Small underwater robot and line patrol sensor mounting structure thereof

Abstract

The invention discloses a small underwater robot and a line patrol sensor mounting structure thereof.The small underwater robot comprises a protection frame, a driving unit, a telescopic rod unit and a line patrol sensor are arranged in the protection frame, the telescopic rod unit comprises a connecting rod and a supporting rod rotationally connected to the protection frame, and one end of the connecting rod is rotationally connected to the driving unit; one end of the telescopic rod unit is rotatably connected to the protection frame, the other end of the telescopic rod unit is rotatably connected to the supporting rod to form a foldable and unfoldable two-connecting-rod, the line patrol sensor is assembled at the end, away from the connecting rod, of the supporting rod, and the driving unit drives the telescopic rod unit to be folded and unfolded so that the line patrol sensor can be switched between the folded position folded in the protection frame and the unfolded position unfolded outside the protection frame. The protection frame is arranged in a compact mode, the line patrol sensor can be unfolded and stretch out of the protection frame in the line patrol operation process and can be folded in the protection frame when the line patrol operation process is not carried out, a sensing probe of the line patrol sensor is prevented from being damaged by collision, and meanwhile transportation is convenient and good flexibility is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of underwater robots, and in particular to a small underwater robot and a line-patrolling sensor installation structure thereof. Background Art

[0002] With the rapid development of offshore wind farm construction, a large number of submarine cables are laid on the seabed and protected by deep burial, riprap dams, etc. It is difficult to carry out daily inspections directly and their working conditions are also difficult to check. Therefore, underwater robots are usually used to dive into the seabed to replace people to complete the inspection work, and such underwater robots are also small underwater robots.

[0003] Generally, a small underwater robot needs to be equipped with at least two line patrol sensors. When patrolling submarine cables, the working distance between the two line patrol sensors is required to be relatively large, and will exceed the size of the small underwater robot itself. If the line patrol sensor is installed on the outside of the small underwater robot, the sensor probe of the exposed line patrol sensor will be easily damaged due to its own fragility, that is, it is difficult to obtain effective protection. At the same time, since the installation distance between the two line patrol sensors is too large, it is difficult to recycle them inside the small underwater robot, which makes it inconvenient to transport. Summary of the invention

[0004] To this end, in order to solve the above-mentioned problem, the present invention provides a small underwater robot and a line-patrol sensor installation structure thereof. The line-patrol sensor can be unfolded and extended out of a protective frame during line-patrol operations, and can be folded into the protective frame when not in line-patrol operations, so as to avoid damage to the sensor probe of the line-patrol sensor. At the same time, the robot is easy to transport and thus has good flexibility.

[0005] To achieve the above purpose, the technical solution provided by the present invention is as follows:

[0006] The present invention provides a line-following sensor installation structure of a small underwater robot, comprising a protection frame, wherein a driving unit, a telescopic rod unit and a line-following sensor for tracking the trajectory of an underwater cable are arranged in the protection frame; the telescopic rod unit comprises a connecting rod and a supporting rod rotatably connected to the protection frame, one end of the connecting rod is rotatably connected to the driving unit, and the other end is rotatably connected to the supporting rod to form a foldable and unfoldable two-link rod; the line-following sensor is assembled on one end of the supporting rod away from the connecting rod, and the telescopic rod unit is driven by the driving unit to fold or unfold, so that the line-following sensor is switched between a folded position folded in the protection frame and an unfolded position unfolded outside the protection frame, thereby forming a compact arrangement.

[0007] Furthermore, the driving unit includes a waterproof motor, a transmission screw and a connecting block sleeved on the transmission screw, the transmission screw is transmission-connected to the rotating shaft of the waterproof motor, the connecting block and the transmission screw form a threaded connection, and one end of the connecting rod is rotatably connected to the connecting block.

[0008] Furthermore, the connecting block can be slidably assembled on the protection frame.

[0009] Furthermore, the number of the line patrol sensors and the telescopic rod units is two, and the line patrol sensors and the telescopic rod units are symmetrically distributed on both sides of the driving unit; when the line patrol sensors are unfolded, the two line patrol sensors extend out of the protection frame and are arranged in a straight line.

