CN107102334A - The unmanned boat detection system of sonar clearance under water - Google Patents
The unmanned boat detection system of sonar clearance under water Download PDFInfo
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- CN107102334A CN107102334A CN201710282944.6A CN201710282944A CN107102334A CN 107102334 A CN107102334 A CN 107102334A CN 201710282944 A CN201710282944 A CN 201710282944A CN 107102334 A CN107102334 A CN 107102334A
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- sonar
- probe
- unmanned boat
- clearance
- rotary shaft
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/04—Systems determining presence of a target
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/521—Constructional features
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V1/00—Seismology; Seismic or acoustic prospecting or detecting
- G01V1/38—Seismology; Seismic or acoustic prospecting or detecting specially adapted for water-covered areas
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V13/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices covered by groups G01V1/00 – G01V11/00
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- General Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Acoustics & Sound (AREA)
- Computer Networks & Wireless Communication (AREA)
- Geophysics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Environmental & Geological Engineering (AREA)
- Geology (AREA)
- Oceanography (AREA)
- Automation & Control Theory (AREA)
- Manufacturing & Machinery (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses a kind of unmanned boat detection system of sonar clearance under water, it is related to unmanned boat clearance field, including：Unmanned boat, which is provided with supporting plate.Drive mechanism, it is fixed on the supporting plate, and drive mechanism includes motor and worm-and-wheel gear, and motor driving worm-and-wheel gear transmission, drive mechanism also includes shield, and shield is located on motor and worm-and-wheel gear.First rotary shaft, it is arranged on worm-and-wheel gear, and worm-and-wheel gear drives the first rotary shaft to rotate when being driven, and the first rotating shaft terminal is each passed through supporting plate and shield.Support bar, it is fixed on the first rotary shaft and passed through on one end of supporting plate.Sonar clearance detection device, it includes transducer and probe emission device, and transducer is fixed on one end of support bar, and probe emission device is removably attached on transducer, and probe can be changed automatically.The unmanned boat detection system clearance of sonar clearance under water detection accuracy in the present invention is high, installing/dismounting cost is low and maintenance cost is low.
Description
Technical field
The present invention relates to unmanned boat clearance field, and in particular to a kind of unmanned boat detection system of sonar clearance under water.
Background technology
Unmanned boat is one can perform the intellectuality of various civil and military tasks in the complex water areas environment such as ocean
Unmanned platform, is mainly used in detecting and goes on patrol, and can perform the strong work of repeatability under severe marine environment for a long time.Adopt
It need not be worried personnel's living space with unmanned boat, volume of compartment and the load-carrying of ship can be reduced, human cost be reduced, by independently making
Industry improves performance accuracy, the risk of reduction human users' error, while ship can be made to have the ability to carry more goods or equipment.
Unmanned boat is good because of its small volume, hidden property, the attention and development of countries in the world is obtained in recent years, wherein utilizing nobody
Ship clearance turns into application foci, current to be mainly what is realized by sonar technology using unmanned boat clearance, but existing sonar is set
The standby hull bottom work for being generally fixed in unmanned boat, its rotational freedom is poor, has had a strong impact on sonar set scanning probe
Scope, and then the accuracy of sonar set detection is have impact on, and fix alow, dismounting and cleaning are all difficult, overall to safeguard
Inefficiency.In addition, sonar set is general by probe emission acoustic signals, existing probe emission device is generally fixed to sonar
On the transducer of equipment, once probe emission device is damaged, it is necessary to be repaired to the transducer of whole sonar set, it is repaired into
This is too high.
The content of the invention
For defect present in prior art, it is an object of the invention to provide a kind of clearance detection accuracy height, peace
The easy and low unmanned boat of the maintenance cost detection system of sonar clearance under water is unloaded in assembly and disassembly.
To achieve the above objectives, the present invention is adopted the technical scheme that：
A kind of unmanned boat detection system of sonar clearance under water, including：
Unmanned boat, which is provided with supporting plate；
Drive mechanism, it is fixed in the supporting plate, and the drive mechanism includes motor and worm-and-wheel gear, described
Motor drives worm-and-wheel gear transmission, and the drive mechanism also includes shield, the shield be located at the motor and
On worm-and-wheel gear；
First rotary shaft, it is arranged on the worm-and-wheel gear, is driven during the worm-and-wheel gear transmission described
First rotary shaft is rotated, and first rotating shaft terminal is each passed through the supporting plate and shield；
Support bar, it is fixed on first rotary shaft and passed through on one end of the supporting plate；And
Sonar clearance detection device, it includes transducer and probe emission device, and the transducer is fixed on the support bar
One end, the probe emission device is removably attached on the transducer.
