CN106828838A - A kind of portable streamlined remote underwater robot - Google Patents
A kind of portable streamlined remote underwater robot Download PDFInfo
- Publication number
- CN106828838A CN106828838A CN201710053777.8A CN201710053777A CN106828838A CN 106828838 A CN106828838 A CN 106828838A CN 201710053777 A CN201710053777 A CN 201710053777A CN 106828838 A CN106828838 A CN 106828838A
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- fairing
- main frame
- propeller
- subsystem
- stern
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Classifications
-
- 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
- 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
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Ocean & Marine Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of structure of portable streamlined remote underwater robot, solves the problems, such as available frame formula underwater detection robot complex structure and bleeding resistance ability.The present invention has fairing, propeller, two vertical cooperations for pushing away propeller and two vertical rudder wings can be promoted mainly by two realize that robot remote control anti-current in water is detected, the present invention has simple structure, easily controllable, the series of advantages such as stronger environmental suitability and certain scalability, present invention is mainly used for completion marine environment detection mission.
Description
Technical field
The present invention relates to the portable streamlined remote underwater robot of one kind, belong to anti-current navigation and undersea detection field.
Background technology
Because the high cost of the operation of diver, dangerous big, water temperature are low, so underwater robot is underwater exploration and opens
The important tool of hair.At present, the detection of most of submarine targets, environment detection are mainly completed by remote underwater robot ROV.But
Open-shelf structure being used ROV, the bleeding resistance of especially middle-size and small-size open-shelf ROV is strong more, it is difficult to meet spy dam under actual environment,
The work requirements such as observed object, underwater exploration.Existing multimode frame-type underwater detection robot, it is mainly characterized by structure
Simply, Forward-looking Sonar and multi-beam Forward-looking Sonar can respectively be carried by main frame and sub-frame.But in order to improve frame-type
The bleeding resistance of ROV, the propeller of its horizontal plane direction propulsion should be using the arrangement of vector propulsion, mainly by propeller
X-type arrangement, improves lateral thrust and anti-current ability, but interfered because the flow field between propeller can produce, X-type arrangement side
Formula will increase the size and weight of ROV, make its multimode frame-type underwater detection robot bleeding resistance ability.
The content of the invention
The invention aims to solve, available frame formula underwater detection robot turnability is poor, volume big and anti-current
The problem of sexuality difference and a kind of portable streamlined remote underwater robot is provided.
The object of the present invention is achieved like this：Including carrier main frame, be arranged on it is streamlined outer outside carrier main frame
Shell, the control cabinet being arranged in carrier main frame, the navigation control unit being arranged in control cabinet and multichannel motor control panel,
Underwater environment to perceive and perceive subsystem, propulsion with detection subsystem, sub-aqua sport and manipulate subsystem and stepper motor driver,
The fairing is made up of bow, parallel (middle) body and stern, advances and manipulates subsystem including being located at fairing stern
Two of portion both sides promote mainly propeller, the vertical propulsion of two be separately fixed on the forward and backward corresponding carrier main frame of control cabinet
Device, two be vertically installed above and below fairing stern are hung down and push away propeller, and underwater environment perceives and is with detection point
System includes the wide angle cameras under water for being arranged on fairing front end, the Forward-looking Sonar being arranged in fairing bow,
And Forward-looking Sonar is fixed on the carrier main frame corresponding to bow, stepper motor driver is fixed on fairing stern pair
On the carrier main frame answered, navigation control unit is communicated by cable with water surface console.
Present invention additionally comprises such some architectural features：
1. two horizontal stabilizers are also included, and two horizontal stabilizers are symmetricly set on left and right the two of fairing
Side, and two horizontal stabilizers are each attached on the carrier main frame corresponding to stern.
2. sub-aqua sport perceives subsystem including the ocean current sensors for gathering information of shoving, for gathering azimuth information
Magnetic compass, the depth gauge for sampling depth information.
3. navigation control unit controls two to promote mainly propeller and two and hang down and pushes away propeller by multichannel motor control panel,
Navigation control unit is driven by stepper motor driver to two vertical rudder wings, ocean current sensors, magnetic compass, depth
The information that meter, Forward-looking Sonar, the wide angle cameras under water of built-in head are gathered is transmitted to navigation control unit.
