CN205574245U - Semi -submerged oil spilling detects robot that exercises autonomy under water - Google Patents
Semi -submerged oil spilling detects robot that exercises autonomy under water Download PDFInfo
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- CN205574245U CN205574245U CN201620241291.8U CN201620241291U CN205574245U CN 205574245 U CN205574245 U CN 205574245U CN 201620241291 U CN201620241291 U CN 201620241291U CN 205574245 U CN205574245 U CN 205574245U
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Abstract
The utility model discloses a semi -submerged oil spilling detects robot that exercises autonomy under water, its technical scheme is: it includes pulse xenon lamp (1), side scan sonar (2), front end body (3), vertical thrusters (4), control system (5), beidou module (6), auto -lock steering wheel (7), rear end body (8), pressure sensor (9), battery (10), ultrasonic sensor (11), photomultiplier (12), light -passing board (13), back propeller (14), kuppe (15). The utility model discloses the appearance adopts the design of streamline water droplet type, and side scan sonar places robot body outside, afterbody in and adopts and can carry out 360 rotatory twin screws, bottoms and adopt a plurality of ultrasonic sensor, has that the water resistance is little, time of endurance long, scan imagery is clear, can seek the barrier fast, characteristics such as the flexibility is strong, the propulsive force is big, control is convenient, the consumption is little, the cost is low, the disguise is good, security height.
Description
Technical field
This utility model belongs to marine environmental protection technical field, particularly to a kind of oil spilling measuring robots.
Background technology
Autonomous robot (AUV) is a kind of preferably measuring instrument platform under water, owing to noise radiation is little, can press close to object to be observed, thus can obtain the quality data using conventional means not obtain.In addition cost is low, good concealment, safety are high, makes autonomous robot under water the most progressively become the important means of oceanographic observation and detection.Existing underwater robot there is also: one is that sonar is mostly hidden in robot health, can produce sonar scanning signal and block, the problem that scanogram chaff interference is many；Two is that configuration design resistance is big；Three is that existing underwater robot mostly uses afterbody list propeller to advance, and propulsive force is little, and headway is slow, gesture stability difficulty；Four is that existing machine people's air defense backing measure uses end clearance to reach, and power consumption is big, image procossing difficulty.
Utility model content
The purpose of this utility model is: a kind of half latent oil spilling of offer detects autonomous robot under water, can realize the tracking and monitoring to marine oil spill Polluted area pollutional condition under water, and cost is low, motility strong, good concealment, safety height.
The technical solution of the utility model is: a kind of half latent oil spilling detects autonomous robot under water, and it includes xenon flash lamp (1), side scan sonar (2), front end buoyancy aid (3), vertical pusher (4), control system (5), Big Dipper module (6), self-locking steering wheel (7), rear end buoyancy aid (8), pressure transducer (9), battery (10), sonac (11), photomultiplier tube (12), light-passing board (13), after propeller (14), kuppe (15)；
Described xenon flash lamp (1) is for sending impulse wave to waters to be detected, impulse wave runs into half latent oil spilling back reflection and returns, described photomultiplier tube (12) receives the impulse wave that half latent oil spilling reflects, and the impulse wave received is converted into the signal of telecommunication, it is sent to described control system (5)；
Described side scan sonar (2) is positioned at robot front upper, for surrounding is detected, and the environmental data detected is sent to described control system (5), provide marine site information for autonomous robot avoidant disorder under water, path planning；
It is anterior that described front end buoyancy aid (3) is positioned at robot, coordinates with described rear end buoyancy aid (8), under the control of described control system (5), completes buoyant equilibrium regulation under robot water；
Described vertical pusher (4) and two described after propellers (14) are under the power drive of described self-locking steering wheel (7), under the control of described control system (5), robot is made to be rapidly completed forward-reverse, dive floating, pitching, yawing, roll degree of freedom action；
Described control system (5) is used for controlling described xenon flash lamp (1) and sends impulse wave, receives the signal of telecommunication that described photomultiplier tube (12) sends；Receive the environmental data that described side scan sonar (2) transmits；Control described front end buoyancy aid (3) and rear end buoyancy aid (8) has coordinated submerged buoyancy to regulate；Control the power output of described self-locking steering wheel (7)；Control described vertical pusher (4) and carry out action with two described after propellers (14) according to predetermined course and attitude, receive the hydraulic signal that described pressure transducer (9) transmits；Receive that described sonac (11) transmits with water-bed distance signal, after reaching predetermined and water-bed distance, stop robot and sink；
Described Big Dipper module (6) is for determining the geographical position of robot, and positional information sends described control system (5) in good time, and is sent to far-end commander manipulation personnel；
Described pressure transducer (9) is for gathering the hydraulic pressure that robot bears, and the hydraulic signal of collection is sent to described control system；
Described battery (10) is powered for robot, is placed in robot lower half, reduces robot center of gravity；
Described sonac (11) is installed on robot front bottom end, for real-time measuring robots and water-bed distance, and is sent to described control module (5) by monitor with water-bed distance signal, prevents robot from bottoming out；
Described light-passing board (13) is used for protecting described xenon flash lamp (1), described photomultiplier tube (12); the impulse wave of described xenon flash lamp (1) can penetrate described light-passing board (13), and the impulse wave reflected through half latent oil spilling can penetrate described light-passing board (13) to described photomultiplier tube (12)；
Described kuppe (15) uses hemispherical, and is streamline water-drop-shaped with robot shells, reduces water resistance.
