the four corners of the float 1, the top of the support plate 504 is provided with a water storage pipe 503, the top of the water storage pipe 503 is fixed with a connecting flange connecting disc 539, the top of the connecting flange connecting disc 539 is installed with a depth sensor 502, the outer side of the water storage pipe 503 is provided with a drainage water hole 517, the bottom of the first moving plate 522 is welded with a traction plate 525, the bottom of the float 1 is installed with an electric push rod 521 connected with the traction plate 525, one end of the first moving plate 522 is connected with an upper connecting tooth fixed plate 531, the inner side of the shaping plate 520 is provided with an alternate tooth rotating disc 529 engaged with the upper connecting tooth fixed plate 531, one end of the upper moving limiting groove 527 is provided with a lower connecting tooth fixed plate 526 engaged with the alternate tooth rotating disc 529.
[0046] In the embodiment: when the float 1 floats out of the water, the water flow in the water storage pipe 503 will flow out of the water storage pipe 503 under the action of gravity, at this time the depth sensor 502 detects the depth of the water in the water storage pipe 503, when the water flow passes through the drainage water hole 517 and flows out of the water storage pipe 503, the depth sensor 502 detects that the depth of the water in the water storage pipe 503 changes, at this time the depth sensor 502 transmits an electrical signal to the controller in the float 1, at this time the controller makes the electric push rod 521 extend, the electric push rod 521 extends and pushes the traction plate 525 to move downward, at this time the traction plate 525 drives the first moving plate 522 to move downward, so that the first moving plate 522 moves downward relative to the shaping plate 520 under the limiting of the downward moving limiting groove 524, so that the upper connecting tooth fixed plate 531 moves with the movement of the first moving plate 522, so that the upper connecting tooth fixed plate 531 drives the alternate tooth rotating disc 529 to rotate, the alternate tooth rotating disc 529 drives the lower connecting tooth fixed plate 526 to move when it rotates, so that the second moving plate 528 moves upward relative to the shaping plate 520 under the limiting of the upward moving limiting groove 527, so that the reverse tooth block 530 is buckled into the outer side of the clockwise tooth disc 511, and the counterclockwise tooth disc 519 is separated from the clockwise tooth block 523, thereby limiting the winding rod 4, so that the winding rod 4 can only wind the traction rope 3, so as to prevent the float 1 from floating around on the water surface due to the release of the too long traction rope 3, thereby increasing the stability of the float 1 and providing convenience for the subsequent staff to position the lower probe.
[0047] Please pay attention to Figure 1 , 3, 4, 5, 9, the depth sensor 502 is electrically connected with the controller in the float 1 through the wire, the electric push rod 521 is electrically connected with the controller in the float 1 through the wire, the clockwise gear block 523 is connected with the first moving plate 522 through the spiral twist bar 532, and the reverse gear disc 519 is opposite to the direction of the card tooth outside the clockwise gear disc 511.
[0048] In the embodiment, when the water amount in the water storage pipe 503 changes, the depth sensor 502 transmits an electric signal to the controller in the float 1, so that the controller controls the operation of the electric push rod 521, so that the clockwise gear block 523 is separated from the reverse gear disc 519, and the reverse gear block 530 is in contact with the clockwise gear disc 511, so that the one-way rotation limiting assembly changes the limiting direction of the winding rod 4.
[0049] Please refer to Figure 1 The winding rod 509 is provided inside the alternate gear rotating disc 529, and the bevel gear chuck 510 is welded and fixed at both ends of the winding rod 509, and the rope limiting disc 508 is provided outside the winding rod 509 and located at one end of the bevel gear chuck 510, and the pull rope 507 is wound outside the rope limiting disc 508.
[0050] In the embodiment, when the alternate gear rotating disc 529 rotates, the winding rod 509 rotates, so that the bevel gear chuck 510 at both ends of the winding rod 509 rotates with the winding rod 509, so that a plurality of winding rods 509 rotate in the same direction, so that a plurality of winding rods 509 simultaneously wind the pull rope 507 in four directions, so as to provide power for the moving and turning assembly, thereby facilitating the unfolding of the subsequent identification display board 501.
