Overwater and underwater linkage underwater detection device

Abstract

The utility model relates to the technical field of underwater detection, in particular to an overwater and underwater linkage underwater detection device which comprises an overwater module responsible for positioning, an underwater module responsible for underwater detection and a lifting inhaul cable, the overwater module is used for positioning and moving to a detection area, and then an underwater camera of the underwater module is used for detection. The overwater module serves as a main body, has GPS positioning and stabilizing effects, can resist water flow, can automatically move according to a route, and provides accurate geographical location information for underwater detection. The underwater module is provided with an underwater camera, a lifting inhaul cable and a four-side self-stabilizing propeller, objects at the water bottom can be observed at a short distance, imaging can be effectively achieved even under the condition that river water is not clear, the defect that a traditional camera scheme cannot effectively play a role in the environment with poor water quality is overcome, and meanwhile the underwater module is provided with the underwater camera and the four-side self-stabilizing propeller. According to the device, an overwater and underwater linkage mode is adopted, the overwater module undertakes the main tasks of positioning and moving, the requirement for the positioning technology of the underwater module is lowered, and therefore the cost of the whole device is effectively reduced.

Description

Technical Field

[0001] This utility model relates to the field of underwater detection technology, specifically an underwater detection device that integrates surface and underwater operations. Background Technology

[0002] Underwater detection devices are equipment specifically designed for underwater environments and are widely used in underwater target detection, topographic mapping, resource exploration, marine research, safety monitoring, and rescue. Currently, in addition to using sonar to detect underwater objects, some underwater detection devices also use cameras to capture images and videos for underwater exploration.

[0003] The detection method using cameras to capture images and videos mainly relies on a single optical camera. If the camera is not close to the underwater target, in environments with poor water quality such as murky rivers, the underwater detection device will suffer from poor imaging effects, failing to function effectively, resulting in limited detection range and incomplete or inaccurate information. If an underwater robot carrying a camera is used to approach the underwater target, the underwater detection device cannot use GPS positioning when using traditional underwater robots, making it difficult to effectively distinguish relative positions during underwater operations, increasing search time and hindering efficiency. On the other hand, using underwater robots with inertial positioning makes the underwater detection device too expensive, preventing its widespread adoption. Utility Model Content

[0004] To address the problems in the existing technology, this utility model provides an underwater detection device that integrates above-water and underwater operations.

[0005] The technical solution adopted by this utility model to solve its technical problem is: an underwater detection device that combines above-water and underwater operation, including an above-water module for positioning, an underwater module for underwater detection, and lifting cables. This device uses the above-water module to locate and move to the detection area, and then uses the underwater camera of the underwater module for detection. The above-water module, as the main body, performs GPS positioning and can automatically move along a route, providing accurate geographical location information for underwater detection. The underwater module is equipped with an underwater camera, which can approach the search area via a lifting device to observe underwater objects at close range. Even in murky water, it can effectively image, overcoming the shortcomings of traditional camera solutions that cannot function effectively in poor water quality environments. Furthermore, this device innovatively adopts a combined above-water and underwater operation, with the above-water module undertaking the main tasks of positioning and movement, reducing the requirements for the underwater module's positioning technology, thereby effectively reducing the overall cost of the device. The underwater module is suspended directly below the above-water module by four lifting cables. The device uses four lifting cables to suspend the underwater module. Compared with a single or fewer lifting cables, four lifting cables can distribute the tension more evenly and maintain the balance of the underwater module.

[0006] The water module includes a buoyancy body that can float on the water surface and propel itself forward, backward, left, and right. The buoyancy body is equipped with four lifting control boxes that can retract and extend four lifting cables respectively.

[0007] The underwater module includes a secondary housing capable of propelling itself forward, backward, left, and right in the water. This secondary housing provides self-stabilization, allowing it to move synchronously with the above-water portion and resist water currents. The buoyancy of the above-water module allows it to float and propel itself forward, backward, left, and right on the water's surface, while the secondary housing of the underwater module propels itself forward, backward, left, and right in the water. This gives both the above-water and underwater modules self-stabilization capabilities, enabling them to resist water currents and achieve stable detection without the need for additional complex self-stabilization devices. An underwater camera for underwater detection is mounted at the bottom of the secondary housing.

