Multifunctional unmanned platform capable of conveniently collecting and releasing underwater detector

Abstract

The invention provides a multifunctional unmanned platform capable of conveniently collecting and releasing an underwater detector, and relates to the technical field of underwater detection.The multifunctional unmanned platform comprises a frame body, a clamping assembly, a sensing device, a controller and a connecting assembly used for external fixation, a loading shell is arranged at one end of the frame body, and a containing channel used for storing the underwater detector is transversely arranged on the loading shell; the clamping assembly is fixedly connected to the front side of the loading shell and located at the front end of the containing channel, the sensing device is fixedly connected to the rear side of the loading shell and located at the rear end of the containing channel, the controller is fixedly connected into the frame body and located on one side of the loading shell, the controller is electrically connected with the clamping assembly and the sensing device, and a connecting column is arranged at the other end of the frame body. The connecting assembly is fixedly connected with one end of the connecting column; the multifunctional unmanned platform capable of conveniently collecting and releasing the underwater detector can be conveniently installed and fixed outwards, meanwhile, the underwater detector can be conveniently released and collected, and underwater detection operation of the underwater detector is facilitated.

Description

Technical Field

[0001] The present invention relates to the field of underwater detection technology, and in particular to a multifunctional unmanned platform for conveniently retracting and deploying underwater detectors. Background Art

[0002] As human beings' demand for ocean exploration gradually increases, underwater scientific research projects are placing higher and higher requirements on underwater exploration equipment.

[0003] Early ocean detection equipment was directly mounted on the ship's hull, and the equipment was deployed on both sides of the hull. Under windy and rainy weather conditions, equipment was deployed manually on the ship's deck, or by diving for investigation. This consumed a lot of manpower and was dangerous. In addition, the ship itself carried a variety of detection equipment and samples, and many detection projects required multi-point testing. The existing technology lacks a platform for launching underwater detectors that can be unmanned and remotely controlled, and also lacks a platform for recovering underwater detectors after they are launched.

[0004] Moreover, most of the current unmanned platforms are installed on the bed, or on the suspension mechanism of the bed, and cannot be installed externally in multiple ways.

[0005] To this end, it is necessary to propose a multifunctional unmanned platform that can easily retract and deploy underwater detectors to facilitate external installation, as well as the deployment and recovery of underwater detectors, so as to facilitate underwater detection operations. Summary of the invention

[0006] In order to solve the above problems, the present invention proposes a multifunctional unmanned platform for conveniently retracting and deploying underwater detectors to facilitate external installation, and at the same time facilitate the deployment and recovery of underwater detectors to facilitate underwater detection operations.

[0007] The present invention is achieved through the following technical solutions: The present invention proposes a multifunctional unmanned platform for conveniently retracting and deploying underwater detectors, comprising a frame, a clamping assembly, a sensing device, a controller, and a connecting assembly for external fixation. A loading shell is provided at one end of the frame, and a receiving channel for storing the underwater detector is transversely provided on the loading shell. The clamping assembly is fixedly connected to the front side of the loading shell and is located at the front end of the receiving channel. The sensing device is fixedly connected to the rear side of the loading shell and is located at the rear end of the receiving channel. The controller is fixedly connected to the frame and is located on one side of the loading shell. The controller is electrically connected to the clamping assembly and the sensing device, respectively. A connecting column is provided at the other end of the frame, and the connecting assembly is fixedly connected to one end of the connecting column.

[0008] Furthermore, a group of indicator lights is provided on the surface of the loading shell for indicating the direction of the underwater detector when returning.

[0009] Furthermore, the indicator light group includes a first indicator lights, which are all arranged on the rear side of the loading shell, a≥4, and a is a positive integer multiple of 4, the a first indicator lights form a rectangle and are distributed at the rear end of the receiving channel, the receiving channel is located in the central area of ​​the rectangle, and the first indicator lights are electrically connected to the controller.

[0010] Furthermore, the indicator light group includes a plurality of arc-shaped indicator lights, and the plurality of arc-shaped indicator lights are all located on the rear side of the loading shell, and the plurality of arc-shaped indicator lights surround the rear end surface of the receiving channel to form a circular ring, and the plurality of arc-shaped indicator lights are electrically connected to the controller.

