CN101062714A - Underwater robot sliding driven by buoyant force - Google Patents
Underwater robot sliding driven by buoyant force Download PDFInfo
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- CN101062714A CN101062714A CN 200610046471 CN200610046471A CN101062714A CN 101062714 A CN101062714 A CN 101062714A CN 200610046471 CN200610046471 CN 200610046471 CN 200610046471 A CN200610046471 A CN 200610046471A CN 101062714 A CN101062714 A CN 101062714A
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- buoyancy
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- stepping motor
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Abstract
The invention relates to the underwater robot, comprising a tapering body, parallel middle body, electric control body, horizontal sliding fin, vertical stable fin, and all kinds of drive devices, with the vertical stable fin fixed to the tapering body, floating device fixed to the tapering and parallel middle body, radio digital transmission station installed on the fixed bracket of the floating adjusting device, horizontal sliding fin fixed to the outside and parallel middle part, pitch angle adjustment device fixed to the front and middle part, electric control part connected wit the horizontal rolling angle adjustment device and elevation angle adjusting device, motor driver installed on the fixed rack, connected with the synchronic motor, front sensor installed inside it, and the emergency treatment device fixed on the bracket with the floating adjustment device. It can effectively improve the space, time density of the ocean, with low cost, and wide application.
Description
Technical field
The invention belongs to the marine environmental monitoring field, be specifically related to a kind of under-water robot that can be used for marine monitoring on a large scale, relies on buoyancy-driven to slide.
Background technology
At present, the underwater monitoring platform that is widely used in marine monitoring mainly contains buoy, subsurface buoy, research vessel and screw propeller and advances under-water robot, and these underwater monitoring platforms have advantage separately, and part also comes with some shortcomings simultaneously.Buoy can be realized marine monitoring operation in a big way, still, because buoy does not navigate by water actuating device, therefore can't buoy be controlled at the designated area according to monitoring requirements.Subsurface buoy can realize the monitoring of vertical section, and still, after subsurface buoy laid, its position remained unchanged usually, can only finish the fixed point monitoring operation, can't change monitoring location flexibly according to the monitoring needs.Research vessel or screw propeller advance under-water robot to carry out marine monitoring need consume great amount of manpower and material resources and financial resources, and therefore, its duty cycle can not be oversize, and operating cost is also quite expensive.Since the restriction of current above-mentioned underwater monitoring platform technology means, the feasible needs that on space, time supervision density, can't satisfy marine scientific research to marine environment fully.
Summary of the invention
For overcome in the prior art can't according to monitoring requirements buoy is controlled at the designated area or change flexibly subsurface buoy monitoring location, cost height, can not on space, time supervision density, satisfy the deficiency of marine scientific research needs, the purpose of this invention is to provide a kind of space, time density that can effectively improve marine monitoring, in a large number, apply, satisfy the under-water robot that dependence buoyancy-driven that current marine monitoring needs, underwater monitoring that cost is low use slides on a large scale, in order to improve the marine monitoring ability.
