CN102001429A - Bionic shrimp underwater detecting robot - Google Patents
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- CN102001429A CN102001429A CN2010105658531A CN201010565853A CN102001429A CN 102001429 A CN102001429 A CN 102001429A CN 2010105658531 A CN2010105658531 A CN 2010105658531A CN 201010565853 A CN201010565853 A CN 201010565853A CN 102001429 A CN102001429 A CN 102001429A
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- 241000238557 Decapoda Species 0.000 title claims abstract description 17
- 239000011664 nicotinic acid Substances 0.000 title abstract description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 39
- 238000001514 detection method Methods 0.000 claims abstract description 21
- 238000004891 communication Methods 0.000 claims description 7
- 241000143060 Americamysis bahia Species 0.000 claims 1
- 230000033001 locomotion Effects 0.000 abstract description 7
- 238000007689 inspection Methods 0.000 abstract description 5
- 229910000831 Steel Inorganic materials 0.000 abstract description 4
- 230000007797 corrosion Effects 0.000 abstract description 4
- 238000005260 corrosion Methods 0.000 abstract description 4
- 239000010959 steel Substances 0.000 abstract description 4
- 208000037805 labour Diseases 0.000 abstract 1
- 238000012423 maintenance Methods 0.000 abstract 1
- 230000006978 adaptation Effects 0.000 description 3
- 230000015572 biosynthetic process Effects 0.000 description 3
- 238000007789 sealing Methods 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 241000251468 Actinopterygii Species 0.000 description 1
- 241000270708 Testudinidae Species 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000009429 distress Effects 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 241000238565 lobster Species 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 230000009182 swimming Effects 0.000 description 1
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Abstract
本发明提出一种仿生虾水下检测机器人，包括头部、胸体部分和尾部，胸体部分分别连接头部和尾部，其特征在于，胸体部分具有控制单元、气泵、前气囊和后气囊，前气囊设置在胸体部分靠近头部的一端，后气囊设置在胸体部分靠近尾部的另一端，气泵连接上述前气囊和后气囊，胸体部分靠近尾部的一端还安装有左推进器和右推进器，气泵、左推进器和右推进器电连接控制单元。本发明有效实现了机器人在水中的三维运动，能极好的适应复杂水况，并且可以探测水闸底板、护坦一类结构的变形、裂缝，闸门、闸墩、船底水下部分探查如钢闸门锈蚀程度、闸门止水情况探查以及大坝水下部分检查等，能很大程度上提高检修效率，并且降低了劳动风险。
The invention proposes a bionic shrimp underwater detection robot, which includes a head, a chest part and a tail, and the chest part is connected to the head and the tail respectively, and is characterized in that the chest part has a control unit, an air pump, a front airbag and a rear airbag , the front airbag is arranged at one end of the chest part close to the head, the rear airbag is arranged at the other end of the chest part near the tail, the air pump connects the above-mentioned front airbag and the rear airbag, and the end of the chest part near the tail is also equipped with a left propeller and The right propeller, the air pump, the left propeller and the right propeller are electrically connected to the control unit. The invention effectively realizes the three-dimensional movement of the robot in the water, can be well adapted to complex water conditions, and can detect deformations and cracks in structures such as sluice bottom plates and aprons, and detect underwater parts of gates, gate piers, and ship bottoms, such as steel gates. The degree of corrosion, the inspection of the water stop of the gate and the inspection of the underwater part of the dam can greatly improve the maintenance efficiency and reduce the labor risk.
Description
Technical field
The invention relates to a kind of people of detection machine under water, and particularly relevant for a kind of bionical shrimp detection machine people under water.
Background technology
At present, under-water robot is broadly divided into ROV(Remotely Operated Vehicle), AUV(Autonomous Underwater Vehicle) and bionic underwater robot three classes.ROV and AUV adopt tradition to advance the under-water robot of (screw propeller etc.) mode at the conceptive finger of narrow sense, and bio-robot refers to the under-water robot based on bionic principle, the non-traditional propulsion mode of employing.Aquatic organism all has the advantage of many worth references at aspects such as profile, mode of motion, so bionic underwater robot has become one of important content of under-water robot area research.
The kind of under-water robot is varied, and outward appearance comes in every shape especially, as fish shape, tortoise shape, crab shape etc. are all had more research, and has obtained many experiences and achievement, as " Crab-liked Robot " of China Harbin Engineering University development." the machine lobster " of U.S. Northeastern University development be used for shoal water zone submarine mine search and ignition, but this robot can only be implemented in the bottom or land walking, the function of not swimming.The crawler belt creep mode of Beijing inscription Nico corporation engaged " batman " tank robot employing under water tank, can be used for finishing certain task under water, it is reported that the robot that is specifically applied to the hydro-structure detection does not almost have, the detection machine people is necessary so develop under water, can bring very big facility for hydro-structures such as sluice regularly detect.