[0010] Furthermore, a signal processing unit for power supply and interactive communication is arranged in the middle of the protection frame, and the signal processing unit is respectively connected to the line patrol sensor and the driving unit through a waterproof cable.

[0011] Furthermore, the power supply terminal of the signal processing unit is connected to the power supply terminal of the small underwater robot to ensure the energy supply of the driving unit and the line patrol sensor.

[0012] Furthermore, an imaging sensor for sampling underwater images and an altimeter for measuring underwater height are provided at one end of the protection frame, and the imaging sensor and the altimeter are respectively connected to the signal processing unit via a waterproof cable.

[0013] The present invention provides a small underwater robot, comprising a robot body and the above-mentioned line patrol sensor installation structure of the small underwater robot, wherein the robot body is assembled on the protection frame.

[0014] Furthermore, a fastening connection component is provided between the robot body and the protection frame, and the robot body and the protection frame are stably connected as one body through the cooperation of the fastening connection component.

[0015] Furthermore, a limiting connector for limiting the position of the robot body is provided on the protection frame.

[0016] The technical solution provided by the present invention has the following beneficial effects:

[0017] The driving unit drives the two connecting rods formed by the telescopic rod unit to fold or unfold, so as to ensure that the line patrol sensor can be unfolded and extended out of the protection frame when the underwater cable is patrolling, and the line patrol sensor can be folded in the protection frame when the line patrol operation is not in progress, so that the line patrol sensor is effectively protected to avoid the sensor probe of the line patrol sensor from being damaged. At the same time, the entire line patrol sensor installation structure is relatively compact, easy to transport, and has good flexibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 Shown is a schematic diagram of a small underwater robot in an embodiment;

[0019] Figure 2 FIG. 1 is a schematic diagram of the installation structure of the line-following sensor of the small underwater robot in the folded position in the embodiment;

[0020] Figure 3 FIG. 1 is a schematic diagram of another perspective of the installation structure of the line-following sensor of the small underwater robot in the folded position in the embodiment;

[0021] Figure 4 FIG. 1 is a schematic diagram of a line-following sensor installation structure of a small underwater robot in an expanded position in an embodiment;

[0022] Figure 5 Shown is a schematic diagram of another perspective of the line-following sensor installation structure of the small underwater robot in the deployed position in the embodiment. DETAILED DESCRIPTION

[0023] To further illustrate the various embodiments, the present invention provides drawings. These drawings are part of the disclosure of the present invention, which are mainly used to illustrate the embodiments and can be used in conjunction with the relevant descriptions in the specification to explain the operating principles of the embodiments. With reference to these contents, a person of ordinary skill in the art should be able to understand other possible implementations and advantages of the present invention. The components in the figures are not drawn to scale, and similar component symbols are generally used to represent similar components.

[0024] The present invention will now be further described with reference to the accompanying drawings and specific implementation methods.

[0025] Reference Figure 1 As shown, this embodiment provides a small underwater robot, including a robot body 12 belonging to the prior art and a line patrol sensor installation structure of the small underwater robot, and the line patrol sensor installation structure of the small underwater robot is referred to as the line patrol sensor installation structure 17.

[0026] In this embodiment, when it is necessary to patrol and inspect the underwater cables, the small underwater robot is first placed on the mother ship, and then carried by the mother ship to the patrol area of ​​the underwater cables. The small underwater robot is then released underwater, and then the patrol sensor installation structure 17 is remotely controlled by the onshore control console to facilitate the deployment and folding of the patrol sensor, and finally complete the patrol operation.

[0027] like Figure 2 As shown, the specific line patrol sensor installation structure 17 includes a protection frame 2 for protecting the sensing probe of the line patrol sensor 1, a driving unit, a telescopic rod unit and a line patrol sensor 1 for tracking the underwater cable trajectory are arranged in the protection frame 2, the telescopic rod unit includes a connecting rod 9 and a support rod 10 rotatably connected to the protection frame 2, one end of the connecting rod 9 is rotatably connected to the driving unit, and the other end is rotatably connected to the support rod 10 to form a foldable and unfoldable two-link rod, the line patrol sensor 1 is assembled on the end of the support rod 10 away from the connecting rod 9, and the telescopic rod unit is driven by the driving unit to fold or unfold, so that the line patrol sensor 1 can switch between a folded position folded in the protection frame 2 and an unfolded position unfolded outside the protection frame 2, and a compact arrangement is formed.