[0011] Furthermore, the indicator light group includes 2b second indicator lights, the 2b second indicator lights are divided into two groups and are respectively arranged on the left and right sides of the loading shell, b≥3, the b second indicator lights form an isosceles triangle distribution, the top angle of the isosceles triangle is facing the front side of the loading shell, and the two base angles of the isosceles triangle are facing the rear side of the loading shell, and the second indicator lights are electrically connected to the controller.

[0012] Furthermore, a fin receiving groove is provided on the receiving channel, and the fin receiving groove is distributed in a cross shape with the center of the receiving channel and is connected to the receiving channel. The sensing device is located on one side of the fin receiving groove and protrudes toward the rear end of the loading shell.

[0013] Furthermore, the sensing device includes a connecting shell and an infrared distance sensor. The connecting shell is fixedly connected to the rear side of the loading shell. The connecting shell is provided with an avoidance groove, and the avoidance groove is aligned with and connected to the fin storage groove. The infrared distance sensor is fixedly connected in the connecting shell and is located on the left and right sides of the avoidance groove. The infrared distance sensor is electrically connected to the controller. Two guide blocks are provided on the connecting shell. The two guide blocks are symmetrically arranged with the avoidance groove as the center line, and the two guide blocks extend outward perpendicular to the connecting shell.

[0014] Furthermore, the clamping assembly includes an even number of clamping devices, which are evenly distributed circumferentially at the front end of the receiving channel. The clamping device includes a mounting shell, a driving device, a rotating disk, a connecting rod, a pressure sensor, and a clamping block. The mounting shell is embedded in the front end of the loading shell and is located on one side of the receiving channel. The driving device is fixedly connected to the mounting shell, the center of the rotating disk is fixedly connected to the rotating shaft of the driving device, one end of the connecting rod is hinged to one side of the rotating disk, and the other end of the connecting rod is hinged to the clamping block. The pressure sensor is installed in the connecting rod, and the pressure sensor is used to measure the deformation force of the connecting rod. The clamping block is slidably connected to one side of the mounting shell and faces the receiving channel. The driving device and the pressure sensor are both electrically connected to the controller.

[0015] Furthermore, the connecting rod is provided with a deformation pressing portion, the deformation pressing portion protrudes outward perpendicularly to the middle portion of the connecting rod, the deformation pressing portion is provided with a mounting groove, the mounting groove is a U-shaped structure, and the pressure sensor is installed in the mounting groove.

[0016] Furthermore, a sliding groove is provided on one side of the mounting shell, the sliding groove is communicated with the receiving channel, the clamping block is received in the sliding groove and is tightly slidably connected with the groove wall of the sliding groove.

[0017] Beneficial effects of the present invention: The present invention adopts a frame as an integral installation structure to install a controller and a connecting component. The connecting component can fix the present invention on the bottom of the water, the bottom of a ship, or hang it, so that the external fixing method is diversified. A loading shell is arranged on the frame as an installation structure of a clamping component and a sensing device. A receiving channel is arranged in the loading shell to store the underwater detector. When the underwater detector is not launched, the clamping component clamps the underwater detector so that the underwater detector is fixedly stored in the receiving channel. When the underwater detector is launched, the clamping component is loosened, and the underwater detector can be released from the front end of the receiving channel with its own power. When the underwater detector returns, the underwater detector can enter from the rear end of the receiving channel. After the sensing device senses the fish fin of the underwater detector, the clamping component clamps and fixes the underwater detector in the receiving channel again to complete the recovery of the underwater detector, which is convenient and quick. In summary, the multifunctional unmanned platform for conveniently retracting and releasing underwater detectors can be conveniently installed and fixed to the outside, and is also convenient for launching and recovering underwater detectors, which is beneficial for underwater detectors to perform underwater detection operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic diagram of a multifunctional unmanned platform for conveniently retracting and deploying underwater detectors according to the present invention; Figure 2 for Figure 1 A partial enlarged schematic diagram of the label A; Figure 3 A schematic diagram of another angle of the multifunctional unmanned platform for conveniently retracting and deploying underwater detectors of the present invention; Figure 4 A three-dimensional diagram of a multifunctional unmanned platform for conveniently retracting and deploying underwater detectors according to the present invention; Figure 5 for Figure 4 A partial enlarged schematic diagram of label B; Figure 6 An exploded view of the sensing device of the multifunctional unmanned platform for conveniently retracting and deploying underwater detectors of the present invention; Figure 7 A schematic diagram of a connecting rod of a multifunctional unmanned platform for conveniently retracting and deploying underwater detectors according to the present invention; Figure 8 An exploded diagram of the brake of the multifunctional unmanned platform for conveniently retracting and deploying underwater detectors of the present invention; Fig. 9 It is a schematic diagram of an embodiment of a connection component of a multifunctional unmanned platform for conveniently retracting and deploying underwater detectors of the present invention; Fig.10 A schematic diagram of another embodiment of the connection assembly of the multifunctional unmanned platform for conveniently retracting and deploying underwater detectors of the present invention.