Further, described after propeller (14) can carry out 360 ° of rotations around the power output shaft of described self-locking steering wheel (7), produces the propulsive force of corresponding 360 °, completes vector propulsion functions.
Further, described Big Dipper module (6) can pass through Beidou satellite communication system short message channel, long-distance transmissions robot geographical location information and running state information, commander manipulation personnel can realize the remote tracing control to robot by Beidou satellite communication system short message channel and described Big Dipper module (6).
Further, described control system (5) is monitored automatically for robot running status, excessive in running route deviation, run into the instruction of strong current, the commander manipulation personnel that collide, do not receive in the scheduled time in the case of, guided robot is emergent under the guide of described Big Dipper module (6) to make a return voyage automatically to the predetermined area.
Further, described sonac (11) is multiple, is distributed in the front and rear of robot dead ahead, bottom surface, for accurate measuring robots and water-bed distance, the mountain stone obstacle of measuring robots dead ahead.
The device monnolithic case of autonomous robot under water of the present utility model uses the design of streamline droplet-shaped, and water resistance is little, and beneficially cruising time is long；Being placed in by preposition side scan sonar outside robot health, reduce robot itself and block sonar scanning signal, scanogram is clear, and it is convenient to process, and can quickly seek environment and barrier in aircraft water, carries out path planning and keep in obscurity；Afterbody uses and can carry out 360 ° of twin screws rotated, maneuverability, can realize quick dive and floating, and propulsive force is big, easy to control；Bottom uses two sonacs, and power consumption is little, image procossing aspect, is swift in response, can quick detection robot and water-bed distance, prevent aircraft backing；Afterbody uses the pressure signal of pressure transducer detection real time position, can calculate current submerged depth, has that cost is low, motility strong, a feature that good concealment, safety are high.
Accompanying drawing explanation
Fig. 1 is that this utility model structure forms schematic diagram；
Fig. 2 is this utility model after propeller structural representation.
1-xenon flash lamp, 2-side scan sonar, 3-front end buoyancy aid, 4-vertical pusher, 5-control system, 6-Big Dipper module, 7-self-locking steering wheel, 8-rear end buoyancy aid, 9-pressure transducer, 10 batteries, 11-sonac, 12-photomultiplier tube, 13-light-passing board, 14-after propeller, 15-kuppe
Detailed description of the invention
Embodiment 1: see Fig. 1, Fig. 2, a kind of half latent oil spilling detects autonomous robot under water, weight 70KG, long 180cm, 100 hours cruising time, and maximum speed 4 saves/and the second is existing.It includes: xenon flash lamp (1), side scan sonar (2), front end buoyancy aid (3), vertical pusher (4), control system (5), Big Dipper module (6), self-locking steering wheel (7), rear end buoyancy aid (8), pressure transducer (9), battery (10), sonac (11), photomultiplier tube (12), light-passing board (13), after propeller (14), kuppe (15).
Described xenon flash lamp (1) is for sending impulse wave to waters to be detected, impulse wave runs into half latent oil spilling back reflection and returns, described photomultiplier tube (12) receives the impulse wave that half latent oil spilling reflects, and the impulse wave received is converted into the signal of telecommunication, it is sent to described control system (5).
