Unmanned ship for underwater diving operation

Abstract

The invention provides an unmanned ship for underwater diving operation, and relates to the technical field of unmanned ships, the unmanned ship comprises an unmanned ship body, and a bottom surveying and mapping module and an early warning assembly which are mounted on the unmanned ship body, and the early warning assembly is arranged on the top of the unmanned ship body and comprises a first camera, a sound wave fish driving device and a plurality of groups of scanning radars; the first camera is movably installed in the middle of the top end of the unmanned ship body. By arranging the early warning assembly, the safety of surveying and mapping work of the unmanned ship at the water bottom is effectively enhanced, in addition, by arranging the sampling assembly, sample ore can be clamped and sampled while the unmanned ship conducts surveying and mapping, so that the underwater application function of the unmanned ship is enhanced, and by arranging the adjusting assembly, the safety of the unmanned ship is improved. Therefore, the direction and the angle of the hydraulic clamping jaw can be flexibly adjusted, the unmanned ship can adapt to some complex terrains for surveying, mapping and sampling work, and application convenience and universality are effectively enhanced.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned boats, and in particular to an unmanned boat used for underwater diving operations. Background Art

[0002] Unmanned boats for underwater diving operations are a new type of ship that combines surface high-speed boats with underwater submersibles. They can perform various operations underwater and can carry sounding rockets, multi-beam sonar, underwater cameras, water quality analyzers and other equipment. They are used in meteorological detection, underwater topography and landform mapping, underwater photography, underwater water quality sampling, underwater cable and pipeline inspections and other scenarios. They also play an important role in marine scientific research, underwater engineering inspection, resource exploration and other fields.

[0003] When underwater diving unmanned vessels are mapping the underwater terrain, they often need to sample the minerals on the bottom of the water. However, when encountering some complex terrain, traditional unmanned vessels are not convenient for clamping and sampling the minerals in special terrain.

[0004] To solve the above problems, we propose an unmanned boat for underwater diving operations to solve the above problems. Summary of the Invention

[0005] In order to solve the problems in the background technology, the present invention provides an unmanned boat for underwater diving operations. Its main technologies are: by providing an early warning component, the safety of the unmanned boat in underwater surveying and mapping work is effectively enhanced. In addition, by providing a sampling component, the unmanned boat can clamp and sample sample ore while surveying, thereby enhancing the underwater application function of the unmanned boat. In addition, by providing an adjustment component, the orientation and angle of the hydraulic clamping claw can be flexibly adjusted, so that the unmanned boat of the present invention can adapt to some complex terrains for surveying and sampling work, thereby effectively enhancing the convenience and breadth of application.

[0006] To achieve the above object, the technical solution adopted by the present invention is: An unmanned boat for underwater diving operations, comprising an unmanned hull, and a bottom mapping module and an early warning component mounted on the unmanned hull. The early warning component is arranged on the top of the unmanned hull and comprises a first camera, an acoustic fish repellent, and multiple sets of scanning radars. The first camera is movably mounted in the middle of the top of the unmanned hull, and multiple sets of scanning radars are installed around the periphery of the unmanned hull. A storage bin is provided at the bottom of the unmanned hull, a sampling component is provided in the middle of the inner side of the storage bin, the sampling component comprises a hydraulic clamping claw, an adjustment component is provided on the top of the hydraulic clamping claw, and the adjustment component is used to adjust the hydraulic clamping claw. The angle is adjusted, the adjusting component includes a support column, the bottom of the support column is movably connected to a first hydraulic telescopic rod, the hydraulic clamping claw is installed at the bottom of the first hydraulic telescopic rod, and a second hydraulic telescopic rod is provided between the support column and the first hydraulic telescopic rod; an auxiliary monitoring component, the auxiliary monitoring component is arranged on the bottom side of the unmanned hull, the auxiliary monitoring component includes a second camera, the second camera is located at the inner left end of the storage bin, and a hydraulic rod is provided on the top of the second camera, the hydraulic rod is fixedly installed at the inner left end of the unmanned hull, and the hydraulic rod drives the second camera to perform lifting movements.

[0007] Preferably, the adjustment component also includes a driving module, which includes a rotating drum, and a support shaft is movably connected to the inner middle part of the rotating drum, and the support shaft is fixedly installed at the inner right end of the storage bin. Rotating gears are fixedly installed in the middle of both ends of the rotating drum, and the right ends of the two groups of rotating gears are transmission-connected to driving gears. The two groups of driving gears are coaxially connected through a connecting shaft, and one end of the connecting shaft is connected to a third motor.