[0019] The reference numerals are as follows: The frame 1, the loading shell 11, the receiving channel 111, the fin receiving slot 1111, the connecting column 12, the first indicator light 101, the arc-shaped indicator light 102, and the second indicator light 103; Clamping assembly 2, clamping device 21, mounting shell 211, sliding groove 2111, sealing cover 2112, fixed boss 2113, driving device 212, rotating disk 213, connecting rod 214, deformation pressing part 2141, mounting groove 21411, pressure sensor 215, clamping block 216, connecting boss 2161, brake 217, fixed shell 2171, small motor 2172, brake rod 2173, brake arc plate 21731; Sensing device 3, connecting shell 31, avoidance groove 311, guide block 312, infrared distance sensor 32, protective shell 33; Controller 4; Connecting assembly 5, first connecting plate 51, connecting tube 52, hanging ring 53, second connecting plate 54, supporting seat 55, and inserted fixing bolt 56; Underwater detector 6; Sonar distance detector7. DETAILED DESCRIPTION

[0020] In order to more clearly and completely illustrate the technical solution of the present invention, the present invention is further described below in conjunction with the accompanying drawings.

[0021] Please refer to Figure 1-Figure 10 The present invention proposes a multifunctional unmanned platform for conveniently storing and releasing underwater detectors, including a frame 1, a clamping component 2, a sensing device 3, a controller 4, and a connecting component 5 for external fixation. The controller 4 is used to issue operation instructions to the clamping component 2 and the underwater detector 6, and also receives signal feedback instructions from the sensing device 3. A loading shell 11 is provided at one end of the frame 1, and a receiving channel 111 for storing the underwater detector 6 is transversely provided on the loading shell 11. The clamping component 2 is fixedly connected to the front side of the loading shell 11 and is located at the front end of the receiving channel 111. The sensing device 3 is fixedly connected to the rear side of the loading shell 11 and is located at the rear end of the receiving channel 111. The controller 4 is fixedly connected to the frame 1 and is located on one side of the loading shell 11. The controller 4 is electrically connected to the clamping component 2 and the sensing device 3 respectively. A connecting column 12 is provided at the other end of the frame 1. The connecting component 5 is fixedly connected to one end of the connecting column 12. The connecting column 12 serves as The structure protruding from the loading shell 11 provides a sufficient installation distance or height for the loading shell 11, so that the loading shell 11 has enough space to carry the underwater detector 6; the connecting component 5 has two structures, the first is that the connecting component 5 is provided with a first connecting plate 51, a connecting tube 52, and a lifting ring 53, the first connecting plate 51 is fixedly connected to the connecting column 12 by bolts, the connecting tube 52 is used to pass and guide the cable, one end of the connecting tube 52 is fixedly connected to the first connecting plate 51, and the lifting ring 53 is fixedly connected to the other end of the connecting tube 52. This type of connecting component 5 can enable the present invention to be hung; the second is that the connecting component 5 is provided with a second connecting plate 54, a supporting seat 55, and a plurality of inserted fixing bolts 56, the second connecting plate 54 is fixedly connected to the connecting column 12 by bolts, one end of the supporting seat 55 is fixedly connected to the second connecting plate 54, and the other end of the supporting seat 55 is fixed to the bottom of the water or the bottom of the ship by a plurality of inserted fixing bolts 56.

