Underwater integrated full-automatic static sounding aircraft
By designing an underwater integrated fully automatic static touching vehicle, the problems of fixed exploration position, inaccurate position, too small initial penetration speed, insufficient depth, and inconvenient recycling in the prior art are solved, and accurate movement, automatic recycling and efficient penetration are achieved.
Patent Information
- Application Number
- CN202510374580.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-27
- Publication Date
- 2025-05-13
AI Technical Summary
The existing free fall penetration method has problems such as fixed exploration location, inability to accurately locate, too small initial penetration speed, insufficient depth, and inconvenient recycling.
A fully automatic static touch-seeking vehicle underwater was designed, using a GPS positioning system for precise positioning, equipped with a booster and a water storage tank for automatic recycling, and an electromagnetic emitter was used to provide a quantitative initial velocity and direction for the probe, and a smooth landing and movement was achieved through a waterproof motor and support flap.
The precise movement and positioning of the aircraft is realized, and automatic recovery does not require additional vertical energy supply, reduces energy consumption, avoids the problems of insufficient penetration depth and directional offset, and improves work efficiency.
Smart Images
Figure CN119981002A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of fully automatic static penetration sounding vehicles, and in particular to an underwater integrated fully automatic static penetration sounding vehicle. Background Art
[0002] As the construction of large-scale water projects continues to advance, the utilization of water resources continues to increase. The determination of soil properties under rivers, lakes and seas has become a key step in water development. Compared with underwater drilling sampling, underwater in-situ testing technology has the advantages of greatly avoiding disturbance of the soil. Static penetration test is an indispensable part of underwater in-situ testing technology.
[0003] The free-fall penetrometer is a seabed in-situ observation device that obtains the mechanical properties of soil after penetrating into the soil by obtaining the initial velocity through its own gravity. The measurement parameters include cone tip resistance, side wall resistance, pore water pressure, acceleration and other parameters, which can be directly used to evaluate mechanical property indicators such as sediment penetration resistance, foundation bearing capacity and undrained shear strength of soil. It can achieve fast, accurate and low-cost measurement of mechanical properties of deep and shallow seabed sediments.
[0004] However, the current free-fall penetration method has many problems such as fixed exploration position, inability to accurately locate, too small initial penetration velocity, insufficient depth, and inconvenient recovery. For this reason, we propose an underwater integrated fully automatic static penetration vehicle. Therefore, there is an urgent need for an underwater integrated fully automatic static penetration vehicle to solve the above problems. Summary of the invention
[0005] The purpose of the present invention is to provide an underwater integrated fully automatic static penetration vehicle in order to solve the above-mentioned problems.
[0006] The present invention achieves the above-mentioned purpose through the following technical solutions:
[0007] An underwater integrated fully automatic static penetration probe vehicle, comprising a vehicle body, a positioning module is fixed on the top of the vehicle body, a plurality of boosters are circumferentially distributed on the outer wall of the vehicle body, two groups of water storage tanks are symmetrically installed on both sides of the vehicle body, a counterweight block is arranged on one side of the water storage tank, an air pipe is connected to the water storage tank, an air pump is installed on the air pipe, a cylinder is fixed at one end of the air pipe, a drain pipe is reserved at the bottom of the water storage tank, a solenoid valve is installed on the drain pipe, and a drain is provided at a position corresponding to the drain pipe of the vehicle body. An electromagnetic transmitter is also installed in the main body of the aircraft, a coil is arranged in the electromagnetic transmitter, one end of the coil is connected to an electromagnet, a guide cylinder is also arranged in the electromagnetic transmitter, a probe is installed in the guide cylinder, a magnetic plate is fixed on the top of the probe, a probe is arranged on the bottom of the probe, a data collector is arranged near the upper end of the probe, four groups of adjustment grooves are distributed in a circle on the bottom end of the main body of the aircraft, a waterproof motor is installed in the adjustment groove, a support shaft is installed on the output shaft of the waterproof motor, and a support wing is fixed on one end of the support shaft.
[0008] Furthermore, the positioning module has a built-in GPS positioning system and has high waterproof performance.
[0009] By adopting the above technical solution, the positioning module can locate the underwater position of the aircraft body and transmit the positioning data to the background control device, so that the aircraft body is placed in a designated detection position through the background.
[0010] Furthermore, the booster is fixed to the outer side wall of the aircraft body by bolts, and a water injection pipe is reserved at the top of the water tank and has a self-sealing structure.
