Underwater detection device and underwater equipment

Abstract

The utility model provides an underwater detection device and underwater equipment, the underwater detection device comprises a carrier and at least two acoustic measuring instruments, the carrier is provided with at least two mounting surfaces, and the number of the mounting surfaces is greater than or equal to the number of the acoustic measuring instruments; and the acoustic measuring instruments can be movably assembled on the mounting surface, so that the acoustic measuring instruments can execute measuring operation in different directions relative to the carrier. After the underwater detection device is carried on the underwater equipment, the distance condition around the underwater equipment body can be obtained without adjusting the posture of the underwater equipment, the measurement accuracy is ensured while the measurement efficiency is improved, and the underwater equipment has better environment adaptability.

Description

TECHNICAL FIELD

[0001] The present application relates to the underwater navigation technical field, in particular to an underwater detection device and underwater equipment. BACKGROUND

[0002] In the process of performing work underwater, the underwater equipment often needs to measure the parameter information of itself and the surrounding, such as the motion speed of the equipment relative to the target object or the distance between the equipment and the target object. At present, the measurement of these parameters is mainly through the installation of an acoustic measuring instrument on the underwater equipment, and the measurement is performed by emitting acoustic signals and receiving echo signals reflected by the target object. However, when the underwater equipment performs measurement in some scenes such as pipelines, jacket platforms, swimming pools, and closed pools, the acoustic measuring instrument first emits acoustic signals to one side of the pipeline, jacket platform, or closed pool and receives the echo signals reflected to perform the first measurement. Then, the posture of the underwater equipment is adjusted, and acoustic signals are emitted to the other side of the pipeline, jacket platform, or closed pool to perform the second measurement. The above method leads to low measurement efficiency, and it is difficult to avoid measurement errors due to the adjustment of the posture of the underwater equipment. CONTENT OF THE UTILITY MODEL

[0003] The present application mainly provides an underwater equipment and an underwater detection device thereof, which can ensure the accuracy of measurement and improve the measurement efficiency.

[0004] To solve the above technical problems, one technical solution of the present application is to provide an underwater detection device, which comprises a carrier and at least two acoustic measuring instruments. The carrier has at least two installation surfaces, and the number of the installation surfaces is greater than or equal to the number of the acoustic measuring instruments. The acoustic measuring instruments can be movably assembled on the installation surfaces, so that each acoustic measuring instrument can perform a measurement operation in a different direction relative to the carrier.

[0005] In one specific embodiment, the carrier comprises a top side, a bottom side, and a circumferential side composed of at least four installation surfaces. The top side and the bottom side are oppositely arranged, and the circumferential side is arranged between the top side and the bottom side. The at least two acoustic measuring instruments are installed on the carrier along the circumferential direction of the circumferential side.

[0006] In one specific embodiment, each installation surface is perpendicular to the bottom side or the top side, or is any one of an inclined surface, a stepped surface, or a curved surface. The projection of the circumferential side on a horizontal plane is any one of a regular polygon, an irregular polygon, or a composite figure composed of multiple line segments and arcs.

[0007] In an embodiment, the carrier comprises a top side, a bottom side, and a peripheral side; the top side and the bottom side are oppositely arranged, and the peripheral side is arranged between the top side and the bottom side; the peripheral side is in a cylindrical or elliptical cylindrical shape; the peripheral side has at least two mounting surfaces; the at least two acoustic measuring instruments are mounted on the carrier in a circumferential direction of the peripheral side.

[0008] In an embodiment, the carrier comprises a top side, a bottom side, a front side, a left side, a right side, and a back side, and the top side, the bottom side, the front side, the back side, the left side, and the right side respectively constitute the mounting surfaces; the top side and the bottom side are oppositely arranged, the front side and the back side are oppositely arranged, and the left side and the right side are oppositely arranged; the acoustic measuring instruments are mounted on at least two of the mounting surfaces of the front side, the left side, the right side, and the back side.