Summary of the invention
In order to overcome the deficiencies in the prior art, the invention provides a kind of bionical shrimp detection machine people under water, be specially adapted to survey distortion, the crack of sluice plate, protection-apron one class formation, gate, gate pier, hull bottom lower apron are detected as steel gate corrosion degree, gate sealing situation and are detected and dam lower apron inspection etc., can improve overhaul efficiency to a great extent, and reduce the work risk.
For reaching above-mentioned purpose, the present invention proposes a kind of bionical shrimp detection machine people under water, bionical shrimp detection machine people under water comprises head, chest body portion and afterbody, the chest body portion connects head and afterbody respectively, the chest body portion has control unit, air pump, preceding air bag and rear gasbag, preceding air bag is arranged on the end of chest body portion near head, rear gasbag is arranged on the other end of chest body portion near afterbody, air pump connects above-mentioned preceding air bag and rear gasbag, the chest body portion also is equipped with left propelling unit and right propelling unit, air pump near an end of afterbody, left side propelling unit and right propelling unit are electrically connected control unit.
Among the present invention, head also comprises manipulator, camera and light source, and manipulator, camera and light source are electrically connected above-mentioned control unit respectively.
Among the present invention, control unit is in embedded microcontroller.
Among the present invention, the chest body portion also comprises communication system units, is electrically connected above-mentioned control unit and communicates by letter with ground-surface control computer.
To sum up, the present invention has effectively realized the three-dimensional motion of robot in water, the complicated water condition of adaptation that can be fabulous, and can survey distortion, the crack of sluice plate, protection-apron one class formation, gate, gate pier, hull bottom lower apron are detected as steel gate corrosion degree, gate sealing situation and are detected and dam lower apron inspection etc., can improve overhaul efficiency to a great extent, and reduce the work risk.
Description of drawings
Fig. 1 is the scheme drawing of one embodiment of the invention.
Fig. 2 is bionical shrimp detection machine people's an internal circuit functional block diagram under water among Fig. 1.
The specific embodiment
For above and other objects of the present invention, feature and advantage can be become apparent, preferred embodiment cited below particularly, and conjunction with figs. are described in detail below.
Fig. 1 is the scheme drawing of one embodiment of the invention.Fig. 2 is bionical shrimp detection machine people's an internal circuit functional block diagram under water among Fig. 1.Please also refer to Fig. 1 to Fig. 2.
Bionical shrimp detection machine people under water comprises head 1, chest body portion 2 and afterbody 3.Chest body portion 2 connects head 1 and afterbody 3 respectively, chest body portion 2 has control unit 21, air pump 22, preceding air bag 23 and rear gasbag 24, preceding air bag 23 is arranged on the end of chest body portion 2 near heads 1, rear gasbag 24 is arranged on the other end of chest body portion 2 near afterbody 3, air pump 22 connects above-mentioned preceding air bag 23 and rear gasbag 24, chest body portion 2 also is equipped with left propelling unit 25 and right propelling unit 26 near an end of afterbody 3, and air pump 22, left propelling unit 25 and right propelling unit 26 are electrically connected control unit 21.
Among the present invention, head 1 also comprises manipulator 11, camera 12 and light source 13, and manipulator 11, camera 12 and light source 13 are electrically connected above-mentioned control unit 21 respectively.Manipulator 11 can be removed operations such as mud, cutting-off pasture and water, be the removal obstacle that moves ahead, also can carry out sampling operation, and can obtain the take off data of distress in concrete, dislocation by the opening angle of manipulator, can send data in real time to testing staff, some are needed the accurately place of measurement, device for accurately measuring can be installed, improve and measure precision.Camera 12 is installed in the robot front end, and broad angular field of view is arranged, and makes the machine shrimp obtain extraneous information preferably, keeps away operations such as barrier and underwater photograph technical.Light source 13 provides underwater illumination, and brightness is adjustable according to need, can ensure to obtain preferably scene under water.
Among the present invention, control unit 21 is in embedded microcontroller.
Among the present invention, chest body portion 2 also comprises communication system units 27, is electrically connected above-mentioned control unit 21 and the (not shown) of communicating by letter with ground-surface control computer.
