A detachable low magnetic property AUV magnetic detector probe fixing device and dismounting method

Abstract

This invention provides a detachable, low-magnetic-characteristic AUV magnetic detector probe fixing device and disassembly method, belonging to the field of underwater robot technology. The device includes: a base, a probe rod, a buoyancy block, a lightweight outer shell for the probe rod, and a lightweight outer shell for the base. The base is fixed to the AUV carrier frame, and the base is covered by the lightweight outer shell. The probe rod is connected to the base via a flange, and a buoyancy block is installed between the probe rod and the lightweight outer shell. The end of the probe rod has an angle-adjustable optically pumped magnetic detector probe fixing frame, on which the optically pumped magnetic detector probe is mounted. This invention is made of non-magnetic titanium alloy and non-magnetic resin materials, and the overall design is streamlined and smooth, featuring high integration, low fluid resistance, and low self-magnetic interference. Furthermore, the probe rod assembly can be completely separated from the base, facilitating the transportation, storage, and sensor maintenance of the AUV.

Description

Technical Field

[0001] This invention belongs to the field of underwater robot technology, specifically relating to a detachable low-magnetic-characteristic AUV magnetic detector probe fixing device and disassembly / assembly method. Background Technology

[0002] Autonomous underwater vehicles (AUVs) have been widely used in marine resource exploration, seabed topography mapping, and underwater target detection due to their high degree of autonomy, wide operating range, maneuverability, and intelligence. Using AUVs equipped with high-precision magnetometers to measure marine magnetic fields is an important means of acquiring marine geological magnetic signal characteristics and detecting ferromagnetic targets on the seabed.

[0003] In practical engineering applications, AUVs integrate numerous motors, servos, battery packs, and various electronic control devices, which generate complex electromagnetic fields during operation. If a highly sensitive magnetic sensor is directly installed inside the pressure-resistant housing of the AUV, the AUV's own interfering magnetic field will severely affect measurement accuracy and may even cause it to malfunction.

[0004] To address this issue, the conventional approach is to extend the magnetic sensor further away from the AUV body by lengthening the probe. However, existing AUV extendable probe devices suffer from the following technical drawbacks:

[0005] I. Low structural integration and limited functionality. Current probes are typically designed to accommodate the installation of a single type of sensor, making it difficult to integrate scalar magnetometers and vector magnetometers simultaneously within a single probe, thus failing to meet the demands of modern marine surveying for simultaneous multi-parameter measurements.

[0006] Second, poor hydrodynamic performance. Many probe devices only consider structural strength and neglect the smooth design of the shape, which leads to a significant increase in water resistance during AUV navigation, and the resulting wake vortex may cause probe vibration. This mechanical vibration coupled to the magnetometer signal will form a new noise source.

[0007] Third, the magnetic properties of materials are not strictly controlled. Although some devices use non-magnetic materials for the main body, strict low magnetic control is not implemented on the connectors, fasteners, or outer coating, causing the device itself to become a new source of interference.

[0008] Fourth, disassembly and maintenance are difficult. Existing probes are mostly fixed to the bow of the AUV using rigid connections or even welding. When the AUV needs to be transported long distances, stored on deck, or have its internal sensors maintained, the long probes not only take up space but are also easily damaged. This lack of modular, quick-assembly and disassembly design results in low on-site operational efficiency.

[0009] Therefore, designing a probe fixing device with high integration, low fluid resistance, low magnetic interference, and easy disassembly and maintenance is a key technical challenge to improve the magnetic measurement capabilities of AUVs in response to the above problems. Summary of the Invention

[0010] The purpose of this invention is to overcome the above-mentioned technical problems by providing a detachable low-magnetic-characteristic AUV magnetic detector probe fixing device and a disassembly and assembly method.

[0011] The objective of this invention is achieved through the following technical solution:

[0012] A detachable low-magnetic-characteristic AUV magnetic detector probe fixing device includes: a base, a probe rod, a buoyancy block, a probe rod lightweight shell, and a base lightweight shell. The base is fixed on the AUV carrier frame, and the base is covered with the base lightweight shell. The probe rod is connected to the base via a flange. A buoyancy block is installed between the probe rod and the probe rod lightweight shell. The end of the probe rod has an angle-adjustable optically pumped magnetic detector probe fixing frame, on which the optically pumped magnetic detector probe is mounted.

[0013] Furthermore, the probe rod has a three-component magnetometer probe mounting hole and an optically pumped magnetometer electronic compartment mounting hole. A three-component magnetometer probe is installed in the three-component magnetometer probe mounting hole, and an optically pumped magnetometer electronic compartment is installed in the optically pumped magnetometer electronic compartment mounting hole.

[0014] Furthermore, the flange and the base have interconnected wiring holes.