[0028] like Figure 1 and Figure 2 As shown, a fastening connection component 6 is provided between the robot body 12 and the protective frame 2. Through the cooperation of the fastening connection component 6, the robot body 12 and the protective frame 2 form a stable integrated connection, and a limiting connection piece 11 for limiting the robot body 12 is provided on the protective frame 2.

[0029] The driving unit drives the two connecting rods composed of the telescopic rod unit to fold or unfold, so as to ensure that the line patrol sensor 1 can be unfolded and extended out of the protection frame 2 when the underwater cable is patrolling, and the line patrol sensor 1 can be folded in the protection frame 2 when the line patrol is not in operation, so that the line patrol sensor 1 is effectively protected to avoid the sensor probe of the line patrol sensor 1 from being damaged. At the same time, the entire line patrol sensor installation structure 17 is relatively compact, that is, the overall size is effectively reduced for easy transportation, and it also has good flexibility.

[0030] Furthermore, if complex sea conditions are encountered, instructions can also be issued from the onshore control console via remote communication to ensure that the line patrol sensor 1 is recovered into the protection frame 2 in a timely manner, thereby preventing the sensor probe of the line patrol sensor 1 from being accidentally damaged.

[0031] More specifically, Figure 2As shown, a signal processing unit 3 for power supply and interactive communication is provided in the middle of the protection frame 2 to ensure that the operator can remotely control the operation of various relevant functional components of the line patrol sensor installation structure 17 through communication, and the power connection end of the signal processing unit 3 is connected to the power supply end of the robot body 12 of the small underwater robot, and during the line patrol operation, the robot body 12 is connected to the mother ship through the umbilical cable to realize the total energy supply.

[0032] In addition, an imaging sensor 4 for sampling underwater images and an altimeter 5 for measuring underwater height are provided in the middle of the tail end of the protection frame 2, and the signal processing unit 3 is used to transmit effective sampling images and height and other related information to the onshore control console.

[0033] In addition, the signal processing unit 3, the imaging sensor 4 and the altimeter 5 are arranged in sequence along the center line direction of the protection frame 2, and the line patrol sensor 1, the driving unit, the imaging sensor 4 and the altimeter 5 are respectively connected to the power supply end of the signal processing unit 3 through waterproof cables to ensure the energy supply of the above-mentioned functional components.

[0034] In another preferred embodiment, Figure 2 and Figure 4 As shown, the driving unit includes a waterproof motor 7, a transmission screw 8 and a connecting block 13 sleeved on the transmission screw 8, the transmission screw 8 is transmission-connected to the rotating shaft of the waterproof motor 7, the connecting block 13 and the transmission screw 8 form a threaded connection, and one end of the connecting rod 9 is rotatably connected to the connecting block 13, and the connecting block 13 can be slidably assembled on the protective frame 2 to ensure that the sliding direction of the connecting block 13 is relatively stable.

[0035] In this specific embodiment, the number of line patrol sensors 1 and telescopic rod units is two, and the line patrol sensors 1 and the telescopic rod units are symmetrically distributed on both sides of the driving unit. At this time, the two line patrol sensors 1, the connecting rod 9 and the support rod 10 are also axially symmetrically arranged with the center line of the protection frame 2 along its long direction as the center.

[0036] like Figure 3 As shown, the middle areas of the two support rods 10 and the protection frame 2 are respectively hinged to form two fixed rotation fulcrums 14, the two connecting rods 9 and the same connecting block 13 are respectively hinged to form corresponding movable first hinge points 15, and the inner ends of the two support rods 10 away from the line patrol sensor 1 and the end of the connecting rod 9 away from the connecting block 13 are respectively hinged to form corresponding movable second hinge points 16.