To achieve these goals, technical solution of the present invention is as follows: be the complete built-in overall structure of actuating device, comprise stern cone, square body, horizontal hang gliding, roll angle control apparatus, pitch angle control apparatus, bow sensor module, bow, electron steering cabin section, motor driver, buoyancy regulating device, wireless digital transmission radio station, vertical stabilizer and emergency treatment device, wherein: vertical stabilizer and stern cone are connected, and buoyancy regulating device is connected by its fixed mount and stern cone and square body; The wireless digital transmission radio station is installed on the fixed mount of buoyancy regulating device; Horizontal hang gliding externally is connected with square body by the horizontal tail set collar; The pitch angle control apparatus is connected by its fixed mount and hemisphere shape bow and square body; Section two ends, electron steering cabin are connected with angle regulating device with the roll angle control apparatus respectively by fixed mount; Motor driver is installed on the fixed mount in the roll angle control apparatus, is electrically connected with roll linear stepping motor, the pitch regulation linear stepping motor in the pitch regulation device, the buoyancy adjustment linear stepping motor in the described buoyancy regulating device in the roll angle control apparatus respectively; The bow sensor module be installed in hemisphere shape bow in; Emergency treatment device links to each other with the fixed mount of buoyancy regulating device;
Wherein roll angle control apparatus, pitch angle control apparatus, electron steering cabin section, motor driver, buoyancy regulating device, wireless digital transmission radio station and emergency treatment device lay respectively in the square body;
Described roll angle control apparatus is made up of roll linear stepping motor, roll quality of regulation piece and roll control apparatus fixed mount, the roll linear stepping motor and the roll control apparatus fixed mount that are driven by motor driver are connected, and roll quality of regulation piece is installed on the output shaft of roll linear stepping motor; Described pitch angle control apparatus is made up of pitch regulation linear stepping motor, pitch regulation battery pack and pitch regulation device fixed mount, the pitch regulation linear stepping motor that is driven by motor driver is installed on the pitch regulation device fixed mount, the pitch regulation battery pack is installed on the output shaft of pitch regulation linear stepping motor, as the pitch regulation mass, be electrically connected simultaneously with mains connection set circuit card in motor driver and the electron steering cabin section; Described bow sensor module is installed in the hemisphere shape bow, is made up of survey sensor, is electrically connected with mains connection set circuit card in the section of electron steering cabin; Described electron steering cabin section comprises control computer, mains connection set circuit card and GPS locating module, constitutes control part together; Described buoyancy regulating device is made up of piston, oil cylinder, buoyancy adjustment leather bag, buoyancy adjustment linear stepping motor and buoyancy regulating device fixed mount, oil cylinder links to each other with the buoyancy adjustment linear stepping motor that is driven by motor driver by piston, and the buoyancy adjustment leather bag that is arranged in the stern cone is captiveed joint with the oil cylinder oil outlet; Described oil cylinder and buoyancy adjustment linear stepping motor are installed on the buoyancy regulating device fixed mount; Described emergency treatment device is formed by throwing charge material gauge block, supporting pin, support spring and electromagnet, throwing the charge material gauge block is connected with electromagnet by supporting pin, support spring is socketed in outside the supporting pin, electromagnet is installed in the buoyancy regulating device fixed mount, is electrically connected with mains connection set circuit card in the section of electron steering cabin; Described supporting pin is connected in the groove of throwing the charge material gauge block; The top of described vertical stabilizer is equipped with antenna box.
The present invention has the following advantages:
The present invention combines buoy, subsurface buoy technology with existing under-water robot technology, be a kind of novel under-water robot that does not have external actuating unit.It can realize low cost, controlled marine monitoring operation on a large scale, and the monitoring capability that has buoy and subsurface buoy simultaneously can be realized the monitoring results of horizontal profile and vertical section receiving and send the various types of communication data in real time.By built-in actuating device, can realize gliding and space gyroscopic movement, can slide into the designated area according to the monitoring results needs.Have following characteristics:
1. the present invention adopts horizontal hang gliding and vertical stabilizer, control by pitch angle control apparatus and roll angle control apparatus, the driving buoyancy that buoyancy regulating device is provided is converted to navigation controlling and driving power, thereby realizes navigation control, relies on buoyancy-driven to slide; Compare with the subsurface buoy monitoring platform with buoy used in the prior art, the present invention can navigate by water the designated area according to the monitoring needs, changes monitoring location flexibly, has stronger manoevreability and alerting ability;
2. the present invention adopts actuating device (as: roll angle control apparatus, the pitch angle control apparatus, the bow sensor module, motor driver, buoyancy regulating device, wireless digital transmission radio station and emergency treatment device) complete built-in mode, minimizing is to the destruction of carrier line style, reduced water resistance, improved and to have used degree of utilization, realized long-time and monitoring results on a large scale;
3. the present invention does not have plug-in actuating device, the carrier structure simplicity of design.Advance under-water robot to compare with traditional propeller, have processing and manufacturing easily, manufacturing cost and maintenance cost is low, throw in and reclaim and advantage such as easy to maintenance, can realize widely applying, improve marine monitoring space, time density.
4. the present invention has also that energy consumption is low, the little characteristics of noise.
Description of drawings
Fig. 1 is a under-water robot structural front view of the present invention.
Fig. 2 is the birds-eye view of Fig. 1.