[0011] By adopting the above technical solution and starting the booster, the aircraft body can be controlled to move to the target position.
[0012] Furthermore, the counterweight block and the water tank are both embedded in the aircraft body, and the aircraft body is a spherical structure.
[0013] By adopting the above technical solution, the counterweight block is responsible for providing gravity for the diving of the aircraft body, and the water tank has two states: filled with water and drained, which are respectively responsible for providing gravity for the diving of the aircraft body and providing buoyancy when the aircraft body is recovered.
[0014] Furthermore, the air pipe is connected to the air cylinder and the water tank through threads, the air pump is fixed to the air pipe by bolts, and compressed gas is stored in the air cylinder.
[0015] By adopting the above technical solution, the cylinder is connected to the water tank and is responsible for storing the air required for draining the water tank, and the air pump is connected to the cylinder and is responsible for providing energy for drainage.
[0016] Furthermore, the drain pipe is connected to the water tank via threads, the solenoid valve is installed on the drain pipe via threads, and the drain outlet is formed on the aircraft body.
[0017] By adopting the above technical solution, during the drainage process, the drain pipe is opened by the solenoid valve, and the water in the water storage tank is discharged through the drain pipe and the drain port under the action of air pressure.
[0018] Furthermore, the electromagnetic transmitter is embedded in the aircraft body, the coil is fixed in the electromagnetic transmitter by bolts, and the coil is electrically connected to the electromagnet.
[0019] By adopting the above technical solution, the magnetism of the electromagnet can be changed by changing the direction of the current in the coil.
[0020] Furthermore, the guide cylinder is fixed in the electromagnetic transmitter by screws, the probe is slidably connected to the guide cylinder, and the magnetic plate is bonded to the top of the probe.
[0021] By adopting the above technical solution, during the detection process, the magnetism of the electromagnet is adjusted to be the same as that of the magnetic plate, and the probe is driven left and right to move in the guide tube by the repulsion of like charges, thereby providing a quantitative initial velocity and direction for the probe and the probe, thereby avoiding problems such as uncontrollable speed, insufficient penetration depth, and deviation in penetration direction.
[0022] Furthermore, the probe is formed at the bottom of the probe, the probe is a conical structure, and the data collector is electrically connected to the probe.
[0023] By adopting the above technical solution, the probe and the probe can form a penetrometer, and then the detection is carried out through the probe, and the data collector can collect the detection data at the same time.
[0024] Furthermore, the adjustment groove is formed on the aircraft body, the output shaft of the waterproof motor is fixedly connected to the support shaft, and the support wing is fixed to one end of the support shaft by bolts.
[0025] The second aspect of the present application protects the use of the above-mentioned aircraft in underwater in-situ testing during large-scale water engineering construction.
[0026] By adopting the above technical solution, when the aircraft body lands, the waterproof motor drives the support wing to rotate through the support shaft, adjusts it to a horizontal state, and then provides support for the aircraft body through the support plate.
[0027] The specific working principle is:
[0028] Step 1: Determine the target position through the positioning module, drive the survey ship or launch the vehicle body on a nearby offshore platform, and fill the water tank with water before launching.
[0029] Step 2: Start the booster and control the vehicle to the target location.
[0030] Step 3: When the aircraft body lands, the waterproof motor drives the support wing to rotate through the support shaft, adjusts it to a horizontal state, and then provides support to the aircraft body through the support plate, so that the aircraft body lands smoothly.
[0031] Step 4: Control the electromagnetic transmitter, adjust the magnetism of the electromagnet to be the same as that of the magnetic plate by changing the direction of the current in the coil, drive the probe left and right to move in the guide cylinder by the repulsion of like charges, and then launch the probe and the probe with a predetermined initial velocity and direction. The penetrometer starts to penetrate and detect, and the data collector can collect the detected data.
[0032] Step 5: After the detection is completed, the magnetism of the electromagnet is adjusted to be opposite to the magnetism of the magnetic plate by changing the flow direction of the current in the coil, and the probe is recovered through the effect of opposites attracting each other, and the supporting wing is recovered, and the main body of the aircraft is controlled to move to the next point, and steps three and four are repeated.
[0033] Step 6: After all points are penetrated, start the air pump, open the drain pipe through the solenoid valve, and the air pump presses the gas stored in the cylinder into the water tank to drain the water, close the drain pipe, and the main body of the aircraft floats freely to the water surface.