[0009] In an embodiment, the underwater detection device comprises a first acoustic measuring instrument, a second acoustic measuring instrument, and a third acoustic measuring instrument; the first acoustic measuring instrument is mounted on the left side, the second acoustic measuring instrument is mounted on the right side, and the third acoustic measuring instrument is mounted on the front side.

[0010] In an embodiment, the acoustic measuring instruments are also arranged on the top or the bottom.

[0011] In an embodiment, each acoustic measuring instrument comprises a shell and at least three acoustic transponders; the shell has a receiving space, and the at least three acoustic transponders are arranged in the receiving space; the emitting ends of the at least three acoustic transponders are exposed to the front surface of the shell, and the end faces of the emitting ends of any two adjacent acoustic transponders face different directions.

[0012] In an embodiment, the acoustic measuring instrument comprises a first acoustic transponder, a second acoustic transponder, and a third acoustic transponder; the emitting end face center points of the first acoustic transponder, the second acoustic transponder, and the third acoustic transponder are arranged in a same line.

[0013] In an embodiment, the acoustic measuring instrument comprises a first acoustic transponder, a second acoustic transponder, and a third acoustic transponder; the connecting lines between the emitting end face center points of the first acoustic transponder, the second acoustic transponder, and the third acoustic transponder are arranged in a triangular shape.

[0014] To solve the above technical problems, another technical solution adopted by the present application is to provide an underwater device, which comprises a device body and the underwater detection device; the underwater detection device is movably mounted on the device body by the carrier.

[0015] The beneficial effects of the present application are: different from the prior art, the underwater detection device provided by the present application is provided with a plurality of acoustic measuring instruments, and the measurement directions of the acoustic measuring instruments are different, so that the parameters in multiple directions under water can be measured at the same time. After the underwater detection device is mounted on the underwater equipment, the posture of the underwater equipment does not need to be adjusted, and the distance around the underwater equipment body can be obtained, which improves the measurement efficiency, ensures the accuracy of the measurement, and makes the underwater equipment have better environmental adaptability. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0017] Figure 1 is a perspective structural schematic diagram of an underwater equipment embodiment provided by the present application;

[0018] Figure 2 is Figure 1 a perspective structural schematic diagram of an underwater detection device in the embodiment;

[0019] Figure 3 is Figure 2 an exploded structural schematic diagram of the underwater detection device in the embodiment;

[0020] Figure 4 is Figure 3 a perspective structural schematic diagram of an acoustic measuring instrument in the embodiment;

[0021] Figure 5 is Figure 4 a schematic diagram of the arrangement of the first, second and third acoustic transponders in the embodiment. DETAILED DESCRIPTION

[0022] The present application will be further described in detail below in combination with the drawings and embodiments. It is particularly pointed out that the following embodiments are only used to illustrate the present application, but do not limit the scope of the present application. Similarly, the following embodiments are only some embodiments of the present application, not all embodiments, and all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0023] The terms "first", "second", "third", etc. are used herein only to describe the purpose and are not to be interpreted to connote or imply relative importance or a specific quantity of the technical features that are being described. Thus, features defined with "first", "second", "third" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise explicitly and specifically defined. All directional references, such as up, down, left, right, front, back, etc., used in the description of the present application are only used for explanation and are not to be interpreted to connote or imply relative importance or specific orientation of the components being described. In addition, the terms "comprise", "have" and "include" and any variations thereof are intended to cover non-exclusive inclusion. For example, processes, methods, systems, products, or devices that comprise a list of steps or elements are not limited to the listed steps or elements, but can optionally further include additional steps or elements that are not listed.

[0024] Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are they necessarily mutually exclusive or alternative embodiments. It is expressly understood that the embodiments described herein are combinable with each other.

[0025] Please refer to Figure 1 and Figure 2 , Figure 1 is a perspective structural schematic view of an embodiment of the underwater device 10 provided by the present application, Figure 2 is Figure 1 a perspective structural schematic view of the underwater detection device 12 in

[0026] The underwater detection device 12 includes a carrier 121 and a plurality of acoustic measuring instruments 122. The carrier 121 is installed on the device body 11, and the plurality of acoustic measuring instruments 122 are respectively installed on the carrier 121. When the device body 11 is sailing and / or hovering underwater, the plurality of acoustic measuring instruments 122 can perform measurement operations such as speed measurement, distance measurement, environment detection, and detection of underwater objects in the underwater environment through acoustic technology (such as the Doppler effect).