The specific embodiment
Below in conjunction with drawings and Examples the present invention is described in further detail.
The present invention is an actuating device built-in overall structure fully, rely on buoyancy-driven to slide during operation, mainly by stern cone 1, square body 2, horizontal hang gliding 3, roll angle control apparatus 5, pitch angle control apparatus 9, bow sensor module 13, bow 16, electron steering cabin section 18, motor driver 22, buoyancy regulating device 24, wireless digital transmission radio station 25, vertical stabilizer 30 and emergency treatment device 36 are formed, wherein: the vertical stabilizer 30 that the top is equipped with antenna box 29 is captiveed joint with stern cone 1, buoyancy regulating device 24 is captiveed joint with square body 2 with stern cone 1 by buoyancy regulating device fixed mount 28, and is positioned at 2 li of square bodies; Wireless digital transmission radio station 25 is installed on the buoyancy regulating device fixed mount 28; Horizontal hang gliding 3 is externally captiveed joint with square body 2 by horizontal tail set collar 4; Pitch angle control apparatus 9 is positioned at 2 li of square bodies, captives joint with square body 2 with hemisphere shape bow 16 by pitch regulation device fixed mount 12; Electron steering cabin section 18 is positioned at 2 li of square bodies, captives joint with the pitch regulation fixed mount 12 of 9 li of angle regulating devices with the roll adjusting fixed mount 8 of roll angle control apparatus 5 respectively in section two ends, cabin; The roll that motor driver 22 (for prior art) is fixed in the roll angle control apparatus 5 is regulated on the fixed mount 8, be electrically connected with the roll linear stepping motor 6 in the roll angle control apparatus 5, the pitch regulation linear stepping motor 10 in the pitch regulation device, the buoyancy adjustment linear stepping motor 23 in the buoyancy regulating device 24, be positioned at 2 li of square bodies; Bow sensor module 13 is installed in and 16 li of hemisphere shape bows; Emergency treatment device 36 is captiveed joint with buoyancy regulating device fixed mount 28 with support spring 34 by electromagnet 35, is positioned at 2 li of square bodies.
Described roll angle control apparatus 5 is made up of roll linear stepping motor 6, roll quality of regulation piece 7 and roll control apparatus fixed mount 8, captive joint with roll control apparatus fixed mount 8 by the roll linear stepping motor 6 that motor driver 22 drives, roll quality of regulation piece 7 is installed on the output shaft of roll linear stepping motor 6, drive by roll linear stepping motor 6, on roll control apparatus fixed mount 8, move.
Described pitch angle control apparatus 9 is by pitch regulation linear stepping motor 10, pitch regulation battery pack 11 and pitch regulation device fixed mount 12 are formed, the pitch regulation linear stepping motor 10 that is driven by motor driver 22 is installed on the pitch regulation device fixed mount 12, pitch regulation battery pack 11 is installed on the output shaft of pitch regulation linear stepping motor 10, as the pitch regulation mass, drive by pitch regulation linear stepping motor 10, sliding block joint on pitch regulation device fixed mount 12, wherein, pitch regulation battery pack 11 is electrically connected with mains connection set circuit card 20 in motor driver 22 and the electron steering cabin section 18.
Described bow sensor module 13 is made up of height sensor 14, depth transducer 15 and course attitude sensor 17, be electrically connected with mains connection set circuit card 20 in the electron steering cabin section 18 respectively, height sensor 14, depth transducer 15 and course attitude sensor 17 are captiveed joint with hemisphere shape bow 16 respectively, wherein height sensor 14 and depth transducer 15 are positioned at bow 16 bottoms, install vertically downward, course attitude sensor 17 is positioned at bow 16 middle parts, and level is installed.
Described electron steering cabin section 18 comprises control computer 19 (commercial product), mains connection set circuit card 20 (prior art) and GPS locating module 21 (commercial product), control computer 19, mains connection set circuit card 20 and GPS locating module 21 constitute control part together.