[0034] The beneficial effects of the present invention are: 1. The vehicle can be accurately moved to the designated penetration position, thus ensuring the accuracy of the data.
[0035] 2. The vehicle can be automatically recovered through the water supply and drainage of the water tank, and does not require additional vertical energy supply, thus reducing energy consumption.
[0036] 3. The vehicle is equipped with an electromagnetic transmitter, which can provide a quantitative initial velocity and direction for penetration, avoiding problems such as uncontrollable speed, insufficient penetration depth, and deviation in penetration direction.
[0037] 4. The vehicle can be launched once and penetrated multiple times, thus improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS
[0038] Figure 1 This is a front view of an underwater integrated fully automatic static penetration vehicle according to the present invention;
[0039] Figure 2 It is a schematic diagram of the internal structure of the vehicle body of an underwater integrated fully automatic static penetration vehicle according to the present invention;
[0040] Figure 3 The invention discloses an underwater integrated fully automatic static penetration vehicle. Figure 2 The enlarged view of point A in the middle;
[0041] Figure 4 It is a schematic diagram of the internal structure of an electromagnetic transmitter in an underwater integrated fully automatic static penetration vehicle described in the present invention.
[0042] The following are the descriptions of the reference numerals:
[0043] 1. Vehicle body; 2. Positioning module; 3. Booster; 4. Support shaft; 5. Support wing; 6. Adjustment slot; 7. Drain port; 8. Cylinder; 9. Air pipe; 10. Air pump; 11. Water tank; 12. Drain pipe; 13. Solenoid valve; 14. Counterweight; 15. Waterproof motor; 16. Electromagnetic transmitter; 17. Probe; 18. Probe; 19. Coil; 20. Electromagnet; 21. Magnetic plate; 22. Guide cylinder; 23. Data collector. DETAILED DESCRIPTION
[0044] The present invention will be further described below in conjunction with the accompanying drawings:
[0045] like Figure 1-Figure 4As shown, an underwater integrated fully automatic static penetration probe vehicle comprises a vehicle body 1, a positioning module 2 is fixed on the top of the vehicle body 1, and the position of the vehicle body 1 can be positioned, a plurality of boosters 3 are distributed in a circular pattern on the outer wall of the vehicle body 1, two groups of water tanks 11 are symmetrically installed on both sides of the vehicle body 1, a counterweight 14 is arranged on one side of the water tank 11, so as to facilitate the diving of the vehicle body 1, an air pipe 9 is connected to the water tank 11, an air pump 10 is installed on the air pipe 9, a cylinder 8 is fixed at one end of the air pipe 9, a drain pipe 12 is reserved at the bottom of the water tank 11, a solenoid valve 13 is installed on the drain pipe 12, a drain port 7 is opened at the position of the vehicle body 1 corresponding to the drain pipe 12, and the water in the water tank 11 can be drained. An electromagnetic transmitter 16 is also installed in the vehicle body 1, and a coil 19 is arranged in the electromagnetic transmitter 16. One end of the coil 19 is connected to an electromagnet 20, which can drive the probe 17 to move. A guide cylinder 22 is also arranged in the electromagnetic transmitter 16, and a probe 17 is installed in the guide cylinder 22. A magnetic plate 21 is fixed to the top of the probe 17, and a probe 18 is arranged at the bottom of the probe 17. A data collector 23 is arranged near the upper end of the probe 17 to collect the detected data. Four groups of adjustment grooves 6 are distributed in a circle at the bottom of the vehicle body 1, and a waterproof motor 15 is installed in the adjustment groove 6. A support shaft 4 is installed on the output shaft of the waterproof motor 15, and a support wing 5 is fixed at one end of the support shaft 4, which can drive the support wing 5 to rotate, unfold it when landing, and recover it when moving.
[0046] In this embodiment, the positioning module 2 has a built-in GPS positioning system and has high waterproof performance. The positioning module 2 can locate the underwater position of the aircraft body 1 and transmit the positioning data to the background control device, so that the aircraft body 1 is placed in a specified detection position through the background.
[0047] In this embodiment, the booster 3 is fixed to the outer wall of the aircraft body 1 by bolts, and a water injection pipe is reserved at the top of the water tank 11 and has a sealing structure. By starting the booster 3, the aircraft body 1 can be controlled to move to the target position.
