Positioning buoy

Abstract

The utility model discloses a positioning buoy. The positioning buoy comprises a sealed cabin body and a floating body assembly, an electric control system and a power supply are arranged in the sealed cabin body, a mounting position is arranged at the upper end of the sealed cabin body, the lower end of the sealed cabin body is connected with an underwater signal transceiver, the sealed cabin body is further provided with a communication antenna, one end of the communication antenna is connected with the electric control system, and the other end of the communication antenna penetrates through the mounting position and extends to the upper part of the sealed cabin body; the floating body assembly comprises a plurality of connecting rods, the head end of each connecting rod is installed at the installation position, a floating body is arranged at the tail end of each connecting rod, and when the positioning buoy is placed in still water, the multiple floating bodies are evenly distributed on the peripheral side of the sealed cabin and float on the water surface. According to the technical scheme, the robustness of the positioning buoy can be improved.

Description

Technical Field

[0001] This utility model relates to the field of underwater robot technology, and in particular to a positioning buoy. Background Technology

[0002] Underwater robots are automated devices that can perform various complex tasks in underwater environments. They integrate multiple subsystems such as underwater target detection and identification, data fusion, intelligent control, navigation, and communication, and have unique advantages in the field of underwater dam inspection.

[0003] Existing positioning buoys for underwater robots utilize satellite positioning technology in conjunction with acoustic buoy systems to accurately locate underwater signal sources. However, existing positioning buoys typically consist of a separate float positioned between the satellite antenna and the sealed hull to provide buoyancy. In deep mountain valleys, reservoirs with high water levels, large water areas, and significant wind and wave conditions, the positioning buoy experiences severe horizontal and vertical swaying, which can interfere with the normal operation of equipment carried by surface buoys, thereby affecting the real-time positioning accuracy of underwater signal sources. Utility Model Content

[0004] The main purpose of this invention is to propose a positioning buoy that aims to improve the robustness of the positioning buoy.

[0005] To achieve the above objectives, the positioning buoy proposed in this utility model includes:

[0006] A sealed chamber, the interior of which houses an electronic control system and a power supply, has a mounting position at its upper end, and an underwater signal transceiver connected to its lower end. The sealed chamber also includes a communication antenna, one end of which is connected to the electronic control system, and the other end extends through the mounting position to the top of the sealed chamber.

[0007] The float assembly includes multiple connecting rods, each of which has its head end installed at the mounting position and its end provided with a float. When the positioning buoy is placed in still water, the multiple floats are evenly distributed around the periphery of the sealed chamber and float on the water surface.

[0008] Optionally, each of the links is rotatably mounted in the mounting position, the float assembly has a floating state and a retracted state, in the floating state each of the links is perpendicular to the axial direction of the sealed chamber, in the retracted state each of the links is parallel to the axial direction of the sealed chamber, and at least part of the float surrounds the periphery of the underwater signal transceiver.

[0009] Optionally, the outer side of the sealed chamber is provided with grippers.

[0010] Optionally, the lower end of the sealed chamber is provided with a ball joint assembly, which includes a ball joint seat, a ball joint head, and a ball joint connecting rod. The ball joint seat is located at the lower end of the sealed chamber, the ball joint head is rotatably mounted on the ball joint seat, the ball joint connecting rod is connected to the ball joint head, and the underwater signal transceiver is located on the ball joint connecting rod.

[0011] Optionally, the ball joint link is provided with a counterweight.

[0012] Optionally, the plurality of links are divided into short links and long links with a length dimension greater than that of the short links. In the retracted state, the float of the long link surrounds the periphery of the underwater signal transceiver, and the float of the short link surrounds the periphery of the ball joint assembly.

[0013] Optionally, the number of long connecting rods and short connecting rods is the same, the long connecting rods and short connecting rods are alternately arranged, and the angle between any two adjacent connecting rods is the same.

[0014] Optionally, the number of both the long connecting rod and the short connecting rod is three.

