CN116812112B - A smart device for underwater inspection of ships - Google Patents
A smart device for underwater inspection of shipsInfo
- Publication number
- CN116812112B CN116812112B CN202310910124.2A CN202310910124A CN116812112B CN 116812112 B CN116812112 B CN 116812112B CN 202310910124 A CN202310910124 A CN 202310910124A CN 116812112 B CN116812112 B CN 116812112B
- Authority
- CN
- China
- Prior art keywords
- underwater
- module
- wall
- release
- fixed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/48—Means for searching for underwater objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/24—Automatic depth adjustment; Safety equipment for increasing buoyancy, e.g. detachable ballast, floating bodies
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
- B63G2008/007—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled by means of a physical link to a base, e.g. wire, cable or umbilical
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
本发明提供了一种用于舰艇水下检测的智能装置，与现有技术比较，本发明的智能装置还包括设置于舰艇内的对水下设备进行分别放置的放置模块、驱动所述放置模块内的水下设备深入至水下以进行水下检测作业的释放模块、将水下作业的水下设备回收至所述放置模块内的回收模块、和设置于舰艇本体上以分别对放置模块以及释放模块进行作业指令发送的控制模块。本发明通过对水下设备的自动水下作业释放，以及基于水域环境以对水下设备于舰艇之间的连接情况进行自动调整，进而提高水下设备在水下检测作业中的安全性。
This invention provides an intelligent device for underwater inspection of ships. Compared with existing technologies, the intelligent device of this invention further includes a placement module installed inside the ship for separately placing underwater equipment, a release module for driving the underwater equipment in the placement module to submerge underwater for underwater inspection operations, a retrieval module for recovering the underwater equipment from underwater operations back into the placement module, and a control module installed on the ship body for sending operation commands to the placement module and the release module respectively. This invention improves the safety of underwater equipment during underwater inspection operations by automatically releasing underwater equipment during underwater operations and automatically adjusting the connection between the underwater equipment and the ship based on the aquatic environment.
Description
Technical Field
The invention relates to the technical field of ships, in particular to an intelligent device for underwater detection of ships.
Background
The thermocline of the submarine active sea area can be measured by submarine ocean hydrologic detection, and the submarine can conceal an acoustic image area formed by acoustic ray refraction by using the thermocline. The submarine throw-away type temperature and depth meter appears, so that the detection of the temperature and depth data of the sea water is radically changed. And the submarine is equipped with underwater sound and non-underwater sound detection equipment such as sonar and magnetic detector. Real-time measurements of submarine activity sea area marine hydrologic elements are made using marine hydrologic observation equipment mounted on the submarine. The measurement items mainly comprise sea water temperature, sea water salinity, sea water density, pressure, sound velocity, temperature and salt depth profile and the like, and sea hydrologic parameters and profile curves are processed, displayed and stored in real time, so that sea hydrologic environment information is provided for submarine navigation and concealment.
The experimental team carries out browsing and research of a large number of related record data aiming at the related technology of ships and underwater monitoring technology for a long time, and simultaneously relies on related resources, and carries out a large number of related experiments, and through search discovery, as disclosed in the prior art CN112684750B, an underwater intelligent monitoring device of a sand mining ship relates to the technical field of underwater sound target monitoring, signals acquired by an acoustic sensor module are converted into voltage signals through a transmitter, the voltage signals are acquired through a data acquisition module, a digital signal processing module processes the signals acquired by the data acquisition module, signal characteristics are extracted through a characteristic extraction module, the signal characteristics are compared with data in a sample library module, a threshold value is set for the sample library module, characteristic differences of the acquired signals and the signals in the sample library are compared, alarm information is returned to an early warning module without exceeding the threshold value, the threshold value range is exceeded, the fact that the signal data in the sample library module and the acquired signal characteristics are large is not alarmed is indicated, the data acquisition module and the signal processing module is connected with the data acquisition module through a communication module, and the power supply module provides electric energy for the device.
The invention is designed for solving the problems that the monitoring device is easy to be damaged due to the fact that the corresponding monitoring device is released in the underwater detection operation of the ship in the prior art, the ship cannot timely recover the monitoring device, the release recovery efficiency of the detection device is low, and the like.
Disclosure of Invention
The invention aims to provide an intelligent device for ship underwater detection, aiming at the defects existing in the prior art.