[0008] Preferably, a surface thruster is installed at each of the four ends (front, rear, left, and right) of the buoyancy body's bottom, and an underwater thruster is installed at each of the four ends (front, rear, left, and right) of the auxiliary engine box. This four-thruster design allows both the surface and underwater modules to generate thrust in all directions, thus better resisting the impact of water flow. The simultaneous stability of both the surface and underwater components ensures the device maintains a stable attitude, guaranteeing the smooth operation of the detection work.

[0009] Preferably, a support platform is horizontally fixed on the buoyancy body. The top of the support platform has four through holes. Four lifting control boxes are installed above the four through holes on the top of the support platform. Four lifting cables pass through the four through holes and their upper sections are wound into the four lifting control boxes. The bottom ends of the four lifting cables are fixed to the top of the auxiliary housing. By raising and lowering the lifting cables through the lifting control boxes, the depth of the underwater module can be flexibly adjusted, allowing the underwater camera to move up and down according to the detection needs at different depths.

[0010] Preferably, the lifting control box has two chambers. A take-up roller rotatably engages in one chamber, while a control motor is installed in the other chamber. The upper part of the lifting cable is wound onto the take-up roller, and the control motor is connected to the take-up roller via a shaft. The control motor drives the take-up roller to rotate, thus controlling the raising and lowering of the lifting cable.

[0011] Preferably, a main unit housing is fixed to the top of the support platform. The top of the main unit housing is equipped with a warning light and a surface camera. All four sides of the main unit housing are inclined surfaces, and solar panels are installed on each of the four inclined surfaces. The warning light emits a warning signal when the device is operating, alerting surrounding vessels or other objects to take evasive action. The surface camera can be used to observe the situation above the water surface. The solar panels installed on the four inclined surfaces of the main unit housing can convert solar energy into electrical energy, providing additional power to the device.

[0012] Preferably, both the main and auxiliary chassis house built-in batteries, GPS modules, thruster control modules, remote communication modules, and monitoring modules. The batteries provide power to the entire device, ensuring a stable power supply during operation. The GPS module enables the surface module to achieve precise positioning and automatically move along a preset route. Since the surface and underwater sections are integrated and move synchronously, positioning of the surface section effectively provides positioning capability to the underwater section, offering location reference information for operators to understand the specific location of underwater exploration. The thruster control module precisely controls the operation of each thruster as needed, enabling flexible movement and self-stabilization of both the surface and underwater modules. The remote communication module allows operators to operate and monitor the device from a distance via remote control or wireless communication, expanding the device's scope of use and operational flexibility. The monitoring module monitors the device's operating status and underwater environmental parameters in real time, providing comprehensive feedback to operators for timely adjustments to exploration strategies and handling of emergencies. The lifting cable includes a traction rope, power line, and communication cable. This integrated design not only simplifies the structure of the device but also ensures the stability of power supply and data transmission between the underwater module and the surface module.

[0013] The beneficial effects of this utility model are:

[0014] This invention discloses an underwater detection device that integrates surface and underwater navigation. The device comprises a surface module for positioning and an underwater module for underwater detection, connected by a lifting cable. The surface module is used to locate and move to the detection area, while the underwater module's underwater camera performs the detection. The surface module, as the main body, provides GPS positioning and stabilization, resists water currents, and automatically moves along a course, providing accurate geographical location information for underwater detection. The underwater module is equipped with an underwater camera, a lifting cable, and a four-sided self-stabilizing thruster. It can approach the search area via a lifting device to observe underwater objects at close range, even in murky water, effectively capturing images and overcoming the limitations of traditional camera solutions in poor water quality environments. Furthermore, the device employs a surface-to-underwater linkage method, with the surface module handling the main positioning and movement tasks, reducing the requirements for underwater module positioning technology and thus effectively lowering the overall cost of the device. In addition, this surface-to-underwater linkage method enables simultaneous detection both above and below water, significantly improving detection efficiency.