[0027] Please refer to Figure 2 and Figure 3 , Figure 3 is Figure 2A schematic diagram of the exploded structure of the underwater detection device 12, wherein the carrier 121 includes at least two mounting surfaces facing different directions, and the acoustic measuring instrument 122 can be mounted on each mounting surface, thereby achieving mounting on the carrier 121. This allows multiple acoustic measuring instruments 122 to perform measurement operations in different directions of the carrier 121. In this embodiment, one mounting surface is only used to mount one acoustic measuring instrument 122. Since the orientations of the mounting surfaces are different, the measurement directions of the acoustic measuring instruments 122 are naturally different. In this embodiment, it should be ensured that the number of mounting surfaces is greater than or equal to the number of acoustic measuring instruments available for mounting.

[0028] Specifically, the carrier 121 includes a top side 1211, a bottom side 1212 and a peripheral side (not shown in the figure). The top side 1211 and the bottom side 1212 are arranged opposite to each other. In this embodiment, the bottom side 1212 is installed on the equipment body 11, and the peripheral side is arranged between the top side 1211 and the bottom side 1212. A plurality of acoustic measuring instruments 122 are installed on the carrier 121 along the circumferential distribution of the peripheral side.

[0029] The above-mentioned peripheral side can be composed of at least four mounting surfaces, and its projection on the plane can be a regular or irregular polygon, or a composite figure composed of multiple line segments and arcs. Figure 3 In the illustrated embodiment, the peripheral side comprises four mounting surfaces: the front side 121a, the left side 121b, the right side 121c, and the rear side 121d. The front side 121a is disposed opposite the rear side 121d, and the left side 121b is disposed opposite the right side 121c. Multiple acoustic measuring instruments 122 are connected to the carrier 121 on at least two of the front side 121a, the left side 121b, the right side 121c, and the rear side 121d. In practical applications, the front side 121a can represent the side in the forward direction of the device body 11. Therefore, the left side 121b, the right side 121c, and the rear side 121d also maintain the same orientation as the device body 11. In other embodiments, the mounting surfaces can take on various forms relative to the bottom or top side, such as a vertical plane, an inclined plane, a stepped shape, or a curved surface. In some embodiments, an acoustic measuring instrument may also be installed on the top or bottom side of the carrier. If operations need to be performed inside a pipeline, the distance from the pipe wall at the upper or lower position relative to the underwater equipment also needs to be measured.

[0030] In another embodiment, the carrier comprises a top side, a bottom side, and a peripheral side. The top side and the bottom side are positioned opposite each other, with the peripheral side positioned between them. The peripheral side is generally cylindrical or elliptical in shape; its horizontal projection is circular or elliptical. The peripheral side has at least two mounting surfaces for mounting acoustic measuring instruments; these mounting surfaces may also be outer surfaces of the peripheral side with mounting locations for the acoustic measuring instruments. It is understood that at least two acoustic measuring instruments can be mounted on the carrier in a distributed manner along the circumference of the peripheral side.

[0031] Optionally, in this embodiment, the multiple acoustic measuring instruments 122 include a first acoustic measuring instrument 1221, a second acoustic measuring instrument 1222 and a third acoustic measuring instrument 1223. The first acoustic measuring instrument 1221 is connected to the carrier 121 on the left side 121b, the second acoustic measuring instrument 1222 is connected to the carrier 121 on the right side 121c, and the third acoustic measuring instrument 1223 is connected to the carrier 121 on the front side 121a.

[0032] It can be understood that the installation positions of the above-mentioned multiple acoustic measuring instruments 122 and the number of acoustic measuring instruments 122 are only described as an implementation method. Therefore, the installation positions of the multiple acoustic measuring instruments 122 and the number of acoustic measuring instruments 122 can be set according to actual needs to ensure that the number of installation surfaces is greater than or equal to the number of acoustic measuring instruments available for assembly, and there is no limitation on this.