[0022] In the present embodiment, the frame 1 is used as the overall installation structure to install the controller 4 and the connecting component 2. The connecting component 2 can fix the present invention on the bottom of the water, the bottom of the ship, or be suspended, so that the external fixation methods of the present invention are diversified. The loading shell 11 is set on the frame 1 as the installation structure of the clamping component 2 and the sensing device 3. The loading shell 11 also serves as a structure for protecting the underwater detector 6. A receiving channel is set in the loading shell 11 to store the underwater detector 6. When the present invention is used, it needs to be put into the water first, or it has been installed and fixed on the bottom of the ship or under the water. When the underwater detector 6 is not put, the clamping component 2 clamps the underwater detector 6 so that the underwater detector 6 is fixedly stored in the receiving channel 111. At this time, even if the underwater detector 6 generates power or is pushed by the water flow, it will not be released from the receiving channel 111. When the underwater detector 6 is launched, the user can issue a command to the controller 4 through the remote controller, and then the controller 4 issues a release command to the clamping assembly 2, and issues a navigation command to the underwater detector 6. At this time, the clamping assembly 2 releases the clamping of the underwater detector 6. At the same time, the underwater detector 6 is turned on and forms a propulsion force, and is released from the front end of the receiving channel 111 with its own power. When the underwater detector 6 returns, the underwater detector 6 needs to detour to the rear end of the receiving channel 111, and then enter the rear end of the receiving channel 111 straightly. During the entry process, the sensing device 3 senses the fins of the underwater detector 6 and feeds back the signal to the controller 4. The controller 4 then issues a clamping command to the clamping assembly 2, and the clamping assembly 2 clamps and fixes the underwater detector 6 in the receiving channel 111 again to complete the recovery of the underwater detector 6, which is convenient and quick. To sum up, this multifunctional unmanned platform for conveniently retracting and deploying underwater detectors can be easily installed and fixed externally, and is also convenient for launching and recovering underwater detectors, which is conducive to underwater detection operations by underwater detectors.

[0023] In the present embodiment, the surface of the loading shell 11 is provided with an indicator light group for prompting the navigation direction of the underwater detector 6 when returning; a high-definition camera is installed at the front end of the underwater detector 6. When the underwater detector 6 returns, due to the influence of underwater visibility, the high-definition camera in the underwater detector 6 cannot observe the direction of the loading shell 11 at a distance, resulting in that when sailing toward the loading shell 11, it is impossible to know whether the front receiving channel 111 in the current navigation direction is the front end or the rear end, so an indicator light group is needed to guide the navigation. During the guidance of the indicator light group, the underwater detector 6 first detours to a preset distance behind the loading shell 11 according to the guidance of the indicator light group, and then straightens it so that the underwater detector 6 is in line with the receiving channel 111, and then the underwater detector 6 directly sails toward the rear end of the receiving channel 111, and finally the underwater detector 6 enters from the rear end of the receiving channel 111, and is then clamped and fixed in the receiving channel 111 by the clamping assembly 2.

[0024] In this embodiment, the indicator light group includes a first indicator lights 101, and the a first indicator lights 101 are all arranged on the rear side of the loading shell 11, a≥4, and a is a positive integer multiple of 4, the a first indicator lights 101 form a rectangle and are distributed at the rear end of the receiving channel 111, the receiving channel 111 is located in the central area of ​​the rectangle, and the first indicator lights 101 are electrically connected to the controller 4; if a=4, the four first indicator lights 101 form a rectangle, and the receiving channel 111 is located in the center of the rectangle. When the underwater detector 6 returns, if the underwater detector 6 sees four luminous points in front, it can determine that this navigation direction is the direction to enter the receiving channel 111, and then it still needs to align itself during navigation. For example, if the four luminous points are in a rhombus shape, it means that the underwater detector 6 has a deflection angle in the vertical direction, and it needs to adjust its posture to align itself. When aligning, if the four luminous points are in a rectangle, the alignment is completed, and the underwater detector 6 can directly sail in a straight line until it enters the receiving channel 111.