[0008] Preferably, a support base is fixedly installed in the middle of the outer wall of the rotating drum, a second motor is provided in the middle of the inner side of the support base, the output end of the second motor is connected to a rotating body, the rotating body is movably installed in the middle of the bottom end of the support base, and the top of the support column is fixedly connected to the rotating body.

[0009] Preferably, a fixing seat is provided on the top of the unmanned hull, the first camera is movably mounted on the top of the fixing seat through a rotating shaft, a first motor is installed in the inner middle part of the fixing seat, and the output end of the first motor is transmission-connected to the rotating shaft.

[0010] Preferably, the sonic fish repellent is installed at the middle of the side end of the fixing seat.

[0011] Preferably, a first fixing jaw and a second fixing jaw are respectively installed on the inner top of the storage bin, the first fixing jaw is used to clamp and fix the support column, and the second fixing jaw is used to clamp and fix the first hydraulic telescopic rod.

[0012] Preferably, the base of the second hydraulic telescopic rod is movably connected to the outer wall of the support column through a rotating member, and the output end of the second hydraulic telescopic rod is movably connected to the outer wall of the first hydraulic telescopic rod through a rotating member.

[0013] Preferably, both ends of the rotating drum are movably connected to the inner wall of the storage bin, and waterproof sealing members are provided at the connection points.

[0014] Compared with the prior art, the present invention has the following beneficial effects: In the present invention, by arranging an early warning component on the top of the unmanned boat, the surroundings of the unmanned boat can be detected in all directions. Once a large creature is detected approaching, the first motor is immediately started to drive the first camera to rotate, so that the first camera can rotate to the direction of the detected large creature to monitor and identify the large creature. When it is determined that the creature is large and dangerous, the sonic fish repellent is immediately activated to drive it away. Conversely, when it is determined that there is no danger, the sonic fish repellent does not need to be activated. The provision of the early warning component can enhance the safety of the unmanned boat in the water and effectively prevent large creatures from approaching and causing damage to the unmanned boat. In addition, by providing a sampling component, the unmanned vessel can clamp and sample ore while surveying, thereby enhancing the underwater application function of the unmanned vessel. Moreover, the setting of the adjustment component allows the staff to flexibly adjust the orientation and angle of the hydraulic clamping claw by remote control, so that the unmanned vessel of the present invention can adapt to some complex terrains for surveying and sampling, thereby effectively enhancing the convenience and wide range of applications. In the present invention, the provision of the auxiliary monitoring component facilitates the staff to observe the position of the hydraulic clamping claw from the side in real time, thereby providing accurate observation for the staff to remotely adjust the position of the hydraulic clamping claw, further improving the convenience of the hydraulic clamping claw in clamping and sampling seabed ore. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a structural schematic diagram of the present invention; Figure 2 This is a schematic diagram of the structure of the sampling component in the present invention when it is expanded; Figure 3 It is a schematic diagram of the top view of the structure of the present invention; Figure 4 Schematic diagram of the bottom structure of the present invention; Figure 5 Schematic diagram of the overall structure of the sampling component in the present invention; Figure 6 Schematic diagram of the structure of the driving module in the present invention; Figure 7 It is a structural diagram of the early warning component in the present invention.

[0016] In the figure: 1. Unmanned hull; 2. Surveying and mapping module; 3. Fixed seat; 4. First camera; 5. Rotating axis; 6. First motor; 7. Sonic fish repellent; 8. Scanning radar; 9. Storage compartment; 10. Second camera; 11. Hydraulic rod; 12. Support column; 13. First hydraulic telescopic rod; 14. Second hydraulic telescopic rod; 15. Hydraulic clamping claw; 16. First fixed clamping claw; 17. Second fixed clamping claw; 18. Rotating drum; 19. Support axis; 20. Support seat; 21. Second motor; 22. Rotating body; 23. Rotating gear; 24. Driving gear; 25. Connecting shaft; 26. Third motor. DETAILED DESCRIPTION

[0017] The technical solution in the embodiment of the present application is to solve the problems of the above-mentioned background technology. The overall idea is as follows: the present invention provides an early warning component on the top of the unmanned hull 1, which can detect the surroundings of the unmanned hull 1 in all directions, thereby enhancing the safety of the unmanned hull 1 traveling in the water, and by providing a sampling component, the unmanned hull 1 can clamp and sample sample ore while surveying, thereby enhancing the underwater application function of the unmanned hull 1, and the setting of the adjustment component makes it possible to flexibly adjust the orientation and angle of the hydraulic clamping claw 15 when clamping and collecting ore samples through the hydraulic clamping claw 15, so that the unmanned boat of the present invention can adapt to some complex terrains for sampling, thereby effectively enhancing the convenience and wide range of application; and during the sampling process, the auxiliary monitoring component can also be started. The second camera 10 in the auxiliary monitoring component allows the staff to observe the position of the hydraulic clamping claw 15 in real time from the side, thereby providing accurate observation for the staff to remotely adjust the position of the hydraulic clamping claw 15, further improving the convenience of the hydraulic clamping claw 15 for clamping and sampling seabed ore.