Compared with prior art, the beneficial effects of the invention are as follows：Under the remote control that the present invention passes through water surface report control platform, can
Anti-current navigation and undersea detection operation are realized under ocean current disturbance, and the relevant information for detecting is transferred to water surface report control platform
Display on.Fairing of the present invention is by bow, the stern difference semiellipsoid of radian and seamlessly transitting for interlude
Realize airflow design；And the propeller of promoting mainly for passing through stern, the vertical rudder wing is realized turning bow, so as to ensure underwater robot anti-current
Navigation and detection.Fairing of the present invention significantly reduces ship resistance, especially reduces the resistance for meeting stream navigation
Power, and improve the turnability of ROV, the environmental suitability so as to improve ROV and handling.Visited stream navigation is met
During survey, one aspect of the present invention navigates by water underwater Renying stream by navigation control system control propeller and the rudder wing,
On the other hand the corner of Underwater Camera can be adjusted by cradle head control, auto-steering and detection target is aligned, flow field bar is realized
High-efficient homework under part.
Brief description of the drawings
Fig. 1 is structural representation of the invention；
Fig. 2 is structural representation of the invention two；
Fig. 3 is structural representation of the invention three；
Fig. 4 is control principle drawing of the invention；
Fig. 5 is the principle schematic of the varying depth voyage of discovery under ocean current of the invention；
Fig. 6 is direct route resistance table of the invention.
Specific embodiment
The present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings.
Embodiment one：It is a kind of streamlined portable remote underwater robot referring to Fig. 1 to Fig. 5 present invention, it includes stream
Volute casing 1, carrier main frame 2, control cabinet 3, navigation control unit 4, underwater environment perceive and detect subsystem 5, transport under water
Innervation knows subsystem 6, propulsion and manipulates subsystem 7, multichannel motor control panel 8 and stepper motor driver 9；Described streamline
Type shell 1 is wrapped in outside carrier main frame 2, and control cabinet 3 is fixed on the inside of carrier main frame 2, navigation control unit 4 and many
Passage motor control panel 8 is located in control cabinet 3, and stepper motor driver 9 is located in fairing 1, and is fixed on carrier master
On framework 2,1 point of fairing is three parts, and bow, parallel (middle) body and stern are followed successively by from front to back, and bow and stern are
The different semielliptical shaped case of curvature, parallel (middle) body is cylinder blanket, and propulsion is promoted mainly including two with manipulation subsystem 7 and pushed away
Enter device 7-1, two hang down push away propeller 7-2 and two vertical rudder wing 7-3；Propeller 7-1 is promoted mainly for two to be located at outside streamlined respectively
The stern both sides of shell 1, and be fixed on the carrier main frame 2 corresponding to the stern both sides, two vertical propeller 7-2 that push away are located at stream
In volute casing 1, and it is separately fixed on the forward and backward corresponding carrier main frame 2 of control cabinet 3, two 7-3 pairs, vertical rudder wings
Title is arranged on above and below fairing 1, and two vertical rudder wing 7-3 are arranged on corresponding to stern by connector
Fairing 1 on；Underwater environment is perceived and the 5-1 of wide angle cameras under water of detection subsystem 5 including built-in head and preceding
Depending on sonar 5-2, the 5-1 of wide angle cameras under water of built-in head is arranged on the front end of fairing 1, schemes under water for gathering
Picture, and the underwater picture of collection is sent to navigation control unit 4, navigation control unit 4 is additionally operable to control the water of built-in head
The steering of lower wide angle cameras 5-1；Forward-looking Sonar 5-2 is located in fairing 1, and is fixed on the carrier master corresponding to bow
On framework 2, Forward-looking Sonar 5-2 is used to gather underwater sonar, and the underwater sonar of collection is sent into navigation control unit 4；Water
Lower motion perception subsystem 6 is located in fairing 1, and is fixed on carrier main frame 2, and sub-aqua sport perceives subsystem 6
Shoved information, azimuth information and depth information for gathering, and the collection of collection is shoved information, azimuth information and depth information
It is uploaded to navigation control unit 4；Navigation control unit 4 is communicated by cable with water surface console, and navigation control unit 4 is also
Control two to promote mainly propeller 7-1 and two and hang down by multichannel motor control panel 8 and push away propeller 7-2, navigation control unit 4 is also
It is driven by two vertical rudder wing 7-3 of stepper motor driver 9 pair.