On the basis of above-mentioned technical proposal, unmanned boat sonar clearance under water detection system also includes lifting device,
The lifting device is used to drive first rotary shaft to move up and down, and control device, institute are additionally provided with the unmanned boat
State and pressure sensor is additionally provided with transducer, the pressure sensor sends a signal to the control device, the control device
Lifting device is driven to lift first rotary shaft according to the signal.
On the basis of above-mentioned technical proposal, the lifting device includes lifting arm, lifting sleeve and lifting bracket, described
Lifting bracket is fixed on the unmanned boat, and one end of the lifting arm is fixed on the lifting bracket, and the other end is fixed on
On the lifting sleeve, the lifting sleeve is connected with first rotary shaft through one end of the shield, first rotation
Rotating shaft can relatively described lifting sleeve rotating, and it is described lifting sleeve be removably attached on the shield.
On the basis of above-mentioned technical proposal, the support bar includes the first pole and the second pole, first pole
It is fixed on first rotary shaft to pass through on one end of the supporting plate, the transducer is fixed on the one of second pole
End, second pole can be flexible along first pole by the control device, and when second pole moves to institute
When stating first segment boom end, second pole can be rotated by the control device around first pole, the unmanned boat
Storage cabin is additionally provided with, the storage cabin is used to store the sonar clearance detection device.
On the basis of above-mentioned technical proposal, the unmanned boat is additionally provided with cleaning device, and the cleaning device is located at described
Store above cabin, the cleaning device is used to clean the sonar clearance detection device being accommodated in the storage cabin.
On the basis of above-mentioned technical proposal, one end of second pole is provided with support bar flange, the transducer
Provided with connecting rod, the two ends of the connecting rod are equipped with adpting flange, and an adpting flange is connected with the transducer, separately
One adpting flange is connected by right angle angle bar with the support bar flange.
On the basis of above-mentioned technical proposal, one end of the probe emission device is provided with a convex portion, the one of the transducer
End is provided with fixing end, and the fixing end is provided with the resettlement section for housing the convex portion, and the both sides of the fixing end are provided with receives with described
The first through hole of appearance portion connection, the convex portion is provided with the second through hole, and the fixing end and convex portion are dismountable by split bolt
It is fixed together.
On the basis of above-mentioned technical proposal, the probe emission device be provided with single-chip microcomputer and probe, the single-chip microcomputer and
Probe is connected with the control device.
On the basis of above-mentioned technical proposal, the probe includes support division and probe, and the probe emission device bottom is set
There is third through-hole, probe can be stretched out from the third through-hole when support division is supported on the third through-hole.
On the basis of above-mentioned technical proposal, stretches push rod and probe more changing device are additionally provided with the probe emission device,
The stretches push rod is connected with the control device, and the probe includes clamping part, and the stretches push rod is close to the clamping part
One end provided with the clamping hand for housing the clamping part, the clamping hand is provided with many in electromagnet, the probe more changing device
A probe is equipped with individual accepting hole, each accepting hole, the probe emission device is additionally provided with to be filled with the control
The second connected rotary shaft is put, second rotary shaft is provided with the rotation gear equal with the collecting hole number, described second
Rotary shaft drives the probe more changing device rotation, and the probe more changing device is when going on each rotation gear, its
In accepting hole be located at immediately below the stretches push rod.
Compared with prior art, the advantage of the invention is that：
(1) the unmanned boat detection system of sonar clearance under water of the invention, including sonar clearance detection device, wherein in sonar
Clearance detection device is integrally attached to one end of support bar, after lifting device is operated, and support bar will drive sonar clearance to visit
Device is surveyed to be lifted together.Support bar will be driven to rotate further, since the first rotary shaft is rotated, and then sonar clearance can be driven
Detection device does 360 degree of rotations by axle of the first rotary shaft, and on the one hand sonar clearance detection device is doing lifter motion, the opposing party
Face is also rotated around the first rotary shaft, so as to expand the scope of sonar clearance detection well, is improved sonar and is set
The accuracy of standby detection, solves the problem of traditional unmanned boat clearance is inaccurate.
(2) the unmanned boat detection system of sonar clearance under water of the invention, its probe emission device is removably attached to transducing
On device.When need repairing probe emission device when, only probe emission device need to be pulled down from transducer, then to probe emission
Device is individually repaired, it is not necessary to whole transducer is repaired, maintenance cost is reduced.