[0015] (1) The underwater detection device of this utility model, which links the surface and underwater components, allows the buoyancy body of the surface module to float on the water surface and propel itself forward, backward, left, and right. The surface thrusters installed at the bottom of the surface module and the underwater thrusters installed at the four ends of the auxiliary housing of the underwater module enable both the surface and underwater modules to have self-stabilizing capabilities, resisting water flow and achieving stable detection without the need for additional complex self-stabilizing devices, thus further reducing costs. The surface module's buoyancy body has surface thrusters installed at the front, rear, left, and right ends of its bottom, and the underwater module's auxiliary housing has underwater thrusters installed at the front, rear, left, and right ends. This four-thruster design allows both the surface and underwater modules to generate thrust in all directions, thereby better resisting the impact of water flow, maintaining their stable posture, and ensuring the smooth progress of detection work. In waters with complex currents, such as the rapids of rivers or the inlets and outlets of lakes, this self-stabilizing capability is particularly important, preventing the device from being swept away or tilted by the current, affecting detection accuracy and safety. Meanwhile, the device employs four lifting cables to suspend the underwater module. Compared to a single or fewer lifting cables, four cables can distribute the tension more evenly, maintaining the balance of the underwater module and preventing loss of control or damage due to cable entanglement. During the underwater module's ascent and descent, the coordinated action of the four lifting cables ensures smooth ascent and descent, further improving the stability and reliability of the device.

[0016] (2) The underwater detection device of this utility model, which links above-water and underwater operations, uses a lifting control box to extend and retract the lifting cable, enabling flexible adjustment of the underwater module's depth. This allows the underwater camera to move up and down according to different depth detection requirements. During actual detection, operators can precisely lower the underwater module to a suitable depth by controlling the extension and retraction of the lifting cable, based on the approximate location of the target object or changes in the underwater topography, thus achieving close-up observation of underwater objects. This depth adjustment function increases the device's flexibility and adaptability, meeting the needs of underwater detection tasks in various complex aquatic environments and improving the accuracy and success rate of detection. Attached Figure Description

[0017] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0018] Figure 1 This is a schematic diagram of the overall structure of a preferred embodiment of an underwater detection device that links above-water and underwater operations, provided by this utility model.

[0019] Figure 2 This is a schematic diagram of the structure of the waterborne module of this utility model.

[0020] Figure 3 This is a schematic diagram of the structure of the waterborne module of this utility model after the buoyancy body has been removed.

[0021] Figure 4 This is a schematic diagram of the underwater module structure of this utility model.

[0022] Figure 5 This is a schematic diagram of the internal structure of the lifting control box of this utility model.

[0023] In the diagram: 1. Surface module; 2. Underwater module; 3. Lifting cable; 4. Buoyancy body; 401. Surface propeller; 5. Support platform; 6. Main unit box; 601. Warning light; 602. Surface camera; 603. Solar panel; 7. Lifting control box; 701. Winding roller; 702. Control motor; 8. Auxiliary unit box; 801. Underwater propeller; 802. Underwater camera. Detailed Implementation

[0024] To make the technical means, creative features, objectives and effects of this utility model easier to understand, the present utility model will be further described below in conjunction with specific embodiments.