In the present embodiment, the inflation by air bag 23 before 22 pairs of the air pumps and rear gasbag 24 and bleed and realize the come-up and the sinking of robot.For example, air bag 23 inflations before 22 pairs of control unit 21 control air pumps, when rear gasbag 24 is bled, robot come-up.When air bag 23 before 22 pairs of control unit 21 control air pumps bleed, during to rear gasbag 24 inflations, robot then sinks.Can realize the porpoising of robot like this.
In the present embodiment, left propelling unit 25 and right propelling unit 26 can be propeller, utilize left propelling unit 25 and right propelling unit 26 can realize the forward movement and the side-to-side movement of robot.When robot needed turnon left, the rotating speed of the propeller on the left side reduced, and the propeller rotating speed on the right improves; When robot needed right-hand corner, the rotating speed of the propeller on the left side improved, and the propeller rotating speed on the right reduces.The side-to-side movement that rotating speed how to control propelling unit 25 and right propelling unit 26 as for a left side is realized robot belongs to common practise to those skilled in the art, is not described in detail at this.
Be example now to detect sluice plate, to bionical shrimp under water detection machine people each several part function carry out overall introduction: robot sinks down into surveyed area under water by the cooperation of preceding air bag 23 and rear gasbag 24.If the underwater environment complexity, control unit 21 control manipulators 11 are removed operations such as mud, cutting-off pasture and water, are the removal obstacle that moves ahead.When robot ambulation during in the sluice plate face, 12 pairs of cameras under water scene make a video recording and by communication system units 21d real-time Transmission to ground-surface control computer.When the testing staff finds the crack, start measurement mechanism, obtain feeding back on the control computer after the data, judge whether that according to image and data needs handle.To some more tractable structural failure, robot can carry out simple and easy reparation to it by the repairing apparatus of assembling.
Communication between detection machine people and the testing staff can be adopted wireless and wired this dual mode, when being detected, the low head building can adopt wireless mode, when head is higher, can adopt the wire communication mode, to improve the stability that under-water robot is communicated by letter with ground-surface control computer, provide reliable assurance for finishing detection task under water.For safety with prevent unexpected the generation, adopt wire communication mode comparatively safe feasible under the As-Is.The higher embedded microcontroller control of intelligent degree is adopted in the control of detection machine shrimp, and it can control, control flexible, easy to operate by the display and operation platform, controls in real time etc.
To sum up, the present invention has effectively realized the three-dimensional motion of robot in water, the complicated water condition of adaptation that can be fabulous, and can survey distortion, the crack of sluice plate, protection-apron one class formation, gate, gate pier, hull bottom lower apron are detected as steel gate corrosion degree, gate sealing situation and are detected and dam lower apron inspection etc., can improve overhaul efficiency to a great extent, and reduced the work risk, and the complicated water condition of adaptation that robot energy of the present invention is fabulous, and can when being absorbed in mud, escape danger voluntarily.
Concrete case study on implementation only is a preferable case study on implementation of the present invention described in the present invention, is not to be used for limiting practical range of the present invention.Be that all equivalences of doing according to the content of the present patent application claim change and modification, all should be as technology category of the present invention.
Claims (4)
1. bionical shrimp detection machine people under water, bionical shrimp detection machine people under water comprises head, chest body portion and afterbody, the chest body portion connects head and afterbody respectively, it is characterized in that, the chest body portion has control unit, air pump, preceding air bag and rear gasbag, preceding air bag is arranged on the end of chest body portion near head, rear gasbag is arranged on the other end of chest body portion near afterbody, air pump connects above-mentioned preceding air bag and rear gasbag, the chest body portion also is equipped with left propelling unit and right propelling unit, air pump near an end of afterbody, left side propelling unit and right propelling unit are electrically connected control unit.
2. bionical shrimp according to claim 1 is the detection machine people under water, it is characterized in that, wherein head also comprises manipulator, camera and light source, and manipulator, camera and light source are electrically connected above-mentioned control unit respectively.
3. bionical shrimp according to claim 1 is the detection machine people under water, it is characterized in that, wherein control unit is in embedded microcontroller.
