An underwater detection device for reef sea areas

Abstract

The present invention discloses an underwater detection device for reef sea areas, comprising: a body, a camera assembly arranged on the side of the forward end of the body; a second protective assembly is arranged on the body facing the side of the camera assembly, and the second protective assembly includes a second rigid assembly arranged on the side of the camera assembly, and a second driving assembly driving the second rigid assembly to switch the on / off state; the present invention starts the inflation assembly to inject gas into the sealed chamber, inflate the external protective sheet to create a first layer of inflation buffer protection layer, and provide additional buoyancy to enable the device to rise quickly and leave the dangerous area; unfold the first rigid assembly to form a second protective layer, and effectively absorb and resist external impacts through double-layer protection to ensure the safety of the camera assembly. The second rigid assembly can also be triggered by the second driving assembly to form a physical protective layer to surround and protect the camera assembly, thereby forming a triple protection structure.

Description

Technical Field

[0001] The invention relates to an underwater detection device for reef sea areas, belonging to the technical field of underwater detection. Background Art

[0002] Underwater detection equipment is a device used to explore and monitor the underwater environment. It can collect underwater environmental information through a variety of technical means such as sound waves, optical sensors, magnetic fields, temperature, pressure, etc. This type of equipment is widely used in scientific research, marine resource exploration, military reconnaissance, submarine communications and environmental protection. Common underwater detection equipment includes sonar (SONAR), underwater cameras, laser radar (LIDAR), water quality sensors and underwater robots (such as unmanned underwater vehicles AUV, remotely operated submersibles ROV), etc.

[0003] Reefs are often home to coral reefs, seaweed beds and other biological communities, and protecting these areas is vital to the marine ecosystem. Through accurate detection, we can assess the ecological health and monitor problems such as pollution and erosion.

[0004] Reef areas are usually dangerous areas for navigation at sea. Through accurate detection, detailed seabed topography maps can be drawn to help ships avoid potential dangers and prevent ships from running aground on reefs.

[0005] In addition, when laying pipelines, cables or carrying out other projects on the seabed, it is necessary to accurately understand the distribution of reefs in order to plan routes reasonably and avoid affecting the project.

[0006] In some complex sea areas, there are reefs and undercurrents. Undercurrents are strong and unpredictable currents that can impact underwater detection equipment with relatively large forces. If the equipment does not have sufficient stability, it is easy to be driven by the undercurrent and hit the reef, causing damage or loss of function. This is particularly dangerous in complex reef terrain, because the undercurrent may push the equipment into rocks or crevices, making it unable to free itself.

[0007] Therefore, the purpose of this study is to design a multifunctional underwater detection device that can effectively improve the detection stability of underwater detection equipment in complex sea areas, the accuracy of data acquisition, and overcome the problem of equipment damage caused by undercurrent impact. Summary of the invention

[0008] In view of the deficiencies in the prior art, the object of the present invention is to provide an underwater detection device for reef sea areas to solve the problems of the prior art.

[0009] In order to achieve the above object, the present invention is implemented through the following technical solutions:

[0010] An underwater detection device for reef sea areas comprises: a body, a camera assembly arranged on the side of the forward end of the body;

[0011] A posture monitoring component disposed inside the body, and a first protection component cooperating with the posture monitoring component;

[0012] The first protective component includes a protective sheet covering the outer surface of the body at one end facing the camera component, and an inflatable component arranged inside the body, the edge of the protective sheet is sealed and fixed to the body to form a sealed chamber, and the gas input end of the inflatable component is connected to the sealed chamber;

[0013] It also includes a first rigid component and a first driving component for starting the first rigid component, wherein the first rigid component abuts against the inner side of the protective sheet, and the first driving component is mounted on the machine body;

[0014] A control module, wherein the control module is electrically connected to the camera assembly, the first drive assembly, the posture monitoring assembly, and the inflation assembly;

[0015] After the control module controls the inflation component to inflate the sealed chamber, the protection sheet expands to form a first protection layer with high-pressure gas;

[0016] After the control module controls the first driving component to switch the first rigid component to an open state, one end of the first rigid component is supported within the protective sheet to assist the expansion of the sealed chamber, and the body of the first rigid component forms a second protective layer inside the first protective layer.

[0017] As a further improvement, the first protection component also includes a relief valve port, which is connected to the sealed chamber. The relief valve port adopts an electronic relief valve, which is electrically connected to the control module, and the open / closed state of the electronic relief valve is adjusted by the control module.

[0018] As a further improvement, the first rigid component includes a flip block rotatably mounted on the upper surface of the body, a plurality of groups of springs arranged on one side above the flip block, and a first metal wire arranged on the other side above the flip block corresponding to the position of the spring, and one end of the spring away from the flip block is fixedly mounted on the upper surface of the body;

[0019] The first driving assembly includes a first reversible motor installed inside the body, the first metal wire is wound around an output shaft of the first reversible motor, and the first reversible motor is electrically connected to the control module;

[0020] When the first rigid component is switched to the closed state, the control module controls the first reversible motor to rotate forward, loosens the first metal wire, and drives the hem of the flip block to fit the surface of the machine body through the kinetic energy of the spring return;

[0021] When the first rigid component is switched to the on state, the control module controls the first reversible motor to reverse, tightens the first metal wire, controls the middle part of the first metal wire to flip the flip block, stretches the spring, and drives the flip block to swing up and support on the inner surface of the protective sheet.

[0022] As a further improvement, the first rigid component is provided with two groups, and the first reversible motor is a dual-output shaft motor.