In order to overcome the defects in the prior art, the invention adopts the following technical scheme:
An intelligent device for underwater detection of a ship comprises underwater equipment for carrying out underwater detection operation, a placement module arranged in the ship for respectively placing the underwater equipment, a release module for driving the underwater equipment in the placement module to go deep into the water for carrying out the underwater detection operation, a recovery module for recovering the underwater equipment for the underwater operation into the placement module, and a control module arranged on the ship body for respectively sending operation instructions to the placement module and the release module,
The control module comprises a remote control system for receiving operation instructions of a remote terminal, a GPS (global positioning system) positioner which is arranged on each underwater device to obtain position information of the underwater device and further send the position information to the remote terminal, a state monitoring unit for receiving the positioning information of the underwater device to judge the completion condition of release operation of the underwater device, and a signal transmission module which is in wireless data transmission with the electrical equipment of the placement module and the release module to realize instruction transmission of the electrical equipment respectively.
Further, place the module including set up in the inside storage bin of naval vessel, set up in storage bin bottom and with the release cavity that storage bin intercommunication set up, will carry out airtight isolated closed door body between storage bin and the release cavity, communicate in the bottom of release cavity and with the diapire that runs through the naval vessel with the outside intercommunication of naval vessel sets up the intercommunication passageway, the activity transversely locate the storage bin and/or fixed base plate in the release cavity, at least one correspond the top be fixed in through corresponding mount pad the roof chamber wall of storage bin just correspond the bottom and fixed base plate and be connected fixedly in order to be used for the drive fixed base plate carries out lifting movement's flexible driving motor, follow fixed base plate is followed the closed recess that sets up in succession, lay in the annular air bag spare of the diapire of closed recess, inlay locate fixed base plate is inside and one end run through the cell wall of closed recess with the airtight intercommunication setting up with annular air bag spare intercommunication set up the vent pipe, with the other end intercommunication sets up in order to be used for controlling the strip carries out inflation and deflation control with the outside of the passageway of naval vessel and the intercommunication condition.
Further, the release module includes the level set up in the transmission rod on the bottom plate wall of fixed base plate, one end is fixed in outer rod wall of transmission rod just in proper order wind in pull rope on the outer rod wall, set up in succession in outer rod wall of transmission rod is in order to be used for right the pull rope carries out orderly spiral groove of winding, is used for right the outside of underwater equipment overlaps establishes fixed shell, will the release end of pull rope spare with the closure piece that fixed shell fixed connection set up, at least two with the transmission rod activity is fixed in bearing frame on the fixed base plate, cover locate outer rod wall on the transmission rod, with the transmission of outer gear meshing just through the drive rotation of outer gear is with synchronous drive transmission rod carries out pivoted receive and release actuating mechanism, right the fixed shell in the release chamber carries out centre gripping and further drives fixed shell and moves to the directional actuating mechanism of communication passageway, and will be located the fixed shell in the communication through the communication and drive out to the underwater area of naval vessel from the communication passageway, wherein inside is the hollow rope, and the hollow rope is the hollow structure.
Further, receive and release actuating mechanism including set up in the bottom plate wall of fixed base plate and follow the bottom plate wall towards its open groove that the top sunken set up, set up in the inside and with the drive cavity of open groove mutual isolation of fixed base plate, rotationally transversely locate through the bearing fixing base dwang in the open groove, the cover is located the outer pole wall of dwang and with the transmission tooth that the external gear meshing transmission set up, will drive cavity with the intercommunication mouth that the open groove intercommunication set up, install in the drive cavity is inside and correspond the power take-off shaft runs through the intercommunication mouth in order to be connected with the one end fixed of dwang and then drive dwang pivoted driving motor, and at least one correspond outer lane airtight bearing spare of the outer shaft wall that the airtight cover of inner circle was located the intercommunication mouth and corresponding inner circle locate the power take-off shaft.
Further, the driving mechanism comprises an inflatable airbag strip sleeved at the hollow cavity of the traction rope, an inflation port arranged on the airbag strip, an inflation tube at least partially embedded on the transmission rod, one end of the inflation tube further communicated with the inflation port, an inflation pump communicated with the other end of the inflation tube and used for inflating the airbag strip, an exhaust branch pipe positioned in the storage cavity and communicated with the side pipe wall of the inflation tube, an exhaust pump communicated with the exhaust branch pipe, a first electric control valve for controlling the communication condition of the inflation tube and the inflation pump, and a second electric control valve for controlling the communication condition of the exhaust branch pipe and the inflation tube.