[0015] Optionally, the sealed chamber is provided with a limiting groove that matches the connecting rod, and in the retracted state, each connecting rod is at least partially located within the limiting groove.

[0016] Optionally, the float is provided with a threaded hole, and the end of the connecting rod is provided with an external thread that mates with the threaded hole. The connecting rod and the float are screwed together and fixed by the threaded hole and the external thread.

[0017] Optionally, the connecting rod is made of corrosion-resistant metal.

[0018] Optionally, the connecting rod and the float are coated with a corrosion-resistant coating.

[0019] Optionally, the mounting position is provided with a limiting seat and a plurality of hinge seats, the plurality of hinge seats surrounding the side of the limiting seat, and a plurality of connecting rods being rotatably mounted on the plurality of hinge seats. In the floating state, each of the connecting rods is perpendicular to the axial direction of the sealed chamber and abuts against the limiting seat.

[0020] This utility model's technical solution involves setting up a sealed chamber and a floating body assembly. The sealed chamber houses an electronic control system and a power supply. An installation position is located at the upper end of the sealed chamber, where a communication antenna is installed. One end of the antenna is connected to the electronic control system, and the other end extends through the installation position to the upper end of the sealed chamber. An underwater signal transceiver is connected to the lower end of the sealed chamber. The floating body assembly includes multiple connecting rods and floats. Multiple connecting rods are installed at the installation position, and multiple floats are correspondingly installed at the ends of multiple connecting rods away from the sealed chamber. This ensures that when the positioning buoy is placed in still water, multiple buoys are evenly distributed around the perimeter of the sealed chamber and float on the water surface. This design allows the buoy to float in water with most or all of its sealed compartment submerged, while a small communication antenna extends above the water surface. This minimizes the portion of the buoy exposed above the water, reducing the area exposed to wind during operation. With the majority of the buoy submerged and multiple floats distributed around its perimeter to provide buoyancy, the buoy exhibits good recovery torque when affected by wind and waves. This allows the buoy to remain stable in calm water and maintain normal operation under certain wind and wave conditions, thus enhancing its robustness. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the structure of an embodiment of the positioning buoy of this utility model;

[0023] Figure 2 for Figure 1 A magnified view of a section at point A in the middle;

[0024] Figure 3 for Figure 1 A structural diagram of the mid-positioning buoy from another perspective;

[0025] Figure 4 for Figure 3 A magnified view of a section at point B in the middle;

[0026] Figure 5 for Figure 1 A structural schematic diagram of a mid-positioning buoy from another perspective.

[0027] Explanation of icon numbers:

[0028] 10. Sealed hull; 11. Communication antenna; 12. Underwater signal transceiver; 131. Limiting seat; 132. Hinge seat; 14. Limiting groove; 15. Grab; 20. Float assembly; 21. Short connecting rod; 22. Long connecting rod; 23. Float; 30. Ball joint assembly; 40. Counterweight;

[0029] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0030] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0031] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0032] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text is to include three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution that simultaneously satisfies A and B. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0033] This utility model proposes a positioning buoy.

[0034] In the embodiments of this utility model, such as Figures 1 to 5As shown, the positioning buoy includes a sealed chamber 10 and a float assembly 20. The sealed chamber 10 is equipped with an electronic control system and a power supply. The upper end of the sealed chamber 10 is equipped with an installation position, and the lower end of the sealed chamber 10 is connected to an underwater signal transceiver 12. The sealed chamber 10 is also equipped with a communication antenna 11. One end of the communication antenna 11 is connected to the electronic control system, and the other end extends through the installation position to the top of the sealed chamber 10. The float assembly 20 includes multiple connecting rods. The head end of each connecting rod is installed at the installation position, and the tail end is equipped with a float 23. When the positioning buoy is placed in still water, the multiple floats 23 are evenly distributed around the sealed chamber 10 and float on the water surface.