Described buoyancy regulating device 24 is made up of piston 26, oil cylinder 27, buoyancy adjustment leather bag 31, buoyancy adjustment linear stepping motor 23 and buoyancy regulating device fixed mount 28, oil cylinder 27 links to each other with the buoyancy adjustment linear stepping motor 23 that is driven by motor driver 22 by piston 26, oil cylinder 27 and buoyancy adjustment linear stepping motor 23 are installed on the buoyancy regulating device fixed mount 28, and the buoyancy adjustment leather bag 31 that is arranged in stern cone 1 is captiveed joint with oil cylinder 27 oil outlets.Piston 26 drives by buoyancy adjustment linear stepping motor 23, moves in oil cylinder 27.
Described emergency treatment device 36 is formed by throwing charge material gauge block 32, supporting pin 33, support spring 34 and electromagnet 35, throwing charge material gauge block 32 is connected with electromagnet 35 by supporting pin 33, supporting pin 33 is connected in the groove of throwing charge material gauge block 32, support spring 34 is socketed in outside the supporting pin 33, electromagnet 35 is installed in buoyancy regulating device fixed mount 28, is electrically connected with mains connection set circuit card 20 in the electron steering cabin section 18.
Roll angle control apparatus 5 moves the horizontal position that roll mass 7 changes underwater gliding machine people center of gravity by roll linear stepping motor 6, under gravity and buoyancy combined action, realizes the adjusting to the under-water robot roll angle.Pitch angle control apparatus 9 moves the lengthwise position that pitching battery pack 11 changes the under-water robot center of gravity by pitching linear stepping motor 10, under gravity and buoyancy combined action, realizes the adjusting to the under-water robot pitch angle.Buoyancy regulating device 24 is discharged to leather bag 31 by buoyancy adjustment stepping motor 23 mobile pistons 26 with the oil in the oil cylinder 27 or the oil in the leather bag 31 is drawn in the oil cylinder 27, changes the displacement of volume of under-water robot, realizes changing the buoyancy of under-water robot.Under-water robot is by height sensor 14, depth transducer 15 and course attitude sensor 17, can measured altitude, the degree of depth, course angle, pitch angle and roll angle information.Control computer 19 in the electron steering cabin section 18 of design-calculated under-water robot of the present invention and mains connection set circuit card 20 provide redundancy communication and energy source interface, therefore other survey sensor can be installed as required.When under-water robot is positioned at the water surface, obtain accurate in locating information by GPS locating module 21, send observed data and status data by wireless digital transmission radio station 25, receive various control commands simultaneously.When dangerous situation appears in under-water robot, by the 19 control mains connection set circuit cards 20 of the control computer in the electron steering cabin section 18, be 35 power supplies of the electromagnet in the emergency treatment device 36, under the electromagnetic force effect, supporting pin 33 breaks away from throwing charge material gauge block 32 and is connected, throwing under the 32 self gravitation effects of charge material gauge block, throwing charge material gauge block 32 and break away from under-water robot, finishing to throw and carry come-up.
Design-calculated under-water robot of the present invention can be realized two kinds of mode of motion, promptly along gliding motility of serration track and space gyroscopic movement.So-called gliding motility is meant under-water robot under self net buoyancy drives, in water, carry out oblique down or navigation process obliquely.Be the bow state that inclines when regulating under-water robot by pitch angle control apparatus 9, regulating under-water robot by buoyancy regulating device 24 is the negative lift state, and under negative lift drives, under-water robot will carry out the dive gliding motility; When the under-water robot gliding motility after desired depth, regulate under-water robot for lifting the bow state by pitch angle control apparatus 9, regulating under-water robots by buoyancy regulating device 24 is the positive buoyancy state, under positive buoyancy drives, and the under-water robot gliding motility of will floating.Robot is under come-up or the dive gliding motility state under water, and by the roll angle of roll angle control apparatus 5 adjusting under-water robots, under hydrodynamic force and buoyancy combined action, under-water robot will carry out the space gyroscopic movement, change the course angle of robot.