The beneficial effects obtained by the invention are as follows:
1. According to the invention, the air bag strip is matched with the storage bin and/or the side wall of the release chamber in an airtight abutting manner to isolate the water liquid entering area in the release chamber from the storage bin until the recovery module discharges the water liquid in the release chamber, so that the safety of placing underwater equipment and other electrical equipment in the storage bin is further ensured.
2. According to the retractable driving mechanism, the power output shaft penetrating through the communication port is used for realizing rotary driving operation of the transmission rod, meanwhile, the driving cavity and the opening groove are mutually isolated, so that water liquid entering the releasing cavity is prevented from entering the driving cavity through the opening groove, and the service life of the driving motor is prolonged.
3. According to the underwater equipment underwater detection device, the driving rod is used for releasing the traction rope and the driving mechanism is used for driving the fixed shell to move under the ship from the communication channel, so that the underwater equipment fixed by the fixed shell and the fixed shell is driven to a preset depth of a water area to perform underwater detection operation, the underwater equipment is pulled to the preset depth under the water to perform detection operation based on the depth of the underwater equipment in the underwater detection operation, the shearing equipment is used for performing long-time detection operation by throwing the underwater equipment to the depth of the water area, and the fixed shell floating to the water surface is directionally searched and recovered based on the position information of the fixed shell, so that the underwater throwing efficiency of the underwater equipment is effectively improved.
Drawings
The invention will be further understood from the following description taken in conjunction with the accompanying drawings. The components in the figures are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the embodiments. Like reference numerals designate corresponding parts throughout the different views.
FIG. 1 is a schematic, modular view of the intelligent device for underwater detection of vessels of the present invention.
Fig. 2 is a schematic view of a part of the structure of the placement module according to the present invention.
Fig. 3 is a schematic view of a part of the directional movement mechanism of the present invention.
Fig. 4 is a schematic structural view of the retraction driving mechanism of the present invention.
Fig. 5 is a schematic view of a part of the structure of the release module of the present invention.
Fig. 6 is an enlarged partial sectional view of fig. 5 at a in accordance with the present invention.
The reference numerals indicate 1-naval vessel, 2-storage bin, 3-release chamber, 4-communication channel, 5-closed door, 6-matched door, 7-annular air bag piece, 8-fixed base plate, 9-telescopic driving motor, 10-telescopic driving device, 11-electric telescopic piece, 12-clamping piece, 13-driving chamber, 14-bearing fixing seat, 15-open groove, 16-rotating rod, 17-driving tooth, 18-external gear, 19-airtight bearing piece, 20-spiral groove, 21-driving rod, 22-bearing seat, 23-driving motor, 24-traction rope, 25-air bag strip, 26-hollow cavity and 27-inflation tube.
Detailed Description
In order that the objects, technical solutions and advantages of the present invention will become more apparent, the present invention will be further described in detail with reference to the following examples thereof, and it should be noted that the specific examples described herein are for illustrative purposes only and are not intended to be limiting. Other systems, methods, and/or features of the present embodiments will be or become apparent to one with skill in the art upon examination of the following detailed description. And the terms describing the positional relationship in the drawings are merely for illustrative purposes and are not to be construed as limiting the present patent, and specific meanings of the terms can be understood by those of ordinary skill in the art according to specific circumstances.