[0035] Specifically, during use, the positioning buoy is placed in the water and floats on the water surface through the buoyancy of the float 23. The float 23 is located at the upper end of the sealed compartment 10. Thus, most of the sealed compartment below the float 23 is below the water surface, while only the communication antenna 11 is above the water surface to receive satellite signals and achieve its own positioning. The underwater signal transceiver 12 located at the lower end of the sealed compartment 10 communicates with the underwater robot to locate the underwater robot's position and enables the electronic control system to send control commands to the underwater robot.

[0036] This utility model's technical solution involves setting up a sealed chamber 10 and a float assembly 20. The sealed chamber 10 houses an electrical control system and a power supply. An installation position is located at the upper end of the sealed chamber 10, where a communication antenna 11 is installed. One end of the antenna is connected to the electrical control system, and the other end extends through the installation position to the upper end of the sealed chamber 10. An underwater signal transceiver 12 is connected to the lower end of the sealed chamber 10. The float assembly 20 includes multiple connecting rods and floats 23. Multiple connecting rods are installed at the installation position, and multiple floats 23 are correspondingly installed at the ends of multiple connecting rods away from the sealed chamber 10. This ensures that when the positioning buoy is placed in still water, multiple buoys are evenly distributed around the perimeter of the sealed chamber 10 and float on the water surface. This design allows the sealed cabin 10 to be mostly or completely submerged when the buoy is floating in the water, while the small communication antenna 11 extends above the water surface. This minimizes the portion of the buoy exposed above the water, reducing the area exposed to wind above the water surface during operation. With the majority of the buoy submerged and multiple floats 23 distributed around its perimeter to provide buoyancy, the buoy has a good recovery torque when affected by wind and waves. The buoy can remain stable in calm water and maintain normal operation under certain wind and wave conditions, thus improving its robustness (the system's ability to maintain stable operation even when faced with changes in internal structure or external environment).

[0037] In some embodiments, each link is rotatably mounted in a mounting position, and the float assembly 20 has a floating state and a retracted state. In the floating state, each link is perpendicular to the axial direction of the sealed chamber 10; in the retracted state, each link is parallel to the axial direction of the sealed chamber 10, and at least a portion of the float 23 surrounds the periphery of the underwater signal transceiver 12. Specifically, this allows the float assembly 20 to be converted to a retracted state when the positioning buoy is not in use, so that each link is retracted and fits against the sealed chamber 10. The positioning buoy occupies less space in the radial direction of the sealed chamber 10, facilitating the storage or transportation of the positioning buoy. Moreover, the float 23 surrounds the underwater signal transceiver 12, preventing the underwater signal transceiver 12 from being damaged by collisions.

[0038] In some embodiments, the outer side of the sealed chamber 10 is provided with a gripper 15. Specifically, this provides a point of leverage when moving the positioning buoy, allowing workers to easily move the positioning buoy using the gripper 15. Moreover, in environments with large waves, the gripper 15 can be connected by ropes to prevent the buoy from being lost or colliding with other equipment.

[0039] In some embodiments, a ball joint assembly 30 is provided at the lower end of the sealed chamber 10. The ball joint assembly 30 includes a ball joint seat, a ball joint head, and a ball joint connecting rod. The ball joint seat is located at the lower end of the sealed chamber 10, the ball joint head is rotatably mounted on the ball joint seat, the ball joint connecting rod is connected to the ball joint head, and the underwater signal transceiver 12 is located on the ball joint connecting rod. Specifically, by connecting the underwater signal transceiver 12 to the ball joint connecting rod in this way, when the positioning buoy is affected by wind and waves and sways, the swaying of the signal transceiver under the action of gravity and inertia is smaller, thus improving the stability of the positioning buoy when working in complex environments.

[0040] In some embodiments, the ball joint link is provided with a counterweight 40. Specifically, the counterweight 40 increases the weight of the ball joint link, making the center of gravity of the positioning buoy lower and improving the balance of the positioning buoy in the water. Moreover, since the underwater signal transceiver 12 is located on the ball joint link, the counterweight 40 helps to maintain the stability of the ball joint link's attitude and can prevent the ball joint link from being easily pushed by the water flow and changing the signal direction of the underwater signal transceiver 12.