4. according to claim 1 or 2 or 3 described bionical shrimps detection machine people under water, it is characterized in that its mesothorax body portion also comprises communication system units, be electrically connected above-mentioned control unit and communicate by letter with ground-surface control computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010565853 CN102001429B (en) | 2010-11-30 | 2010-11-30 | Bionic shrimp underwater detecting robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010565853 CN102001429B (en) | 2010-11-30 | 2010-11-30 | Bionic shrimp underwater detecting robot |
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| CN102001429A true CN102001429A (en) | 2011-04-06 |
| CN102001429B CN102001429B (en) | 2013-05-08 |
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| CN 201010565853 Expired - Fee Related CN102001429B (en) | 2010-11-30 | 2010-11-30 | Bionic shrimp underwater detecting robot |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102653312A (en) * | 2012-05-09 | 2012-09-05 | 深圳市博世康线缆有限责任公司 | Real-time monitoring type submarine equipment applicable to salvaging and fishing |
| CN103192965A (en) * | 2013-03-18 | 2013-07-10 | 浙江海洋学院 | Giant squid bionic sea floor exploration intelligent robot |
| CN103998186A (en) * | 2011-12-15 | 2014-08-20 | 韩国海洋科学技术院 | Multi-joint submarine robot and submarine detection system with compound movement functions of walking and swimming |
| CN104401471A (en) * | 2014-10-17 | 2015-03-11 | 武汉大学 | Crack detection apparatus for hydraulic structure under high water head, and method thereof |
| CN105366019A (en) * | 2015-12-24 | 2016-03-02 | 佛山市神风航空科技有限公司 | Unmanned ship operated by robot |
| CN105383653A (en) * | 2015-12-24 | 2016-03-09 | 佛山市神风航空科技有限公司 | Underwater robot |
| CN105761608A (en) * | 2016-05-19 | 2016-07-13 | 哈尔滨工程大学 | A UUV multi-directional collision avoidance training system with safety airbags |
| CN110347169A (en) * | 2019-07-30 | 2019-10-18 | 南京昱晟机器人科技有限公司 | The control system of automatic obstacle avoiding and planning under underwater robot and its high-speed motion |
| CN116374113A (en) * | 2023-04-24 | 2023-07-04 | 北京琨毅科技有限公司 | Wall-attached walking robot system |
| CN120229354A (en) * | 2025-05-20 | 2025-07-01 | 浙江理工大学 | A mantis shrimp-like underwater robot with a multifunctional flexible spine |
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2010
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Patent Citations (7)
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| JP3382791B2 (en) * | 1996-09-17 | 2003-03-04 | 三菱重工業株式会社 | Underwater vehicle lifting and lowering operation method and device |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103998186A (en) * | 2011-12-15 | 2014-08-20 | 韩国海洋科学技术院 | Multi-joint submarine robot and submarine detection system with compound movement functions of walking and swimming |
| CN102653312A (en) * | 2012-05-09 | 2012-09-05 | 深圳市博世康线缆有限责任公司 | Real-time monitoring type submarine equipment applicable to salvaging and fishing |
| CN103192965A (en) * | 2013-03-18 | 2013-07-10 | 浙江海洋学院 | Giant squid bionic sea floor exploration intelligent robot |
| CN103192965B (en) * | 2013-03-18 | 2015-09-02 | 浙江海洋学院 | Huge squid bionic sea floor exploration intelligent robot |
| CN104401471A (en) * | 2014-10-17 | 2015-03-11 | 武汉大学 | Crack detection apparatus for hydraulic structure under high water head, and method thereof |
| CN104401471B (en) * | 2014-10-17 | 2016-06-08 | 武汉大学 | Hydraulic structure crack detecting device and method under a kind of high water head |
| CN105383653A (en) * | 2015-12-24 | 2016-03-09 | 佛山市神风航空科技有限公司 | Underwater robot |
| CN105366019A (en) * | 2015-12-24 | 2016-03-02 | 佛山市神风航空科技有限公司 | Unmanned ship operated by robot |
| CN105383653B (en) * | 2015-12-24 | 2018-07-20 | 佛山市神风航空科技有限公司 | A kind of underwater robot |
| CN105761608A (en) * | 2016-05-19 | 2016-07-13 | 哈尔滨工程大学 | A UUV multi-directional collision avoidance training system with safety airbags |
| CN110347169A (en) * | 2019-07-30 | 2019-10-18 | 南京昱晟机器人科技有限公司 | The control system of automatic obstacle avoiding and planning under underwater robot and its high-speed motion |
| CN116374113A (en) * | 2023-04-24 | 2023-07-04 | 北京琨毅科技有限公司 | Wall-attached walking robot system |
| CN120229354A (en) * | 2025-05-20 | 2025-07-01 | 浙江理工大学 | A mantis shrimp-like underwater robot with a multifunctional flexible spine |
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| CN102001429B (en) | 2013-05-08 |
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