[0037] like Figure 2As shown, when the line patrol sensor 1 needs to start working, the waterproof motor 7 drives the transmission screw 8 to rotate in a first direction, and then drives the connection block 13 to move toward the tail end of the protection frame 2 through the threaded connection between the connection block 13 and the transmission screw 8. At the same time, through the cooperation of the rotating fulcrum 14, the first hinge point 15 and the second hinge point 16, the two support rods 10 are unfolded and extended outward, and then the two line patrol sensors 1 fixed at the outer ends of the support rods 10 are extended out of the protection frame 2 and arranged in a straight line, so as to accurately sense the underwater cable trajectory and guide the movement direction of the small underwater robot underwater.

[0038] like Figure 4 and Figure 5 As shown, when the line patrol operation is completed and the line patrol sensor 1 needs to be folded, the waterproof motor 7 drives the transmission screw 8 to rotate in a second direction opposite to the first direction, and then the threaded connection between the connecting block 13 and the transmission screw 8 is used to drive the connecting block 13 to move toward the head end of the protection frame 2. At the same time, through the cooperation of the rotating fulcrum 14, the first hinge point 15 and the second hinge point 16, the two support rods 10 are folded inward and retracted into the protection frame 2, thereby realizing the folding of the two line patrol sensors 1 back into the protection frame 2 to obtain the protection or protection of the protection frame 2.

[0039] Although the present invention has been specifically shown and described in conjunction with the preferred embodiments, it should be understood by those skilled in the art that various changes may be made to the present invention in form and details without departing from the spirit and scope of the present invention as defined by the appended claims, all of which are within the scope of protection of the present invention.

Claims

1. A line-following sensor installation structure for a small underwater robot, comprising a protection frame, characterized in that: The protection frame is provided with a driving unit, a telescopic rod unit and a line-following sensor for tracking the underwater cable trajectory; The telescopic rod unit includes a connecting rod and a support rod rotatably connected to the protection frame, one end of the connecting rod is rotatably connected to the driving unit, and the other end is rotatably connected to the support rod to form a foldable and unfoldable two-link rod; The line-following sensor is mounted on one end of the support rod away from the connecting rod, and the telescopic rod unit is driven to fold or unfold by the driving unit, so that the line-following sensor can be switched between a folded position folded in the protection frame and an unfolded position unfolded outside the protection frame, thereby forming a compact arrangement.

2. The line-following sensor installation structure of a small underwater robot according to claim 1, characterized in that: The driving unit includes a waterproof motor, a transmission screw and a connecting block sleeved on the transmission screw, the transmission screw is transmission-connected to the rotating shaft of the waterproof motor, the connecting block and the transmission screw form a threaded connection, and one end of the connecting rod is rotatably connected to the connecting block.

3. The line-following sensor installation structure of a small underwater robot according to claim 2, characterized in that: The connecting block can be slidably assembled on the protection frame.

4. The line-following sensor installation structure of a small underwater robot according to claim 2, characterized in that: There are two line patrol sensors and two telescopic rod units, which are symmetrically distributed on both sides of the driving unit. When the line patrol sensors are unfolded, the two line patrol sensors extend out of the protection frame and are arranged in a straight line.

5. The line-following sensor installation structure of a small underwater robot according to any one of claims 1 to 4, characterized in that: A signal processing unit for power supply and interactive communication is arranged in the middle of the protection frame, and the signal processing unit is respectively connected to the line patrol sensor and the driving unit through a waterproof cable.

6. The line-following sensor installation structure of a small underwater robot according to claim 5, characterized in that: The power supply terminal of the signal processing unit is connected to the power supply terminal of the small underwater robot to ensure the energy supply of the driving unit and the line patrol sensor.

7. The line-following sensor installation structure of a small underwater robot according to claim 5, characterized in that: An imaging sensor for sampling underwater images and an altimeter for measuring underwater height are arranged at one end of the protection frame, and the imaging sensor and the altimeter are respectively connected to the signal processing unit through waterproof cables.

8. A small underwater robot, characterized in that: It comprises a robot body and a line-following sensor installation structure of a small underwater robot as described in any one of claims 1 to 7, wherein the robot body is assembled on the protection frame.

9. The small underwater robot according to claim 8, characterized in that: A fastening connection component is provided between the robot body and the protection frame, and the robot body and the protection frame are stably connected as one body through the cooperation of the fastening connection component.

10. The small underwater robot according to claim 9, characterized in that: The protection frame is provided with a limiting connection piece for limiting the position of the robot body.

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