[0018] Example: Refer to Figure 1-Figure 7 As shown, an unmanned boat for underwater diving operations in this embodiment includes an unmanned hull 1 and a bottom mapping module 2 installed on the unmanned hull 1. The mapping module 2 is an existing mature technology and is mainly used for mapping the bottom of the water. The early warning component is arranged on the top of the unmanned hull 1, including a first camera 4, an acoustic fish repellent 7 and multiple sets of scanning radars 8. The first camera 4 is movably installed in the middle of the top of the unmanned hull 1, and the multiple sets of scanning radars 8 are installed around the periphery of the unmanned hull 1. The multiple sets of scanning radars 8 form a component, which can scan and warn the surrounding areas of the unmanned hull 1. Once a large creature is detected approaching, the first camera 4 will immediately rotate to the corresponding direction to monitor and identify the creature. If pollution approaches the creature, there is a danger, and the acoustic fish repellent 7 is started to drive it away, thereby ensuring the safety of the unmanned hull 1 traveling underwater.

[0019] A storage bin 9 is provided at the bottom of the unmanned hull 1, and a sampling assembly is provided at the inner middle part of the storage bin 9. The sampling assembly includes a hydraulic clamping claw 15, and an adjustment assembly is provided on the top of the hydraulic clamping claw 15. The adjustment assembly is used to adjust the angle of the hydraulic clamping claw 15. The adjustment assembly includes a support column 12, and the bottom of the support column 12 is movably connected with a first hydraulic telescopic rod 13. The hydraulic clamping claw 15 is installed at the bottom of the first hydraulic telescopic rod 13, and a second hydraulic telescopic rod 14 is provided between the support column 12 and the first hydraulic telescopic rod 13. The second hydraulic telescopic rod 14 mainly adjusts the angle between the support column 12 and the first hydraulic telescopic rod 13, so that the support column 12 and the first hydraulic telescopic rod 13 can form a connection with different angles from vertical to parallel directions, so that the position of the hydraulic clamping claw 15 can be flexibly adjusted in multiple directions, providing convenience for the clamping and sampling of seabed ores.

[0020] Among them, the adjustment component also includes a driving module, which includes a rotating drum 18, and a support shaft 19 is movably connected to the inner middle part of the rotating drum 18. The support shaft 19 is fixedly installed on the inner right end of the storage bin 9. A rotating gear 23 is fixedly installed in the middle of both ends of the rotating drum 18, and the right ends of the two sets of rotating gears 23 are transmission-connected to the driving gear 24. The two sets of driving gears 24 are coaxially connected through a connecting shaft 25. One end of the connecting shaft 25 is connected to a third motor 26, which drives the two sets of driving gears 24 to rotate. Then, under the action of the transmission force, the driving gear 24 will drive the rotating gear 23 to rotate, thereby driving the rotating drum 18 to rotate around the periphery of the support shaft 19, so that the support column 12 can be rotated to a vertical direction with the storage bin 9, thereby realizing the deployment and use of the hydraulic clamping claw 15. Conversely, when the hydraulic clamping claw 15 is rotated into the storage bin 9, the storage bin 9 can now store and store the hydraulic clamping claw 15. The auxiliary monitoring assembly is located on the bottom side of the unmanned hull 1 and includes a second camera 10, located at the inner left end of the storage compartment 9. A hydraulic rod 11 is mounted on top of the second camera 10. The hydraulic rod 11 is fixed to the inner left end of the unmanned hull 1 and drives the second camera 10 up and down. The second camera 10 primarily serves an auxiliary function, allowing direct observation of the position of the hydraulic clamping claw 15, thereby facilitating operator adjustment.

[0021] In some examples, a support base 20 is fixedly installed in the middle of the outer wall of the rotating drum 18, and a second motor 21 is provided in the middle of the inner side of the support base 20. The output end of the second motor 21 is connected to a rotating body 22, and the rotating body 22 is movably installed in the middle of the bottom end of the support base 20. The top of the support column 12 is fixedly connected to the rotating body 22, and is driven by the second motor 21 to drive the rotating body 22 to rotate, thereby driving the support column 12, the first hydraulic telescopic rod 13 and the hydraulic clamping claw 15 to rotate, so that the clamping position of the hydraulic clamping claw 15 can be rotationally adjusted.