[0015] Furthermore, the base and probe are made of high-strength non-magnetic titanium alloy.

[0016] Furthermore, the probe housing and the base housing are made of non-magnetic resin material.

[0017] Furthermore, the buoyancy block is made of a non-magnetic buoyancy material.

[0018] Furthermore, the probe rod has a hollow skeleton structure.

[0019] Furthermore, the flange between the probe rod and the base is bolted together.

[0020] Furthermore, the bolts are made of non-magnetic titanium alloy.

[0021] The present invention may also include:

[0022] A method for disassembling and assembling a detachable low-magnetic-characteristic AUV magnetic detector probe fixing device, wherein the following steps are performed when the AUV is in transit or when it is necessary to replace different types of magnetic detector probes:

[0023] First, unscrew the screws securing the base housing, remove the base housing, and expose the internal flange connection; disconnect the watertight cable connector located near the cable routing hole to sever the electrical connection; unscrew the bolts connecting the flange to the base.

[0024] Then, the entire probe assembly, including the probe rod, optically pumped magnetometer probe, three-component magnetometer probe, optically pumped magnetometer electronic compartment, buoyancy block, and probe rod lightweight housing, is completely removed from the AUV.

[0025] The beneficial effects of this invention are as follows:

[0026] This invention integrates multiple sensors into a single unit, maximizing the use of the probe's internal space. Through precise hole layout and excavation design, it successfully integrates a photoelectric magnetic anomaly probe, a photoelectric electronic cabin, and a three-component vector magnetic anomaly probe within a single probe. This multi-functional design enables the simultaneous acquisition of scalar and vector data, providing a rich information source for subsequent geomagnetic data correction and target positioning.

[0027] This invention exhibits excellent hydrodynamic and buoyancy trimming performance. The device utilizes a 3D-printed streamlined lightweight shell to encase the internal structure, effectively reducing water flow resistance and minimizing vortex-induced vibration. Simultaneously, the built-in buoyancy block design precisely compensates for the underwater weight of the probe frame and sensors, ensuring near-zero buoyancy and thus maintaining good pitch attitude and navigation stability for the AUV.

[0028] This invention employs strict control over materials from the source. The main load-bearing frame (base, probe) and all fasteners of the device are made of non-magnetic titanium alloy, while the outer shell and buoyancy materials are made of non-metallic, non-magnetic materials. This completely non-magnetic design fundamentally eliminates the interference of the device's own induced magnetic field and eddy current magnetic field on high-precision magnetic measurement data, ensuring the purity of the measurement data.

[0029] This invention employs a highly efficient, detachable, modular design. Through a flange connection structure and a separate, lightweight outer shell, the long probe module can be easily separated from the AUV body during transportation, storage, or maintenance. This not only reduces the risk of damage during transport but also greatly facilitates sensor replacement and debugging, improving the flexibility of field operations. Attached Figure Description

[0030] Appendix Figure 1 This is a schematic diagram of the structure of the present invention;

[0031] Appendix Figure 2 This is a schematic diagram showing the overall effect of the present invention installed on the bow of an AUV;

[0032] Appendix Figure 3 This is a schematic diagram of the probe and hole layout of the present invention;

[0033] Appendix Figure 4 This is a schematic diagram of the structure of the base of the present invention;

[0034] Appendix Figure 5 This is a schematic diagram of the probe of the present invention.

[0035] In the attached diagram: 1. Base; 2. Probe rod; 3. Buoyancy block; 4. Probe rod lightweight outer shell; 5. Flange; 6. Optical-pumped magnetic detector probe mounting bracket; 7. Three-component magnetic detector probe mounting hole; 8. Optical-pumped magnetic detector electronic compartment mounting hole; 9. Optical-pumped magnetic detector electronic compartment; 10. Wiring hole; 11. Base lightweight outer shell; 12. Optical-pumped magnetic detector probe; 13. Three-component magnetic detector probe. Detailed Implementation

[0036] The present invention will now be further described with reference to the accompanying drawings.

[0037] This invention provides a detachable low-magnetic-characteristic AUV magnetic detector probe fixing device, as shown in the attached figure. Figure 1-5 As shown, it includes: a connecting component, a supporting frame, a buoyancy compensation component, and a shape rectification component. This device is installed at the front end of the AUV and is used to carry high-precision magnetic detection equipment.

[0038] Specifically, it includes: base 1, probe 2, buoyancy block 3, probe lightweight shell 4, and base lightweight shell 11. The base 1 is fixed to the AUV carrier frame by bolts, and the base 1 is covered by the base lightweight shell 11 to guide the flow.

[0039] The probe rod 2 is bolted to the base 1 via flange 5;

[0040] The inner surface of the buoyancy block 3 is in contact with the probe rod 2, and the outer surface of the buoyancy block 3 is wrapped by the probe rod lightweight outer shell 4;

[0041] The buoyancy block 3 and the probe light housing 4 are fixed to the probe 2 by bolts.