An intelligent device for ship underwater detection is constructed according to the embodiment with reference to fig. 1, fig. 2, fig. 3, fig. 4, fig. 5 and fig. 6;
An intelligent device for underwater detection of a ship comprises underwater equipment for carrying out underwater detection operation, a placement module, a release module, a recovery module and a control module, wherein the placement module is arranged in the ship and used for respectively placing the underwater equipment, the release module is used for driving the underwater equipment in the placement module to go deep into the water for carrying out the underwater detection operation, the recovery module is used for recovering the underwater equipment for carrying out the underwater operation into the placement module, and the control module is arranged on the ship body and used for respectively sending operation instructions to the placement module and the release module;
The control module comprises a remote control system for receiving operation instructions of a remote terminal, a GPS (global positioning system) positioner which is arranged on each piece of underwater equipment to obtain position information of the underwater equipment and further send the position information to the remote terminal, a state monitoring unit for receiving the positioning information of the underwater equipment to judge the completion condition of release operation of the underwater equipment, and a signal transmission module which is in wireless data transmission with the electrical equipment of the placement module and the release module to realize instruction transmission of the electrical equipment respectively;
the placing module comprises a storage bin arranged in the interior of the naval vessel, a release chamber arranged at the bottom of the storage bin and communicated with the storage bin, a closed door body for airtight isolation between the storage bin and the release chamber, a communication channel communicated with the bottom of the release chamber and communicated with the bottom wall penetrating the naval vessel to be arranged outside the naval vessel, a fixed substrate movably transversely arranged in the storage bin and/or the release chamber, at least one telescopic driving motor, a closed groove, an annular air bag piece, an air vent pipeline, and an air pump, wherein the top wall of the storage bin is fixed with the corresponding mounting seat through the corresponding top, the telescopic driving motor is connected and fixed with the fixed substrate to drive the fixed substrate to move up and down, the side plate of the fixed substrate is along the closed groove which is continuously arranged, the annular air bag piece is continuously laid on the bottom wall of the closed groove, the air vent pipeline is embedded in the interior of the fixed substrate, one end of the air channel penetrates through the groove wall of the closed groove to be communicated with the annular air bag piece in an airtight manner, the air pump is communicated with the other end of the air pump through the air pump for controlling the annular air bag piece to be in a state, the closing door body and the matching door body are automatic closing doors in the prior art, and are not described in detail herein;
The annular air bag piece is arranged in a way that the annular air bag piece is contained in the closed groove when the annular air bag piece is in a deflation state, and when the annular air bag piece is in an inflation state, the annular air bag piece is expanded and at least partially extends out of the closed groove to be further abutted to the side chamber wall of the storage chamber and/or the release chamber, the annular air bag piece is sleeved in the closed groove in a closing way, and then when the annular air bag piece is in the inflation state, the fixed base plate is in airtight fit with the side chamber wall of the storage chamber;
According to the invention, the air bag strip is matched with the storage bin and/or the side wall of the release chamber in an airtight abutting manner to isolate the water liquid entering area in the release chamber from the storage bin until the recovery module discharges the water liquid in the release chamber, so that the safety of placing underwater equipment and other electrical equipment in the storage bin is further ensured.
In addition to the contents of the above embodiments, the second embodiment is as follows in combination with fig. 1, fig. 2, fig. 3, fig. 4, fig. 5 and fig. 6:
The release module comprises a transmission rod horizontally arranged on the bottom plate wall of the fixed substrate, a traction rope, a spiral groove, a fixed shell, a locking piece, at least two bearing seats, an external gear, a retraction driving mechanism, a directional driving mechanism and a driving mechanism, wherein one end of the traction rope is fixed on the outer rod wall of the transmission rod, the traction rope is sequentially wound on the outer rod wall of the transmission rod, the spiral groove is continuously arranged on the outer rod wall of the transmission rod and used for orderly winding the traction rope, the fixed shell is used for sleeving and fixing the outside of the underwater equipment, the release end of the traction rope is fixedly connected with the fixed shell, the bearing seats are movably fixed on the fixed substrate, the external gear is sleeved on the outer rod wall of the transmission rod, the retraction driving mechanism is meshed with the external gear and drives the transmission rod to rotate synchronously through driving the rotation of the external gear, the directional driving mechanism clamps the fixed shell in the release cavity and further drives the fixed shell to move to the communication channel, and the driving mechanism drives the fixed shell in the communication channel to the underwater area of a ship from the communication channel;
The directional moving mechanism comprises at least two telescopic driving devices which are respectively and symmetrically fixed on the bottom plate wall of the fixed substrate for vertical telescopic operation, electric telescopic parts, clamping grooves and clamping pieces, wherein one ends of the electric telescopic parts are respectively and horizontally connected to the bottom telescopic tail ends of the telescopic driving devices and perform horizontal telescopic driving operation, the clamping grooves are formed in the outer shell wall of the fixed shell, which is correspondingly close to the top of the fixed shell, the clamping pieces are fixedly connected with the other ends of the electric telescopic parts so as to penetrate into and abut against the clamping grooves, the clamping pieces are of arc structures which are arranged in a clamping fit with at least part of the clamping grooves, the clamping pieces respectively fixed on the opaque electric telescopic rods are respectively clamped and fixed at two ends of the clamping grooves, and further the clamping and fixing operation on the fixed shell is realized through the two clamping pieces;