[0023] As a further improvement, the body facing the camera assembly is provided with a second protection assembly, the second protection assembly includes a second rigid assembly provided on the side of the camera assembly, and a second driving assembly driving the second rigid assembly to switch the on / off state, the second driving assembly being electrically connected to the control module;

[0024] When the control module cooperates with the posture monitoring component to determine that the posture of the machine body is abnormal, the control module cooperates with the second driving component to switch the second rigid component to an open state, surround the camera component to form a third protective layer, and block the impact object toward the camera component through the third protective layer;

[0025] The second rigid component includes a plurality of groups of second metal wires;

[0026] The second driving assembly includes a group of motors arranged at both sides of the camera assembly, the second reversible motor is electrically connected to the control module, and two second reversible motors are respectively connected to the two ends;

[0027] When the second rigid component is switched to the closed state, the control module controls the second reversible motor to rotate forward, loosens the second metal wire, and drives the middle parts of the plurality of second metal wires to bend toward one side of the camera component;

[0028] When the second rigid component is switched to the on state, the control module controls the second reversible motor to reverse, tightens the second metal wires, and controls the middle parts of the plurality of second metal wires to be straightened and positioned in front of the camera component.

[0029] As a further improvement, the posture monitoring component includes a gyroscope rotatably arranged in the middle of the body, an acceleration sensor, a fluid velocity sensor, an IMU, and a depth sensor arranged below the gyroscope, the control module is electrically connected to the gyroscope, the acceleration sensor, the fluid velocity sensor, the IMU, and the depth sensor, and the control module includes an abnormality judgment unit, which receives and analyzes data from the gyroscope, the acceleration sensor, the fluid velocity sensor, the IMU, and the depth sensor to judge whether the body posture is normal / abnormal.

[0030] As a further improvement, a depth sensor is further included, and the control module is electrically connected to the depth sensor.

[0031] As a further improvement, the inflation assembly includes a mounting groove arranged at the bottom of the body, a gas cylinder inserted into the mounting groove, and a sealing plate closing the mounting groove, a gas input valve connected to the sealed chamber is arranged in the mounting groove, the gas input valve is electrically connected to the control module, the output port of the gas cylinder is inserted into the gas input valve, and the mounting groove is closed by locking with bolts through the sealing plate.

[0032] As a further improvement, the gas input valve is an electronic one-way valve, and when the input port of the gas cylinder is inserted into the gas input valve, the release of the gas in the gas cylinder is controlled by the gas input valve.

[0033] Beneficial effects:

[0034] When the present invention detects abnormal posture or potential impact risk through the posture monitoring component, the control module responds quickly in shallow water, first starting the inflation component to inject gas into the sealed chamber, inflating the external protective sheet to create a first layer of inflation buffer protection layer, and at the same time providing additional buoyancy to enable the device to rise quickly and leave the danger zone;

[0035] In addition, in deep water, the control module activates the first drive component to deploy the first rigid component to form a second protective layer. The double-layer protection effectively absorbs and resists external impacts to ensure the safety of the camera component. The second drive component can also trigger the second rigid component to form a physical protective layer to surround and protect the camera component, thus forming a triple protection structure.

[0036] In addition, after the protective plate is inflated, in order to further enhance its impact resistance, a mechanism is needed to provide additional support inside to ensure that the protective plate maintains its shape and structural integrity when facing external pressure or impact.

[0037] When the equipment is in an environment deep on the seabed, the external pressure is high and it is difficult for gas to be smoothly filled into the sealed chamber in a short time. A method is needed to push the protective sheet into a shape that meets the use requirements in a short time to assist in the rapid filling of gas.

[0038] Therefore, the control module synchronously activates the first drive component to unfold the first rigid component. In this state, the flip block is driven by the first reversible motor to flip to the specified position, and multiple springs are stretched to become the support structure inside the protective sheet, increasing the overall stability and ability to resist external pressure. The flip block lifts the protective sheet from the inside, pushes the protective sheet from the inside and forms a negative pressure environment, making it easier to fill the gas. The filling efficiency of the inflation system in a high-pressure environment is improved, and the inflation molding process of the protective sheet is accelerated and assisted, so that the equipment can enter the working state more stably and quickly. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0040] Figure 1 It is a schematic diagram of the three-dimensional structure of a reef sea area underwater detection device in a normal state according to the present invention.

[0041] Figure 2 It is a front view of an underwater detection device for reef sea areas according to the present invention.

[0042] Figure 3 yes Figure 2 An enlarged schematic diagram of the inflatable component of the cross-sectional structure at point A in the middle.

[0043] Figure 4 yes Figure 2 An enlarged schematic diagram of the first rigid component of the cross-sectional structure at point A.

[0044] Figure 5 yes Figure 2 An enlarged schematic diagram of the second protection component of the cross-sectional structure at point A in the middle.

[0045] Figure 6 yes Figure 2 A magnified schematic diagram of the attitude monitoring component of the cross-sectional structure at point A in the middle.

[0046] Figure 7 The present invention is a schematic diagram of the internal structure of an underwater detection device for reef sea areas when viewed from above.

[0047] Figure 8It is a front view of the working state of an underwater detection device for reef sea areas according to the present invention.

[0048] Fig. 9 yes Figure 8 Schematic diagram of the cross-sectional structure at point B in the middle.

[0049] Fig.10 The present invention is a three-dimensional diagram of the working state of the second protection component of an underwater detection device in reef and rocky waters.

[0050] Fig.11 The present invention is a schematic diagram of the module connection of a reef and sea area underwater detection device.