[0022] In some examples, a fixing seat 3 is provided on the top of the unmanned hull 1, and a first camera 4 is movably mounted on the top of the fixing seat 3 through a rotating shaft 5. A first motor 6 is installed in the inner middle part of the fixing seat 3, and the output end of the first motor 6 is connected to the rotating shaft 5 for transmission. The first motor 6 drives the rotating shaft 5 to rotate, thereby driving the first camera 4 to rotate 360 ​​degrees, so that the first camera 4 can quickly rotate to the corresponding position to intelligently identify approaching fish to see whether they are dangerous.

[0023] In some examples, the sonic fish repellent 7 is installed in the middle of the side end of the fixing seat 3. When a large creature is detected approaching and it is dangerous, the sonic fish repellent 7 is immediately started to drive away the fish to ensure the safety of the unmanned hull 1.

[0024] In some examples, a first fixing clamp 16 and a second fixing clamp 17 are respectively installed on the inner top of the storage bin 9. The first fixing clamp 16 is used to clamp and fix the support column 12, and the second fixing clamp 17 is used to clamp and fix the first hydraulic telescopic rod 13. The first fixing clamp 16 and the second fixing clamp 17 can clamp and fix the support column 12 and the first hydraulic telescopic rod 13, thereby enhancing the stability of the support column 12 and the first hydraulic telescopic rod 13 when stored in the storage bin 9. By storing the support column 12 and the first hydraulic telescopic rod 13 in the storage bin 9, the support column 12 and the first hydraulic telescopic rod 13 are prevented from being exposed to the bottom of the unmanned hull 1, which would cause resistance during the operation of the unmanned hull 1.

[0025] In some examples, the base of the second hydraulic telescopic rod 14 is movably connected to the outer wall of the support column 12 through a rotating member, and the output end of the second hydraulic telescopic rod 14 is movably connected to the outer wall of the first hydraulic telescopic rod 13 through a rotating member. The second hydraulic telescopic rod 14 performs push-pull movements, so that the connection angle between the support column 12 and the first hydraulic telescopic rod 13 can be adjusted.

[0026] In some examples, both ends of the drum 18 are movably connected to the inner wall of the storage bin 9 so that the drum 18 can rotate, and a waterproof seal is provided at the connection to play a sealing and waterproof role, preventing water from flowing through the gap into the interior of the unmanned hull 1 and causing damage.

[0027] The working principle of the present invention is: During use, the staff needs to throw the unmanned hull 1 into the water, and control the unmanned hull 1 to travel in the water through the remote control device, reach the designated area and then turn on the surveying and mapping module 2 to survey and scan the bottom of the water.

[0028] Among them, when it is necessary to sample the seabed ore, the staff can start the third motor 26 to drive the two sets of driving gears 24 to rotate, thereby driving the two sets of rotating gears 23 to rotate. Under the rotation of the rotating gear 23, the rotating drum 18 is rotated. When the rotating drum 18 rotates to 90 degrees, the support column 12 drives the hydraulic clamping claw 15 to rotate to a vertical state with the storage bin 9, and then the first hydraulic telescopic rod 13 is started to push the hydraulic clamping claw 15 downward, so that the hydraulic clamping claw 15 is close to the seabed ore and clamps the seabed ore for sampling. In addition, during the sampling process, the second hydraulic telescopic rod 14 can also be retracted to retract the first hydraulic telescopic rod 13. The angle between the retracted rod 13 and the support column 12 is adjusted, and by starting the second motor 21, the second motor 21 drives the rotating body 22 to rotate, thereby realizing 360-degree rotation adjustment of the hydraulic clamping claw 15. The above structure can quickly adjust the orientation and angle of the hydraulic clamping claw 15, and during the adjustment process, the hydraulic rod 11 can also be started to push the second camera 10 down. The second camera 10 can be used to observe the hydraulic clamping claw 15 in real time from the side, thereby providing accurate observation for the staff to remotely control the position adjustment of the hydraulic clamping claw 15, further improving the convenience of the hydraulic clamping claw 15 for clamping and sampling seabed ores.