Present invention ROV remote underwater robot of the design with fairing structure, significantly reduces ship resistance,
The resistance for meeting stream navigation is especially reduced, and improve the turnability of ROV, adapted to so as to improve the environment of ROV
Property and handling.During stream navigation detection is met, for the weak shortcoming of the lateral anti-current operational capabilities of conventional frame formula structure,
One aspect of the present invention makes ROV meet stream navigation by navigating by water control unit control propeller and the rudder wing, on the other hand by head control
The corner of system adjustment Underwater Camera, auto-steering and aligns detection target, realizes the high-efficient homework under flow field condition.
The interior carrier main frame 2 of fairing 1 not only has supporting role to carrier, with fixing equipment and can carry
Possesses the sub-frame of fairing, sub-frame can carry the detect operation equipment such as multi-beam Forward-looking Sonar, manipulator.
A kind of streamlined portable remote underwater robot of the present invention includes propulsion and manipulates subsystem, under water ring
Border is perceived and perceives subsystem with detection subsystem, sub-aqua sport, and streamlined portable remote underwater robot is controlled with the water surface
Platform is used cooperatively.Wherein underwater environment perceives the figure that will be collected by embedded processing unit and umbilical cables with detection subsystem
As information transmission to the water surface；Sub-aqua sport perceive subsystem collected ocean current, bow to depth information pass through network and navel
Band cable is delivered to water surface console；The depthkeeping orientation anti-current navigation control instruction of water surface console will by network and umbilical cables to
Embedded processing unit sends control instruction so as to realize underwater control and detect operation.
Two promote mainly propeller 7-1, two hang down and push away propeller 7-2 and two vertical rudder wing 7-3 and constitute propulsion and manipulate point
System.Wherein, 4 propellers send control by network connection from the navigation control unit in cabin to multichannel motor control panel 8
System instruction, multichannel motor control panel 8 sends pwm control signal to corresponding propeller motor, completes to push away by watertight cable
Enter the transmission of device control signal.Two main connections by serial ports from navigation control unit 4 of vertical rudder wing 7-3 are driven to stepper motor
Dynamic device 9 sends control instruction, and stepper motor driver 9 completes the transmission to vertical rudder wing control signal by watertight cable.
Underwater environment is perceived and perceives the composition depthkeeping orientation anti-current navigation control of subsystem 6 with detection subsystem 5 and sub-aqua sport
System processed, sub-aqua sport perceives subsystem 6 and will gather the current depth of robot and bow to information, ocean current sensors collection machine
People navigates by water faced Ocean current information and passes to the water surface by network, and operating personnel set according to current Ocean current information and detection mission
Surely navigate by water detection mission, to ROV send detective path, controller by according to the routing instruction of operating personnel, the direction of ocean current and
Intensity provides ROV in bow to controlled quentity controlled variable, thrust and vertical rudder rudder angle is promoted mainly according to control allocation, by promoting mainly thrust and rudder angle
The distribution of joint thrust realize meeting stream navigation in flow field, by control two to hang down to push away propeller 7-2 adjust robot dive or
Float and navigate by water, the varying depth voyage of discovery realized under ocean current is promoted mainly in cooperation, referring specifically to Fig. 4.
Underwater environment is perceived includes the 5-1 of wide angle cameras under water and Forward-looking Sonar 5- of built-in head with detection subsystem 5
2, wherein Forward-looking Sonar 5-2 are arranged in the front end top of fairing, and sonar detection data are sent to the water surface.Built-in head
Under water wide angle cameras 5-1 is arranged in the front end of fairing, and water surface console is by comprising video line, 485 Serial Port Lines
Watertight cable passes the signal along to navigation control unit 4, for current bow to detection target, automatically control the built-in head of adjustment
Corner, makes video camera all the time towards detection target.So as to complete the detection in underwater navigation and perception, and with fairing phase
Adapt to, less influence on navigation.
Embodiment two：The present embodiment is illustrated referring to Fig. 1 to Fig. 4, also including two horizontal stabilizers 11, and two water steadyings
Determine the arranged on left and right sides that the wing 11 is symmetricly set on fairing 1, and two horizontal stabilizers 11 are each attached to corresponding to stern
Carrier main frame 2 on.