Claims (10)
1. under-water robot that relies on buoyancy-driven to slide, it is characterized in that: be the complete built-in overall structure of actuating device, comprise stern cone (1), square body (2), horizontal hang gliding (3), roll angle control apparatus (5), pitch angle control apparatus (9), bow sensor module (13), bow (16), electron steering cabin section (18), motor driver (22), buoyancy regulating device (24), wireless digital transmission radio station (25), vertical stabilizer (30) and emergency treatment device (36), wherein: vertical stabilizer (30) and stern cone (1) are connected, and buoyancy regulating device (24) is connected by its fixed mount and stern cone (1) and square body (2); Wireless digital transmission radio station (25) is installed on the fixed mount of buoyancy regulating device; Horizontal hang gliding (3) externally is connected with square body (2) by the horizontal tail set collar; Pitch angle control apparatus (9) is connected by its fixed mount and hemisphere shape bow (16) and square body (2); Electron steering cabin section (18) two ends are connected with angle regulating device (9) with roll angle control apparatus (5) respectively by fixed mount; Motor driver (22) is installed on the fixed mount in the roll angle control apparatus (5), is electrically connected with roll linear stepping motor, the pitch regulation linear stepping motor in the pitch regulation device (9), the buoyancy adjustment linear stepping motor (23) in the described buoyancy regulating device (24) in the roll angle control apparatus (5) respectively; Bow sensor module (13) is installed in and hemisphere shape bow (16) lining; Emergency treatment device (36) links to each other with the fixed mount of buoyancy regulating device;
Wherein roll angle control apparatus (5), pitch angle control apparatus (9), electron steering cabin section (18), motor driver (22), buoyancy regulating device (24), wireless digital transmission radio station (25) and emergency treatment device (36) lay respectively in the square body (2).
2. the under-water robot that slides by the described dependence buoyancy-driven of claim 1, it is characterized in that: described roll angle control apparatus (5) is made up of roll linear stepping motor (6), roll quality of regulation piece (7) and roll control apparatus fixed mount (8), the roll linear stepping motor (6) that is driven by motor driver (22) is connected with roll control apparatus fixed mount (8), and roll quality of regulation piece (7) is installed on the output shaft of roll linear stepping motor (6).
3. the under-water robot that slides by the described dependence buoyancy-driven of claim 1, it is characterized in that: described pitch angle control apparatus (9) is by pitch regulation linear stepping motor (10), pitch regulation battery pack (11) and pitch regulation device fixed mount (12) are formed, the pitch regulation linear stepping motor (10) that is driven by motor driver (22) is installed on the pitch regulation device fixed mount (12), pitch regulation battery pack (11) is installed on the output shaft of pitch regulation linear stepping motor (10), as the pitch regulation mass, be electrically connected simultaneously with mains connection set circuit card (20) in motor driver (22) and the electron steering cabin section (18).
4. the under-water robot that slides by the described dependence buoyancy-driven of claim 1, it is characterized in that: described bow sensor module (13) is installed hemisphere shape bow (16) lining, form by survey sensor, be electrically connected with mains connection set circuit card in the electron steering cabin section (18).
5. the under-water robot that slides by the described dependence buoyancy-driven of claim 1, it is characterized in that: described electron steering cabin section (18) comprises control computer (19), mains connection set circuit card (20) and GPS locating module (21), constitutes control part together.
6. the under-water robot that slides by the described dependence buoyancy-driven of claim 1, it is characterized in that: described buoyancy regulating device (24) is made up of piston (26), oil cylinder (27), buoyancy adjustment leather bag (31), buoyancy adjustment linear stepping motor (23) and buoyancy regulating device fixed mount (28), oil cylinder (27) links to each other with the buoyancy adjustment linear stepping motor (73) that is driven by motor driver (22) by piston (26), and the buoyancy adjustment leather bag (31) that is arranged in stern cone (1) is captiveed joint with oil cylinder (27) oil outlet.
7. the under-water robot that slides by the described dependence buoyancy-driven of claim 6, it is characterized in that: described oil cylinder (27) and buoyancy adjustment linear stepping motor (23) are installed on the buoyancy regulating device fixed mount (28).
8. the under-water robot that slides by the described dependence buoyancy-driven of claim 1, it is characterized in that: described emergency treatment device (36) is formed by throwing charge material gauge block (32), supporting pin (33), support spring (34) and electromagnet (35), throwing charge material gauge block (32) is connected with electromagnet (35) by supporting pin (33), support spring (34) is socketed in outside the supporting pin (33), electromagnet (35) is installed in buoyancy regulating device fixed mount (28), is electrically connected with mains connection set circuit card (20) in the electron steering cabin section (18).