[0041] In some embodiments, the multiple links are divided into short links 21 and long links 22 with a length greater than that of the short links 21. In the stored state, the float 23 of the long link 22 surrounds the periphery of the underwater signal transceiver 12, and the float 23 of the short link 21 surrounds the periphery of the ball joint assembly 30. Specifically, the float 23 installed on the long link 22 and the float 23 installed on the short link 21 respectively protect the underwater signal transceiver 12 and the ball joint assembly 30, so that the positioning buoy is protected from damage by collision during storage or transportation, making the positioning buoy safer and more portable during storage or transportation.

[0042] In some embodiments, the number of long connecting rods 22 and short connecting rods 21 is the same, and the long connecting rods 22 and short connecting rods 21 are alternately arranged, with the same angle between any two adjacent connecting rods. Specifically, compared to arranging the long connecting rods 22 and short connecting rods 21 on opposite sides, this arrangement provides a short connecting rod 21 between any two adjacent long connecting rods 22, and a long connecting rod between any two short connecting rods 21. This makes the arrangement of the long connecting rods 22, short connecting rods 21, and float 23 more regular, ensuring that the center of buoyancy and center of gravity of the positioning buoy are in the middle position. This results in more coordinated and uniform buoyancy for the positioning buoy, making the positioning buoy more stable during use. Moreover, in the retracted state, this arrangement avoids large gaps in the buoyancy center surrounding the ball joint structure and the underwater signal transceiver 12, providing better protection for these components.

[0043] In some embodiments, there are three long connecting rods 22 and three short connecting rods 21. Specifically, in terms of geometry, triangles have stability. When there are three long connecting rods 22 and three short connecting rods 21, the structure formed by them, the float 23, the sealed compartment 10, etc., in the floating state can utilize the stability of the triangle to enhance the overall stability of the buoy. Moreover, compared to setting more long connecting rods 22 and three short connecting rods 21, the structure of the positioning buoy is simpler and the cost can be reduced.

[0044] In some embodiments, the sealed chamber 10 is provided with a limiting groove 14 for the connecting rods. In the retracted state, each connecting rod is at least partially located within the limiting groove 14. Specifically, in the retracted state, each connecting rod is at least partially located within the limiting groove 14, providing an accurate retracted position for each connecting rod and ensuring that the connecting rods do not sway or shift arbitrarily. In some embodiments, the float 23 is provided with a threaded hole, and the end of the connecting rod is provided with an external thread that mates with the threaded hole. The connecting rod and the float 23 are fixed together by screwing the threaded hole and the external thread. Specifically, this threaded fixing structure makes the installation and disassembly of the connecting rod and the float 23 relatively simple, and also allows for a more secure fixation of the connecting rod and the float 23. Compared with other fixing methods such as welding or riveting, screw fixing can greatly improve production efficiency and reduce assembly costs. It is worth noting that the length of the connecting rod or the size and material of the float 23 can be specifically set according to the dimensions of the communication antenna 11 and the underwater signal transceiver 12. The material of the float 23 can be polyethylene, polystyrene, or polyvinyl chloride. In some embodiments, the connecting rod is made of a corrosion-resistant metal. Specifically, this gives the connecting rod good corrosion resistance in water, preventing it from being eroded by corrosive substances and microorganisms, and extending its service life.

[0045] In some embodiments, the connecting rod and float 23 are coated with a corrosion-resistant coating. Specifically, this further provides a protective layer on the connecting rod and float 23, improving their corrosion resistance in water and extending their service life.

[0046] In some embodiments, the mounting position is provided with a limiting seat 131 and a plurality of hinge seats 132. The plurality of hinge seats 132 surround the limiting seat 131, and a plurality of connecting rods are rotatably mounted on the plurality of hinge seats 132. In the floating state, each connecting rod is perpendicular to the axial direction of the sealed chamber 10 and abuts against the limiting seat 131. Specifically, the hinge seats 132 are configured to rotatably mount the connecting rods, and the limiting seats 131 are configured to limit the rotation angle of the connecting rods, so that the plurality of connecting rods and the floats 23 connected thereto can be distributed around the sealed chamber 10 at fixed angles and positions, thereby ensuring the balance and stability of the buoy on the water surface. This avoids the buoy from tilting due to uneven buoyancy, and also avoids the connecting rods from contacting the communication antenna 11 and damaging the communication antenna 11 due to excessive rotation angle.