[0025] In this embodiment, the indicator light group includes a plurality of arc-shaped indicator lights 102, and the plurality of arc-shaped indicator lights 102 are all located on the rear side of the loading shell 11, and the plurality of arc-shaped indicator lights 102 surround the rear end surface of the receiving channel 111 to form a circular ring shape, and the plurality of arc-shaped indicator lights 102 are electrically connected to the controller 4; the arc-shaped indicator lights 102 are used to guide the heading of the underwater detector 6. When there is an angle between the heading of the underwater detector 6 and the extension line of the receiving channel 111, that is, when they are not collinear, although the four first indicator lights 101 form a rectangle, the circular ring formed by the plurality of arc-shaped indicator lights 102 is an ellipse when observed by the underwater detector 6. Therefore, the underwater detector 6 needs to adjust its heading at this time so that its heading is collinear with the extension line of the receiving channel 111. After the adjustment is completed, the circular ring formed by the plurality of arc-shaped indicator lights 102 is in the underwater direction. When observed from the lower detector 6, it is circular. At this time, the underwater detector 6 can directly sail in a straight line until it enters the receiving channel 111; the present invention also includes a sonar distance detector 7, which is fixedly connected to the rear end of the loading shell 11 and is located below the receiving channel 11, and the sonar distance detector 7 faces the outside along the extension line of the receiving channel 111. The sonar distance detector 7 is electrically connected to the controller 4, and the sonar distance detector 7 is used to detect the distance between the underwater detector 6 and the loading shell 11. When the underwater detector 6 navigates to a preset distance from the loading shell 11, the sonar distance detector 7 feeds back a signal to the controller 4, and the controller 4 issues a command to the multiple arc indicator lights 102, so that the multiple arc indicator lights 102 are turned on to form a circular halo, so as to guide the heading of the underwater detector 6.

[0026] In this embodiment, the indicator light group includes 2b second indicator lights 103, and the 2b second indicator lights 103 are divided into two groups and are respectively arranged on the left and right sides of the loading shell 11, b≥3, and the b second indicator lights 103 are distributed in an isosceles triangle, the top angle of the isosceles triangle faces the front side of the loading shell 11, and the two bottom angles of the isosceles triangle face the rear side of the loading shell 11. The second indicator lights 103 are electrically connected to the controller 4; if b=3, the distribution of the second indicator lights 103 is 3 on the left side of the loading shell 11 and 3 on the right side. When three luminous points are observed during the return process of the device 6, it means that the underwater detector 6 is on the left or right side of the loading shell 11. At this time, the underwater detector 6 needs to adjust its course and needs to sail in the direction of the two base angles of the isosceles triangle formed by the three luminous points, and it itself needs to be at the position of the midpoint extension line of the line connecting the two base angles of the isosceles triangle. When sailing in this direction, it sails toward the rear end of the loading shell 11. After sailing a preset distance, the underwater detector 6 needs to turn 180 degrees and finally sail in the direction of the receiving channel 111.

[0027] In this embodiment, a fin receiving groove 1111 is provided on the receiving channel 111. The fin receiving groove 1111 is cross-distributed with the center of the receiving channel 111 and is connected to the receiving channel 111. The sensing device 3 is located on one side of the fin receiving groove 1111 and protrudes toward the rear end of the loading shell 11; the fin receiving groove 1111 is used to provide a receiving channel for the fin 61 of the underwater detector 6. When the underwater detector 6 enters the receiving channel 111 but the fin is still at the rear, the clamping assembly 2 will not clamp the underwater detector 6. When the fin of the underwater detector 6 begins to enter the fin receiving groove 1111, the sensing device 3 is activated. After the fin of the underwater detector 6 completely enters the fin receiving groove 1111, the sensing device 3 feeds back a signal to the controller 4. The controller 4 issues a clamping instruction to the clamping assembly 2. The clamping assembly 2 clamps the underwater detector 6 so that the underwater detector 6 is fixed in the receiving channel 111.