further, the electric telescopic pieces connected to different telescopic driving devices drive the clamping pieces to horizontally extend and respectively clamp the clamping pieces to the opposite ends of the clamping grooves so as to realize the fixing operation of the fixed shell, and further, the releasing operation of the telescopic driving mechanism on the fixed shell and the synchronous vertical extension operation of the telescopic driving devices are realized so as to realize the moving of the fixed shell to the communication channel;
The retraction driving mechanism comprises an opening groove which is arranged on the bottom plate wall of the fixed substrate and concavely arranged from the bottom plate wall to the upper part of the bottom plate wall, a driving cavity which is arranged inside the fixed substrate and isolated from the opening groove the rotary rod is rotatably and transversely arranged in the opening groove through the bearing fixing seat, a transmission tooth sleeved on the outer rod wall of the rotary rod and meshed with the outer gear for transmission the driving cavity is communicated with the opening groove, a communication port is arranged in the driving cavity, a driving motor which is installed in the driving cavity and corresponds to the power output shaft and penetrates through the communication port to be fixedly connected with one end of a rotating rod so as to drive the rotating rod to rotate, and at least one airtight bearing piece which corresponds to the outer ring and is hermetically sleeved on the inner port wall of the communication port and corresponds to the inner ring and is hermetically sleeved on the outer shaft wall of the power output shaft;
and then realize the control under the airtight bearing spare drive cavity and open groove keep apart the setting mutually, simultaneously through running through go out the power take off shaft of intercommunication mouth is in order to realize the rotation drive operation to the transmission rod, avoid getting into the interior water liquid of release cavity is through the open groove gets into inside the drive cavity, in order to improve driving motor's life.
In addition to the contents of the above embodiments, the third embodiment is as follows in combination with fig. 1, fig. 2, fig. 3, fig. 4, fig. 5 and fig. 6:
The inside of the haulage rope is of a hollow structure, the hollow structure in the haulage rope is taken as a hollow cavity of the haulage rope, the driving mechanism comprises an inflatable air bag strip sleeved at the hollow cavity of the haulage rope, an air charging port arranged on the air bag strip, an air charging pipe at least partially embedded in the transmission rod, one end of the air charging pipe penetrates through the transmission rod and the hollow cavity in sequence and is further communicated with the air charging port, an air charging pump communicated with the other end of the air charging pipe and used for carrying out air charging operation on the air bag strip, an air discharging branch pipe positioned in the storage cavity and one end of the air charging pump communicated with the side pipe wall of the air charging pipe, an air discharging pump communicated with the air discharging branch pipe, a first electric control valve for controlling the communication condition of the air charging pipe and the air charging pump, and a second electric control valve for controlling the communication condition of the air discharging branch pipe and the air charging pipe, wherein one end of the air charging pipe sequentially penetrates through the fixed substrate to extend into the air charging cavity after penetrating through the rotation rod, and the other end of the air charging pipe is communicated with the air charging pump;
One end fixed on the transmission rod is used as a fixed end of the traction rope, the other end of the traction rope is a release end of the traction rope, at least part of outer bag clothes at one end of the air bag strip is fixed on a hollow cavity wall correspondingly close to the fixed end and is a first end of the air bag strip, at least part of outer bag clothes at the other end of the air bag strip is fixed on a hollow cavity wall correspondingly close to the release end and is a second end of the air bag strip;
The inflatable tube penetrates through the fixed end of the traction rope and the first end of the airbag strip to penetrate into an airbag cavity of the airbag strip, one end of the inflatable tube, which is correspondingly penetrated into the airbag strip, is an air outlet end of the inflatable tube, one end of the inflatable tube, which is correspondingly connected with the air pump, is an air inlet end of the inflatable tube, at least part of the outer tube wall of the inflatable tube is fixedly adhered to the wall of the airbag cavity of the airbag strip, the air outlet end of the inflatable tube is fixedly connected into the second end, and then when the air pump inflates the inflatable tube, air correspondingly flows to the vicinity of the second end of the airbag strip, wherein the inflatable tube is a metal flexible pipeline in the prior art, and the traction rope is uniformly wound to the transmission rod in a spiral shape, so that the inflatable tube is not folded and can carry out air conveying on the airbag strip in the subsequent process;
The gasbag strip is set up to the haulage rope of the corresponding state of volume of upper limit inflation can be movable run through the intercommunication passageway the in-process of inflating of gasbag strip, the inflation of gasbag strip makes the haulage rope from its release end to stiff end gradually hard so that the release end of gasbag strip moves towards the intercommunication passageway outside in proper order, simultaneously effectively avoid follow the haulage rope folding spiral that releases on the actuating lever is in the release cavity is in order to make the underwater equipment can not follow the intercommunication passageway and drives the fixed shell from in the intercommunication passageway to preset distance under water.