[0048] In this embodiment, the counterweight block 14 and the water tank 11 are both embedded in the aircraft body 1. The aircraft body 1 is a spherical structure. The counterweight block 14 is responsible for providing gravity for the aircraft body 1 to dive. The water tank 11 has two states: filled with water and drained. They are respectively responsible for providing gravity for the aircraft body 1 to dive and providing buoyancy when the aircraft body 1 is recovered.
[0049] In this embodiment, the air pipe 9 is connected to the air cylinder 8 and the water tank 11 through threads, the air pump 10 is fixed to the air pipe 9 by bolts, the air cylinder 8 stores compressed gas, the cylinder 8 is connected to the water tank 11, and is responsible for storing the air required for drainage of the water tank 11, and the air pump 10 is connected to the cylinder 8, and is responsible for providing energy for drainage.
[0050] In this embodiment, the drain pipe 12 is connected to the water tank 11 by threads, the solenoid valve 13 is installed on the drain pipe 12 by threads, and the drain port 7 is formed on the aircraft body 1. During the drainage process, the drain pipe 12 is opened by the solenoid valve 13, and the water in the water tank 11 is discharged through the drain pipe 12 and the drain port 7 under the action of air pressure.
[0051] In this embodiment, the electromagnetic transmitter 16 is embedded in the aircraft body 1, the coil 19 is fixed in the electromagnetic transmitter 16 by bolts, the coil 19 is electrically connected to the electromagnet 20, and the magnetism of the electromagnet 20 can be changed by changing the direction of the current in the coil 19.
[0052] In this embodiment, the guide cylinder 22 is fixed in the electromagnetic generator 16 by screws, the probe 17 is slidably connected to the guide cylinder 22, and the magnetic plate 21 is bonded to the top of the probe 17. During the detection process, the magnetism of the electromagnet 20 is adjusted to be the same as that of the magnetic plate 21, and the probe 17 is driven left and right to move in the guide cylinder 22 by the repulsion of like charges, thereby providing a quantitative initial velocity and direction for the probe 17 and the probe 18, thereby avoiding problems such as uncontrollable speed, insufficient penetration depth, and offset penetration direction.
[0053] In this embodiment, the probe 18 is formed at the bottom of the probe 17, and the probe 18 is a conical structure. The data collector 23 is electrically connected to the probe 18. The probe 18 and the probe 17 can form a penetrometer, and then detection is performed through the probe 18. At the same time, the data collector 23 can collect the detection data.
[0054] In this embodiment, the adjustment groove 6 is formed on the aircraft body 1, the output shaft of the waterproof motor 15 is fixedly connected to the support shaft 4, and the support wing 5 is fixed to one end of the support shaft 4 by bolts. When the aircraft body 1 lands, the waterproof motor 15 drives the support wing 5 to rotate through the support shaft 4 to adjust it to a horizontal state, and then provide support to the aircraft body 1 through the support plate 5.
[0055] The specific working principle is:
[0056] Step 1: Determine the target position through the positioning module 2, drive the survey ship or launch the vehicle body 1 on a nearby offshore platform, and fill the water tank 11 with water before launching.
[0057] Step 2: Start the booster 3 to control the aircraft to the target location.
[0058] Step three: When the aircraft body 1 lands, the waterproof motor 15 drives the support wing 5 to rotate through the support shaft 4, adjusts it to a horizontal state, and then provides support to the aircraft body 1 through the support plate 5, so that the aircraft body 1 lands smoothly.
[0059] Step 4: Operate the electromagnetic transmitter 16, adjust the magnetism of the electromagnet 20 to be the same as that of the magnetic plate 21 by changing the direction of the current in the coil 19, and drive the probe 17 to move left and right in the guide cylinder 22 by the repulsion of like charges, so that the probe 17 and the probe 18 are launched with a predetermined initial velocity and direction, the penetrometer starts to penetrate and detect, and the data collector 23 can collect the detected data.
[0060] Step 5: After the detection is completed, the magnetism of the electromagnet 20 is adjusted to be opposite to the magnetism of the magnetic plate 21 by changing the flow direction of the current in the coil 19, and the probe 17 is recovered by the effect of opposite charges attracting each other, and the supporting wing 5 is recovered, and the aircraft body 1 is controlled to move to the next point, and steps three and four are repeated.