[0033] Furthermore, at least two of the plurality of acoustic measuring instruments 122 are used to perform the same measurement operation and / or the plurality of acoustic measuring instruments 122 are used to perform at least two different measurement operations.

[0034] For example, the above-mentioned first acoustic measuring instrument 1221 and the second acoustic measuring instrument 1222 are used to perform the same measurement operation, both for distance measurement. For the sake of convenience, the application scenario pipeline is taken as an example. When it is necessary to measure the distance between the device body 11 and the pipeline, the first acoustic measuring instrument 1221 can be used to measure the distance between the device body 11 and the left side of the pipeline, and the second acoustic measuring instrument 1222 can be used to measure the distance between the device body 11 and the right side of the pipeline. Compared with the existing technology, the distance between the device body 11 and different sides of the pipeline can be obtained without adjusting the posture of the device body 11, thereby improving the measurement efficiency of the same parameter of the device body 11.

[0035] For example, the first acoustic measuring instrument 1221 and the third acoustic measuring instrument 1223 are used to perform different measurement operations. When the underwater device 10 is sailing in the pipeline, the first acoustic measuring instrument 1221 can measure the distance between the device body 11 and the pipeline, and the third acoustic measuring instrument 1223 can measure the sailing speed of the device body 11. In this way, the distance between the device body 11 and the target object does not need to be measured first, and then the speed of the device body 11 is measured, that is, different parameters of the device body 11 can be measured at the same time, and the measurement efficiency of different parameters of the device body 11 is improved.

[0036] It can be understood that the specific measurement operation performed by each acoustic measuring instrument 122 can be set according to actual needs, and is not limited.

[0037] In the present embodiment, the underwater device 10 refers to a device capable of controlled underwater operation, such as underwater robots, underwater vehicles, and pool cleaning robots.

[0038] Please refer to Figure 4 and Figure 5 , Figure 4 is Figure 3 is a perspective view of the acoustic measuring instrument 122 in Figure 5 is Figure 4 is a schematic view of the arrangement of the first acoustic transponder 1222a, the second acoustic transponder 1222b, and the third acoustic transponder 1222c in

[0039] For example, the at least three acoustic transponders 122b include the first acoustic transponder 1222a, the second acoustic transponder 1222b, and the third acoustic transponder 1222c. The second acoustic transponder 1222b is arranged adjacent to the first acoustic transponder 1222a and the third acoustic transponder 1222c, as shown in Figure 4 , the end face of the first acoustic transponder 1222a is directed in direction A, the end face of the second acoustic transponder 1222b is directed in direction B, and the end face of the third acoustic transponder 1222c is directed in direction C.

[0040] , the end face of the first acoustic transponder 1222a is directed in direction A, the end face of the second acoustic transponder 1222b is directed in direction B, and the end face of the third acoustic transponder 1222c is directed in direction C. Figure 5As shown, the end face center point of the transmitting end of the first acoustic transponder 1222a, the end face center point of the transmitting end of the second acoustic transponder 1222b and the end face center point of the transmitting end of the third acoustic transponder 1222c are arranged in a line. In other embodiments, the line between the end face center points of the first acoustic transponder, the second acoustic transponder and the third acoustic transponder can also be arranged in a triangle.

[0041] Further, the underwater detection device 12 in the embodiment further comprises an obstacle avoidance mechanism (not shown in the figure), which is installed on the carrier 121, so that the underwater device 10 in the embodiment has an obstacle avoidance function during underwater navigation.

[0042] Further, in the embodiment, the carrier 121 is detachably connected with the device body 11, so that when it is necessary to replace the acoustic measuring instrument 122, such as when the acoustic measuring instrument 122 needs to be repaired due to damage, the carrier 121 can be directly detached from the device body 11, thereby improving the convenience of replacing the acoustic measuring instrument 122.