Described side scan sonar (2) is positioned at robot front upper, for surrounding is detected, and the environmental data detected is sent to described control system (5), provide marine site information for autonomous robot avoidant disorder under water, path planning；
It is anterior that described front end buoyancy aid (3) is positioned at robot, coordinates with described rear end buoyancy aid (8), under the control of described control system (5), completes buoyant equilibrium regulation under robot water.
Described vertical pusher (4) and two described after propellers (14) are under the power drive of described self-locking steering wheel (7), under the control of described control system (5), robot is made to be rapidly completed forward-reverse, dive floating, pitching, yawing, roll degree of freedom action；Described after propeller (14) can carry out 360 ° of rotations around the power output shaft of described self-locking steering wheel (7), produces the propulsive force of corresponding 360 °, completes vector propulsion functions.
Described control system (5) is used for controlling described xenon flash lamp (1) and sends impulse wave, receives the signal of telecommunication that described photomultiplier tube (12) sends；Receive the environmental data that described side scan sonar (2) transmits；Control described front end buoyancy aid (3) and rear end buoyancy aid (8) has coordinated submerged buoyancy to regulate；Control the power output of described self-locking steering wheel (7)；Control described vertical pusher (4) and carry out action with two described after propellers (14) according to predetermined course and attitude, receive the hydraulic signal that described pressure transducer (9) transmits, analyze and obtain robot underwater penetration；Receive that described sonac (11) transmits with water-bed distance signal, after reaching predetermined and water-bed distance, stop robot and sink；Described control system (5) is monitored automatically for robot running status, excessive in running route deviation, run into the instruction of strong current, the commander manipulation personnel that collide, do not receive in the scheduled time in the case of, guided robot is emergent under the guide of described Big Dipper module (6) to make a return voyage automatically to the predetermined area.
Described Big Dipper module (6) is for determining the geographical position of robot, and positional information sends described control system (5) in good time, and is sent to far-end commander manipulation personnel；Described Big Dipper module (6) can pass through Beidou satellite communication system short message channel, long-distance transmissions robot geographical location information and running state information, commander manipulation personnel can realize the remote tracing control to robot by Beidou satellite communication system short message channel and described Big Dipper module (6).
Described pressure transducer (9) is for gathering the hydraulic pressure that robot bears, and the hydraulic signal of collection is sent to described control system.
Described battery (10) is powered for robot, is placed in robot lower half, reduces robot center of gravity.
Described sonac (11) described sonac (11) is multiple, is distributed in the front and rear of robot dead ahead, bottom surface, for accurate measuring robots and water-bed distance, the mountain stone obstacle of measuring robots dead ahead.
Described light-passing board (13) is used for protecting described xenon flash lamp (1), described photomultiplier tube (12); the impulse wave of described xenon flash lamp (1) can penetrate described light-passing board (13), and the impulse wave reflected through half latent oil spilling can penetrate described light-passing board (13) to described photomultiplier tube (12).
Described kuppe (15) uses hemispherical, and is streamline water-drop-shaped with robot shells, reduces water resistance.