[0051] 1. Body; 2. Camera assembly; 3. Posture monitoring assembly; 4. First protective assembly; 41. Protective sheet; 42. Inflatable assembly; 43. Sealed chamber; 44. First rigid assembly; 45. First drive assembly; 46. Air release valve; 5. Control module; 441. Flip block; 442. Spring; 443. First metal wire; 444. First reversible motor; 445. Output shaft; 6. Second protective assembly; 61. Second rigid assembly; 62. Second drive assembly; 611. second metal wire; 612. second reversible motor; 11. through hole; 31. gyroscope; 32. acceleration sensor; 33. fluid velocity sensor; 34. IMU; 35. bracket; 36. depth sensor; 7. attitude adjustment module; 71. first turbine; 72. baffle; 73. first drive motor; 74. second turbine; 75. second drive motor; 421. mounting slot; 422. gas cylinder; 423. sealing plate; 424. gas input valve. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the invention claimed for protection, but merely represents the selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0053] In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0054] Reference Figure 1-11 As shown, a reef sea area underwater detection device comprises:

[0055] A machine body 1, and a camera assembly 2 arranged on the side of the forward end of the machine body 1;

[0056] A power module is provided inside the body 1, and the power module can be configured as a battery, and can also be configured as an externally connected traction power line, that is, from the hull or others.

[0057] The body 1 facing the camera assembly is provided with a second protection assembly 6, the second protection assembly 6 includes a second rigid assembly 61 provided at the side of the camera assembly 2, and a second driving assembly 62 driving the second rigid assembly 61 to switch the on / off state;

[0058] A posture monitoring component 3 disposed inside the body 1, and a first protection component 4 matched with the posture monitoring component 3;

[0059] The first protective component 4 includes a protective sheet 41 covering the outer surface of the body 1 facing the end of the camera component 2, and an inflatable component 42 arranged inside the body 1. The edge of the protective sheet 41 is sealed and fixed to the body 1 to form a sealed chamber 43. The gas input end of the inflatable component 42 is connected to the sealed chamber 43.

[0060] It also includes a first rigid component 44 and a first driving component 45 for starting the first rigid component 44, wherein the first rigid component 44 abuts against the inner side of the protective sheet 41, and the second driving component 62 and the first driving component 45 are installed on the body 1;

[0061] A control module 5, wherein the control module 5 is electrically connected to the camera assembly 2, the second drive assembly 62, the first drive assembly 45, the posture monitoring assembly 3, and the inflation assembly 42;

[0062] When the control module 5 cooperates with the posture monitoring component 3 to determine that the posture of the body 1 is abnormal, the control module 5 cooperates with the second driving component 62 to switch the second rigid component 61 to the open state, surround the camera component 2 to form a second protective layer, and block the impact object toward the camera component 2 through the second protective layer;

[0063] After the control module 5 controls the inflation component 42 to inflate the sealed chamber 43, the protection sheet 41 expands to form a first protection layer with high-pressure gas, and the first protection layer blocks impact objects toward the body 1;

[0064] After the control module 5 controls the first driving component 45 to switch the first rigid component 44 to the open state, one end of the first rigid component 44 is supported in the protective sheet 41, thereby assisting the expansion of the sealed chamber 43, and the body of the first rigid component 44 forms a second protective layer inside the first protective layer, and the second protective layer blocks impact objects directed toward the body 1.

[0065] The device may have a built-in power supply or an external power cord. In this embodiment, a built-in power supply is used, the power supply is electrically connected to the control module, and a wireless transceiver module is provided on the control module for interacting with an external control terminal.

[0066] The underwater detection device for reef sea areas designed in this scheme is mainly used to protect underwater detection equipment in complex sea areas. For example, in some complex sea areas, there are reefs and undercurrents. Undercurrents are strong and unpredictable water currents, which can impact underwater detection equipment with relatively large force. If the equipment does not have sufficient stability, it is easy to be driven by the undercurrent and hit the reef, causing damage or loss of function. This is especially dangerous in complex reef terrain, because the undercurrent may push the equipment into rocks or crevices, making it impossible for the equipment to escape by itself. This device plays a protective role in the working process of the underwater detection equipment. The specific working status is as follows:

[0067] In the detection and imaging state during normal operation, the imaging component 2 of the device is in an on state to monitor the underwater environment and collect data.

[0068] The posture monitoring component 3 monitors the posture of the body 1 in real time and transmits the data to the control module 5 .

[0069] When the posture monitoring component 3 detects that the posture of the body 1 is abnormal, or encounters an undercurrent, or an impact risk, and judges that the posture is abnormal through the feedback data, the control module 5 will respond immediately, specifically:

[0070] The control module 5 cooperates with the second driving component 62 to trigger the second rigid component 61 to switch to the open state, quickly forming a second protective layer surrounding the camera component 2 to physically block potential impact objects.

[0071] At the same time, the control module 5 starts the inflation component 42, injects gas into the sealed chamber 43, increases the internal gas density, and thus expands the external protective sheet 41 to form a first protective layer of inflation protection. This layer uses high-pressure gas to buffer external impact. At the same time, the high-pressure gas formed in the sealed chamber 43 can form a strong buoyancy in the water, so it can drive the body 1 to rise rapidly and leave the undercurrent area or the area with impact risk.

[0072] In addition, the control module 5 will also activate the first driving component 45 to expand the first rigid component 44 to form a second inner protective layer to further enhance the overall impact resistance.

[0073] Compared with the existing solution, by setting up multiple layers of protection components, when facing possible collisions or impacts, the multi-level protection measures of physical protection layer (second rigid component 61), gas buffer layer (inflatable protection sheet 41) and additional rigid protection (first rigid component 44) enhance the impact resistance. The attitude monitoring component 3 is used to continuously monitor the status of the device. Once an abnormality is found, the control module 5 quickly coordinates multiple protection mechanisms to protect the device.