(3) the unmanned boat detection system of sonar clearance under water of the invention, it is provided with probe more changing device and stretches push rod, when
When tissue damage needs to change, it is only necessary to rotating probe more changing device, can entirely it be changed in the presence of stretches push rod
Operation, completes probe with changing in time.
(4) the unmanned boat detection system of sonar clearance under water of the invention, it is provided with cabin is stored, and storing cabin is used to store sonar
Clearance detection device.Because sonar clearance detection device is operated under water, its long-time will also be faced by sea water intrusion
The problem of hanging up pasture and water and greasy dirt.In traditional approach, it usually needs staff, which dives beneath the water, to be repaired or cleared up, or
Person waits until that unmanned boat is being handled after berthing.The former needs underwater operation, and risk is higher, and cost is also higher, and the latter is then
Sonar clearance detection device can not be repaired and cleaning treatment in time, may result in sonar clearance detection device and damage in advance
It is bad.Sonar clearance detection device can be accommodated in storage cabin by the control device on unmanned boat, then store right in cabin
Sonar clearance detection device is repaired.In addition cleaning device is also set up on unmanned boat, cleaning device, can located at storing above cabin
The sonar clearance detection device for being accommodated in and storing in cabin is cleaned using cleaning device.So as to avoid underwater operation, again can
Timely sonar clearance detection device is repaired and cleared up.
Brief description of the drawings
Fig. 1 is the structural representation of the unmanned boat detection system of sonar clearance under water in the present invention；
Fig. 2 is the structural representation of sonar clearance detection device in the present invention；
Fig. 3 is the structured flowchart of cleaning device in the present invention；
Fig. 4 is the structural representation of middle probe of the present invention more changing device；
Fig. 5 is the structural representation of stretches push rod in the present invention；
Fig. 6 is the structural representation of middle probe of the present invention.
In figure：1- unmanned boats, 11- control devices, 12- supporting plates, 13- storages cabin, 14- cleaning devices, 2- drive mechanisms,
21- motors, 211- motor cabinets, 22- worm-and-wheel gears, 221- worm shaft bolsters, 222- bearing spiders, 23- shields, 3- first
Rotary shaft, 4- support bars, the poles of 41- first, the poles of 42- second, 43- support bar flanges, 5- lifting devices, 51- lifting arms,
52- lifting sleeves, 53- fixed supports, 54- lifting brackets, 6- sonar clearance detection devices, 61- transducers, 611- fixing ends,
612- resettlement sections, 613- first through hole, 614- connecting rods, 615- adpting flanges, 616- pressure sensors, 62- probe emission devices,
621- convex portions, the through holes of 622- second, 623- single-chip microcomputers, 624- probes, 624a- support divisions, 624b- probes, 624c- clamping parts,
625- third through-holes, 626- stretches push rods, 626a- clamping hands, 627- probes more changing device, 627a- accepting holes, 7- is to drawing spiral shell
Bolt, 8- right angles angle bar, the rotary shafts of 9- second.
Embodiment
The present invention is described in further detail below in conjunction with accompanying drawing.
Shown in Figure 1, the present invention provides a kind of unmanned boat sonar clearance under water detection system, and it includes unmanned boat 1, drive
Motivation structure 2, the first rotary shaft 3, support bar 4 and sonar clearance detection device 6.
Unmanned boat 1 is provided with supporting plate 12, and supporting plate 12 can be fixed on the fore or stern of unmanned boat 1, supporting plate
12 mainly act what is supported and fix.
Drive mechanism 2 is fixed in supporting plate 12, and drive mechanism 2 includes motor 21, worm-and-wheel gear 22 and shield 23.
The output shaft of motor 21 links with worm-and-wheel gear 22, and motor 21 can drive worm-and-wheel gear 22 to be driven after running.Electricity
The lower section of machine 21 is fixed by motor cabinet 211 with supporting plate 12, and worm-and-wheel gear 22 is fixed on branch by worm shaft bolster 221
On fagging 12.Shield 23 is located on motor 21 and worm-and-wheel gear 22, plays protective action.
First rotary shaft 3 is arranged on the worm gear of worm-and-wheel gear 22, wherein the two ends of the first rotary shaft 3 are each passed through branch
Fagging 12 and shield 23, after motor 21 is run, worm-and-wheel gear 22 can drive the first rotary shaft 3 to rotate when being driven.For
The stability of first rotary shaft 3 of increase, is additionally provided with bearing branch below the worm-and-wheel gear 22 in corresponding supporting plate 12
Seat 222, the stability that the first rotary shaft 3 ensures to rotate through bearing spider 222.
