Underwater sonar positioning assist device

Abstract

The utility model discloses an underwater sonar positioning assistor which comprises a mounting top plate, a vertical rod is arranged at the lower end of the mounting top plate, a mounting frame is arranged at the lower end of the vertical rod, a first driving mechanism used for driving the vertical rod to rotate is arranged below the mounting top plate, and the first driving mechanism comprises a first driving assembly fixedly connected to the lower end of the mounting top plate. And the output end of the first driving assembly and the side wall of the vertical rod are fixedly connected with a first gear and a second gear correspondingly, a moving frame is arranged in the mounting frame, a rotating shaft is arranged on the inner wall of the moving frame, and a mounting rod is arranged on the side wall of the rotating shaft. According to the underwater robot, the first driving mechanism is arranged, the sonar can be driven to rotate slowly by starting the first driving assembly, the sonar can fully cover the whole target area, the underwater robot does not need to move integrally, the sonar can be positioned more quickly and receive electric power, and therefore the practicability of the device is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of underwater sonar auxiliary components, in particular to an underwater sonar positioning assistor. Background Technique

[0002] Underwater sonar is a device that uses sound waves to detect, position, communicate, etc. underwater. Sonar works by emitting sound waves and receiving echoes. Underwater sonar can be used for the movement and detailed structure detection of underwater robots in the detection of hydraulic structures.

[0003] Many existing underwater robots are equipped with sonar for positioning and detecting the structure of hydraulic structures. However, traditional sonar is fixed on the underwater robot, and the detection range of sonar usually has certain directivity and limitations. It can only change the direction by the rotation of the underwater robot itself. Since the robot moves slowly and turns very power-consuming underwater, the sonar's comprehensive positioning is slow and power is wasted. To solve the above problems, we propose this underwater sonar positioning assistor. Content of the Utility Model

[0004] The main purpose of the utility model is to provide an underwater sonar positioning assistor, which can effectively solve the problems in the background technique.

[0005] To achieve the above purpose, the utility model adopts the following technical scheme:

[0006] The underwater sonar positioning assistor includes a mounting top plate. A vertical rod is provided at the lower end of the mounting top plate. An installation frame is provided at the lower end of the vertical rod. A first driving mechanism for driving the vertical rod to rotate is provided under the mounting top plate. The first driving mechanism includes a first driving component fixedly connected to the lower end of the mounting top plate. The output end of the first driving component and the side wall of the vertical rod are respectively fixedly connected with a first gear and a second gear. A moving frame is provided in the installation frame. A rotating shaft is provided on the inner wall of the moving frame. A mounting rod is provided on the side wall of the rotating shaft. A second driving mechanism for driving the mounting rod to rotate is provided on the moving frame.

[0007] Preferably, the second driving mechanism includes a driving housing fixedly connected to the upper end of the moving frame. A third driving component is fixedly connected to the inner top of the driving housing. A third gear and a fourth gear are respectively fixedly connected to the output shaft of the third driving component and the side wall of the rotating shaft.

[0008] Preferably, a second driving component is fixedly connected to the side wall of the installation frame. A threaded rod is fixedly connected to the output shaft of the second driving component.

[0009] Preferably, a control box is provided at the lower end of the mounting top plate. A GPS module, a processor and a wireless module are provided in the control box.

[0010] Preferably, there is an accelerometer at the bottom inside the control box, and a gyroscope and a magnetometer are fixedly connected to the bottom inside the control box.

[0011] Preferably, a through groove is formed at the lower end of the installation frame, and the moving frame is slidably connected to the installation frame.