[0074] Among them, the control module 5 integrates the control of multiple functional units, has a high degree of automation, does not require manual intervention, and improves the autonomy and real-time response capability of the equipment.

[0075] When the device triggers the above-mentioned abnormal posture protection mode, after the device is out of danger and before entering the task again, the gas pressure inside the sealed chamber 43 needs to be discharged, so the first protection component 4 also includes a relief valve 46, and the relief valve 46 is connected to the sealed chamber 43. The relief valve 46 is an electronic relief valve, which is electrically connected to the control module 5, and the control module 5 is used to adjust the opening / closing state of the electronic relief valve.

[0076] The body 1 is provided with a concave hole on one side facing the forward end, and the camera assembly 2 is embedded in the concave hole.

[0077] In complex sea areas, especially in areas with dense reefs, underwater detection equipment may encounter strong water flow impact and collision with floating objects. Although the first rigid component 44 and the inflatable protection can cope with the impact in general situations, there may still be a risk of insufficient protection under more extreme conditions.

[0078] The second rigid component 61 is mainly provided to solve the problem that the camera assembly 2 may be subjected to impacts from different directions and intensities in a complex underwater environment. Although the first protective layer and the inflatable protective layer can provide a certain degree of protection, they may not provide sufficient impact resistance when facing a stronger or more direct impact. This requires further protection measures, namely, the provision of the second rigid component 61.

[0079] In order to enhance the impact resistance of the front side of the camera assembly 2 and ensure that the core equipment components can still be effectively protected in extreme environments, the specific configuration is as follows: the second rigid assembly 61 includes a plurality of groups of second metal wires 611;

[0080] The second driving assembly 62 includes a group of second reversible motors 612 arranged on both sides of the camera assembly 2, the second reversible motors 612 are electrically connected to the control module 5, and two second reversible motors 612 are respectively connected to two ends of the second metal wire 611;

[0081] In a normal state, the control module 5 controls the second reversible motor 612 to rotate forward, loosens the second metal wire 611, and controls the middle part of the second metal wire 611 to deviate toward one side of the camera assembly 2;

[0082] In the working state, the control module 5 controls the second reversible motor 612 to reverse, tightens the second metal wire 611 , and controls the middle of the second metal wire 611 to be located in front of the camera assembly 2 .

[0083] Through the second metal wires 611 controlled by several groups of second reversible motors 612 , this part of the protection system is operated by two reversible motors under the control of the control module 5 .

[0084] In a normal state, the second reversible motor 612 rotates forward and the second metal wire 611 is in a relaxed state to ensure that the normal working field of the camera assembly 2 is not interfered with.

[0085] Once a water flow or physical impact threat is detected, the control module 5 reverses the motor to tighten the second metal wire 611 and place it in front of the camera assembly 2 .

[0086] The taut metal wire forms a tight protective net, which enhances the elastic protective strength of the front side of the camera assembly 2 and can effectively resist relatively direct and high-intensity impact forces.

[0087] By providing an additional layer of physical protection, especially against potential direct impacts from the front of the camera assembly 2.

[0088] By adjusting the shape of the metal wire, the flexibility of the device is maintained without affecting the normal working field, and the protective function is displayed only when needed.

[0089] On the whole, the second rigid component 61 is provided as a supplement to other protective layers to form a multi-layered protection system, ensuring that the underwater detection device can maintain the integrity of core components and the continuity of data collection even in the most severe environmental conditions.

[0090] The second metal wire 611 is made of a memory metal material, and in a relaxed state, it bends toward an adjacent side to avoid the area where the camera assembly 2 is located, thereby making way.

[0091] The diameter range of the second metal wire 611 is 1-1.5 mm. In the present embodiment, the diameter of the second metal wire 611 is not less than 1 mm, and 10 second metal wires are arranged with an intermittent distance of 5-10 mm.

[0092] In order to realize the coordination of the above-mentioned multiple protection components, the premise is to detect abnormal posture through the posture monitoring component 3, so refer to Figure 6 , 11 As shown, the posture monitoring component 3 includes a gyroscope 31 rotatably arranged in the middle of the body 1, an acceleration sensor 32, a fluid velocity sensor 33, an IMU 34, and a depth sensor 36 arranged below the gyroscope 31, the control module 5 is electrically connected to the gyroscope 31, the acceleration sensor 32, the fluid velocity sensor 33, the IMU 34, and the depth sensor 36, and the control module 5 includes an abnormality judgment unit, which receives and analyzes the data of the gyroscope 31, the acceleration sensor 32, the fluid velocity sensor 33, the IMU 34, and the depth sensor 36 to judge whether the posture of the body 1 is normal / abnormal.

[0093] Since a through hole 11 is set in the middle of the body 1, the gyroscope 31 is installed in the through hole 11 through a fixed bracket 35, and the acceleration sensor 32, fluid velocity sensor 33, IMU 34, and depth sensor 36 can be embedded on the side of the bracket 35 close to the body 1, among which the depth sensor 36 is a water pressure sensor.

[0094] The control module 5 cooperates with the depth sensor 36 to detect the water pressure and thus determine the depth of the device.

[0095] When the device is in shallow water, the control module 5 responds quickly, first starting the inflation component 42 to inject gas into the sealed chamber 43, inflating the outer protective sheet 41 to create a first layer of inflation buffer protection layer, while providing additional buoyancy to enable the device to rise quickly and leave the dangerous area. If it is only in a rapid state, at this time, the first rigid component 44 can be in a standby state and not participate in work.

[0096] It also includes an acceleration sensor 32 that cooperates with the control module 5 to form impact monitoring. If it is in a shallow water area and suffers an impact after the first protective layer is formed, the control module 5 activates the first drive component 45 to deploy the first rigid component 44 to prevent a secondary impact.