Claims (5)
1. one and half oil spillings of diving detect autonomous robot under water, it is characterised in that: it includes xenon flash lamp (1), side scan sonar (2), front end buoyancy aid (3), vertical pusher (4), control system (5), Big Dipper module (6), self-locking steering wheel (7), rear end buoyancy aid (8), pressure transducer (9), battery (10), sonac (11), photomultiplier tube (12), light-passing board (13), after propeller (14), kuppe (15)；
Described xenon flash lamp (1) is for sending impulse wave to waters to be detected, impulse wave runs into half latent oil spilling back reflection and returns, described photomultiplier tube (12) receives the impulse wave that half latent oil spilling reflects, and the impulse wave received is converted into the signal of telecommunication, it is sent to described control system (5)；
Described side scan sonar (2) is positioned at robot front upper, for surrounding is detected, and the environmental data detected is sent to described control system (5), provide marine site information for autonomous robot avoidant disorder under water, path planning；
It is anterior that described front end buoyancy aid (3) is positioned at robot, coordinates with described rear end buoyancy aid (8), under the control of described control system (5), completes buoyant equilibrium regulation under robot water；
Described vertical pusher (4) and two described after propellers (14) are under the power drive of described self-locking steering wheel (7), under the control of described control system (5), robot is made to be rapidly completed forward-reverse, dive floating, pitching, yawing, roll degree of freedom action；
Described control system (5) is used for controlling described xenon flash lamp (1) and sends impulse wave, receives the signal of telecommunication that described photomultiplier tube (12) sends；Receive the environmental data that described side scan sonar (2) transmits；Control described front end buoyancy aid (3) and rear end buoyancy aid (8) has coordinated submerged buoyancy to regulate；Control the power output of described self-locking steering wheel (7)；Control described vertical pusher (4) and carry out action with two described after propellers (14) according to predetermined course and attitude, receive the hydraulic signal that described pressure transducer (9) transmits；Receive that described sonac (11) transmits with water-bed distance signal, after reaching predetermined and water-bed distance, stop robot and sink；
Described Big Dipper module (6) is for determining the geographical position of robot, and positional information sends described control system (5) in good time, and is sent to far-end commander manipulation personnel；
Described pressure transducer (9) is for gathering the hydraulic pressure that robot bears, and the hydraulic signal of collection is sent to described control system；
Described battery (10) is powered for robot, is placed in robot lower half, reduces robot center of gravity；
Described sonac (11) is installed on robot front bottom end, for real-time measuring robots and water-bed distance, and is sent to described control module (5) by monitor with water-bed distance signal, prevents robot from bottoming out；
Described light-passing board (13) is used for protecting described xenon flash lamp (1), described photomultiplier tube (12); the impulse wave of described xenon flash lamp (1) can penetrate described light-passing board (13), and the impulse wave reflected through half latent oil spilling can penetrate described light-passing board (13) to described photomultiplier tube (12)；
Described kuppe (15) uses hemispherical, and is streamline water-drop-shaped with robot shells, reduces water resistance.
2. a kind of half latent oil spilling detects autonomous robot under water, it is characterized in that: described after propeller (14) can carry out 360 ° of rotations around the power output shaft of described self-locking steering wheel (7), produce the propulsive force of corresponding 360 °, complete vector propulsion functions.
3. a kind of half latent oil spilling detects autonomous robot under water, it is characterized in that: described Big Dipper module (6) can pass through Beidou satellite communication system short message channel, long-distance transmissions robot geographical location information and running state information, commander manipulation personnel can realize the remote tracing control to robot by Beidou satellite communication system short message channel and described Big Dipper module (6).
4. a kind of half latent oil spilling detects autonomous robot under water, it is characterized in that: described control system (5) is monitored automatically for robot running status, excessive in running route deviation, run into the instruction of strong current, the commander manipulation personnel that collide, do not receive in the scheduled time in the case of, guided robot is emergent under the guide of described Big Dipper module (6) to make a return voyage automatically to the predetermined area.
5. a kind of half latent oil spilling detects autonomous robot under water, it is characterized in that: described sonac (11) is multiple, it is distributed in the front and rear of robot dead ahead, bottom surface, for accurate measuring robots and water-bed distance, the mountain stone obstacle of measuring robots dead ahead.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN108646753A (en) * | 2018-06-29 | 2018-10-12 | 安徽欣思创科技有限公司 | A kind of unmanned boat control system and unmanned boat |
| CN109374848A (en) * | 2018-09-14 | 2019-02-22 | 大连理工大学 | A kind of manual acquisition device of the vertical water quality data of data intelligence feedback and application method |
| CN111422330A (en) * | 2020-03-17 | 2020-07-17 | 国网山东省电力公司青岛市黄岛区供电公司 | Magnetic force couple formula seabed is carried cable device |
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2016
- 2016-03-25 CN CN201620241291.8U patent/CN205574245U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN108646753A (en) * | 2018-06-29 | 2018-10-12 | 安徽欣思创科技有限公司 | A kind of unmanned boat control system and unmanned boat |
| CN109374848A (en) * | 2018-09-14 | 2019-02-22 | 大连理工大学 | A kind of manual acquisition device of the vertical water quality data of data intelligence feedback and application method |
| CN111422330A (en) * | 2020-03-17 | 2020-07-17 | 国网山东省电力公司青岛市黄岛区供电公司 | Magnetic force couple formula seabed is carried cable device |
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Granted publication date: 20160914 Termination date: 20170325 |
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| CF01 | Termination of patent right due to non-payment of annual fee |