The present embodiment, two of stern promotes mainly propeller 7-1 and is fixed on two both sides of horizontal stabilizer 11 of stern, not only
Can reduce and interfere, navigation stability is improved by stabilizer, and can coordinate with the vertical rudder wing 7-3 of top, lead to
The rudder angle control of the thrust distribution and vertical rudder promoted mainly is crossed, realization meets the bow of stream navigation to control.
Embodiment three：Present embodiment is illustrated referring to Fig. 1 to Fig. 5, sub-aqua sport perceives subsystem 6 includes ocean current sensors
6-1, magnetic compass 6-2, depth gauge 6-3, ocean current sensors 6-1 shove information for collection, and magnetic compass 6-2 is used to gather orientation letter
Breath, depth gauge 6-3 is used for sampling depth information.
The present embodiment, streamlined portable remote underwater Renying stream navigation is with detecting and control method mainly for operation
The probe instructions of personnel, the bow needed for ocean current sensors 6-1 measures ocean current direction and Strength co-mputation meets stream navigation is to controlled quentity controlled variable, root
Thrust distribution is carried out according to controlled quentity controlled variable, distribution promotes mainly thrust and adjusts vertical rudder rudder angle, so as to ensure underwater robot with certain angle
Degree meets stream navigation in flow field, while for detection target and course angle, adjusting the built-in head corner of video camera, controls video camera
Towards detection target.Simultaneously according to underwater environment and detection needs, distribute to two by thrust and hang down and push away that propeller is different to be pushed away
Power realizes stream voyage of discovery in top while the elevating movement of underwater robot, dive and floating, so as to complete actual detection appoint
Business.
Example IV：Present embodiment is illustrated referring to Fig. 1 to Fig. 4, also including leakage sensor 10, for the leakage that will be gathered
Water information is uploaded to navigation control unit 4.
Fairing 1 shown in Fig. 1 uses class water-drop-shaped contour structures, is divided into bow, parallel (middle) body and stern three
Point.Bow, stern are used cylindrical shell, are passed through using the different semiellipsoid shape shell of curvature, parallel (middle) body part
Profile Design is smoothly connected three part enclosures.
Carrier main frame 2 carries out structure design according to fairing, and the outer surface of carrier main frame 2 can be with covering shell
Covering, inner surface can fix pressure-resistant control cabinet and fix other plug-in devices.
Emulation experiment is carried out to a kind of streamlined portable remote underwater robot of the present invention, obtains a series of
The surrounding fluid distribution of particles figure and direct route resistance table of underwater robot shell, referring specifically to table in Fig. 6.
The frictional resistance accounting for being known that fairing by the comparative analysis of the result tested is up to 75% very much,
And the form drag accounting of open-shelf shell is of a relatively high, 60% is constituted about.And the open-shelf shell under equal displacement of volume
Direct route resistance generally it is bigger than fairing resistance 2~5 times, i.e. the design of fairing is significantly reduced under water
The form drag of robot, corresponding drag overall also significantly reduces.Therefore convection current volute casing optimizes design can show
Write the navigation performance for improving underwater robot.
Claims (4)
1. a kind of portable streamlined remote underwater robot, it is characterised in that：Including carrier main frame, it is arranged on the main frame of carrier
Fairing outside frame, the control cabinet being arranged in carrier main frame, the navigation control unit being arranged in control cabinet and many
Passage motor control panel, underwater environment perceive with detection subsystem, sub-aqua sport perceive subsystem, propulsion with manipulate subsystem and
Stepper motor driver, the fairing is made up of bow, parallel (middle) body and stern, and advance includes position with manipulation subsystem
Propeller is promoted mainly in two of fairing stern both sides, be separately fixed on the forward and backward corresponding carrier main frame of control cabinet
Two hang down push away propeller, two be vertically installed above and below fairing stern hang down push away propeller, underwater environment
Perceive includes being arranged on the wide angle cameras under water of fairing front end, is arranged on fairing bow with detection subsystem
Interior Forward-looking Sonar, and Forward-looking Sonar is fixed on the carrier main frame corresponding to bow, stepper motor driver is fixed on stream
On the corresponding carrier main frame of volute casing stern, navigation control unit is communicated by cable with water surface console.