[0097] When the device is in deep water, the control module 5 activates the first driving component 45 to unfold the first rigid component 44 to form a second protective layer. At the same time, when the first rigid component 44 is unfolded from the inside, it can push the protective sheet 41 and form a negative pressure environment, making it easier to fill the gas.

[0098] In addition, shallow water usually refers to areas with a water depth of less than 10 meters. At this depth, the water pressure is relatively low, and the buoyancy adjustment of the equipment is relatively easy. In shallow water, the water pressure is about 1-2 atmospheres (101.3-202.6 kPa), because the atmospheric pressure at sea level is 1 atmosphere, and the water pressure increases by about 1 atmosphere for every 10 meters of water depth.

[0099] Deep water generally refers to areas with a water depth of more than 10 meters. Here, the equipment needs to cope with higher water pressure and a potentially more complex environment. At a water depth of 20 meters, the water pressure is about 3 atmospheres (303.9 kPa), and so on. In deeper waters, pressure regulation inside the equipment becomes more important.

[0100] It also includes a posture adjustment module 7 disposed below the gyroscope 31, and the posture adjustment module 7 includes a first turbine 71 and a first driving motor 73 driving the first turbine 71;

[0101] A set of second turbines 74 are arranged on both sides of the machine body 1 , and a second driving motor 75 drives the second turbines 74 . The outer side of the second turbine 74 is also covered with a baffle 72 , and the baffle 72 is fixedly connected to the machine body 1 .

[0102] In order to ensure that the underwater detection device can effectively protect itself and work stably in a complex environment, first of all, real-time posture monitoring is performed by continuously acquiring real-time status data of the equipment, including rotation information detected by the gyroscope 31, motion changes sensed by the acceleration sensor 32, surrounding water flow speed measured by the fluid velocity sensor 33, comprehensive position information provided by the IMU 34 and depth data feedback by the depth sensor 36, and transmitting them to the abnormality judgment unit in the control module 5 through electrical connection for comprehensive judgment.

[0103] In underwater detection equipment, these sensors provide necessary data support for attitude monitoring and control through complementary and collaborative means.

[0104] The gyroscope 31 is mainly used to detect the rotation angle and angular velocity of the device, and can sense the posture change of the device in three-dimensional space. It provides data on the rotation direction and speed of the device for overall posture judgment, and helps the abnormal judgment unit to identify whether there is an unknown rotation tendency.

[0105] The acceleration sensor 32 detects the linear acceleration of the device and provides real-time dynamic response to the movement change. Combined with the data of the gyroscope 31, the posture of the device's forward direction is corrected and the acceleration change is analyzed to see whether it meets the expected movement.

[0106] The fluid velocity sensor 33 measures the flow velocity of the water around the device, providing basic data for hydrodynamic analysis. It determines the impact of the external environment on the movement of the device, such as whether a sharp change in water flow causes abnormal posture, and assists other sensors in correcting posture.

[0107] The IMU34 (Inertial Measurement Unit) integrates a gyroscope31 and an accelerometer to provide comprehensive position information and attitude estimation. As the main attitude measurement tool, it provides comprehensive data to help the abnormal judgment unit make fast and accurate attitude judgments and adjustment strategies.

[0108] The depth sensor 36 detects the current underwater depth of the device and helps to establish the working level range. Combined with the data from other sensors, it can determine whether the posture is unstable due to depth changes and provide early warning for timely adjustments.

[0109] From the start of the device, the sensors work together to collect and feedback various posture-related parameters in real time. The data of all sensors are collected to the abnormal judgment unit of the control module 5 for data fusion and calculation. Through cross-validation of multi-source data, it is determined whether the device is in a stable state.

[0110] When one or more sensor data exceeds the set threshold range, the abnormality judgment unit confirms the specific abnormal posture condition by integrating the information of each sensor.

[0111] For example:

[0112] To realize the judgment of abnormal posture, we can fuse the data of various sensors into a unified algorithm, usually using technologies such as Kalman filtering or extended Kalman filtering (EKF) to obtain accurate posture estimation.

[0113] A simplified example is used to introduce how to judge posture abnormalities through sensor data and formulas:

[0114] 1. Pose Estimation

[0115] Attitude estimation requires calculating the pitch angle (Pitch), roll angle (Roll) and yaw angle (Yaw) of the three axes. These angles can be calculated by the gyroscope 31, accelerometer and magnetometer (if available).

[0116] Gyroscope 31: provides angular velocity, which is integrated to obtain attitude angle.

[0117] Accelerometer: used to provide tilt angle information and calculate pitch and roll.

[0118] Magnetometer (usually integrated in IMU34): used for correction and to provide a yaw reference (not in the original description, but usually part of attitude estimation).

[0119] 2. Preliminary attitude calculation based on accelerometer

[0120] Take a simple preliminary calculation of pitch and roll angles as an example:

[0121] Here (a_x, a_y, a_z) are the accelerometer readings on the x, y, and z axes respectively.

[0122] The obtained attitude is dynamically adjusted through the angular velocity data of the gyroscope 31:

[0123] Wherein, ωx, ωy, ωz are the angular velocity readings of the gyroscope 31, and is the time interval.

[0124] 4. Set the threshold

[0125] The updated posture data is compared with the preset normal threshold. If it exceeds the normal threshold, it is considered abnormal:

[0126] Set the normal working range and give the threshold range for Roll, Pitch, and Yaw respectively, for example:

[0127] The exception is recorded at this time and the subsequent adjustment mechanism is triggered.

[0128] 5. Data fusion and comprehensive judgment of anomalies

[0129] By setting up the Kalman filter internally, it can be used to combine the advantages of the gyroscope 31 and the accelerometer data, filter out noise and obtain a stable and reliable attitude. Usually, a filter is set, so it will not be further introduced.