Support bar 4 is located at the lower section of supporting plate 12, and is fixed on the first rotary shaft 3 through on one end of the supporting plate 12.
Referring also to shown in Fig. 2, sonar clearance detection device 6 includes transducer 61 and probe emission device 62, transducer 61
One end of support bar 4 is fixed on, probe emission device 62 is removably attached on transducer 61.The one of support bar 4 in the present invention
End is provided with support bar flange 43, and transducer 61 is provided with connecting rod 614, and the two ends of connecting rod 614 are equipped with adpting flange 615,
One of adpting flange 615 is connected with transducer 61, and another adpting flange 615 passes through right angle angle bar 8 and support bar flange
43 are connected.So as to which transducer 61 to be fixed on to one end of support bar 4.Because sonar clearance detection device 6 is integrally attached to support
One end of bar 4, the first rotary shaft 3 rotate support bar 4 will be driven to rotate, and then can drive sonar clearance detection device 6 with
First rotary shaft 3 is that axle does 360 degree of rotations, so as to expand the scope of the detection of sonar clearance detection device 6 well, is improved
The accuracy of sonar set detection, and then the reliability of unmanned boat clearance is improved well.
Unmanned boat sonar clearance under water detection system in the present invention also includes lifting device 5, and lifting device 5 is used to drive
First rotary shaft 3 is moved up and down.Lifting device 5 in the present invention includes lifting arm 51, lifting sleeve 52 and lifting bracket
54, lifting bracket 54 is fixed on unmanned boat 1, and one end of lifting arm 51 is fixed on lifting bracket 54, and the other end, which is fixed on, to be carried
Rise on sleeve 52, lifting sleeve 52 is connected with the first rotary shaft 3 through one end of shield 23, the first rotary shaft 3 can relative lifting
Sleeve 52 rotates.In order to ensure the stability for being located at the structure below the first rotary shaft 3, it is detachable that the present invention will lift sleeve 52
Ground is fixed on shield 23, specifically, be removably attached to using fixed support 53 by sleeve 52 is lifted on shield 23, it is fixed
Support 53 is fixed on shield 23, and fixed support 53 includes two parts being oppositely arranged, and each part is provided with an arc
Snap ring, when two snap rings close up can clip lifting sleeve 52 on, then will can be lifted by screw locking snap ring
Sleeve 52 is fixed on shield 23.In addition, with the lifting of lifting arm 51, fixed support 53 can also extend to be coordinated.
It is additionally provided with unmanned boat 1 on control device 11, transducer 61 and is additionally provided with pressure sensor 616, pressure sensing is set
The depth of water residing for transducer 61 can be sensed after device 616, specifically, the pressure sensor 616 in the present invention is throw-in type liquid
Position transmitter.Pressure sensor 616 sends a signal to control device 11, and control device 11 drives lifting device 5 to carry according to signal
Rise first rotary shaft 3, you can optimum position is adjusted in good time to the depth of water residing for transducer 61.Optimum position is specific by sea situation
Characteristic and ship type characteristic determine that sea situation characteristic, which refers mainly to the influence that wave is brought, i.e. probe emission device 62, to be needed to be placed in wave
Under, to evade stormy waves dramatic impact, it is necessary to determine correspondence depth relationship according to experiment.Ship type characteristic refers to that sonar clearance is visited
Survey device 6 and be mounted in fore or stern, installation site is different, and the factor considered is also different.If being arranged close to nothing
The place of people's ship fore, then will consider when unmanned boat is fast forwarded through forward, and fore is tilted, and takes probe emission device 62 out of the water surface
The problem of, the amount of raising of same fore also needs to raise situation according to experiment determination correspondence ship type.If being arranged close to nothing
People's stern section, then will consider the water disturbance and noise effect of stern spray pump or propeller, can also now be determined by experiment can
Capable depth, such as can be obtained by model test and on-the-spot test.