[0028] In this embodiment, the sensing device 3 includes a connecting shell 31, an infrared distance sensor 32, and a protective shell 33. The connecting shell 31 is fixedly connected to the rear side of the loading shell 11. The connecting shell 31 is provided with an avoidance groove 311. The avoidance groove 311 is aligned with and connected to the fin storage groove 1111. The infrared distance sensor 32 is fixedly connected to the connecting shell 31 and is located on the left and right sides of the avoidance groove 311. The infrared distance sensor 32 is electrically connected to the controller 4. The protective shell 33 is fixedly connected to the connecting shell 31 and blocks the infrared distance sensor 32. Two guide blocks 312 are provided on the connecting shell 31. The two guide blocks 312 are symmetrically arranged with the avoidance groove 311 as the midline. The two guide blocks 312 are perpendicular to the connecting shell 31 and extend outward through the protective shell 33; the infrared distance sensor 32 is divided into an infrared emitter and a guide block. The infrared transmitter and the infrared receiver are respectively fixed on the left and right sides of the avoidance groove 311. When the fish fin is still at the rear end, that is, when the infrared transmitter has not been blocked, the infrared transmitter continues to transmit infrared rays to the infrared receiver. When the fish fin begins to enter the avoidance groove, the fish fin of the underwater detector 6 first blocks the infrared transmitter. After the fish fin completely enters the avoidance groove 311, the fish fin will not block the infrared transmitter. At this time, the infrared receiver continues to receive the infrared rays of the infrared transmitter. At this time, the infrared receiver feeds back a signal to the controller 4, and the controller 4 issues a clamping instruction to the clamping component 2 to clamp the underwater detector 6. The function of the two guide blocks 312 is to align the fish fin to a vertical or horizontal guide structure when the fish fin enters the avoidance groove 311 in a non-vertical or horizontal state.

[0029] In this embodiment, the clamping assembly 2 includes an even number of clamping devices 21, and the even number of clamping devices 21 are evenly distributed at the front end of the receiving channel 111 in the circumferential direction. The even number of clamping devices 21 can perform symmetrical clamping, which is convenient for firmly clamping the underwater detector 6. The clamping device 21 includes a mounting shell 211, a driving device 212, a rotating disk 213, a connecting rod 214, a pressure sensor 215, and a clamping block 216. The mounting shell 211 is embedded in the front end of the loading shell 11 and is located on one side of the receiving channel 111. The driving device 212 is fixedly connected to the mounting shell 211, and the center of the rotating disk 213 is fixedly connected to the rotating shaft of the driving device 212. The connecting rod 214 has an Ω-shaped structure. One end of the connecting rod 214 is hinged to one side of the rotating disk 213, and a connecting column 2131 is provided on one side of the rotating disk 213. The connecting column 2131 is hinged to one end of the connecting rod 214, and the other end of the connecting rod 214 is hinged to the clamping block 216. A connecting boss 2161 is provided on the inner side of the clamping block 216, and the connecting boss 2161 is hinged to the other end of the connecting rod 214. The pressure sensor 215 is installed in the connecting rod 214, and the pressure sensor 215 is used to measure the deformation force of the connecting rod 214. The clamping block 216 is slidably connected to one side of the mounting shell 211 and faces the receiving channel 111. The driving device 212 and the pressure sensor 215 are connected to the control The interior of the mounting shell 211 needs to be waterproof and sealed. A sealing cover 2112 is provided on one side of the mounting shell 211. When installing the driving device 212, the rotating disk 213, the connecting rod 214, the pressure sensor 215, and the clamping block 216, the sealing cover 2112 needs to be opened first. After the installation is completed, the sealing cover 2112 is covered. After the covering is completed, water cannot enter the mounting shell 211. The driving device 212 is a stepping motor. When the underwater detector 6 is clamped, the driving device 212 drives the rotating disk 213 to rotate forward to a preset angle, and the rotating disk 213 drives the connecting rod 214 to push the clamping block 216 toward the receiving channel 111. When the clamping block 216 contacts the surface of the underwater detector 6, the driving device 212 still drives the rotating disk 213 to continue to rotate in the forward direction and has not stopped, so the connecting rod 214 will be slightly deformed. The deformation will generate a certain value of pressing force on the pressure sensor 215. After the pressure sensor 215 detects the preset pressing force value, it will be fed back to the controller 4. The controller 4 will issue a stop command to the driving device 212, and the driving device 212 will stop rotating and stay in the stopped position. At this time, the clamping block 216 presses the underwater detector 6, that is, the clamping block 216 in the symmetrical position clamps the underwater detector 6.The clamping device 21 also includes a brake 217, which is electrically connected to the controller 4. A fixed boss 2113 is provided in the mounting shell 211. The brake 217 is fixedly connected to the fixed boss 2113 and is located on one side of the rotating disk 213 and faces the rotating disk 213. After the clamping block 216 abuts against the underwater detector 6, the driving device 212 stops rotating, and the rotating disk 213 also stops rotating. The brake 217 then extends toward the rotating disk 213 to abut against one side of the rotating disk 213, brakes the rotating disk 213, and prevents the rotating disk 213 from retreating and rotating. The brake 217 includes a fixed shell 2171, a small motor 2172, and a brake rod 2173. The small motor 2172 is electrically connected to the controller 4. The fixed shell 2171 is fixedly connected to the fixed boss 2113. The small motor 2172 is fixedly connected to Connected to one end of the fixed shell, the rotating shaft of the small motor 2172 extends to the inside of the fixed shell 2171, one end of the brake rod 2173 is slidably connected to the fixed shell 2171 and forms a screw connection with the rotating shaft of the small motor 2172, and the other end of the brake rod 2173 is provided with a brake arc plate 21731. When braking, the small motor 2172 rotates forward to drive the brake rod 2173 to extend outward, so that the brake arc plate 21731 presses on one side of the rotating disk 213 to form a brake. When it is necessary to release the underwater detector 6, the small motor 2172 rotates in the reverse direction to drive the brake rod 2173 to retract, so that the brake arc plate 21731 is separated from the pressing on one side of the rotating disk 213, and then the driving device 212 rotates in the reverse direction by a preset angle to drive the connecting rod 214 to retreat, thereby driving the clamping block 216 to retreat, so as to release the underwater detector 6. ;