[0025] like Figures 1-5As shown, this utility model discloses an underwater detection device that integrates surface and underwater detection. It includes a surface module 1 for positioning, an underwater module 2 for underwater detection, and a lifting cable 3. The device uses the surface module 1 to locate and move to the detection area, and then uses the underwater camera 802 in the underwater module 2 for detection. The surface module 1, as the main body, performs GPS positioning and can automatically move along a route, providing accurate geographical location information for underwater detection. The underwater module 2 is equipped with the underwater camera 802, which can approach the search area via a lifting device to observe underwater objects at close range. Even in murky water, it can effectively image, overcoming the shortcomings of traditional camera solutions that are ineffective in poor water quality environments. This integrated surface and underwater detection method achieves simultaneous detection both above and below water, greatly improving detection efficiency. Compared to traditional unmanned surface vessels or underwater vehicles detecting independently, this device can acquire more comprehensive water information, avoiding information omissions caused by single detection methods. The collaborative detection method of this device can be applied to underwater object detection tasks in various aquatic environments, such as rivers, lakes, and oceans, providing a more efficient and accurate solution for underwater resource exploration, underwater archaeology, and underwater infrastructure inspection. Furthermore, the device innovatively adopts a combined surface and underwater approach, with the surface module 1 undertaking the main tasks of positioning and movement, reducing the requirements for the positioning technology of the underwater module 2, thereby effectively reducing the overall cost of the device. The underwater module 2 is suspended directly below the surface module 1 by four lifting cables 3. Compared to a single cable or a smaller number of lifting cables, the four lifting cables 3 can distribute the tension more evenly, maintaining the balance of the underwater module 2 and preventing loss of attitude control or damage to the underwater module 2 due to cable entanglement.

[0026] Among them, the water module 1 includes a buoyancy body 4 that can float on the water surface and move forward, backward, left and right on the water surface. The buoyancy body 4 is equipped with four lifting control boxes 7 that can respectively retract and extend four lifting cables 3.

[0027] The underwater module 2 includes a sub-unit 8 capable of propelling itself forward, backward, left, and right in the water. The buoyancy body 4 of the surface module 1 floats on the water surface and propels itself forward, backward, left, and right. The sub-unit 8 of the underwater module 2 propels itself forward, backward, left, and right in the water, giving both the surface module 1 and the underwater module 2 self-stabilizing capabilities, enabling them to resist water currents and achieve stable detection without the need for additional complex self-stabilizing devices, further reducing costs. Simultaneously, the device's structural design and functional integration are also quite reasonable, avoiding the use of redundant equipment, improving practicality and cost-effectiveness, making it easier to promote and apply, and meeting the needs of more users in underwater detection. An underwater camera 802 for underwater detection is installed at the bottom of the sub-unit 8.

[0028] In one optional embodiment of this invention, a surface thruster 401 is installed at each of the four ends (front, rear, left, and right) of the bottom of the buoyancy body 4, and an underwater thruster 801 is installed at each of the four ends (front, rear, left, and right) of the auxiliary engine box 8. The surface module 1's buoyancy body 4 has surface thrusters 401 installed at each of the four ends (front, rear, left, and right) of the bottom, and the underwater module 2's auxiliary engine box 8 has underwater thrusters 801 installed at each of the four ends (front, rear, left, and right). This four-thruster design allows the surface module 1 and the underwater module 2 to generate thrust in all directions, thereby better resisting the impact of water flow, maintaining their stable attitude, and ensuring the smooth progress of the detection work. In complex water environments, such as the rapids of rivers and the inlets and outlets of lakes, this self-stabilizing ability is particularly important. It can prevent the device from being swept away or tilted by the water flow, which would affect the detection accuracy and safety. In actual use, a protective device can be added to the outer ring of the auxiliary housing 8 to protect the underwater module 2. This can effectively reduce the impact force generated when colliding with other hard objects and prevent damage to the device.

[0029] In one optional embodiment of this invention, a support platform 5 is horizontally fixed on the buoyancy body 4. The support platform 5 has four through holes on its top. Four lifting control boxes 7 are installed above the four through holes on the top of the support platform 5, one for each. Four lifting cables 3 pass through the four through holes, and their upper sections are wound into the four lifting control boxes 7. The bottom ends of the four lifting cables 3 are fixed to the top of the auxiliary housing 8. By raising and lowering the lifting cables 3 through the lifting control boxes 7, the depth of the underwater module 2 can be flexibly adjusted, allowing the underwater camera 802 to move up and down according to the detection requirements at different depths. During actual detection, the operator can accurately lower the underwater module 2 to a suitable depth by controlling the raising and lowering of the lifting cables 3, based on the approximate location of the target object or changes in the underwater topography, to achieve close-range observation of underwater objects. This depth adjustment function increases the flexibility and adaptability of the device, meeting the needs of underwater detection tasks in various complex aquatic environments and improving the accuracy and success rate of detection. In contrast, traditional underwater detection equipment often lacks this flexible depth adjustment capability, resulting in certain limitations when detecting targets at different depths. During the raising and lowering of the underwater module 2, the coordinated action of the four lifting cables 3 ensures its smooth ascent or descent, further improving the stability and reliability of the device.