[0029] In addition, the present invention can ensure the safety of the unmanned hull 1 traveling in the water by providing an early warning component. First, by installing multiple sets of scanning radars 8 on the periphery of the unmanned hull 1, a blind-angle scanning of the surroundings of the unmanned hull 1 is achieved. Once a large creature is detected approaching, the first motor 6 is immediately started to drive the first camera 4 to rotate, so that the first camera 4 can rotate to the direction of the detected large creature to monitor and identify the large creature. When it is determined that it is a large creature and is dangerous, the sonic fish repellent 7 is immediately turned on to drive it away. Conversely, when it is determined that there is no danger, the sonic fish repellent 7 does not need to be turned on. The setting of the early warning component can enhance the safety of the unmanned hull 1 traveling in the water and effectively prevent large creatures from approaching and causing damage to the unmanned hull 1.

[0030] The basic principles, main features, and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. An unmanned vessel for underwater diving operations, comprising an unmanned hull (1), and a bottom mapping module (2) mounted on the unmanned hull (1), characterized in that: An early warning component is arranged on the top of the unmanned hull (1), comprising a first camera (4), an acoustic fish repellent (7) and a plurality of scanning radars (8), wherein the first camera (4) is movably mounted on the middle of the top of the unmanned hull (1), and the plurality of scanning radars (8) are mounted around the periphery of the unmanned hull (1); The bottom of the unmanned hull (1) is provided with a storage bin (9), the inner middle portion of the storage bin (9) is provided with a sampling assembly, the sampling assembly includes a hydraulic clamping claw (15), the top of the hydraulic clamping claw (15) is provided with an adjustment assembly, the adjustment assembly is used to adjust the angle of the hydraulic clamping claw (15), the adjustment assembly includes a support column (12), the bottom of the support column (12) is movably connected to a first hydraulic telescopic rod (13), the hydraulic clamping claw (15) is installed at the bottom of the first hydraulic telescopic rod (13), and a second hydraulic telescopic rod (14) is provided between the support column (12) and the first hydraulic telescopic rod (13); An auxiliary monitoring component is provided on one side of the bottom of the unmanned hull (1), and the auxiliary monitoring component includes a second camera (10), the second camera (10) is located at the inner left end of the storage compartment (9), and a hydraulic rod (11) is provided on the top of the second camera (10), the hydraulic rod (11) is fixedly mounted on the inner left end of the unmanned hull (1), and the hydraulic rod (11) drives the second camera (10) to perform lifting and lowering movements.

2. The unmanned boat for underwater diving operations according to claim 1, characterized in that: The adjustment assembly also includes a driving module, which includes a rotating drum (18), wherein the inner middle portion of the rotating drum (18) is movably connected to a support shaft (19), and the support shaft (19) is fixedly installed at the inner right end of the storage bin (9). Rotating gears (23) are fixedly installed at the middle portions of both ends of the rotating drum (18), and the right ends of the two groups of rotating gears (23) are both transmission-connected to driving gears (24). The two groups of driving gears (24) are coaxially connected via a connecting shaft (25), and one end of the connecting shaft (25) is connected to a third motor (26).

3. The unmanned boat for underwater diving operations according to claim 2, characterized in that: A support base (20) is fixedly mounted in the middle of the outer wall of the rotating drum (18), a second motor (21) is provided in the middle of the inner side of the support base (20), an output end of the second motor (21) is connected to a rotating body (22), the rotating body (22) is movably mounted in the middle of the bottom end of the support base (20), and the top of the support column (12) is fixedly connected to the rotating body (22).

4. The unmanned boat for underwater diving operations according to claim 3, characterized in that: A fixing seat (3) is provided on the top of the unmanned hull (1); the first camera (4) is movably mounted on the top of the fixing seat (3) via a rotating shaft (5); a first motor (6) is mounted in the middle of the inner side of the fixing seat (3); and an output end of the first motor (6) is in transmission connection with the rotating shaft (5).

5. The unmanned boat for underwater diving operations according to claim 4, characterized in that: The sonic fish repellent (7) is mounted on the middle portion of the side end of the fixing seat (3).

6. The unmanned boat for underwater diving operations according to claim 5, characterized in that: A first fixing clamp (16) and a second fixing clamp (17) are respectively installed on the inner top of the storage bin (9), wherein the first fixing clamp (16) is used to clamp and fix the support column (12), and the second fixing clamp (17) is used to clamp and fix the first hydraulic telescopic rod (13).

7. The unmanned boat for underwater diving operations according to claim 6, characterized in that: The base of the second hydraulic telescopic rod (14) is movably connected to the outer wall of the support column (12) via a rotating member, and the output end of the second hydraulic telescopic rod (14) is movably connected to the outer wall of the first hydraulic telescopic rod (13) via a rotating member.

8. The unmanned boat for underwater diving operations according to claim 7, characterized in that: Both ends of the rotating drum (18) are movably connected to the inner wall of the storage bin (9), and waterproof sealing members are provided at the connection points.

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