[0061] Step 6: After all points are penetrated, start the air pump 10, open the drain pipe 12 through the solenoid valve 13, and the air pump 10 presses the gas stored in the cylinder 8 into the water tank 11 to drain the water, close the drain pipe 12, and the aircraft body 1 floats freely to the water surface.
[0062] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, and these changes and improvements all fall within the scope of the present invention to be protected.
Claims
1. An underwater integrated fully automatic static penetration vehicle, characterized in that: The invention comprises a vehicle body (1), a positioning module (2) is fixed on the top of the vehicle body (1), a plurality of boosters (3) are circumferentially distributed on the outer wall of the vehicle body (1), two water storage tanks (11) are symmetrically installed on both sides of the vehicle body (1), a counterweight (14) is arranged on one side of the water storage tank (11), an air pipe (9) is connected to the water storage tank (11), an air pump (10) is installed on the air pipe (9), a cylinder (8) is fixed on one end of the air pipe (9), a drainage pipe (12) is reserved at the bottom of the water storage tank (11), a solenoid valve (13) is installed on the drainage pipe (12), a drainage port (7) is opened at a position corresponding to the drainage pipe (12) of the vehicle body (1), and a valve (13) is installed in the vehicle body (1). An electromagnetic transmitter (16) is provided, wherein a coil (19) is provided in the electromagnetic transmitter (16), one end of the coil (19) is connected to an electromagnet (20), a guide tube (22) is also provided in the electromagnetic transmitter (16), a probe (17) is installed in the guide tube (22), a magnetic plate (21) is fixed at the top end of the probe (17), a probe (18) is provided at the bottom end of the probe (17), a data collector (23) is provided at a position close to the upper end of the probe (17), four groups of adjustment grooves (6) are distributed in a circular pattern at the bottom end of the aircraft body (1), a waterproof motor (15) is installed in the adjustment groove (6), a support shaft (4) is installed on the output shaft of the waterproof motor (15), and a support wing (5) is fixed at one end of the support shaft (4).
2. The underwater integrated fully automatic static penetration vehicle according to claim 1, characterized in that: The positioning module (2) has a built-in GPS positioning system and has high waterproof performance.
3. The underwater integrated fully automatic static penetration vehicle according to claim 1, characterized in that: The booster (3) is fixed to the outer wall of the aircraft body (1) by means of bolts, and a water injection pipe is reserved at the top of the water storage tank (11) and has a self-sealing structure.
4. The underwater integrated fully automatic static penetration vehicle according to claim 3 is characterized by: The counterweight block (14) and the water storage tank (11) are both embedded in the aircraft body (1), and the aircraft body (1) is a spherical structure.
5. The underwater integrated fully automatic static penetration vehicle according to claim 4 is characterized in that: The air pipe (9) is connected to the air cylinder (8) and the water storage tank (11) through threads, the air pump (10) is fixed to the air pipe (9) through bolts, and compressed gas is stored in the air cylinder (8).
6. The underwater integrated fully automatic static penetration vehicle according to claim 1, characterized in that: The drainage pipe (12) is connected to the water storage tank (11) via threads, the solenoid valve (13) is installed on the drainage pipe (12) via threads, and the drainage port (7) is formed on the aircraft body (1).
7. The underwater integrated fully automatic static penetration vehicle according to claim 6, characterized in that: The electromagnetic transmitter (16) is embedded in the aircraft body (1), the coil (19) is fixed in the electromagnetic transmitter (16) by bolts, and the coil (19) is electrically connected to the electromagnet (20).
8. The underwater integrated fully automatic static penetration vehicle according to claim 7, characterized in that: The guide cylinder (22) is fixed in the electromagnetic transmitter (16) by means of screws, the probe (17) is slidably connected to the guide cylinder (22), and the magnetic plate (21) is bonded to the top of the probe (17).
9. The underwater integrated fully automatic static penetration vehicle according to claim 8, characterized in that: The probe (18) is formed at the bottom of the probe (17), the probe (18) is a conical structure, and the data collector (23) is electrically connected to the probe (18); Preferably, the adjustment groove (6) is formed on the aircraft body (1), the output shaft of the waterproof motor (15) is fixedly connected to the support shaft (4), and the support wing (5) is fixed to one end of the support shaft (4) by bolts.
10. An underwater integrated fully automatic static penetration vehicle as described in any one of claims 1 to 9, used for underwater in-situ testing in large-scale water engineering construction.