[0047] In some embodiments, the communication antenna 11 is fitted with a corrugated tube made of corrosion-resistant material. This corrugated tube protects the communication antenna 11, preventing it from coming into contact with water or corrosive substances and extending its service life.

[0048] The above description is only a preferred embodiment of the present utility model and does not limit the patent scope of the present utility model. All equivalent structural transformations made under the inventive concept of the present utility model using the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A positioning buoy, characterized in that, include: The sealed chamber is equipped with an electronic control system and a power supply. The upper end of the sealed chamber is provided with an installation position, and the lower end of the sealed chamber is connected to an underwater signal transceiver. The sealed chamber is also equipped with a communication antenna, one end of which is connected to the electronic control system, and the other end extends through the installation position to the top of the sealed chamber. as well as The float assembly includes multiple connecting rods, each of which has its head end installed at the mounting position and its end provided with a float. When the positioning buoy is placed in still water, the multiple floats are evenly distributed around the periphery of the sealed chamber and float on the water surface.

2. The positioning buoy as described in claim 1, characterized in that, Each of the links is rotatably mounted in the mounting position. The float assembly has a floating state and a retracted state. In the floating state, each link is perpendicular to the axial direction of the sealed chamber. In the retracted state, each link is parallel to the axial direction of the sealed chamber, and at least part of the float surrounds the periphery of the underwater signal transceiver.

3. The positioning buoy as described in claim 2, characterized in that, The lower end of the sealed chamber is provided with a ball joint assembly, which includes a ball joint seat, a ball joint head, and a ball joint connecting rod. The ball joint seat is located at the lower end of the sealed chamber, the ball joint head is rotatably mounted on the ball joint seat, the ball joint connecting rod is connected to the ball joint head, and the underwater signal transceiver is located on the ball joint connecting rod.

4. The positioning buoy as described in claim 3, characterized in that, The ball joint connecting rod is equipped with a counterweight.

5. The positioning buoy as described in claim 3, characterized in that, The multiple connecting rods are divided into short connecting rods and long connecting rods with a length dimension greater than that of the short connecting rods. In the retracted state, the float of the long connecting rod surrounds the periphery of the underwater signal transceiver, and the float of the short connecting rod surrounds the periphery of the ball joint assembly.

6. The positioning buoy as described in claim 5, characterized in that, The number of long connecting rods and short connecting rods is the same, and the long connecting rods and short connecting rods are arranged alternately, with the same angle between any two adjacent connecting rods; And / or, the number of both the long link and the short link is three.

7. The positioning buoy as described in claim 2, characterized in that, The sealed chamber is provided with a limiting groove that matches the connecting rod. In the retracted state, each connecting rod is at least partially located within the limiting groove.

8. The positioning buoy as described in claim 1, characterized in that, The float is provided with a threaded hole, and the end of the connecting rod is provided with an external thread that mates with the threaded hole. The connecting rod and the float are fixed together by screwing the threaded hole and the external thread.

9. The positioning buoy as described in claim 1, characterized in that, The connecting rod is made of corrosion-resistant metal; And / or; the connecting rod and the float are coated with a corrosion-resistant coating.

10. The positioning buoy as described in claim 2, characterized in that, The mounting position is provided with a limiting seat and multiple hinge seats. The multiple hinge seats surround the side of the limiting seat, and multiple connecting rods are rotatably mounted on the multiple hinge seats. In the floating state, each connecting rod is perpendicular to the axial direction of the sealed chamber and abuts against the limiting seat.

11. The positioning buoy as described in claim 2, characterized in that, The sealed chamber is equipped with grab ears on its outer side.

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