[0030] In this embodiment, the connecting rod 214 is provided with a deformation pressing portion 2141, which protrudes outward perpendicularly to the middle part of the connecting rod 214, and the deformation pressing portion 2141 is an Ω-shaped structure, which is mainly used to increase the deformation of the connecting rod 214 when it is subjected to thrust. The deformation pressing portion 2141 is provided with a mounting groove 21411, and the mounting groove 21411 is a U-shaped structure. The pressure sensor 215 is installed in the mounting groove 21411; when the clamping block 216 presses the underwater detector 6, the deformation pressing portion 2141 will produce a small amount of deformation, and the pressure generated by the deformation will be transmitted to the groove wall of the mounting groove 21411, and then transmitted to the pressure sensor 215. After the pressure reaches the preset pressure, the driving device 212 stops rotating. At this time, the pressing force exerted by the clamping block 216 on the underwater detector 6 can firmly clamp the underwater detector 6.

[0031] In this embodiment, a sliding groove 2111 is provided on one side of the mounting shell 211, and the sliding groove 2111 is connected to the receiving channel 111. The clamping block 216 is received in the sliding groove 2111 and is tightly slidably connected to the groove wall of the sliding groove 2111; the sliding groove 2111 is used to provide a sliding channel for the clamping block 216. When installing the clamping block 216, it is necessary to ensure that the side wall of the clamping block 216 is tightly fitted with the groove wall of the sliding groove 2111. The side wall of the clamping block 216 is provided with a rubber anti-slip layer to ensure that it is tightly fitted with the groove wall of the sliding groove 2111 and no water seepage occurs during the sliding process.

[0032] Of course, the present invention may have many other implementations. Based on this implementation, other implementations obtained by ordinary technicians in this field without any creative work are all within the scope of protection of the present invention.

Claims

1. A multifunctional unmanned platform for conveniently retracting and deploying underwater detectors, characterized in that: The invention comprises a frame, a clamping assembly, a sensing device, a controller, and a connecting assembly for external fixation. A loading shell is provided at one end of the frame, a receiving channel for storing underwater detectors is transversely provided on the loading shell, the clamping assembly is fixedly connected to the front side of the loading shell and is located at the front end of the receiving channel, the sensing device is fixedly connected to the rear side of the loading shell and is located at the rear end of the receiving channel, the controller is fixedly connected to the frame and is located at one side of the loading shell, the controller is electrically connected to the clamping assembly and the sensing device, respectively, a connecting column is provided at the other end of the frame, and the connecting assembly is fixedly connected to one end of the connecting column.