[0130] By adopting the state estimation method, the same parameters are estimated and errors are corrected based on multiple sensors to form a consistent abnormality judgment standard.

[0131] Implementing such calculations and anomaly detection can more effectively respond to detected deviations and adjust the equipment posture in a timely manner, ensuring that the device maintains stability and performance reliability in different water flow environments.

[0132] To assist the ascending and descending control, the control module 5 controls the first turbine 71 and the second turbine 74 to be driven by their respective drive motors so that the device can adjust the direction and posture.

[0133] The first turbine 71 and the second turbine 74 adjust the water flow path, and adjust the posture of the body 1 back to a normal state as much as possible through the conversion of the rotational force of the first turbine 71 and the second turbine 74. The fixed baffle 72 protects the second turbine 74 from impact damage, and at the same time cooperates with the second turbine 74 to change the direction of the water flow, providing stable fluid power to assist in posture correction.

[0134] Each component cooperates efficiently through the control module 5 and the abnormality judgment unit to achieve a closed-loop response from detecting abnormalities to implementing protection and posture adjustment. It not only ensures the safety of the equipment, but also ensures the continuity of the detection task and the integrity of data collection. While inheriting the protection function, the posture adjustment module 7 ensures that the equipment always maintains the best working condition.

[0135] In the above scheme, the formation of the first protective layer is mainly constructed by the inflation component 42 and the protective sheet 41, and the gas filling design is not introduced in detail. Therefore, the gas filling structure is further designed, as follows: the inflation component 42 includes a mounting groove 421 arranged at the bottom of the body 1, a gas cylinder 422 inserted into the mounting groove 421, and a sealing plate 423 closing the mounting groove 421, and a gas input valve 424 connected to the sealed chamber 43 is arranged in the mounting groove 421, and the gas input valve 424 is electrically connected to the control module 5, and the output port of the gas cylinder 422 is inserted into the gas input valve 424, and the mounting groove 421 is closed by bolts through the sealing plate 423.

[0136] The gas input valve 424 is an electronic one-way valve. When the input port of the gas cylinder 422 is inserted into the gas input valve, the release of the gas in the gas cylinder 422 is controlled by the gas input valve 424 .

[0137] During the equipment preparation stage, the gas cylinder 422 is installed in the installation groove 421 at the bottom of the body 1. Ensure that the output port of the gas cylinder 422 is correctly inserted into the gas input valve 424. At the same time, the sealing plate 423 is used to close the installation groove 421, and the bolts are tightened to ensure that the gas cylinder 422 is fixed and kept airtight.

[0138] When the first protection layer needs to be activated (eg, when it is detected that the device needs to float up quickly or needs to increase buoyancy to cope with environmental changes), the control module 5 triggers the electronic one-way valve.

[0139] The electronic one-way valve controls the gas to flow from the gas cylinder 422 into the sealed chamber 43 in one direction, thereby expanding the protective sheet 41 to form a first protective layer.

[0140] Since the gas input valve 424 is an electronic one-way valve, it can effectively prevent accidental reverse flow and ensure the safety of the equipment under any circumstances. After the equipment operation is completed or when inspection is required, the gas input valve 424 can be closed to stop the gas filling, ensuring safety during maintenance.

[0141] By combining the electronic one-way valve with the control module 5, comprehensive control of gas charging is achieved, which not only improves the response speed but also can accurately control the gas charging amount according to real-time needs.

[0142] Depending on the environment in which the device will be used, such as space or underwater, the appropriate gas type (such as helium, nitrogen, or compressed air) is selected. Selecting the right gas ensures that it is effective and safe in the target environment.

[0143] It is worth adding that an intelligent algorithm is embedded in the control module 5 to dynamically adjust the gas charging strategy according to the multi-sensor data. For example, a feedback control algorithm such as PID control is used to improve the response sensitivity of the protective layer.

[0144] Consider adding redundancy design, such as spare gas cylinder 422 or double valve system, to prepare for emergencies and ensure the stability and functionality of the equipment at multiple levels.

[0145] The protective sheet 41 has a thickness of 0.5-1 mm.

[0146] The material of the protective sheet 41 needs to have expansion ductility and impact resistance, and can be selected as: polyurethane (TPU): excellent elasticity and flexibility, able to withstand multiple expansion and contraction. Excellent wear resistance and tear resistance, help to resist puncture by sharp objects.

[0147] Kevlar (bulletproof fiber) coated elastomer: Although Kevlar itself lacks elasticity, compounding with elastomer materials can improve puncture and cut resistance. This combination is suitable for places where additional protection is required in extreme environments.

[0148] Nylon reinforced polymer: has excellent wear resistance and is suitable for use in harsh environments. After special coating treatment, its puncture and impact resistance can be further improved.

[0149] Silicone rubber composite material: Excellent elasticity, able to maintain deformation without damage when inflated. Excellent resistance to high temperature and environmental corrosion.

[0150] In this embodiment, the protective layer is made of a composite of polyurethane and Kevlar.

[0151] Within a certain thickness range, the material must ensure both flexibility and strength. In this embodiment, the protective layer is designed to have a thickness of 0.5-1 mm, which is sufficient to support expansion without being easily torn, and can also provide a certain degree of puncture protection. Materials of this thickness are relatively light and suitable for use without significantly increasing the overall weight of the device, especially for devices that require buoyancy or lightness.

[0152] It is required that when gas is filled, it can expand effectively without being damaged, so as to form a dense protective layer. Specifically, when it is not inflated, the thickness is 1mm, and after inflation, the thickness is 0.5mm.