When the release module releases the release end of the traction rope and the directional driving mechanism drives the fixed shell to move towards the communication channel, the air pump inputs air to the air inflation tube, so that the air enters the second end of the air bag strip along the air inflation tube and sequentially inflates the air bag strip released to the outside of the driving rod from the second end;
The recovery module comprises a liquid outlet arranged on the inner cavity wall of the release cavity, a liquid outlet pipe, an electromagnetic valve, a liquid discharging pump, a shearing device, a floating air bag and an inflation device, wherein one end of the liquid outlet pipe is communicated with the liquid outlet, the other end of the liquid outlet pipe penetrates through the ship shell, the electromagnetic valve controls the closing condition of the liquid outlet pipe, the liquid discharging pump drives liquid in the release cavity to be discharged to the outside of the ship from the liquid outlet pipe, the shearing device is arranged in the communication channel and used for shearing a traction rope positioned in the communication channel, the floating air bag is embedded on the fixed shell, the inflation device is embedded on the fixed shell and is used for inflating the floating air bag so that the fixed shell and the underwater device fixed by the fixed shell float and rise to the water surface, the shearing device is the prior art and is not repeated,
The pulling rope breaks the pulling operation of the fixed shell and the underwater equipment through the shearing operation of the shearing equipment so that the underwater equipment sinks to the deep of the water area to carry out underwater detection operation, under the condition that the matched door body is closed, the electromagnetic valve is opened and the suction operation of the liquid discharge pump is carried out so as to discharge the water liquid in the release chamber through the liquid discharge pipe, thereby ensuring the drying in the release chamber and the storage chamber and protecting the electrical equipment placed in the release chamber and the storage chamber,
According to the underwater equipment underwater detection device, the driving rod is used for releasing the traction rope and the driving mechanism is used for driving the fixed shell to move under the ship from the communication channel, so that the underwater equipment fixed by the fixed shell and the fixed shell is driven to a preset depth of a water area to perform underwater detection operation, the underwater equipment is pulled to the preset depth under the water to perform detection operation based on the depth of the underwater equipment in the underwater detection operation, the shearing equipment is used for performing long-time detection operation by throwing the underwater equipment to the depth of the water area, and the fixed shell floating to the water surface is directionally searched and recovered based on the position information of the fixed shell, so that the underwater throwing efficiency of the underwater equipment is effectively improved.
While the invention has been described above with reference to various embodiments, it should be understood that many changes and modifications can be made without departing from the scope of the invention. That is, the methods, systems and devices discussed above are examples. Various configurations may omit, replace, or add various procedures or components as appropriate. For example, in alternative configurations, the methods may be performed in a different order than described, and/or various components may be added, omitted, and/or combined. Moreover, features described with respect to certain configurations may be combined in various other configurations, such as different aspects and elements of the configurations may be combined in a similar manner. Furthermore, as the technology evolves, elements therein may be updated, i.e., many of the elements are examples, and do not limit the scope of the disclosure or the claims. And it is understood that various changes and modifications may be made by those skilled in the art after reading the description of the invention, and such equivalent changes and modifications are intended to fall within the scope of the invention as defined in the appended claims.