[0051] Please refer to Figure 1 、 2, 6, 7, 8, the moving assembly comprises a U-shaped fixed plate 512 arranged outside the floating block 1, the outer side of the U-shaped fixed plate 512 is provided with a guide limiting block 538, the inner side of the guide limiting block 538 is provided with a directional dynamic plate 513 located outside the U-shaped fixed plate 512, the inner side of the directional dynamic plate 513 is provided with a toothed rotating disc 515 connected with the identification display plate 501, the inner side of the U-shaped fixed plate 512 is provided with a rotation limiting tooth rod 516 engaged with the toothed rotating disc 515, the top of the U-shaped fixed plate 512 is provided with a lead hole 533, one side of the lead hole 533 is provided with a lead slot 514, the inner side of the identification display plate 501 is provided with an identification layer 534, one end of the directional dynamic plate 513 is rotatably connected with a single-groove screw rotating rod 544 through a bearing, the outer side of the single-groove screw rotating rod 544 is sleeved with an internal screw sleeve plate 547, both sides of the toothed rotating disc 515 are provided with a first connecting rotating conical gear disc 545, one end of the single-groove screw rotating rod 544 is provided with a second connecting rotating conical gear disc 546 engaged with the first connecting rotating conical gear disc 545, the inner side of the rotation limiting tooth rod 516 is provided with a movement limiting groove 540, the inner side of the movement limiting groove 540 is slidably connected with a displacement sliding plate 543, the inner side of the displacement sliding plate 543 is slidably connected with a pulling fixed rod 541 connected with the internal screw sleeve plate 547, one end of the displacement sliding plate 543 is provided with a close-connection compression spring 542 connected with the internal screw sleeve plate 547, and the bottom of the directional dynamic plate 513 is provided with a flow resistance plug.
[0052] In this embodiment: when the collector operates, the pull rope 507 can be wound, at this time the pull rope 507 will move along the lead hole 533, the lead slot 514, so that the top of the directional dynamic plate 513 is pulled by the pull rope 507, so that the directional dynamic plate 513 can be moved upward relative to the U-shaped fixed plate 512, so as to make the directional dynamic plate 513 drive the identification display plate 501 to move upward, in this process the geared turntable 515 will rotate along the limit gear rod 516 under the action of the limit gear rod 516 end click, gear slot, so as to make the geared turntable 515 rotate relative to the directional dynamic plate 513, so as to make the geared turntable 515 drive the identification display plate 501 to rotate, so that the identification display plate 501 is turned over in the process of moving upward, in the process of rising, the geared turntable 515 will drive the single-groove screw rod 544 to rotate through the first and second connecting bevel gear 545, 546, so that the inner sleeve plate 547 moves along the single-groove screw rod 544, so as to stretch the attached compression spring 542, at this time the attached compression spring 542 will have a restoring force, at this time a certain tension will be generated on the inner sleeve plate 547, so as to provide tension for the geared turntable 515, so that the limit gear rod 516 is attached to the geared turntable 515, so as to increase the stability of the geared turntable 515 rotation, when the identification display plate 501, so as to make the identification display plate 501 rotate to an inclined state with the float 1, so as to make the identification layer 534 exposed, so as to make the float 1 more eye-catching, so as to provide convenience for subsequent workers to find the buoy, so as to increase the efficiency of workers to find the buoy, and also prevent the identification layer 534 from falling off due to long-term exposure in the air, so as to increase the service life of the identification display plate 501.
[0053] Please refer to Figure 8 , the flow blocking insert includes a dynamic connection plate 506 arranged at the bottom of the directional dynamic plate 513, the top of the dynamic connection plate 506 is provided with a guide column 505 penetrating into the inside of the support plate holder 504, the top of the guide column 505 is provided with a flow blocking plate 537, the top of the flow blocking plate 537 is provided with a flow blocking block 536, the outside of the flow blocking block 536 is provided with a flow blocking water hole 535, and the top of the dynamic connection plate 506 is provided with a suspension spring 518 sleeved outside the guide column 505.
[0054] In the embodiment, when the directional moving plate 513 moves upward relative to the U-shaped fixed plate 512, the moving connecting plate 506 is driven to move, so that the moving connecting plate 506 moves relative to the supporting plate 504, so that the blocking flow plate 537 is inserted into the water storage pipe 503, thereby shielding the drainage water hole 517 outside the water storage pipe 503, and the blocking flow hole 535 is dislocated from the drainage water hole 517 as the blocking flow plate 537 moves upward, so that the blocking flow hole 535 moves above the drainage water hole 517, at this time, the blocking flow hole 535 is shielded by the inner wall of the water storage pipe 503, so that the external water flow is prevented from flowing into the water storage pipe 503 through the drainage water hole 517, so that the external water flow is prevented from flowing into the water storage pipe 503 when the float 1 is subjected to wind and waves, thereby preventing the external water flow from affecting the operation of the depth sensor 502, and increasing the stability of the winding rod 4.
[0055] Please refer to Figure 8 , the outer wall of the blocking flow block 536 is fitted with the outer wall of the water storage pipe 503, and the blocking flow block 536 is a hollow and topless tubular structure.