2. the portable streamlined remote underwater robot of one kind according to claim 1, it is characterised in that：Also include two
Horizontal stabilizer, and two horizontal stabilizers are symmetricly set on the arranged on left and right sides of fairing, and two horizontal stabilizers are equal
It is fixed on the carrier main frame corresponding to stern.
3. the portable streamlined remote underwater robot of one kind according to claim 1 and 2, it is characterised in that：Transport under water
Innervation knows subsystem including the ocean current sensors for gathering information of shoving, the magnetic compass for gathering azimuth information, for adopting
Collect the depth gauge of depth information.
4. the portable streamlined remote underwater robot of one kind according to claim 3, it is characterised in that：Navigation control is single
Unit controls two to promote mainly propeller and two and hang down and pushes away propeller by multichannel motor control panel, and navigation control unit passes through stepping
Motor driver is driven to two vertical rudder wings, ocean current sensors, magnetic compass, depth gauge, Forward-looking Sonar, built-in head
The information that wide angle cameras are gathered under water is transmitted to navigation control unit.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710053777.8A CN106828838B (en) | 2017-01-24 | 2017-01-24 | A kind of portable streamlined remote underwater robot |
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| CN201710053777.8A CN106828838B (en) | 2017-01-24 | 2017-01-24 | A kind of portable streamlined remote underwater robot |
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| CN106828838B CN106828838B (en) | 2018-04-24 |
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Cited By (23)
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| CN107585280A (en) * | 2017-10-12 | 2018-01-16 | 上海遨拓深水装备技术开发有限公司 | A kind of quick dynamic positioning systems of ROV for being adapted to vertical oscillation current |
| CN107985536A (en) * | 2017-11-30 | 2018-05-04 | 吉林大学 | A kind of submariner device for being equipped with space parallel mechanism vector propeller |
| CN108061577A (en) * | 2017-12-29 | 2018-05-22 | 浙江省水利水电勘测设计院 | A kind of pressure water conveyer tunnel intelligent detection device |
| CN108100192A (en) * | 2017-11-24 | 2018-06-01 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | A kind of submersible stern part structure |
| CN108312151A (en) * | 2018-01-22 | 2018-07-24 | 哈尔滨工程大学 | It drifts about and detects underwater robot device and control method |
| CN108333926A (en) * | 2018-01-19 | 2018-07-27 | 武汉理工大学 | The fixed angle thrust distribution method of dynamic positioning ship |
| CN108408009A (en) * | 2018-05-13 | 2018-08-17 | 上海海洋大学 | A kind of intelligent submarine navigation device based on Raspberry Pi Raspberry Pi controllers |
| CN108528668A (en) * | 2018-06-05 | 2018-09-14 | 吉林大学 | A kind of multi power source underwater robot |
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| CN110386238A (en) * | 2018-04-19 | 2019-10-29 | 中国科学院沈阳自动化研究所 | A kind of complete extra large depth ARV underwater robot structure |
| CN110758680A (en) * | 2019-12-30 | 2020-02-07 | 上海彩虹鱼海洋科技股份有限公司 | Underwater robot, platform for water area search and rescue and operation method thereof |
| CN111252215A (en) * | 2019-03-29 | 2020-06-09 | 南京涵铭置智能科技有限公司 | Underwater collection robot capable of preventing aquatic plants from winding and collection method thereof |
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| CN111874195A (en) * | 2020-08-11 | 2020-11-03 | 中国科学院沈阳自动化研究所 | Full-sea-depth offshore bottom autonomous underwater robot structure |
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| CN108100192A (en) * | 2017-11-24 | 2018-06-01 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | A kind of submersible stern part structure |
| CN107985536A (en) * | 2017-11-30 | 2018-05-04 | 吉林大学 | A kind of submariner device for being equipped with space parallel mechanism vector propeller |
| CN108061577A (en) * | 2017-12-29 | 2018-05-22 | 浙江省水利水电勘测设计院 | A kind of pressure water conveyer tunnel intelligent detection device |
| CN108061577B (en) * | 2017-12-29 | 2024-02-20 | 浙江省水利水电勘测设计院 | Intelligent detection device for pressurized water delivery tunnel |
| CN108333926A (en) * | 2018-01-19 | 2018-07-27 | 武汉理工大学 | The fixed angle thrust distribution method of dynamic positioning ship |
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