[0012] Compared with the prior art, the utility model has the following beneficial effects:

[0013] 1. The device is provided with a first driving mechanism, which can drive the sonar to rotate slowly by starting the first driving component, so that the sonar can achieve a comprehensive coverage of the entire target area. It is not necessary for the underwater robot to move as a whole, making the sonar positioning faster and more power-receiving, thus improving the practicability of the device;

[0014] 2. The device is provided with a second driving mechanism, which can drive the sonar to gradually scan waters at different angles when it penetrates into a gap or a hole by starting the third driving component, ensuring that no important area is missed, thereby improving the effectiveness of the inspection of hydraulic structures;

[0015] 3. The device is provided with a second driving component, etc. By starting the second driving component, the sonar extending into the hole or the gap can penetrate deeper, which is convenient for more comprehensively exploring the situation of the hydraulic structure, and further expands the application range of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a schematic structural diagram of the underwater sonar positioning assistor proposed by the utility model;

[0017] Figure 2 is a side view of the underwater sonar positioning assistor proposed by the utility model;

[0018] Figure 3 is a bottom view of the underwater sonar positioning assistor proposed by the utility model.

[0019] In the figure: 1 installation top plate, 2 vertical rod, 3 installation frame, 4 moving frame, 5 driving housing, 6 installation rod, 7 rotating shaft, 8 first driving component, 9 second driving component, 10 third driving component, 11 control box, 12 accelerometer, 13 gyroscope, 14 magnetometer, 15 GPS module, 16 threaded rod, 17 through groove. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0020] In order to make the technical means, creative features, achieved purposes and functions of the utility model easy to understand, the utility model will be further described below in conjunction with specific embodiments.

[0021] Such as Figures 1 - 3As shown in the figure, an underwater sonar positioning assist device includes a mounting top plate 1. A vertical rod 2 is provided at the lower end of the mounting top plate 1, and a mounting frame 3 is provided at the lower end of the vertical rod 2. A first driving mechanism for driving the vertical rod 2 to rotate is provided under the mounting top plate 1. The first driving mechanism includes a first driving component 8 (including a waterproof housing and a driving motor inside) fixedly connected to the lower end of the mounting top plate 1. Its output shaft can rotate forward and backward, and the control mode is one of the following: pulse control mode, analog control mode, communication control mode. A first gear and a second gear are respectively fixedly connected to the output end of the first driving component 8 and the side wall of the vertical rod 2. A moving frame 4 is provided inside the mounting frame 3. A rotating shaft 7 is provided on the inner wall of the moving frame 4, and a mounting rod 6 is provided on the side wall of the rotating shaft 7.

[0022] A second driving mechanism for driving the mounting rod 6 to rotate is provided on the moving frame 4. The second driving mechanism includes a driving housing 5 fixedly connected to the upper end of the moving frame 4. A third driving component 10 (including a waterproof housing and a driving motor inside) is fixedly connected to the inner top of the driving housing 5. Its output shaft can rotate forward and backward, and the control mode is one of the following: pulse control mode, analog control mode, communication control mode. A third gear and a fourth gear are respectively fixedly connected to the output shaft of the third driving component 10 and the side wall of the rotating shaft 7.

[0023] In the present utility model, a second driving component 9 (including a waterproof housing and a driving motor inside) is fixedly connected to the side wall of the mounting frame 3. Its output shaft can rotate forward and backward, and the control mode is one of the following: pulse control mode, analog control mode, communication control mode. A threaded rod 16 is fixedly connected to the output shaft of the second driving component 9, and the threaded rod 16 is threadedly connected to the moving frame 4.

[0024] In the present utility model, a control box 11 is provided at the lower end of the mounting top plate 1. A GPS module, a processor and a wireless module are provided inside the control box 11. Near the water surface, the GPS signal can provide a rough position reference for the assist device, further improving the accuracy of sonar positioning.

[0025] In the present utility model, an accelerometer 12 is provided at the bottom inside the control box 11, and a gyroscope 13 and a magnetometer 14 are fixedly connected to the bottom inside the control box 11. The processor wirelessly transmits the information of the accelerometer 12, the gyroscope 13 and the magnetometer 14 to the processing device of the underwater robot. The processing device is equipped with an inertial navigation system, and the attitude and motion information of the robot can be provided through the inertial navigation system. The assist device fuses this information with the sonar data, and can more accurately determine the position of the robot relative to the target.