[0030] In one optional embodiment of this invention, the lifting control box 7 has two chambers. A take-up roller 701 is rotatably mounted in one chamber, and a control motor 702 is installed in the other chamber. The upper part of the lifting cable 3 is wound onto the take-up roller 701. The control motor 702 is connected to the take-up roller 701 via a rotating shaft. The control motor 702 drives the take-up roller 701 to rotate, thereby controlling the winding and unwinding of the lifting cable 3.

[0031] In one optional embodiment of this invention, a main unit housing 6 is fixed to the top of the support platform 5. A warning light 601 and an underwater camera 602 are mounted on the top of the main unit housing 6. All four sides of the main unit housing 6 are inclined surfaces, and solar panels 603 are installed on each of the four inclined surfaces. The warning light 601 can emit a warning signal when the device is operating, alerting surrounding vessels or other objects to take evasive action, thus improving the device's safety. The underwater camera 602 can be used to observe conditions above the water surface, such as the surrounding environment and weather conditions, providing auxiliary information for the navigation and exploration of the underwater module 1. The solar panels 603 installed on the four inclined surfaces of the main unit housing 6 can convert solar energy into electrical energy, providing additional energy to the device, extending its operating time and endurance, allowing it to operate continuously for extended periods without an external power supply. This is particularly suitable for long-duration, large-area underwater exploration missions, enhancing the overall performance and application range of the device.

[0032] In an optional embodiment of this invention, both the main unit 6 and the auxiliary unit 8 are equipped with a battery, a GPS module, a thruster control module, a remote communication module, and a monitoring module. The battery provides energy support for the entire device, ensuring its power supply during operation. The GPS module enables the surface module 1 to achieve precise positioning and move automatically along a preset route, while also providing position reference information for the underwater module 2, facilitating operators' understanding of the specific location of underwater detection. The thruster control module can precisely control the operation of each thruster as needed, enabling flexible movement and self-stabilization of the surface module 1 and the underwater module 2. The working principle of the thruster control module is similar to that of the wing control module of a quadcopter UAV. The remote communication module allows operators to operate and monitor the device from a certain distance via remote control or wireless communication, expanding the device's scope of use and operational flexibility. The monitoring module can monitor the device's operating status and underwater environmental parameters in real time, providing comprehensive feedback to operators to adjust detection strategies and handle emergencies promptly. The lifting cable 3 includes a traction rope, a power line, and a communication cable. This integrated design not only simplifies the structure of the device but also ensures the stability of power supply and data transmission between the underwater module 2 and the surface module 1. The power line provides continuous and stable power support to the equipment in the underwater module 2, ensuring the normal operation of equipment such as the underwater camera 802; the communication cable ensures real-time data transmission between the surface module 1 and the underwater module 2, enabling operators to obtain underwater detection information in a timely manner and remotely control and adjust the underwater module 2.