Because sonar clearance detection device 6 is operated under water, its long-time will also be faced and hang up by sea water intrusion
The problem of pasture and water and greasy dirt, it is therefore desirable to which sonar clearance detection device 6 is periodically overhauled and cleared up.In traditional approach,
Either clear up or handled after unmanned boat berths it is generally necessary to which staff dives beneath the water to be repaired.The former
Underwater operation is needed, risk is higher, and cost is also higher, and the latter can not then tie up to sonar clearance detection device 6 in time
Repair and cleaning treatment, may result in the premature deterioration of sonar clearance detection device 6.The present invention takes to overcome above mentioned problem
Mode be on unmanned boat 1 provided with store cabin 13, store cabin 13 be used for store sonar clearance detection device 6.Simultaneously to upper branch
Strut 4 makes improvement, and wherein upper support bar 4 includes the first pole 41 and the second pole 42, and the first pole 41 is fixed on the first rotation
Rotating shaft 3 is passed through on one end of supporting plate 12, and transducer 61 is fixed on one end of the second pole 42, and the second pole 42, which passes through, to be controlled to fill
Putting 11 can be flexible along the first pole 41, and when the second pole 42 moves to the first 41 end of pole, the second pole 42 passes through control
Device 11 processed can be rotated around the first pole 41.Rotated by the second pole 42 and sonar clearance detection device 6 is inserted into storage cabin 13
It is interior.Sonar clearance detection device 6 can be so accommodated in storage cabin 13 by the control device 11 on unmanned boat 1, Ran Hou
Store and sonar clearance detection device 6 repaired in cabin 13, it is to avoid underwater operation.It can additionally be set on unmanned boat 1
Cleaning device 14 is put, cleaning device 14 is shown in Figure 3 located at the top of cabin 13 is stored, and cleaning device 14 mainly includes shower nozzle, brush
Roller and the clear water circulatory system, shower nozzle are responsible for being sprayed sonar clearance detection device 6 with water, and clearance is visited with brush roll
Survey device 6 to be scrubbed, so as to reach the purpose of cleaning sonar clearance detection device 6.
Probe emission device 62 in the present invention is fixed on transducer 61 using removably mode, specifically, in probe
One end of transmitter 62 is provided with a convex portion 621, fixing end 611 is provided with one end of transducer 61, wherein fixing end 611 is provided with receipts
Hold the resettlement section 612 of convex portion 621.When needing probe emission device 62 being fixed on transducer 61, it is only necessary to which convex portion 621 is blocked
Enter resettlement section 612.It is more firm in order to allow probe emission device 62 and transducer 61 fix, in the both sides of fixing end 611
Provided with the first through hole 613 connected with resettlement section 612, the second through hole 622, fixing end 611 and convex portion 621 are provided with convex portion 621
Fixing end 611 and convex portion 621 can be fixed on one through the through hole 622 of first through hole 613 and second by using split bolt 7
Rise.After such structure, when needing to change probe emission device 62, probe emission device 62 need to only be torn open from transducer 61
It is lower, then probe emission device 62 is individually repaired, it is not necessary to which whole transducer 61 is repaired, reduce maintenance
Cost.
Referring to shown in Fig. 4 to Fig. 6, single-chip microcomputer 623 and probe 624 are provided with probe emission device 62.Single-chip microcomputer 623 and probe
624 are connected with control device 11.Its middle probe 624 includes support division 624a and probe 624b, and the bottom of probe emission device 62 is set
There is third through-hole 625, probe 624b can be stretched from the third through-hole 625 when support division 624a is supported on third through-hole 625
Go out.The acoustic signals of sonar are transmitted into the bottom by transducer 61 by probe 624, while also receiving feedback by probe 624
Acoustic signals.The acoustic signals of the feedback received are also transferred to single-chip microcomputer 623 by probe 624.Single-chip microcomputer 623 is analyzed and handled
Probe 624 send signal, feed back to control device 11, can enable in this way unmanned boat 1 detect nearby whether
There is submarine mine.
When probe 624, which is damaged, to be needed to change, in order to avoid carrying out underwater operation.Unmanned boat underwateracoustic in the present invention
Clearance detection system can be changed to the probe of damage automatically.Specifically, being additionally provided with probe emission device 62 flexible
Push rod 626 and probe more changing device 627, stretches push rod 626 are connected with control device 11, and probe 624 includes clamping part 624c, stretches
Contracting push rod 626 is close to clamping part 624c one end provided with the clamping hand 626a for housing clamping part 624c, and clamping hand 626a is electromagnetism
It is provided with iron, probe more changing device 627 in multiple accepting hole 627a, each accepting hole 627a and is equipped with a probe 624, probe
Transmitter 62 is additionally provided with the second rotary shaft 9 being connected with control device 11, and the second rotary shaft 9 is provided with and accepting hole 627a quantity phases
Deng rotation gear, the second rotary shaft 9 driving probe more changing device 627 rotates, and probe more changing device 627 is going to each
When rotating on gear, one of accepting hole 627a is located at immediately below the stretches push rod 626.