2. The multifunctional unmanned platform for conveniently retracting and deploying underwater detectors according to claim 1 is characterized in that: The surface of the loading shell is provided with an indicator light group for prompting the underwater detector of the navigation direction when returning.

3. The multifunctional unmanned platform for conveniently retracting and deploying underwater detectors according to claim 2 is characterized in that: The indicator light group includes a first indicator lights, which are all arranged on the rear side of the loading shell, a≥4, and a is a positive integer multiple of 4, the a first indicator lights form a rectangle and are distributed at the rear end of the receiving channel, the receiving channel is located in the central area of ​​the rectangle, and the first indicator lights are electrically connected to the controller.

4. The multifunctional unmanned platform for conveniently retracting and deploying underwater detectors according to claim 2 is characterized in that: The indicator light group includes a plurality of arc-shaped indicator lights, which are all located on the rear side of the loading shell, surround the rear end surface of the receiving channel to form a circular ring, and are electrically connected to the controller.

5. The multifunctional unmanned platform for conveniently retracting and deploying underwater detectors according to claim 2 is characterized in that: The indicator light group includes 2b second indicator lights, the 2b second indicator lights are divided into two groups and are respectively arranged on the left and right sides of the loading shell, b≥3, the b second indicator lights form an isosceles triangle distribution, the top angle of the isosceles triangle is facing the front side of the loading shell, and the two bottom angles of the isosceles triangle are facing the rear side of the loading shell, and the second indicator lights are electrically connected to the controller.

6. The multifunctional unmanned platform for conveniently retracting and deploying underwater detectors according to claim 1 is characterized in that: The receiving channel is provided with a fin receiving groove, the fin receiving groove is distributed in a cross shape with the center of the receiving channel and is connected with the receiving channel, and the sensing device is located on one side of the fin receiving groove and protrudes toward the rear end of the loading shell.

7. The multifunctional unmanned platform for conveniently retracting and deploying underwater detectors according to claim 6 is characterized in that: The sensing device includes a connecting shell and an infrared distance sensor. The connecting shell is fixedly connected to the rear side of the loading shell. The connecting shell is provided with an avoidance groove, which is aligned with and connected to the fin storage groove. The infrared distance sensor is fixedly connected in the connecting shell and is located on the left and right sides of the avoidance groove. The infrared distance sensor is electrically connected to the controller. Two guide blocks are provided on the connecting shell. The two guide blocks are symmetrically arranged with the avoidance groove as the center line, and the two guide blocks extend outward perpendicular to the connecting shell.

8. The multifunctional unmanned platform for conveniently retracting and deploying underwater detectors according to claim 1 is characterized in that: The clamping assembly includes an even number of clamping devices, and the even number of clamping devices are evenly distributed at the front end of the receiving channel in a circumferential direction. The clamping device includes a mounting shell, a driving device, a rotating disk, a connecting rod, a pressure sensor, and a clamping block. The mounting shell is embedded in the front end of the loading shell and is located on one side of the receiving channel. The driving device is fixedly connected to the mounting shell, and the center of the rotating disk is fixedly connected to the rotating shaft of the driving device. One end of the connecting rod is hinged to one side of the rotating disk, and the other end of the connecting rod is hinged to the clamping block. The pressure sensor is installed in the connecting rod, and the pressure sensor is used to measure the deformation force of the connecting rod. The clamping block is slidably connected to one side of the mounting shell and faces the receiving channel. The driving device and the pressure sensor are both electrically connected to the controller.

9. The multifunctional unmanned platform for conveniently retracting and deploying underwater detectors according to claim 8 is characterized in that: The connecting rod is provided with a deformation pressing portion, which protrudes outward perpendicularly to the middle of the connecting rod. The deformation pressing portion is provided with a mounting groove, which is a U-shaped structure, and the pressure sensor is installed in the mounting groove.

10. The multifunctional unmanned platform for conveniently retracting and deploying underwater detectors according to claim 8, characterized in that: A sliding groove is provided on one side of the mounting shell, the sliding groove is communicated with the receiving channel, the clamping block is received in the sliding groove and is tightly slidably connected with the groove wall of the sliding groove.

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