[0056] In the embodiment, the structure can move the blocking flow hole 535 without affecting the flow of water in the water storage pipe 503, thereby facilitating the subsequent shielding of the drainage water hole 517.
[0057] Please refer to Figure 7 , the inner side of the guide limiting block 538 is provided with a through hole matched with the directional moving plate 513, the pull rope 507 is in a fitted state with the lead groove 514, and the rotating shaft of the toothed rotating disc 515 connected with the identification display plate 501 is rotatably connected with the directional moving plate 513 through a bearing.
[0058] In the embodiment, the structure can drive the identification display plate 501 to rotate when the toothed rotating disc 515 rotates, so that the identification display plate 501 contacts or separates from the float 1, and the identification layer 534 is shielded when the identification display plate 501 contacts the float 1, thereby preventing the identification layer 534 from being soaked in water for a long time, so that the toothed rotating disc 515 is exposed to air for a long time and falls off, thereby increasing the service life of the identification display plate 501.
[0059] The following describes an AUV underwater positioning monitoring device and method, which comprises the following steps:
[0060] S1: when the probe releases the floating block 1, the floating block 1 will pull the traction rope 3 due to its buoyancy, and since the traction rope 3 is directly connected to the probe, the winding rod 4 will be unwound under the action of the floating block 1 floating, in this process, the reverse tooth disc 519 will drive the forward tooth block 523 through the inclined surface of its outer side, so that the forward tooth block 523 swings relative to the first moving plate 522, and the screw torsion bar 532 is used to restore the forward tooth block 523 after swinging, in this process, the forward tooth disc 511 and the reverse tooth block 530 are in a separated state, so that the winding rod 4 can rotate in one direction, so as to make the device stably unwind the traction rope 3, thereby increasing the stability of the release of the traction rope 3;
[0061] S2: when the floating block 1 floats out of the water, the water flow in the water storage pipe 503 will flow out of the water storage pipe 503 under the action of gravity through the drainage water hole 517, at this time the depth sensor 502 detects the depth of the water in the water storage pipe 503, when the water flow passes through the drainage water hole 517 and flows out of the water storage pipe 503, the depth sensor 502 detects that the depth of the water in the water storage pipe 503 changes, at this time the depth sensor 502 transmits an electrical signal to the controller in the floating block 1, at this time the controller makes the electric push rod 521 extend, the electric push rod 521 extends and pushes the traction plate 525 to move downward, at this time the traction plate 525 drives the first moving plate 522 to move downward, so that the first moving plate 522 moves downward relative to the fixed plate 520 under the limitation of the downward moving slot 524, so that the upper connecting tooth fixed plate 531 moves with the movement of the first moving plate 522, so that the upper connecting tooth fixed plate 531 drives the alternate tooth rotating disc 529 to rotate, the alternate tooth rotating disc 529 rotates and drives the lower connecting tooth fixed plate 526 to move, so that the second moving plate 528 moves upward relative to the fixed plate 520 under the limitation of the upward moving slot 527, so that the reverse tooth block 530 is buckled into the outer side of the forward tooth disc 511, and the reverse tooth disc 519 and the forward tooth block 523 are separated, thereby limiting the winding rod 4, so that the winding rod 4 can only wind the traction rope 3, so as to prevent the floating block 1 from floating on the water surface due to the release of the too long traction rope 3, thereby increasing the stability of the floating block 1 and providing convenience for the subsequent workers to position the probe below;
[0062] S3: when the alternate tooth rotating disc 529 rotates, it can drive the rotating rope rod 509 to rotate, so that the bevel gear chuck 510 at both ends of the rotating rope rod 509 rotates with the rotating rope rod 509, so that the plurality of rotating rope rods 509 rotate in the same direction, so that the plurality of rotating rope rods 509 simultaneously wind the four-directional pull rope 507, thereby providing power for the moving and turning assembly, thereby facilitating the subsequent unfolding of the identification display board 501;
[0063] S4: when the continuous collector operates, the pull rope 507 can be wound, at which time the pull rope 507 moves along the lead hole 533 and the lead slot 514, so that the top of the directional dynamic plate 513 is pulled by the pull rope 507, so that the directional dynamic plate 513 moves upward relative to the U-shaped fixed plate 512, so that the directional dynamic plate 513 drives the identification display board 501 through the geared rotating disc 515, in the process, the geared rotating disc 515 rotates along the limit rotating tooth rod 516 under the action of the limit rotating tooth rod 516 end clamping tooth and tooth groove, so that the geared rotating disc 515 rotates relative to the directional dynamic plate 513, so that the geared rotating disc 515 drives the identification display board 501 to rotate, so that the identification display board 501 is flipped during the upward movement, so that the identification display