So as to, when control device 11 can not receive signal or abnormal signal, it is believed that probe 624 is damaged, now, control
The driving of device 11 stretches push rod 626 is moved downward, and clamping part 624c is clamped using hand 626a is clamped, in the effect of electromagnet
Under, keep fixation therebetween.Then stretches push rod 626 is moved upwards, when stretches push rod 626 is moved back from accepting hole 627a completely
After going out, the second rotary shaft 9 driving probe more changing device 627 rotates to another rotation gear, so that the probe 624 of replacement be placed in
The lower section of stretches push rod 626, then stretches push rod 626 is moved downward again, promotes the probe 624 1 replaced to remove lower motion, complete
The replacing of paired probe 624.
The concrete mode for carrying out clearance detection using the sonar clearance under water of the unmanned boat in present invention detection system is as follows：It is first
First control device 11 drives the second pole 42 to be rotated around first pole 41, by sonar clearance detection device 6 from storing cabin 13
Stretch out, the pressure sensor 616 on transducer 61 sends a signal to control device 11, control device 11 drives according to signal and lifted
Device 5 lifts the first rotary shaft 3, specifically, unclamping the fixation of 53 pairs of lifting sleeves 52 of fixed support, lifting arm 51 is to lift lug
Cylinder 52 is lifted, while driving the first rotary shaft 3 to move together.So as to the depth of water residing for sonar clearance detection device 6
It is adjusted, is at optimum depth position.Then it is fixed by fixed support 53 by sleeve 52 is lifted, starts driving
Mechanism 2, makes the first rotary shaft 3 start rotation, so as to drive sonar clearance detection device 6 to do 360 degree of rotated detections, sonar clearance
The acoustic signals of sonar are transmitted into the bottom by the transducer 61 in detection device 6 by probe 624, while also passing through probe 624
Receive the acoustic signals of feedback.The acoustic signals of the feedback received are also transferred to single-chip microcomputer 623 by probe 624.Single-chip microcomputer 623
The signal that analysis and processing probe 624 are sent, feeds back to control device 11, in this way unmanned boat 1 can be enable to visit
Survey and nearby whether there is submarine mine.Then follow-up clearance processing can be carried out.
The present invention is not limited to the above-described embodiments, for those skilled in the art, is not departing from
On the premise of the principle of the invention, some improvements and modifications can also be made, these improvements and modifications are also considered as the protection of the present invention
Within the scope of.The content not being described in detail in this specification belongs to prior art known to professional and technical personnel in the field.
Claims (10)
1. a kind of unmanned boat detection system of sonar clearance under water, it is characterised in that including：
Unmanned boat (1), which is provided with supporting plate (12)；
Drive mechanism (2), it is fixed in the supporting plate (12), and the drive mechanism (2) includes motor (21) and worm gear snail
Linkage (22), the motor (21) drives worm-and-wheel gear (22) transmission, and the drive mechanism (2) also includes shield
(23), the shield (23) is located on the motor (21) and worm-and-wheel gear (22)；
First rotary shaft (3), it is arranged on the worm-and-wheel gear (22), band during worm-and-wheel gear (22) transmission
Dynamic first rotary shaft (3) rotates, and first rotary shaft (3) two ends are each passed through the supporting plate (12) and shield
(23)；
Support bar (4), it is fixed on first rotary shaft (3) and passed through on one end of the supporting plate (12)；And
Sonar clearance detection device (6), it includes transducer (61) and probe emission device (62), and the transducer (61) is fixed on
One end of the support bar (4), the probe emission device (62) is removably attached on the transducer (61).
2. the unmanned boat as claimed in claim 1 detection system of sonar clearance under water, it is characterised in that：The unmanned boat underwateracoustic
Clearance detection system also includes lifting device (5), and the lifting device (5) is used to drive above and below first rotary shaft (3)
It is additionally provided with back and forth movement, the unmanned boat (1) on control device (11), the transducer (61) and is additionally provided with pressure sensor
(616), the pressure sensor (616) sends a signal to the control device (11), and the control device (11) is according to described
Signal driving lifting device (5) lifts first rotary shaft (3).
3. the unmanned boat as claimed in claim 2 detection system of sonar clearance under water, it is characterised in that：The lifting device (5)
Including lifting arm (51), lifting sleeve (52) and lifting bracket (54), the lifting bracket (54) is fixed on the unmanned boat (1)
On, one end of the lifting arm (51) is fixed on the lifting bracket (54), and the other end is fixed on the lifting sleeve (52)
On, the lifting sleeve (52) is connected with first rotary shaft (3) through one end of the shield (23), first rotation
Axle (3) can be relative to lifting sleeve (52) rotation, and the lifting sleeve (52) is removably attached to the shield (23)
On.