[0042] Furthermore, the probe rod 2 has a photoelectric magnetometer probe holder 6 at its end, and the tilt angle of the photoelectric magnetometer probe 12 is adjustable. This design allows the probe attitude to be adjusted according to the geomagnetic tilt angle of the sea area being operated, ensuring that the photoelectric magnetometer works outside the optimal dead zone angle.

[0043] The probe rod 2 has a three-component magnetometer probe mounting hole 7 and an optically pumped magnetometer electronic compartment mounting hole 8 inside. The probe rod 2 is also drilled to facilitate the assembly and disassembly of the three-component magnetometer probe 13 and the optically pumped magnetometer electronic compartment 9.

[0044] The flange of the probe rod 2 and the base 1 retain wiring holes 10 for the through wiring of sensor cables.

[0045] The base 1 and probe 2 are made of high-strength non-magnetic titanium alloy. All connecting bolts and fasteners are made of non-magnetic titanium alloy. The probe light shell 4 and the base light shell 11 are 3D printed from non-magnetic resin material. The buoyancy block 3 is made of machinable non-magnetic buoyancy material.

[0046] The probe 2 can be completely separated from the base by removing the base housing 11 and probe bolts, and disconnecting the cable watertight connector, as needed.

[0047] The probe rod 2, the probe rod lightweight housing 4, and the base lightweight housing 11 are streamlined and smoothed to reduce the hydrodynamic effects they are subjected to.

[0048] like Figure 1 and Figure 4 As shown, the main support structure: The base 1 is the component connecting the entire device to the AUV body, playing a crucial role in its construction. The base 1 is made of high-strength non-magnetic titanium alloy and is securely fixed to the aluminum alloy frame at the bow of the AUV using non-magnetic bolts. The design of the base 1 fully considers rigidity requirements, enabling it to withstand the impact loads generated during high-speed navigation and deployment / recovery of the AUV. To achieve good hydrodynamic performance, the base 1 is covered by a lightweight outer shell 11, which is 3D printed from non-magnetic resin material, with a smooth and continuous surface that naturally transitions with the lines of the AUV bow.

[0049] like Figure 3 As shown, the probe rod is integrated with the sensor: the probe rod 2 is a cantilever beam structure that supports the core sensor, also made of non-magnetic titanium alloy. The probe rod 2 is designed as a hollow skeleton structure, which reduces weight and provides installation space for the sensor. A flange 5 is connected to the root of the probe rod 2. During installation, the probe rod 2 is fitted to the front end face of the base 1 through the flange 5 and fastened with high-strength non-magnetic titanium alloy bolts. To achieve multi-parameter measurement, multiple sensor mounting positions are integrated on the probe rod 2: the front end of the probe rod 2 is designed with a photoelectric magnetometer probe mounting bracket 6 for mounting a high-sensitivity photoelectric magnetometer probe 12. This mounting bracket 6 has an angle adjustment function; by tightening or loosening the adjusting screw, the pitch angle of the photoelectric magnetometer probe 12 relative to the horizontal plane can be changed, thereby avoiding the measurement dead zone of the photoelectric magnetometer.

[0050] As attached Figure 5As shown, a three-component magnetic field detector probe mounting hole 7 is reserved in the front-middle internal space of the probe rod 2 for mounting a three-component fluxgate magnetometer probe 13; a photoelectric magnetic field detector electronic compartment mounting hole 8 is reserved in the rear-middle internal space of the probe rod 2 for accommodating the photoelectric magnetic field detector electronic compartment 9, which contains an electronic processing unit. To facilitate the installation and wiring of the three-component fluxgate magnetometer probe 13 and the photoelectric magnetic field detector electronic compartment 9, the side wall of the probe rod 2 is provided with the three-component magnetic field detector probe mounting hole 7 and the photoelectric magnetic field detector electronic compartment mounting hole 8, allowing operators to easily push the sensor into place and fix it through these windows.

[0051] In this embodiment, buoyancy and shape design: Since the titanium alloy probe 2 and the internal sensors have a certain weight, a dedicated buoyancy compensation system is designed to avoid disrupting the longitudinal balance of the AUV. For example... Figure 1 As shown, buoyancy blocks 3 fill the space around the frame of probe rod 2. Buoyancy blocks 3 are made of high-strength solid buoyancy material from deep sea, and their inner surface is irregularly shaped according to the shape of probe rod 2 to ensure a tight fit. On the outer layer of buoyancy blocks 3, a lightweight probe shell 4 is wrapped. This shell 4 is also made of non-magnetic resin 3D printed, and its shape has been optimized through CFD fluid simulation, exhibiting a slender, streamlined form to minimize water resistance. Buoyancy blocks 3 and the lightweight probe shell 4 are secured to the frame of probe rod 2 with through bolts, forming a stable whole.