[0153] Through the selection of these materials and thickness design, not only can good expansion and protection functions be achieved, but also the durability and practicality of the equipment can be guaranteed, providing reliable protection for the stable operation of the equipment in a dynamically changing environment.

[0154] After the protective sheet 41 is inflated, in order to further enhance its impact resistance, a mechanism is needed to provide additional support inside to ensure that the protective sheet 41 maintains its shape and structural integrity when facing external pressure or impact. In addition, when the equipment is in an environment with a deep seabed, the external pressure is high and it is difficult for the gas to be smoothly filled into the sealed chamber 43 in a short time. A method is needed to push the protective sheet 41 into a shape that meets the use requirements in a short time to assist the rapid filling of gas.

[0155] The first rigid component 44 includes a flip block 441 rotatably mounted on the upper surface of the body 1, a plurality of groups of springs 442 arranged on one side above the flip block 441, and a first metal wire 443 arranged on the other side above the flip block 441 corresponding to the position of the spring 442, and one end of the spring 442 away from the flip block 441 is fixedly mounted on the upper surface of the body 1;

[0156] The first driving assembly 45 includes a first reversible motor 444 installed inside the body 1, the first metal wire 443 is wound around an output shaft 445 of the first reversible motor 444, and the first reversible motor 444 is electrically connected to the control module 5;

[0157] Under normal conditions, the control module 5 controls the first reversible motor 444 to rotate forward, loosens the first metal wire 443, and drives the flip block 441 to flip and reset through the reset kinetic energy of the spring 442;

[0158] In the working state, the control module 5 controls the first reversible motor 444 to reverse, tightens the first metal wire 443 , controls the middle part of the first metal wire 443 to flip the flip block 441 , and stretches the spring 442 .

[0159] The first rigid assembly 44 is provided with two groups, and the first reversible motor 444 is a motor with dual output shafts 445. A rotating shaft is provided at the bottom of the flip block 441 toward the spring 442, and is rotatably connected to the upper surface of the machine body 1 through the rotating shaft.

[0160] Through the control of the first reversible motor 444 and the retracting and extending mechanism of the first metal wire 443, the position of the flip block 441 can be quickly adjusted when the device needs to quickly change its appearance or function.

[0161] The combination of the spring 442 and the first metal wire 443 provides balance and stability to the flip block 441 during movement, thereby preventing the flip block 441 from loosening under external stress.

[0162] In a normal state, the control module 5 controls the first reversible motor 444 to rotate forward, loosens the metal wire, and automatically adjusts the flip block 441 to a reset state by relying on the elastic force of the spring 442 .

[0163] When adjustment or operation is required, the control module 5 triggers the first reversible motor 444 to reverse and tighten the metal wire to control the flipping block 441 to flip to a 90° working position. To facilitate flipping and limiting, the bottom of the flipping block 441 is provided with a limiting edge facing the first metal wire 443 and an arc-shaped rounded edge facing the spring 442.

[0164] When the operation of the device needs to be ended or returned to the initial state, the first reversible motor 444 is rotated forward again, the metal wire is relaxed, and the spring 442 pulls the flip block 441 back to its original position.

[0165] The use of a dual output shaft 445 motor can simultaneously control two flip blocks 441, reducing installation space and complexity, and improving the overall efficiency and reliability of the device. Since the system uses the natural elasticity of the spring 442 to reset when resetting, the energy consumption of the motor can be reduced, extending the battery life or endurance of the device.

[0166] After the inflation is completed, the flip block 441 enters the supporting state through the command of the control module 5. In this state, the flip block 441 is driven by the first reversible motor 444, flipped and locked at a specified position, and the multiple groups of springs 442 stretched and unfolded by the flip block 441 become the supporting structure inside the protective sheet 41, increasing the overall stability and the ability to resist external pressure.

[0167] When the seabed is deep, the flip block 441 pushes up the protective sheet 41 from the inside, and can push the protective sheet 41 from the inside to form a negative pressure environment, making it easier for gas to be filled in. This structure can be pushed outward by the flip block 441 to assist the flow of gas.

[0168] The efficiency of the inflation system in a high-pressure environment is improved, the forming process of the protective sheet 41 is accelerated, and the equipment can enter a working state more quickly.

[0169] It should be noted that the device structure and the drawings of the present invention mainly describe the principle of the present invention. In terms of the technology of the design principle, the settings of the power mechanism, power supply system and control system of the device are not fully described. On the premise that the technical personnel in this field understand the principle of the above invention, the details of the power mechanism, power supply system and control system can be clearly known. The control method of the application document is automatic control through a controller, and the control circuit of the controller can be realized by simple programming by the technical personnel in this field.

[0170] The standard parts used therein can all be purchased from the market and can be customized according to the instructions and drawings. The specific connection methods of each part adopt conventional means such as mature bolts, rivets, welding, etc. in the prior art. The machinery, parts and equipment all adopt conventional models in the prior art, and the structures and principles of the components known to technical personnel in this field can be known by these technical personnel through technical manuals or through conventional experimental methods.