4. the unmanned boat as claimed in claim 2 detection system of sonar clearance under water, it is characterised in that：Support bar (4) bag
The first pole (41) and the second pole (42) are included, first pole (41) is fixed on first rotary shaft (3) described in
On one end of supporting plate (12), the transducer (61) is fixed on one end of second pole (42), second pole
(42) can be flexible along first pole (41) by the control device (11), and when second pole (42) moves to institute
When stating the first pole (41) end, second pole (42) can be around first pole (41) by the control device (11)
Rotate, the unmanned boat (1) is additionally provided with storage cabin (13), the storage cabin (13) is used to store the sonar clearance detection device
(6)。
5. the unmanned boat as claimed in claim 4 detection system of sonar clearance under water, it is characterised in that：The unmanned boat (1) is also
Provided with cleaning device (14), the cleaning device (14) is above the storage cabin (13), and the cleaning device (14) is used for
Cleaning is accommodated in the sonar clearance detection device (6) in the storage cabin (13).
6. the unmanned boat as claimed in claim 4 detection system of sonar clearance under water, it is characterised in that：Second pole (42)
One end be provided with support bar flange (43), the transducer (61) be provided with connecting rod (614), the two of the connecting rod (614)
End is equipped with adpting flange (615), and an adpting flange (615) is connected with the transducer (61), another described company
Acting flange (615) is connected by right angle angle bar (8) with the support bar flange (43).
7. the unmanned boat as claimed in claim 1 detection system of sonar clearance under water, it is characterised in that：The probe emission device
(62) one end is provided with a convex portion (621), and one end of the transducer (61) is provided with fixing end (611), the fixing end (611)
Provided with the resettlement section (612) for housing the convex portion (621), the both sides of the fixing end (611) are provided with and the resettlement section (612)
The first through hole (613) of connection, the convex portion (621) is provided with the second through hole (622), the fixing end (611) and convex portion (621)
It is detachably mounted to together by split bolt (7).
8. the unmanned boat as claimed in claim 2 detection system of sonar clearance under water, it is characterised in that：The probe emission device
(62) be provided with single-chip microcomputer (623) and probe (624), the single-chip microcomputer (623) and probe (624) with the control device
(11) it is connected.
9. the unmanned boat as claimed in claim 8 detection system of sonar clearance under water, it is characterised in that：Probe (624) bag
Support division (624a) and probe (624b) are included, probe emission device (62) bottom is provided with third through-hole (625), the support division
(624a) can stretch out probe (624b) from the third through-hole (625) when supporting on the third through-hole (625).
10. the unmanned boat as claimed in claim 9 detection system of sonar clearance under water, it is characterised in that：The probe emission device
(62) stretches push rod (626) and probe more changing device (627), the stretches push rod (626) and the control device are additionally provided with
(11) it is connected, the probe (624) includes clamping part (624c), and the stretches push rod (626) is close to the clamping part (624c)
One end provided with the clamping hand (626a) for housing the clamping part (624c), the clamping hand (626a) is electromagnet, the spy
It is provided with pin more changing device (627) in multiple accepting holes (627a), each accepting hole (627a) and is equipped with a spy
Pin (624), the probe emission device (62) is additionally provided with the second rotary shaft (9) being connected with the control device (11), described
Two rotary shafts (9) are provided with the rotation gear equal with the accepting hole (627a) quantity, and the second rotary shaft (9) driving is described
Probe more changing device (627) rotates, and the probe more changing device (627) is when going on each rotation gear, wherein one
The individual accepting hole (627a) is located at immediately below the stretches push rod (626).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710282944.6A CN107102334B (en) | 2017-04-26 | 2017-04-26 | Unmanned ship underwater sonar mine-sweeping detection system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710282944.6A CN107102334B (en) | 2017-04-26 | 2017-04-26 | Unmanned ship underwater sonar mine-sweeping detection system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107102334A true CN107102334A (en) | 2017-08-29 |