[0026] In the present utility model, a through groove 17 is opened at the lower end of the mounting frame 3. When the moving frame 4 is reset, the sediment between the moving frame 4 and the mounting frame 3 can fall from the through groove 17, enabling the moving frame 4 to be reset smoothly. The moving frame 4 is slidably connected to the mounting frame 3.

[0027] It should be noted that the present utility model is an underwater sonar positioning auxiliary device. The user installs the mounting top plate 1 under the underwater robot through bolts, and the sonar is installed on the mounting rod 6. During the movement of the underwater robot near the hydraulic structure, the first driving component 8 can be started. The first driving component 8 drives the moving frame 4 and the sonar to slowly rotate through the meshing of the first gear and the second gear, so that the sonar can achieve a comprehensive coverage of the entire target area. By continuously changing the direction of the sonar, the waters at different angles can be gradually scanned to ensure that no important area is missed, and it is not necessary for the whole underwater robot to move, making the sonar positioning faster;

[0028] When there are gaps or holes in some hydraulic structures, the third driving component 10 can be started. The third driving component 10 drives the mounting rod 6 to rotate horizontally through the meshing of the third gear and the fourth gear, so that the sonar can gradually scan the waters at different angles when it penetrates into the gaps or holes to ensure that no important area is missed;

[0029] In addition, the second driving component 9 can also be started. The output shaft of the second driving component 9 drives the threaded rod 16 to rotate, and the moving frame 4 moves away from the mounting top plate 1 under the limitation of the mounting frame 3, so that the sonar extending into the hole or gap can be deeper, which is convenient for more comprehensively exploring the situation of the hydraulic structure.

[0030] The above shows and describes the basic principles, main features and advantages of the present utility model. Those skilled in the art of this industry should understand that the present utility model is not limited by the above embodiments. What is described in the above embodiments and the specification only illustrates the principle of the present utility model. Without departing from the spirit and scope of the present utility model, the present utility model will have various changes and improvements, and these changes and improvements all fall within the scope of the present utility model claimed. The scope of protection claimed by the present utility model is defined by the appended claims and their equivalents.

Claims

1. Underwater sonar positioning aid, including a mounting top plate (1), characterized in that, The lower end of the installation top plate (1) is provided with a vertical rod (2), the lower end of the vertical rod (2) is provided with an installation frame (3), and a first driving mechanism for driving the vertical rod (2) to rotate is arranged under the installation top plate (1). The first driving mechanism includes a first driving component (8) fixedly connected to the lower end of the installation top plate (1). The output end of the first driving component (8) and the side wall of the vertical rod (2) are respectively fixedly connected with a first gear and a second gear. A moving frame (4) is arranged in the installation frame (3), a rotating shaft (7) is arranged on the inner wall of the moving frame (4), an installation rod (6) is arranged on the side wall of the rotating shaft (7), and a second driving mechanism for driving the installation rod (6) to rotate is arranged on the moving frame (4).

2. The underwater sonar positioning aid according to claim 1, characterized in that, The second driving mechanism includes a driving housing (5) fixedly connected to the upper end of the moving frame (4). A third driving component (10) is fixedly connected to the inner top of the driving housing (5). A third gear and a fourth gear are respectively fixedly connected to the output shaft of the third driving component (10) and the side wall of the rotating shaft (7).

3. The underwater sonar positioning aid according to claim 2, wherein, A second driving component (9) is fixedly connected to the side wall of the installation frame (3). A threaded rod (16) is fixedly connected to the output shaft of the second driving component (9).

4. The underwater sonar positioning aid according to claim 3, wherein, A control box (11) is arranged at the lower end of the installation top plate (1). A GPS module, a processor and a wireless module are arranged in the control box (11).

5. The underwater sonar positioning aid according to claim 4, wherein An accelerometer (12) is arranged at the inner bottom of the control box (11). A gyroscope (13) and a magnetometer (14) are fixedly connected to the inner bottom of the control box (11).

6. The underwater sonar positioning aid according to claim 1, wherein A through groove (17) is formed at the lower end of the installation frame (3). The moving frame (4) is slidably connected to the installation frame (3).

Images