board 501 is turned to an inclined state with the float 1, so that the identification layer 534 is exposed, at which time the staff can see the identification layer 534 from multiple directions, so that the float 1 is more eye-catching, the staff can find the surrounding of the float 1 under the wireless positioning module in the float 1, after reaching the vicinity of the float 1, the water surface is observed, after watching the identification layer 534, the float 1 is accurately positioned, thereby speeding up the searching efficiency of the staff for the float 1, so that the subsequent staff searching for the float 1 is facilitated, thereby increasing the staff's searching efficiency for the float, and when the float 1 is immersed in water, the outside of the identification display board 501 is in a state of adhesion with the float 1, at which time the inflow of water into the identification display board 501 is prevented, thereby preventing the identification layer 534 from being soaked in water for a long time, or the identification layer 534 from being exposed to air for a long time, thereby increasing the service life of the identification display board 501;
[0064] S5: when the directional moving plate 513 moves upward relative to the U-shaped fixed plate 512, the movable connecting plate 506 is driven to move, so that the movable connecting plate 506 moves relative to the supporting plate 504, so that the blocking flow plate 537 is inserted into the water storage pipe 503, so as to shield the drainage water hole 517 outside the water storage pipe 503, at the same time, the blocking flow hole 535 is dislocated from the drainage water hole 517 with the upward movement of the blocking flow plate 537, so that the blocking flow hole 535 is moved to the upper side of the drainage water hole 517, at this time, the blocking flow hole 535 can be shielded by the inner wall of the water storage pipe 503, so that the external water flow can be prevented from flowing into the water storage pipe 503 through the drainage water hole 517, so that the external water flow can be prevented from flowing into the water storage pipe 503 when the floating block 1 is subjected to wind and waves, so as to prevent the inflow of external water flow from affecting the operation of the depth sensor 502, and increase the stability of the winding rod 4.
[0065] The above is only a preferred embodiment of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art can make equivalent replacement or change according to the technical scheme and the inventive concept of the present application within the technical range disclosed by the present application, which should be covered in the protection scope of the present application.
Claims
1. An AUV underwater positioning and monitoring device, comprising a float (1), a cable storage cavity (2) being provided at the bottom of the float (1), a cable winding rod (4) being provided inside the cable storage cavity (2), and a traction rope (3) being provided outside the cable winding rod (4), characterized in that, The two ends of the wire storage cavity (2) are connected to shaping plates (520). The shaping plates (520) are connected to the winding rod (4) through a one-way rotation limiting component. The one-way rotation limiting component adjusts the direction of the winding rod (4) through a limit intersection component. The outer side of the float (1) is connected to an identification display plate (501) through a shifting component. The shifting component is connected to the limit intersection component through a retractor. The one-way rotation limiting component includes a first moving plate (522) disposed on the top of the shaping plate (520). The top of the first moving plate (522) is connected to the winding rod (4) through a limit intersection component. A rotating shaft is rotatably connected to a clockwise rotating toothed block (523). A downward displacement limiting groove (524) is provided on the inner side of the first shifting plate (522). The winding rod (4) has counter-clockwise toothed discs (519) located outside the wire storage cavity (2) at both ends. A clockwise toothed disc (511) is provided at one end of the counter-clockwise toothed disc (519). A second shifting plate (528) is provided at one end of the shaping plate (520). An upward displacement limiting groove (527) is provided on the inner side of the second shifting plate (528). The top of the second shifting plate (528) is rotatably connected to a rotating shaft. A reversing gear block (530) is connected to the second moving plate (528) by a helical twist bar (532) on the outside of the rotating shaft; the limiting assembly includes a support plate support (504) connected to the four corners of the float (1), a water storage pipe (503) is provided on the top of the support plate support (504), a connecting flange plate (539) is fixed on the top of the water storage pipe (503), a depth sensor (502) is installed on the top of the connecting flange plate (539), and a water drainage hole (51) is opened on the outside of the water storage pipe (503). 7) The bottom of the first moving plate (522) is fixed with a traction plate (525), and the bottom of the float (1) is equipped with an electric push rod (521) connected to the traction plate (525). One end of the first moving plate (522) is connected to an upper connecting tooth plate (531). The inner side of the shaping plate (520) is provided with an alternating tooth turntable (529) that meshes with the upper connecting tooth plate (531). One end of the upper moving limit groove (527) is provided with a lower connecting tooth plate (526) that meshes with the alternating tooth turntable (529).