9. the under-water robot that slides by the described dependence buoyancy-driven of claim 8 is characterized in that: described supporting pin (33) is connected in the groove of throwing charge material gauge block (32).
10. the under-water robot that slides by the described dependence buoyancy-driven of claim 1, it is characterized in that: the top of described vertical stabilizer (30) is equipped with antenna box (29).
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2006100464711A CN100431917C (en) | 2006-04-29 | 2006-04-29 | Underwater robot sliding driven by buoyant force |
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| CNB2006100464711A CN100431917C (en) | 2006-04-29 | 2006-04-29 | Underwater robot sliding driven by buoyant force |
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| CN101062714A true CN101062714A (en) | 2007-10-31 |
| CN100431917C CN100431917C (en) | 2008-11-12 |
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| CN102486633A (en) * | 2010-12-04 | 2012-06-06 | 中国科学院沈阳自动化研究所 | Motion parameter optimization method for optimal energy consumption of underwater glider |
| CN102632978A (en) * | 2012-05-09 | 2012-08-15 | 北京理工大学 | Center-of-gravity regulating device applied to underwater robotic dolphin |
| CN102963514A (en) * | 2012-11-26 | 2013-03-13 | 上海交通大学 | Portable submarine ocean environment monitoring glider |
| TWI402201B (en) * | 2011-04-01 | 2013-07-21 | Chieng Ming Ind Co Ltd | Underwater propeller |
| TWI418493B (en) * | 2011-11-18 | 2013-12-11 | Chieng Ming Ind Co Ltd | Underwater propeller |
| CN103507929A (en) * | 2013-09-27 | 2014-01-15 | 中国船舶重工集团公司第七一〇研究所 | Combination wing anti-stream-pattern underwater glider |
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| JP3682077B2 (en) * | 1994-05-18 | 2005-08-10 | 住友電気工業株式会社 | Electromagnetic buoyancy adjustment device |
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| CN2758195Y (en) * | 2004-12-06 | 2006-02-15 | 中国科学院沈阳自动化研究所 | Underwater robot structure |
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| CN102486633B (en) * | 2010-12-04 | 2014-05-07 | 中国科学院沈阳自动化研究所 | Motion parameter optimization method for optimal energy consumption of underwater glider |
| CN102486633A (en) * | 2010-12-04 | 2012-06-06 | 中国科学院沈阳自动化研究所 | Motion parameter optimization method for optimal energy consumption of underwater glider |
| TWI402201B (en) * | 2011-04-01 | 2013-07-21 | Chieng Ming Ind Co Ltd | Underwater propeller |
| TWI418493B (en) * | 2011-11-18 | 2013-12-11 | Chieng Ming Ind Co Ltd | Underwater propeller |
| CN102632978A (en) * | 2012-05-09 | 2012-08-15 | 北京理工大学 | Center-of-gravity regulating device applied to underwater robotic dolphin |
| CN102632978B (en) * | 2012-05-09 | 2014-05-14 | 北京理工大学 | Center-of-gravity regulating device applied to underwater robotic dolphin |
| CN102963514B (en) * | 2012-11-26 | 2016-04-13 | 上海交通大学 | Portable underwater marine environmental monitoring aerodone |
| CN102963514A (en) * | 2012-11-26 | 2013-03-13 | 上海交通大学 | Portable submarine ocean environment monitoring glider |
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| CN106904258A (en) * | 2017-03-28 | 2017-06-30 | 浙江大学 | Bi-motor is multidirectional to advance autonomous robot under water |
| CN106904258B (en) * | 2017-03-28 | 2019-03-19 | 浙江大学 | Bi-motor is multidirectional to promote underwater autonomous robot |
| CN107117266A (en) * | 2017-05-11 | 2017-09-01 | 江苏科技大学 | A kind of self balancing device, unmanned vehicles and its control system |
| CN109115979A (en) * | 2018-10-29 | 2019-01-01 | 郭简豪 | Portable multi-function solid water quality detection device |
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