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Comprehensive carrying device and carrying method for acoustic-magnetic-optical detector of underwater robot

A technology of underwater robots and detectors, which is applied in the direction of instruments, vehicle position/route/height control, non-electric variable control, etc. It can solve problems such as incompatibility of use methods, collision with underwater obstacles, and inability to realize precise control of electromagnetic detectors.

Pending Publication Date: 2021-09-10
KUNMING UNIV OF SCI & TECH
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Problems solved by technology

[0002] The detection of underwater or buried metal targets involves applications in many fields, such as underwater buried oil and gas pipeline routing detection, underwater metal evidence target detection, underwater buried explosives detection, underwater military target detection, etc., underwater small metal target detectors Generally, the principle of electromagnetic detection is adopted. Since the detection distance of the electromagnetic detector is small, when the electromagnetic detector is used underwater, the space interval between the electromagnetic detector and the bottom is required to be small, such as 1m. Such a small space interval makes it difficult for the underwater electromagnetic detector Mounting and using on the mobile robot platform, there are great safety hazards for carrying underwater robots, such as fishing net hooks, collision with underwater obstacles, etc. In addition, because the carrying platform is close to the seabed, the acoustic detector cannot be carried and used on the robot at the same time. Therefore, underwater robots are equipped with acousto-magnetic-optical detectors at the same time, and there is a problem of incompatibility in use, that is, underwater acoustic detection equipment requires a relatively large distance from the seabed, such as more than 10m, while electromagnetic detectors have a relatively short distance to detect targets. Such as 1m, it is difficult for the acousto-magneto-optical detector to be compatible with the application at the same time, and it needs to be mounted on multiple platforms for detection, and it is impossible to realize the precise control of the electromagnetic detector close to the seabed. Therefore, we propose an acousto-magneto-optical detector for underwater robots Integrated loading device and loading method

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  • Comprehensive carrying device and carrying method for acoustic-magnetic-optical detector of underwater robot

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Embodiment Construction

[0016] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0017] see figure 1 , figure 2 with image 3, the present invention provides a technical solution: a comprehensive acousto-magnetic-optic detector carrying device for an underwater robot, comprising a sunken metal target 26 arranged on the seabed 25, a surface tugboat 24 arranged on the water surface 27 and a surface tugboat arranged on the seabed 25. The underwater robot 23 under the water surface 27, the underwater robot 23 is fixedly provided with an alt...

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Abstract

The invention discloses a comprehensive carrying device for an acoustic-magneto-optical detector of an underwater robot, and belongs to the technical field of comprehensive carrying devices for acoustic-magneto-optical detectors of underwater robots. An acoustic response beacon is fixedly arranged at the top of the underwater robot, and a second floating body material is fixedly assembled on a dragging rod; tilt angle sensors are fixedly arranged at the assembly position of the height control rod and the towing rod and on the towing rod, a response type acoustic beacon is fixed to the electromagnetic detector, a USBL sonar array is fixedly arranged at the bottom of the water surface tugboat, and a second towing rope with a sheath is wound and assembled on the winding and unwinding pulley block structure. Third floating body materials are evenly and fixedly assembled on the upper portion of the second dragging rope with the sheath, dragging positioning weights are evenly and fixedly assembled on the lower portion of the second dragging rope with the sheath, the underwater acoustic-magneto-optical detector can be carried by the underwater robot at the same time, simultaneous application of the underwater acoustic-magneto-optical detector is achieved, and the height of the electromagnetic detector can be accurately calculated.

Description

technical field [0001] The invention relates to the technical field of a comprehensive mounting device for an acousto-magnetic-optical detector of an underwater robot, in particular to a comprehensive mounting device and method for an acousto-magnetic-optical detector of an underwater robot. Background technique [0002] The detection of underwater or buried metal targets involves applications in many fields, such as underwater buried oil and gas pipeline routing detection, underwater metal evidence target detection, underwater buried explosives detection, underwater military target detection, etc., underwater small metal target detectors Generally, the principle of electromagnetic detection is adopted. Since the detection distance of the electromagnetic detector is small, when the electromagnetic detector is used underwater, the space interval between the electromagnetic detector and the bottom is required to be small, such as 1m. Such a small space interval makes it difficu...

Claims

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Application Information

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IPC IPC(8): G05D1/06
CPCG05D1/0692
Inventor 朱荣张文英罗一夫
Owner KUNMING UNIV OF SCI & TECH
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