[0043] The beneficial effects of the present application are: unlike the prior art, the underwater detection device provided by the present application is loaded with multiple acoustic measuring instruments, and the measurement directions of each acoustic measuring instrument are different, so that the parameters in multiple directions under water can be measured at the same time. After the underwater detection device is loaded on the underwater device, the posture of the underwater device does not need to be adjusted, and the distance around the device body can be obtained, which improves the measurement efficiency and ensures the accuracy of the measurement, so that the underwater device has better environmental adaptability.

[0044] The above only describes some embodiments of the present application, and does not limit the protection scope of the present application, and any equivalent device or equivalent process transformation using the content of the specification and the drawings, or direct or indirect application in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. An underwater detection device, characterized in that: The underwater detection device includes a carrier and at least two acoustic measuring instruments. The carrier has at least two mounting surfaces, and the number of the mounting surfaces is greater than or equal to the number of the acoustic measuring instruments. The acoustic measuring instruments can be movably mounted on the mounting surfaces so that each of the acoustic measuring instruments can perform measurement operations in different directions relative to the carrier.

2. The underwater detection device according to claim 1, characterized in that: The carrier includes a top side, a bottom side, and a peripheral side composed of at least four mounting surfaces. The top side and the bottom side are arranged opposite to each other, and the peripheral side is arranged between the top side and the bottom side. The at least two acoustic measuring instruments are installed on the carrier in a circumferential distribution along the peripheral side.

3. The underwater detection device according to claim 2, characterized in that: Each of the mounting surfaces is any one of a vertical plane, an inclined plane, a stepped surface or a curved surface relative to the bottom side or the top side; the projection of the peripheral side on the horizontal plane is any one of a regular polygon, an irregular polygon and a composite figure composed of multiple line segments and arcs.

4. The underwater detection device according to claim 1, characterized in that: The carrier includes a top side, a bottom side and a peripheral side; the top side and the bottom side are arranged opposite to each other, and the peripheral side is arranged between the top side and the bottom side; the projection of the peripheral side on the horizontal plane is circular or elliptical; the peripheral side has at least two mounting surfaces; the at least two acoustic measuring instruments are installed on the carrier along the circumferential distribution of the peripheral side.

5. The underwater detection device according to claim 1, characterized in that: The carrier comprises a top side, a bottom side, a front side, a left side, a right side and a rear side, wherein the top side, the bottom side, the front side, the rear side, the left side and the right side respectively constitute the mounting surface; The top side is opposite to the bottom side, the front side is opposite to the rear side, and the left side is opposite to the right side. The acoustic measuring instrument is mounted on at least two of the mounting surfaces of the front side, the left side, the right side, and the rear side.

6. The underwater detection device according to claim 5, characterized in that: The underwater detection device includes a first acoustic measuring instrument, a second acoustic measuring instrument, and a third acoustic measuring instrument. The first acoustic measuring instrument is mounted on the left side, the second acoustic measuring instrument is mounted on the right side, and the third acoustic measuring instrument is mounted on the front side.

7. The underwater detection device according to claim 1, characterized in that: Each of the acoustic measuring instruments includes a shell and at least three acoustic wave transponders. The shell has a receiving space. The at least three acoustic wave transponders are arranged in the receiving space. The transmitting ends of the at least three acoustic wave transponders are all exposed on the front of the shell, and the end faces of the transmitting ends of any two adjacent acoustic wave transponders are oriented in different directions.

8. The underwater detection device according to claim 7, characterized in that: The acoustic measuring instrument includes a first acoustic wave transponder, a second acoustic wave transponder and a third acoustic wave transponder, and the center points of the transmitting end surfaces of the first acoustic wave transponder, the second acoustic wave transponder and the third acoustic wave transponder are arranged in a collinear manner.

9. The underwater detection device according to claim 7, characterized in that: The acoustic measuring instrument includes a first acoustic wave transponder, a second acoustic wave transponder and a third acoustic wave transponder, and the lines connecting the center points of the transmitting end surfaces of the first acoustic wave transponder, the second acoustic wave transponder and the third acoustic wave transponder are arranged in a triangle.

10. An underwater device, characterized in that: The underwater equipment includes an equipment body and the underwater detection device according to any one of claims 1 to 9, and the underwater detection device is movably mounted on the equipment body via the carrier.

Images