| CN107102334B CN107102334B (en) | 2020-05-08 |
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ID=59658055
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710282944.6A Active CN107102334B (en) | 2017-04-26 | 2017-04-26 | Unmanned ship underwater sonar mine-sweeping detection system |
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| Country | Link |
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| CN (1) | CN107102334B (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107656320A (en) * | 2017-09-11 | 2018-02-02 | 青岛骄鹏海洋科技有限公司 | A kind of autonomous floatable seabed static sounding device |
| CN108896998A (en) * | 2018-08-15 | 2018-11-27 | 上海磐波智能科技有限公司 | River sonar revolving scanning device |
| CN109595991A (en) * | 2018-12-05 | 2019-04-09 | 上海大学 | A kind of unmanned boat is intelligent to clear away submarine mine device and its minesweeping method |
| CN109884729A (en) * | 2019-04-11 | 2019-06-14 | 上海大学 | A kind of submarine mine detecting and controlling system that unmanned boat cooperates with machine fish and submarine mine detection method |
| CN110091975A (en) * | 2019-05-16 | 2019-08-06 | 上海大学 | A kind of unmanned boat intelligence cloth Mine Neutralization System and its control method |
| CN110967698A (en) * | 2019-12-19 | 2020-04-07 | 北京海兰信数据科技股份有限公司 | Unmanned ship mine detection system and method |
| CN112285683A (en) * | 2020-10-30 | 2021-01-29 | 中国航空工业集团公司洛阳电光设备研究所 | Underwater expansion array for active directional sonar buoy |
| CN113607238A (en) * | 2021-08-13 | 2021-11-05 | 宁夏威尔信商品混凝土有限公司 | Protection device of cement storehouse bin level meter |
| CN113721230A (en) * | 2021-08-26 | 2021-11-30 | 上海踌通电子科技有限公司 | High-power broadband sonar emission equipment of underwater acoustic communication network |
| CN114323098A (en) * | 2021-12-21 | 2022-04-12 | 北京科技大学 | Space protection cabin detection system and detection method |
| WO2022104706A1 (en) * | 2020-11-20 | 2022-05-27 | 唐山哈船科技有限公司 | Ocean exploration device mounting device |
| CN114779344A (en) * | 2022-03-24 | 2022-07-22 | 黄河勘测规划设计研究院有限公司 | Underwater root stone unmanned ship measuring method for river regulation engineering |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107656320A (en) * | 2017-09-11 | 2018-02-02 | 青岛骄鹏海洋科技有限公司 | A kind of autonomous floatable seabed static sounding device |
| CN108896998A (en) * | 2018-08-15 | 2018-11-27 | 上海磐波智能科技有限公司 | River sonar revolving scanning device |
| CN109595991A (en) * | 2018-12-05 | 2019-04-09 | 上海大学 | A kind of unmanned boat is intelligent to clear away submarine mine device and its minesweeping method |
| CN109884729A (en) * | 2019-04-11 | 2019-06-14 | 上海大学 | A kind of submarine mine detecting and controlling system that unmanned boat cooperates with machine fish and submarine mine detection method |
| CN110091975A (en) * | 2019-05-16 | 2019-08-06 | 上海大学 | A kind of unmanned boat intelligence cloth Mine Neutralization System and its control method |
| CN110967698A (en) * | 2019-12-19 | 2020-04-07 | 北京海兰信数据科技股份有限公司 | Unmanned ship mine detection system and method |
| CN112285683A (en) * | 2020-10-30 | 2021-01-29 | 中国航空工业集团公司洛阳电光设备研究所 | Underwater expansion array for active directional sonar buoy |
| CN112285683B (en) * | 2020-10-30 | 2024-01-19 | 中国航空工业集团公司洛阳电光设备研究所 | Underwater expansion matrix for active directional sonar buoy |
| WO2022104706A1 (en) * | 2020-11-20 | 2022-05-27 | 唐山哈船科技有限公司 | Ocean exploration device mounting device |
| CN113607238A (en) * | 2021-08-13 | 2021-11-05 | 宁夏威尔信商品混凝土有限公司 | Protection device of cement storehouse bin level meter |
| CN113607238B (en) * | 2021-08-13 | 2023-12-29 | 宁夏威尔信商品混凝土有限公司 | Protection device of cement bin level gauge |
| CN113721230A (en) * | 2021-08-26 | 2021-11-30 | 上海踌通电子科技有限公司 | High-power broadband sonar emission equipment of underwater acoustic communication network |
| CN114323098A (en) * | 2021-12-21 | 2022-04-12 | 北京科技大学 | Space protection cabin detection system and detection method |
| CN114779344A (en) * | 2022-03-24 | 2022-07-22 | 黄河勘测规划设计研究院有限公司 | Underwater root stone unmanned ship measuring method for river regulation engineering |
| CN114779344B (en) * | 2022-03-24 | 2024-10-01 | 黄河勘测规划设计研究院有限公司 | Unmanned ship measuring method for underwater root stones in river channel remediation engineering |
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