2. The AUV underwater positioning and monitoring device according to claim 1, characterized in that, The depth sensor (502) is electrically connected to the controller inside the float (1) via a wire. The electric push rod (521) is electrically connected to the controller inside the float (1) via a wire. The clockwise rotating tooth block (523) is also connected to the first moving plate (522) via the spiral twist bar (532). The counterclockwise toothed disc (519) has the opposite tooth direction to the outside of the clockwise toothed disc (511).
3. The AUV underwater positioning and monitoring device according to claim 2, characterized in that, The retractor includes a rotating rope rod (509) disposed inside the alternating tooth turntable (529). Both ends of the rotating rope rod (509) are welded and fixed with helical tooth chucks (510). A rope limiting disc (508) located at one end of the helical tooth chuck (510) is disposed on the outside of the rotating rope rod (509). A pull rope (507) is wound around the outside of the rope limiting disc (508).
4. The AUV underwater positioning and monitoring device according to claim 3, characterized in that, The tilting assembly includes a U-shaped fixed plate (512) disposed on the outside of the float (1), a guide limit block (538) disposed on the outside of the U-shaped fixed plate (512), a directional moving plate (513) disposed on the inside of the guide limit block (538) and located on the outside of the U-shaped fixed plate (512), a fixed toothed turntable (515) connected to the marking display board (501) disposed on the inside of the directional moving plate (513), a rotation-limiting toothed rod (516) meshing with the fixed toothed turntable (515) disposed on the inside of the U-shaped fixed plate (512), a lead wire hole (533) opened on the top of the U-shaped fixed plate (512), a lead wire groove (514) disposed on one side of the lead wire hole (533), a marking layer (534) disposed on the inside of the marking display board (501), and one end of the directional moving plate (513) rotatably connected to a bearing. A single-groove threaded rotating rod (544) is fitted with an inner threaded sleeve plate (547) on its outer side. A first rotating bevel gear plate (545) is provided on both sides of the fixed tooth rotating disk (515). A second rotating bevel gear plate (546) that meshes with the first rotating bevel gear plate (545) is provided at one end of the single-groove threaded rotating rod (544). An anti-displacement limiting groove (540) is provided on the inner side of the limiting rod (516). A displacement sliding plate (543) is slidably connected to the inner side of the anti-displacement limiting groove (540). A pulling fixed rod (541) that is connected to the inner threaded sleeve plate (547) is slidably connected to the inner side of the displacement sliding plate (543). A connecting spring (542) that is connected to the inner threaded sleeve plate (547) is provided at one end of the displacement sliding plate (543). A flow-blocking plug is provided at the bottom of the directional moving plate (513).
5. The AUV underwater positioning and monitoring device according to claim 4, characterized in that, The flow-blocking insert includes a moving connecting plate (506) disposed at the bottom of the directional moving plate (513). The top of the moving connecting plate (506) is provided with a guide post (505) that extends through to the inner side of the support plate bracket (504). The top of the guide post (505) is provided with a flow-blocking plate (537). The top of the flow-blocking plate (537) is provided with a flow-blocking block (536). The outer side of the flow-blocking block (536) is provided with a flow-blocking hole (535). The top of the moving connecting plate (506) is provided with a suspension compression spring (518) sleeved on the outer side of the guide post (505).
6. The AUV underwater positioning and monitoring device according to claim 5, characterized in that, The outer wall of the flow-blocking block (536) is attached to the outer wall of the water storage pipe (503), and the flow-blocking block (536) is a hollow, topless tubular structure.
7. The AUV underwater positioning and monitoring device according to claim 6, characterized in that, The inner side of the guide block (538) is provided with a through hole that matches the directional moving plate (513). The pull rope (507) and the lead wire groove (514) are in a close fit. The rotating shaft of the fixed tooth turntable (515) connected to the marking display plate (501) is rotatably connected to the directional moving plate (513) through a bearing.
8. An AUV underwater positioning and monitoring method, characterized in that, The AUV underwater positioning and monitoring device according to any one of claims 1-7 includes the following steps: S1: When the detector releases the float (1), the float (1) will move upward toward the water surface under the action of buoyancy; S2: At this time, the winding rod (4) can be released from the traction rope (3) by the one-way rotation limit component; S3: When the float (1) moves above the water surface, the one-way rotation limiting component can be used to change the limiting direction of the winding rod (4) through the limiting component; S4: When the traffic restriction component is in operation, the signage display board (501) can be reversed through the cooperation between the receiver and the flipping component; S5: Then, under the guidance of the float (1), the staff can quickly retrieve the detector in the water.
Citation Information
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