[0033] In use, firstly, the detection device should be smoothly deployed to a suitable location in the target water area, ensuring that it floats normally and all components are in good working order after entering the water. Turn on the device power and check the operation of the buoyancy body 4, auxiliary housing 8, and other components. Initial settings should be performed on the device via the control interface on the main housing 6 or a remote control terminal, such as inputting detection mission parameters, setting the navigation route of the surface module 1, and the detection mode of the underwater module 2. Then, the buoyancy body 4 of the surface module 1, using its four surface thrusters 401 mounted at the bottom, automatically moves forward, backward, left, and right on the water surface according to the preset route, relying on the built-in GPS module for precise positioning, ensuring the device can accurately move to different locations within the detection area. During movement, the operator can monitor the position, speed, and surrounding environment of the surface module 1 in real time via the remote communication module and adjust the navigation route according to the actual situation. Simultaneously, the main housing 6 on top of the surface module 1 uses solar panels 603 to absorb solar energy and convert it into electrical energy, charging the battery inside the main housing and providing energy support for the normal operation of the main housing 6 and the entire device. Next, the operator controls the lifting control box 7 on the surface module 1 to retract and extend the four lifting cables 3, lowering the auxiliary housing 8 of the underwater module 2 to near the seabed. During the descent, the four underwater thrusters 801 of the underwater module 2 activate to maintain its balanced posture, resist water flow interference, and ensure a stable descent to the target depth. As the underwater module 2 approaches the seabed, the underwater camera 802 installed at the bottom of the auxiliary housing 8 begins operation, capturing images of underwater objects at close range and transmitting the image data in real time to the main housing 6 of the surface module 1 via the communication cable in the lifting cables 3. After receiving the images, the main housing 6 performs preliminary processing and analysis, and sends the processed images to the operator via a remote communication module so that the operator can be informed of the underwater detection situation in a timely manner. Finally, after completing the detection task, the operator controls the lifting control box 7 to retract the lifting cables 3, slowly raising the underwater module 2 and maintaining its suspended state. Subsequently, the buoyancy body 4 of the water module 1 uses the surface propulsion unit 401 to return to the starting point or designated recovery area along a predetermined return route. During the return process, the status of the device is continuously monitored to ensure safe recovery. After the device is recovered, the image data and location information collected during the detection process are further processed.

[0034] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The descriptions of the above embodiments and specifications are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of protection claimed by this utility model. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. An underwater detection device for water surface and underwater linkage, characterized in that: It comprises a water module (1) responsible for positioning, a water module (2) responsible for underwater detection and lifting cables (3), the water module (2) is suspended directly below the water module (1) by four lifting cables (3); The water module (1) comprises a buoyancy body (4) capable of floating on the water and capable of propelling forward, backward, left and right on the water surface, four lifting control boxes (7) capable of winding and unwinding four lifting cables (3) respectively are arranged on the buoyancy body (4). The water module (2) comprises a sub-machine box (8) capable of propelling forward, backward, left and right in water, and a water camera (802) for underwater detection is installed at the bottom of the sub-machine box (8).

2. The underwater detection device according to claim 1, characterized in that: The bottom of the buoyancy body (4) is provided with a water surface propeller (401) at each of the four ends, and the sub-machine box (8) is provided with a water propeller (801) at each of the four ends.

3. The underwater detection device according to claim 2, wherein: The buoyancy body (4) is horizontally fixed with a support table (5), four through holes are formed in the top of the support table (5), four lifting control boxes (7) are installed above the four through holes in the top of the support table (5) one by one, four lifting cables (3) pass through the four through holes respectively and are wound in the four lifting control boxes (7) respectively, and the bottom ends of the four lifting cables (3) are fixed on the top of the sub-machine box (8).

4. The underwater detection device according to claim 3, characterized in that: The lifting control box (7) has two cavities, a winding roller (701) is rotatably connected in one cavity of the lifting control box (7), a wire control motor (702) is installed in the other cavity of the lifting control box (7), the upper part of the lifting cable (3) is wound on the winding roller (701), and the wire control motor (702) is connected with the winding roller (701) through a rotating shaft.

5. The underwater detection device according to claim 3, wherein: The top of the support table (5) is fixed with a main machine box (6), the top of the main machine box (6) is provided with warning lights (601) and a water camera (602), the four sides of the main machine box (6) are inclined surfaces, and the four inclined surfaces of the main machine box (6) are provided with solar panels (603).

6. An underwater detection device according to claim 5, wherein: The main machine box (6) and the sub-machine box (8) are both provided with a battery, a GPS module, a propeller control module, a remote communication module and a monitoring module, and the lifting cable (3) comprises a traction rope, a power line and a communication cable.

Images