Claims (3)
1. An intelligent device for underwater detection of a ship is characterized by comprising underwater equipment for carrying out underwater detection operation, a placement module arranged in the ship for respectively placing the underwater equipment, a release module for driving the underwater equipment in the placement module to go deep into the water for carrying out the underwater detection operation, a recovery module for recovering the underwater equipment for the underwater operation in the placement module, and a control module arranged on the ship body for respectively sending operation instructions to the placement module and the release module,
The control module comprises a remote control system for receiving operation instructions of a remote terminal, a GPS (global positioning system) positioner which is arranged on each piece of underwater equipment to obtain position information of the underwater equipment and send the position information to the remote terminal, a state monitoring unit for receiving the positioning information of the underwater equipment to judge the completion condition of release operation of the underwater equipment, and a signal transmission module which is in wireless data transmission with the electrical equipment of the placement module and the release module to realize instruction transmission of the electrical equipment respectively;
The storage module comprises a storage bin arranged in the naval vessel, a release chamber arranged at the bottom of the storage bin and communicated with the storage bin, a closed door body for airtight isolation between the storage bin and the release chamber, a communication channel communicated with the bottom of the release chamber and communicated with the bottom wall penetrating through the naval vessel to be arranged outside the naval vessel, a fixed substrate movably transversely arranged in the storage bin and/or the release chamber, at least one telescopic driving motor, a closed groove, an annular air bag piece, an air vent pipeline, an air pump and an air pump, wherein the top wall of the storage bin is fixed on the top wall of the storage bin through a corresponding mounting seat, the telescopic driving motor is connected and fixed with the fixed substrate correspondingly to drive the fixed substrate to move up and down, the side plate of the fixed substrate is along the closed groove which is continuously arranged, the annular air bag piece is continuously laid on the bottom wall of the closed groove, the air pump is embedded in the fixed substrate, the air pump is communicated with the other end of the annular air bag piece in an airtight manner, and the air pump is communicated with the air pump which is used for controlling the air bag piece to carry out inflation and deflation control, and the air pump is communicated with the air pump which is communicated with the outside the naval vessel;
The release module comprises a transmission rod horizontally arranged on the bottom plate wall of the fixed substrate, a traction rope, a spiral groove, a fixed shell, a locking piece, at least two locking pieces, an external gear, a retraction driving mechanism, a directional driving mechanism and a driving mechanism, wherein one end of the transmission rod is fixed on the bottom plate wall of the fixed substrate, the external rod wall of the transmission rod is sequentially wound on the external rod wall, the traction rope is continuously arranged on the external rod wall of the transmission rod so as to be used for orderly winding the traction rope, the fixed shell is sleeved outside the underwater equipment, the release end of the traction rope is fixedly connected with the fixed shell, the at least two transmission rods are movably fixed on the fixed substrate, the external gear is sleeved on the external rod wall of the transmission rod, the retraction driving mechanism is meshed with the external gear and drives the transmission rod to rotate through the rotation of the external gear, the directional driving mechanism clamps and drives the fixed shell in the release cavity to move to the communication channel, and the driving mechanism drives the fixed shell in the communication channel to the underwater area of the underwater ship, wherein the hollow rope is of the hollow rope.
2. The intelligent device according to claim 1, wherein the retractable driving mechanism comprises an opening groove arranged on the bottom plate wall of the fixed substrate and concavely arranged from the bottom plate wall to the upper side of the bottom plate wall, a driving cavity arranged inside the fixed substrate and isolated from the opening groove, a rotating rod rotatably transversely arranged in the opening groove through a bearing fixing seat, a transmission tooth sleeved on the outer rod wall of the rotating rod and in meshed transmission with the outer gear, a communication port for communicating the driving cavity with the opening groove, a driving motor arranged inside the driving cavity and corresponding to the power output shaft penetrating through the communication port to be fixedly connected with one end of the rotating rod so as to drive the rotating rod to rotate, and at least one airtight bearing piece corresponding to the outer ring and hermetically sleeved on the inner port wall of the communication port and corresponding to the inner ring and hermetically sleeved on the outer shaft wall of the power output shaft.