[0052] In this embodiment, the electrical connection is as follows: a wiring hole 10 is provided on the connection surface between the flange 5 of the probe 2 and the base 1. After all the signal cables and power cables of the sensors converge, they pass through the wiring hole 10 and enter the pressure-resistant electronic compartment of the AUV through the watertight connector installed on the base 1 to realize power supply and data communication.

[0053] Disassembly and maintenance procedures: When the AUV is in transit or needs to be replaced with a different type of magnetometer probe, the operating procedure is as follows: First, unscrew the screws that fix the light housing 11 of the base, remove the light housing 11 of the base, and expose the flange 5 connection inside; disconnect the watertight connector of the cable located near the cable hole 10 to separate the electrical connection; unscrew the bolts connecting the flange 5 and the base 1.

[0054] Then, the entire probe assembly, including probe rod 2, optically pumped magnetometer probe 12, three-component magnetometer probe 13, optically pumped magnetometer electronic compartment 9, buoyancy block 3, and probe rod lightweight housing 4, is completely removed from the AUV.

[0055] This modular design allows the probe assembly to be transported as an independent unit in special anti-magnetic packaging, or to be used for precise sensor calibration in the laboratory, without having to move the entire AUV, greatly improving ease of use and maintenance efficiency.

[0056] In summary, this embodiment realizes a high-strength, highly integrated, streamlined, low-magnetic-interference, and easy-to-disassemble and maintain AUV probe fixing device, which can effectively meet the engineering requirements of high-precision magnetic field measurement in the deep sea.

[0057] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A detachable low-magnetic-characteristic AUV magnetic detector probe fixing device, characterized in that, include: The base (1), probe (2), buoyancy block (3), probe lightweight shell (4), and base lightweight shell (11) are fixed on the AUV carrier frame. The base (1) is covered with the base lightweight shell (11). The probe (2) is connected to the base (1) through a flange (5). A buoyancy block (3) is installed between the probe (2) and the probe lightweight shell (4). The probe (2) has an angle-adjustable optical pump magnetic detector probe holder (6) at its end. An optical pump magnetic detector probe (12) is installed on the optical pump magnetic detector probe holder (6).

2. The detachable low-magnetic-characteristic AUV magnetic detector probe fixing device according to claim 1, characterized in that, The probe rod (2) has a three-component magnetic detector probe mounting hole (7) and an optical pump magnetic detector electronic compartment mounting hole (8). A three-component magnetic detector probe (13) is installed on the three-component magnetic detector probe mounting hole (7), and an optical pump magnetic detector electronic compartment (9) is installed on the optical pump magnetic detector electronic compartment mounting hole (8).

3. The detachable low-magnetic-characteristic AUV magnetic detector probe fixing device according to claim 1 or 2, characterized in that, The flange (5) and the base (1) have interconnected wiring holes (10).

4. The detachable low-magnetic-characteristic AUV magnetic detector probe fixing device according to claim 1, characterized in that, The base (1) and probe (2) are made of high-strength non-magnetic titanium alloy.

5. The detachable low-magnetic-characteristic AUV magnetic detector probe fixing device according to claim 1, characterized in that, The probe housing (4) and the base housing (11) are made of non-magnetic resin material.

6. The detachable low-magnetic-characteristic AUV magnetic detector probe fixing device according to claim 1, characterized in that, The buoyancy block (3) is made of non-magnetic buoyancy material.

7. The detachable low-magnetic-characteristic AUV magnetic detector probe fixing device according to claim 1, characterized in that, The probe (2) is a hollow skeleton structure.

8. The detachable low-magnetic-characteristic AUV magnetic detector probe fixing device according to claim 1, characterized in that, The flange (5) between the probe (2) and the base (1) is bolted together.

9. The detachable low-magnetic-characteristic AUV magnetic detector probe fixing device according to claim 8, characterized in that, The bolts are made of non-magnetic titanium alloy.

10. A method for disassembling and assembling a detachable low-magnetic-characteristic AUV magnetic detector probe fixing device, characterized in that, When the AUV is in transit or needs to be replaced with a different type of magnetometer probe, the following operating procedures should be followed: First, unscrew the screws securing the base housing (11), remove the base housing (11), and expose the internal flange (5) connection; disconnect the cable watertight connector located near the wiring hole (10) to separate the electrical connection; unscrew the bolts connecting the flange (5) and the base (1); Then, the entire probe assembly, including the probe rod (2), the optical-pumped magnetometer probe (12), the three-component magnetometer probe (13), the optical-pumped magnetometer electronic compartment (9), the buoyancy block (3), and the probe rod lightweight housing (4), is completely removed from the AUV.

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