[0171] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An underwater detection device for reef sea areas, characterized in that: include: A machine body (1), wherein a camera assembly (2) is arranged on the side of the forward end of the machine body (1); A posture monitoring component (3) disposed inside the machine body (1), and a first protection component (4) cooperating with the posture monitoring component (3); The first protective component (4) comprises a protective sheet (41) covering the outer surface of the body (1) at one end facing the camera component (2), and an inflatable component (42) arranged inside the body (1), the edge of the protective sheet (41) being sealed and fixed to the body (1) to form a sealed chamber (43), and the gas input end of the inflatable component (42) being in communication with the sealed chamber (43); It also includes a first rigid component (44) and a first driving component (45) for starting the first rigid component (44), wherein the first rigid component (44) abuts against the inner side of the protective sheet (41), and the first driving component (45) is mounted on the machine body (1); A control module (5), the control module (5) being electrically connected to the camera assembly (2), the first drive assembly (45), the posture monitoring assembly (3), and the inflation assembly (42); The first rigid component (44) comprises a flip block (441) rotatably mounted on the upper surface of the machine body (1), a plurality of groups of springs (442) arranged on one side above the flip block (441), and a first metal wire (443) corresponding to the position of the spring (442) and arranged on the other side above the flip block (441), wherein one end of the spring (442) away from the flip block (441) is fixedly mounted on the upper surface of the machine body (1); The first driving assembly (45) comprises a first reversible motor (444) installed inside the machine body (1); the first metal wire (443) is wound around an output shaft (445) of the first reversible motor (444); and the first reversible motor (444) is electrically connected to a control module (5); When the first rigid component (44) is switched to a closed state, the control module (5) controls the first reversible motor (444) to rotate forward, loosens the first metal wire (443), and drives the flip block (441) to swing down and fit onto the surface of the machine body (1) through the kinetic energy of the spring (442); When the first rigid component (44) is switched to an on state, the control module (5) controls the first reversible motor (444) to reverse, tightens the first metal wire (443), controls the middle of the first metal wire (443) to flip the flip block (441), stretches the spring (442), and drives the flip block (441) to swing upward to be supported on the inner surface of the protective sheet (41); After the control module (5) controls the inflation component (42) to inflate the sealed chamber (43), the protection sheet (41) expands to form a first protection layer having high-pressure gas; After the control module (5) controls the first driving component (45) to switch the first rigid component (44) to an open state, one end of the first rigid component (44) is supported inside the protective sheet (41), thereby assisting the expansion of the sealed chamber (43), and the body of the first rigid component (44) forms a second protective layer inside the first protective layer.

2. The underwater detection device for reef sea areas according to claim 1 is characterized by: The first protection component (4) further comprises an air release valve (46), the air release valve (46) being in communication with the sealed chamber (43), the air release valve (46) being electrically connected to the control module (5), and the open / closed state of the air release valve (46) being adjusted by the control module (5).

3. The underwater detection device for reef sea areas according to claim 1 is characterized by: The first rigid component (44) is provided with two groups, and the first reversible motor (444) is a motor with a dual output shaft (445).

4. The underwater detection device for reef sea areas according to claim 1 is characterized by: A camera assembly (2) is arranged in the middle of the front of the body (1), and further comprises a second protective assembly (6) arranged on the side of the body (1) facing the camera assembly, the second protective assembly (6) comprising a second rigid assembly (61) arranged on the side of the camera assembly (2), and a second driving assembly (62) for driving the second rigid assembly (61) to switch between an on / off state, the second driving assembly (62) being electrically connected to the control module (5); When the control module (5) cooperates with the posture monitoring component (3) to determine that the posture of the machine body (1) is abnormal, the control module (5) cooperates with the second driving component (62) to switch the second rigid component (61) to an open state, thereby surrounding the camera component (2) to form a third protective layer, and the third protective layer blocks impact objects directed toward the camera component (2); The second rigid component (61) comprises a plurality of groups of second metal wires (611); The second driving component (62) comprises a group of second reversible motors (612) arranged on both sides of the camera component (2), the second reversible motors (612) being electrically connected to the control module (5), and the two second reversible motors (612) being respectively connected to two ends of the second metal wire (611); When the second rigid component (61) is switched to a closed state, the control module (5) controls the second reversible motor (612) to rotate forward, loosens the second metal wire (611), and drives the middle portions of the plurality of second metal wires (611) to bend toward one side of the camera component (2); When the second rigid component (61) is switched to an on state, the control module (5) controls the second reversible motor (612) to reverse, tightens the second metal wires (611), and controls the middle portions of the plurality of second metal wires (611) to be straightened and positioned in front of the camera component (2).

5. The underwater detection device for reef sea areas according to claim 4 is characterized by: The attitude monitoring component (3) comprises a gyroscope (31) rotatably arranged in the middle of the body (1), an acceleration sensor (32) arranged below the gyroscope (31), a fluid velocity sensor (33), and an IMU (34); the control module (5) is electrically connected to the gyroscope (31), the acceleration sensor (32), the fluid velocity sensor (33), and the IMU (34); the control module (5) comprises an abnormality judgment unit, and the abnormality judgment unit receives and analyzes data from the gyroscope (31), the acceleration sensor (32), the fluid velocity sensor (33), and the IMU (34) to judge whether the attitude of the body (1) is normal or abnormal.

6. The underwater detection device for reef sea areas according to claim 5, characterized in that: It also includes a depth sensor (36), and the control module (5) is electrically connected to the depth sensor (36).

7. The underwater detection device for reef sea areas according to claim 1, characterized in that: The inflation assembly (42) comprises a mounting groove (421) arranged at the bottom of the body (1), a gas cylinder (422) inserted into the mounting groove (421), and a sealing plate (423) closing the mounting groove (421); a gas input valve (424) connected to the sealed chamber (43) is arranged in the mounting groove (421); the gas input valve (424) is electrically connected to the control module (5); the output port of the gas cylinder (422) is inserted into the gas input valve (424); and the mounting groove (421) is closed by bolts through the sealing plate (423).

8. The underwater detection device for reef sea areas according to claim 7 is characterized by: The gas input valve (424) is an electronic one-way valve, and when the input port of the gas cylinder (422) is inserted into the gas input valve (424), the gas input valve (424) controls the release of gas in the gas cylinder (422).

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