3. The intelligent device according to claim 2, wherein the driving mechanism comprises an inflatable airbag strip sleeved at the hollow cavity of the hauling rope, an inflation port arranged on the airbag strip, an inflation tube at least partially embedded in the transmission rod and one end of which sequentially penetrates through the transmission rod and the hollow cavity and is communicated with the inflation port, an inflation pump communicated with the other end of the inflation tube and used for inflating the airbag strip, an exhaust branch pipe positioned in the storage bin and one end of which is communicated with the side pipe wall of the inflation tube, an exhaust pump communicated with the exhaust branch pipe, a first electric control valve for controlling the communication condition of the inflation tube and the inflation pump, and a second electric control valve for controlling the communication condition of the exhaust branch pipe and the inflation tube.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310910124.2A CN116812112B (en) | 2023-07-24 | 2023-07-24 | A smart device for underwater inspection of ships |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310910124.2A CN116812112B (en) | 2023-07-24 | 2023-07-24 | A smart device for underwater inspection of ships |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116812112A CN116812112A (en) | 2023-09-29 |
| CN116812112B true CN116812112B (en) | 2025-11-14 |
Family
ID=88116742
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310910124.2A Active CN116812112B (en) | 2023-07-24 | 2023-07-24 | A smart device for underwater inspection of ships |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116812112B (en) |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111766107A (en) * | 2020-06-23 | 2020-10-13 | 汪小琴 | Single body type marine environment monitoring water body sampling device capable of controlling sampling depth |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2011143272A1 (en) * | 2010-05-10 | 2011-11-17 | Kryzak Thomas J | Aquatic recovery and repair system (aars) |
| CN102069901B (en) * | 2010-12-29 | 2013-12-25 | 中国人民解放军海军潜艇学院 | Portable underwater maintenance platform |
| CN108001646B (en) * | 2018-01-18 | 2020-09-01 | 浙江巨江水电建设有限公司 | Intelligent pressure reducing system based on deepwater operation |
| CN215635510U (en) * | 2021-08-17 | 2022-01-25 | 青岛海壮船舶机械制造有限公司 | Underwater enclosed space simulation operation equipment |
| CN114313120B (en) * | 2022-03-14 | 2022-06-14 | 自然资源部第二海洋研究所 | Device for deploying and retracting ocean floating type observation equipment by adopting unmanned ship |
-
2023
- 2023-07-24 CN CN202310910124.2A patent/CN116812112B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111766107A (en) * | 2020-06-23 | 2020-10-13 | 汪小琴 | Single body type marine environment monitoring water body sampling device capable of controlling sampling depth |
Also Published As
| Publication number | Publication date |
|---|---|
| CN116812112A (en) | 2023-09-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109866894B (en) | Under-ice detection system suitable for ice hole distribution and recovery and distribution and recovery method thereof | |
| CN110116794B (en) | Mini underwater robot for water quality monitoring and water sample collection method | |
| CN114179970B (en) | Intelligent sensing navigation mark equipment based on AIS and early warning method thereof | |
| CN207045624U (en) | A kind of chargeable buoyage for aiding in communicating in the robot water of waters | |
| CN110682998B (en) | A self-retracting anti-theft marine detection structure and using method thereof | |
| CN109367741B (en) | Deformable unmanned submarine vehicle and application method thereof | |
| CN107554722B (en) | An intelligent robot for water rescue and its control method | |
| CN109850095B (en) | Intelligent underwater rescue method and system based on unmanned aerial vehicle | |
| CN112937808B (en) | Deep sea in-situ manned experimental research platform | |
| CN110053741A (en) | Based on the under-ce exploration system for being suitable for ice hole and laying recycling for capturing ROV | |
| CN108557032B (en) | Underwater salvage equipment working in combination with unmanned ship and working method thereof | |
| CN106080987A (en) | Sea cable synchronizes unwrapping wire submariner device under water | |
| CN107390293A (en) | A kind of marine exploration system and control method for shallow water islands and reefs area | |
| CN115042922A (en) | Ocean monitor based on self-adsorption principle | |
| CN108860519A (en) | A kind of Multifunction fishing base station based on seabed vacuum pipe traffic | |
| CN115973378A (en) | A self-propelled underwater detection lander device | |
| CN104477354B (en) | Underwater rescue vehicle | |
| CN205982618U (en) | Radar detection device under water | |
| CN116691933B (en) | A portable buoy for ocean observation | |
| CN110186706A (en) | A kind of long continuation of the journey bottom sample acquisition device | |
| CN110274580A (en) | A kind of preventing seabed base | |
| JP5813025B2 (en) | Underwater observation equipment collection facility and underwater observation equipment collection method | |
| CN116812112A (en) | Intelligent device for underwater detection of ships | |
| CN110641659A (en) | A self-avoiding ocean monitoring robot | |
| CN114296126B (en) | AUV can be equipped with an ice-penetrating probe suitable for deep ice water exploration |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |