CN109508031A - A kind of undersea robot - Google Patents
A kind of undersea robot Download PDFInfo
- Publication number
- CN109508031A CN109508031A CN201811446162.2A CN201811446162A CN109508031A CN 109508031 A CN109508031 A CN 109508031A CN 201811446162 A CN201811446162 A CN 201811446162A CN 109508031 A CN109508031 A CN 109508031A
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- module
- undersea
- robot
- controller
- posture
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- 238000004891 communication Methods 0.000 claims abstract description 33
- 238000001514 detection method Methods 0.000 claims description 9
- 210000000245 forearm Anatomy 0.000 claims description 6
- 238000012545 processing Methods 0.000 claims description 6
- 238000005286 illumination Methods 0.000 claims description 5
- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 claims description 4
- 238000000034 method Methods 0.000 claims description 4
- 238000013519 translation Methods 0.000 claims description 4
- 230000001133 acceleration Effects 0.000 claims description 3
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 230000001105 regulatory effect Effects 0.000 claims description 2
- 238000012937 correction Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000002671 adjuvant Substances 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
-
- 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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of undersea robots, module and image collection module are obtained including controller, handling module, drive module, Beidou communication module, posture, the sailing instructions and/or posture that controller is received according to Beidou communication module obtain the posture information that module obtains, using the navigation posture of drive module adjustment undersea robot, the graphical information that image collection module obtains is forwarded to base station waterborne by Beidou communication module.The undersea image information that image collection module will acquire directly passes through Beidou communication module and is sent to base station waterborne, user is just it can be seen that the image or video information that are shot by undersea robot, corresponding control instruction is sent to controller by base station waterborne, drive module is controlled using controller to complete the vertical of undersea robot, advance, retrogressing and turning, the environment of undersea is observed by the image information of image collection module acquisition, for personnel's observation analysis, and the catching robot configured can carry out the crawl operation of lightweight.
Description
Technical field
The present invention relates to robotic technology fields, and in particular to a kind of undersea robot.
Background technique
Undersea robot is also referred to as unmanned undersea submersible, it is a kind of dress that people can be replaced to complete certain task in undersea
It sets, in shape more like a microminiature submarine, the own shape of undersea robot is designed according to undersea job requirement,
Undersea robot is to answer various technology concentrations such as artificial intelligence, detection identification information fusion, intelligent control, the system integration
For same undersea carrier, in no manual control, or under artificial progress semiautomatic control, geology, landform etc. are completed
Detection.Current undersea robot can be realized undersea and take photo by plane with landform, the detection of geology etc., and the application of civilian aspect also has very much
Limit, traditional undersea robot are positioned using sonar, undersea target are detected, positioned and led to using underwater acoustic wave
Letter, this has not only aggravated task, but also cannot be guaranteed the accurate of location information.
Summary of the invention
In view of this, designing reasonable, the simple undersea robot of structure the object of the present invention is to provide a kind of, pass through image
Modular view undersea environment is obtained, the accurate of location information is guaranteed by Beidou communication module.
In order to solve the above-mentioned technical problems, the present invention provides a kind of undersea robot, including controller, handling module,
Drive module, Beidou communication module, posture obtain module and image collection module, the drive module, are grabbed at Beidou communication module
Modulus block and posture obtain module and are connected with the controller, the navigation that the controller is received according to Beidou communication module
Order and/or posture obtain the posture information that module obtains, described using the navigation posture of drive module adjustment undersea robot
Image collection module is connected with the Beidou communication module, and the figure that the Beidou communication module obtains image collection module is believed
Breath is forwarded to base station waterborne；
The Beidou communication module includes Beidou receiving antenna, Beidou signal processing module, sensor module, external antenna
It is formed with SIM card, the Beidou signal processing module receives the message information from big-dipper satellite, and calculates undersea and independently inhale
The location information of attached robot is transferred to the controller by standard serial port；By base station waterborne to the Beidou communication mould
Block sends corresponding control instruction, is regulated and controled to the handling module using controller to complete crawl process, is obtained by image
The graphical information that modulus block obtains observes the environment of undersea, and described image is obtained module by the way that base station waterborne is wired or wireless
The graphical information of acquisition is sent on corresponding image display panel.
Preferably, the posture obtains the gyroscope for the equilibrium data that module includes detection undersea robot, detection undersea
The accelerometer of the acceleration information of robot and the magnetometer of detection bearing data.
In a preferred embodiment of the invention, the drive module include be mounted on undersea robot two sides left propeller and
Right propeller；It is mounted on the vertical pusher of the middle part vertical direction of undersea robot, each propeller is by being encapsulated in the straight of inside
Galvanic electricity machine and propeller composition.
In a preferred embodiment of the invention, it is additionally provided in the undersea robot and provides illumination for described image acquisition module
Headlamp.
Preferably, the controller includes analog to digital conversion circuit, serial communication circuit, signal differential translation circuit and driving
Circuit.
In a preferred embodiment of the invention, the handling module is catching robot comprising mechanical arm connects with mechanical arm
The manipulator connect；The mechanical arm includes large arm, the forearm being connected with large arm, the first steering engine being arranged in inside large arm, setting
The second steering engine inside forearm；The manipulator includes third steering engine and the gripper jaw that is connected with third steering engine, and described first
The control terminal of steering engine, the second steering engine and third steering engine is connected with the controller respectively.
Undersea robot of the invention can obtain the posture information control undersea robot that module obtains according to posture
Posture is navigated by water, undersea robot carries out the adjust automatically and correction of posture using controller according to the navigation posture, and image obtains
The undersea image information that module will acquire directly passes through Beidou communication module and is sent to base station waterborne, by base station waterborne it is wired or
It is wirelessly transmitted on corresponding image display panel, such user is just it can be seen that the image or video shot by undersea robot
Information, furthermore it is possible to corresponding control instruction be sent to controller by base station waterborne, using controller control drive module come complete
It at the vertical of undersea robot, advance, retreats and turns, and can also be seen by the image information that image collection module obtains
The environment for examining undersea, for personnel's observation analysis, and the catching robot configured can carry out the crawl operation of lightweight.
Detailed description of the invention
It, below will be to required in embodiment or description of the prior art in order to illustrate more clearly of technical solution of the present invention
The attached drawing used is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, right
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings
Its attached drawing.
Fig. 1 is the structural schematic diagram of undersea robot provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art without creative labor it is obtained it is all its
His embodiment, shall fall within the protection scope of the present invention.
Specifically, as shown in Figure 1, undersea robot of the invention includes controller 10, handling module 20, drive module
30, Beidou communication module 40, posture obtain module 50 and image collection module 60, the drive module 30, Beidou communication module
40, handling module 20 and posture obtain module 50 and are connected with the controller 10, and the controller 10 is according to Beidou communication mould
The sailing instructions and/or posture that block 40 receives obtain the posture information that module 50 obtains, and the posture obtains module 50 and includes
Detect the gyroscope of the equilibrium data of undersea robot, the accelerometer for the acceleration information for detecting undersea robot and detection side
The magnetometer of position data, the drive module 30 include the left propeller and right propeller for being mounted on undersea robot two sides, peace
Mounted in the vertical pusher of the middle part vertical direction of undersea robot, each propeller is by being encapsulated in internal direct current generator and spiral
Paddle composition, wherein vertical pusher adjusts the movement of the vertical direction of undersea robot, and two horizontal propellers control undersea machine
Advance, retrogressing and the turning of device people.The present invention adjusts the navigation posture of undersea robot using drive module 30, and described image obtains
Modulus block 60 is connected with the Beidou communication module 40, the figure that the Beidou communication module 40 obtains image collection module 60
Information is forwarded to base station waterborne；It is additionally provided in the undersea robot and provides the illumination of illumination for described image acquisition module 60
Lamp, to provide necessary lighting condition to image collection module 60, since light scatters and disappears in undersea than very fast, 10 meters of general undersea with
On depth intensity of illumination all will not be fine, in addition if it is evening operation, if can not without camera of illuminating lamp
It works normally, in order to guarantee the normal work of image collection module 60, headlamp is set for image collection module 60, utilizes the photograph
Bright lamp is that image collection module 60 carries out light filling, can guarantee that undersea robot can be made in 10 meters of regions below in this way
Industry.
The Beidou communication module 40 includes Beidou receiving antenna, Beidou signal processing module, sensor module, external day
Line and SIM card composition, the Beidou signal processing module receives the message information from big-dipper satellite, and it is autonomous to calculate undersea
The location information for adsorbing robot, is transferred to the controller 10 by standard serial port, the Beidou receiving antenna is for auxiliary
Adjuvant grafting receives the signal of big-dipper satellite, sends corresponding control instruction to the Beidou communication module 40 by base station waterborne, utilizes control
Device 10 processed controls the handling module 20 to complete crawl process, the graphical information obtained by image collection module 60
The environment of undersea is observed, described image is obtained into the graphical information that module obtains is sent to by the way that base station waterborne is wired or wireless
On corresponding image display panel, such user is just it can be seen that the image or video information that are shot by undersea robot.
In addition, the controller 10 of the invention includes analog to digital conversion circuit, serial communication circuit, signal differential transformation electricity
Road and driving circuit, the handling module are catching robot comprising mechanical arm, the manipulator connecting with mechanical arm；It is described
Mechanical arm include large arm, the forearm being connected with large arm, the first steering engine being arranged in inside large arm, be arranged in inside forearm second
Steering engine；The manipulator includes third steering engine and the gripper jaw that is connected with third steering engine, first steering engine, the second steering engine and
The control terminal of three steering engines is connected with the controller 10 respectively.Base station waterborne will control signal and direction signal through serial communication
Circuit, then through signal differential translation circuit, converted through cable transmission and signal differential translation circuit, reach serial communication circuit,
Signal will be controlled to driving circuit, driving circuit is exported to first steering engine, the second steering engine and third steering engine, to gripper
Tool hand is manipulated.
As can be seen from the above-described embodiment, undersea robot of the invention can obtain the appearance that module 50 obtains according to posture
State information controls the navigation posture of undersea robot, and undersea robot carries out posture according to the navigation posture using controller 10
Adjust automatically and correction, the undersea image information that image collection module 60 will acquire directly pass through Beidou communication module 40 and are sent to
Base station waterborne is sent on corresponding image display panel by the way that base station waterborne is wired or wireless, and such user is just it can be seen that logical
The image or video information for crossing the shooting of undersea robot, furthermore it is possible to send corresponding control to controller 10 by base station waterborne
Instruction controls drive module 30 using controller 10 to complete the vertical of undersea robot, advance, retrogressing and turning, and also
The environment that undersea can be observed by the image information that image collection module 60 obtains, for personnel's observation analysis, and configure
Catching robot can carry out the crawl operation of lightweight.
Above disclosed be only several preferred embodiments of the invention, cannot limit the present invention's certainly with this
Interest field, therefore equivalent changes made in accordance with the claims of the present invention, are still within the scope of the present invention.
Claims (6)
1. a kind of undersea robot, it is characterised in that: including controller, handling module, drive module, Beidou communication module, appearance
State obtains module and image collection module, the drive module, Beidou communication module, handling module and posture obtain module with
The controller is connected, and the sailing instructions and/or posture that the controller is received according to Beidou communication module obtain module and obtain
The posture information taken, using the navigation posture of drive module adjustment undersea robot, described image obtains module and the Beidou
Communication module is connected, and the graphical information that image collection module obtains is forwarded to base station waterborne by the Beidou communication module；
The Beidou communication module include Beidou receiving antenna, Beidou signal processing module, sensor module, external antenna and
SIM card composition, the Beidou signal processing module receives the message information from big-dipper satellite, and calculates undersea and independently adsorb
The location information of robot is transferred to the controller by standard serial port；By base station waterborne to the Beidou communication module
Corresponding control instruction is sent, the handling module is regulated and controled using controller to complete crawl process, is obtained by image
The graphical information that module obtains observes the environment of undersea, by the way that base station waterborne is wired or wireless obtains described image acquisition module
The graphical information taken is sent on corresponding image display panel.
2. undersea robot according to claim 1, it is characterised in that: it includes detection undersea machine that the posture, which obtains module,
The gyroscope of the equilibrium data of device people, the accelerometer of the acceleration information of detection undersea robot and the magnetic for detecting bearing data
Strong meter.
3. undersea robot according to claim 1, it is characterised in that: the drive module includes being mounted on undersea machine
The left propeller and right propeller of people two sides；It is mounted on the vertical pusher of the middle part vertical direction of undersea robot, it is each to promote
Device is formed by being encapsulated in internal direct current generator and propeller.
4. undersea robot according to claim 1, it is characterised in that: be additionally provided in the undersea robot as the figure
The headlamp of illumination is provided as obtaining module.
5. undersea robot according to claim 1, it is characterised in that: the controller includes analog to digital conversion circuit, string
Port communications circuit, signal differential translation circuit and driving circuit.
6. undersea robot according to claim 1, it is characterised in that: the handling module is catching robot, packet
The manipulator for including mechanical arm, being connect with mechanical arm；The mechanical arm includes large arm, the forearm being connected with large arm, is arranged in large arm
First steering engine of inside, the second steering engine being arranged in inside forearm；The manipulator include third steering engine and with third steering engine phase
Gripper jaw even, the control terminal of first steering engine, the second steering engine and third steering engine are connected with the controller respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811446162.2A CN109508031A (en) | 2018-11-29 | 2018-11-29 | A kind of undersea robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811446162.2A CN109508031A (en) | 2018-11-29 | 2018-11-29 | A kind of undersea robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109508031A true CN109508031A (en) | 2019-03-22 |
Family
ID=65751264
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811446162.2A Pending CN109508031A (en) | 2018-11-29 | 2018-11-29 | A kind of undersea robot |
Country Status (1)
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|---|---|
| CN (1) | CN109508031A (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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Application publication date: 20190322 |